Flying robot

Abstract

To provide a flying robot for reliably preventing a garbage littering damage by crows without harming humans.SOLUTION: A flying robot 101 is so configured that when recognizing crows 701 flying to a garbage dump based on an image taken by a camera mounted on an unmanned aerial vehicle flying by autopilot, the flying robot flies to approach the crows. The flying robot can thus effectively scare away the crows 701 without harming humans, and reliably prevent a garbage littering damage by the crows 701.SELECTED DRAWING: Figure 8

Description

【Technical Field】 【0001】 This invention relates to a flying robot for monitoring garbage collection sites and the like, a control program for the flying robot, and a control method for the flying robot. 【Background Art】 【0002】 Conventionally, there have been problems such as crows scattering garbage such as leftover food left by humans, spreading the garbage across the entire road width, damaging the aesthetics, and hindering garbage collection. In addition, because crows are highly convenient for eating garbage, they nest near garbage collection sites, that is, near urban areas such as busy streets and residential areas, to raise chicks. Therefore, there are problems such as intimidating or attacking humans passing near the nest during the breeding season. 【0003】 In order to solve such problems caused by crows, there have conventionally been various technologies for preventing the scattering damage of garbage by crows. Specifically, conventionally, for example, there has been a technology of covering the garbage with a net that is difficult for crows to visually recognize or a weighted plastic bucket (see, for example, Patent Documents 1 and 2 below). Also, specifically, conventionally, for example, there has been a technology of detecting the approach of a target to be repelled such as a crow using an infrared sensor and intimidating it by generating an explosion sound when the target to be repelled approaches (see, for example, Patent Document 3 below). 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Utility Model Registration No. 3228895 Gazette 【Patent Document 2】 Utility Model Registration No. 3226773 Gazette 【Patent Document 3】 Japanese Unexamined Patent Application Publication No. 2016-73266 【Patent Document 4】 Japanese Unexamined Patent Application Publication No. 2019-62743 【Patent Document 5】 Japanese Patent Publication No. 2020-92643 [Overview of the project] [Problems that the invention aims to solve] 【0005】 However, conventional technologies such as those described in Patent Documents 1 and 2 above, while temporarily suppressing the damage caused by litter scattering by covering the garbage with nets, had the problem that crows, with their high intelligence and learning ability, would eventually pull the garbage out through gaps in the nets. Furthermore, there were limitations to preventing the damage caused by litter scattering through covering the garbage, due to reasons on the part of the person who discards the garbage, such as not adequately covering the garbage to avoid touching the nets. 【0006】 Furthermore, conventional technologies such as the one described in Patent Document 3 above are difficult to install in urban areas because infrared sensors react even when a person approaches. If installed in an urban area, there are problems such as unintentionally startling people who approach or causing frequent explosion noises in urban areas. 【0007】 This invention aims to provide a control program and a control method for a flying robot that can reliably prevent damage from crows scattering garbage without harming humans, in order to solve the problems of the prior art described above. [Means for solving the problem] 【0008】 To solve the above-mentioned problems and achieve the objective, the flying robot according to this invention comprises an unmanned aerial vehicle that flies by automatic piloting, and a camera mounted on the unmanned aerial vehicle, The system is characterized by recognizing an object based on images captured by the camera and then flying in a manner that approaches that object. 【0009】 Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the camera captures images within a predetermined range. 【0010】 Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined range is a pre-set garbage collection area. 【0011】 Furthermore, the flying robot according to this invention is characterized in that, after flying to approach the object, it returns to a station installed within or near the predetermined range. 【0012】 Furthermore, the flying robot according to this invention is characterized in that it flies within the predetermined range at a speed less than or equal to the set speed. 【0013】 Furthermore, the flying robot according to this invention is characterized in that it hovers at any position within the predetermined range described above. 【0014】 Furthermore, the flying robot according to this invention is characterized in that it flies up and down at any position within the predetermined range described above. 【0015】 Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies to approach the object. 【0016】 Furthermore, the flying robot according to this invention is characterized in that, in the above invention, it outputs the predetermined sound from the speaker to the target object. 【0017】 Furthermore, the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0018】 In addition, the flying robot according to this invention is characterized in that, in the above invention, the predetermined voice is a recorded gunfire sound or a synthetic voice imitating a gunfire sound. 【0019】 In addition, the flying robot according to this invention is characterized in that, in the above invention, the predetermined voice is a recorded barking sound of a dog or a synthetic voice imitating a barking sound of a dog. 【0020】 In addition, the flying robot according to this invention is characterized in that, in the above invention, the predetermined voice is a voice obtained by recording the sound made by a crow that has been attacked, a crow that is vigilant, or a frightened crow, or a synthetic voice imitating these voices. 【0021】 In addition, the flying robot according to this invention is characterized in that, in the above invention, it includes a light source mounted on the unmanned aircraft, and when an object is recognized based on an image captured by the camera, the light source emits light and the robot flies so as to approach the object. 【0022】 In addition, the flying robot according to this invention has an appearance imitating a raptor as a feature. 【0023】 In addition, the control program of the flying robot according to this invention causes a computer of a flying robot including an unmanned aircraft equipped with a camera and flying by automatic control to perform shooting by the camera, and when an object is recognized based on an image captured by the camera, causes the robot to fly so as to approach the object. 【0024】 In addition, the control program of the flying robot according to this invention is characterized in that, in the above invention, the camera is caused to shoot within a predetermined range. 【0025】 <00001Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the camera is used to photograph a pre-set garbage collection area. 【0026】 Furthermore, the control program for the flying robot according to this invention is characterized in that, after flying to approach the object, it flies back to a station installed within or near the predetermined range. 【0027】 Furthermore, the control program for the flying robot according to this invention is characterized in that it flies within the predetermined range at a speed less than or equal to the set speed. 【0028】 Furthermore, the control program for the flying robot according to this invention is characterized in that it causes the robot to perform hovering flight at any position within the predetermined range described above. 【0029】 Furthermore, the control program for the flying robot according to this invention is characterized in that it causes the robot to fly up and down at any position within the predetermined range described above. 【0030】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when the computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle recognizes an object based on the image captured by the camera, it outputs a predetermined sound from the speaker and flies to approach the object. 【0031】 Furthermore, the control program for the flying robot according to this invention is characterized in that it outputs the predetermined sound from the speaker to the target object in the above invention. 【0032】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0033】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot. 【0034】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark. 【0035】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recording of the sound made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds. 【0036】 Furthermore, the control program for the flying robot according to this invention is characterized in that, in the above invention, when the computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle recognizes an object based on the image captured by the camera, it causes the light source to emit light and flies to approach the object. 【0037】 Furthermore, the control method for a flying robot according to this invention is characterized in that the computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies by autopilot is instructed to take pictures with the camera, and if an object is recognized based on the image taken by the camera, the computer is instructed to execute a process to fly towards the object. 【0038】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the camera is used to photograph an area within a predetermined range. 【0039】 Furthermore, the control method for the flying robot according to this invention is characterized in that, in the above invention, the camera is used to photograph a pre-set garbage collection area. 【0040】 Furthermore, the control method for a flying robot according to this invention is characterized in that, after flying to approach the object, it is flown back to a station installed within or near the predetermined range. 【0041】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the robot flies within the predetermined range at a speed equal to or less than the set speed. 【0042】 Furthermore, the control method for a flying robot according to this invention is characterized in that it hovers at any position within the predetermined range described above. 【0043】 Furthermore, the control method for a flying robot according to this invention is characterized in that it flies up and down at any position within the predetermined range described above. 【0044】 Furthermore, the control method for a flying robot according to the present invention is characterized in that, in the above invention, when the computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies to approach the object. 【0045】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the speaker outputs the predetermined sound to the target object. 【0046】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0047】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot. 【0048】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark. 【0049】 Furthermore, the control method for a flying robot according to this invention is characterized in that, in the above invention, the predetermined sound is a recording of the sound made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds. 【0050】 Furthermore, the control method for a flying robot according to the present invention is characterized in that, in the above invention, when the computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle recognizes an object based on the image captured by the camera, it causes the light source to emit light and flies to approach the object. [Effects of the Invention] 【0051】 The flying robot, control program for the flying robot, and control method for the flying robot according to this invention have the effect of reliably preventing damage from crows scattering garbage without causing harm to humans. [Brief explanation of the drawing] 【0052】 [Figure 1] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 1 of this invention. [Figure 2]This is an explanatory diagram showing an example of the hardware of a flying robot according to Embodiment 1 of this invention. [Figure 3A] This is a diagram (part 1) illustrating the station's configuration. [Figure 3B] This is a diagram (part 2) illustrating the station's configuration. [Figure 4] This is an explanatory diagram showing the functional configuration of the flying robot according to this invention. [Figure 5] This flowchart shows the processing procedure of the flying robot according to Embodiment 1 of this invention. [Figure 6] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 7] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 8] This is an explanatory diagram (part 3) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 9] This is an explanatory diagram (part 4) showing an example of how the flying robot of Embodiment 1 according to this invention can be used. [Figure 10] This is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of this invention. [Figure 11] This flowchart shows the processing procedure of the flying robot 101 according to Embodiment 2 of this invention. [Figure 12] This is an explanatory diagram (part 1) showing an example of how the flying robot of Embodiment 2 according to this invention can be used. [Figure 13] This is an explanatory diagram (part 2) showing an example of how the flying robot of Embodiment 2 according to this invention can be used. [Modes for carrying out the invention] 【0053】 A preferred embodiment 1 of the flying robot, control program for the flying robot, and control method for the flying robot according to the present invention will be described in detail below with reference to the attached drawings. 【0054】 <Embodiment 1> (An example of the appearance of a flying robot) First, an example of the appearance of the flying robot of Embodiment 1 according to this invention will be described. Figure 1 is an explanatory diagram showing an example of the appearance of the flying robot of Embodiment 1 according to this invention. As shown in Figure 1, the flying robot 101 has the characteristics of a drone (unmanned aerial vehicle). vinegar. 【0055】 Specifically, a drone can employ, for example, a quadcopter with four propellers. However, drones are not limited to quadcopters; they can also employ various types of multirotors, such as hexacopters with six propellers or octocopters with eight propellers. 【0056】 The flying robot 101 of Embodiment 1 according to this invention recognizes, for example, a crow that flies to a garbage collection site and scatters garbage as an object, and drives the crow away from the garbage collection site. The flying robot 101 can be shaped like a bird, for example, as shown in Figure 1, in particular a bird of prey such as a hawk, which crows dislike. Specifically, the flying robot 101 is equipped with a head with a beak, and members 105 that mimic the wings and tail of a bird. The head with a beak and the members 105 that mimic the wings and tail of a bird may each be movable. 【0057】 Specifically, for example, the components 105 such as the beak, head, wings, and tail may be moved independently by motors, gear trains, or linkage mechanisms. This allows the flying robot 101 to mimic actions such as wagging its tail or moving its wings. 【0058】 Furthermore, the flying robot 101 is not limited to being shaped like a bird such as a hawk. The flying robot 101 may be shaped like an extinct animal such as a dinosaur, a mythical creature such as a dragon or a unicorn, or an insect, and may be equipped with components such as a beak, head, wings, tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc. 【0059】 Furthermore, the flying robot 101 is equipped with a camera 103. The camera 103 can be implemented, for example, by a general-purpose digital camera. As shown in Figure 1, in the case of a flying robot 101 that mimics the shape of a bird such as a hawk, the lens of the camera 103 can be installed, for example, in the part corresponding to the eye. Alternatively, the camera 103 may be installed on the underside (ventral side) of the drone's housing. The lens of the camera 103 may be a standard lens, a wide-angle lens, or a fisheye lens. By using a fisheye lens, a wide area can be captured. 【0060】 The flying robot 101 captures images of its surroundings using the camera 103. The flying robot 101 captures images within a predetermined range, for example. This predetermined range can be, for example, a predetermined garbage collection area. The predetermined range can be set, for example, by receiving a signal specifying the range from a terminal device such as a smartphone with a predetermined application installed. 【0061】 The predetermined range can be specifically identified, for example, by a standard regional mesh. More specifically, the movement range of the image projection device 100 can be identified, for example, by a first-order mesh, a second-order mesh, a third-order mesh, etc. Alternatively, the movement range of the image projection device 100 may be identified by further subdivided regional meshes such as a half-regional mesh, a quarter-regional mesh, or an eighth-regional mesh, which are obtained by further subdividing the third-order mesh. By identifying the predetermined range by a standard regional mesh, the predetermined range in which the flying robot 101 flies can be precisely restricted based on positional information obtained using a GPS sensor (see Figure 2). 【0062】 The flying robot 101 detects crows based on images taken by camera 103. Recognition. Crow recognition can be performed, for example, by image recognition. In image recognition, image preprocessing such as noise reduction and background removal, and feature extraction are performed to determine whether or not there are crows in the image captured by camera 103. The flying robot 101 may store information about the captured image in the memory (see Figure 2) provided by the flying robot 101. 【0063】 The flying robot 101 of this embodiment 1 flies to drive away crows that have entered a predetermined area, such as a garbage collection area, out of that predetermined area (see Figures 6 to 9). Specifically, for example, at a station equipped with a charging function for the flying robot 101 (see Figures 3A and 3B), the predetermined area is photographed, and if a crow is included in the photographed image, the robot starts flying, takes off from the station, and flies to approach the crow. The station can be installed, for example, within the predetermined area or in the vicinity of said predetermined area. 【0064】 Camera 103 may be implemented not as a general-purpose digital camera, but as a night vision camera that amplifies sensitivity to light to capture images in dark places, an infrared camera that is sensitive to infrared light, or an infrared color night vision camera that analyzes the grayscale in images captured by an infrared camera to capture color images. By capturing images using a night vision camera, infrared camera, infrared color night vision camera, etc., the user can be accurately recognized even at night or in dimly lit rooms. 【0065】 The flying robot 101 may have one camera 103 or multiple cameras 103. In a flying robot 101 equipped with multiple cameras 103, it is not limited to one type of camera 103, but may be equipped with multiple different types of cameras 103. As shown in Figure 1, in a flying robot 101 with an animal-like shape, for example, the lenses of the cameras 103 may be placed in the parts corresponding to the eyes. 【0066】 The camera 103 may be connected to the drone in a manner that allows for attitude adjustment. Specifically, the camera 103 can be connected to the bottom surface of the drone, for example, via a universal joint such as a ball joint. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom for adjusting the attitude of the camera 103 can be ensured. 【0067】 Furthermore, the flying robot 101 may be equipped with a drive mechanism to change the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism can be configured, for example, with a motor or a gear train. By making the attitude of the camera 103 relative to the drone adjustable without human intervention, the shooting direction can be arbitrarily adjusted during flight of the flying robot 101, regardless of the drone's attitude. The camera 103 may also be equipped with a zoom function. 【0068】 The flying robot 101 may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology that receives power to a battery (see Figure 2) without using charging contacts, and is also called contactless power supply or wireless power supply. 【0069】 The power receiving coil is located inside the outer surface of the flying robot 101's casing. This prevents deterioration and failure of the power receiving coil due to water droplets such as rain and dew, or oil from hands. The flying robot 101, in addition to or instead of the power receiving coil, also charges the battery. It may also have charging contacts for this purpose. 【0070】 Furthermore, as shown in Figure 1, in the case of an animal-shaped flying robot 101, for example, an LED lamp (light source) 104 may be provided in the area corresponding to the eye. There may be one LED lamp 104 or multiple LED lamps. If the lens of a camera 103 is located in the area corresponding to the eyeball, the LED lamp 104 may be provided so as to surround the lens. 【0071】 When multiple LED lamps 104 are provided, each LED lamp 104 may be capable of switching between multiple colors of light. This allows for the emission of light that is dimmed to a color that birds and animals dislike by mixing multiple colors of light. Alternatively, multiple LED lamps 104, each emitting light of a different color, may be arranged side by side. Specifically, for example, an LED lamp 104 emitting red light may be placed next to an LED lamp 104 emitting green light. 【0072】 The flying robot 101 may also be equipped with a solar cell (solar cell, see Figures 3A and 3B) that generates electricity from ambient light such as sunlight. The solar cell is installed, for example, on the upper surface of the housing of the flying robot 101. This ensures that ambient light is reliably captured during flight and that power is generated efficiently. In addition, by providing a solar cell, charging can be performed during flight, thus extending the flight time per charge. 【0073】 (Hardware configuration of flying robot 101) Next, the hardware configuration of the flying robot 101 will be described. Figure 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 according to Embodiment 1 of this invention. As shown in Figure 2, the hardware of the flying robot 101 consists of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, an acceleration sensor 208, a communication I / F 209, an LED lamp 104, a solar cell 210, and the like. The various parts 103, 104, 201-210 of the flying robot 101 are connected by a bus 200. 【0074】 Battery 201 supplies power to operate the various parts of the flying robot 101. Battery 201 can be implemented as a secondary battery (rechargeable battery, storage battery), such as a lithium battery. Battery 201 implemented as a secondary battery may be detachable from the drone. 【0075】 Motor 202 is controlled by control circuit 207 and rotates to rotate propeller 102. Specifically, motor 202 can be a brushless motor in which the rotor is a permanent magnet and the stator is composed of coils. By providing the same number of motors 202 as there are propellers 102, each propeller 102 can be rotated independently, allowing the flying robot 101 to move forward, backward, or turn left or right. 【0076】 If the flying robot 101 is equipped with a drive mechanism for adjusting the attitude of the camera 103, the control circuit 207 also controls the operation of the motors that make up the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide area. 【0077】 Camera 103 is equipped with an image sensor and captures an image by causing the image sensor to receive light that has passed through the photographic lens. Camera 103 also captures the captured image, i.e., the image element. The child unit converts the received optical signal into an electrical signal, and outputs the resulting image information (captured data) to the control circuit 207. 【0078】 Camera 103 may capture still images or video. Video includes a series of still images captured at predetermined time intervals. Image information may be compressed using a predetermined video / audio data compression standard (for example, MPEG (Moving Picture Experts Group)). 【0079】 Microphone 203 collects sounds from the surrounding area of ​​the flying robot 101. Microphone 203 converts the sound input as analog data into an electrical signal. Specifically, microphone 203 converts the analog audio signal input as analog data from analog to digital and generates audio data in digital format. 【0080】 Speaker 204 generates sound by vibrating a diaphragm in response to an electrical signal, which is an audio signal. Speaker 204 may also have an output terminal that outputs an audio signal, and an external speaker 204 may be connected to this output terminal to generate sound. Speaker 204 may also be a so-called directional speaker that generates sound in only one direction. 【0081】 The GPS sensor 205 determines the current position of the flying robot 101. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may also include a filter to remove unwanted components and amplifiers such as an LNA (Low Noise Amplifier) ​​and a power amplifier PA (Power Amplifier). 【0082】 The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distance to each of the four GPS satellites and performs positioning by calculating the position where these distances intersect. Instead of GPS, which determines the geometric position between the GPS satellites and the flying robot 101 based on radio waves received from GPS satellites, the current position of the flying robot 101 may be determined using satellite positioning systems such as Michibiki, GLONASS, or Galileo. 【0083】 The object sensor 206 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. Obstacles are objects that hinder the flight of the flying robot 101, and specifically include, for example, walls, ceilings, furniture, and people. When the flying robot 101 is flown outdoors, all objects that hinder the flight of the flying robot 101, such as vehicles, other flying robots 101, trees, and buildings, are considered obstacles. 【0084】 The object sensor 206 can be specifically implemented by non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The object sensor 206 can be implemented by at least one of the non-contact sensors such as infrared sensors, capacitive sensors, and ultrasonic sensors. The flying robot 101 may be equipped with multiple types of non-contact sensors as the object sensor 206. In addition, the flying robot 101 may detect the presence or absence of obstacles within a predetermined range from the flying robot 101 based on images captured by the camera 103. 【0085】 The accelerometer 208 detects gravity, vibrations, and other movements and shocks acting on the flying robot 101. For example, the accelerometer 208 can be a frequency-varying accelerometer such as a quartz accelerometer, which has low noise and high stability. Alternatively, the accelerometer may be a piezoelectric accelerometer, a capacitive accelerometer, or a piezoresistive accelerometer. 【0086】 The solar cell 210 is constructed by bonding a positively charged P-type silicon semiconductor and a negatively charged N-type silicon semiconductor via a PN junction. In the solar cell 210, when light energy from sunlight or other external light is applied to the PN junction, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 210, electrodes are connected to the P-type and N-type silicon semiconductors, and the generated electricity can be extracted via wires connected to these electrodes. 【0087】 The control circuit 207 drives and controls various parts of the flying robot 101. The control circuit 207 can be implemented by a microcontroller consisting of a CPU and memory. The memory stores various types of information, such as the control program for the flying robot according to Embodiment 1 of this invention, information about a specific person, and information pre-input by the user of the flying robot 101. Specifically, the control circuit 207 can be implemented by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array). 【0088】 The CPU controls the entire flying robot 101 by executing programs stored in memory. The memory stores various types of information, such as programs executed by the CPU, information about various conditions related to the operation of the flying robot 101, and information about images captured by the camera 103. 【0089】 The memory can be implemented in various ways, such as by an IC memory or an SSD (Solid State Drive). Alternatively, the memory may be a memory card that can be attached to and detached from the flying robot 101 via a card slot provided on the flying robot 101. The memory card can function as an IC card, such as an SD (Secure Digital) memory card. The memory may also function as an external USB memory device. 【0090】 The control circuit 207 also includes a charging circuit that charges the battery 201 with power generated by the solar cell 210, and a remaining charge measurement circuit that measures the remaining charge of the battery 201. The charging circuit includes a DC / DC converter that adjusts the voltage of the power generated by the solar cell 210. The remaining charge measurement circuit measures the remaining charge of the battery 201 using various known methods, such as the impedance track method, the voltage measurement method, the Coulomb counter method, or the battery cell modeling method. 【0091】 Furthermore, the control circuit 207 includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed ​​Controller), and a BEC (Battery Elimination Circuit) or UBEC (Universal BEC). 【0092】 The IMU is a set of sensors necessary for a drone to acquire external information, and consists of, for example, an accelerometer 208, a gyroscope, a barometric pressure sensor, an ultrasonic sensor, and a magnetic compass. The GPS sensor 205 mentioned above is also included. It is included in the IMU. 【0093】 The accelerometer 208 detects changes in the drone's speed. The gyroscope and accelerometer 208 allow for the calculation of changes in both the drone's tilt and its speed, enabling the drone to continue flying even when tilted. 【0094】 A gyroscope sensor detects changes in the drone's angle. For example, it detects changes in the drone's angle by measuring angular velocity using the Coriolis force. A gyroscope sensor allows for stable flight of the drone. 【0095】 A barometric pressure sensor detects the drone's altitude. For example, the barometric pressure sensor detects the drone's altitude by detecting changes in atmospheric pressure. By measuring the drone's altitude using the barometric pressure sensor, the drone's altitude can be maintained. 【0096】 The ultrasonic sensor detects the distance from an object located below the drone (such as the floor or an obstacle). For example, the ultrasonic sensor is mounted on the underside of the drone and uses the reflection of ultrasonic waves emitted downwards to detect the distance from an object located below the drone. 【0097】 This enables stable tracking of the drone on the ground (floor, ground, etc.) and its return to the station (see Figures 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, the ultrasonic waves are emitted in all directions of the drone, and the ultrasonic sensor may function as both an object sensor 206 and as part of the IMU. 【0098】 The magnetic compass sensor detects which direction (north, south, east, or west) the drone is facing. Since the flying robot 101 is affected by magnetic fields depending on the location where it flies, it is preferable to perform compass calibration and adjust the magnetic compass sensor when changing the flight location. 【0099】 The IMU, together with the microcontroller mentioned above, constitutes the flight controller. The flight controller performs calculations related to the rotation control of motor 202 and outputs control signals to the ESC to control the rotation direction and speed of the propeller (propeller motor 202). The ESC controls the rotation of motor 202 based on the control signals output from the flight controller. During the flight of the flying robot 101, the flight controller repeatedly performs calculations by detecting the tilt of the flying robot 101 and recursively outputs control signals to motor 202. 【0100】 Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. It also moves the flying robot 101 forward by, for example, controlling the propeller 102 in the direction of travel to rotate slower than the propeller 102 in the direction of travel. Furthermore, it turns the flying robot 101 to the right by, for example, controlling the propeller 102 on the right side of the direction of travel to rotate slower than the propeller 102 on the left side. 【0101】 Communication I / F209 is a wireless communication interface that connects the flying robot 101 and network N via a communication line, and controls the interface between network N and the inside of the flying robot 101, and external devices connected via network N. It controls the input of data from and the output of data to external devices. Network N can be implemented by, for example, the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network). 【0102】 The communication interface 209 can be implemented, for example, by a wireless interface such as Wi-Fi (registered trademark). Alternatively, the communication interface 209 may be a wireless communication interface such as a mobile phone line (e.g., LTE (Long Term Evolution), PHS (Personal Handy-phone System)). Communication via the communication interface 209 may be performed periodically, such as at predetermined times or intervals, or at any time depending on the status of the communication line. The memory described above may store information obtained through communication via the communication interface 209. 【0103】 The LED lamps 104, located in the eye area, are controlled by the control circuit 207 and light up, turn off, or blink in conjunction with the flight movements of the flying robot 101. The LED lamps 104 may also indicate the status of the flying robot 101. Specifically, for example, they may blink in a predetermined pattern when the remaining battery charge falls below a predetermined threshold. The LED lamps 104 are not limited to one color but may emit multiple colors. 【0104】 The flying robot 101 may also be equipped with other features, although not shown in the illustration, such as input devices like keys or buttons for giving input instructions to the flying robot 101, a power switch for turning the flying robot 101's power ON / OFF, and LED lamps located in positions other than the eyes. 【0105】 The input device may be used to set the predetermined range described above. Specifically, for example, when a predetermined input instruction is received for the flying robot 101 via the input device, the location (location information) where the input instruction was received can be identified using a GPS sensor 205 or the like, and the area within a predetermined range from the identified location can be set as the predetermined range. The input device may be implemented by a connection terminal or the like to which other information processing devices can be connected. 【0106】 (Station configuration) Next, the station configuration will be described. Figures 3A and 3B are explanatory diagrams showing the station configuration. Figure 3A shows an example of the station's external appearance. Figure 3B shows the AA cross-section in Figure 3A. 【0107】 As shown in Figures 3A and 3B, the station 301 has an exterior part 302 that is roughly box-shaped with one side open. The station 301 is installed with the open part of the exterior part 302 facing a predetermined range, i.e., towards the garbage collection area. It is preferable that the station 301 is installed at a height that is difficult for people to reach. This prevents vandalism to the station 301 and the flying robot 101. 【0108】 The station 301 includes a battery 303 and a power transmission coil 304 for wireless power transfer. The battery 303 is preferably a high-capacity battery, such as those used in electric vehicles. Specifically, the battery 303 can be a secondary battery (rechargeable battery, storage battery) such as a lithium battery, lead-acid battery, or nickel-metal hydride battery. The battery 303 may also be a primary battery. The battery 303 may be detachable from the casing 302, or it may be a separate component from the casing 302. 【0109】 The power transmission coil 304 is connected to the battery 303 and is enclosed in a cover made of ABS resin or silicone rubber, and is waterproofed. This allows the station Unit 301 can supply power to battery 201 via wireless power transmission. 【0110】 Furthermore, station 301 may also include a solar cell 305 that generates electricity from ambient light such as sunlight, and a charging circuit that charges a battery 303 with the electricity generated by the solar cell 305. The solar cell 305 is located on the top surface of the exterior part 302 of station 301. The charging circuit includes a DC / DC converter that adjusts the voltage of the electricity generated by the solar cell 305. Station 301 may also be connected to a commercial power source or a generator without the solar cell 305 or battery 303. 【0111】 The station 301 may be configured by providing a window made of transparent acrylic or the like in a part of the exterior 302, and by providing a curtain-like partition on the open side of the exterior 302. In a station 301 with such a configuration, by setting the window to face a predetermined area, i.e., the garbage collection area, it is possible to reduce the intrusion of dust into the inside of the station 301 while photographing the predetermined area through the window, thereby suppressing the deterioration of the flying robot 101. 【0112】 By installing such a station 301 within a predetermined range, or near the predetermined range, when a crow enters the predetermined range, it is possible to quickly approach and drive away the crow. In addition, power consumption due to flight can be reduced. The predetermined range described above may be set based on the installation location of the station 301. Specifically, for example, the station 301 may be equipped with a wireless communication function, the communication distance between the station 301 and the flying robot 101 may be set, and the range in which communication with the station 301 is possible may be set as the predetermined range. 【0113】 More specifically, communication between Station 301 and the flying robot 101 will use, for example, Bluetooth®. By using Bluetooth, which is designed for one-to-one communication, power consumption for communication can be reduced compared to wireless communication methods such as Wi-Fi, both in terms of communication speed and communication range. 【0114】 By enabling communication between station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to station 301. Only when the flying robot 101 has returned to station 301, the power transmission coil 304 can be energized to generate a magnetic field and supply power to the battery 201. This reduces the consumption of the battery 303. 【0115】 Station 301 may be equipped with a wireless communication router, such as a mobile Wi-Fi router. This allows Station 301 to function as a communication spot, and the flying robot 101 can communicate via Station 301. Furthermore, multiple flying robots 101 can be utilized by installing just one Station 301. 【0116】 Furthermore, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold set in advance for battery 303, a notification may be sent to a portable telephone or other device owned by a specific person, such as an administrator, indicating that battery 303 needs to be charged or replaced. This ensures that the functionality of station 301 is reliably maintained while reducing the burden on the administrator in managing station 301. 【0117】 (Functional configuration of the flying robot 101) Next, the functional configuration of the flying robot 101 will be described. Figure 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to this invention. As shown in Figure 4, the functions of the flying robot 101 are realized by a storage unit 401, a detection unit 402, an imaging unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407. 【0118】 The memory unit 401 stores various information, including various programs related to control by the control unit 407 and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information about the features of crows related to pattern recognition (image recognition) used for recognizing crows. 【0119】 Furthermore, the memory unit 401 stores image information captured by the imaging unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information related to battery charging spots. Specifically, the memory unit 401 can be realized by, for example, the memory in the control circuit 207 shown in Figure 2. 【0120】 The detection unit 402 detects signals output from a terminal device, such as a smartphone with a predetermined application installed. The detection unit 402 may also detect that a predetermined input instruction has been received from the flying robot 101, for example, by a user of the flying robot 101, via an input device such as a key or button. Specifically, the detection unit 402 can implement its functions using, for example, the communication I / F 209 shown in Figure 2. 【0121】 Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206. 【0122】 The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 101 moves. By using the moving stereo method, it is possible to detect the presence or absence of obstacles within a predetermined range from the flying robot 101 using a monocular camera. 【0123】 The imaging unit 403 captures an image within a predetermined range. For example, the imaging unit 403 captures an image within the predetermined range from outside the range. Alternatively, the imaging unit 403 may capture an image within the predetermined range from within the range itself. Specifically, the imaging unit 403 can perform its function using, for example, the camera 103 shown in Figures 1 and 2. 【0124】 The storage unit 401 described above may store image information relating to images captured by the imaging unit 403. In addition to image information, the storage unit 401 may also store information relating to the location and time the image was taken. Information relating to the location and time the image was taken can be identified, for example, using the GPS sensor 205 shown in Figure 2. 【0125】 The acquisition unit 404 acquires external information of the flying robot 101. Specifically, the acquisition unit For example, unit 404 acquires predetermined information from an external device via network N. Specifically, unit 404 can implement its function using, for example, the communication interface 209 shown in Figure 2. 【0126】 Specifically, the acquisition unit 404 acquires information indicating that there is a possibility of an event occurring within a predetermined time period from the present moment that could affect people in the surrounding area, such as a disaster. Specifically, the acquisition unit 404 acquires information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time period from the present moment. 【0127】 Furthermore, the acquisition unit 404 may acquire information learned by another flying robot 101, for example. This allows multiple other flying robots 101 to share information obtained through the learning of a single flying robot 101, enabling the flying robots 101 to perform actions that are more suitable for recognizing and driving away crows. 【0128】 The drive unit 405 controls the flight of the flying robot 101. Specifically, the drive unit 405 can achieve its function through components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2. 【0129】 The output unit 406 causes, for example, the speaker 204 to emit a predetermined sound. The predetermined sound can be, for example, a recorded bird of prey call, or a synthesized sound that mimics a bird of prey call. Alternatively, the predetermined sound may be, for example, a recorded gunshot, or a synthesized sound that mimics a gunshot. 【0130】 Furthermore, the specified sound may be, for example, a recorded dog bark or a synthesized sound that mimics a dog bark, or a recorded sound of a crow being attacked, a wary crow, or a frightened crow, or a synthesized sound that mimics these sounds. In this case, the output unit 406 can specifically realize its function using, for example, the speaker 204 shown in Figure 2. 【0131】 Furthermore, the output unit 406 can, for example, light up the LED lamp 104. Alternatively, the output unit 406 can make the LED lamp 104 blink. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2. 【0132】 Furthermore, the output unit 406 may, for example, output an audio message informing users that an event that could potentially affect people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong wind, or sudden weather change, may illuminate or flash the LED lamp 104 in a specific pattern or color, depending on the information obtained indicating that such an event may occur. 【0133】 The control unit 407 controls the entire flying robot 101. Specifically, the control unit 407 can perform its functions, for example, through the control circuit 207 shown in Figure 2. More specifically, the control unit 407 can perform its functions, for example, by executing a program stored in memory or the like through the CPU in the control circuit 207 shown in Figure 2. 【0134】 The control unit 407 makes the flying robot 101 fly, for example by controlling the drive unit 405. The control unit 407 also controls the drive of the imaging unit 403, for example. The camera takes an image. Furthermore, the control unit 407 recognizes an object based on the image taken by the camera unit 403. The object could be, for example, a crow. Recognition of the object (crow) is performed, for example, by determining whether or not the object is included in the image taken by the camera unit 403. 【0135】 The control unit 407 may be equipped with AI (Artificial Intelligence) functionality and may learn multiple types of objects (crows), such as large-billed crows and carrion crows. The control unit 407 may also be equipped with specialized artificial intelligence that is specifically designed for recognizing crows. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can enable the flying robot 101 to fly smoothly. The control unit 407 may further learn about animals such as cats that scatter garbage at garbage collection sites, or humans that steal recyclable waste. 【0136】 When recognizing an object, the control unit 407 makes it easier to extract the object (crow) contained in the image by, for example, removing noise and distortion from the image captured by the imaging unit 403, emphasizing the outlines of objects contained in the image, and adjusting the brightness and color of the image. In addition, if the lens of the camera 103 is a wide-angle lens, image distortion correction may be applied. 【0137】 Furthermore, when recognizing an object, the control unit 407 extracts features such as the position of feathers and the shape of beaks on a pixel-by-pixel basis, and determines whether or not the object is included in the image captured by the imaging unit 403 based on various information such as color and brightness assigned to the pixels. 【0138】 When recognizing an object, the control unit 407 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or it may recognize the object based on an image that has been distortion-corrected to be similar to an image obtained with a standard lens. 【0139】 The subject may be a crow rummaging through garbage, or a crow about to begin rummaging through garbage. In other words, if a crow is simply photographed, it may not be recognized as a subject, but if the crow touches the garbage, or if the distance between the crow and the garbage falls below a predetermined value, the crow may be recognized as a subject. 【0140】 When recognizing an object, the control unit 407 may, for example, learn (machine learning) the characteristics of the recognized crow and store the learning results in the memory unit 401. The characteristics of the crow may include, for example, the size of the flying crow, the days of the week when they are most likely to be flying in, the times of day when they are most likely to be flying in, and the direction from which they are flying in. 【0141】 In this case, the control unit 407 may perform photography by driving and controlling the imaging unit 403 only under conditions where there is a high probability of crows flying in. Alternatively, in this case, the control unit 407 may perform continuous photography under conditions where there is a high probability of crows flying in, and perform intermittent photography with time intervals of 5 or 10 minutes under conditions where there is a low probability of crows flying in. 【0142】 Intermittent shooting involves, for example, shooting for one minute, then stopping shooting for five minutes, and then shooting again for one minute. Whether or not conditions are likely to attract crows can be determined by whether elements such as the current day of the week and time meet pre-set conditions. Alternatively, whether or not conditions are likely to attract crows can be determined by whether or not the number of elements that meet pre-set conditions exceeds a predetermined threshold. 【0143】 Furthermore, when the control unit 407 recognizes an object (crow), it controls the drive unit 405 to make the flying robot 101 fly. For example, if the control unit 407 recognizes an object based on an image taken by the imaging unit 403, it controls the drive unit 405 to make the flying robot 101 fly to approach the object. 【0144】 Specifically, the control unit 407 causes the aircraft to fly from inside a predetermined area outward, rather than towards the crows, in order to push the objects out of that area. This puts pressure on the crows and drives them away from the garbage collection area without harming them. 【0145】 When the control unit 407 recognizes an object (crow), it may, for example, fly within a predetermined range at a speed below the set speed. Alternatively, when the control unit 407 recognizes an object (crow), it may hover or fly up and down at any position within the predetermined range. Any position within the predetermined range can be, for example, the vicinity of the crow. This also puts pressure on the crow and can drive it away from the garbage collection area without harming it. 【0146】 The flying robot 101, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to take pictures within the garbage collection area. This allows it to photograph crows without blind spots, regardless of environmental factors such as the camera's position, the location of trees and houses around the garbage collection area, how garbage is disposed of, and the shape and size of the garbage. Compared to conventional technology that relies on images taken by a stationary camera to drive away crows from garbage collection areas by flying a drone, this method reliably photographs crows and effectively drives them away from the garbage collection area. 【0147】 Furthermore, the flying robot 101, which is equipped with a camera 103, can autonomously fly to a position where it can reliably photograph crows. Compared to conventional technology that uses images captured by a stationary camera to fly a drone and drive away crows from garbage collection areas, this method avoids losing sight of the crows, reliably photographs them, and effectively drives them away from garbage collection areas. 【0148】 The inventor named the flying robot 101 that drives away crows in a designated area such as a garbage collection site, that is, that is, that repels crows that fly to garbage collection sites and scatter garbage, "Dorokuro." The inventor also named the flying robot 101 that drives away crows in a designated area such as a garbage collection site, that is, that is, that repels crows that fly to garbage collection sites and scatter garbage, "Doro Attacker." 【0149】 The control unit 407 may execute a predetermined process while controlling the drive unit 405 to fly the flying robot 101 towards the target object. For example, if the output unit 406 is realized by the speaker 204 shown in Figure 2, the control unit 407 can execute a predetermined process by controlling the output unit 406 to output sounds that mimic the calls of birds of prey or sounds that frightened crows make. 【0150】 If speaker 204 is a directional speaker, even in noisy environments, by flying while confirming the crow's position using camera 103, the sound emitted by speaker 204 can be reliably delivered to the target crow without being mixed with or drowned out by surrounding noise. 【0151】 Furthermore, if speaker 204 is a directional speaker, it will emit sound only in the desired direction. This prevents the sound from being emitted in all directions, even in areas where there are no crows. As a result, even if the garbage collection point is in a residential area, it can be prevented from causing a nuisance to the surrounding residents. 【0152】 Furthermore, for example, if the output unit 406 is realized by the LED lamps 104 shown in Figures 1 and 2, the control unit 407 can realize a predetermined process by controlling the output unit 406, thereby turning on or blinking the light source (LED lamps 104). In particular, by blinking the LED lamps 104 located in the eye area, the visibility of the flying robot 101 can be increased, making the presence of the flying robot 101 known to crows from a distance. 【0153】 Highly intelligent crows can understand that the flying robot 101, even if it's a robot, has the shape of a bird of prey that crows dislike and has "eyes." By flashing the LED lamps 104, which are the "eyes" of the bird of prey, and creating a situation that doesn't exist in nature, it's possible to increase the crows' anxiety, make them uncomfortable at the garbage collection site, and lure them away from the garbage collection site. In this way, crows can be effectively driven away from designated areas such as garbage collection sites without harming them, and crows can be kept away from garbage collection sites where the flying robot 101 is deployed. 【0154】 If the control unit 407 recognizes a crow rummaging through garbage, or about to begin rummaging through garbage, as the target object, it may start flying from station 301 upon recognizing the crow in the image, and fly at a certain distance away from the crow without approaching it. This prevents the flying robot 101 from driving away crows that are not causing trouble to humans, such as scattering garbage, and prevents putting excessive pressure on the crows. 【0155】 Furthermore, by teaching highly intelligent crows that "if they don't eat in that place (the garbage collection area), the flying robots won't chase them," it is possible to discourage them from scavenging for garbage, thus potentially solving the problem of scattered garbage in the long term. In addition, it is expected that crows, which normally live around garbage collection areas to ensure the convenience of eating garbage, will be driven away from the vicinity of the garbage collection areas. This is expected to reduce the risk of humans being attacked by crows during the breeding season, as the crows' activity areas and human living areas overlap. 【0156】 The control unit 407 controls the drive unit 405 to make the flying robot 101 fly back to station 301 when there are no crows left within a predetermined range (the garbage collection area and its surroundings). Alternatively, the control unit 407 may control the drive unit 405 to make the flying robot 101 fly back to station 301 when the remaining charge of the battery 201 falls below a predetermined amount. 【0157】 (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 5 is a flowchart showing the processing procedure of the flying robot 101 according to Embodiment 1 of this invention. In the flowchart of Figure 5, first, an image is taken by the camera 103 (step S501). Then, based on the image taken in step S501, it is determined whether or not a crow has been recognized (step S502). 【0158】 In step S502, as described above, noise and distortion in the captured image are removed, the contours of objects contained in the image are emphasized, and the brightness and color of the image are adjusted to make it easier to extract the object (crow) contained in the image. In addition, when recognizing the object, the control unit 407, for example, at the pixel level, the feathers Features such as position and beak shape are extracted, and based on various information such as color and brightness assigned to the pixels, it is determined whether or not the object is included in the image captured by camera 103. 【0159】 Furthermore, in step S502, information regarding the characteristics of the recognized crow may be stored in the memory of the control circuit 207 shown in Figure 2. Information regarding the characteristics of the crow may include, for example, the size of the flying crow, the days of the week when it is most likely to fly in, the times of day when it is most likely to fly in, and the direction from which it flew in. 【0160】 In step S502, the system waits until it recognizes a crow based on the captured image (step S502: No), and if it does recognize a crow (step S502: Yes), it begins flight from station 301 (step S503). In step S503, for example, the system begins flight to approach the crow recognized in step S502: Yes. 【0161】 Furthermore, a predetermined process is performed (step S504). In step S504, for example, the aircraft flies within the garbage collection area at a speed below the set speed, or hovers or flies up and down at an arbitrary location within the garbage collection area, such as around crows. 【0162】 Furthermore, in step S504, for example, the speaker 204 may output sounds that mimic the cries of birds of prey, sounds made by frightened crows, recorded dog barks, or synthesized sounds that mimic dog barks, or recorded sounds of crows being attacked, wary crows, or frightened crows, or synthesized sounds that mimic these sounds. 【0163】 In step S504, for example, the LED lamp 104 may be turned on or blinked. In step S504, for example, a strong light may be emitted instantaneously, such as a flash. In step S504, for example, the color of the LED lamp 104 may be changed. If the LED lamp 104 is positioned to frame the lens of the camera 103, it may be turned on or blinked in a rotating manner around the lens (around the eye). 【0164】 These predetermined processes are not always the same. For example, if camera 103 recognizes the magnitude of the crow's reaction based on the captured image and determines that the currently running process is ineffective, it may switch to a different process. Furthermore, there is not limited to just one process; two or more processes may be run in parallel. 【0165】 Then, it is determined whether or not the crows have been driven away from the garbage collection area (step S505). In step S505, it is determined whether or not the crows have been driven away from the garbage collection area based on, for example, images taken by the camera 103, the current position of the flying robot 101 identified using the GPS sensor 205, and the orientation of the flying robot 101 identified using other sensors equipped on the flying robot 101. 【0166】 If, in step S505, the crows have not been chased away from the garbage collection area (step S505: No), the process proceeds to step S504 and the predetermined process is executed. In step S504, which occurs via step S505: No, a different process from the one performed earlier may be executed, or the same process may be continued. 【0167】 Furthermore, in step S504 when step S505:No is taken, for example, outputting the sound of a bird of prey's cry while hovering, etc. You may run more processes than the number of processes currently running. 【0168】 In step S505, if the crows are driven away from the garbage collection area (step S505: Yes), the aircraft returns to station 301 (step S506) and proceeds to step S501 to take images. In step S506, the aircraft returns to station 301 in a position where it can photograph the garbage collection area and receive power from the power transmission coil 304. During the return to station 301, the aircraft continues to photograph the garbage collection area, and if crows are detected, it interrupts its return to station 301 and flies to drive the crows away. 【0169】 Furthermore, if the remaining charge of the battery 201 falls below a predetermined threshold set in advance for the battery 201 during the above process, the robot may fly back to station 301 regardless of whether there are crows in the garbage collection area. The predetermined threshold set in advance for the battery 201 can be, for example, the remaining charge of the battery 201 that allows the flying robot 101 to reliably return to station 301, based on the positional relationship between the current position of the flying robot 101 and station 301. This reliably prevents unforeseen incidents such as the flying robot 101 falling and being damaged due to insufficient battery charge. 【0170】 (An example of how the flying robot 101 can be used) Next, an example of how the flying robot 101 can be used will be described. Figures 6 to 9 are explanatory diagrams showing an example of how the flying robot 101 of Embodiment 1 according to this invention can be used. 【0171】 In Figure 6, station 301 is fixed to the top of the support column 601. This allows station 301 and the standby flying robot 101 to be positioned at a height that is difficult for humans to reach, thus preventing vandalism to station 301 and the flying robot 101. 【0172】 As shown in Figure 6, the flying robot 101 takes photographs of the inside of the garbage collection area 602 while receiving power from the power transmission coil 304 inside the station 301. Alternatively, the flying robot 101 may take photographs of the inside of the garbage collection area 602 while flying above it. In this case, to avoid putting excessive pressure on the crows, it may be necessary to fly above the garbage collection area 602 at a certain distance. 【0173】 Figure 6 shows an example where one flying robot 101 is deployed at one garbage collection site 602, but the number of flying robots 101 to be installed is not limited to one. For example, depending on the size of the area to be photographed, such as the garbage collection site 602, and the field of view of the camera 103, multiple flying robots 101 may be installed at one garbage collection site 602. 【0174】 The flying robot 101 determines whether a crow can be recognized in the image based on the image captured by the camera 103. As shown in Figure 7, if the crow 701 approaches the garbage collection area 602 and the crow 701 is recognized in the captured image, the robot takes off from station 301 as shown in Figure 8. Then, as shown in Figure 9, it flies to approach the crow 701. 【0175】 At this time, it does not approach crow 701 until it makes contact, but flies to a position at a certain distance or more away from crow 701. This prevents damage to crow 701 by propeller 102, etc. This prevents accidental storage and also prevents damage to the flying robot 101. 【0176】 The flying robot 101, for example, flies to approach the crow 701 at a speed below a set speed. This allows it to fly in a way that ensures it remains within the crow 701's line of sight, rather than chasing it at high speed. In addition to driving the crow 701 away, this also makes the highly intelligent crow 701 hesitant to approach the flying robot 101. This ensures a comfortable living environment for humans without harming the crow 701. 【0177】 Furthermore, the flying robot 101 may, for example, fly towards the crow 701 and then hover or fly up and down around the crow 701 inside the garbage collection area 602. This also puts pressure on the crow 701 and drives it out of the garbage collection area 602 without harming it. 【0178】 Furthermore, the flying robot 101 may output predetermined sounds when flying to approach the crow 701. Specifically, for example, when flying to approach the crow 701, it may output recorded calls of birds of prey, or synthesized sounds that mimic the calls of birds of prey, recorded gunshots, or synthesized sounds that mimic gunshots. 【0179】 Alternatively, when flying towards Crow 701, it may output, for example, a recorded dog bark or a synthesized voice that mimics a dog bark. Furthermore, when flying towards Crow 701, it may output, for example, a recorded sound of a Crow 701 under attack, a Crow 701 on alert, or a frightened Crow 701, or a synthesized voice that mimics these sounds. 【0180】 As described above, the flying robot 101 of Embodiment 1 of this invention comprises an unmanned aerial vehicle (drone) that flies by automatic piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that, when it recognizes an object based on the image taken by the camera 103, it flies to approach the object. 【0181】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards an object such as a crow 701 that has been recognized based on an image captured by the camera 103. This makes the crow feel uneasy about the flying robot 101 flying towards it, and causes the crow 701 to stay away from the garbage collection area 602. As a result, the crow 701 can be effectively driven away without harming humans, and damage from the scattering of garbage by the crow 701 can be reliably prevented. 【0182】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to photograph a predetermined range using a camera 103. 【0183】 According to the first embodiment of this invention, the flying robot 101 can deter crows 701 within a desired range by photographing only a predetermined range with the camera 103, without excessively deterring crows 701 over a wide area. This ensures a comfortable living environment for humans without harming the crows 701. 【0184】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized in that a predetermined range is a pre-set garbage collection area 602. 【0185】 According to the first embodiment of the present invention, the flying robot 101 is controlled by the camera 103. By photographing only within the pre-set garbage collection area 602, it is possible to drive away crows 701 that approach the garbage collection area 602 without excessively driving away crows 701 over a wide area. This ensures a comfortable living environment for humans without harming the crows 701. 【0186】 Furthermore, the flying robot 101 of Embodiment 1 of this invention is characterized by flying to approach an object and then returning to a station 301 installed within or near a predetermined range. 【0187】 According to the first embodiment of this invention, the flying robot 101 can conserve power by flying only when it recognizes a crow 701. This avoids unnecessary flight, which could interfere with humans or put excessive pressure on the crow 701. 【0188】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by flying within a predetermined range at a speed less than or equal to a set speed. 【0189】 According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather flies in a way that ensures it is within the crow 701's line of sight, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701. 【0190】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to hover at any position within a predetermined range. 【0191】 According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather hovers to attract the crow 701's attention, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701. 【0192】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by its ability to fly up and down at any position within a predetermined range. 【0193】 According to the first embodiment of this invention, the flying robot 101 does not chase the crow 701 at high speed, but rather performs vertical flight, which the crow 701 cannot do, thereby deterring the crow 701 from approaching the flying robot 101 and driving it away. This ensures a comfortable living environment for humans without harming the crow 701. 【0194】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is equipped with a speaker 204 mounted on an unmanned aerial vehicle, and when it recognizes an object based on an image captured by a camera 103, it outputs a predetermined sound from the speaker 204 and flies to approach the object. 【0195】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards a target object such as a crow 701 while emitting a predetermined sound from the speaker 204 that crows 701 dislike. This makes it possible to drive away crows 701 more effectively without harming humans and to reliably prevent damage from crows 701 scattering garbage. 【0196】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by outputting a predetermined sound from the speaker 204 to an object. 【0197】 According to the first embodiment of this invention, the flying robot 101 can effectively drive away crows 701 by using a directional speaker or the like to output a predetermined sound only in the direction from which the crows 701 are located, thereby minimizing the impact on people and other objects in the surrounding area. This ensures that damage from litter scattering by crows 701 can be reliably prevented. 【0198】 In the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded call of a bird of prey, or a synthesized sound that imitates the call of a bird of prey. 【0199】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting the calls of birds of prey such as hawks or synthesized sounds that mimic the calls of birds of prey, which are said to be disliked by crows 701. This makes it possible to drive away crows 701 more effectively without harming humans and to reliably prevent damage from litter scattering caused by crows 701. 【0200】 Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded gunshot or a synthesized sound that mimics a gunshot. 【0201】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting gunshots or synthesized sounds that mimic gunshots, which are said to be disliked by animals in general, including crows 701. This makes it possible to more effectively drive away crows 701 without harming humans and to reliably prevent damage from crows 701 scattering garbage. 【0202】 Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recorded dog bark or a synthesized sound that imitates a dog bark. 【0203】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards targets such as crows 701 while emitting dog barks or synthesized sounds that mimic dog barks, which are said to be disliked by crows 701. This makes it possible to more effectively drive away crows 701 without harming humans and to reliably prevent damage from litter scattering caused by crows 701. 【0204】 Furthermore, in the flying robot 101 of Embodiment 1 according to this invention, the predetermined sound may be a recording of the voices emitted by a crow 701 that has been attacked, a crow 701 that is on alert, or a frightened crow 701, or a synthesized voice that imitates these voices. 【0205】 According to the first embodiment of this invention, the flying robot 101 can be made to fly towards a target such as a crow 701 while emitting sounds made by a crow 701 that has been attacked, a crow 701 that is on alert, or a frightened crow 701, or synthesized sounds that mimic these sounds. As a result, each time a crow 701 enters a predetermined area such as a garbage collection area 602, the robot can agitate the crow 701, causing it to learn that approaching the garbage collection area 602 is dangerous, thereby effectively driving the crow 701 away and suppressing its approach thereafter. In this way, damage from crows 701 scattering garbage can be reliably prevented without causing harm to humans. 【0206】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is equipped with a light source such as an LED lamp 104 mounted on an unmanned aerial vehicle, and is characterized in that, when it recognizes an object based on an image captured by a camera 103, it emits light from the light source and flies to approach the object. 【0207】 According to the first embodiment of this invention, the flying robot 101 can be made to fly while emitting light from a light source, approaching an object such as a crow 701. This makes it possible to more effectively drive away crows 701 without harming humans, and to reliably prevent damage from crows 701 scattering garbage. 【0208】 Furthermore, the flying robot 101 of Embodiment 1 according to this invention is characterized by having an appearance that imitates a bird of prey. The flying robot 101 may be constructed with real bird of prey feathers on its exterior. 【0209】 According to the first embodiment of this invention, the flying robot 101 has an appearance that mimics a bird of prey such as a hawk, which many crows 701 avoid. This makes it possible to drive away crows 701 more effectively without harming humans, and to reliably prevent damage from crows 701 scattering garbage. 【0210】 <Embodiment 2> Next, a flying robot of Embodiment 2 according to the present invention will be described. In Embodiment 2, parts identical to those in Embodiment 1 described above are indicated by the same reference numerals, and their descriptions are omitted. 【0211】 (An example of the appearance of a flying robot) Figure 10 is an explanatory diagram showing an example of the external appearance of a flying robot according to Embodiment 2 of the present invention. As shown in Figure 10, the flying robot 1001 takes the form of a drone (unmanned aerial vehicle). The drone may employ a quadcopter equipped with four propellers 102, as shown in Figure 10, or it may employ a hexacopter, octocopter, or the like. 【0212】 The flying robot 1001 of Embodiment 2 according to this invention recognizes, for example, birds and animals that come to eat and damage agricultural products (agricultural and livestock products) on farms such as crop farms and livestock farms, or thieves that steal agricultural products (agricultural and livestock products) on farms, as targets for surveillance, and issues warnings to the targets for surveillance or takes images of the targets for surveillance. 【0213】 The flying robot 1001 may track a target to warn it or to take images of the target. The flying robot 1001 is housed within a frame 1001a to prevent its propellers 102 from getting caught on the surroundings or the target and being damaged while tracking it. 【0214】 The flying robot 1001 is equipped with multiple cameras 103. Specifically, the cameras 103 in the flying robot 1001 are arranged to capture images in multiple directions simultaneously. By having a single flying robot 1001 capture images in multiple directions simultaneously, more information can be obtained in a short time, and the target of surveillance can be quickly recognized. 【0215】 Furthermore, by having a single flying robot 1001 simultaneously photograph multiple directions, the number of targets that each flying robot 1001 can recognize increases. This allows for reliable recognition of targets even when there are multiple targets or when they are moving in different directions, using a smaller number of flying robots 1001. 【0216】 Multiple cameras 103 may each continuously take pictures, or they may be switched to operate at any one of the cameras 103. Alternatively, one or more cameras may be used selectively for taking pictures. Furthermore, for example, if multiple objects within the field of view of one camera 103 begin moving in different directions while an image is being captured, the system may be configured to start taking pictures using multiple cameras 103. 【0217】 In the flying robot 1001, the LED lamps 104 are provided on the frame 1001a. Multiple LED lamps 104 are arranged in a row. The LED lamps 104 emit, for example, white light. By arranging multiple white-light emitting LED lamps 104 in a row, the target of surveillance and its surroundings can be illuminated very brightly. This allows for clear imaging of the target of surveillance. 【0218】 Each LED lamp 104 may be capable of switching between multiple colors of light. This allows for the emission of light dimmed to a color that birds and animals dislike by mixing multiple colors of light. Alternatively, multiple LED lamps 104, each emitting light of a different color, may be arranged side by side. Specifically, for example, an LED lamp 104 emitting red light may be placed next to an LED lamp 104 emitting green light. 【0219】 Furthermore, in the flying robot 1001, multiple LED lamps 104 are arranged in multiple locations, each with multiple lamps in a row. This makes the flying robot 1001 conspicuous, even at night, and allows the location of the monitored object to be communicated to the surroundings. In addition, even when there are multiple monitored objects or when they are moving in different directions, each monitored object can be clearly photographed. 【0220】 (Functional configuration of the flying robot 1001) Next, the functional configuration of the flying robot 1001 will be described. The functions of the flying robot 1001 are realized by the memory unit 401, the detection unit 402, the imaging unit 403, the acquisition unit 404, the drive unit 405, the output unit 406, and the control unit 407. 【0221】 The memory unit 401 stores various information, including various programs related to control by the control unit 407 and thresholds used for executing the programs. Specifically, the memory unit 401 stores, for example, information about the features of the monitored object related to pattern recognition (image recognition) used for recognizing the monitored object. The memory unit 401 may also store audio information used for recognizing the monitored object, information about the period during which monitoring will be performed, and so on. 【0222】 The targets of surveillance may be animals such as birds, beasts, or humans located within a predetermined range. The predetermined range may be, for example, farms such as crop farms, livestock farms, or beekeeping farms. The farm may be a specific farm designated in advance, or it may be a place that is determined to be a farm based on images captured by the camera unit 403. In other words, the targets of surveillance may be, for example, birds or beasts possessing or transporting agricultural products or items presumed to be agricultural products on a farm, or humans possessing or transporting agricultural products or items presumed to be agricultural products on a farm. 【0223】 Specifically, the targets of surveillance may include, for example, birds and animals possessing or transporting cultivated crops or items presumed to be such crops in a crop farm, or humans possessing or transporting cultivated crops or items presumed to be such crops in a crop farm. More specifically, for example, when conducting surveillance in an orchard, the targets of surveillance would include birds and animals eating fruit, or humans transporting bags or boxes presumed to contain fruit. More specifically, for example, individuals carrying bags or boxes that are presumed to weigh above a certain amount may be targeted for surveillance. 【0224】 More specifically, the subjects of surveillance may include, for example, livestock or poultry on a livestock farm, or birds or animals or humans possessing or transporting items presumed to be livestock or poultry. More specifically, for example, when surveillance is conducted at a pig farm, the subjects of surveillance would be pigs, or people transporting bags or boxes presumed to contain pigs. More specifically, for example, people transporting bags or boxes presumed to be of a certain weight or more, or people possessing or transporting bags or boxes whose contents are moving, may also be subjects of surveillance. 【0225】 More specifically, the targets of surveillance may include, for example, birds or animals possessing or transporting beehives used in beekeeping or items presumed to be beehives in an apiary, or humans possessing or transporting beehives used in beekeeping or items presumed to be beehives. More specifically, for example, when conducting surveillance in an apiary, targets of surveillance would include bears carrying beehives or humans transporting box-shaped or flat objects. 【0226】 Furthermore, the memory unit 401 stores image information captured by the imaging unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information regarding the location of the station 301, which serves as a battery charging spot. Specifically, the memory unit 401 can be implemented, for example, by the memory in the control circuit 207 shown in Figure 2. 【0227】 The detection unit 402 detects signals output from a terminal device, such as a smartphone with a predetermined application installed. The detection unit 402 may also detect that a predetermined input instruction has been received from the flying robot 1001, for example, by a user of the flying robot 1001, via an input device such as a key or button. Specifically, the detection unit 402 can implement its functions using, for example, the communication I / F 209 shown in Figure 2. 【0228】 Furthermore, the detection unit 402 detects the presence or absence of obstacles within a predetermined range from the flying robot 1001. In this case, the detection unit 402 can specifically perform its function using, for example, the object sensor 206 shown in Figure 2. Alternatively, in this case, the detection unit 402 may specifically perform its function using, for example, the camera 103 shown in Figures 1 and 2, instead of the object sensor 206, or in addition to the object sensor 206. 【0229】 The detection of obstacles by camera 103 can be achieved, for example, by using a moving stereo method that determines the distance to the obstacle based on the parallax (difference between each image) in each image taken at multiple different positions obtained as the flying robot 1001 moves. By using the moving stereo method, it is possible to detect the presence or absence of obstacles within a predetermined range from the flying robot 1001 using a monocular camera. 【0230】 The imaging unit 403 captures images within a predetermined range, such as the area inside the farm and the area surrounding the farm. The imaging unit 403 captures images within the predetermined range from outside the predetermined range, for example. Alternatively, the imaging unit 403 may capture images within the predetermined range from within the predetermined range itself. Specifically, the imaging unit 403 can capture images of, for example, the turtle shown in Figure 3. This function can be achieved through components such as the Ra103. 【0231】 The storage unit 401 described above stores image information relating to images captured by the imaging unit 403. Instead of storing the image information relating to images captured by the imaging unit 403 in the storage unit 401, or in addition to storing it in the storage unit 401, the image information may be stored on an external device. Furthermore, in addition to the image information, the storage unit 401 may also store information relating to the location and time the image was taken. Information relating to the location and time the image was taken can be identified, for example, using the GPS sensor 205 shown in Figure 2. 【0232】 The acquisition unit 404 acquires external information from the flying robot 1001. The acquisition unit 404 acquires sound from the surroundings of the flying robot 1001, for example, using the microphone 203. Specifically, the acquisition unit 404 can perform its function using, for example, the microphone 203 shown in Figure 2. 【0233】 Furthermore, the acquisition unit 404 may acquire predetermined information from an external device, for example, via a network N. In this case, the acquisition unit 404 can specifically implement its function using, for example, the communication I / F 209 shown in Figure 2. The acquisition unit 404 implemented by the communication I / F 209, for example, acquires information learned by another flying robot 1001. This allows multiple other flying robots 1001 to share information obtained through the learning of a single flying robot 1001, enabling the flying robots 1001 to perform actions more suitable for recognizing and driving away crows. 【0234】 The acquisition unit 404, which is implemented by a communication I / F 209 or the like, may acquire information indicating that there is a possibility of an event occurring within a predetermined time from the present moment that could affect people in the surrounding area, such as a disaster. Specifically, the acquisition unit 404 may acquire information indicating that there is a possibility of a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes occurring within a predetermined time from the present moment. 【0235】 The drive unit 405 controls the flight of the flying robot 1001. Specifically, the drive unit 405 can achieve its function through components such as the propeller 102 shown in Figure 1, the flight controller, ESC, BEC (UBEC), motor 202, and object sensor 206 in the control circuit 207 shown in Figure 2. 【0236】 The output unit 406 is controlled by the control unit 407 to, for example, emit a predetermined sound from the speaker 204. In this case, the output unit 406 can specifically perform its function using, for example, the speaker 204 shown in Figure 2. The predetermined sound can be, for example, a recording of a speech warning or cautioning against theft, or a synthesized speech that mimics a speech warning or cautioning against theft. Alternatively, the predetermined sound may be, for example, the sound of a siren, horn, whistle, or a synthesized speech that mimics at least one of these sounds. 【0237】 Furthermore, the output unit 406 is controlled by the control unit 407 to, for example, light up the LED lamp 104. Alternatively, the output unit 406 can also, for example, make the LED lamp 104 blink. In this case, the output unit 406 can specifically achieve its function using, for example, the LED lamp 104 shown in Figures 1 and 2. 【0238】 Furthermore, the output unit 406 may be controlled by the control unit 407 to transmit image information relating to the image captured by the imaging unit 403 to a predetermined destination. In this case, the output unit 406 may specifically perform its function using, for example, the communication I / F 209 shown in Figure 2. It can be displayed. The designated destination can be, for example, an email address set on a specific smartphone or a specific URL set on a cloud network. 【0239】 Furthermore, the output unit 406 may be controlled by the control unit 407 to, for example, output a request for assistance to another flying robot 1001 when the remaining charge of the battery 201 falls below a predetermined amount. In this case, the output unit 406 can also be specifically implemented by, for example, the communication I / F 209 shown in Figure 2. 【0240】 Furthermore, the output unit 406 may, in response to information acquired by the acquisition unit 404 indicating that there is a possibility of an event occurring that could affect people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rainfall, strong winds, or sudden weather changes, output an audio message informing users that such an event may occur, or cause the LED lamp 104 to illuminate or flash in a specific pattern or color. 【0241】 The control unit 407 controls the entire flying robot 1001. Specifically, the control unit 407 can perform its functions, for example, through the control circuit 207 shown in Figure 2. More specifically, the control unit 407 can perform its functions, for example, by executing a program stored in memory or the like through the CPU in the control circuit 207 shown in Figure 2. 【0242】 The control unit 407 makes the flying robot 1001 fly, for example, by controlling the drive unit 405. The control unit 407 may also make the flying robot 1001 fly by controlling the drive unit 405 when a specific sound is acquired based on the sound acquired by the acquisition unit 404. 【0243】 Specifically, for example, when the acquisition unit 404 acquires sounds such as the footsteps of birds or animals or humans, sounds presumed to indicate the use of scissors or cutters, sounds presumed to indicate the packing of items into bags or boxes, or sounds such as engine noises or tire noises from vehicles, the drive unit 405 is controlled to initiate flight. This makes it possible to reliably detect the presence of a target while minimizing battery consumption. 【0244】 Furthermore, the control unit 407 performs imaging, for example, by driving and controlling the imaging unit 403. In addition, the control unit 407 recognizes the object to be monitored based on the image captured by the imaging unit 403. Recognition of the object to be monitored is performed, for example, by determining whether or not the object to be monitored is included in the image captured by the imaging unit 403. 【0245】 Specifically, when monitoring an orchard, for example, the control unit 407 determines whether the images captured by the imaging unit 403 include birds or animals eating fruit, or people carrying bags or boxes that are presumed to contain fruit. Fruit can be identified by image recognition. Bags or boxes that are presumed to contain fruit may be identified by image recognition of the bags or boxes themselves, or they may be identified by the fact that they are being carried by two or more people. 【0246】 Specifically, when monitoring a pig farm, for example, the control unit 407 determines whether the image captured by the imaging unit 403 includes pigs, or people carrying bags or boxes that are presumed to contain pigs. Pigs can be identified by image recognition. Bags or boxes that are presumed to contain pigs may be identified by image recognition of the bags or boxes themselves, or by the fact that they are being carried by two or more people. 【0247】 Specifically, when monitoring a beekeeping farm, the control unit 407 determines whether the image captured by the imaging unit 403 includes a bear carrying a beehive, or a person carrying a box-shaped or flat object. 【0248】 Alternatively, the control unit 407 may recognize the target of surveillance based on the image captured by the imaging unit 403 and the sound acquired by the acquisition unit 404. Specifically, for example, in surveillance of a pig farm, the control unit 407 may recognize the bear as the target of surveillance if the bear is captured on camera and the sounds of pigs squealing are collected. 【0249】 The control unit 407, equipped with AI functionality, can learn about the targets it monitors. In recent years, computers equipped with artificial intelligence have become smaller, and even a control circuit 207 (computer) equipped with artificial intelligence can smoothly fly the flying robot 1001. The control unit 407 may also communicate with another flying robot 1001 to share characteristics and images of birds, animals, or humans that have caused damage to farms, etc., and may learn based on the shared information. 【0250】 The targets of monitoring are not limited to those that come into contact with agricultural products; they may also include birds, animals, or humans that enter the farm, or birds, animals, or humans that enter a designated area from the farm. This allows for the identification of the targets of monitoring and the implementation of countermeasures such as sound or light warnings before agricultural products are actually damaged. 【0251】 Image capture and recognition of monitored objects may be limited to pre-set time periods. Specifically, these periods can be set, for example, to "between 18:00 and 07:00" or "between sunrise and sunset." Sunrise and sunset times can be obtained by the acquisition unit 404 through communication via the network N. 【0252】 Image capture and recognition of the target of surveillance may be performed only between the time a predetermined input operation is received by the flying robot 1001 and the time an operation to invalidate said predetermined input operation is received. Alternatively, image capture and recognition of the target of surveillance may be performed only between the time a predetermined signal is received by the flying robot 1001 from, for example, a smartphone, and the time a signal to invalidate the operation caused by said predetermined signal is received. 【0253】 Specifically, for example, at the end of each day's work at a farm, a farm worker can perform a predetermined input operation on the flying robot 1001 to enable image capture and recognition of the target of surveillance. The next day, when work at the farm begins, the worker can perform an operation to disable the predetermined input operation. This allows for appropriate monitoring of farms and other locations according to the nature of the work, even when working hours fluctuate daily depending on conditions such as the season. 【0254】 Alternatively, image capture and target recognition could be performed throughout the day, while countermeasures such as audio or light warnings triggered by target recognition could be performed only during pre-set time periods. This would allow the system to learn about workers and other people working on a farm during the day, and then only issue warnings at night against birds and animals that damage crops or thieves who steal crops. 【0255】 Furthermore, by taking images during the daytime, for example, a thief who visits a location to scout for a break-in can be photographed in bright, clear conditions. If a break-in occurs after the scouting, the clear images can be used to identify the perpetrator. In this way, By using the flying robot 1001 like a surveillance camera, security measures in the surrounding area can be strengthened. Furthermore, by learning about workers and other individuals, it can avoid issuing unnecessary warnings if a worker visits the farm at night for any reason. 【0256】 Based on the image captured by the imaging unit 403, the control unit 407, if it recognizes a target to be monitored in the image, controls the drive unit 405 to make the flying robot 101 fly towards the target. Alternatively, if the control unit 407 recognizes a target to be monitored in the image captured by the imaging unit 403, it may store the captured image of the target in the storage unit 401. 【0257】 The control unit 407 may, based on the image captured by the imaging unit 403, fly the flying robot 101 to capture images of the monitored object from all directions if it recognizes a monitored object in the image. The control unit 407 may then store the images of the monitored object captured from all directions in the storage unit 401. 【0258】 The control unit 407 may control the drive unit 405 to fly the aircraft so that it approaches the target of surveillance at a certain distance. Specifically, the drive unit 405 is controlled to approach the aircraft so that it approaches at a distance that prevents the target of surveillance from touching the aircraft. This prevents the aircraft from being damaged by impacts from the target of surveillance. 【0259】 The flying robot 101, which is equipped with a camera 103, can autonomously fly to a position that makes it easy to photograph the target of surveillance. This allows it to photograph the target of surveillance without blind spots, regardless of environmental factors such as the position of the camera or the positions of surrounding trees and houses. As a result, it can reliably photograph the target of surveillance compared to conventional technologies that fly drones based on images captured by stationary cameras. 【0260】 Furthermore, the flying robot 101, which is equipped with a camera 103, can autonomously fly to a position where it can reliably photograph crows. Compared to conventional technology that uses images captured by a stationary camera to fly a drone and drive away crows from garbage collection areas, this method avoids losing sight of the crows, reliably photographs them, and effectively drives them away from garbage collection areas. 【0261】 The inventor named the flying robot 101 that monitors for the presence or absence of a target to be monitored within a predetermined area such as a farm, and acts to prompt the target to leave the predetermined area, "Doroguard." The inventor also named the flying robot 101 that monitors for the presence or absence of a target to be monitored within a predetermined area such as a farm, and acts to leave evidence that the target was present within the predetermined area, "Doro-Bo" or "Dorowatcher." 【0262】 The control unit 407 may perform a predetermined process while controlling the drive unit 405 to fly the flying robot 101 towards the target object. For example, if the output unit 406 is realized by the speaker 204 shown in Figure 2, the control unit 407 can perform a predetermined process by controlling the output unit 406 to output a recorded voice of a speech warning or cautioning against theft, or to output a synthesized voice that mimics a speech warning or cautioning against theft. Multiple patterns of speech warning or cautioning against theft may be set. 【0263】 Furthermore, the control unit 407 controls the output unit 406 to output, for example, the sound of a siren, horn, whistle, or other sound (recorded sound), or at least one of these. The predetermined process may also be achieved by outputting a synthesized voice that mimics either of the voices. 【0264】 The control unit 407 preferably outputs sound with a sound pressure level of 80 dB or higher. Alternatively, the control unit 407 preferably outputs sound with a loudness level of 90 phones or higher. For example, emergency vehicles such as ambulances are legally required to be equipped with sirens that can output sound at a volume of 90 phones or higher, measured at a distance of 20 meters in front of the vehicle. By outputting sound of this volume, the presence of the monitored object can be widely publicized, and it is expected that damage to agricultural products and other items can be prevented or further escalated. 【0265】 If speaker 204 is a directional speaker, even in noisy environments, the camera 103 can be used to confirm the location of the target being monitored, allowing the sound to be emitted only in the necessary direction. This ensures that even at night, the sound emitted by speaker 204 reaches the target without disturbing nearby residents. 【0266】 In particular, since a person stealing agricultural products or the like is in a very tense psychological state so that the crime is not revealed, by suddenly outputting a loud voice, it is possible to make the criminal being monitored think that "the crime has been revealed" and "his / her existence has been revealed". As a result, it becomes difficult for the criminal to continue the theft crime, and it is possible to prevent the damage to agricultural products or the like in advance or suppress further expansion of the damage. 【0267】 Also, for example, when the output unit 406 is realized by the LED lamp 104 shown in FIGS. 1 and 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to turn on or blink the light source (LED lamp 104). 【0268】 When the monitoring target is birds and beasts, the control unit 407 controls the output unit 406 so that, for example, a group of LED lamps 104 provided at a plurality of locations are sequentially turned on as if the light is rotating, or emit light in a color approaching the color of a flame. By performing such an artificial operation that does not exist in nature, birds and beasts can be kept away from a predetermined range such as a farm. 【0269】 When the monitoring target is a person aiming at theft, the control unit 407 controls the output unit 406 so that, for example, the LED lamp 104 emits light in white. As a result, it is possible to illuminate the monitoring target and its surroundings extremely brightly and clearly photograph the monitoring target. 【0270】 The control unit 407 preferably causes a light source such as the LED lamp 104 to emit light with a luminous flux equal to or greater than a predetermined threshold value. The luminous flux is the brightness of the LED lamp 104 itself and can be expressed in lumens (unit: lm), which indicates the amount of light per unit time. Also, the brightness of the LED lamp 104 itself may be specified based on the luminous intensity (luminance) in a specific direction, which is expressed in candelas (unit: cd). 【0271】 Further, the control unit 407 may specify not by the brightness of the LED lamp 104 itself but by the brightness of the illuminated location, that is, the illuminance (unit: lx). In this case, if the illuminance of the location that has become brighter by lighting the LED lamp 104 is less than a predetermined threshold value, the control unit 407 approaches the target or causes the LED lamp 104 to emit light more brightly. 【0272】 A person (i.e., a criminal) who acts with the purpose of theft generally does not prefer a bright environment and tends to act in a dark place. One of the reasons is that in a dark place, visibility is poor, making it difficult for others to see, and even if their presence is detected, the visibility itself is low, making it difficult to identify the person or the act of theft. Another reason is that, commonly, there is no ordinary person in a dark place. In the flying robot 1001, by causing the LED lamp 104 to emit white light, in addition to being able to clearly photograph the monitoring target, it is possible to make the monitoring target feel that "the crime has been exposed" or "their own existence has become apparent". This makes it difficult for the criminal to continue the theft crime and can prevent damage to agricultural products, etc., or suppress further expansion of the damage. 【0273】 In the flying robot 1001, by causing the LED lamp 104 to emit white light, in addition to being able to clearly photograph the monitoring target, it is possible to make the monitoring target feel that "the crime has been exposed" or "their own existence has become apparent". This makes it difficult for the criminal to continue the theft crime and can prevent damage to agricultural products, etc., or suppress further expansion of the damage. 【0274】 Also, by causing the LED lamp 104 to emit white light, only the criminal and the surrounding area of the criminal can be brightened, making it difficult to visually recognize the situation around the criminal, such as the criminal's feet. This can slow down the criminal's escape and it is expected that the criminal can be apprehended at the scene before the criminal escapes from the scene. 【0275】 The control unit 407 controls the drive unit 405 to make the flying robot 101 return to station 301 when the monitored target is no longer within a predetermined range such as the farm or its surroundings. The control unit 407 may also control the drive unit 405 to make the flying robot 101 return to station 301 when the remaining charge of the battery 201 falls below a predetermined amount. 【0276】 When multiple flying robots 1001 monitor the same farm or area, a request for assistance may be sent to other flying robots 1001 when the remaining battery level of the 201 falls below a predetermined amount. The request for assistance includes information about the current location of the flying robot 1001 that sent the request. 【0277】 A request for assistance may include information regarding the date and time the request was issued. A request for assistance may include identification information of the flying robot 1001 that issued the request. A request for assistance may include information regarding an image taken by the flying robot 1001 that issued the request. The information regarding the image may be the image itself, or it may be a URL indicating the storage location on the cloud network where the image is stored. 【0278】 When flying robot 1001 receives a request for assistance from another flying robot 1001, it flies to the location of the flying robot 1001 that issued the request, based on the information regarding its current location included in the request. The flying robot 1001 that issued the request for assistance may continue to output information regarding its current location until the flying robot 1001 that received the request for assistance arrives. 【0279】 This allows the monitoring robots to continue monitoring the target and taking images even if the battery level of the first flying robot 1001 to recognize the target drops, by requesting assistance from other flying robots 1001. In this way, by using multiple flying robots 1001 to monitor the same farm or other location, the target can be monitored more reliably. 【0280】 (Processing procedure for flying robot 101) Next, the processing procedure of the flying robot 101 will be described. Figure 11 is a flowchart showing the processing procedure of the flying robot 101 according to Embodiment 2 of this invention. In the flowchart of Figure 11, first, it waits until it detects a living organism (step S1101: No). In step S1101, for example, it stops at station 301, etc. Wait in that state. 【0281】 In step S1101, for example, a living organism is detected using the object sensor 206 (infrared sensor) shown in Figure 2. Alternatively, in step S1101, a living organism may be detected based on sound collected using the microphone 203 shown in Figure 2. Alternatively, in step S1101, a living organism may be detected based on images captured using the camera 103 shown in Figures 1 and 2. The detection of a living organism is not limited to one method, but may be performed using multiple methods. This allows for the detection of a living organism with high accuracy. 【0282】 If a living organism is detected in step S1101 (step S1101: Yes), the aircraft begins flight (step S1102) and starts taking images (step S1103). Note that the detection of living organisms and the taking of images for the purpose of detecting living organisms are not limited to being performed while waiting at station 301, but may also be performed while continuously patrolling a predetermined area such as a farm. In this case, steps S1102 and S1103 are not performed, and the aircraft begins flight and takes images before any living organisms are detected. 【0283】 Next, based on the captured images, it is determined whether or not the target of surveillance has been recognized (step S1104). If the target of surveillance has not been recognized in step S1104 (step S1104: No), the system continues to move and capture images until the target of surveillance is recognized, and the captured images are then analyzed. 【0284】 In step S1104, if the surveillance target is not recognized, the LED lamp 104 may be illuminated to brightly illuminate the surroundings. This can be used, for example, to startle birds and animals if they are birds or animals, causing them to leave the farm or other area. Also, if the surveillance target is a criminal with the intention of stealing agricultural products, it is quite possible that illuminating the area will cause them to reflexively hide their face or body, making it easier to find the surveillance target in the captured images. 【0285】 On the other hand, if the monitoring target is recognized in step S1104 (step S1104: Yes), recording of the captured image begins (step S1105). In step S1105, the captured image is stored, for example, in the memory of the control circuit 207 shown in Figure 2. 【0286】 The images captured by camera 103 may be recorded not only when a target is recognized, but all images may be recorded. In this case, the captured images are stored in the memory of the control circuit 207 shown in Figure 2, for example, and when the memory capacity is full, older images are overwritten with newer images. 【0287】 Alternatively, the captured images may be temporarily stored in the memory of the control circuit 207 shown in Figure 2, and then, as appropriate, stored on the cloud network via the communication interface 209. Images temporarily stored in the memory of the control circuit 207 shown in Figure 2 may be deleted from the memory after being stored on the cloud network, or they may be stored continuously until the memory capacity is full, at which point older images may be overwritten with newer images. 【0288】 Next, a predetermined process is executed (step S1106). In step S1106, for example, voice recorded by the speaker 204 shown in FIG. 2 that gives a notice or warning of theft is output, or a synthesized voice imitating the voice that gives a notice or warning of theft is output. 【0289】 When a plurality of patterns of voices that give a notice or warning of theft are set, in step S1106, instead of continuously outputting voices of the same pattern, voices of a plurality of patterns may be combined and output. Thereby, it is possible to make the monitored object feel that it is not the recorded voice but a human is monitoring remotely and giving a warning in real time. 【0290】 In particular, when the monitored object is a criminal who aims to steal agricultural products or the like, it can be made to think that "won't someone such as a person related to the farm come to catch me soon?", thereby preventing damage to agricultural products or the like or suppressing further expansion of the damage. 【0291】 Also, in step S1106, for example, the voice of a siren, a police siren, a horn or a whistle, or a synthesized voice imitating at least any one of these voices may be output from the speaker 204 shown in FIG. 2. Also, in step S1106, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2 may be lit or blinked. 【0292】 In step S1106, either one of the process of outputting voice from the speaker 204 shown in FIG. 2 and the process of causing the LED lamp 104 shown in FIG. 1 or FIG. 2 to emit light may be performed, both processes may be performed in parallel, or a plurality of processes may be performed in order. 【0293】 Even if all of the predetermined processes performed in step S1106 are processes that output sound from the speaker 204 shown in Figure 2, there may be multiple types of sound output. Specifically, for example, after outputting a siren sound, a recorded voice message warning or cautioning against theft may be output. 【0294】 In step S1106, the image captured by the camera 103 may be sent to a predetermined destination, such as an email address set on a specific smartphone or a specific URL set on a cloud network, via the communication I / F 209 shown in Figure 2. 【0295】 Then, it is determined in step S1104 whether the monitored object has moved outside the predetermined range, such as a farm (step S1107). If, in step S1107, the monitored object has not moved outside the predetermined range (step S1107: No), the process proceeds to step S1106 and continues to execute the predetermined process. 【0296】 On the other hand, if the monitored object moves outside the predetermined range (step S1107: Yes), the aircraft flies back to station 301 (step S1108) and terminates the series of processes. In step S1108, images may be taken during the return journey, and if the monitored object is recognized, the processes from step S1105 onwards may be performed. 【0297】 Alternatively, in step S1108, during the return journey, the object sensor 206 and microphone 203 may be used to detect living organisms, and if living organisms are actually detected, the processing from step S1103 onward may be performed. 【0298】 (An example of how the flying robot 101 can be used) Next, an example of how the flying robot 1001 can be used will be described. Figures 12 and 13 show an example of how the flying robot 1001 of Embodiment 2 of this invention can be used. This is an explanatory diagram. 【0299】 The number of flying robots 1001 and station 301 can be any number, from one to several, depending on the area of ​​the farm or other area to be monitored, as well as the terrain. Specifically, for example, the larger the farm to be monitored, the more flying robots 1001 will be deployed. 【0300】 The number of flying robots 1001 deployed and the number of stations 301 deployed do not have to be the same. Specifically, for example, the number of stations 301 deployed may be greater than the number of flying robots 1001 deployed. This allows the flying robots 1001 to quickly move to the nearest station 301, thus avoiding crashes due to battery depletion or failing to photograph criminals, etc. 【0301】 Alternatively, for example, the number of flying robots 1001 deployed may be less than the number of stations 301 deployed. This allows multiple flying robots 1001 to fly alternately for charging, thereby reducing the power consumed by stations 301 while they are idle in the farm or other area. 【0302】 Furthermore, when monitoring areas where there are many trees 1201 with branches and leaves 1201a spreading out, such as orchards as shown in Figure 12, and where visibility is poor, it is preferable to deploy multiple flying robots 1001 and stations 301, even if the area is not very large. 【0303】 Furthermore, in the orchard, a person (criminal) 1203 carrying a box 1202 presumed to contain fruit 1201b is identified as a target for surveillance. Figure 12 shows the fruit 1201b visible from the box, but even if the contents such as fruit 1201b are not visible, the contents may be estimated based on the shape and the way the person is carrying the package. 【0304】 This eliminates blind spots where criminal 1203 is hidden by trees 1201, thus ensuring the reliability of surveillance. Furthermore, even if the presence of trees 1201 makes it difficult to fly around criminal 1203 effectively, multiple flying robots 1001 can photograph criminal 1203 from multiple directions, further ensuring the reliability of surveillance. 【0305】 Furthermore, when monitoring locations such as pig farms or chicken coops as shown in Figure 13, where the objects to be monitored (pigs 1301, chickens, etc.) are scattered in various places and move independently, it is preferable to deploy multiple flying robots 1001 and stations 301. 【0306】 This allows multiple flying robots 1001 to fly in different directions, so that even if a criminal 1203, whose purpose is to steal livestock such as pigs 1301 or poultry, breaks into a pig farm or chicken coop and chases the livestock or poultry around, causing them to scatter in different directions, the criminal 1203 will not be lost sight of, and images can be captured. 【0307】 Multiple flying robots 1001 can cooperate by communicating with each other, for example, via a communication I / F 209. Alternatively, one of the multiple flying robots 1001 can determine the flight route and shooting direction of the remaining flying robots 1001, and then fly from that one flying robot 1001 to the remaining flying robots 1001. You may also configure it to send line instructions. 【0308】 As described above, the flying robot 1001 of Embodiment 2 of this invention comprises an unmanned aerial vehicle (drone) that flies by self-piloting and a camera 103 mounted on the unmanned aerial vehicle, and is characterized in that, when it recognizes an object such as a criminal 1203 based on the image taken by the camera 103, it flies to approach the object. 【0309】 According to the second embodiment of the present invention, the flying robot 1001 can be flown to approach a target that has been recognized based on an image captured by the camera 103. By recognizing the target based on an image captured by the camera 103, the target can be recognized with higher accuracy compared to the case where the target is detected using only an infrared sensor. As a result, the target can be reliably monitored without being misled by other causes, such as a heat source set up separately for decoy purposes. 【0310】 Furthermore, according to the second embodiment of the present invention, the flying robot 1001 is equipped with a camera 103, allowing it to autonomously fly to a position where it can easily photograph the target of surveillance. This enables the robot to photograph the target of surveillance without blind spots, regardless of environmental factors such as trees 1201 or buildings around the flying robot 1001. Compared to conventional technologies that use stationary sensors to detect the target of surveillance and dispatch a drone based on the detection results, this method allows for reliable photography and surveillance of the target with a simpler configuration. 【0311】 Thus, according to the second embodiment of the present invention, the flying robot 1001 can reliably monitor the target of surveillance with a simple configuration. Furthermore, according to the second embodiment of the present invention, the flying robot 1001 can make the target of surveillance aware that it is being monitored and draw its attention. 【0312】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on an image captured by a camera, it flies in a manner that captures images of the target from all directions. 【0313】 According to the flying robot 1001 of Embodiment 2 of this invention, by capturing images of the target from all directions, the target can be reliably identified based on the captured images. Furthermore, because the robot flies around the target in order to capture images from all directions, it can reliably make the target aware that it is being monitored and draw its attention. As a result, the target can be reliably monitored with a simple configuration. 【0314】 In particular, if the target of surveillance is a criminal 1203 acting with the intent to steal agricultural products, it is possible to induce the target to leave the agricultural products they intended to steal and flee by making them aware that they are being monitored and recorded, and by giving them the impression that their crime has been noticed and evidence has been collected. In this way, damage to agricultural products on a farm can be prevented with a simple configuration. 【0315】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by recognizing a target to be monitored based on an image captured by the camera 103 within a predetermined range. 【0316】 According to the flying robot 1001 of Embodiment 2 of this invention, an infinitely vast range Instead of monitoring an entire area, the system recognizes targets within a predetermined range, thereby ensuring reliable monitoring of the desired area. This guarantees accurate monitoring of targets within the predetermined range, and allows for reliable monitoring of targets with a simple configuration. 【0317】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a farm. 【0318】 According to the second embodiment of this invention, the flying robot 1001 can reliably monitor for intrusions into unmanned farms at night or other times, using a simple configuration. 【0319】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human being possessing or transporting agricultural products or items presumed to be such agricultural products on a farm. 【0320】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting agricultural products or items presumed to be such agricultural products on a farm, and by monitoring targets that have entered an unmanned farm at night, etc., it is possible to reliably monitor targets with a simple configuration. 【0321】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a crop cultivation farm. 【0322】 According to the flying robot 1001 of Embodiment 2 of this invention, in a crop farm where there is often little to no sunlight, such as at night, and where reduced visibility and a decline in security are concerns, the intrusion of the target of surveillance can be reliably monitored with a simple configuration. This makes it possible to safely and reliably monitor the target of surveillance in a crop farm with a simple configuration. 【0323】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human being possessing or transporting cultivated crops or items presumed to be such cultivated crops in a crop farm. 【0324】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting items that are presumed to be related to crop cultivation or crop cultivation in a crop cultivation farm, and by monitoring targets that have entered a crop cultivation farm that is almost certainly unmanned at night, the targets can be reliably monitored with a simple configuration. In other words, by limiting the targets of surveillance, the processing burden for recognizing the targets can be reduced, and the targets can be recognized quickly, thus enabling reliable surveillance of targets with a simple configuration. 【0325】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a livestock farm. 【0326】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the monitoring range to a livestock farm and monitoring within the livestock farm, intrusion of the target of monitoring can be reliably monitored with a simple configuration. This makes it possible to reliably monitor intrusion of the target of monitoring into livestock farms, which are often unmanned at night and where it is difficult to notice due to the sounds made by livestock and poultry, with a simple configuration. 【0327】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is livestock or poultry on a livestock farm, or birds or humans possessing or transporting items that are presumed to be such livestock or poultry. 【0328】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the targets of surveillance to birds, animals, or humans possessing or transporting livestock, poultry, or items presumed to be such livestock or poultry on a livestock farm, and by monitoring targets that have entered an unmanned livestock farm at night, etc., the targets can be reliably monitored with a simple configuration. In other words, by limiting the targets of surveillance, the processing burden for recognizing the targets can be reduced, and the targets can be recognized quickly, thus enabling reliable surveillance of targets with a simple configuration. 【0329】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined area is a beekeeping farm. 【0330】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the monitoring range to a beekeeping farm and monitoring within the beekeeping farm, intrusion of the target can be reliably monitored with a simple configuration. This makes it possible to reliably monitor for intrusion of the target into a beekeeping farm, which is often unmanned at night, with a simple configuration. 【0331】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the target of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be such a beehive. 【0332】 According to the flying robot 1001 of Embodiment 2 of this invention, by limiting the target of surveillance to birds, animals, or humans possessing or transporting beehives used in apiaries or items presumed to be beehives, and by monitoring targets that enter an unmanned apiary at night, etc., the target can be reliably monitored with a simple configuration. In other words, by limiting the target of surveillance, the processing burden for recognizing the target can be reduced, and the target can be recognized quickly, thus enabling reliable monitoring of the target with a simple configuration. 【0333】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on images taken by the camera 103 during a predetermined time period, it flies to approach the target to be monitored. 【0334】 According to the flying robot 1001 of Embodiment 2 of this invention, by recognizing the target of surveillance based on images captured by the camera 103 during a predetermined time period, it is possible to exclude individuals who have legitimate or necessary reasons for surveillance, such as for business purposes, from the target of surveillance, and to perform surveillance during unmanned times such as at night. In this way, by limiting the surveillance period, individuals who have legitimate or necessary reasons for surveillance can be excluded from the target of surveillance, thereby reducing the processing burden on recognizing the target of surveillance due to unnecessary surveillance, and enabling reliable surveillance of the target with a simple configuration. 【0335】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, after receiving a predetermined input operation or predetermined signal and before receiving an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal, if it recognizes a target to be monitored based on an image captured by the camera 103, it flies to approach the target to be monitored. 【0336】 According to the flying robot 1001 of Embodiment 2 of this invention, in a specified situation By performing monitoring only during specific times, it becomes possible to avoid monitoring while individuals with legitimate or necessary business needs are present, for example, and instead perform monitoring during unmanned hours such as at night. In this way, by limiting the monitoring period, individuals with legitimate or necessary needs can be excluded from monitoring, thereby reducing the processing burden associated with identifying monitored targets due to unnecessary monitoring, and ensuring reliable monitoring of target individuals with a simple configuration. 【0337】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, upon recognizing a target to be monitored, it flies to approach the target and outputs a predetermined sound toward the target. 【0338】 According to the flying robot 1001 of Embodiment 2 of this invention, by flying to approach a target to be monitored and emitting a predetermined sound toward the target, the robot can attract the attention of the target, ensure that the target is aware that it is being monitored, and notify the surroundings of the target's intrusion, thereby reliably preventing theft of agricultural products and the like. 【0339】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined voice is either a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft. 【0340】 According to the second embodiment of the present invention, the flying robot 1001 outputs synthesized speech that mimics a warning or caution against theft, thereby making the monitored target believe that a human is nearby or anticipate a human approach. Furthermore, according to the second embodiment of the present invention, the flying robot 1001 outputs predetermined sounds from a speaker 204 integrated into the flying robot 1001, so that even if the monitored target moves, such as by escaping, the sound can always be output near the monitored target in accordance with its movement. This allows for warning the monitored target and reliably notifies the surrounding area of ​​the monitored target's location. As a result, further damage to agricultural products, etc., can be reliably prevented. 【0341】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds. 【0342】 According to the flying robot 1001 of Embodiment 2 of this invention, by outputting the sound of a siren, horn, whistle, or a synthesized sound that mimics at least one of these sounds, it is possible to make the monitored target believe that a human is nearby or anticipate the approach of a human. 【0343】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by outputting a predetermined sound while the recognized target is within a preset monitoring range. 【0344】 According to the flying robot 1001 of Embodiment 2 of this invention, by continuously outputting a predetermined sound while the target of surveillance is within the surveillance range, a warning can be issued to the target of surveillance, and the location of the target of surveillance can be reliably notified to the surrounding area. As a result, the target of surveillance can be driven out of the surveillance range at an early stage, and further damage to agricultural products can be reliably prevented. 【0345】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined sound has a sound pressure level of 80 dB or higher. 【0346】 According to the second embodiment of this invention, the flying robot 1001 can output sound loud enough to be heard over a wide area. This allows for clear warnings to be given to the target of surveillance, and the location of the target of surveillance can be reliably reported over a wide area, thereby reliably preventing further damage to agricultural products and other items. 【0347】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that a predetermined sound has a loudness level of 90 phons or higher. 【0348】 According to the flying robot 1001 of Embodiment 2 of this invention, by outputting sound with a loudness level of 90 fps or higher, which is specified as the volume of a disaster prevention siren, a clear warning can be given to the target of surveillance, and the location of the target of surveillance can be reliably reported over a wide area, thereby reliably preventing further damage to agricultural products and other items. 【0349】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is equipped with an LED lamp 104, which is a light source mounted on an unmanned aerial vehicle, and is characterized by flying while emitting light from the LED lamp 104. 【0350】 According to the second embodiment of this invention, the flying robot 1001 flies to approach the target of surveillance and emits an LED lamp 104, which is a light source, thereby attracting the attention of the target of surveillance, ensuring that the target is aware that it is being monitored, and also alerting the surroundings to the intrusion of the target of surveillance, thereby reliably preventing theft of agricultural products and other items. 【0351】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by flying while flashing an LED lamp 104, which is a light source. 【0352】 According to the flying robot 1001 of Embodiment 2 of this invention, by flashing the LED lamp 104 which is a light source, the attention of the target being monitored can be attracted, ensuring that the target is aware that it is being monitored, and the intrusion of the target can be reliably notified to the surroundings, thereby reliably preventing theft of agricultural products and the like. 【0353】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized by flying while flashing the light from the LED lamp 104, which is a light source, at a luminous flux above a predetermined threshold. 【0354】 According to the flying robot 1001 of Embodiment 2 of this invention, by flying while flashing light with a luminous flux above a predetermined threshold, it is possible to attract the attention of the target being monitored, to ensure that the target is aware that it is being monitored, and to more reliably notify the surroundings of the target's intrusion, thereby reliably preventing theft of agricultural products and the like. 【0355】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is equipped with a communication I / F209, which is a wireless communication interface mounted on an unmanned aerial vehicle, and is characterized in that, when it recognizes a target to be monitored based on an image captured by the camera 103, it transmits the image to a predetermined destination via the communication I / F209. 【0356】 According to the flying robot 1001 of Embodiment 2 of this invention, the camera 103 By transmitting images of the monitored target, which are recognized based on the captured images, to a designated destination, damage to agricultural products can be quickly and reliably reported to the managers of those agricultural products. 【0357】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined destination is an email address set on a specific smartphone. 【0358】 According to the flying robot 1001 of Embodiment 2 of this invention, the image of the monitored object recognized based on the image captured by the camera 103 can be sent to an email address set on the smartphone of an interested party, such as a farm manager, thereby quickly and reliably notifying the manager. This allows the manager to quickly identify damage such as animals eating agricultural products or humans stealing agricultural products, and to take action to prevent the damage from spreading. 【0359】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that the predetermined destination is a specific URL set on a cloud network. 【0360】 According to the flying robot 1001 of Embodiment 2 of this invention, the image of the monitored target recognized based on the image captured by the camera 103 can be reliably stored on the cloud network regardless of the size of the image being transmitted by sending it to a specific URL set on the cloud network. This ensures that records of the monitored target are reliably saved and that the monitored target can be identified at a later date after it has been recognized. 【0361】 Furthermore, the flying robot 1001 of Embodiment 2 according to this invention is characterized in that, when it recognizes a target to be monitored based on an image captured by the camera 103, it stores the image in a predetermined memory area. 【0362】 According to the flying robot 1001 of Embodiment 2 of this invention, for example, by storing the image of the recognized target in a predetermined storage area such as the memory of the control circuit 207 shown in Figure 2, the perpetrator can be identified using the recorded image when theft of agricultural products or other items occurs. 【0363】 The control method for the flying robot described in this embodiment can be achieved by executing a pre-prepared program on the computer installed in the flying robot. This program is recorded on a computer-readable recording medium such as the memory installed in the flying robot, and is executed when read from the recording medium by the computer. This program may also be stored and distributed on a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc., or it may be transmitted via a network such as the Internet. 【0364】 The details of Embodiment 1 are described below as an addendum. 【0365】 (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing an object based on an image captured by the aforementioned camera, and then flying to approach that object. 【0366】 (Note 2) The flying robot according to Appendix 1, characterized in that the camera takes photographs within a predetermined range. 【0367】 (Note 3) The flying robot according to Appendix 2, characterized in that the predetermined range is a pre-set garbage collection area. 【0368】 (Note 4) The flying robot according to Appendix 2 or 3, characterized in that after flying to approach the aforementioned object, it returns to a station installed within or near the predetermined range. 【0369】 (Note 5) A flying robot according to any one of the appendices 2 to 4, characterized in that it flies within the predetermined range at a speed less than or equal to the set speed. 【0370】 (Note 6) A flying robot according to any one of the appendices 2 to 4, characterized in that it hovers at any position within the predetermined range. 【0371】 (Note 7) A flying robot according to any one of the appendices 2 to 4, characterized in that it flies up and down at any position within the predetermined range. 【0372】 (Note 8) The aforementioned unmanned aerial vehicle is equipped with a speaker, A flying robot according to any one of the appendices 1 to 7, characterized in that, when it recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies to approach the object. 【0373】 (Note 9) The flying robot according to Appendix 8, characterized in that it outputs the predetermined sound from the speaker to the aforementioned object. 【0374】 (Note 10) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0375】 (Note 11) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot. 【0376】 (Note 12) The flying robot according to Appendix 8 or 9, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark. 【0377】 (Note 13) The aforementioned specified sound is characterized by being a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or by being a synthesized sound that imitates these sounds. A flying robot as described in Appendix 8 or 9. 【0378】 (Note 14) The aforementioned unmanned aerial vehicle is equipped with a light source, A flying robot according to any one of the appendices 1 to 13, characterized in that, when an object is recognized based on an image captured by the aforementioned camera, it emits light from the aforementioned light source and flies to approach the object. 【0379】 (Note 15) A flying robot described in any one of the appendices 1 to 14, characterized by having an appearance that imitates a bird of prey. 【0380】 (Note 16) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies on autopilot, The aforementioned camera is used to take photographs. Based on the image captured by the aforementioned camera, if an object is recognized, the aircraft is directed to approach that object. A control program for a flying robot, characterized by its ability to execute processes. 【0381】 (Note 17) A control program for a flying robot according to Appendix 16, characterized in that the camera captures images within a predetermined range. 【0382】 (Note 18) A control program for a flying robot according to Appendix 17, characterized in that the camera is used to photograph a pre-set garbage collection area. 【0383】 (Note 19) A control program for a flying robot according to Appendix 16 or 18, characterized in that, after flying to approach the object, the robot flies back to a station installed within or near the predetermined range. 【0384】 (Note 20) A control program for a flying robot according to any one of the appendices 17 to 19, characterized by flying within the predetermined range at a speed less than or equal to the set speed. 【0385】 (Note 21) A control program for a flying robot according to any one of the appendices 17 to 19, characterized by causing it to hover at any position within the predetermined range. 【0386】 (Note 22) A control program for a flying robot according to any one of the appendices 17 to 19, characterized by causing it to fly up and down at any position within the predetermined range. 【0387】 (Note 23) The computer of the flying robot, which is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, Based on the image captured by the camera, when the object is recognized, a predetermined sound is output from the speaker and the aircraft is directed to approach the object. A control program for a flying robot described in any one of the appendices 16 to 22, characterized by the above. 【0388】 (Note 24) Control program for a flying robot as described in Appendix 23, characterized by outputting the predetermined sound from the speaker to the aforementioned object. 【0389】 (Note 25) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0390】 (Note 26) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot. 【0391】 (Note 27) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that mimics a dog bark. 【0392】 (Note 28) The control program for a flying robot according to Appendix 23 or 24, characterized in that the predetermined sound is a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds. 【0393】 (Note 29) The computer of the flying robot equipped with a light source mounted on the aforementioned unmanned aerial vehicle, A control program for a flying robot according to any one of the appendices 16 to 28, characterized in that, when an object is recognized based on an image captured by the camera, the light source is made to emit light and the robot flies to approach the object. 【0394】 (Note 30) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies on autopilot, The aforementioned camera is used to take photographs. Based on the image captured by the aforementioned camera, if an object is recognized, the aircraft is directed to approach that object. A method for controlling a flying robot, characterized by causing it to execute a process. 【0395】 (Note 31) The method for controlling a flying robot according to Appendix 30, characterized in that the camera captures images within a predetermined range. 【0396】 (Note 32) The method for controlling a flying robot according to Appendix 31, characterized in that the camera is used to photograph a pre-set garbage collection area. 【0397】 (Note 33) A method for controlling a flying robot according to appendix 31 or 32, characterized in that the robot is flown to approach the object, and then flown back to a station installed within or near the predetermined range. 【0398】 (Note 34) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that the robot flies within the predetermined range at a speed less than or equal to the set speed. 【0399】 (Note 35) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that the robot hovers at any position within the predetermined range. 【0400】 (Note 36) A method for controlling a flying robot according to any one of the appendices 31 to 33, characterized in that it flies up and down at any position within the predetermined range. 【0401】 (Note 37) The computer of the flying robot, which is equipped with a speaker mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of the appendices 30 to 36, characterized in that, when an object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the robot flies to approach the object. 【0402】 (Note 38) A method for controlling a flying robot according to Appendix 37, characterized in that the speaker outputs the predetermined sound to the object. 【0403】 (Note 39) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey. 【0404】 (Note 40) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded gunshot or a synthesized sound that mimics a gunshot. 【0405】 (Note 41) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recorded dog bark or a synthesized sound that imitates a dog bark. 【0406】 (Note 42) The method for controlling a flying robot according to Appendix 37 or 38, characterized in that the predetermined sound is a recording of the sounds made by a crow that has been attacked, a crow that is on alert, or a frightened crow, or a synthesized sound that imitates these sounds. 【0407】 (Note 43) The computer of the flying robot equipped with a light source mounted on the aforementioned unmanned aerial vehicle, A method for controlling a flying robot according to any one of the appendices 30 to 42, characterized in that, when an object is recognized based on an image captured by the camera, the light source is made to emit light and the robot is made to fly towards the object. 【0408】 The details of Embodiment 2 are described below as an addendum. 【0409】 (Note 1) Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, A flying robot characterized by recognizing a target to be monitored based on an image captured by the aforementioned camera, and then flying to approach that target. 【0410】 (Note 2) The flying robot according to Appendix 1, characterized in that, when it recognizes the target being monitored based on the image captured by the camera, it flies to capture images of the target being monitored from all directions. 【0411】 (Note 3) The flying robot according to Appendix 1 or 2, characterized in that it recognizes a target to be monitored based on an image taken by the camera within a predetermined range set in advance. 【0412】 (Note 4) The flying robot according to Appendix 3, characterized in that the predetermined area is a farm. 【0413】 (Note 5) The flying robot according to Appendix 4, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm. 【0414】 (Note 6) The flying robot according to Appendix 3 or 4, characterized in that the predetermined range is a crop cultivation farm. 【0415】 (Note 7) The flying robot according to Appendix 6, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop at the crop cultivation farm. 【0416】 (Note 8) The flying robot according to Appendix 3 or 4, characterized in that the predetermined area is a livestock farm. 【0417】 (Note 9) The flying robot according to Appendix 8, characterized in that the target of surveillance is livestock or poultry on the livestock farm, or a bird, animal, or human possessing or transporting an item presumed to be such livestock or poultry. 【0418】 (Note 10) The flying robot according to Appendix 3 or 4, characterized in that the predetermined area is a beekeeping farm. 【0419】 (Note 11) The flying robot according to Appendix 10, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive. 【0420】 (Note 12) Based on the images captured by the camera during a predetermined time period, the monitoring A flying robot according to any one of the appendices 1 to 11, characterized in that, upon recognizing an object, it flies to approach the object being monitored. 【0421】 (Note 13) A flying robot according to any one of the appendices 1 to 12, characterized in that, if it recognizes the target being monitored based on an image captured by the camera between the time it receives a predetermined input operation or a predetermined signal and the time it receives an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal, it flies to approach the target being monitored. 【0422】 (Note 14) A flying robot according to any one of the appendices 1 to 13, characterized in that, upon recognizing the aforementioned target for monitoring, it flies to approach the target and outputs a predetermined sound toward the target. 【0423】 (Note 15) The flying robot according to Appendix 14, characterized in that the predetermined voice is a recording of a speech warning or caution against theft, or a synthesized voice that mimics a speech warning or caution against theft. 【0424】 (Note 16) The flying robot according to Appendix 14, characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds. 【0425】 (Note 17) The flying robot according to any one of the appendices 14 to 16, characterized in that it outputs the predetermined sound while the recognized target being monitored is within a pre-set monitoring range. 【0426】 (Note 18) The aforementioned predetermined sound is characterized in that the sound pressure level is 80 dB or higher, as described in any one of the appendices 14 to 17 of the flying robot. 【0427】 (Note 19) The aforementioned predetermined sound is characterized in that the loudness level is 90 phons or higher, as described in any one of the appendices 14 to 17 of the flying robot. 【0428】 (Note 20) The aforementioned unmanned aerial vehicle is equipped with a light source, A flying robot according to any one of the appendices 1 to 19, characterized in that it flies while emitting light from the aforementioned light source. 【0429】 (Note 21) The flying robot according to Appendix 20, characterized in that it flies while flashing the aforementioned light source. 【0430】 (Note 22) The flying robot according to Appendix 21, characterized in that it flies while flashing the light source with a luminous flux above a predetermined threshold. 【0431】 (Note 23) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, The flying robot according to any one of the appendices 1 to 22, characterized in that, when it recognizes the object being monitored based on an image captured by the camera, it transmits the image to a predetermined destination via the wireless communication interface. 【0432】 (Note 24) The flying robot according to Appendix 23, characterized in that the predetermined destination is an email address set on a specific smartphone. 【0433】 (Note 25) The flying robot according to Appendix 23, characterized in that the predetermined destination is a specific URL set on a cloud network. 【0434】 (Note 26) The flying robot according to any one of the appendices 1 to 25, characterized in that when it recognizes the object being monitored based on an image taken by the camera, it stores the image in a predetermined memory area. 【0435】 (Note 27) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies on autopilot, The aforementioned camera is used to take photographs. Based on the images captured by the aforementioned camera, if a target for monitoring is recognized, the aircraft is directed to approach that target. A control program for a flying robot, characterized by its ability to execute processes. 【0436】 (Note 28) A control program for a flying robot according to Appendix 27, characterized in that, when the program recognizes the target being monitored based on the image captured by the camera, it flies to capture images of the target being monitored from all directions. 【0437】 (Note 29) A control program for a flying robot according to Appendix 27 or 28, characterized by recognizing a target to be monitored based on an image captured by the camera within a predetermined range set in advance. 【0438】 (Note 30) The control program for the flying robot described in Appendix 29, characterized in that the predetermined range is a farm. 【0439】 (Note 31) The control program for the flying robot described in Appendix 30, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm. 【0440】 (Note 32) The control program for a flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a crop cultivation farm. 【0441】 (Note 33) The control program for the flying robot described in Appendix 32, characterized in that the subject of monitoring is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop at the crop farm. 【0442】 (Note 34) The control program for a flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a livestock farm. 【0443】 (Note 35) The control program for the flying robot described in Appendix 34, characterized in that the target of monitoring is livestock or poultry at the livestock farm, or birds, animals, or humans possessing or transporting items presumed to be such livestock or poultry. 【0444】 (Note 36) The control program for the flying robot according to Appendix 29 or 30, characterized in that the predetermined range is a beekeeping farm. 【0445】 (Note 37) The control program for the flying robot described in Appendix 36, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive. 【0446】 (Note 38) A control program for a flying robot according to any one of the appendices 27 to 37, characterized in that, when the robot recognizes a target to be monitored based on an image taken by the camera during a predetermined time period, it flies to approach the target to be monitored. 【0447】 (Note 39) A control program for a flying robot according to any one of the appendices 27 to 38, characterized in that, between the time a predetermined input operation or predetermined signal is received and the time an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal is received, if the robot recognizes the target to be monitored based on an image captured by the camera, it flies to approach the target to be monitored. 【0448】 (Note 40) A control program for a flying robot according to any one of the appendices 27 to 39, characterized in that, when it recognizes the aforementioned target to be monitored, it flies to approach the target and outputs a predetermined sound toward the target. 【0449】 (Note 41) The control program for a flying robot according to Appendix 40, characterized in that the predetermined voice is a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft. 【0450】 (Note 42) The control program for a flying robot according to Appendix 40, characterized in that the predetermined sound is the sound of a siren, horn, whistle, or a synthesized sound that imitates at least one of these sounds. 【0451】 (Note 43) A control program for a flying robot according to any one of the appendices 40 to 42, characterized in that it outputs a predetermined sound while the recognized target being monitored is within a pre-set monitoring range. 【0452】 (Note 44) The control program for a flying robot according to any one of the appendices 40 to 43, characterized in that the predetermined sound has a sound pressure level of 80 dB or higher. 【0453】 (Note 45) The control program for a flying robot according to any one of the appendices 40 to 43, characterized in that the predetermined sound has a loudness level of 90 phons or higher. 【0454】 (Note 46) The aforementioned unmanned aerial vehicle is equipped with a light source, A control program for a flying robot according to any one of the appendices 27 to 45, characterized in that the robot flies while emitting light from the aforementioned light source. 【0455】 (Note 47) A control program for a flying robot according to Appendix 46, characterized in that it flies while flashing the aforementioned light source. 【0456】 (Note 48) A control program for a flying robot according to Appendix 47, characterized in that the light source is made to fly while flashing light with a luminous flux above a predetermined threshold. 【0457】 (Note 49) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, A control program for a flying robot according to any one of the appendices 27 to 48, characterized in that, when the monitoring target is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface. 【0458】 (Note 50) The control program for a flying robot according to Appendix 49, characterized in that the predetermined recipient is an email address set on a specific smartphone. 【0459】 (Note 51) The control program for a flying robot according to Appendix 49, characterized in that the predetermined destination is a specific URL set on a cloud network. 【0460】 (Note 52) A control program for a flying robot according to any one of the appendices 27 to 51, characterized in that when the monitored object is recognized based on an image taken by the camera, the image is stored in a predetermined memory area. 【0461】 (Note 53) The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies on autopilot, The aforementioned camera is used to take photographs. If a target is identified based on the image captured by the aforementioned camera, the target object To fly in a way that approaches it, A method for controlling a flying robot, characterized by causing it to execute a process. 【0462】 (Note 54) A method for controlling a flying robot according to Appendix 53, characterized in that, when the robot recognizes the target to be monitored based on the image captured by the camera, it is made to fly in a manner that captures images of the target from all directions. 【0463】 (Note 55) A method for controlling a flying robot according to appendix 53 or 54, characterized in that it recognizes a target to be monitored based on an image captured by the camera within a predetermined range set in advance. 【0464】 (Note 56) The method for controlling a flying robot according to Appendix 55, characterized in that the predetermined area is a farm. 【0465】 (Note 57) The method for controlling a flying robot according to Appendix 56, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting agricultural products or items presumed to be such agricultural products on the farm. 【0466】 (Note 58) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined range is a crop cultivation farm. 【0467】 (Note 59) The method for controlling a flying robot according to Appendix 58, characterized in that the subject of monitoring is a bird, animal, or human possessing or transporting a crop or an item presumed to be such crop in the crop cultivation farm. 【0468】 (Note 60) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined range is a livestock farm. 【0469】 (Note 61) The method for controlling a flying robot according to Appendix 60, characterized in that the subject of surveillance is livestock or poultry in the livestock farm, or birds, animals, or humans possessing or transporting items presumed to be such livestock or poultry. 【0470】 (Note 62) The method for controlling a flying robot according to appendix 55 or 56, characterized in that the predetermined area is a beekeeping farm. 【0471】 (Note 63) The method for controlling a flying robot according to Appendix 62, characterized in that the subject of surveillance is a bird, animal, or human possessing or transporting a beehive used for beekeeping or an item presumed to be a beehive. 【0472】 (Note 64) A method for controlling a flying robot according to any one of the appendices 55 to 63, characterized in that, when the robot recognizes a target to be monitored based on an image taken by the camera during a predetermined time period, it is made to fly towards the target to be monitored. 【0473】 (Note 65) A method for controlling a flying robot according to any one of the appendices 53 to 64, characterized in that, between the time a predetermined input operation or predetermined signal is received and the time an operation to invalidate the predetermined input operation or a signal to invalidate the predetermined signal is received, if the robot recognizes the target to be monitored based on an image captured by the camera, it is made to fly towards the target to be monitored. 【0474】 (Note 66) A method for controlling a flying robot according to any one of the appendices 55 to 65, characterized in that, when the robot recognizes the target to be monitored, it is made to fly towards the target and outputs a predetermined sound toward the target. 【0475】 (Note 67) The method for controlling a flying robot according to Appendix 66, characterized in that the predetermined voice is a recording of a speech warning or cautioning against theft, or a synthesized voice that mimics a speech warning or cautioning against theft. 【0476】 (Note 68) The method for controlling a flying robot according to Appendix 66, characterized in that the predetermined sound is the sound of a siren, a horn, a signal whistle, or a synthesized sound that imitates at least one of these sounds. 【0477】 (Note 69) A method for controlling a flying robot according to any one of the appendices 66 to 68, characterized in that the recognized object being monitored is located within a predetermined monitoring range when the object is outputting the predetermined sound. 【0478】 (Note 70) The method for controlling a flying robot according to any one of the appendices 66 to 69, characterized in that the predetermined sound has a sound pressure level of 80 dB or higher. 【0479】 (Note 71) The method for controlling a flying robot according to any one of the appendices 66 to 69, characterized in that the predetermined sound has a loudness level of 90 phons or higher. 【0480】 (Note 72) The aforementioned unmanned aerial vehicle is equipped with a light source, A method for controlling a flying robot according to any one of the appendices 55 to 71, characterized in that the robot flies while emitting light from the aforementioned light source. 【0481】 (Note 73) A method for controlling a flying robot according to Appendix 72, characterized in that the robot flies while flashing the aforementioned light source. 【0482】 (Note 74) The aforementioned light source is characterized by flying while flashing light with a luminous flux exceeding a predetermined threshold. Control method for the flying robot described in item 73. 【0483】 (Note 75) The aforementioned unmanned aerial vehicle is equipped with a wireless communication interface, A method for controlling a flying robot according to any one of appendices 53 to 74, characterized in that, when the monitored object is recognized based on the image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface. 【0484】 (Note 76) The method for controlling a flying robot according to Appendix 75, characterized in that the predetermined destination is an email address set on a specific smartphone. 【0485】 (Note 77) The method for controlling a flying robot according to Appendix 75, characterized in that the predetermined destination is a specific URL set on a cloud network. 【0486】 (Note 78) A method for controlling a flying robot according to any one of the appendices 53 to 77, characterized in that when the monitored object is recognized based on an image taken by the camera, the image is stored in a predetermined memory area. [Industrial applicability] 【0487】 As described above, the flying robot, control program for the flying robot, and control method for the flying robot according to this invention are useful for flying robots, control programs for flying robots, and control methods for flying robots that monitor garbage collection sites, and are particularly suitable for flying robots, control programs for flying robots, and control methods for flying robots that monitor the arrival of crows at garbage collection sites. [Explanation of symbols] 【0488】 101 Flying Robots 102 Propeller 103 Camera 104 LED lamps 201 Battery 202 Motor 203 Mike 204 Speakers 205 GPS Sensors 206 Object Sensor 207 Control Circuit 208 Accelerometer 209 Communication I / F 210 solar cells Station 301 302 Exterior part 303 Battery 304 Power transmission coil 305 Solar Cells 401 Storage section 402 Detection Unit 403 Photography Department 404 Acquisition Department 405 Drive Unit 406 Output section 407 Control Unit 601 Post 602 Garbage collection area 701 Crow 1001 Flying Robot 1201 Trees 1201a Branches and leaves 1201b Fruit 1202 boxes 1203 Criminal 1301 Pig

Claims

[Claim 1] Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, Equipped with, At a station located within or near a predetermined range, the camera is kept on standby in a state where it can photograph the predetermined range. While stationed at the aforementioned station, the camera captures the predetermined range, A flying robot characterized in that, while in standby mode, if it recognizes an object within a predetermined range based on an image taken by the camera, it starts flying from the station and flies to approach the object. [Claim 2] Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, The speaker mounted on the aforementioned unmanned aerial vehicle, Equipped with, At a station located within or near a predetermined range, the camera is kept on standby in a state where it can photograph the predetermined range. While stationed at the aforementioned station, the camera captures the predetermined range, A flying robot characterized in that, while in standby mode, if it recognizes an object within a predetermined range based on an image captured by the camera, it starts flying from the station and outputs a predetermined sound from the speaker. [Claim 3] Unmanned aerial vehicles that fly under automatic control, The camera mounted on the aforementioned unmanned aerial vehicle, A light source mounted on the aforementioned unmanned aerial vehicle, Equipped with, At a station located within or near a predetermined range, the camera is kept on standby in a state where it can photograph the predetermined range. While stationed at the aforementioned station, the camera captures images within the predetermined range. A flying robot characterized in that, while in standby mode, if it recognizes an object within a predetermined range based on an image captured by the camera, it starts flying from the station and emits light from the light source. [Claim 4] The flying robot according to any one of claims 1 to 3, characterized in that it performs hovering flight or vertical flight during the flight.

Images