Harmful bird and animal control system and harmful bird and animal control method

Abstract

To provide a harmful bird and animal control system and method which can simultaneously monitor and repel harmful birds and animals and wirelessly feed power to a drone safely and at low cost while ascending and descending in a moored state to a power transmission pole regardless of bad weather such as strong winds and heavy rain, and can also patrol and track harmful birds and animals when necessary. [Solution] By simply erecting a power transmission pole 12 in a bear-infested area, even in bad weather such as strong winds or heavy rain, a drone 11 tethered to the power transmission pole 12 can use the pole 12 as a guide to ascend and descend while monitoring and repelling bears, while simultaneously charging via wireless power supply, without being blown away by wind and rain. This enables safe, low-cost, and continuous bear control. Furthermore, when necessary, the drone 11 can be undone from the power transmission pole 12 to, for example, patrol and track bears, safely driving them back into the forest.

Description

[Technical Field]

[0001] The present invention relates to a system and method for controlling harmful birds and animals using drones for controlling harmful birds and animals. [Background technology]

[0002] In recent years, human injuries and damage to crops caused by bears (harmful birds and animals) such as Asiatic black bears (Ursus thibetanus) and brown bears (Ursus arctos) have been steadily increasing nationwide. Since the 2020s, and especially this year, the number of bear sightings has reached an all-time high, and as a result, human injuries have become more serious.

[0003] The following factors are primarily behind this expansion of damage. Poor harvests of major food resources, such as beech trees, have led bears to expand their ranges into human settlements and farmland in search of food. Furthermore, changes to the satoyama environment due to a decline in the hunting population and an increase in abandoned farmland have expanded bear habitats and blurred the boundaries between human settlements. Furthermore, once bears have easily found food in human settlements (food waste, scraps, and crops), they no longer fear humans and are now continually appearing in human settlements (so-called "problem individuals").

[0004] Common methods of dealing with bears include using fireworks, firecrackers, dogs, etc. to scare them away, but these methods always involve the risk of personal injury, as they require the person carrying out the scare to get close to the bear. For these reasons, it is extremely difficult to monitor bears while ensuring safety and to quickly and effectively deter them, and there is a need to develop new bear control measures.

[0005] To address this issue, various conventional technologies have been developed in recent years to combat bears (harmful bird and animal control systems) using drones (unmanned aerial vehicles) that fly autonomously or remotely without a human on board (e.g., Non-Patent Document 1). This bear control system involves equipping drones with zoom cameras and infrared cameras to search for bears hiding in mountainous areas and bushes, day and night, and monitor bears that cause damage to crops.The drones are also equipped with speakers and fireworks, which can be used to play the sounds of hunting dogs from the sky, or to produce light, sound, and smoke from gunpowder explosions to intimidate (or repel) bears. In addition, conventional drone-based bear control systems have a short flight time of only 20 to 40 minutes. [Prior art documents] [Patent documents]

[0006] [Non-Patent Document 1] Searched on November 13, 2025, product name: UD4JH / Hunting Drone, Aero Japan Co., Ltd., (URL) https: / / flyaero.jp / prodact / ud4jh.html Summary of the Invention [Problem to be solved by the invention]

[0007] However, conventional drone-based bear control systems could not fly for safety reasons in bad weather such as strong winds and heavy rain, as it was difficult for the drones to fly stably. This was a major drawback, as it was particularly susceptible to weather conditions during periods when bear activity is most active.

[0008] Furthermore, with conventional drone-based bear control systems, the drones' flight times were as short as 20 to 40 minutes, which meant that in order to monitor bears over a wide area or to continue long-term evasive action, multiple batteries had to be prepared and workers had to frequently change them in dangerous bear areas.

[0009] Therefore, one possible solution would be to set up a flat launch port on the ground in bear-infested areas for drones to take off and land, and provide a power transmission unit with a power transmission coil at this launch port, while providing a power receiving unit with a power receiving coil on the drone, and then provide a wireless power supply device that uses a magnetic field to transmit power from the launch port to the drone. However, with conventional drones, there is a risk that the drone will move away from the landing port during bad weather such as strong winds or heavy rain, which could prevent the drone from being powered. This makes it even more difficult to fly the drone and take action against bears in such bad weather.

[0010] Therefore, as a result of extensive research, the inventor discovered that if a drone used to control harmful birds and animals, including bears, could be configured to be able to ascend and descend while tethered to a wireless power transmission pole that has a power transmission coil installed in the drone's ascent and descent area on the outer periphery of the pole, and to be able to take off and land from the power transmission pole, then by simply erecting the power transmission pole in an area where harmful birds and animals are present, even if there is no pilot (worker) on site and in bad weather such as strong winds or heavy rain, it would be possible to raise and lower the drone along the power transmission pole, and simultaneously monitor and repel harmful birds and animals and wirelessly power the drone; and further, for example, if necessary, the drone could be released from its tether to the power transmission pole and used for patrolling and tracking harmful birds and animals, and this led to the completion of this invention.

[0011] The present invention has been made in consideration of these problems, and aims to provide a harmful bird and animal control system and method that can safely and at low cost monitor and repel harmful birds and animals while simultaneously wirelessly powering drones while being tethered to a power transmission pole and ascending and descending in an adverse weather condition such as strong winds or heavy rain, and that can also patrol monitor and track harmful birds and animals when necessary. [Means for solving the problem]

[0012] The invention described in claim 1 is a harmful bird and animal control system in which a drone, an unmanned aerial vehicle for controlling harmful birds and animals including bears, is tethered to a power transmission pole for wireless power supply including electromagnetic induction and magnetic resonance systems so that it can ascend and descend and can take off and land from the power transmission pole, and the drone or the power transmission pole is provided with a mooring part that tethers the drone to the power transmission pole so that it can ascend and descend, and the power transmission pole is erected in an area where harmful birds and animals appear and is equipped with a power transmission part that transmits power to the drone using a magnetic field, and the power transmission part is a magnetic field that converts power into a magnetic field and releases it into space. This is a harmful bird and animal control system characterized in that it has a magnetic field emission means, which includes a transmission coil that is provided in the drone's lifting area on the outer periphery of the transmission pole and converts electric power into a magnetic field, and a transmission circuit that supplies electric power to the transmission coil, and the drone is equipped with a power receiving unit that receives power from the power transmitting unit, and the power receiving unit has a magnetic field receiving conversion means that receives the magnetic field from the transmission coil and converts it into electric power, and the magnetic field receiving conversion means includes a receiving coil that receives the magnetic field and converts it into electric power, and a receiving circuit that extracts electric power from the receiving coil.

[0013] The types of harmful birds and animals are not limited. For example, various large animals (bears (brown bears, Asiatic black bears), wild boars, Japanese deer, Japanese macaques), various medium-sized and small animals (raccoons, palm civets, raccoon dogs, foxes, weasels, martens), various birds (crows (large-billed crows, carrion crows), rock pigeons, cormorants, etc.) can be used. Any type of drone can be used. Examples include rotorcraft (multi-rotor type), fixed-wing aircraft (airplane type), and powered drift aircraft (VTOL type). Among these, rotorcraft equipped with, for example, speakers, beam lights (searchlights), cameras (visible light cameras, zoom cameras, infrared (thermal) cameras, etc.), tracking systems, etc. are preferred for monitoring and tracking harmful birds and animals.

[0014] The drone may be a radio-controlled type that is operated by the pilot visually or by watching a camera image displayed on the monitor of the transmitter (pilot), or an autopilot type that does not require radio control. That is, the drone has, for example, a central processing unit (CPU) in its control unit, a memory unit, and a flight controller that controls the ascent and descent of the drone. When the drone is to automatically ascend and descend, or take off and land while moored to the power transmission pole, for example, a drone ascent and descent program and a drone takeoff and landing program are stored in the memory unit.

[0015] Of these, autopilot drones have a control unit (central processing unit, memory unit, flight controller) that has sensor control logic such as an IMU (inertial measurement unit) and calculates attitude, position, and speed based on complex sensor information, and automatically follows a target route; a GPS device that determines absolute position on Earth (latitude, longitude, altitude); a barometric pressure sensor (absolute altitude) and distance sensor (altitude above ground) used to maintain a stable altitude and measure distance during takeoff and landing; a vision sensor (dedicated camera can also be used) that enables stable flight in places where a GPS device cannot be used, detects obstacles based on camera images, and reads ground features to maintain relative position; and a mission computer equipped with a high-performance CPU / GPU that is also responsible for processing the use of, for example, speakers, beam lights, and repellent sprays to scare off harmful birds and animals, thereby planning and executing missions to control harmful birds and animals, and making real-time decisions using AI.

[0016] The electromagnetic induction method referred to here is a power supply system in which the magnetic field emission means has a transmission coil provided in the drone's lifting area on the outer periphery of the transmission pole and a transmission circuit that supplies power to this transmission coil, and the magnetic field receiving and conversion means provided in the drone has a receiving coil that receives the fluctuating magnetic flux generated by the transmission coil and a receiving circuit that extracts power from the receiving coil, and which transmits power from the transmission unit of the transmission pole to the receiving unit of the drone by utilizing the electromagnetic induction phenomenon in which the fluctuating magnetic flux generated from the transmission coil of the transmission pole interlinks with the receiving coil.

[0017] In this electromagnetic induction method, first, AC power is supplied from the power transmission circuit of the power transmission section to the power transmission coil at the power transmission pole, causing a fluctuating magnetic flux to be generated from the power transmission coil and emitted into the surrounding area. This emitted fluctuating magnetic flux then reaches and interlinks with the drone's power receiving coil, causing an induced electromotive force to be generated in the power receiving coil due to the electromagnetic induction phenomenon (Faraday's law), causing current to flow in the power receiving coil. This induced electromotive force is then converted to DC by the power receiving circuit (rectifier / smoothing circuit) and supplied to the drone.

[0018] On the other hand, the magnetic field resonance method referred to here is a power supply system in which the magnetic field emission means is provided in the drone's lifting area on the outer periphery of the power transmission mast and has a resonant power transmission coil (power transmission coil) through which high-frequency alternating current flows and a power transmission circuit (including an oscillator circuit) that supplies power to this resonant power transmission coil, and the magnetic field power receiving conversion means provided in the drone has a resonant power receiving coil (power receiving coil) set to approximately the same resonant frequency as the resonant power transmission coil and a power receiving circuit (including a rectifier circuit) that extracts the power induced in this resonant power receiving coil, and transmits power by utilizing the magnetic field resonance phenomenon between the resonant power transmission coil and the resonant power receiving coil.

[0019] In this magnetic resonance method, a power transmission circuit (oscillator circuit) in the power transmission mast generates high-frequency AC current and supplies it to a resonant power transmission coil. The resonant power transmission coil oscillates at a specific resonant frequency determined by the coil shape, capacitor, etc., and emits a magnetic field corresponding to that frequency into the surrounding area. This emitted magnetic field then reaches the resonant power receiving coil in the drone. Because this resonant power receiving coil is set to approximately the same resonant frequency as the resonant power transmission coil, it receives the magnetic field energy from the power transmission side and generates an induced electromotive force in the resonant power receiving coil due to the magnetic field resonance phenomenon, causing a high-frequency AC current to flow. The high-frequency AC power induced in the resonant power receiving coil is then sent to a power receiving circuit (rectifier circuit), where it is converted into DC power usable by the drone and supplied to the drone.

[0020] The drone can be raised and lowered along the power transmission pole by, for example, mechanical lifting using a lifting device such as a winch, visual lifting by a pilot operating a transmitter, or automatic lifting using software using a drone lifting program installed in the drone's control unit (flight controller) or transmitter control unit. By raising and lowering the drone along the power transmission pole in an area where harmful birds and animals are present, harmful birds and animals will be startled and run away when they hear the propeller sound or see the drone.

[0021] When a drone is automatically raised or lowered using the drone ascent / descent program, the rotation speed (or thrust) of the propeller rotation motor on the drone is controlled via a control unit (flight controller) installed on the drone. Specifically, for example, based on a preset automatic ascent / descent plan, arrival at a target ascent / descent start point is detected from GNSS information or vision sensor information, and after reaching the target ascent / descent start point, the current altitude is obtained from the ground altitude sensor as a reference altitude, an upper limit altitude a predetermined distance above the reference altitude and a lower limit altitude a predetermined distance below the reference altitude are calculated, and the drone automatically ascends and descends by controlling the thrust of the rotary motor based on the set ascent / descent speed until either the upper limit altitude or the lower limit altitude is reached, and when the upper limit altitude is reached, the target altitude is switched to the lower limit altitude, and when the lower limit altitude is reached, the target altitude is switched back to the upper limit altitude, and the automatic ascent / descent control of the drone based on the set ascent / descent speed is repeated. This allows the drone to continuously ascend and descend automatically within a predetermined range along the power transmission pole. The drone may also be rotated around a power transmission pole as it ascends and descends, which increases the effectiveness of repelling harmful birds and animals and widens the range of monitoring by the camera.

[0022] The mooring may be on the drone, on the power mast, or on both. The type (structure) of the mooring part is arbitrary. Examples include a pole insertion hole formed through the top and bottom surfaces of the drone body and through which the power transmission pole is inserted, a pole insertion hole that not only has a pole insertion hole but also a notch that connects from the side of the drone body to the pole insertion hole, a pole insertion part that is attached to the tip of a pole arm extending from the body and through which the power transmission pole can be inserted, and a pole insertion hole is provided in this pole insertion part, or a hook structure (e.g., a hook structure) that can be attached and detached from the side of the power transmission pole.

[0023] When mooring a drone, the drone can be inserted downward from the tip of the power transmission pole, or the drone can be moored from the side of the power transmission pole. However, when mooring from the side, measures such as forming a notch in the side of the drone's body that is larger than the width of the power transmission pole and that communicates with the pole insertion hole, or attaching a pole insertion part that can insert the power transmission pole and is equipped with a power transmission coil to the tip of the pole arm connected to the body, and providing this pole insertion part with a hook structure (such as a hook structure) that can be attached and detached from the power transmission pole from the side, are necessary. When mooring a drone to a power transmission pole from the side, for example, a stopper can be installed at the tip of the pole to prevent the drone from flying out while ascending or descending. In this way, there is no risk of the moored drone slipping away from the tip of the power transmission pole, even in the event of extremely strong winds such as a typhoon.

[0024] Here, "the drone can take off and land from the power transmission pole" means, for example, that the drone can be tethered to the power transmission pole so that it can ascend and descend, or that the drone can be released from this tethered state and launched outward. The "drone lifting area on the outer periphery of the power transmission pole" refers to an area including the portion of the outer periphery of the power transmission pole where the power transmission coil is installed. For example, this lifting area may be approximately the entire length of the power transmission pole, or it may be the area excluding the lowest portion when the power transmission pole is divided into 2 to 5 equal parts in the height direction.

[0025] The drone's takeoff and landing may be performed by remote control operation of the drone, or automatically by a drone takeoff and landing program stored in the memory unit of the drone's control unit (automatically mooring and undone the drone from the power transmission pole). In the automatic takeoff and landing of a drone using the drone takeoff and landing program, a command to automatically moor or release the mooring to a power transmission pole is sent to the drone via a control unit (flight controller) installed in the drone. Below, we will explain an example of a drone that has a pole insertion hole that penetrates the top and bottom of the center of the body, and is moored to the power transmission pole by inserting it through the pole insertion hole from the tip of the power transmission pole.

[0026] That is, for example, when a drone is tethered, a tethering command is issued from the drone takeoff and landing program (or drone tethering program), and flight control of the drone's control unit moves the drone to a predetermined waiting position above the power transmission pole based on GNSS (GPS) information and vision sensor information. From this waiting position, the control unit gradually reduces the thrust of the rotary motor based on a guidance target for aligning the drone's pole insertion hole with the pole tip, which is stored in advance in the control unit's memory. This causes the drone to descend vertically, and after the pole tip is inserted into the pole insertion hole, the drone reaches the target ascent / descent start point. The drone then ascends and descends along the power transmission pole while still tethered as described above.

[0027] When the drone is released from its tether, for example, in response to a command to release the tether from the drone takeoff / landing program (or drone release program), the drone's control unit gradually increases the thrust of each rotary motor, causing the drone to rise vertically until vision sensor information detects that the drone's strut insertion hole has separated from the tip of the strut. After that, once vision sensor information detects that the strut insertion hole has separated, the drone transitions to a flight mode for executing a predetermined flight mission, including a patrol surveillance mission for harmful birds and animals, or a tracking mission after detecting harmful birds and animals.

[0028] There are no restrictions on the material of the power transmission mast. For example, various plastics, ceramics (including glass and concrete), wood, metals, etc. can be used. However, metal is not preferable because it shields the magnetic field generated by the power transmission coil and prevents heat generation due to eddy current loss. The size (length, thickness, etc.) of the transmission pole is arbitrary. The shape of the power transmission pole can be arbitrary. For example, it can be a cylinder, a polygonal pole with a triangular or quadrangular shape, or a cylindrical version of these. However, a cylinder is preferable because it allows the drone to move smoothly (ascending, descending, turning, etc.) while tethered to the power transmission pole.

[0029] Furthermore, the invention described in claim 2 is the harmful bird and animal control system described in claim 1, characterized in that the mooring portion is a pole insertion hole that is formed by penetrating the body of the drone from top to bottom and through which the power transmission pole is inserted, the receiving coil is arranged around the portion of the body where the pole insertion hole is formed, and the drone is moored to the power transmission pole via the pole insertion hole so that it can be raised and lowered. The location where the pole insertion hole is formed is preferably the center of the aircraft, which is suitable for rotating the drone around the power transmission pole, but is not limited to this.

[0030] Furthermore, the invention described in claim 3 is a harmful bird and animal control system described in claim 1, characterized in that the mooring portion is a pole insertion portion provided at the tip of a pole arm connected to the body of the drone, and into whose inner space the power transmission pole is inserted, the pole insertion portion has the power receiving coil arranged around it, and the drone is moored to the power transmission pole via the pole insertion portion so that it can be raised and lowered.

[0031] The location of the drone's support arm can be freely selected, but it is preferable to connect it to the front of the drone, for example, so that the drone can be secured to the power transmission pole while being monitored by a camera. The pole insertion section may be provided with a hook structure (e.g., a hook structure) that can be attached to and detached from the side of the power transmission pole, thereby preventing the drone from coming off the power transmission pole during ascent and descent.

[0032] The invention described in claim 4 is the harmful bird and animal control system described in claim 3, characterized in that the pole insertion portion has a hooking structure that can be attached and detached from the side of the power transmission pole. The type of the hooking structure is not limited, and for example, various automatic opening and closing hooks that automatically open and close the hook can be used.

[0033] The invention described in claim 5 is a harmful bird and animal control system described in claim 1, characterized in that the power transmission unit is stored in the inner space of the power transmission coil and has a magnetic material that increases the efficiency of power transmission. The type of magnetic material is not limited, and for example, ferrite or soft magnetic metal material can be used.

[0034] The invention described in claim 6 is the harmful bird and animal control system described in claim 1, characterized in that the drone is equipped with a camera, a means for repelling the harmful birds and animals, a detection means for detecting the harmful birds and animals from image data of the camera, a mooring release means for releasing the drone from its tethered state to the power transmission pole after the detection means detects the harmful birds and animals, a tracking means for using the camera to track the harmful birds and animals with the drone after the tethering state of the drone is released by the mooring release means, and a control unit for controlling these.

[0035] The type of camera is not limited as long as it is a digital camera. The type of repellent means is not limited to specific types. For example, various warning means (sound alarms such as sirens, alarms, buzzers, and bells, as well as light alarms such as rotating lights, flashing lights (warning lights), beam lights (searchlights), and LED lights) and various repellents such as bear sprays (using foul or irritating odors such as sulfur-based, wood vinegar, tar-based, and capsaicin (a chili pepper component)) can be used. When there are multiple types of repellent means, the repellent means may be used simultaneously or in a predetermined order.

[0036] The memory unit of the control unit stores, for example, a drone flight control program, a harmful bird and animal detection program (detection means), a drone untethering program (untethering means), a harmful bird and animal tracking program (tracking means), etc. Of these, the flight control program, for example, receives commands from the inertial measurement unit (IMU) to acquire the aircraft's angular velocity and acceleration, and then performs noise reduction filtering. It then acquires absolute position information from the GNSS receiver and relative position information from the vision sensor, integrating these using a fusion algorithm such as a Kalman filter. It then acquires pressure altitude information from the barometric pressure sensor and ground altitude information from the ground sensor, and compares these to determine a highly reliable vertical position.

[0037] Then, the attitude error between the target attitude angle given by the pilot or autonomous mission and the current attitude angle estimated by the above noise removal filtering process is calculated, and a PID control law or a nonlinear control law is applied to this calculated attitude error to calculate the target torque for each axis (roll, pitch, yaw) required to stabilize the attitude. Next, the position and velocity error between the target position and velocity and the current position and velocity estimated by integration using the above fusion algorithm is calculated, and the target thrust required to eliminate this error is calculated.

[0038] Then, based on the target torque and the target thrust of each axis, a motor distribution matrix according to the configuration of the aircraft (e.g., a quadcopter) is applied, and the target rotation speed commands for each rotary motor obtained as a result of this distribution matrix are converted into electrical signals such as PWM signals and output to an electronic speed control unit (ESC).

[0039] In addition, the harmful bird and animal detection program, for example, acquires image data at a predetermined frequency using a camera (visible light or infrared) mounted on the drone in response to a command from the harmful bird and animal detection program. This acquired image data is subjected to preprocessing such as noise removal, brightness correction, and region of interest (ROI) extraction, and the acquired image data is associated with the drone's absolute position information obtained from the GNSS receiver and the aircraft's attitude information obtained from the IMU and stored in a memory unit.

[0040] Next, a pre-trained deep learning model (e.g., CNN) or pattern recognition algorithm is applied to the pre-processed image data to detect the presence or absence of shapes and movements characteristic of birds and animals, and the type of detected bird or animal is identified by determining whether it is included in a pre-set list of harmful birds and animals (e.g., bears, wild boars, crows, etc.).Based on the position of the detected bird or animal on the image, the relative distance from the drone is calculated by integrating it with triangulation or laser ranging data. Thereafter, the relative distance calculated based on the identified bird or animal species and the absolute position information are stored in a storage unit as detection result data.

[0041] Furthermore, the drone unmooring program receives a flight mission start command or an unmooring command from an external interface or an onboard mission plan, for example, via an unmooring command from the drone unmooring program. Based on this received command, the program then performs an initial diagnosis of the battery, the rotary motor, and the drone's control unit (flight controller) to determine whether it is safe for the drone to leave and fly. Next, the program confirms that the drone's mast insertion hole and the power transmission mast are in a tethered state based on information from a contact sensor or position sensor. After this confirmation, the program sets predetermined release thrust target values ​​for all rotary motors based on the sum of the drone's fuselage mass and payload mass. Based on the set thrust target values, the flight controller gradually increases the rotation speed of each rotary motor, causing the drone to rise vertically. Finally, the program detects that the drone's mast insertion hole has completely released from the tip of the power transmission mast based on changes in information from a ground altitude sensor or position sensor.

[0042] Furthermore, in response to commands from the pest detection program, the pest bird and animal tracking program applies a pre-trained deep learning model (such as YOLO) to image data acquired from the drone's onboard camera to detect pest bird and animal areas in the image. The program then combines the location of the detected pest bird and animal area with data from the drone's onboard ranging sensor (e.g., LiDAR or stereo camera) and IMU attitude information to calculate the pest bird's relative position (distance and direction) relative to the drone. The calculated relative position is then combined with the drone's absolute position obtained by GNSS to estimate the pest bird's absolute position (latitude, longitude, altitude), which is then stored in memory.

[0043] Next, the current movement speed vector of the harmful bird or animal is calculated from the displacement between the absolute position of the harmful bird or animal estimated here and the position estimated in the previous frame. After that, based on the calculated movement speed vector, the target position of the drone required for the drone to maintain a certain tracking distance (safe distance) is calculated and updated at predetermined time intervals. Thereafter, if there is pre-set obstacle information (terrain, trees, etc.) between the drone and harmful birds and animals, a detour target position is set as an alternative target to avoid heading straight towards the harmful birds and animals, a target speed command is calculated for the flight controller based on the position error between the target position of the drone and the current drone position, and the calculated target speed command is sent to the position and speed control module of the flight controller, generating thrust for the rotary motor to move the drone to the target position.

[0044] The invention described in claim 7 is the harmful bird and animal control system described in claim 1, characterized in that the power transmission pole is made up of multiple partial poles connected together in an assembly / disassembly manner, and is erected on a portable pole installation base that includes a storage box for storing at least one of the multiple partial poles and the drone.

[0045] The shape and size of the storage box are not limited, but it is preferable that it is as light and compact as possible so that workers can easily carry it to areas where harmful birds and animals are present. The storage box may contain only the plurality of partial supports, only the drone, or both. The box may also be equipped with a power transmission battery for supplying power to the power transmission circuit. The type of support base can be any type, including various plate materials, various block materials, dollies, trucks (including light trucks), tractors, transport vehicles, trailers, and the like.

[0046] The invention described in claim 8 is a method for controlling harmful birds and animals, which uses any of the harmful bird and animal control systems described in claims 1 to 7, erects the power transmission pole in an area where the harmful birds and animals appear, and uses the harmful bird and animal control system to receive wireless power from the power transmission pole while the drone, which is taking measures against the harmful birds and animals, is tethered to the power transmission pole and moves up and down the power transmission pole.

[0047] The range of elevation of the power transmission pole here is arbitrary as long as it includes the area around the power receiving coil of the power transmission pole. For example, elevation may be along substantially the entire length of the power transmission pole. Note that the pilot may raise and lower the drone tethered to the power transmission pole while visually monitoring the drone or while watching the monitor on the transmitter.

[0048] The invention described in claim 9 is a method for controlling harmful birds and animals described in claim 8, characterized in that the power transmission poles are erected in each of the areas where multiple harmful birds and animals appear, and the drone, while flying, moors to one of the power transmission poles and then moves up and down the power transmission pole, taking measures against the harmful birds and animals and supplying power wirelessly.

[0049] The number of power transmission poles that serve as both power supply ports and drone lifting stages can be arbitrary. For example, each power transmission pole may be placed at a predetermined distance (e.g., 50 to 300 meters apart) in an area where multiple harmful birds and animals are present. The distance may also be set to the maximum distance that a drone can fly on a single charge or the maximum distance that harmful birds and animals can be detected from camera images taken by a drone. The drone can be tethered to the power transmission pole by, for example, reading out a drone takeoff and landing program stored in the memory of the drone's control unit, and the control unit controlling the drone's flight based on this program. Alternatively, the pilot may tether the drone to the power transmission pole while visually checking the drone or watching the monitor of the transmitter.

[0050] Furthermore, when taking measures against harmful birds and animals, for example, the harmful bird and animal countermeasure program stored in the memory unit is read out, and based on this, measures against harmful birds and animals are taken using various repellent means etc. mounted on the drone. Alternatively, measures against harmful birds and animals may be taken by the operator visually or by watching the monitor of the transmitter.

[0051] The invention described in claim 10 is a method for controlling harmful birds and animals described in claim 8, characterized in that multiple drones are moored to one of the power transmission poles, and these drones move up and down the power transmission pole, taking measures against the harmful birds and animals and providing wireless power supply, respectively.

[0052] The number of drones that can be moored to a single power pole can be any number, as long as it is two or more. The number of tethered drones that can be raised or lowered (simultaneously) is arbitrary. For example, all drones can be raised or lowered simultaneously, or only a few drones located on the top or uppermost level can be raised or lowered synchronously or irregularly.

[0053] The invention described in claim 11 is a method for controlling harmful birds and animals, which uses the harmful bird and animal control system of claim 6, and when the detection means detects the harmful bird or animal while the drone is ascending or descending the power transmission pole, releases the drone from its tethered state to the power transmission pole, and uses the camera to track the harmful bird or animal with the drone.

[0054] The drone can be released from its mooring by, for example, reading out a drone takeoff and landing program stored in the memory of the drone's control unit, and the control unit controlling the drone's flight based on this program. The drone can also be released from its mooring by the pilot while watching the monitor on the transmitter or visually observing the drone.

[0055] In addition, when detecting harmful birds and animals during autonomous driving, for example, a harmful bird and animal detection program stored in the drone's memory unit is read out, and harmful birds and animals are detected based on this. Specifically, for example, an AI (artificial intelligence) analyzes images taken by a drone camera and detects harmful birds and animals (AI image analysis module). Note that the detection of harmful birds and animals may be done by the pilot himself / herself by visual inspection or by looking at the monitor of the transmitter.

[0056] Automatic tracking of detected harmful birds and animals is achieved by reading out the harmful bird and animal tracking program stored in the memory unit, and then the control unit controls the drone's flight based on this program while referring to camera image data. For example, AI analyzes camera footage in real time, automatically identifies harmful birds and animals, and tracks them by controlling the drone's position (movement forward, backward, left, right, and up and down altitude) and attitude (camera direction) to keep the harmful birds and animals in the center of the frame.

[0057] In addition, at the pilot's command or the AI's discretion, the drone may automatically circle (fly in circles) directly above harmful birds and animals while maintaining a certain altitude and distance, and record the escape route of the harmful birds and animals and the surrounding conditions over a wide area. The analysis of camera images, etc. using the above-mentioned AI can be performed by either the drone's control unit or the transmitter's control unit. [Effects of the Invention]

[0058] According to the present invention as set forth in claims 1 and 8, first, a power transmission pole is erected in an area where harmful birds and animals are infested, and then a drone is raised and lowered while tethered to the power transmission pole via a mooring part. This provides a repelling effect to harmful birds and animals around the power transmission pole through the flying noise and movement of the drone during the ascent and descent. Moreover, the power transmission mast is equipped with a wireless power transmission coil in the drone lifting area around its periphery, and one of the drones is equipped with a power receiving coil, allowing the drone to receive power from the power transmission mast in a contactless manner while lifting and lowering. Furthermore, for example, by operating the transmitter, the drone can be raised beyond its upper limit and released from its tether to the power transmission pole, allowing the drone to track escaping harmful birds and animals.

[0059] In this way, with the pest bird and animal control system of the present invention, simply erecting a power transmission pole in an area where pest birds and animals are found allows the drone tethered to the power transmission pole to be guided by the pole without being blown away by wind and rain, even in bad weather such as strong winds and heavy rain. The drone can ascend and descend while monitoring and repelling (threatening) pest birds and animals, while simultaneously charging via wireless power supply. This enables safe, low-cost, and continuous pest bird and animal control. Furthermore, when necessary, the drone can be undone from the power transmission pole to, for example, patrol and track pest birds and animals, safely driving them back into the forest, etc.

[0060] In particular, according to the present invention as set forth in claim 2, when tethering the drone, for example, the drone is first placed above the power transmission pole, and then the drone is gradually lowered to insert the pole insertion hole of the drone into the tip of the pole. This descent continues thereafter, and the drone is placed in the installation area of ​​the power transmission coil of the power transmission pole, whereby the drone is tethered to the power transmission pole. In this way, the drone is moored to the power transmission pole by inserting the pole insertion hole provided on the drone's body into the power transmission pole, for example from above.This reduces the number of parts, reduces weight and costs, and provides high durability and reliability, compared to cases where the drone is moored using various automatic mooring mechanisms (clamps, locks, etc.).

[0061] According to the present invention described in claim 3, when the drone is moored, it is moored to the power transmission pole via the pole insertion portion at the tip of the pole arm so that it can ascend and descend. Therefore, by simply connecting the pole arm to an existing drone, a commercially available drone can be easily and inexpensively modified to become the drone of the present invention. Furthermore, the arm structure of the pole arm absorbs and mitigates the physical impact and friction that occurs when the drone's pole insertion portion comes into contact with the power transmission pole during the drone mooring operation, thereby reducing direct damage and wear to the drone's body.

[0062] Furthermore, according to the present invention as set forth in claim 4, a hooking structure that can be laterally attached to and detached from the power transmission pole is provided at the drone's pole insertion portion, thereby easing the requirement for vertical accuracy imposed on the descending drone when mooring the drone. Moreover, when mooring the drone, after the drone approaches the power transmission pole and the pole arm reaches a predetermined height, the drone can be moored to the power transmission pole simply by moving the aircraft slightly to the side. This simplifies the drone mooring process.

[0063] Furthermore, according to the present invention as set forth in claim 5, a magnetic body is disposed in the space inside the power transmitting coil, so that the interlinkage magnetic flux from the power transmitting coil can be efficiently concentrated and passed through the power receiving coil. This increases the interlinkage magnetic flux passing through the power receiving coil, raising the coupling coefficient between the coils and generating a larger induced electromotive force in the power receiving coil based on Faraday's law of electromagnetic induction, thereby improving power transmission efficiency.

[0064] According to the present invention as set forth in claim 6, even when a drone is tethered to a power transmission pole and ascends and descends while being wirelessly powered, and measures against harmful birds and animals are being implemented due to the ascending and descending noise, drone movement, etc., the drone's camera can be used to monitor areas where harmful birds and animals appear, and the detection means can detect harmful birds and animals in real time. This makes it possible to carry out fixed-point monitoring for long periods of time without draining the drone's battery.

[0065] In addition, immediately after detecting a harmful bird or animal, the drone is released from its tether and made available for flight, ensuring a high level of responsiveness to the appearance of the harmful bird or animal being monitored. Furthermore, after the drone is released from its tether, it will continue to track harmful birds and animals using a camera, which will improve the accuracy of tracking harmful birds and animals compared to simply using a fixed camera.

[0066] In addition, by activating the repellent measures (such as sound, light, repellent spray, etc.) installed on the drone during or after tracking, harmful birds and animals can be effectively removed from the area where they appear. In other words, by combining long-term stable monitoring by tethering the drone to a power transmission pole with the detection of harmful birds and animals and the rapid tracking and avoidance of harmful birds and animals after the drone is untethered, the reliability and effectiveness of drone-based measures to combat damage caused by harmful birds and animals can be dramatically improved.

[0067] According to the present invention as set forth in claim 7, the power transmission pole can be disassembled into multiple sub-pole sections for transport or when not in use, thereby increasing the portability of the harmful bird and animal control system. Furthermore, when installing the power transmission pole at the site, the required height can be easily and quickly assembled by simply connecting the disassembled sub-pole sections one by one. Furthermore, when a storage box is used as the base for the support, the storage box can store the partial support or drone (or both), allowing all components to be managed and transported in one place, preventing parts from getting lost and making it extremely convenient for moving or transporting between sites.

[0068] Furthermore, because the power transmission pole is erected on the pole installation base, the power transmission pole can be installed stably and independently without any additional fixing means (for example, by driving it into the ground). Furthermore, when a storage box is used as the pole installation base, the pole installation base itself also serves as a storage box for accessories necessary for carrying and installation, which is efficient as the functions are integrated.

[0069] Furthermore, this structure allows the pest bird and animal control system to be flexibly deployed in a variety of environments, such as on hard ground, in places where temporary installation is required, or indoors. In addition, by storing and erecting the drone and the power transmission pole required for mooring and monitoring on the same pole installation base, the overall pest bird and animal control system becomes more integrated and the time required for deployment and withdrawal at the destination can be shortened. This is particularly effective when the monitoring location needs to be changed frequently depending on the damage caused by pest birds and animals.

[0070] According to the present invention as set forth in claim 9, by installing power transmission poles at multiple locations (hot spots) where harmful birds and animals may appear, drones can patrol and monitor a wide area. This makes it possible to cover vast areas where harmful birds and animals appear that cannot be covered by a single base, and to take measures between dispersed buildings. Furthermore, if an autopilot drone is used, it will be possible for it to autonomously move to the next power pole and moor itself after completing monitoring and countermeasures at one power pole. This allows the harmful bird and animal control system to function as a wide-area mobile monitoring network, enabling efficient area patrols. Furthermore, when the drone is moored to a power transmission pole, it receives power wirelessly from the pole, so the drone can continue to operate by changing its mooring location without worrying about running out of battery power, even after moving to another power transmission pole.

[0071] According to the present invention as set forth in claim 10, by having multiple drones simultaneously use one power transmission pole, it becomes possible to have one drone monitor harmful birds and animals while another drone scares and tracks them, thereby enabling cooperative operations with different roles. This increases the accuracy and efficiency of measures against harmful birds and animals. In addition, by having multiple drones operate in shifts, measures to repel harmful birds and animals can be carried out continuously and without interruption during times when measures to prevent harmful birds and animals are necessary (such as at night).

[0072] Furthermore, by having multiple drones share the infrastructure of a single power transmission pole, there is no need to install a power transmission pole (including the traditional individual power supply station and mooring equipment) for each drone, which reduces the installation costs and site area required for the entire harmful bird and animal control system. Furthermore, when tethered, multiple drones are held in a fixed position along a single power transmission pole, facilitating maintenance and inspection of the drones and the power transmission pole.

[0073] According to the present invention described in claim 11, the drone is released from its tethered state to the power transmission pole immediately after detecting a harmful bird or animal, allowing the drone to quickly launch toward the harmful bird or animal and preventing delays in initial action. Furthermore, once released from their tethers, drones can use their high maneuverability (flight capabilities) to accurately capture and track harmful birds and animals with their cameras, regardless of their escape route. In other words, because drones can move freely without being dependent on power transmission poles, it is less likely that harmful birds and animals will be lost, even in environments such as mountain forests with many obstacles and three-dimensional structures.

[0074] Furthermore, the onboard camera (including video analysis and AI recognition) can be used to visually identify detected harmful birds and animals and determine their behavioral patterns and exact location. This makes it possible to take countermeasures based not only on detection signals but also on visual information (e.g., intimidation, issuing instructions to spray repellents in specific locations), thereby increasing the accuracy of countermeasures. In addition, by recording camera image data during tracking in the drone's memory, important data such as the entry routes, habitats, and activity times of harmful birds and animals can be collected, which can be used as valuable evidence for future permanent plans to control harmful birds and animals. [Brief explanation of the drawings]

[0075] [Figure 1] 1 is a perspective view of a state in which a drone-based harmful bird and animal control system according to Example 1 of the present invention is in use. FIG. [Figure 2] 1 is an enlarged perspective view of a drone used in a harmful bird and animal control system according to a first embodiment of the present invention. FIG. [Figure 3] 1 is a block diagram of a control unit of a harmful bird and animal control system according to a first embodiment of the present invention. [Figure 4] 1 is a flow chart of wireless power supply in a harmful bird and animal control system according to a first embodiment of the present invention. [Figure 5] 1 is a partially enlarged cross-sectional view of a power transmission pole used in a harmful bird and animal control system according to a first embodiment of the present invention. [Figure 6] 1 is an explanatory diagram showing a program stored in a storage unit of a harmful bird and animal control system according to a first embodiment of the present invention; [Figure 7] 3 is a flowchart of a flight control program of the harmful bird and animal control system according to the first embodiment of the present invention. [Figure 8] 10 is a flowchart of a drone ascent / descent program of a harmful bird and animal control system according to Example 1 of the present invention. [Figure 9] 10 is a flowchart of a bear detection program of the harmful bird and animal control system according to the first embodiment of the present invention. [Figure 10] 1 is a flowchart of a drone takeoff and landing program for a harmful bird and animal control system according to Example 1 of the present invention, where (1) is a drone mooring chart and (2) is a drone detachment chart. [Figure 11] 1 is a flowchart of a bear tracking program of a harmful bird and animal control system according to Example 1 of the present invention. [Figure 12] 1 is a flowchart of a bear repellent program of a harmful bird and animal control system according to Example 1 of the present invention. [Figure 13] FIG. 1 is an explanatory diagram showing a situation in which a bear and a drone are confronted by the harmful bird and animal control system according to Example 1 of the present invention. [Figure 14] 10 is a perspective view of a harmful bird and animal control system according to a second embodiment of the present invention in use; [Figure 15] FIG. 10 is a perspective view of a harmful bird and animal control system according to a third embodiment of the present invention in use. [Figure 16] FIG. 11 is an enlarged perspective view of a storage box with a power transmission pole erected thereon, used in a harmful bird and animal control system according to a third embodiment of the present invention. [Figure 17] FIG. 10 is an enlarged perspective view of the essential parts of a harmful bird and animal control system according to a fourth embodiment of the present invention when in use. DETAILED DESCRIPTION OF THE INVENTION

[0076] Hereinafter, an embodiment of the present invention will be described in detail. Here, the harmful bird and animal is a bear, and a magnetic resonance method is adopted as the wireless power supply method. [Example]

[0077] In Figure 1, a bear control system (harmful bird and animal control system) 10 according to Example 1 of the present invention is a system in which a drone 11, an unmanned aerial vehicle for controlling bears (harmful birds and animals), is tethered to a power transmission pole 12 for wireless power supply using a magnetic resonance method and is capable of ascending and descending, and of taking off and landing from this power transmission pole 12. These components will be specifically described below.

[0078] As shown in Figures 1 and 2, the drone 11 is a rotorcraft (quadcopter) with four propellers 13, and can be switched between a radio-controlled mode in which the pilot controls the drone by operating buttons on the transmitter (pilot) S while viewing camera image data displayed on a monitor, and an automatic control mode. The drone's body A has a pole insertion hole (mooring part) 14 drilled in its center, through which the power transmission pole 12 is inserted, and at its bottom are mounted a zoom camera (for both visible light and infrared) 15 that rotates up, down, left, and right, a speaker (avoidance means) 16 that scares off bears, a beam light (avoidance means) 17 that shines a high-intensity beam of light at bears, and a bear repellent spray (avoidance means) 18.

[0079] As shown in the block diagram of Figure 3, this drone 11 has a sensor control logic of an IMU (Inertial Measurement Unit) 19, calculates the attitude, position, and speed based on sensor information, and automatically tracks the target route and target bears. It also has a flight controller 20, a GPS device 46 that grasps the absolute position on the earth (latitude, longitude, altitude), a barometric pressure sensor (absolute altitude) 22 and a distance sensor (altitude above ground) 23 that are used to maintain a stable altitude and measure distances during takeoff and landing, and a GPS device 46 that enables stable flight in places where the GPS device 46 cannot be used, detects obstacles based on camera image data, and measures the characteristics of the ground. The drone 11 is equipped with a vision sensor 24 for reading bear signs and maintaining relative position, a mission computer 25 equipped with a high-performance CPU / GPU and also responsible for processing the use of speakers 16 for scaring off bears, beam lights 17, and bear repellent spray 18, thereby planning and executing each mission, including bear countermeasures, and making real-time decisions using AI, an electronic speed control unit (ESC) 27 for realizing the rotation speed of each rotary motor 26 of the drone 11 specified by the flight controller 20, a communication unit 28 for communicating with transmitters S, etc., and a control unit 29 for controlling these.

[0080] 4, the drone 11 is also equipped with a magnetic resonance type power receiving unit 31 that receives power from a power transmitting unit 30, which will be described later. This power receiving unit 31 has a magnetic field power receiving conversion means 33 that receives a magnetic field from a resonance power transmitting coil 32, which will be described later, and converts it into electric power. This magnetic field power receiving conversion means 33 is provided with a resonance power receiving coil (power receiving coil) 34 that is spirally wound within the portion where the support insertion hole 14 is formed and receives the magnetic field and converts it into electric power, and a power receiving circuit 35 that extracts electric power from the resonance power receiving coil 34. An annular ferrite (magnetic material, not shown) that improves the efficiency of power transmission is arranged in the inner space of this resonance power receiving coil 34. The power received by the power receiving unit 31 is charged into a power receiving battery 101 mounted on the drone 11.

[0081] As shown in Figures 1, 4, and 5, the power transmission pole 12 is a fiber-reinforced plastic pipe consisting of three assembleable and disassembleable partial poles 37. These partial poles 37 are stored in a rectangular storage box (pole installation base) 39 with a lid 39a, along with the drone 11, its control transmitter S, a power transmission battery 38, and a box control unit 29A. The control unit 29A has a GPS function for measuring the current location of the storage box 39 and an Internet connection, and notifies the computer of the local government or administrator managing the bear prevention system of the remaining charge of the power transmission battery 38 via the Internet. When the administrator or administrator notices via the computer that the power transmission battery 38 is low, they replace the power transmission battery 38. In addition, a fixed stand 100 is provided in the center of the bottom plate of the storage box 39 to detachably install the power transmission pole 12.

[0082] Furthermore, the power transmission pole 12 is equipped with a magnetic resonance type power transmission unit 30 that transmits power to the drone 11 using a magnetic field. This power transmission unit 30 has magnetic field emission means 40 that converts power into a magnetic field and emits it into space, and this magnetic field emission means 40 is provided with a resonance power transmission coil (power transmission coil) 32 that is spirally wound around substantially the entire length of the outer periphery of the power transmission pole 12 (including the lifting area of ​​the drone 11) and converts power into a magnetic field, and a power transmission circuit (including an oscillation circuit) 41 that supplies power from a power transmission battery 38 to the resonance power transmission coil 32.

[0083] Partial power transmission coils 42, which are obtained by dividing the resonance power transmission coil 32 into three equal parts in the longitudinal direction, are wound spirally around the outer periphery of each partial support pillar 37 over the entire longitudinal length of the pillar. A spiral ferrite (magnetic material) 36 (around which the partial power transmission coil 42 is wound) is housed in the inner space of each partial power transmission coil 42 in order to improve the efficiency of power transmission. Furthermore, each connecting portion (convex-concave fitting type) 43 of adjacent partial supports 37 is provided with a connection terminal 43a that connects corresponding partial power transmission coils 42. The power transmission circuit 41 is built into the partial support 37 at the lowest level.

[0084] Next, the control unit 29 will be described in detail with reference to the block diagram of FIG. As shown in FIG. 3, the control unit 29 has a central processing unit (CPU) 44 which serves as the brains of the control unit 29. The input port of this central processing unit 44 is connected to a memory unit 45, a camera 15, a GPS device 46, an air pressure sensor 47, a distance sensor (ground sensor) 23, a vision sensor 24, and a communication unit 28.

[0085] Meanwhile, the output port of the central processing unit 44 is connected to a speaker 16, a beam light (searchlight) 17, a solenoid (spray spraying means) 48 that presses the lever of the bear repellent spray 18 to spray the repellent liquid, a flight controller 20, an electronic speed control device 27, an IMU (inertial measurement unit) 19, the rotary motors 26 of each propeller 13, and a mission computer 25.

[0086] 6, the memory unit 45 stores (1) a flight control program 49 for the drone 11, (2) a drone ascent / descent program 50 for raising and lowering the drone 11, (3) a bear detection program (harmful bird and animal detection program, detection means) 51 for detecting bears, (4) a drone takeoff / landing program (mooring release means) 52 for mooring or undemoving the drone 11 to the power transmission pole 12, (5) a bear tracking program (harmful bird and animal tracking program, tracking means) 53 for tracking bears, and (6) a bear avoidance program (harmful bird and animal avoidance program, avoidance means) 54 for avoiding bears. All of these programs are executed by the central processing unit 44.

[0087] As shown in FIG. 7, (1) in the flight control program 49, the flight control program 49 issues a command to the flight controller 20 to acquire the angular velocity and acceleration of the aircraft A from the inertial measurement unit (IMU) 19, and performs noise removal filtering processing (step 101). Thereafter, absolute position information is acquired from the GPS device 46, and relative position information is acquired from the vision sensor 24, and both are integrated using a Kalman filter (fusion algorithm) (step 102). Next, the pressure altitude information is obtained from the pressure sensor 47 and the ground altitude information is obtained from the ground sensor 23, and the two are compared to determine a highly reliable vertical position (step 103).

[0088] Thereafter, the attitude error between the target attitude angle, which is stored in advance in the storage unit 45 and given by the pilot or the autonomous mission, and the current attitude angle estimated in step (101) is calculated (step 104). A PID control law or a nonlinear control law is applied to this calculated attitude error, and a target torque for each axis (roll, pitch, yaw) required to stabilize the attitude is calculated (step 105). Next, the position and speed error between the target position and speed and the current position and speed estimated in step (102) is calculated, and the target thrust required to eliminate this error is calculated (step 106).

[0089] Thereafter, based on the target torque calculated in step (105) and the target thrust calculated in step (106), a motor distribution matrix according to the configuration of the aircraft A (quadcopter) is applied (step 107). The target rotation speed command for each rotary motor 26 obtained as a result of this distribution matrix is ​​converted into an electric signal such as a PWM signal and output to the electronic speed controller (ESC) 27 (step 108).

[0090] As shown in Figure 8, (2) in the automatic ascent and descent of the drone 11 by the drone ascent and descent program 50, the rotation speed (or thrust) of the rotary motor 26 of the propeller 13 arranged on the drone 11 is controlled via the flight controller 20. Specifically, based on the automatic lifting plan stored in advance in the storage unit 45, arrival at the target lifting start point at the top of the power transmission pole 12 is detected from the vision sensor information (or GPS information) (step 201). After the drone 11 reaches the target ascent / descent start point at the bottom of the power transmission pole 12, the current altitude is acquired as the reference altitude from the distance sensor 23 (step 202). Next, an upper limit altitude, which is a predetermined distance above the reference altitude, and a lower limit altitude, which is a predetermined distance below the reference altitude, are calculated (step 203).

[0091] Thereafter, the drone 11 is automatically raised and lowered by controlling the thrust of the rotary motor 26 based on the set elevation speed until it reaches either the upper limit altitude or the lower limit altitude (step 204). That is, when the upper limit altitude is reached, the target altitude is switched to the lower limit altitude, and when the lower limit altitude is reached, the target altitude is switched to the upper limit altitude, and the control of step 204 is repeated. This allows the drone 11 to continuously raise and lower automatically within a predetermined range along the power transmission pole 12.

[0092] As shown in Figure 9, (3) in the bear detection program 51, the bear detection program 51 instructs the mission computer 25 to use the camera 15 mounted on the drone 11 to acquire image data at a predetermined shooting frequency (step 301). The acquired image data is subjected to preprocessing such as noise removal, brightness correction, or extraction of a region of interest (ROI) (step 302). The acquired image data, the absolute position information of the drone 11 obtained from the GPS device 46, and the attitude information of the aircraft A obtained from the IMU 19 are stored in the memory unit 45 in association with each other (step 303).

[0093] Then, a deep learning model (e.g., CNN) or pattern recognition algorithm that has been trained and stored in memory unit 45 is applied to the preprocessed image data to detect the presence or absence of shapes and movements characteristic of bears (step 304). The bear (including its species) is identified by determining whether the detected bear is included in a preset list of harmful birds and animals, including bears (step 305).

[0094] Next, based on the position of the detected bear on the image, the relative distance from the drone 11 is calculated by triangulation or integration with laser ranging data (step 306). Thereafter, the type of bear identified in step (305), the relative distance calculated in step (306), and the absolute position information associated in step (303) are stored in the memory unit 45 as detection result data (step 307).

[0095] As shown in FIG. 10, (4) Next, the drone takeoff and landing program 52 will be described. When the drone 11 is moored, the drone takeoff and landing program 52 issues a mooring command to the mission computer 25, and the flight controller 20 of the drone 11 controls the flight to move the drone 11 to a predetermined waiting position above the power transmission pole 12 based on GPS information and vision sensor information (step 401).

[0096] Thereafter, from this standby position, the thrust of each rotary motor 26 is gradually reduced by command from the flight controller 20 based on a guidance target for aligning the support insertion hole 14 of the drone 11 with the support tip, which has been stored in advance in the memory unit 45. As a result, the drone 11 descends vertically, the support tip is inserted into the support insertion hole 14, and the drone 11 finally reaches the target ascent / descent start point (step 402). Next, the drone 11 is automatically raised and lowered along the power transmission pole 12 according to the drone raising and lowering program 50 described above (step 403).

[0097] On the other hand, when the drone 11 is released from its mooring, the flight controller 20 gradually increases the thrust of each rotary motor 26 in response to a mooring release command from the drone takeoff and landing program 52, causing the aircraft A to rise vertically until it detects from the vision sensor information that the pole insertion hole 14 of the drone 11 has detached from the tip of the power transmission pole 12 (step 404). After detecting the removal of the support insertion hole 14 from the vision sensor information, the drone 11 transitions to a normal flight mode for executing a predetermined flight mission (step 405).

[0098] Next, (5) Bear Tracking Program 53 will be described as shown in FIG. That is, the bear detection program 51 issues a command to the mission computer 25 to apply a pre-trained deep learning model (e.g., YOLO) to the image data acquired from the camera 15 of the drone 11, and detect the bear area in the image (step 501).

[0099] The position of the detected bear area is integrated with data from the distance sensor (LiDAR) 23 mounted on the drone 11 and the attitude information of the IMU 19 to calculate the bear's relative position (distance and direction) to the drone 11 (step 502). The relative position calculated here is combined with the absolute position of the drone 11 obtained by GPS to estimate the bear's absolute position (latitude, longitude, altitude) and store it in the memory unit 45 (step 503).

[0100] Next, the current movement velocity vector of the bear is calculated from the amount of displacement between the absolute position of the bear estimated here and the position estimated in the immediately preceding frame (step 504). Then, based on the calculated movement velocity vector, the target position of the drone 11 required for the drone 11 to maintain a constant tracking distance (safety distance) is calculated and updated at predetermined time intervals (step 505). Thereafter, if there is pre-set obstacle information (terrain, trees, etc.) between the drone 11 and the bear, a detour target position to avoid heading straight towards the bear is set as an alternative target (step 506).

[0101] Then, based on the position error between the target position of the drone 11 determined in step (505) or step (506) and the current position of the drone 11, a target speed is calculated for the flight controller 20 (step 507). The calculated target velocity command is sent to the position / velocity control module of the flight controller 20, which generates thrust from each rotary motor 26 to move the drone 11 to the target position (step 508).

[0102] Next, as shown in FIG. 12, (6) Bear Repelling Program 54 will be described. That is, first, the bear avoidance program 54 instructs the mission computer 25 to determine the alert level (low, medium, or high) based on the distance between the drone 11 and the bear identified by the bear tracking program 53 (step 601).

[0103] After that, bear repellents are implemented according to each alert level. That is, if a bear is at a distance (e.g., 50 m or more) where the alert level is low, a warning sound or a human voice is emitted from the speaker 16 in response to a command from the mission computer 25 (step 602). This is a preventative threat to alert the bear to the presence of a human and encourage it to voluntarily retreat.

[0104] When a bear approaches within a medium distance (e.g., 20 to 50 m) of the alert level, the mission computer 25 commands the light beam 17 to shine on the bear's eyes. At the same time, the volume and pattern of the speaker 16 are changed to psychologically and visually suppress the bear's behavior and prevent it from approaching any further (step 603). The color (e.g., red or blue) and blinking frequency of the light emitted from the light beam 17 are changed randomly to prevent the bear from becoming accustomed to the light.

[0105] If the bear still does not retreat and approaches within a close distance (for example, within 20 m) at a high alert level, as shown in Figure 13, the drone takeoff and landing program 52 releases the drone 11 from the power transmission pole 12, and then the bear is tracked using the bear tracking program 53 while bear repellent spray 18 is sprayed at the bear based on the bear repellent program 54 (step 604).

[0106] Next, a bear countermeasure method (harmful bird and animal countermeasure method) using the bear countermeasure system 10 according to the first embodiment of the present invention will be described with reference to FIGS. As shown in Figure 1, first, if you receive a report of a bear sighting, carry the storage box 39 to the area where the bear is seen. Here, the three partial supports 37 removed from the storage box 39 are sequentially linked together while connecting the connection terminals 43 to assemble the power transmission support 12. The obtained power transmission support 12 is erected in the center of the bottom plate of the storage box 39 using a stand 100 (not shown), and the power transmission circuit 41 of the power transmission support 12 is connected to the power transmission battery 38.

[0107] Thereafter, the pilot operates the drone 11 while watching the monitor of the transmitter S, and moors the drone 11 to the power transmission pole 12. Specifically, the pilot moves the drone 11 to directly above the power transmission pole 12, and then gradually lowers the drone 11. As a result, the pole insertion hole 14 of the drone 11 is inserted into the tip of the pole, and the drone 11 finally reaches the target start point of ascent and descent.

[0108] On the other hand, as shown in Fig. 10, the drone 11 can also be moored by automatic piloting. In this case, the drone takeoff and landing program 52 issues a mooring command to the mission computer 25, and the flight controller 20 controls the flight to move the drone 11 to a predetermined waiting position above the power transmission pole 12 based on vision sensor information (or GPS information) (step 401).

[0109] Thereafter, from this standby position, the flight controller 20 gradually reduces the thrust of each rotary motor 26 based on a guidance target for aligning the pole insertion hole 14 of the drone 11 with the pole tip, which has been stored in advance in the memory unit 45 (step 402). As a result, the drone 11 descends vertically, the pole tip is inserted into the pole insertion hole 14, and the drone 11 reaches the target ascent / descent start point. In this way, the drone 11 is automatically moored to the power transmission pole 12 (step 403).

[0110] Thereafter, for example, the operator controls the tethered drone 11 to ascend and descend along the power transmission pole 12, thereby repelling bears by the movement and flying sound of the drone 11. Note that the drone 11 may be automatically ascended and descended by the drone ascending and descending program 50.

[0111] Hereinafter, the automatic ascent and descent by the drone ascent and descent program 50 will be described with reference to FIG. First, the drone ascent / descent program 50 issues a command to the mission computer 25 to detect the arrival of the drone 11 at the target ascent / descent start point from vision sensor information (or GPS information) (step 201). After the drone 11 reaches the target ascent / descent start point, the current altitude is acquired as the reference altitude from the distance sensor 23 (step 202). An upper limit altitude, which is a predetermined distance above the reference altitude, and a lower limit altitude, which is a predetermined distance below the reference altitude, are calculated (step 203).

[0112] Next, the thrust of each rotary motor 26 is controlled based on the set ascent / descent speed to automatically raise and lower the drone A until the drone 11 reaches either the upper limit altitude or the lower limit altitude (step 204). Here, if the upper limit altitude is reached, the target altitude is switched to the lower limit altitude, and if the lower limit altitude is reached, the target altitude is switched to the upper limit altitude, and the control of step 204 is repeated. This allows the drone 11 to automatically ascend and descend continuously within a predetermined range along the power transmission pole 12. When the drone 11 ascends or descends, the drone 11 may rotate around the power transmission pole 12 because the body A is inserted (loosely inserted) into the power transmission pole 12 via the pole insertion hole 14. This increases the bear repellent effect and widens the bear monitoring range of the camera 15.

[0113] In addition, while the drone 11 is ascending or descending, wireless power supply to the drone 11 is performed using a magnetic field resonance method. Next, this wireless power supply will be described with reference to FIG. That is, in the power transmission pole 12, the power transmission circuit (oscillating circuit) 41 receives power from the power transmission battery 38, generates a high-frequency alternating current, and supplies this to the resonance power transmission coil 32. The resonance power transmission coil 32 vibrates at a specific resonance frequency determined by the coil shape, capacitor, etc., and emits a magnetic field corresponding to that frequency into the surroundings.

[0114] The emitted magnetic field then reaches the resonant power receiving coil 34 of the drone 11. Because the resonant power receiving coil 34 is set at approximately the same resonance frequency as the resonant power transmitting coil 32, it receives the magnetic field energy from the power transmitting side and generates an induced electromotive force in the resonant power receiving coil 34 due to the magnetic field resonance phenomenon, causing a high-frequency AC current to flow. The high-frequency AC power induced in the resonant power receiving coil 34 is then sent to the power receiving circuit (rectifier circuit) 35, where it is converted into DC power that can be used by the drone 11 and supplied to the battery of the drone 11.

[0115] Also, as shown in Figure 9, while the drone 11 is ascending or descending, automatic bear detection is also performed by the bear detection program 51. That is, in response to a command from the bear detection program 51 to the mission computer 25, the camera 15 mounted on the drone 11 during ascent and descent is used to acquire image data at a predetermined photographing frequency (step 301). The acquired image data is subjected to preprocessing such as noise removal, brightness correction, or region of interest (ROI) extraction (step 302). The acquired image data, the absolute position information of the drone 11 obtained from the GPS device 46, and the attitude information of the aircraft A obtained from the IMU 19 are stored in the memory unit 45 in association with each other (step 303).

[0116] Then, a deep learning model (e.g., a convolutional neural network (CNN) or a pattern recognition algorithm) that has been trained and stored in memory unit 45 is applied to the pre-processed image data to detect the presence or absence of shapes and movements characteristic of bears (step 304). Here, it is determined whether or not the image photographed by the camera 15 is included in a preset list of harmful birds and animals including bears, and the bear (including the species) is identified (step 305).

[0117] Based on the position of the bear detected in this way on the image, the relative distance from the drone 11 is calculated by triangulation or integration with laser ranging data (step 306). Next, the type of bear identified in step (305), the relative distance calculated in step (306), and the absolute position information associated in step (303) are stored in the memory unit 45 as detection result data (step 307).

[0118] After a bear is spotted, as shown in Figure 12, bear repellent measures are taken based on the bear repellent program 54 using the speaker 16, beam light 17, and bear repellent spray 18 (note that the threatening sound from the speaker 16 and the illumination of the beam light 17 on the surrounding area may also be performed while the drone 11 is ascending or descending).

[0119] In this bear repellent program 54, first, the alert level (low, medium, or high) is determined based on the distance to the identified bear (step 601). If the result of the determination is that a bear is at a distance (for example, 50 m or more) where the alert level is low (this may include cases where the bear has not been confirmed), then in response to a command from mission computer 25, loud, sudden sounds (about 130 decibels) are emitted from speaker 16, such as sounds of a specific frequency (100 Hz to 130 Hz) that bears instinctively dislike, or the sounds of human voices, firecrackers, or the howls of natural enemies (tigers, wolves) (step 602). This is a preventative threat to alert the bear to the presence of humans and encourage it to retreat voluntarily.

[0120] Thereafter, if the bear approaches within a medium distance (e.g., 20 to 50 m) of the alert level, a command from the mission computer 25 is issued to shine a high-intensity beam light 17 toward the bear's eyes. At the same time, the volume and pattern of the speaker 16 are changed to psychologically and visually suppress the bear's behavior and prevent it from approaching any further (step 603). The color (e.g., red or blue) and blinking frequency of the light emitted from the beam light 17 are changed randomly to prevent the bear from becoming accustomed to the light.

[0121] If the bear still does not retreat and approaches within a close distance (for example, within 20 m) at a high alert level, the drone 11 is released from its tether from the power transmission pole 12 by the drone takeoff and landing program 52 as shown in Figure 10, and then the bear is tracked by the bear tracking program 53 as shown in Figure 11, while the bear repellent spray 18 is sprayed at the bear based on the bear repellent program 54 as shown in Figures 12 and 13 (step 604). These steps will be explained in order below.

[0122] First, as shown in FIG. 10, the release of the drone 11 from its mooring will be described. That is, when a command to release the mooring is issued from the drone takeoff and landing program 52, the flight controller 20 gradually increases the thrust of each rotary motor 26, causing the aircraft A to rise vertically until it detects from the vision sensor information that the support insertion hole 14 of the drone 11 has detached from the tip of the power transmission pole 12 (step 404). Finally, by detecting that the support insertion hole 14 has detached from the tip of the pole, the release of the drone 11 from the pole is confirmed (step 405).

[0123] Next, after detecting the removal of the support post insertion hole 14 from the vision sensor information, the bear is tracked by the bear tracking program 53 as shown in FIG. Specifically, the bear tracking program 53 issues a command to the mission computer 25 to apply a pre-trained deep learning model (e.g., YOLO) to the image data acquired from the camera 15 to detect the bear area in the image (step 501).

[0124] Then, the position of the detected bear area is combined with the data from the distance sensor (LiDAR) 23 mounted on the drone 11 and the attitude information from the IMU 19 to calculate the bear's relative position (distance and direction) to the drone 11 (step 502).The relative position calculated here is then combined with the absolute position of the drone 11 obtained by GPS to estimate the bear's absolute position (latitude, longitude, altitude) and store it in the memory unit 45 (step 503).

[0125] Next, the current movement speed vector of the bear is calculated from the amount of displacement between the absolute position of the bear estimated here and the position estimated in the immediately preceding frame (step 504).After that, based on the calculated movement speed vector, the target position of the drone 11 required for the drone 11 to maintain a certain tracking distance (safe distance) is calculated and updated at predetermined time intervals (step 505). Thereafter, if there is pre-set obstacle information (terrain, trees, etc.) between the drone 11 and the bear, a detour target position to avoid heading straight towards the bear is set as an alternative target (step 506).

[0126] Next, a target velocity command is calculated for the flight controller 20 based on the position error between the target position of the drone 11 determined in step (505) or step (506) and the current position of the drone 11 (step 507). The calculated target speed command is sent to the position and speed control module of the flight controller 20, which generates thrust from each rotary motor 26 to move the drone 11 to the target position, thereby automatically tracking the bear (step 508).

[0127] Next, a bear repellent mission with a high alert level according to the bear repellent program 54 using the bear repellent spray 18 during this automatic tracking will be described as shown in FIGS. In other words, the drone 11 continues to measure the relative distance to the bear in real time based on image data from the onboard camera 15, and if the distance to the bear falls below a preset final defense distance (e.g., 3 m), or if the deep learning model (CNN) analyzes the bear's posture and movements (e.g., lowering its head, signs of an imminent charge) and confirms aggressive behavior, the solenoid 48 presses the lever of the bear repellent spray 18 based on a spray command from the bear repellent program 54 to the mission computer 25, causing the solenoid 48 to spray a repellent containing capsaicin into the bear's face (step 604).

[0128] Immediately after spraying, the flight controller 20 of the drone 11 automatically ascends the drone 11 at full speed in order to move the drone 11 out of the bear's attack range before the effect of the spray wears off. The time of spraying, the absolute position of the drone 11, the relative distance to the bear, and the video data taken by the camera 15 before and after spraying are then stored in the memory unit 45 as a bear prevention record.

[0129] After the bear has retreated into the forest due to these bear control measures, the drone 11 returns to the power transmission pole 12 by a predetermined drone return mission of the bear tracking program 53, and is again moored to the power transmission pole 12 by a mooring mission of the drone takeoff and landing program 52, and repeats ascending and descending along the power transmission pole 12 by the drone ascent and descent program 50. Alternatively, after the drone 11 returns to the power transmission pole 12, the operator goes to the site, disassembles the power transmission pole 12, stores it together with the drone 11 in a storage box 39, and takes it home.

[0130] In this way, with the bear prevention system 10 of the present invention, simply erecting the power transmission pole 12 in bear-spotting areas allows the drone 11 tethered to the power transmission pole 12 to use the power transmission pole 12 as a guide to ascend and descend while monitoring and repelling (threatening) bears, while simultaneously charging via wireless power supply, without being swept away by bad weather such as strong winds or heavy rain. This ensures the safety of the operator (worker) and enables continuous bear prevention measures at low cost. Furthermore, when necessary, the drone 11 can be released from its tether to the power transmission pole 12 to patrol and track the bear, safely driving the bear back into the forest.

[0131] In addition, here, the drone 11 is moored to the power transmission pole 12 by inserting the pole insertion hole 14 of the aircraft A into the power transmission pole 12 from above, so compared to cases where the drone 11 is moored using various automatic mooring mechanisms (clamps, locks, etc.), the number of parts in the bear prevention system 10 can be reduced, and the weight and cost can be reduced, while high durability and reliability can be achieved.

[0132] Furthermore, by disposing ferrite 36 in the space inside resonant power transmitting coil 32, the magnetic flux linkage from resonant power transmitting coil 32 can be efficiently concentrated and sent to resonant power receiving coil 34. This increases the magnetic flux linkage penetrating resonant power receiving coil 34, raising the coupling coefficient between the coils and generating a larger induced electromotive force in resonant power receiving coil 34 based on Faraday's law of electromagnetic induction, thereby improving power transmission efficiency.

[0133] Furthermore, the drone 11 is equipped with a camera 15, a speaker 16 for repelling bears, a beam light 17, and a solenoid 48 for a bear repellent spray 18, a bear repellent program (repelling means) 54, a bear detection program (detection means) 51 for detecting bears from image data from the camera 15, a drone takeoff and landing program (untethering means) 52 for releasing the drone 11 from its tethered state to the power transmission pole 12 after detecting a bear, a bear tracking program (tracking means) 53 for using the camera 15 to track the bear with the drone 11 after releasing the tethered state of the drone 11, and a control unit 29 for controlling these.

[0134] Therefore, while the drone 11 is automatically ascending and descending while being wirelessly powered in a tethered state, the camera 15 can monitor bear infestation areas and detect bears in real time, even while bear repelling measures are being implemented due to the sounds of the drone 11 ascending and descending and the movements of the drone 11. This makes it possible to carry out fixed-point monitoring for long periods of time without draining the battery of the drone 11.

[0135] Furthermore, after a bear is detected, the drone takeoff and landing program 52 quickly releases the tethered state of the drone 11, making the drone 11 ready to fly. This ensures a high level of responsiveness to the appearance of a bear. Furthermore, after the bear is released from the tether, the bear is tracked by the drone 11 using image data from the camera 15 in accordance with the bear tracking program 53. This improves the accuracy of bear tracking compared to simply using the fixed camera 15.

[0136] In addition, during or after tracking a bear, the speaker 16, beam light 17, and bear repellent spray 18 mounted on the drone 11 can be activated by the bear repellent program 54, thereby effectively excluding bears from areas where they are likely to appear. In other words, by combining long-term stable monitoring by tethering the drone 11 to the power transmission pole 12 with bear detection, rapid bear tracking after the drone 11 is untethered, and bear avoidance, the reliability and effectiveness of bear damage prevention measures using the drone 11 can be dramatically improved.

[0137] Furthermore, the power transmission pole 12 can be compactly disassembled into three partial poles 37, increasing the portability of the bear prevention system 10. Furthermore, when installing the power transmission pole 12 on-site, the required height can be easily and quickly assembled by simply connecting the three partial poles 37 in sequence. Of course, connecting four or more partial poles 37 enables stable bear monitoring at higher altitudes. Furthermore, because the storage box 39 is used as the support pole installation base, the three partial supports 37, the drone 11, and the transmitter S can be stored in the storage box 39, allowing all components of the bear prevention system 10 to be managed and transported together. This prevents parts from being lost and makes it easy to move the bear prevention system 10 or transport it between sites. This is particularly useful when the monitoring location needs to be changed frequently depending on the bear damage situation.

[0138] Furthermore, after detecting a bear, the drone 11 can immediately be released from its tether to the power transmission pole 12 and launched, preventing delays in initial bear countermeasure actions. Furthermore, once released from its tethered state, the drone 11 can use its high maneuverability (flight capability) to accurately capture and track the bear with the camera 15, regardless of the bear's escape route. In other words, because it can move freely without relying on the power transmission pole 12, it is difficult to lose sight of the bear even in environments such as mountain forests with many obstacles and three-dimensional structures.

[0139] Furthermore, the onboard camera 15 can be used to visually identify detected bears (including through video analysis and AI recognition) and understand their behavioral patterns and precise location. This makes it possible to take countermeasures based not only on detection signals but also on visual information (e.g., scaring people off, issuing instructions to spray bear repellent spray 18 in specific locations, etc.), thereby increasing the accuracy of countermeasures. In addition, by recording camera image data during tracking in the memory unit 45 of the control unit 29, important data such as the bear's entry route, habitat, and activity times can be collected and used as valuable evidence for future permanent bear control plans. Even in the case of Example 1, if a stopper pin that protrudes and retracts to the side of the pole is provided at the tip of the power transmission pole 12 by an actuator such as a small solenoid (not shown), even if the system is such that the drone 11 is inserted into the tip of the pole through the pole insertion hole 14, then in strong winds, for example, the small solenoid can be activated to cause the stopper pin to protrude to the side of the pole beyond the pole insertion hole 14, and there will be no risk of the drone 11 being blown away from the power transmission pole 12 by wind and rain.

[0140] Next, a bear countermeasure system (harmful bird and animal countermeasure system) and a bear countermeasure method (harmful bird and animal countermeasure method) according to a second embodiment of the present invention will be described with reference to FIG. As shown in Figure 14, the bear prevention system 10A of Example 2 replaces the mooring part of Example 1, the "pole insertion hole 14 of the aircraft A1," with a pole insertion part (mooring part) 71 that is provided at the tip of a pole arm 70 that is connected to the front of the aircraft A1 and extends forward, and into whose inner space a power transmission pole 12 is inserted.

[0141] This pole insertion portion 71 employs an automatic opening / closing hook (hanging structure) 72 that automatically opens and closes a pair of left and right hooks 72a using a small electric motor or small solenoid (not shown) so that it can be attached and detached from the side of the power transmission pole 12. Furthermore, the resonant power transmitting coil 32A, which is wound in a generally spiral shape while folding back in a U shape inside the tip of each hook 72a, is housed inside the support insertion portion 71. Furthermore, a generally annular ferrite (not shown) is housed in the inner space of the resonant power transmitting coil 32A.

[0142] In this way, when the drone 11A is moored, the drone 11A is moored to the power transmission pole 12 so that it can ascend and descend via the pole insertion portion 71 at the tip of the pole arm 70. Therefore, by simply connecting the pole arm 70 with the pole insertion portion 71 to an existing drone 11A, a commercially available drone 11A can be easily and inexpensively improved into the drone 11A of the present invention.

[0143] Furthermore, during the mooring operation of the drone 11A, the arm structure of the support arm 70 absorbs and mitigates the physical impact and friction that occurs when the support insertion portion 71 of the drone 11A comes into contact with the power transmission support pole 12. This makes it possible to suppress direct damage and wear to the airframe A1 when the support insertion portion 71 collides with the power transmission support pole 12.

[0144] Furthermore, because the pole insertion section 71 here employs an automatic opening / closing hook 72 that can be attached to and detached from the power transmission pole 12 from the side, when mooring the drone 11A, there is no need for the vertical precision imposed on the descending drone 11 in Example 1. Moreover, when mooring the drone 11A, after the drone 11A approaches the power transmission pole 12 and the pole arm 70 reaches a predetermined height, the drone 11A can be moored to the power transmission pole 12 simply by moving the airframe A slightly to the side. This simplifies the mooring work of the drone 11A.

[0145] Furthermore, when the drone 11A is moored and undone to the power transmission pole 12 from the side of the power transmission pole 12 via the pole insertion portion 71 in this manner, if a stopper 12A is attached to the tip of the power transmission pole 12, for example, there is no risk of the moored drone 11A coming loose from the tip of the power transmission pole 12, even during extremely strong winds such as a typhoon. Other configurations, actions, and effects can be inferred from the first embodiment, and therefore will not be described.

[0146] Next, a bear countermeasure system (harmful bird and animal countermeasure system) and a bear countermeasure method (harmful bird and animal countermeasure method) according to a third embodiment of the present invention will be described with reference to FIGS. As shown in Figure 15, the bear countermeasure system 10B and bear countermeasure method of Example 3 are characterized in that multiple power transmission poles 12 are set up, for example, at intervals of several hundred meters, using storage boxes 39 carried around in multiple locations where bears may be seen (hot spots, buffer zones, etc.), allowing a single drone 11 (or a number of drones 11 fewer than the number of power transmission poles 12) to patrol and monitor a wide area of ​​a bear-infested area. This makes it possible to take measures against bears in vast bear-infested areas that cannot be covered by a single base, or in widespread urban areas, using small, inexpensive drones, without using large, expensive drones such as industrial drones.

[0147] Furthermore, because this bear control system 10B employs an autopilot drone 11, it is possible, for example, to autonomously move to the next power transmission pole 12 after completing monitoring and countermeasures at one power transmission pole 12 and moor the drone 11. This allows the bear control system 10B to function as a wide-area mobile monitoring network, enabling efficient area patrols. Furthermore, when the drone 11 is moored to one of the power transmission poles 12, wireless power is supplied from the power transmission pole 12, so the drone 11 does not have to worry about running out of battery power even after moving to another power transmission pole 12, making it possible to continue operating while changing mooring locations.

[0148] 16, a fixed-point monitoring unit 39A having deterrent means such as a zoom-type small camera (visible light, infrared) 39b, a small searchlight 39c, and a small speaker 39d is disposed on the side of the storage box 39. These are controlled by the box control unit 29A. Even if a bear approaches a power transmission pole 12 to which the drone 11 is not moored, the bear can be detected by a bear detection program 51 stored in a box memory unit (not shown) based on camera image data from the small camera 39b.

[0149] If a bear is spotted, bear repellent measures are taken as necessary using a small searchlight 39c and a small speaker 39d, and a notification of the bear sighting, along with the GPS location information of the storage box 39, is sent via the Internet to the drone 11 and the computer of the administrator of the bear prevention system 10B.

[0150] Upon receiving the notification, the drone 11 moves to the discovered storage box 39 based on the GPS location information and patrols the surrounding area to track and repel the bear. The fixed point monitoring unit 39A described above may be arranged at the tip of the power transmission pole 12 (including the stopper 12A in Figure 14) with a structure and size that does not interfere with mooring and undocking of the drone 11. Other configurations, actions, and effects can be inferred from the first embodiment, and therefore will not be described.

[0151] Next, a bear countermeasure system (harmful bird and animal countermeasure system) and a bear countermeasure method (harmful bird and animal countermeasure method) according to a fourth embodiment of the present invention will be described with reference to FIG. As shown in Fig. 17, a feature of the bear countermeasure system 10C and bear countermeasure method of Example 4 is that multiple drones 11 are simultaneously tethered to a single power transmission pole 12. This allows for cooperative operation in which bear countermeasure roles are shared, for example, one drone 11 scares off and tracks bears, while another drone 11 monitors whether there are any other bears remaining in the vicinity. This improves the accuracy and efficiency of bear countermeasures. In addition, by having multiple drones 11 take turns operating, one drone 11 can be rested while the other drones 11 continue to repel and track bears uninterrupted during necessary times (such as at night).

[0152] Furthermore, by having multiple drones 11 share the infrastructure of a single power transmission pole 12, there is no need to install a power transmission pole (including conventional individual power supply stations and mooring equipment) 12 for each drone 11, which reduces the installation costs and site area required for the entire bear prevention system 10C. Furthermore, when tethered, multiple drones 11 are held in a fixed position along a single power transmission pole 12, making maintenance and inspection work on the drones 11 and power transmission pole 12 easier. Other configurations, actions, and effects can be inferred from the first embodiment, and therefore will not be described. [Industrial Applicability]

[0153] This invention is useful as a technology for a drone-based bear prevention system to alert people to emergencies within their homes. [Explanation of symbols]

[0154] 10, 10A, 10B, 10C Bear control system (harmful bird and animal control system) 11,11A Drone 12 Power transmission poles 14 Support hole (mooring section) 15 Camera 16 Speaker (avoidance measure) 17 Beam Light (Repellent) 18 Bear spray (repellent) 29 Control Unit 30 Power Transmission Unit 32,32A Resonant power transmission coil 34 Resonant receiving coil 35 Receiving circuit 33 Magnetic field receiving and converting means 31 Power receiving unit 36 Ferrite (magnetic material) 37 Partial brace 39 Storage box (support base) 40 Magnetic field emission means 41 Power transmission circuit 51 Bear detection program (harmful bird and animal detection program, detection method) 52 Drone takeoff and landing program (mooring release method) 53 Bear Tracking Program (Tracking Method) 54 Bear Repellent Program (Repellent Measures) 71 Support insertion part (mooring part) 72 Automatic opening and closing hook (hook structure) A, A1 aircraft

Claims

1. A harmful bird and animal control system in which a drone, an unmanned aerial vehicle for controlling harmful birds and animals including bears, is tethered to a power transmission pole for wireless power supply including an electromagnetic induction method and a magnetic field resonance method, and is capable of ascending and descending from the power transmission pole, The drone or the power transmission pole is provided with a mooring section that moors the drone to the power transmission pole so that the drone can ascend and descend; The power transmission pole is erected in an area where harmful birds and animals appear, and is equipped with a power transmission unit that transmits power to the drone using a magnetic field, the power transmission unit has magnetic field emission means for converting electric power into a magnetic field and emitting the magnetic field into space; the magnetic field emission means includes a power transmission coil that is provided in an area of ​​the outer periphery of the power transmission pole where the drone ascends and descends, and that converts electric power into a magnetic field; and a power transmission circuit that supplies electric power to the power transmission coil, the drone includes a power receiving unit that receives power supplied from the power transmitting unit, the power receiving unit has a magnetic field receiving / power converting means that receives a magnetic field from the power transmitting coil and converts it into electric power, the magnetic field receiving / power converting means includes a power receiving coil that receives the magnetic field and converts it into electric power, and a power receiving circuit that extracts electric power from the power receiving coil; The drone comprises a camera, a means for repelling the harmful birds and animals, a detection means for detecting the harmful birds and animals from image data of the camera, a mooring release means for releasing the drone from its tethered state to the power transmission pole, a tracking means for using the camera to track the harmful birds and animals by the drone after the tethered state of the drone is released, and a control unit for controlling these means; The control unit is configured to monitor and intimidate harmful birds and animals by repeatedly raising and lowering the drone along the power transmission pole while receiving wireless power from the power transmission pole while the drone is tethered to the power transmission pole, and when the detection means detects the harmful bird or animal, activate the untethering means to release the drone from its tethered state to the power transmission pole, and then activate the tracking means to track the harmful bird or animal.

2. The mooring portion is a pole insertion hole formed by vertically penetrating the body of the drone and through which the power transmission pole is inserted, the power receiving coil is provided around a portion of the aircraft body where a support pillar insertion hole is formed, The harmful bird and animal control system described in claim 1, characterized in that the drone is tethered to the power transmission pole so that it can be raised and lowered through the pole insertion hole.

3. The mooring portion is a pole insertion portion provided at the tip of a pole arm connected to the drone body, and into whose inner space the power transmission pole is inserted, The power receiving coil is provided around the support pole insertion portion, The harmful bird and animal control system described in claim 1, characterized in that the drone is tethered to the power transmission pole via the pole insertion portion so that it can be raised and lowered.

4. 4. The harmful bird and animal control system according to claim 3, wherein the pole insertion portion has a hook structure that can be attached to and detached from the side of the power transmission pole.

5. 2. The harmful bird and animal control system according to claim 1, wherein the power transmission unit is housed in an inner space of the power transmission coil and has a magnetic material that improves the efficiency of power transmission.

6. The harmful bird and animal control system described in claim 1, characterized in that the power transmission pole is made up of multiple partial poles connected together in an assembly / disassembly manner, and is erected on a portable pole installation base that includes a storage box for storing at least one of the multiple partial poles and the drone.

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