Method for repelling animals, unmanned aircraft, and program

Abstract

Provided is a method for repelling animals that includes: a step at which a holding body for holding an animal repellent is installed at a predetermined installation location; and a step at which an unmanned aircraft replenishes the repellent at the holding body. Provided is an unmanned aircraft that comprises a container holding part that holds an accommodation container for accommodating an animal repellent, a discharge part for discharging the repellent accommodated in the accommodation container, and a holding body holding part that holds an arbitrary holding body and can release the held holding body. Provided is a program that, when executed by a computer, causes an unmanned aircraft to install a holding body for holding an animal repellent at a predetermined installation location and to replenish the repellent at the holding body.

Description

Animal repellent method, unmanned aircraft, and program

[0001] The present invention relates to an animal repellent method, an unmanned aircraft, and a program.

[0002] Conventionally, a bird repellent for repelling birds has been known (see, for example, Patent Document 1). [Prior Art Document] [Patent Document] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-152140

[0003] Provide an animal repellent method using an unmanned aircraft. General disclosure

[0004] In a first aspect of the present invention, there are provided steps of installing a holder for holding an animal repellent at a predetermined installation location, and an unmanned aircraft replenishing the repellent to the holder, for an animal repellent method.

[0005] In the above animal repellent method, the step of installing the holder at the installation location may include a step in which an unmanned aircraft moves while holding the holder and installs the holder at the installation location.

[0006] In any of the above animal repellent methods, the holder may include a holding material capable of absorbing the repellent.

[0007] In any of the above animal repellent methods, the step of replenishing the repellent to the holder may include a step of facing the discharge port of the unmanned aircraft toward the holder. The step of replenishing the repellent to the holder may include a step of discharging the repellent from the discharge port of the unmanned aircraft and replenishing the repellent to the holder.

[0008] In any of the above animal repellent methods, the step of replenishing the repellent to the holder may include a step of inserting the discharge port into the holder.

[0009] In any of the above methods for repelling animals, the step of supplying the repellent to the holder may include the step of connecting the unmanned aerial vehicle for supplying the repellent to the holder. The step of supplying the repellent to the holder may include the step of discharging the repellent from the discharge port of the unmanned aerial vehicle while the unmanned aerial vehicle is connected to the holder, thereby supplying the repellent to the holder.

[0010] In any of the above methods for repelling animals, the holder may have a tray to prevent the repellent from leaking out of the holder.

[0011] In any of the above methods for repelling animals, the holder may have a guidance unit for guiding the unmanned aerial vehicle for supplying the repellent.

[0012] In any of the above methods for repelling animals, the step of supplying the repellent to the holder may include a step in which the unmanned aerial vehicle recognizes the guidance unit. The step of supplying the repellent to the holder may include a step in which the unmanned aerial vehicle autonomously approaches the holder in response to guidance from the guidance unit. The step of supplying the repellent to the holder may include a step in which the repellent is supplied to the holder after the unmanned aerial vehicle has approached the holder.

[0013] Any of the above methods for repelling animals may include a step in which an unmanned aerial vehicle retrieves the retaining body after the step of installing the retaining body at the installation location.

[0014] Any of the above methods for repelling animals may include a step after the step of retrieving the retaining body in which an unmanned aerial vehicle reinstalls a retaining body for reinstallation at the installation location.

[0015] The method for repelling any of the animals described above may include the steps of determining the completion of supplying the repellent to the holder based on the supply time, the amount supplied, or at least one of the images of the holder, and ending the supply of the repellent to the holder after determining that the supply is complete.

[0016] Any of the above methods for repelling animals may include a step of detecting the presence of an animal in the vicinity of the holder. Any of the above methods for repelling animals may include a step of notifying the user to replenish the holder with the repellent in response to the detection of the presence of an animal.

[0017] Any of the above methods for repelling animals may include the steps of detecting the presence of an animal in the vicinity of the holder, and, in response to detecting the presence of an animal, the unmanned aerial vehicle supplying the holder with the repellent.

[0018] A second embodiment of the present invention provides an unmanned aerial vehicle. The unmanned aerial vehicle may be provided with a container holding unit for holding a container for containing an animal repellent. The unmanned aerial vehicle may be provided with a discharge unit for dispensing the repellent contained in the container. The unmanned aerial vehicle may be provided with a holder holding unit that can hold any holder and release the held holder.

[0019] In any of the above-described unmanned aerial vehicles, the holder portion may include a separation portion for separating and releasing the holder from the holder portion.

[0020] Any of the above-mentioned unmanned aerial vehicles may be equipped with a retrieval unit for retrieving the holder installed at a predetermined location.

[0021] Any of the above-mentioned unmanned aerial vehicles may have a detection unit for detecting the amount of repellent to be replenished or the remaining amount held in the holder.

[0022] In any of the above-described unmanned aerial vehicles, the detection unit may have an imaging unit for capturing an image of the holding object. The unmanned aerial vehicle may also have a notification unit for notifying the user of the detection results from the detection unit.

[0023] In a third aspect of the present invention, a program is provided that, when executed by a computer, causes an unmanned aerial vehicle to install a holder for holding an animal repellent at a predetermined location and to replenish the holder with the repellent.

[0024] It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. Furthermore, subcombinations of these features may also constitute an invention.

[0025] This document shows an example of an animal repellent method using an unmanned aerial vehicle 100. An example of an installation location 300 is shown. An example of the effectiveness of the holder 200 that holds the repellent 45 is shown. An example of the configuration of the unmanned aerial vehicle 100 is shown. This is an example of a comparative example of an animal repellent method. This is a diagram illustrating the problems of the comparative example's animal repellent method. An example of an operation flowchart for executing the animal repellent method 500 is shown. An example of a method for attaching the holder 200 is shown. An example of a holder 200 is shown. A modified example of the configuration of the holder 200 is shown. A modified example of the holder 200 is shown. An example of a cross-section of the holder 200 in Figure 7A is shown. An example of a method for supplying the repellent 45 to the holder 200 is shown. A modified example of the holder 200 is shown. An example of a cross-section of the holder 200 is shown. An example of a method for supplying the repellent 45 using an unmanned aerial vehicle 100 is shown. An example of a method for supplying the repellent 45 using an unmanned aerial vehicle 100 is shown. A modified example of the holder 200 is shown. Figure 11A shows an example of the cross-sectional structure of the holder 200. It shows the connection between the discharge unit 50 and the holder 200. It shows an example of a method for replenishing the repellent 45 using the connecting unit 250. It shows an example of the configuration of the holder 200. Figure 12A shows an example of the cross-section of the holder 200. It shows an example of the configuration of the unmanned aerial vehicle 100. It shows an example of a method for detecting the amount of repellent 45 to be replenished or the remaining amount. It shows an example of a method for replenishing the repellent 45. It shows an example of a holder 200 having a guide unit 270. It shows an example of a holder 200 having a guide unit 270. It shows an example of a holder 200 having a guide unit 270. It shows an example of a holder 200 having a guide unit 270. It shows an example of a method for guiding the unmanned aerial vehicle 100. It shows the subsequent steps of the guidance method in Figure 15A. It shows an example of the configuration of the holder 200. Figure 16A shows an example of how the holder 200 operates. An example of a method for recovering the holder 200 using an unmanned aerial vehicle 100 is shown. An example of a method for recovering the holder 200 using an unmanned aerial vehicle 100 is shown. An example of a method for recovering the holder 200 using an unmanned aerial vehicle 100 is shown. An example of a method for installing the holder 200b is shown. An example of a method for installing the holder 200 is shown. The subsequent steps of the installation method in Figure 19A are shown. The subsequent steps of the installation method in Figure 19B are shown. An example of a method for recovering the holder 200 is shown. The subsequent steps of the recovery method in Figure 20A are shown. The subsequent steps of the recovery method in Figure 20B are shown. An example of a method for repelling animals 500 is shown.An example of a method for repelling animals 500 is shown. An example of a computer 1000 in which multiple aspects of the present invention may be embodied in whole or in part is shown.

[0026] The present invention will be described below through embodiments, but these embodiments are not intended to limit the scope of the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0027] Figure 1A shows an example of an animal repellent method using an unmanned aerial vehicle 100. This figure shows the process by which the unmanned aerial vehicle 100 repellents the repellent 45 into the holder 200.

[0028] The holder 200 may be installed at any installation location 300. The holder 200 holds the repellent 45. Because the holder 200 holds the repellent 45, the repellent 45 remains for a longer period than when the repellent 45 is sprayed, and a longer repellent effect can be expected. The repellent 45 diffuses from the holder 200 and repels the animals 500. The animals 500 will be described later.

[0029] The unmanned aerial vehicle 100 discharges the repellent 45 toward the holder 200. The unmanned aerial vehicle 100 may be manually controlled by the user 400, or it may be automatically controlled based on a predetermined program. In this example, the unmanned aerial vehicle 100 is manually controlled by a terminal device 410 owned by the user 400. Details of the unmanned aerial vehicle 100 will be described later.

[0030] Figure 1B shows an example of an installation location 300. In this example, the installation location 300 is a warehouse. The installation location 300 in this example is just one example of a location for installing the holder 200, and is not limited to this.

[0031] The installation location 300 may be a place where you want to deter animals 500, such as a place where animals 500 might settle or build nests. The installation location 300 may be a place where you want to prevent damage from animal droppings. For example, the installation location 300 may be a warehouse, a train station, a parking lot, a stadium, a garden, a bridge, etc. More specifically, the installation location 300 may be a beam, column, wall, or ceiling of one of these structures. The installation location 300 may be a place that is difficult for humans to reach. The installation location 300 may be a high place, a narrow place, or a dangerous place.

[0032] The animal 500 can be any animal that can be repelled by the repellent 45. The animal 500 may be a bird, mammal, or reptile. For example, the animal 500 may be a pigeon, crow, starling, bear, wild boar, monkey, deer, raccoon dog, civet, weasel, raccoon, badger, or mole, but is not limited to these. In this example, the animal 500 is a bird.

[0033] Figure 1C shows an example of the effect of a holder 200 that holds the repellent 45. In this example, the holder 200 repels birds, which are animals 500, by diffusing the repellent 45.

[0034] The holder 200 absorbs the repellent 45 using a material capable of absorbing the repellent 45, such as a sponge. In this example, the holder 200 is installed on a beam in a warehouse, which is the installation location 300. As the absorbed repellent 45 gradually diffuses, animals 500 can be repelled from the installation location 300. By keeping the repellent 45 in the holder 200, the effect of the repellent 45 can be sustained.

[0035] The material of the installation location 300 may be arbitrary. The material of the installation location 300 may be metal such as iron, concrete, wood, plastic, etc. The installation location 300 may be a natural object such as a tree or rock, or it may be an artificial structure.

[0036] Figure 2 shows an example of the configuration of an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 is an aircraft that flies in the air. The unmanned aerial vehicle 100 in this example comprises a main body 10, a propulsion unit 20, a container holding unit 40, a discharge unit 50, and a holder unit 60.

[0037] The main body 10 houses various control circuits and power supplies for the unmanned aerial vehicle 100. The main body 10 may also function as a structure that connects the components of the unmanned aerial vehicle 100. In this example, the main body 10 is connected to the propulsion unit 20.

[0038] The propulsion unit 20 propels the unmanned aerial vehicle 100. The propulsion unit 20 has a rotor blade 21 and a rotary drive unit 22. The unmanned aerial vehicle 100 in this example has four propulsion units 20. The propulsion units 20 are attached to the main body 10 via arm units 24.

[0039] The propulsion unit 20 obtains thrust by rotating the rotor blades 21. Although there are four rotor blades 21 centered around the main body 10, the arrangement of the rotor blades 21 is not limited to this example. That is, the unmanned aerial vehicle 100 may be a helicopter type with one rotor blade 21, or a bicopter type with two rotor blades 21, or a multicopter type with three or more rotor blades 21. In this example, the rotor blades 21 are provided at the tips of the arm sections 24 via a rotation drive unit 22.

[0040] The rotary drive unit 22 has a power source such as a motor and drives the rotor blade 21. The rotary drive unit 22 may have a braking mechanism for the rotor blade 21. The rotor blade 21 and the rotary drive unit 22 may be directly attached to the main body 10 without the arm portion 24.

[0041] The arms 24 are provided extending radially from the main body 10. The unmanned aerial vehicle 100 in this example has four arms 24, each corresponding to one of the four propulsion units 20. The arms 24 may be fixed or movable. Other components, such as cameras, may be fixed to the arms 24.

[0042] The container holding section 40 holds a container 42 for containing an animal repellent 45. In one example, the container holding section 40 is a cylindrical sleeve that houses the container 42. The container holding section 40 may be attached to the leg section 15 or to the main body section 10.

[0043] The material of the container holding part 40 is not particularly limited as long as it can hold the storage container 42. For example, the material of the container holding part 40 includes metals such as aluminum, plastics, or high-strength and lightweight materials such as carbon fiber. Also, the material of the container holding part 40 is not limited to hard materials and may include soft materials, for example, rubber materials such as silicone rubber or urethane foam.

[0044] The storage container 42 is a container filled with a repellent 45. In one example, the storage container 42 is an aerosol container that emits the repellent 45 filled inside. The aerosol container ejects the contents by the gas pressure of the liquefied gas or compressed gas filled inside. The storage container 42 in this example is a metal aerosol can, but it may also be a plastic container having pressure resistance.

[0045] The discharge part 50 is connected to the storage container 42. The discharge part 50 discharges the repellent 45 stored in the storage container 42. The discharge part 50 discharges the repellent 45 from the discharge port 51. The discharge part 50 may have a mechanism for freely changing the direction of the discharge port 51.

[0046] The repellent 45 may be a liquid substance. The liquid substance includes liquids, gels, pastes, and other viscous states. The repellent 45 may be stored in the storage container 42 in a liquid state. The unmanned aircraft 100 may replenish the repellent 45 to the holding body 200 by discharging the repellent 45 from the discharge part 50.

[0047] The holding body holding part 60 holds an arbitrary holding body 200 and may be able to release the held holding body 200. The holding body holding part 60 in this example is attached to the main body part 10. The holding body holding part 60 will be described later. The method of holding the holding body 200 by the holding body holding part 60 may be arbitrary. The holding body holding part 60 may hold the holding body 200 by gripping it with an arbitrary gripping part, hold the holding body 200 with a magnetic force generating part such as a magnet, hold the holding body 200 with an adhesive member such as an adhesive tape, or adsorb the holding body 200 with an adsorption part such as a suction cup. The holding body holding part 60 in this example has a separation part 65 for separating and releasing the holding body 200 from the holding body holding part 60. The method of using the separation part 65 will be described later.

[0048] The leg part 15 is connected to the main body part 10 and holds the attitude of the unmanned aircraft 100 during landing. The leg part 15 holds the attitude of the unmanned aircraft 100 in a state where the propulsion part 20 is stopped. The unmanned aircraft 100 in this example has two leg parts 15. A container holding part 40 may be attached to the leg part 15.

[0049] FIG. 3A is an example of a repelling method of a comparative example. In this example, the user 400 uses the elevator 600 to install the holding body 200 at the installation location 300. In this case, the range of the installation location 300 where the holding body 200 can be installed using the elevator 600 is limited. When the installation location 300 is a dangerous position such as a cliff, there may be danger in the work using the elevator 600. In addition, it takes time to prepare the elevator 600.

[0050] FIG. 3B is a diagram for explaining the problem of the repelling method of the comparative example. When the effect of the repellent 45 held by the holding body 200 weakens, the animal 500 returns. Therefore, even after the holding body 200 is installed, work at a high place is required again for maintenance. Thus, it becomes necessary to use the elevator 600 regularly every time the holding body 200 is installed, the repellent 45 is replenished, the holding body 200 is recovered, and the like.

[0051] FIG. 4 shows an example of an operation flowchart for executing the repelling method of the animal 500. In this example, the case of executing steps S100 to step S108 will be described, but the order of the repelling method of the animal 500 is not limited to this.

[0052] In step S100, a holding body 200 for holding the repellent 45 for animals is installed at a predetermined installation location 300. The holding body 200 may be installed by the user 400 or may be installed using the unmanned aircraft 100 as described later. The stage of installing the holding body 200 at the installation location 300 may include the stage where the unmanned aircraft 100 moves while holding the holding body 200 and installs the holding body 200 at the installation location 300. The holding body 200 may be installed at the installation location 300 while holding the repellent 45, or may be installed at the installation location 300 without holding the repellent 45 and the repellent 45 may be replenished later.

[0053] In step S102, the holder 200 is supplied with repellent 45. The repellent 45 may be supplied to the holder 200 by an unmanned aerial vehicle 100. The repellent 45 may be supplied to the holder 200 by a user 400. In step S104, the holder 200 may be supplied with repellent 45 again. The timing of supplying the holder 200 with repellent 45 may be determined according to the period of installation of the repellent 45, according to the remaining amount of repellent 45, or according to the effect of repelling animals 500. The holder 200 may be repeatedly supplied with repellent 45. The repellent 45 supplied to the holder 200 may be of one type or multiple types. Multiple types of repellent 45 may be supplied to the holder 200 in sequence so that animals 500 do not become accustomed to the repellent 45. The repellent 45 may be used in different ways depending on the type of animal (500 species).

[0054] In step S106, the retainer 200 is retrieved from the installation location 300. The retainer 200 may be retrieved by the unmanned aerial vehicle 100 or by the user 400. The step of the unmanned aerial vehicle 100 retrieving the retainer 200 may be performed after the step of installing the retainer 200 at the installation location 300. The timing of retrieving the retainer 200 may be determined according to the installation period of the retainer 200, the degree of deterioration of the retainer 200, or the duration of the effect of repelling animals 500.

[0055] In step S108, the retaining body 200 for reinstallation is installed at the installation location 300. The step of the unmanned aerial vehicle 100 reinstalling the retaining body 200 at the installation location 300 may be performed after the step of recovering the retaining body 200. The retaining body 200 recovered in step S106 may be installed at the installation location 300, or a different retaining body 200 from the one recovered in step S106 may be installed at the installation location 300. The retaining body 200 recovered in step S106 may be cleaned or its consumable parts replaced before being installed at the installation location 300.

[0056] The reason for retrieving the retainer 200 may be arbitrary. For example, the retainer 200 may be retrieved due to deterioration of the retainer 200, or it may be retrieved in order to change the type of repellent 45. The type of repellent 45 may be changed in order to repel a different type of animal 500, or in order to prevent the animal 500 from becoming accustomed to the repellent 45.

[0057] Here, the unmanned aerial vehicles 100 used in each step may be the same or different. That is, the unmanned aerial vehicle 100 used to install the retainer 200 may be the same or different as the unmanned aerial vehicle 100 used to replenish the repellent 45. Similarly, the unmanned aerial vehicle 100 used to retrieve the retainer 200 may be the same or different as the unmanned aerial vehicle 100 used to install the retainer 200 or the unmanned aerial vehicle 100 used to replenish the repellent 45.

[0058] Figure 5A shows an example of how to attach the holder 200. In this example, the unmanned aerial vehicle 100 approaches the installation location 300 from below and installs the holder 200 at the installation location 300. In this example, the unmanned aerial vehicle 100 attaches the holder 200 to the underside of the beam, which is the installation location 300. In this example, the unmanned aerial vehicle 100 may be controlled by a user 400 using a terminal device 410. The user 400 may control the unmanned aerial vehicle 100 while directly viewing it, or while viewing the image from a camera mounted on the unmanned aerial vehicle 100.

[0059] Figure 5B shows an example of how to attach the holder 200. In this example, the unmanned aerial vehicle 100 approaches the installation location 300 from the side and installs the holder 200 at the installation location 300. In this example, the unmanned aerial vehicle 100 attaches the holder 200 to the side of the beam which is the installation location 300. In this example, the unmanned aerial vehicle 100 may be controlled by a user 400 using a terminal device 410. The user 400 may control the unmanned aerial vehicle 100 while directly viewing it, or while viewing the image from a camera mounted on the unmanned aerial vehicle 100.

[0060] The method of attaching the retainer 200 may be determined according to the type of retainer 200, according to the type of animal 500 to be repelled, or according to the structure of the installation location 300. When installing multiple retainers 200, multiple retainers 200 may be installed at the installation location 300 using different attachment methods.

[0061] Figure 6A shows an example of the retainer 200. In this example, the retainer 200 has a retaining material 210 and a mounting portion 220.

[0062] The retaining material 210 holds the repellent 45. The retaining material 210 in this example is capable of absorbing the repellent 45. The retaining material 210 may have a porous material, a fibrous material, or a resin material. The porous material may be a sponge, diatomaceous earth, or pumice. The fibrous material may be a cotton-like material, a paper-like material, a nonwoven fabric, or a cloth. The resin material may be a superabsorbent resin such as a superabsorbent polymer, or a superabsorbent resin. The retaining material 210 is not limited to anything that can hold the repellent 45. The material and structure of the retaining material 210 may be changed depending on the repellent 45 used. The retaining material 210 may be capable of gradually diffusing the held repellent 45 into the air.

[0063] The mounting portion 220 is used to attach the holder 200 to the installation location 300. The mounting surface 222 of the mounting portion 220 may be facing upward, downward, sideways, or diagonally when the holder 200 is attached to the installation location 300. The mounting portion 220 may be at least one of a magnet, adhesive, adhesive tape, or adsorbent. The type of mounting portion 220 may be determined according to the material of the installation location 300 to which the holder 200 is attached. In this example, the mounting portion 220 is directly attached to the retaining material 210 and forms an integral structure with the retaining material 210. The mounting portion 220 may be made of a material that does not absorb the repellent 45.

[0064] The holder 200, by having a retaining material 210, increases the surface area of ​​the repellent 45, thereby improving the diffusivity of the repellent 45. Furthermore, the provision of the retaining material 210 makes it easier to improve the persistence of the repellent effect of the repellent 45. The holder 200 in this example can be installed in a space-saving manner by directly attaching it to the installation location 300 at the mounting portion 220. Additionally, the holder 200 in this example can be provided at a relatively low cost due to its simple structure.

[0065] Figure 6B shows a modified configuration of the holder 200. The holder 200 includes a retaining member 210, a mounting portion 220, a housing 230, a base 235, and a connecting portion 250. The holder 200 in this example has a pendant structure.

[0066] The retaining material 210 is housed in the housing 230. The outer circumference of the retaining material 210 is covered by the housing 230. The shape of the retaining material 210 may be disc-shaped or spherical. The retaining material 210 may be exposed from the housing 230. The percentage of the retaining material 210 that is exposed may be determined considering the effect and duration of the repellent 45.

[0067] The mounting portion 220 may be attached to the lower surface of the installation location 300. That is, the mounting surface 222 of the mounting portion 220 may be facing upward. The mounting portion 220 is connected to the base 235. The housing 230 is connected to the base 235 via the connecting portion 250.

[0068] The connecting portion 250 may be a string-like member such as a wire, or a chain-like member. In this example, the connecting portion 250 is a wire, and the housing 230 is suspended from the base 235. As a result, the holding member 210 in this example is suspended from the installation location 300 and installed in mid-air. The length of the connecting portion 250 may be adjustable and can be adjusted depending on the installation location.

[0069] The holder 200 in this example has a pendant structure, which allows the holder material 210 to be installed in a hollow space. By suspending the holder material 210 from the connecting portion 250, the diffusion effect of the repellent 45 is improved. In this example, the exposed area of ​​the holder material 210 is larger than that of the mounting portion 220. Therefore, even with a small installation area, there is a sufficient diffusion effect of the repellent 45. The holder 200 in this example can improve the design while improving the diffusion effect of the repellent 45.

[0070] Figure 7A shows a modified example of the holder 200. The holder 200 has a mounting portion 220, a base 235, a holding container 240, and a connecting portion 250. The holder 200 in this example does not have a holding material 210.

[0071] The holding container 240 holds the repellent 45. In this example, the holder 200 may hold the repellent 45 inside the holding container 240 without absorbing it. The holding container 240 is suspended from the base 235 by a connecting part 250. The connecting part 250 may fix and connect the base 235 and the holding container 240 so that the holding container 240 does not shake.

[0072] The holding container 240 has an opening 245. The holding container 240 may have multiple openings 245. The area of ​​the opening 245 may be determined considering the effect and duration of the repellent 45. The opening 245 may be a supply port for replenishing the repellent 45, or it may be a diffusion port for diffusing the repellent 45 held in the holding container 240. The multiple openings 245 may be the same size or different in size. The diffusion openings 245 may be smaller than the supply openings 245. Making the diffusion openings 245 smaller makes it easier to avoid scattering the repellent 45. The repellent 45 may be diffused from an opening at the top of the holding container 240.

[0073] Multiple openings 245 may be arranged along the outer circumference of the holding container 240 so that the repellent 45 can be supplied from various directions. This allows the repellent 45 to be supplied from an opening 245 that is in a position easily accessible to the unmanned aerial vehicle 100.

[0074] Figure 7B shows an example of a cross-section of the holder 200 in Figure 7A. The repellent 45 is held inside the holding container 240. In this example, the repellent 45 is stored at the bottom of the holding container 240 without using a holding material 210. The opening 245 may be positioned so that the repellent 45 does not overflow. The connecting portion 250 may be connected to the bottom of the holding container 240.

[0075] Figure 7C shows an example of a method for supplying the repellent 45 to the retainer 200. The repellent 45 is supplied into the retaining container 240 through the opening 245. In this example, the repellent 45 is delivered into the retaining container 240 in liquid form. The repellent 45 may also be supplied into the retaining container 240 by spraying it.

[0076] Figure 8A shows a modified example of the holder 200. The holder 200 in this example differs from the holder 200 in Figure 7A in that it has a retaining material 210. In this example, the differences from the holder 200 in Figure 7A will be explained in particular.

[0077] The retaining material 210 is housed inside the retaining container 240. In this example, the retainer 200 uses both the retaining material 210 and the retaining container 240 to hold the repellent 45. The retaining material 210 may be positioned so as to be visible from the opening 245 of the retaining container 240. Multiple openings 245 may include supply ports for replenishing the repellent 45 and diffusion ports for diffusing the repellent 45.

[0078] Figure 8B shows an example of a cross-section of the retainer 200. In this example, the retaining material 210 is arranged on the outer circumference of the connecting portion 250, but it may also be arranged on the bottom or inner wall of the retaining container 240. The length of the retaining material 210 may be determined considering the diffusion effect of the repellent 45. The retaining material 210 may be removable and replaceable from the connecting portion 250. The repellent 45 is absorbed and held by the retaining material 210. The repellent 45 may also be stored and held inside the retaining container 240. The repellent 45 accumulated at the bottom of the retaining container 240 may be drawn up by the retaining material 210 and diffused. By using the retaining material 210 and the retaining container 240 in combination, the diffusivity and persistence of the repellent 45 can be improved.

[0079] Figure 9 shows an example of a method for replenishing repellent 45 using an unmanned aerial vehicle 100. In step S900, the unmanned aerial vehicle 100 approaches the holder 200 installed at the installation site 300. The unmanned aerial vehicle 100 may be operated by a user 400, or it may recognize the holder 200 and approach it autonomously.

[0080] In step S902, the unmanned aerial vehicle 100 directs its discharge port 51 toward the holder 200. The unmanned aerial vehicle 100 may adjust the discharge port 51 to face the holder 200 after approaching the vicinity of the holder 200. In this example, the unmanned aerial vehicle 100 adjusts the discharge port 51 to face the opening 245. In step S904, the unmanned aerial vehicle 100 discharges the repellent 45 from the discharge port 51 to repellent the holder 200. The unmanned aerial vehicle 100 may adjust the direction of the discharge port 51 so that the repellent 45 is repelled from the opening 245. The unmanned aerial vehicle 100 may adjust the direction of the discharge port 51 and the position of the aircraft so that the repellent 45 is not discharged onto the installation site 300.

[0081] Figure 10 shows an example of a method for replenishing repellent 45 using an unmanned aerial vehicle 100. The dispensing unit 50 in this example has an extension unit 52.

[0082] The extension portion 52 has a cylindrical shape that is extended in a straight line. In this example, the shape of the extension portion 52 is straight, but it may also include curves. The extension portion 52 may have any shape that allows the repellent 45 discharged from the containment container 42 to be discharged to the outside through the discharge port 51. The extension portion 52 may be replaced depending on the type of repellent 45, or depending on the position where the holder 200 is placed.

[0083] In this example, the unmanned aerial vehicle 100 is stationary at a position where the tip of the extension 52 is located near the opening 245 of the holder 200. The unmanned aerial vehicle 100 may also be stationary at a position where the tip of the extension 52 is inserted into the interior of the holder 200 from the opening 245. That is, the step of supplying the repellent 45 to the holder 200 may include the step of inserting the discharge port 51 into the holder 200. In this example, by positioning the discharge port 51 near the opening 245, the unmanned aerial vehicle 100 can suppress the scattering of the repellent 45 around the holder 200. By suppressing the scattering of the repellent 45, contamination of the installation site 300 can be avoided, and an accurate amount of repellent 45 can be supplied to the holder 200.

[0084] Figure 11A shows a modified example of the holder 200. The holder 200 in this example differs from the holder 200 in Figure 8A in that it has a connecting portion 250. In this example, the differences from the holder 200 in Figure 8A will be explained in particular. The connecting portion 250 has a structure that connects to the discharge portion 50 of the unmanned aerial vehicle 100. By having the connecting portion 250, the holder 200 in this example can connect more reliably to the discharge portion 50 of the unmanned aerial vehicle 100, thereby suppressing the scattering of the repellent 45.

[0085] Figure 11B shows an example of the cross-sectional structure of the holder 200 in Figure 11A. The connecting portion 250 has a connecting portion 252 and a piping portion 254.

[0086] The connecting portion 252 has a structure into which the tip of the discharge portion 50 can be inserted. The connecting portion 252 may have a shape corresponding to the outer shape of the tip of the discharge portion 50. The connecting portion 252 may be formed integrally with the piping portion 254.

[0087] The piping section 254 extends from the connection section 252 to the inside of the retaining container 240. This allows the piping section 254 to guide the repellent 45 discharged from the discharge port 51 to the repellent location inside the retaining container 240. The piping section 254 may deliver the repellent 45 into the retaining container 240 in liquid form. Alternatively, the piping section 254 may directly supply the repellent 45 to the retaining material 210.

[0088] In this example, the connecting portion 250 has a connecting portion 252 and a piping portion 254, which allows the repellent 45 to be supplied to the holder 200 without being scattered outside the holder 200.

[0089] Figure 11C shows the connection between the discharge section 50 and the holder 200. In this example, the discharge section 50 has an extension section 52 and a tip section 54.

[0090] The tip portion 54 is provided at the tip of the extension portion 52. The tip portion 54 is inserted inside the connecting portion 252. The tip portion 54 has a shape that corresponds to the shape of the inside of the connecting portion 252. When the tip portion 54 is inserted inside the connecting portion 252, the discharge port 51 faces the piping portion 254. The tip portion 54 may be made of any material such as resin. In this example, the discharge portion 50 has a tip portion 54 with a shape that corresponds to the connecting portion 252 of the holder 200, which allows for a more reliable connection with the holder 200 and prevents the scattering of the repellent 45.

[0091] Figure 11D shows an example of a method for replenishing repellent 45 using a connecting part 250. In step S1100, the unmanned aerial vehicle 100 approaches the holder 200 installed at the installation site 300. In step S1102, the unmanned aerial vehicle 100 connects with the holder 200 to replenish the repellent 45. In this example, the tip 54 of the discharge part 50 connects with the connection part 252 of the holder 200. With the unmanned aerial vehicle 100 connected to the holder 200, the repellent 45 is discharged from the discharge port 51 of the unmanned aerial vehicle 100 to replenish the holder 200 with repellent 45.

[0092] Here, the method of connecting the unmanned aerial vehicle 100 and the holder 200 is not limited to this example. The unmanned aerial vehicle 100 may connect by gripping the holder 200, or it may connect by being joined to the holder 200 with magnets. To facilitate connection with the holder 200, the unmanned aerial vehicle 100 may grip a structure such as the installation site 300, or it may be joined to a structure with magnets.

[0093] Figure 12A shows an example of the configuration of the holder 200. The holder 200 in this example differs from the holder 200 in Figure 8A in that it has a receiving tray 260. In this example, the differences from the holder 200 in Figure 8A will be explained in particular.

[0094] The tray 260 prevents the repellent 45 from leaking from the holder 200. The tray 260 is provided below the holding container 240. The tray 260 may be provided integrally with the holding container 240 or integrally with the holding material 210. The tray 260 may prevent the repellent 45 from leaking from the holder 200 when replenishing the repellent 45, or it may prevent the repellent 45 from leaking from the holder 200 due to vibration or the like when the holder 200 is in use. In this example, the tray 260 is provided below the holding container 240 so as to cover the entire holding container 240. The tray 260 may be provided near the opening 245.

[0095] Figure 12B shows an example of a cross-section of the holder 200 in Figure 12A. In this example, the holder 200 also has a retaining material 210 on the inside of the tray 260. As a result, the retaining material 210 on the inside of the tray 260 can hold the repellent 45 that has leaked into the tray 260. By providing the retaining material 210 in the tray 260, it becomes easier to prevent the repellent 45 from leaking out of the tray 260.

[0096] Figure 13A shows an example of the configuration of the unmanned aerial vehicle 100. In this example, the unmanned aerial vehicle 100 includes a holder unit 60 and a detection unit 80.

[0097] The detection unit 80 detects the amount of repellent 45 to be replenished or the remaining amount held in the holder 200. The detection unit 80 may detect the amount of repellent 45 to be replenished or the remaining amount held in the holder 200 based on an image of the holder 200. The method for detecting the amount of replenishment or remaining amount is not limited to this, and may be detected based on the odor emitted by the repellent 45 held in the holder 200, based on the period of installation of the holder 200, based on the weight of the holder 200, or based on the movements of the animal 500. When detecting the remaining amount of repellent 45 based on the movements of the animal 500, it may be detected that the remaining amount of repellent 45 has decreased based on the weakening of the repellent effect and the presence of the animal 500 in the vicinity of the holder 200. The detection unit 80 in this example is provided on the unmanned aerial vehicle 100, but part or all of it may be provided outside the unmanned aerial vehicle 100. In this example, the detection unit 80 includes an imaging unit 82 and a notification unit 84.

[0098] The imaging unit 82 captures an image of the holder 200. The imaging unit 82 may also capture an image of the retaining material 210 or the repellent 45 held by the holder 200. The remaining amount of repellent 45 can be predicted from the appearance of the retaining material 210 or from the image of the repellent 45. If the retaining material 210 is diatomaceous earth or pumice, the amount of repellent 45 held can be predicted from the appearance of the retaining material 210. For example, the amount of repellent 45 held can be predicted from the area or color intensity of the retaining material 210 coated with repellent 45. The imaging unit 82 may also capture an image of the surroundings of the unmanned aerial vehicle 100 in order to control the unmanned aerial vehicle 100. The imaging unit 82 is, for example, a camera. In this example, the imaging unit 82 is provided on the unmanned aerial vehicle 100, but it may also be provided on the outside of the unmanned aerial vehicle 100.

[0099] The notification unit 84 notifies the user 400 of the detection result from the detection unit 80. The notification unit 84 may also notify the user 400 of the detection result from the detection unit 80 to a terminal device 410. The notification unit 84 may transmit the image captured by the imaging unit 82 to the terminal device 410, or it may transmit to the terminal device 410 the predicted amount or remaining amount of repellent 45 to be replenished based on the image captured by the imaging unit 82. In this example, the notification unit 84 is provided on the main body 10 of the unmanned aerial vehicle 100, but it may also be provided on an external device such as a terminal device 410.

[0100] Figure 13B shows an example of a method for detecting the amount of repellent 45 to be replenished or the remaining amount. In this example, the detection unit 80 detects the amount of repellent 45 to be replenished or the remaining amount from an image of the holder 200. That is, the detection unit 80 determines the degree to which the repellent 45 has soaked into the retaining material 210 from an image of the holder 200 and detects the amount of repellent 45. The detection unit 80 may also detect the amount of repellent 45 held in the retaining material 210 based on the color of the retaining material 210. For example, the detection unit 80 detects the amount of repellent 45 to be replenished based on the fact that the color of the retaining material 210 becomes darker as the repellent 45 is replenished into the retaining material 210. Alternatively, the detection unit 80 may detect the remaining amount of repellent 45 based on the fact that the color of the retaining material 210 becomes lighter as the holder 200 is used. The color criteria used by the detection unit 80 may be changed depending on the combination of the retaining material 210 and the repellent 45. The repellent 45 may be pre-colored to make it easier for the detection unit 80 to detect.

[0101] Figure 13C shows an example of a method for replenishing the repellent 45. The unmanned aerial vehicle 100 may determine the completion of replenishing the repellent 45 to the holder 200 based on the time, amount, or image of the holder 200. The unmanned aerial vehicle 100 may terminate the repellent 45 repellent to the holder 200 after determining that the repellent 45 repellent 45 repellent has been completed. The unmanned aerial vehicle 100 may autonomously terminate the repellent 45 repellent in response to the detection result of the detection unit 80. The unmanned aerial vehicle 100 may terminate the repellent 45 repellent in response to instructions from the user 400 who has received the detection result of the detection unit 80. The unmanned aerial vehicle 100 can replenish a predetermined amount of repellent 45 to the holder 200 using the detection unit 80.

[0102] In this example, the unmanned aerial vehicle 100 completes the repellent supply 45 to the holder 200 based on the supply time of the repellent 45 to the holder 200. In this example, the unmanned aerial vehicle 100 determines that the repellent supply 45 has been completed by supplying the repellent 45 to the holder 200 for 20 seconds under predetermined conditions. The unmanned aerial vehicle 100 may determine the repellent supply time of the repellent 45 based on an image of the holder 200 acquired by the imaging unit 82. In this example, the unmanned aerial vehicle 100 is equipped with a detection unit 80, but the supply time determined by an externally provided detection unit 80 may also be acquired. The unmanned aerial vehicle 100 may determine the completion of the supply in response to the repellent 45 overflowing from the holder container 240 or the tray 260.

[0103] Figure 14A shows an example of a holder 200 having a guide portion 270. In this example, the holder 200 has a pattern 271 as the guide portion 270.

[0104] The guidance unit 270 guides the unmanned aerial vehicle 100 to the holder 200. For example, the guidance unit 270 guides the unmanned aerial vehicle 100 to replenish the repellent 45. The guidance unit 270 may guide the position of the unmanned aerial vehicle 100 or guide the operation of the unmanned aerial vehicle 100. The guidance unit 270 may guide the unmanned aerial vehicle 100 to approach the holder 200. The guidance unit 270 may guide the unmanned aerial vehicle 100 to start replenishing the repellent 45 or to retrieve the holder 200.

[0105] The pattern 271 is provided at any location on the holder 200. In this example, the guide part 270 is provided on the side surface of the holder 200, but it may be provided on the top or bottom surface of the holder 200. In this example, the pattern 271 is provided on the tray 260, but is not limited thereto. The pattern 271 may be provided on the retaining material 210, or on the retaining container 240. The pattern 271 may be the shape of the retaining material 210 itself, or the shape of the retaining container 240 itself. The pattern 271 should be recognizable by the unmanned aerial vehicle 100. In this example, the pattern 271 is triangular, but is not limited thereto. It is preferable that the pattern 271 is easily identifiable by image analysis. The color of the pattern 271 may be different from the color of the surrounding area. The pattern 271 may be formed to be retroreflective using retroreflective paint or the like. Pattern 271 may also serve as a pattern to repel animals 500.

[0106] Figure 14B shows an example of a holder 200 having a guide portion 270. In this example, the guide portion 270 has a read code 272.

[0107] The read code 272, when read, provides information about the holder 200. In this example, the read code 272 is a two-dimensional code, but it may be another code such as a barcode. The read code 272 may include information about the retaining material 210. The read code 272 may include identification information for each individual holder 200.

[0108] The reading code 272 may be linked to any database. For example, the database linked to the reading code 272 may include the amount of repellent 45 that the retaining material 210 can hold, and the type of repellent 45 suitable for the retaining material 210. The database linked to the reading code 272 may also include past repellent 45 replenishment records. Past repellent 45 replenishment records may include the expiration date of the repellent 45. The unmanned aerial vehicle 100 may refer to past repellent 45 replenishment records to determine whether or not to replenish.

[0109] Figure 14C shows an example of a holder 200 having a guide portion 270. In this example, the guide portion 270 has a light-emitting portion 273.

[0110] The light-emitting unit 273 guides the unmanned aerial vehicle 100 by emitting light. The light-emitting unit 273 may emit light of a wavelength that the unmanned aerial vehicle 100 can detect. The light-emitting unit 273 may emit light at a wavelength of visible light or at a wavelength other than visible light. For example, the light-emitting unit 273 is an LED or a laser. The light-emitting unit 273 may repel animals 500 by emitting light. The light-emitting unit 273 may emit light when it detects the movement of the unmanned aerial vehicle 100 or animals 500 using an infrared sensor or the like.

[0111] The light-emitting unit 273 may communicate with the unmanned aerial vehicle 100 by emitting light. The light-emitting unit 273 may transmit identification information of individual holders 200. The light-emitting unit 273 may communicate with the unmanned aerial vehicle 100 and provide it with records of past repellent 45 repellent repellent 45 repellent 45. Based on the information from the light-emitting unit 273, the unmanned aerial vehicle 100 may determine the timing to start repellent 45 repellent repellent 45 repellent 45 and the timing to retrieve the holders 200.

[0112] Figure 14D shows an example of a holder 200 having a guide unit 270. In this example, the guide unit 270 has a communication unit 274.

[0113] The communication unit 274 may communicate with the unmanned aerial vehicle 100. The communication unit 274 may communicate with a terminal device 410 owned by the user 400, or with other devices such as a server. The communication unit 274 may be a wireless communication device. The communication unit 274 may transmit information about the holder 200, such as the remaining amount of repellent 45. For example, the communication unit 274 may transmit identification information of an individual holder 200. The communication unit 274 may communicate with the unmanned aerial vehicle 100 and provide the unmanned aerial vehicle 100 with records of past repellent 45 repellents. The communication unit 274 may acquire information about the holder 200 from sensors provided on the holder 200.

[0114] Figure 14E shows an example of a holder 200 having a guide portion 270. In this example, the guide portion 270 has a generation portion 275.

[0115] The generating unit 275 generates sound, ultrasound, or vibration to guide the unmanned aerial vehicle 100. The generating unit 275 may be a speaker, an ultrasound generator, or a vibration generator. The generating unit 275 may transmit information about the holder 200 by generating sound, ultrasound, or vibration. The generating unit 275 may repel animals 500 by generating sound, ultrasound, or vibration. The unmanned aerial vehicle 100 may have a microphone as a detection unit 80 to detect sound from the generating unit 275. The unmanned aerial vehicle 100 may have an ultrasound receiver as a detection unit 80 to detect ultrasound from the generating unit 275.

[0116] Furthermore, the components of the guidance unit 270 disclosed herein may be used in appropriate combinations. That is, the unmanned aerial vehicle 100 may be equipped with at least two combinations of the pattern 271, the read code 272, the light-emitting unit 273, and the communication unit 274 or the generation unit 275. For example, the light-emitting unit 273 guides the unmanned aerial vehicle 100 to the vicinity of the holder 200, and then provides information to the unmanned aerial vehicle 100 using the read code 272.

[0117] Figure 15A shows an example of a guidance method for the unmanned aerial vehicle 100. In this example, the stage in which the unmanned aerial vehicle 100 repellents 45 is replenished will be explained.

[0118] In step S1500, the unmanned aerial vehicle 100 recognizes the guidance unit 270. In this example, the unmanned aerial vehicle 100 recognizes the guidance unit 270 by reading the image of the reading code 272 with the imaging unit 82. In step S1502, the unmanned aerial vehicle 100 obtains past repellent 45 replenishment records based on the reading code 272. The unmanned aerial vehicle 100 may obtain past repellent 45 replenishment records from a database linked to the reading code 272. The database may be stored in the memory unit of the unmanned aerial vehicle 100, or it may be stored on an external server. If the database is stored on an external server, the unmanned aerial vehicle 100 may communicate with the server to read the data. In this example, the unmanned aerial vehicle 100 obtains information that the repellent 45 was last replenished in the holder 200 on April 1, 2024.

[0119] The unmanned aerial vehicle 100 may recognize the guidance unit 270 and autonomously approach the holder 200. After approaching the holder 200, the unmanned aerial vehicle 100 may replenish the holder 200 with the repellent 45 and then retrieve the holder 200.

[0120] Figure 15B shows the subsequent steps of the guidance method shown in Figure 15A. In step S1504, the unmanned aerial vehicle 100 autonomously approaches the holder 200 in response to guidance from the guidance unit 270. The unmanned aerial vehicle 100 may autonomously approach the holder 200 if it determines that replenishment to the holder 200 is necessary in response to guidance from the guidance unit 270, and may not approach the holder 200 if it determines that replenishment to the holder 200 is unnecessary.

[0121] In step S1506, the unmanned aerial vehicle 100 approaches the holder 200 and then replenishes the holder 200 with repellent 45. After approaching the holder 200, the unmanned aerial vehicle 100 acquires an image of the holder 200 and, if it determines that replenishment of repellent 45 is unnecessary, it may cancel the replenishment. The unmanned aerial vehicle 100 may adjust the direction of the discharge port 51 so that the repellent 45 does not scatter onto the read code 272.

[0122] Figure 16A shows an example of the configuration of the holder 200. The holder 200 in this example has a retaining member 210, a mounting portion 220, a housing 230, and a separation mechanism 280. The retaining member 210 and the mounting portion 220 are provided on the housing 230. The holder 200 in this example is attached to the installation location 300 by attaching the mounting surface 222 of the mounting portion 220 to the installation location 300.

[0123] The separation mechanism 280 has a projection 282. The separation mechanism 280 separates the mounting portion 220 from the installation location 300 when the projection 282 is pressed. This allows the holder 200 to be removed from the installation location 300 and recovered. Details of the separation mechanism 280 will be described later. The separation mechanism 280 may be operated by an unmanned aerial vehicle 100 or by a user 400.

[0124] Figure 16B shows an example of how the holder 200 in Figure 16A operates. This figure shows a cross-sectional view of the holder 200. The separation mechanism 280 has a projection 282, a spring 284, and an extrusion part 286. Note that the configuration of the separation mechanism 280 is just an example and is not limited thereto.

[0125] Step S1600 shows the state in which the holder 200 is installed at the installation location 300. The mounting surface 222 of the mounting portion 220 may be bonded to the installation location 300. The projection 282 fixes the spring 284 so that the spring 284 remains in a compressed state. In this state, the extrusion portion 286 is housed inward from the mounting surface 222.

[0126] Step S1602 shows the state in which the projection 282 is pressed and the spring 284 is released. When the spring 284 is released, the extrusion portion 286 is pushed out to the outside of the mounting surface 222. As a result, the mounting portion 220 is pulled away from the installation location 300 and the holder 200 can be recovered. The projection 282 may be pressed by the unmanned aerial vehicle 100 or by the user 400.

[0127] Figure 16C shows an example of a method for recovering a holder 200 using an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 in this example is used to recover the holder 200 shown in Figures 16A and 16B. However, the recovery method in this example can also be applied to holders 200 other than those shown in Figures 16A and 16B. The unmanned aerial vehicle 100 in this example is equipped with a recovery unit 70.

[0128] Step S1600 corresponds to step S1600 in Figure 16B, in which the holder 200 is attached to the installation location 300. In this example, the unmanned aerial vehicle 100 approaches the holder 200 from the side, but it may also approach from below or from above. The retrieval unit 70 is used to retrieve the holder 200 installed at the installation location 300. In this example, the retrieval unit 70 has a pressing unit 72. The pressing unit 72 has a structure capable of pressing the projection 282. In this example, the pressing unit 72 has a spherical structure, but is not limited to this.

[0129] In step S1602, the unmanned aerial vehicle 100 presses the projection 282 with the pressing part 72 to retrieve the holder 200. In this example, the unmanned aerial vehicle 100 presses the projection 282 with the pressing part 72 by moving the aircraft. The unmanned aerial vehicle 100 may also press the projection 282 by moving the pressing part 72, provided with an extension mechanism that extends the rod supporting the pressing part 72. The unmanned aerial vehicle 100 may press the projection 282 in response to instructions from the guidance unit 270, or in response to instructions from the user 400.

[0130] The projection 282 may have a shape that can be recognized by the unmanned aerial vehicle 100, and may function as a guidance unit 270. The unmanned aerial vehicle 100 may also detach the holder 200 from the installation location 300 by pressing the housing 230 of the holder 200 without using the separation mechanism 280. In this example, the unmanned aerial vehicle 100 has a mechanism for retrieving the holder 200, but it may also have a mechanism for supplying the holder 200 with repellent 45, or a mechanism for installing the holder 200 at the installation location 300.

[0131] Figure 17 shows an example of a method for recovering a holder 200 using an unmanned aerial vehicle 100. In this example, the unmanned aerial vehicle 100 recovers the holder 200 shown in Figures 16A and 16B. However, the recovery method in this example can also be applied to holders 200 other than those shown in Figures 16A and 16B. The recovery unit 70 in this example has a pressing unit 72 and a recovery member 73.

[0132] In step S1700, the unmanned aerial vehicle 100 equipped with the recovery unit 70 approaches the holder 200. In this example, the unmanned aerial vehicle 100 approaches the holder 200 from the side. The method of bringing the unmanned aerial vehicle 100 closer to the holder 200 may be determined according to the structure of the unmanned aerial vehicle 100 and the holder 200, and may also be determined according to the surrounding environment such as the installation location 300.

[0133] In step S1702, the unmanned aerial vehicle 100 retrieves the holder 200. In this example, the method for separating the holder 200 from the installation location 300 is the same as the method described in Figure 16C, but it may be different.

[0134] The recovery member 73 recovers the retainer 200 that has been detached from the installation site 300 and fallen. In this example, the recovery member 73 is a recovery net for recovering the retainer 200. The recovery member 73 is not limited to this, as long as it is capable of recovering the retainer 200. By recovering the retainer 200 before it falls to the ground or elsewhere, the recovery member 73 prevents the scattering of the repellent 45 and allows for the safe recovery of the retainer 200. Furthermore, the recovery member 73 can recover the retainer 200 without damaging it. This makes it possible to reuse the retainer 200.

[0135] The retrieval member 73 may be a retrieval box. The retrieval member 73 may retrieve the holder 200 by grasping it with any gripping part, by retrieving the holder 200 with a magnetic force generating part such as a magnet, by retrieving the holder 200 with an adhesive member such as adhesive tape, or by retrieving the holder 200 with an adsorption part such as a suction cup. In this example, the unmanned aerial vehicle 100 has a mechanism for retrieving the holder 200, but it may also have a mechanism for supplying the repellent 45 to the holder 200, or a mechanism for installing the holder 200 at the installation location 300.

[0136] Figure 18A shows an example of a method for recovering the holder 200 using an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 in this example has a mechanism for recovering the holder 200a and a mechanism for installing the holder 200b at the installation location 300. The unmanned aerial vehicle 100 in this example differs from the unmanned aerial vehicle 100 in Figure 17 in that it has a holder holding section 60. In this example, the differences from the unmanned aerial vehicle 100 in Figure 17 will be explained in particular.

[0137] In step S1800, the unmanned aerial vehicle 100, which is equipped with a holder holding unit 60 and a recovery unit 70, approaches the holder 200a. The holder 200a is installed at the installation location 300. The holder 200b is held by the holder holding unit 60 of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 approaches the holder 200a with the holder 200b being held by the holder holding unit 60.

[0138] In step S1802, the unmanned aerial vehicle 100 retrieves the holder 200. In this example, the method for retrieving the holder 200 is the same as the method described in Figure 17, but it may be different. In this example, the pressing part 72 is positioned above the main body 10. This makes it easier to maintain a distance between the main body 10 and the installation location 300 when removing the holder 200, and to avoid contact between the unmanned aerial vehicle 100 and the installation location 300, compared to when the pressing part 72 is positioned below the main body 10. Thus, the positions for attaching the holder holder part 60 and the retrieval part 70 may be appropriately determined considering the structure of the unmanned aerial vehicle 100 and the installation location 300.

[0139] Figure 18B shows an example of a method for installing the holder 200b. In this example, the same unmanned aerial vehicle 100 installs the holder 200b at the installation location 300 after performing the retrieval method shown in Figure 18A. However, the unmanned aerial vehicle 100 may perform only the step of installing the holder 200b without retrieving the holder 200a.

[0140] In step S1804, the unmanned aerial vehicle 100 moves below the installation location 300 and attaches the holder 200b to the installation location 300. In step S1806, after installing the holder 200b at the installation location 300, the unmanned aerial vehicle 100 may separate the holder 200b from the holder holding section 60 and move it. In one example, the unmanned aerial vehicle 100 moves to a collection location for used holders 200a. A specific example of the method for installing the holder 200 will be described later.

[0141] Figure 19A shows an example of how to install the holder 200. In step S1900, the unmanned aerial vehicle 100 moves below the installation location 300 and brings the mounting portion 220 into contact with the installation location 300. The unmanned aerial vehicle 100 may grip the holder 200 by clamping it with the projection of the separation portion 65. In this example, the separation portion 65 grips the housing 230 of the holder 200. The method of holding the holder 200 is not limited to this.

[0142] In this example, the unmanned aerial vehicle 100 has a holder 60 above the main body 10, but depending on the location of the installation site 300, the holder 60 may be located below or to the side of the main body 10. The location of the holder 60 may be determined according to the structure of the holder 200 and the installation site 300. In this example, the unmanned aerial vehicle 100 is equipped with a discharge unit 50 for supplying the repellent 45, but it is not required to be equipped with a discharge unit 50.

[0143] Figure 19B shows the subsequent steps of the installation method shown in Figure 19A. In step S1902, the unmanned aerial vehicle 100 separates the holder 200 from the unmanned aerial vehicle 100 by operating the separation unit 65 to release the holder 200. The separation unit 65 may have an actuator for switching whether or not to separate the holder 200. In this example, the separation unit 65 switches whether or not to grip the holder 200 by opening and closing the actuator. The separation unit 65 may also use a motor for opening and closing. If the holder 200 is attached to the holder holder unit 60 by magnetic force, the separation unit 65 may separate the holder 200 from the holder holder unit 60 by turning off the magnetic force.

[0144] Figure 19C shows the subsequent steps of the installation method shown in Figure 19B. In step S1904, after releasing the holder 200, the unmanned aerial vehicle 100 moves downward to move away from the holder 200 without making contact with it. After moving away from the holder 200, the unmanned aerial vehicle 100 may move to any return location.

[0145] Figure 20A shows an example of a method for recovering the holder 200. In step S2000, the unmanned aerial vehicle 100 moves below the installation location 300 to a height where the holder 200 can be recovered. In this example, the unmanned aerial vehicle 100 moves to a position where it can grasp the holder 200 by gripping it with the projection of the separation unit 65. The unmanned aerial vehicle 100 may have an imaging unit for detecting the position of the holder 200. The unmanned aerial vehicle 100 may also have a sensor for detecting the relative positional relationship between the holder 200 and the holder holding unit 60. For example, the unmanned aerial vehicle 100 and the holder 200 can be aligned by detecting the projection 282 with an optical sensor. In this example, the holder holding unit 60 has a recovery member 62 for recovering the holder 200. The recovery member 62 will be described later. The separation unit 65 may be attached to the recovery member 62.

[0146] Figure 20B shows the subsequent steps of the retrieval method shown in Figure 20A. In step S2002, the unmanned aerial vehicle 100 activates the separation unit 65 to press the projection 282 of the holder 200, thereby separating the holder 200 from the installation location 300. In this example, the holder 200 operates according to the principle explained in Figure 16B and separates from the installation location 300. The separation unit 65 may physically separate the holder 200 from the installation location 300 by pressing the holder 200, or it may separate the holder 200 from the installation location 300 by magnetically coupling to the holder 200.

[0147] Figure 20C shows the subsequent steps of the retrieval method shown in Figure 20B. In step S2004, the unmanned aerial vehicle 100 separates the holder 200 from the installation location 300 and then holds the holder 200 with the holder holder section 60. The holder holder section 60 may hold the holder 200, which has been removed from the installation location 300, by sandwiching it with the separation section 65.

[0148] The recovery member 62 recovers the holder 200 that has been removed from the installation location 300 and fallen. The recovery member 62 may be a box capable of housing the mounting portion 220. The recovery member 62 may have a simple structure that only supports the lower end of the mounting portion 220. After recovering the holder 200, the unmanned aerial vehicle 100 may move to any return location.

[0149] Figure 21 shows an example of a method for repelling animals 500. In this example, the presence of animals 500 in the vicinity of the retainer 200 is detected.

[0150] The sensor unit 290 detects the presence of the animal 500. The sensor unit 290 may be provided near the installation location 300. The sensor unit 290 may be mounted on the holder 200 or installed outside the holder 200. In this example, the sensor unit 290 may have an infrared sensor for detecting the presence of the animal 500, and may also have an imaging unit such as a camera. The sensor unit 290 may notify the terminal device 410 whether or not it has detected the presence of the animal 500. The sensor unit 290 may notify the terminal device 410 only if it has detected the presence of the animal 500.

[0151] Here, in response to the detection of the presence of an animal 500, the user 400 may be notified to replenish the repellent 45 in the holder 200. For example, the sensor unit 290 may notify the user 400 via the terminal device 410 that it has detected the presence of an animal 500, and the unmanned aerial vehicle 100 may start replenishing the repellent 45. By providing the sensor unit 290, the repellent effect of the animal 500 can be maintained more reliably.

[0152] Figure 22 shows an example of a method for repelling animals 500. In this example, we will explain the response when an animal 500 is detected in a situation where multiple holders 200 are installed. Two holders 200, holder 200c and holder 200d, are installed at the installation location 300. Two sensor units 290, sensor unit 290c and sensor unit 290d, are installed at the installation location 300.

[0153] Both retainer 200c and retainer 200d hold repellent 45. The remaining amount of repellent 45 in retainer 200c is less than the remaining amount of repellent 45 in retainer 200d. The type of repellent 45 in retainer 200c may be the same as or different from the type of repellent 45 in retainer 200d.

[0154] The sensor unit 290c is located near the holder 200c. The sensor unit 290c may be used to determine the timing for supplying the repellent 45 to the holder 200c. The sensor unit 290d is located near the holder 200d. The sensor unit 290d may be used to determine the timing for supplying the repellent 45 to the holder 200d. In this example, the sensor unit 290c is associated with the holder 200c, and the sensor unit 290d is associated with the holder 200d. However, one sensor unit 290 may be associated with multiple holders 200. Conversely, multiple sensor units 290 may be associated with one holder 200.

[0155] The sensor unit 290 notifies the user of information relating to the holder 200. In this example, when the sensor unit 290c detects an animal 500, it notifies the user 400 of the holder information of the holder 200c via the terminal device 410. The holder information may include that the presence of an animal 500 has been detected and may include information regarding the remaining amount of repellent 45 in the holder 200. In response, the user 400 may operate the unmanned aerial vehicle 100 via the terminal device 410 to begin replenishing the repellent 45 to the holder 200c.

[0156] Figure 23 shows an example of an animal 500 repellent method. In this example, the sensor unit 290 provides the holder information detected by the sensor unit 290 to the unmanned aerial vehicle 100 and the user 400. The sensor unit 290 is installed at the installation location 300 and is associated with the holder 200.

[0157] In step S2300, the sensor unit 290 detects the presence of the animal 500 in the vicinity of the holder 200. When the sensor unit 290 detects the presence of the animal 500, it may directly notify the unmanned aerial vehicle 100. When the sensor unit 290 detects the presence of the animal 500, it may notify the user 400 through the terminal device 410. For safety reasons, the user 400 may or may not monitor the unmanned aerial vehicle 100 and the holder 200.

[0158] In step S2302, in response to the sensor unit 290 detecting the presence of the animal 500, the unmanned aerial vehicle 100 replenishes the holder 200 with repellent 45. In this example, the unmanned aerial vehicle 100 is controlled by the user 400 using a terminal device 410. The unmanned aerial vehicle 100 may autonomously replenish the holder 200 with repellent 45 upon receiving notification from the sensor unit 290. If the unmanned aerial vehicle 100 operates autonomously, the user 400 does not need to monitor it.

[0159] Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where a block may represent (1) a stage in a process in which an operation is performed, or (2) a section of a device having the role of performing the operation. Specific stages and sections may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits, including logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, memory elements such as flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc.

[0160] Computer-readable media may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, computer-readable media having instructions stored therein will comprise a product containing instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks (registered trademark), diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated circuit card, etc.

[0161] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0162] Computer-readable instructions are provided locally or via a wide area network (WAN) such as a local area network (LAN) or the internet to the processor or programmable circuit of a programmable data processing device such as a computer, and may be executed to create means for performing operations specified in a flowchart or block diagram. Here, the computer may be a PC (personal computer), tablet computer, smartphone, workstation, server computer, general-purpose computer, or special-purpose computer, and may also be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system and is a computer in a broad sense. In a distributed computing system, multiple computers execute a program by having each computer execute a part of the program and by passing data during program execution between computers as needed.

[0163] Examples of processors include computer processors, central processing units (CPUs), processing units, microprocessors, digital signal processors, controllers, and microcontrollers. A computer may have one or more processors. In a multiprocessor system with multiple processors, each processor executes a portion of the program, and the processors collectively execute the program by passing program execution data between them as needed. For example, in the execution of multitasks, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at each time slice. In this case, which part of a program each processor executes changes dynamically. Which part of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0164] Figure 24 shows an example of a computer 1000 in which multiple aspects of the present invention may be embodied in whole or in part. A program installed on the computer 1000 can cause the computer 1000 to function as an operation or one or more sections of an apparatus according to an embodiment of the present invention, or to execute such operation or one or more sections, and / or to cause the computer 1000 to execute a process or a stage of such process according to an embodiment of the present invention. Such a program may be executed by the CPU 1012 to cause the computer 1000 to perform a particular operation associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0165] The computer 1000 according to this embodiment includes a CPU 1012, RAM 1014, a graphics controller 1016, and a display device 1018, which are interconnected by a host controller 1010. The computer 1000 also includes input / output units such as a communication interface 1022, a hard disk drive 1024, a DVD-ROM drive 1026, and an IC card drive, which are connected to the host controller 1010 via an input / output controller 1020. The computer 1000 also includes legacy input / output units such as a ROM 1030 and a keyboard 1042, which are connected to the input / output controller 1020 via an input / output chip 1040.

[0166] The CPU 1012 operates according to programs stored in the ROM 1030 and RAM 1014, thereby controlling each unit. The graphics controller 1016 acquires image data generated by the CPU 1012 from a frame buffer provided in RAM 1014 or from itself, and displays the image data on the display device 1018.

[0167] The communication interface 1022 communicates with other electronic devices via a network. The hard disk drive 1024 stores programs and data used by the CPU 1012 in the computer 1000. The DVD-ROM drive 1026 reads programs or data from the DVD-ROM 1027 and provides them to the hard disk drive 1024 via the RAM 1014. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

[0168] The ROM 1030 stores boot programs and / or programs that depend on the computer 1000's hardware, which are executed by the computer 1000 when activated. The input / output chip 1040 may also connect various input / output units to the input / output controller 1020 via parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0169] The program is provided on a computer-readable medium such as a DVD-ROM 1027 or an IC card. The program is read from the computer-readable medium and installed on a hard disk drive 1024, RAM 1014, or ROM 1030, which are examples of computer-readable mediums, and executed by the CPU 1012. The information processing described within these programs is read by the computer 1000, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the manipulation or processing of information in accordance with the use of the computer 1000.

[0170] For example, when communication is performed between a computer 1000 and an external device, the CPU 1012 may execute a communication program loaded into the RAM 1014 and, based on the processing described in the communication program, instruct the communication interface 1022 to perform communication processing. Under the control of the CPU 1012, the communication interface 1022 reads transmission data stored in a transmission buffer processing area provided in a recording medium such as the RAM 1014, hard disk drive 1024, DVD-ROM 1027, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer processing area provided on the recording medium.

[0171] Furthermore, the CPU 1012 may read all or necessary parts of a file or database stored on an external recording medium such as a hard disk drive 1024, a DVD-ROM drive 1026 (DVD-ROM 1027), or an IC card into the RAM 1014, and perform various types of processing on the data in the RAM 1014. The CPU 1012 then writes the processed data back to the external recording medium.

[0172] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1012 may perform various types of processing on the data read from the RAM 1014, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1014. The CPU 1012 may also retrieve information in files, databases, etc., within the recording medium. For example, if a plurality of entries having attribute values ​​of a first attribute, each associated with an attribute value of a second attribute, are stored in the recording medium, the CPU 1012 may search among the plurality of entries for an entry that matches the condition for which the attribute value of the first attribute is specified, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0173] The program or software module described above may be stored on or near computer 1000 on a computer-readable medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable medium, thereby providing the program to computer 1000 via the network.

[0174] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0175] It should be noted that the execution order of operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be performed in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, this does not mean that it is mandatory to perform the operations in that order.

[0176] 10...Main body, 15...Leg, 20...Propulsion unit, 21...Rotor wing, 22...Rotation drive unit, 24...Arm, 40...Container holding unit, 42...Container container, 45...Repellent, 50...Discharge unit, 51...Discharge port, 52...Extending unit, 54...Tip, 60...Holding unit, 62...Recovery member, 65...Separation unit, 70...Recovery unit, 72...Pressing unit, 73...Recovery member, 80...Detection unit, 82...Imaging unit, 84...Notification unit, 100...Unmanned aerial vehicle, 200...Holding unit, 210...Holding material, 220...Mounting unit, 222...Mounting surface, 230...Housing, 235...Base, 240...Holding container, 245...Opening, 250...Connecting unit, 252...Connection unit, 254...Piping unit, 260...Receiving tray, 270...Guidance unit, 271...Pattern, 2 72...Reading code, 273...Light-emitting part, 274...Communication part, 275...Generating part, 280...Separation mechanism, 282...Protrusion, 284...Spring, 286...Extrusion part, 290...Sensor part, 300...Installation location, 400...User, 410...Terminal device, 500...Animal, 600...Elevator, 1000...Computer, 1010...Host controller, 1012...CPU, 1014...RAM, 1016...Graphics controller, 1018...Display device, 1020...Input / output controller, 1022...Communication interface, 1024...Hard disk drive, 1026...DVD-ROM drive, 1027...DVD-ROM, 1030...ROM, 1040...Input / output chip, 1042...Keyboard

Claims

1. A method for repelling animals, comprising the steps of: installing a holder for holding an animal repellent at a predetermined location; and supplying the repellent to the holder by an unmanned aerial vehicle.

2. The method for repelling animals according to claim 1, wherein the step of installing the holder at the installation location comprises the step of an unmanned aerial vehicle moving while holding the holder and installing the holder at the installation location.

3. The method for repelling animals according to claim 1, wherein the retainer comprises a retaining material capable of absorbing the repellent.

4. The method for repelling animals according to claim 1, comprising the steps of: directing the discharge port of the unmanned aerial vehicle towards the holder; and discharging the repellent from the discharge port of the unmanned aerial vehicle to supply the repellent to the holder.

5. The method for repelling animals according to claim 4, wherein the step of supplying the repellent to the holder comprises the step of inserting the discharge port into the holder.

6. The method for repelling animals according to claim 4, comprising the steps of: 1) connecting the unmanned aerial vehicle for supplying the repellent to the holder with the holder; and 2) discharging the repellent from the discharge port of the unmanned aerial vehicle while the unmanned aerial vehicle is connected to the holder, thereby supplying the repellent to the holder.

7. The method for repelling animals according to claim 1, wherein the holder has a tray to prevent the repellent from leaking out of the holder.

8. The method for repelling animals according to claim 1, wherein the holder has a guidance unit for guiding the unmanned aerial vehicle for supplying the repellent.

9. The method for repelling animals according to claim 8, wherein the step of supplying the repellent to the holder is: the step of the unmanned aerial vehicle recognizing the guidance unit; the step of the unmanned aerial vehicle autonomously approaching the holder in response to guidance from the guidance unit; and the step of supplying the repellent to the holder after approaching the holder.

10. The method for repelling animals according to any one of claims 1 to 9, further comprising the step of an unmanned aerial vehicle retrieving the holder after the step of installing the holder at the installation site.

11. The method for repelling animals according to claim 10, further comprising the step of a drone reinstalling a retaining body for reinstallation at the installation location after the step of retrieving the retaining body.

12. A method for repelling animals according to any one of claims 1 to 9, comprising: determining the completion of supplying the repellent to the holder based on the supply time, the amount supplied, or at least one of the images of the holder; and terminating the supply of the repellent to the holder after determining that the supply has been completed.

13. The method for repelling animals according to any one of claims 1 to 9, comprising the steps of: detecting the presence of an animal in the vicinity of the retainer; and notifying the user to repellent the retainer in response to the detection of the presence of an animal.

14. A method for repelling animals according to any one of claims 1 to 9, comprising the steps of: detecting the presence of an animal in the vicinity of the retaining body; and, in response to the detection of the presence of an animal, the unmanned aerial vehicle supplying the retaining body with the repellent.

15. An unmanned aerial vehicle comprising: a container holding section for holding a container for containing an animal repellent; a discharge section for dispensing the repellent contained in the container; and a holder holding section for holding any holder and releasing the held holder.

16. The unmanned aerial vehicle according to claim 15, wherein the holder holding portion comprises a separation portion for separating and releasing the holder from the holder holding portion.

17. The unmanned aerial vehicle according to claim 15 or 16, further comprising a recovery unit for recovering the holder installed at a predetermined location.

18. The unmanned aerial vehicle according to claim 15 or 16, further comprising a detection unit for detecting the amount of replenishment or remaining amount of the repellent held in the holder.

19. The unmanned aerial vehicle according to claim 18, wherein the detection unit has an imaging unit for capturing an image of the holder, and a notification unit for notifying the user of the detection result by the detection unit.

20. A program, when executed by a computer, that causes an unmanned aerial vehicle to place a holder for holding animal repellent at a predetermined location, and to replenish the holder with the repellent.

Images