Pest control system

Abstract

The inventors believe it is desirable for battery-powered UAVs to be more widely put into practical use, such as for agricultural applications. However, the inventors have realized that various obstacles must be overcome in order for battery-powered UAVs to be more widely put into practical use. This pest control system is for eliminating flying insects 600 in a field 500 by laser targeting, and is equipped with a small unmanned aerial vehicle 100 that has an irradiation device 110 for emitting a laser beam for laser targeting.

Description

Technical Field

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[0001] The present invention relates to a pest control system for agricultural use.

Background Art

[0002] UAVs (Unmanned Aerial Vehicles) such as unmanned exploration helicopters have been studied for military use in the United States and other countries.

[0003] In recent years, lithium-ion battery technology has been rapidly developing, and UAVs equipped with batteries such as LiPo (Lithium Polymer) batteries have been put into practical use for purposes such as agricultural use.

[0004] Therefore, UAVs equipped with such batteries are known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0012] The first invention is, This is a pest control system that uses laser targeting to eliminate flying insects in fields. An irradiation device that irradiates a laser beam for the aforementioned laser targeting, The system includes an imaging device that takes images of the aforementioned flying insect and acquires information about it in three-dimensional space. Based on the imaging of the flying insect by the imaging device, the irradiation device irradiates the flying insect with the laser beam. The system includes a data storage device that stores pest flight pattern data for each type of pest, The system includes a calculation device that calculates the estimated flight position of the flying insect after a predetermined time period by utilizing the insect flight pattern data based on the image of the flying insect taken by the imaging device. The irradiation device irradiates the laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position. The sweeping of the three-dimensional area is performed using fuzzy control so that more laser beams reach the vicinity of the estimated insect flight location, thereby increasing the laser hit rate on the insect. , characterized by It is a pest control system.

[0013] The 2 The present invention is A small unmanned aerial vehicle comprising the aforementioned illumination device and the aforementioned imaging device, The aircraft station is equipped with a landing station for the aforementioned small unmanned aircraft, While the small unmanned aerial vehicle is in a state where it has landed on the aerial vehicle station, the imaging device takes images of the flying insect, and the irradiation device, based on the images of the flying insect taken by the imaging device, irradiates the laser beam towards the predetermined three-dimensional area including the estimated flying position of the insect by sweeping. 1 This is the pest control system of the present invention.

[0014] The 3 The present invention is This is a pest control system that uses laser targeting to eliminate flying insects in fields. The small unmanned aerial vehicle is equipped with an illumination device that emits a laser beam for the aforementioned laser targeting, The small unmanned aerial vehicle has an imaging device that takes images of the flying insects, Based on the imaging of the flying pests performed by the imaging device, the irradiation device directs the irradiation of the laser beam towards the flying pests. The imaging device is an imaging device that acquires information in a three-dimensional space. It is provided with a flying body station where the small unmanned aerial vehicle lands. In a state where the small unmanned aerial vehicle has landed on the flying body station, while the imaging device performs the imaging of the flying pests, the irradiation device directs the irradiation of the laser beam towards the flying pests based on the imaging of the flying pests performed by the imaging device. A data storage device that stores pest flight pattern data for each type of pest. An arithmetic device that calculates the estimated pest flight position of the flying pests after a predetermined time by using the pest flight pattern data based on the imaging of the flying pests performed by the imaging device. It is provided with. The irradiation device directs the irradiation of the laser beam by scanning towards a predetermined three-dimensional area including the estimated pest flight position by using at least one of fuzzy control and random number generation. The small unmanned aerial vehicle has a spraying device that sprays a repellent that pests avoid. Before landing on the flying body station, the small unmanned aerial vehicle flies along the periphery of the field, and the spraying device sprays the repellent except for a non-spraying area of the repellent, which is a part of the area at the periphery of the field. The pest control system is characterized in that the flying body station is erected near the non-spraying area of the repellent.

[0015] No. 4 of the present invention is The pest control system of the 3 of the present invention is characterized in that the flying body station is erected outside the periphery of the field.

[0016] No. 5 of the present invention is that when the small unmanned aircraft is flying along the periphery of the field before landing on the aircraft station, the irradiation device irradiates a laser beam by horizontal scanning covering the field so that the flying pests do not escape from the space above the field. This is the pest control system of No. 4 of the present invention.

[0017] No. 6 of the present invention is that the small unmanned aircraft has an attracting device for attracting the pests. This is the pest control system of No. 5 of the present invention.

[0018] No. 7 of the present invention is a pest control system for controlling flying pests in a field by laser shooting, comprising a small unmanned aircraft having an irradiation device for irradiating a laser beam for the laser shooting, the small unmanned aircraft has an imaging device for imaging the flying pests, the irradiation device irradiates the laser beam toward the flying pests based on the imaging of the flying pests performed by the imaging device, the imaging device is an imaging device that acquires information in a three-dimensional space, the small unmanned aircraft is provided with an aircraft station for landing, in a state where the small unmanned aircraft has landed on the aircraft station, while the imaging device images the flying pests, the irradiation device irradiates the laser beam toward the flying pests based on the imaging of the flying pests performed by the imaging device, a data storage device for storing pest flight pattern data for each type of pest, A calculation device that calculates the estimated flight position of the flying insect after a predetermined time period by using the insect flight pattern data based on the image of the flying insect taken by the imaging device, It is equipped with, The irradiation device utilizes at least one of fuzzy control and random number generation to irradiate the laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position. The pest control system is characterized in that the small unmanned aerial vehicle flies over the field before landing at the aerial vehicle station, causing the pests to fly away. [Effects of the Invention]

[0019] The present invention provides a pest control system that can effectively eliminate pests. [Brief explanation of the drawing]

[0020] [Figure 1] Schematic front view (part 1) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system of the present invention. [Figure 2] Schematic front view (part two) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system of the present invention. [Figure 3] Block diagram of the pest control system according to an embodiment of the present invention. [Figure 4] Perspective view of a small unmanned aerial vehicle for a pest control system according to an embodiment of the present invention. [Figure 5] Diagram illustrating the irradiation device of the pest control system according to an embodiment of the present invention. [Figure 6] Schematic plan view (part 1) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system of the present invention. [Figure 7] Schematic plan view (part two) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system of the present invention. [Figure 8] Schematic plan view (part 3) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system of the present invention. [Figure 9] Schematic plan view (part 4) of a small unmanned aerial vehicle and aerial vehicle station of an embodiment of the pest control system according to the present invention. [Modes for carrying out the invention]

[0021] Embodiments of the present invention will be described in detail with reference to the drawings.

[0022] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0023] While describing the operation of the pest control system according to the embodiment of the present invention, a method for controlling the operation of the pest control system, which is related to the present invention and is implemented by the control unit 150 and the like, will also be described.

[0024] (1) First, the configuration and operation of the pest control system according to the embodiment of the present invention will be described in detail, mainly with reference to Figures 1 to 4.

[0025] Here, Figures 1 and 2 are schematic front views (I and II) of the small unmanned aerial vehicle 100 and the aerial vehicle station 200 of the pest control system according to an embodiment of the present invention, Figure 3 is a block diagram of the pest control system according to an embodiment of the present invention, and Figure 4 is a perspective view of the small unmanned aerial vehicle 100 of the pest control system according to an embodiment of the present invention.

[0026] The pest control system according to the embodiment of the present invention is a system for eliminating flying pests 600 in a field 500 by laser targeting.

[0027] Typically, pest 600 is the beet armyworm, a troublesome pest in the Asian region. Adult beet armyworms, which are about 15-20 millimeters in length, also fly to Japan, and the damage caused by their larvae is often widespread in various vegetables, beans, flowers, and fruit trees such as soybeans, cabbage, tomatoes, strawberries, and chrysanthemums. However, controlling beet armyworms with simple pesticide spraying is not always easy due to so-called pesticide resistance.

[0028] The small unmanned aerial vehicle 100 is an aircraft equipped with an illumination device 110 that emits a laser beam for laser targeting.

[0029] The small unmanned aerial vehicle 100 is a pest control drone capable of unmanned operation at night. It is equipped with a lithium-ion battery, such as a semi-solid lithium-ion battery, and can fly continuously for approximately 1 to 2 hours with the flight unit 160.

[0030] The small unmanned aerial vehicle 100 has an imaging device 120 that takes images of flying insects 600.

[0031] The adult beet armyworm, which flies irregularly in three-dimensional space, has a flight speed of approximately 1 to 2 meters per second, and the insect's flight trajectory C in the XYZ coordinate space is measured by the camera 121 of the imaging device 120 at an imaging rate of approximately 55 times per second.

[0032] Based on the imaging of the flying insect 600 performed by the imaging device 120, the irradiation device 110 directs the laser beam towards the flying insect 600.

[0033] The laser gun 111 of the irradiation device 110 emits a high-power blue laser beam that exhibits pest-killing capabilities at the level of chemical pesticides with a laser hit rate of approximately 20 percent.

[0034] The imaging device 120 is an imaging device that acquires information in three-dimensional space.

[0035] The depth distance from the irradiation device 110 to the pest 600 can be calculated based on the magnitude of the image displacement between two cameras 121, such as a stereo camera, arranged in parallel. Of course, it is also conceivable that such a depth distance is not necessarily calculated, and that a single camera 121 is used, positioned at a location that approximately coincides with the location of the irradiation device 110.

[0036] Aircraft Station 200 is a station where small unmanned aircraft 100 land.

[0037] The number of aircraft stations 200, which are so-called helipads for the small unmanned aircraft 100, is arbitrary. The landing error of the small unmanned aircraft 100 at the aircraft station 200 is kept to no more than approximately 10 centimeters by acquiring positional information using radio waves for mobile terminal devices with the GPS unit 170.

[0038] The station diameter D, which is the stage width of the station landing stage 210 of the aircraft station 200, is approximately 1.2 meters. The station height H, which is the pole length of the station fixing pole 220 of the aircraft station 200, is approximately 3 to 4 meters.

[0039] The station fixing wires 230 of the aircraft station 200 are wires used to securely tether the station landing stage 210 to the field 500, and are preferably used in multiples.

[0040] As shown in Figure 2, when fruit trees 550 planted in the field 500 are located near the aircraft station 200, it is often preferable that the station landing stage 210 be made of a mesh material or the like that allows sunlight to pass through, so as to prevent an unintended reduction in solar radiation.

[0041] With the small unmanned aerial vehicle 100 landed on the aerial vehicle station 200, the imaging device 120 takes images of the flying insect 600, while the illumination device 110, based on the images of the flying insect 600 taken by the imaging device 120, directs a laser beam towards the flying insect 600.

[0042] It is also conceivable that the irradiation device 110 irradiates a flying insect 600 with a laser beam while the small unmanned aerial vehicle 100 is in flight, such as by hovering. However, since a decrease in the laser hit rate is easily caused by the shaking of the small unmanned aerial vehicle 100, it is often preferable that the laser beam irradiation be performed when the small unmanned aerial vehicle 100 has landed on the aircraft station 200 and is in a stable state.

[0043] As shown in Figure 4, it is also conceivable that the imaging device 120 and the irradiation device 110 are installed on the lid of the chemical tank 131 of a spraying device 130 that stores chemicals such as repellents that repel pests 600. Since an open space is often formed above the lid of the chemical tank 131 to facilitate the operation of replenishing the chemicals in the chemical tank 131, the imaging of pests 600 by the imaging device 120 and the irradiation of the laser beam by the irradiation device 110 are less likely to be interfered with.

[0044] (2) Next, the configuration and operation of the pest control system according to the embodiment of the present invention will be described in more detail, mainly with reference to Figure 5.

[0045] Here, Figure 5 is an explanatory diagram of the irradiation device 110 of the pest control system according to an embodiment of the present invention.

[0046] The data storage device 300 is a device that stores pest flight pattern data for each of the 600 types of pests.

[0047] It is also conceivable that the data storage device 300 is mounted on the small unmanned aerial vehicle 100. However, since the weight reduction of the small unmanned aerial vehicle 100 is often required, it is often preferable that the data storage device 300 be part of a general-purpose high-performance system provided, for example, via the internet.

[0048] The calculation device 400 is a device that calculates the estimated flight position P of the flying insect 600 after a predetermined time period by using insect flight pattern data based on images of the flying insect 600 taken by the imaging device 120.

[0049] It is also conceivable that the computing device 400 is mounted on the small unmanned aerial vehicle 100. However, as mentioned above, since the weight reduction of the small unmanned aerial vehicle 100 is often required, it is often preferable that the data storage device 300 is also part of a general-purpose high-performance system provided, for example, via the internet.

[0050] The irradiation device 110 uses at least one of fuzzy control and random number generation to irradiate a laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position P.

[0051] Since the flight position of the 600 flying insects changes moment by moment, even if the laser beam is applied based solely on the image of the flying insects, it is difficult to expect a high laser hit rate.

[0052] It is expected that the laser hit rate of a sweeping laser beam, utilizing fuzzy control and random number generation, will be improved compared to the laser hit rate of a single laser beam fired at the estimated insect flight location P using simple pinpoint targeting.

[0053] Typically, the three-dimensional area containing the estimated insect flight position P is a sphere whose center coincides with the estimated insect flight position P. It is also conceivable that such a sphere may be deformed, for example, into an ellipsoid whose major axis coincides with the flight direction of the flying insect 600. Of course, it is also conceivable that the laser beam irradiation by the sweep is directed not towards the three-dimensional area itself in three-dimensional space, but towards the projection of the three-dimensional area onto a virtual screen plane.

[0054] The computing device 400 calculates the estimated flight position P of the flying insect 600 with an accuracy of approximately 1.4 centimeters.

[0055] Based on the real-time flight positions of the pests 600 measured by the imaging device 120, the estimated pest flight position P can be calculated with high accuracy and without significant delay using pest flight pattern data generated from AI data modeling using machine learning algorithms. For example, the processing time required from the time imaging by the imaging device 120 until the estimated pest flight position P of the pest 600 is calculated is approximately 0.03 seconds. Although the distance traveled by the beet armyworm during this 0.03-second processing time is 2-3 centimeters, which is greater than its body length, the estimated pest flight position P after 0.03 seconds can be predicted with almost accuracy, and a high laser hit rate is expected.

[0056] In addition to tracking multiple pests (600), a simulator in a computer virtual space that incorporates control of the laser beam's irradiation direction is also conceivable, along with a model capable of predicting the estimated flight positions P of multiple pests (600).

[0057] (3) Next, the configuration and operation of the pest control system according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 6 to 9.

[0058] Herein, Figures 6 to 9 are schematic plan views (parts 1 to 4) of the small unmanned aerial vehicle 100 and the aerial vehicle station 200 of the pest control system according to an embodiment of the present invention.

[0059] The small unmanned aerial vehicle 100 has a spraying device 130 that sprays a repellent that repels pests 600.

[0060] As the repellent is sprayed, the flying insects 600 that do not fall will either move outside the periphery 510 of the field 500 or move inside the periphery 510 of the field 500.

[0061] Before landing at the aircraft station 200, the small unmanned aircraft 100 flies along the periphery 510 of the field 500, and the spraying device 130 sprays the repellent, except for a portion of the periphery 510 of the field 500 which is the non-repellent spraying area 520.

[0062] Since the repellent is sprayed along the periphery 510 of the field 500, excluding the area 520 where the repellent is not sprayed, most of the pests 600 that enter inside the periphery 510 of the field 500 will eventually try to exit from the area 520 where the repellent is not sprayed to the outside of the periphery 510 of the field 500.

[0063] Aircraft Station 200 is located near Area 520, where repellent is not being sprayed.

[0064] When the small unmanned aerial vehicle 100 has landed on the aerial vehicle station 200 erected near the area 520 where the repellent is not sprayed, the irradiation device 110 can effectively irradiate the pests 600 that are flying out of the area 520 where the repellent is not sprayed and beyond the periphery 510 of the field 500 with a laser beam.

[0065] Furthermore, the small unmanned aerial vehicle 100 may fly over the field 500 and the pests 600 may be made to fly before landing at the aircraft station 200.

[0066] The pests 600 are allowed to fly without the application of repellent, and when the small unmanned aerial vehicle 100 has landed on the aerial vehicle station 200, the irradiation device 110 can effectively irradiate the flying pests 600 with a laser beam.

[0067] The aircraft station 200 is erected outside the periphery 510 of the field 500.

[0068] It is also conceivable that the aircraft station 200 is erected inside the periphery 510 of the field 500. However, when the small unmanned aircraft 100 lands on the aircraft station 200 erected outside the periphery 510 of the field 500, the irradiation device 110 can irradiate the laser beam to intercept the pests 600 that are flying out of the non-repellent area 520 and attempting to leave the periphery 510 of the field 500, thereby improving the laser beam's accuracy.

[0069] Before the small unmanned aerial vehicle 100 lands on the aerial vehicle station 200, while it is flying along the periphery 510 of the field 500, the irradiation device 110 irradiates the field 500 with a horizontal sweeping laser beam to prevent the flying pests 600 from escaping from the space above the field 500.

[0070] As shown in Figure 9, when the field 500 is covered with laser beam irradiation by horizontal sweeping, flying pests 600 have difficulty escaping from the space above the field 500, and most of the pests 600 that enter inside the periphery 510 of the field 500 will eventually try to leave the area 520 where the repellent is not applied and go outside the periphery 510 of the field 500, so the laser beam's hit rate is often improved.

[0071] The small unmanned aerial vehicle 100 has an attractant device 140 that attracts insect pests 600.

[0072] The LED 141 of the attractant device 140 is a light source that attracts pests 600. Since multiple LED wavelengths corresponding to pest preferences are often required for effective insect collection, the LED 141 is a mixed-wavelength LED capable of outputting, for example, four wavelengths. It is also conceivable that the LED 141 functions as an imaging illumination light for the imaging device 120, extracting the flight position of the flying pests 600 as a feature point.

[0073] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the pest control system operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0074] Furthermore, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the pest control system operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0075] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0076] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0077] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0078] Furthermore, recording media include ROM (Read Only Memory), among others.

[0079] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0080] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0081] The pest control system of the present invention can effectively eliminate pests and is useful for use as a pest control system for agricultural purposes. [Explanation of Symbols]

[0082] 100 Small unmanned aerial vehicle 110 Irradiation device 111 Laser Gun 120 Imaging device 121 Camera 130 Spraying equipment 131 Chemical Tank 140 Attraction device 141 LED 150 control units 160 Flight Units 170 GPS Units 200 Flying Object Stations 210 Station Landing Stage 220 Station Fixed Pole 230 Station Fixing Wire 300 Data Storage Devices 400 Computing equipment 500 fields 510 Peripheral area 520 Areas where repellents were not applied 550 Fruit trees 600 pests C Pest flight trajectory D Station Diameter H Station Height P Estimated pest flying position

Claims

1. A pest control system for eliminating flying pests in a field by laser targeting, An irradiation device that irradiates a laser beam for the aforementioned laser targeting, The system includes an imaging device that takes images of the aforementioned flying insect and acquires information about it in three-dimensional space. Based on the imaging of the flying insect by the imaging device, the irradiation device irradiates the flying insect with the laser beam. The system includes a data storage device that stores pest flight pattern data for each type of pest, The system includes a calculation device that calculates the estimated flight position of the flying insect after a predetermined time period by utilizing the insect flight pattern data based on the image of the flying insect taken by the imaging device. The irradiation device irradiates the laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position. A pest control system characterized by performing the sweeping laser beams on the three-dimensional area using fuzzy control so that more laser beams reach the vicinity of the estimated pest flight location, thereby increasing the laser hit rate on the pest.

2. A small unmanned aerial vehicle comprising the aforementioned illumination device and the aforementioned imaging device, The aircraft station is equipped with a landing station for the aforementioned small unmanned aircraft, The pest control system according to claim 1, wherein, while the small unmanned aerial vehicle is in a state where it has landed on the aerial vehicle station, the imaging device takes images of the flying pest, and the irradiation device, based on the images of the flying pest taken by the imaging device, irradiates the laser beam towards the predetermined three-dimensional area including the estimated flying position of the pest by sweeping.

3. This is a pest control system that uses laser targeting to eliminate flying insects in fields. The small unmanned aerial vehicle is equipped with an illumination device that emits a laser beam for the aforementioned laser targeting, The small unmanned aerial vehicle has an imaging device that takes images of the flying insects, Based on the imaging of the flying insect by the imaging device, the irradiation device irradiates the flying insect with the laser beam. The aforementioned imaging device is an imaging device that acquires information in three-dimensional space, It is equipped with a flight station on which the aforementioned small unmanned aircraft land. While the small unmanned aerial vehicle is in a state where it has landed on the aerial vehicle station, the imaging device takes images of the flying insect, and the irradiation device, based on the images of the flying insect taken by the imaging device, irradiates the flying insect with the laser beam. A data storage device for storing insect flight pattern data for each type of insect, A calculation device that calculates the estimated flight position of the flying insect after a predetermined time period by using the insect flight pattern data based on the image of the flying insect taken by the imaging device, It is equipped with, The irradiation device utilizes at least one of fuzzy control and random number generation to irradiate the laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position. The small unmanned aerial vehicle has a spraying device that sprays a repellent that repels the pests, The small unmanned aircraft flies along the periphery of the field before landing at the aircraft station, and the spraying device sprays the repellent, excluding the non-sprayed area which is a part of the periphery of the field. The pest control system is characterized in that the aforementioned flying vehicle station is erected near the area where the repellent is not sprayed.

4. The pest control system according to claim 3, characterized in that the aforementioned flying vehicle station is erected outside the periphery of the field.

5. The pest control system according to claim 4, characterized in that when the small unmanned aerial vehicle is flying along the periphery of the field before landing on the aerial vehicle station, the irradiation device irradiates the field with a laser beam in a horizontal sweeping manner so that the flying pests do not escape from the space above the field.

6. The pest control system according to claim 5, characterized in that the small unmanned aerial vehicle has an attractant device for attracting the pests.

7. This is a pest control system that uses laser targeting to eliminate flying insects in fields. The small unmanned aerial vehicle is equipped with an illumination device that emits a laser beam for the aforementioned laser targeting, The small unmanned aerial vehicle has an imaging device that takes images of the flying insects, Based on the imaging of the flying insect by the imaging device, the irradiation device irradiates the flying insect with the laser beam. The aforementioned imaging device is an imaging device that acquires information in three-dimensional space, It is equipped with a flight station on which the aforementioned small unmanned aircraft land. While the small unmanned aerial vehicle is in a state where it has landed on the aerial vehicle station, the imaging device takes images of the flying insect, and the irradiation device, based on the images of the flying insect taken by the imaging device, irradiates the flying insect with the laser beam. A data storage device for storing insect flight pattern data for each type of insect, A calculation device that calculates the estimated flight position of the flying insect after a predetermined time period by using the insect flight pattern data based on the image of the flying insect taken by the imaging device, It is equipped with, The irradiation device utilizes at least one of fuzzy control and random number generation to irradiate the laser beam by sweeping towards a predetermined three-dimensional area including the estimated insect flight position. The pest control system is characterized in that the small unmanned aerial vehicle flies over the field before landing at the aerial vehicle station, causing the pests to fly away.

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