JP7650485B2 - Flying robot, flying robot control program, and flying robot control method - Google Patents

Description

This invention relates to a flying robot that monitors garbage collection sites, a control program for the flying robot, and a control method for the flying robot.

Traditionally, crows have eaten garbage such as food scraps produced by humans, causing the garbage to be strewn across the width of the road, resulting in problems such as spoiling the view and hindering garbage collection. In addition, because it is convenient for them to eat garbage, crows nest and raise their chicks near garbage collection sites, that is, in places close to urban areas such as downtowns and residential areas, which creates problems such as threatening and attacking people who pass by their nests during the breeding season.

In order to solve these problems caused by crows, various technologies have been used in the past to prevent crows from scattering garbage. Specifically, for example, there has been a technology that covers garbage with a net that is difficult for crows to see, or a weighted plastic bucket (see, for example, Patent Documents 1 and 2 below). Also, specifically, for example, there has been a technology that uses an infrared sensor to detect the approach of a target to be repelled, such as a crow, and scares them off by emitting an explosion sound when the target approaches (see, for example, Patent Document 3 below).

Utility Model Registration No. 3228895 Utility Model Registration No. 3226773 JP 2016-73266 A

However, conventional technologies such as those described in Patent Documents 1 and 2 above have the problem that, although covering the garbage with a net or the like can temporarily prevent the damage caused by garbage scattering, crows are highly intelligent and have high learning abilities, and will eventually pull the garbage out through the gaps in the net. In addition, there is a problem that there is a limit to how much covering the garbage can will prevent the garbage from scattering due to reasons on the part of the people who throw the garbage, such as the garbage not being covered sufficiently in order to avoid touching the net that covers it.

In addition, conventional technologies such as those described in Patent Document 3 above have problems with being difficult to install in urban areas because the infrared sensors react when humans approach, and even if they are installed in urban areas, they can startle approaching people and cause frequent explosions in urban areas.

The purpose of this invention is to provide a control program and a control method for a flying robot that can reliably prevent crows from scattering garbage without harming humans, in order to solve the problems of the conventional technology described above.

To solve the above problems and achieve the objective, the flying robot of the present invention is characterized by comprising an unmanned aerial vehicle that flies by automatic control and a camera mounted on the unmanned aerial vehicle, and when an object is recognized based on an image taken by the camera, the flying robot flies so as to approach the object.

The flying robot of this invention is also characterized in that, in the above invention, the camera photographs a predetermined range.

The flying robot of this invention is also characterized in that, in the above invention, the predetermined area is a pre-defined garbage collection area.

The flying robot of this invention is also characterized in that, after flying to approach the target object, it returns to a station installed within the specified range or in the vicinity of the specified range.

The flying robot of this invention is also characterized in that it flies within the specified range at a speed equal to or less than a set speed.

The flying robot according to the present invention is characterized in that it flies in a hovering manner at any position within the predetermined range.

The flying robot of this invention is also characterized in that it flies up and down at any position within the predetermined range.

The flying robot of this invention is also characterized in that, in the above invention, it is equipped with a speaker mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies so as to approach the object.

The flying robot according to the present invention is also characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

The flying robot of this invention is also characterized in that in the above invention, the predetermined sound is a recorded cry of a bird of prey or a synthetic sound that imitates the cry of a bird of prey.

The flying robot of this invention is also characterized in that in the above invention, the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

The flying robot of this invention is also characterized in that in the above invention, the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

The flying robot of this invention is also characterized in that in the above invention, the predetermined sound is a recorded sound made by an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds.

The flying robot of this invention is also characterized in that, in the above invention, it is equipped with a light source mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera, it emits light from the light source and flies so as to approach the object.

The flying robot of this invention is also characterized by having an appearance that imitates a bird of prey in the above invention.

The control program for the flying robot according to the present invention is characterized in that it causes a computer of the flying robot, which is equipped with a camera and has an unmanned aerial vehicle that flies by automatic control, to take pictures with the camera, and when it recognizes an object based on the image taken by the camera, causes the robot to fly so as to approach the object.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the camera is caused to take pictures of a predetermined range.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the camera is caused to take an image of a pre-set garbage collection area.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the flying robot is flown so as to approach the target object, and then flies so as to return to a station installed within or near the specified range.

The control program for the flying robot of this invention is characterized in that, in the above invention, the flying robot flies within the specified range at a speed equal to or less than a set speed.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the flying robot is caused to hover at any position within the predetermined range.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the flying robot is caused to fly up and down at any position within the predetermined range.

The flying robot control program of the present invention is characterized in that, in the above invention, when the flying robot's computer, which is equipped with a speaker mounted on the unmanned aerial vehicle, recognizes an object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies the robot so as to approach the object.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the predetermined sound is a recorded cry of a bird of prey or a synthetic sound that imitates the cry of a bird of prey.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

The control program for the flying robot of this invention is also characterized in that, in the above invention, the predetermined sound is a recorded sound made by an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds.

The control program for the flying robot according to the present invention is characterized in that, in the above invention, the flying robot's computer equipped with a light source mounted on the unmanned aerial vehicle, when it recognizes an object based on an image captured by the camera, causes the light source to emit light and causes the robot to fly close to the object.

The flying robot control method according to the present invention is characterized in that the flying robot's computer, which is equipped with a camera and an unmanned aerial vehicle that flies automatically, executes a process to take pictures using the camera, and if an object is recognized based on the image taken by the camera, to fly the robot so as to approach the object.

The flying robot control method according to the present invention is also characterized in that, in the above invention, the camera is caused to take pictures of a predetermined range.

The control method for a flying robot according to the present invention is also characterized in that, in the above invention, the camera is caused to photograph a predetermined garbage collection area.

The control method for a flying robot according to the present invention is characterized in that, in the above invention, the flying robot is flown so as to approach the target object, and then the flying robot is flown so as to return to a station installed within or near the specified range.

The flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot flies within the predetermined range at a speed equal to or less than a set speed.

The flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is caused to hover at any position within the predetermined range.

The flying robot control method according to the present invention is characterized in that, in the above invention, the flying robot is caused to fly up and down at any position within the predetermined range.

The flying robot control method according to the present invention is characterized in that, in the above invention, when the flying robot's computer, which is equipped with a speaker mounted on the unmanned aerial vehicle, recognizes the target object based on an image captured by the camera, it outputs a predetermined sound from the speaker and flies the robot so as to approach the target object.

The flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is output from the speaker to the target object.

The flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded cry of a bird of prey or a synthetic sound that imitates the cry of a bird of prey.

The flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

The flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

The flying robot control method according to the present invention is characterized in that, in the above invention, the predetermined sound is a recorded sound made by an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds.

The flying robot control method according to the present invention is characterized in that, in the above invention, when a target object is recognized based on an image captured by the camera, the flying robot computer equipped with a light source mounted on the unmanned aerial vehicle causes the light source to emit light and flies the robot so as to approach the target object.

The flying robot, flying robot control program, and flying robot control method of the present invention have the effect of reliably preventing the scattering of garbage by crows without causing harm to humans.

1 is an explanatory diagram showing an example of the appearance of a flying robot according to a first embodiment of the present invention; FIG. 1 is an explanatory diagram showing an example of hardware of a flying robot according to a first embodiment of the present invention. FIG. 1 is an explanatory diagram (part 1) showing the configuration of a station. FIG. 2 is an explanatory diagram (part 2) showing the configuration of a station. FIG. 1 is an explanatory diagram showing a functional configuration of a flying robot according to the present invention. 4 is a flowchart showing a processing procedure of the flying robot of the first embodiment according to the present invention. FIG. 1 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot of the first embodiment of the present invention. FIG. 2 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot of the first embodiment of the present invention. FIG. 3 is an explanatory diagram (part 3) showing an example of a usage mode of the flying robot of the first embodiment of the present invention. FIG. 4 is an explanatory diagram (part 4) showing an example of a usage mode of the flying robot of the first embodiment of the present invention. FIG. 11 is an explanatory diagram showing an example of the appearance of a flying robot according to a second embodiment of the present invention. 13 is a flowchart showing a processing procedure of the flying robot 101 according to the second embodiment of the present invention. FIG. 11 is an explanatory diagram (part 1) showing an example of a usage mode of the flying robot of the second embodiment of the present invention. FIG. 11 is an explanatory diagram (part 2) showing an example of a usage mode of the flying robot of the second embodiment of the present invention.

The following describes in detail a preferred embodiment 1 of the flying robot, the flying robot control program, and the flying robot control method of the present invention with reference to the attached drawings.

<First embodiment>
(An example of the appearance of a flying robot)
First, an example of the external appearance of the flying robot according to the first embodiment of the present invention will be described. Fig. 1 is an explanatory diagram showing an example of the external appearance of the flying robot according to the first embodiment of the present invention. As shown in Fig. 1, the flying robot 101 takes the form of a drone (unmanned aerial vehicle).

Specifically, the drone may be, for example, a quadcopter with four propellers 102. The drone is not limited to a quadcopter, and various types of multicopters may be used, such as a hexacopter with six propellers or an octocopter with eight propellers.

The flying robot 101 of the first embodiment of the present invention recognizes, for example, crows that fly into a garbage dump and scatter garbage as an object, and chases the crows away from the garbage dump. As shown in FIG. 1, the flying robot 101 can be shaped to resemble a bird, particularly a bird of prey such as a hawk, which crows fear. Specifically, the flying robot 101 is equipped with a head with a beak, and members 105 that resemble bird wings and a tail. The head with a beak and members 105 that resemble bird wings and a tail may each be movable.

Specifically, for example, the beak, head, wings, tail, and other members 105 may be moved independently by a motor, a gear train, or a link mechanism. This allows the flying robot 101 to mimic the movements of wagging its tail or moving its wings.

The flying robot 101 is not limited to a shape that imitates a bird such as a hawk. The flying robot 101 is not limited to birds and beasts that exist in the present day, but may be shaped to imitate extinct animals such as dinosaurs, mythical beasts such as dragons and unicorns, or insects, and may be equipped with parts such as a tail, ears, feet (legs, limbs), horns, fangs, whiskers, etc., in addition to a beak, head, wings, and tail.

Flying robot 101 also includes camera 103. Camera 103 can be realized, for example, by a general-purpose digital camera. As shown in FIG. 1, in a flying robot 101 shaped like a bird such as a hawk, the lens of camera 103 can be provided in the area that corresponds to the eye, for example. Alternatively, camera 103 may be provided on the underside (ventral side) of the drone's housing. The lens of camera 103 may be a standard lens, or may be a wide-angle lens or a fisheye lens. Using a fisheye lens makes it possible to capture a wide range.

The flying robot 101 takes images of the surroundings of the flying robot 101 using the camera 103. The flying robot 101 takes images within a predetermined range that has been set in advance, for example. The predetermined range can be, for example, a garbage collection area that has been set in advance. The predetermined range can be set, for example, by receiving a signal that specifies the relevant range from a terminal device such as a smartphone on which a predetermined application has been installed.

The predetermined range can be specifically specified by, for example, a standard area mesh. More specifically, the movement range of the image projection device 100 can be specified by, for example, a first mesh, a second mesh, a third mesh, etc. The movement range of the image projection device 100 may also be specified by, for example, a divided area mesh, such as a half area mesh, a quarter area mesh, or an eighth area mesh, which is a further subdivision of the third mesh. By specifying the predetermined range by a standard area mesh, the predetermined range in which the flying robot 101 flies can be precisely restricted based on position information obtained using a GPS sensor (see FIG. 2).

The flying robot 101 recognizes crows based on images captured by the camera 103. Crows can be recognized, for example, by image recognition. In image recognition, image preprocessing such as noise removal and background removal and feature extraction are performed to determine whether or not a crow is present in the image captured by the camera 103. The flying robot 101 may store information about the captured image in a memory provided in the flying robot 101 (see FIG. 2).

The flying robot 101 of this embodiment 1 flies so as to chase away crows that have entered a predetermined range, such as a garbage collection area, out of the predetermined range (see Figures 6 to 9). Specifically, for example, at a station (see Figures 3A and 3B) equipped with a charging function for the flying robot 101, an image of the predetermined range is taken, and if a crow is included in the captured image, the flying robot 101 starts flying, takes off from the station, and flies so as to approach the crow. The station can be installed, for example, within the predetermined range or in the vicinity of the predetermined range.

Instead of a general-purpose digital camera, the camera 103 may be realized by a night vision camera that captures images in dark places by amplifying its sensitivity to light, an infrared camera that is sensitive to infrared rays, or an infrared color night vision camera that captures color images by analyzing the black and white shading in images captured by an infrared camera. By capturing images using a night vision camera, an infrared camera, an infrared color night vision camera, or the like, the user can be recognized with high accuracy even at night or indoors with low illumination.

The flying robot 101 may be equipped with one camera 103 or multiple cameras 103. A flying robot 101 equipped with multiple cameras 103 is not limited to one type of camera 103, and may be equipped with multiple different types of cameras 103. As shown in FIG. 1, in a flying robot 101 shaped like an animal, the lens of the camera 103 may be provided in the part that corresponds to the eye, for example.

The camera 103 may be connected to the drone in a state in which its attitude can be adjusted. Specifically, the camera 103 can be connected to the bottom of the drone via a universal joint such as a ball joint, for example. By connecting the camera 103 to the drone via a universal joint such as a ball joint, a high degree of freedom in adjusting the attitude of the camera 103 can be ensured.

Furthermore, the flying robot 101 may be equipped with a drive mechanism that changes the attitude of the camera 103 relative to the drone. This allows the attitude of the camera 103 relative to the drone to be adjusted without human intervention. The drive mechanism may be configured, for example, with a motor or a gear train. By making it possible to adjust the attitude of the camera 103 relative to the drone without human intervention, the shooting direction can be adjusted as desired while the flying robot 101 is flying, regardless of the attitude of the drone. The camera 103 may be equipped with a zoom function.

The flying robot 101 may be equipped with a receiving coil for wireless power transfer (contactless power transmission). Wireless power transfer (wireless power supply) is a technology for receiving power from a battery (see FIG. 2) without going through a charging contact, and is also called non-contact power supply or wireless power supply.

The receiving coil is provided inside the exterior surface of the housing of the flying robot 101. This makes it possible to avoid deterioration or failure of the receiving coil due to water droplets from rain or dew, hand oil, etc. The flying robot 101 may be provided with a charging contact for charging the battery instead of or in addition to the receiving coil.

As shown in FIG. 1, in an animal-shaped flying robot 101, for example, LED lamps (light sources) 104 may be provided in the areas that correspond to the eyes. There may be one LED lamp 104, or multiple LED lamps 104 may be provided. If the area that corresponds to the eyeball is a camera 103 lens, the LED lamps 104 may be provided so as to frame the lens.

When multiple LED lamps 104 are provided, each LED lamp 104 may be capable of emitting light in a number of switchable colors on its own. This allows light of multiple colors to be mixed together to emit light that is dimmed to a color disliked by birds and animals. Also, multiple LED lamps 104 that each emit light of a different color may be arranged side by side. Specifically, for example, an LED lamp 104 that emits green light may be arranged next to an LED lamp 104 that emits red light.

The flying robot 101 may further include a solar cell (a solar battery, see Figures 3A and 3B) that generates electricity using external light such as sunlight. The solar cell is provided, for example, on the upper surface of the housing of the flying robot 101. This ensures that external light is taken in during flight and electricity is generated efficiently. Furthermore, by including the solar cell, charging can be performed during flight, ensuring a long flight time per trip.

(Hardware configuration of flying robot 101)
Next, the hardware configuration of the flying robot 101 will be described. Fig. 2 is an explanatory diagram showing an example of the hardware of the flying robot 101 of the first embodiment according to the present invention. As shown in Fig. 2, the hardware of the flying robot 101 is composed of a battery 201, a motor 202, a camera 103, a microphone 203, a speaker 204, a GPS sensor 205, an object sensor 206, a control circuit 207, an acceleration sensor 208, a communication I/F 209, an LED lamp 104, a solar cell 210, etc. The respective units 103, 104, 201 to 210 of the flying robot 101 are connected by a bus 200.

The battery 201 supplies the power required for the operation of each part of the flying robot 101. The battery 201 can be realized by, for example, a secondary battery (rechargeable battery, storage battery) such as a lithium battery. The battery 201 realized by a secondary battery may be detachable from the drone.

The motor 202 is controlled by the control circuit 207, and rotates the propellers 102 by rotating. Specifically, the motor 202 may be, for example, a brushless motor in which the rotor is a permanent magnet and the stator is made up of a coil. By providing the same number of motors 202 as the propellers 102, each propeller 102 can be rotated independently, causing the flying robot 101 to move forward, backward, and turn left and right.

If the flying robot 101 is equipped with a drive mechanism that adjusts the attitude of the camera 103, the control circuit 207 also controls the operation of the motor that constitutes the drive mechanism. This allows the flying robot 101 to adjust the attitude of the camera 103 while moving, without human intervention, and to capture images of any range or a wide range.

The camera 103 has an image sensor and captures an image by having the image sensor receive light that passes through a photographing lens. The camera 103 also outputs the captured image, i.e., image information (capture data) obtained by converting the optical signal received by the image sensor into an electrical signal, to the control circuit 207.

The camera 103 may be capable of taking still images or video. Video includes a series of still images taken at a predetermined time interval. The image information may be compressed using a predetermined standard for video and audio data compression (e.g., MPEG (Moving Picture Experts Group)).

The microphone 203 collects sounds around the flying robot 101. The microphone 203 converts sounds input as analog data into electrical signals. Specifically, the microphone 203 performs analog/digital conversion on the analog sound signal input as analog data, and generates digital sound data.

The speaker 204 generates sound by vibrating a diaphragm with an electrical signal that is an audio signal. The speaker 204 may also be an output terminal that outputs an audio signal, and an external speaker 204 may be connected to the output terminal to generate sound. The speaker 204 may be a so-called directional speaker that generates sound in only one direction.

The GPS sensor 205 identifies the current position of the flying robot 101. Specifically, the GPS sensor 205 includes, for example, a GPS antenna, an RF (Radio Frequency) unit, and a baseband unit. The GPS antenna receives radio waves broadcast by GPS satellites. The RF unit demodulates the unmodulated signal received by the GPS antenna into a baseband signal. The baseband unit calculates the current position of the flying robot 101 based on the baseband signal demodulated by the RF unit. The GPS sensor 205 may further include a filter that removes unnecessary components and an amplifier such as an LNA (Low Noise Amplifier) or a PA (Power Amplifier).

The current position of the flying robot 101 can be determined by positioning based on radio waves transmitted from multiple GPS satellites. The baseband unit calculates the distances to each of the four GPS satellites and performs positioning by calculating the position where each of the distances intersect. Instead of GPS, which determines the geometric position of the GPS satellite and the flying robot 101 based on radio waves received from the GPS satellite, the current position of the flying robot 101 may be determined using a satellite positioning system such as Michibiki, GLONASS, or Galileo.

The object sensor 206 detects whether or not there is an obstacle within a predetermined range from the flying robot 101. An obstacle is an object that impedes the flight of the flying robot 101, and specifically includes, for example, a wall, a ceiling, furniture, a person, etc. When the flying robot 101 is flown outdoors, any object that impedes the flight of the flying robot 101, such as a vehicle, a flying robot 101 other than the flying robot itself, trees, buildings, etc., is an obstacle.

Specifically, the object sensor 206 can be realized by a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The object sensor 206 can be realized by at least one of a non-contact sensor such as an infrared sensor, a capacitance sensor, or an ultrasonic sensor. The flying robot 101 may be equipped with multiple types of non-contact sensors as the object sensor 206. In addition, the flying robot 101 may detect the presence or absence of an obstacle present within a predetermined range from the flying robot 101 based on an image captured by the camera 103.

The acceleration sensor 208 detects gravity, vibrations, and other movements, and impacts acting on the flying robot 101. The acceleration sensor 208 may be, for example, a frequency change type acceleration sensor such as a low-noise, highly stable quartz acceleration sensor. Alternatively, the acceleration sensor may be a piezoelectric acceleration sensor, a capacitance acceleration sensor, a piezo-resistance acceleration sensor, or the like.

The solar cell 210 is constructed by bonding a P-type silicon semiconductor, which is easily positively charged, and an N-type silicon semiconductor, which is easily negatively charged, together via a PN junction surface. When light energy from external light such as sunlight is applied to the PN junction surface of the solar cell 210, the P-type silicon semiconductor becomes positively charged and the N-type silicon semiconductor becomes negatively charged. In the solar cell 210, electrodes are connected to the P-type silicon semiconductor and the N-type silicon semiconductor, respectively, and the generated electricity can be extracted via electric wires connected to the electrodes.

The control circuit 207 drives and controls each part of the flying robot 101. The control circuit 207 can be realized by a microcomputer composed of a CPU, memory, etc. The memory stores various information such as the control program for the flying robot of the first embodiment of the present invention, information about a specific person, and information input in advance by the user of the flying robot 101. Specifically, the control circuit 207 can be realized by, for example, an LSI (Large Scale Integration) or an FPGA (Field-Programmable Gate Array).

The CPU is responsible for overall control of the flying robot 101 by executing the programs stored in the memory. The memory stores various information, such as the programs executed by the CPU, information on various conditions related to the operation of the flying robot 101, and information on images captured by the camera 103.

Specifically, the memory can be realized by, for example, an IC memory or an SSD (Solid State Drive). The memory may also be a memory card that is detachable from the flying robot 101 via a card slot provided in the flying robot 101. The memory card can realize its function by, for example, an IC card such as an SD (Secure Digital) memory card. The memory may also realize its function by an external USB memory or the like.

The control circuit 207 also includes a charging circuit that charges the battery 201 with the power generated by the solar cell 210, and a remaining charge measurement circuit that measures the remaining charge of the battery 201. The charging circuit includes a DC/DC converter that adjusts the voltage of the power generated by the solar cell 210. The remaining charge measurement circuit measures the remaining charge of the battery 201 using various known methods, such as an impedance track method, a voltage measurement method, a coulomb counter method, or a battery cell modeling method.

The control circuit 207 also includes circuits such as an IMU (Inertial Measurement Unit), an ESC (Electronic Speed Controller), a BEC (Battery Elimination Circuit), or a UBEC (Universal BEC).

The IMU is a set of sensors necessary for the drone to obtain external information, and is composed of, for example, an acceleration sensor 208, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, and a magnetic orientation sensor (compass). The GPS sensor 205 mentioned above is also included in the IMU.

The acceleration sensor 208 detects the amount of change in the drone's speed. The gyro sensor and acceleration sensor 208 can calculate the amount of change in both the drone's tilt and the drone's speed, so the drone can continue flying even if it remains tilted.

The gyro sensor detects the amount of change in the drone's angle. The gyro sensor detects the amount of change in the drone's angle, for example, by measuring angular velocity using the Coriolis force. The gyro sensor enables the drone to fly stably.

The barometric sensor detects the altitude of the drone. The barometric sensor detects the altitude of the drone, for example, by detecting changes in air pressure. By measuring the altitude of the drone with the barometric sensor, the altitude of the drone can be maintained.

The ultrasonic sensor detects the distance from an object (floor, obstacle, etc.) located below the drone. The ultrasonic sensor is installed, for example, on the underside of the drone, and detects the distance from an object located below the drone by using the reflection of ultrasonic waves emitted below the drone.

This allows the drone to be stably tracked on the ground (floor, ground, etc.) and returned to the station (see Figures 3A and 3B). When an ultrasonic sensor is used as the object sensor 206, ultrasonic waves may be emitted in all directions of the drone, and the ultrasonic sensor may function both as the object sensor 206 and as part of the IMU.

The magnetic orientation sensor detects whether the drone is facing north, south, east or west. Since the flying robot 101 is affected by magnetism depending on the flying location, it is preferable to perform compass calibration and adjust the magnetic orientation sensor when changing the flying location.

The IMU and the microcomputer constitute a flight controller. The flight controller performs calculations related to the rotation control of the motor 202, and outputs a control signal to the ESC that controls the rotation direction and speed of the propeller (propeller motor 202). The ESC controls the rotation of the motor 202 based on the control signal output from the flight controller. While the flying robot 101 is flying, the flight controller detects the inclination of the flying robot 101, etc., performs repeated calculations, and recursively outputs a control signal to the motor 202.

Specifically, the flight controller prevents the flying robot 101 from rotating by, for example, outputting a control signal that controls adjacent propellers 102 to rotate in opposite directions. Also, for example, the flight controller controls the propeller 102 at the front in the direction of travel to rotate slower than the propeller 102 at the rear in the direction of travel, thereby moving the flying robot 101 forward. Also, for example, the flight controller controls the propeller 102 on the right side in the direction of travel to rotate slower than the propeller 102 on the left side in the direction of travel, thereby turning the flying robot 101 to the right.

The communication I/F 209 is a wireless communication interface that connects the flying robot 101 to the network N through a communication line, and is responsible for the interface between the network N and the inside of the flying robot 101, and controls the input of data from and the output of data to external devices connected via the network N. The network N is realized, for example, by the Internet, a LAN (Local Area Network), or a WAN (Wide Area Network).

The communication I/F 209 can be realized by, for example, a wireless interface using Wi-Fi (registered trademark). The communication I/F 209 may also be a wireless communication interface such as a mobile phone line (for example, LTE (Long Term Evolution) or PHS (Personal Handy-phone System). Communication via the communication I/F 209 may be performed periodically, such as at a specified time or at specified intervals, or may be performed at any timing depending on the status of the communication line. The above memory may store information acquired by communication via the communication I/F 209.

The LED lamps 104 provided in the parts that correspond to the eyes are controlled by the control circuit 207, and turn on, off, and blink in conjunction with the flying motion of the flying robot 101. The LED lamps 104 may also provide information on the status of the flying robot 101. Specifically, for example, they blink in a predetermined pattern when the remaining charge falls below a predetermined threshold. The light color of the LED lamps 104 is not limited to one color, and may be multiple colors.

The flying robot 101 may also be equipped with input devices such as keys or buttons for inputting instructions to the flying robot 101, a power switch for turning the flying robot 101 on and off, and LED lamps provided in positions other than those corresponding to the eyes, although these are not shown in the figure.

The input device may be used to set the above-mentioned predetermined range. Specifically, for example, when a predetermined input instruction is received for the flying robot 101 via the input device, the location (location information) where the input instruction was received can be identified using the GPS sensor 205 or the like, and a predetermined range can be set within a predetermined range from the identified location. The input device may be realized by a connection terminal to which another information processing device can be connected.

(Station configuration)
Next, the configuration of the station will be described. Figures 3A and 3B are explanatory diagrams showing the configuration of the station. Figure 3A shows an example of the appearance of the station. Figure 3B shows a cross section taken along line AA in Figure 3A.

As shown in Figures 3A and 3B, the station 301 has an exterior part 302 that is generally box-shaped and has one open side. The station 301 is installed with the open part of the exterior part 302 facing a predetermined range, i.e., toward the garbage collection area. The station 301 is preferably installed at a height that is difficult for humans to reach. This makes it possible to prevent tampering with the station 301 and the flying robot 101.

The station 301 includes a battery 303 and a power transmission coil 304 for wireless power supply. The battery 303 is preferably a large-capacity battery that is installed in an electric vehicle or the like. Specifically, the battery 303 can be realized by a secondary battery (rechargeable battery, storage battery) such as a lithium battery, a lead-acid battery, or a nickel-metal hydride battery. The battery 303 may be a primary battery. The battery 303 may be detachable from the exterior unit 302, or may be separate from the exterior unit 302.

The power transmission coil 304 is connected to the battery 303, enclosed in a cover made of ABS resin, silicone rubber, or the like, and waterproofed. This allows the station 301 to supply power to the battery 201 by wireless power transmission.

The station 301 may also include a solar cell 305 that generates electricity using external light such as sunlight, and a charging circuit that charges the battery 303 with the electricity generated by the solar cell 305. The solar cell 305 is provided on the top surface of the exterior part 302 of the station 301. The charging circuit includes a DC/DC converter that adjusts the voltage of the electricity generated by the solar cell 305. The station 301 may not include the solar cell 305 or the battery 303, and may be connected to a commercial power source or a generator.

The station 301 may be configured with a window made of a transparent acrylic plate or the like in part of the exterior 302, and a curtain-like partition on the open side of the exterior 302. In a station 301 configured in this way, the window is installed facing a predetermined range, i.e., the direction toward the garbage collection area, so that the predetermined range can be photographed through the window while reducing the intrusion of dust into the inside of the station 301 and preventing deterioration of the flying robot 101.

By installing such a station 301 within a specified range or in the vicinity of the specified range as described above, it is possible to quickly approach and chase away a crow when the crow enters the specified range. It is also possible to reduce power consumption due to flight. The above-mentioned specified range may be set based on the installation position of the station 301. Specifically, for example, the station 301 may be provided with a wireless communication function, a communication distance between the station 301 and the flying robot 101 may be set, and the range within which communication with the station 301 is possible may be set as the specified range.

More specifically, the communication between the station 301 and the flying robot 101 uses, for example, Bluetooth (registered trademark). By using Bluetooth, which was designed for one-to-one communication, it is possible to reduce the power consumption required for communication, both in terms of communication speed and communication distance, compared to wireless communication such as Wi-Fi.

By enabling communication between the station 301 and the flying robot 101, it is possible to determine whether the flying robot 101 has returned to the station 301. Then, only when the flying robot 101 has returned to the station 301, electricity is passed through the power transmission coil 304 to generate a magnetic field in the power transmission coil 304, thereby supplying power to the battery 201. This makes it possible to reduce consumption of the battery 303.

The station 301 may be equipped with a wireless communication router such as a mobile Wi-Fi router. This allows the station 301 to function as a communication spot, and the flying robot 101 can communicate via the station 301. Also, a single station 301 can be installed to use multiple flying robots 101.

In addition, if station 301 is equipped with a wireless communication router, when the remaining charge of battery 303 falls below a predetermined threshold value previously set for battery 303, a notification may be sent to a mobile phone or other device owned by a specific person, such as an administrator, that battery 303 needs to be charged or replaced. This makes it possible to reliably maintain the functionality of station 301 while reducing the burden on the administrator in managing station 301.

(Functional Configuration of Flying Robot 101)
Next, the functional configuration of the flying robot 101 will be described. Fig. 4 is an explanatory diagram showing the functional configuration of the flying robot 101 according to the present invention. As shown in Fig. 4, the functions of the flying robot 101 are realized by a memory unit 401, a detection unit 402, an image capture unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

The storage unit 401 stores various information including various programs controlled by the control unit 407 and thresholds used to execute the programs. Specifically, the storage unit 401 stores information related to the feature amounts of crows, which are used for pattern recognition (image recognition) to recognize crows, for example.

The storage unit 401 also stores image information captured by the image capture unit 403 and information acquired by the acquisition unit 404. The storage unit 401 may also store information related to battery charging spots. Specifically, the storage unit 401 can realize its functions by, for example, a memory in the control circuit 207 shown in FIG. 2.

The detection unit 402 detects, for example, a signal output from a terminal device such as a smartphone on which a specific application is installed. The detection unit 402 may also detect that a specific input instruction to the flying robot 101 has been received via an input device such as a key or button, performed by a user of the flying robot 101, for example. Specifically, the detection unit 402 can realize its function by, for example, the communication I/F 209 shown in FIG. 2.

The detection unit 402 also detects whether or not there is an obstacle within a predetermined range from the flying robot 101. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 206 shown in FIG. 2. In this case, the detection unit 402 can specifically realize its function by, for example, the camera 103 shown in FIG. 1 or FIG. 2 instead of the object sensor 206 or in addition to the object sensor 206.

Detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a mobile stereo method that determines the distance to an obstacle based on the parallax (the difference between each image) in each image taken at multiple different positions obtained by the movement of the flying robot 101. By using the mobile stereo method, the presence or absence of an obstacle present within a predetermined range from the flying robot 101 can be detected using a monocular camera.

The photographing unit 403 photographs an image within a predetermined range. For example, the photographing unit 403 photographs an image within the predetermined range from outside the predetermined range. The photographing unit 403 may also photograph an image within the predetermined range from within the predetermined range. Specifically, the photographing unit 403 can realize its function by, for example, the camera 103 shown in FIG. 1 or FIG. 2.

The storage unit 401 may store image information related to an image captured by the image capture unit 403. The storage unit 401 may also store, in addition to the image information, information related to the location and time when the image related to the image information was captured in association with the image information. The information related to the location and time when the image was captured can be identified, for example, using the GPS sensor 205 shown in FIG. 2.

The acquisition unit 404 acquires information external to the flying robot 101. Specifically, the acquisition unit 404 acquires predetermined information from an external device, for example, via the network N. Specifically, the acquisition unit 404 can realize its functions, for example, by the communication I/F 209 shown in FIG. 2.

The acquisition unit 404 specifically acquires information indicating that an event that may affect people in the vicinity, such as a disaster, may occur within a predetermined time from the current time. Specifically, the acquisition unit 404 acquires information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

The acquisition unit 404 may also acquire information learned by another flying robot 101, for example. This allows information acquired by learning from a single flying robot 101 to be shared by a plurality of other flying robots 101, enabling the flying robot 101 to behave in a manner more suitable for recognizing and chasing away crows.

The driving unit 405 controls the flight of the flying robot 101. Specifically, the driving unit 405 can realize its functions by, for example, the propeller 102 shown in FIG. 1, the flight controller in the control circuit 207 shown in FIG. 2, the ESC, the BEC (UBEC), the motor 202, and the object sensor 206.

The output unit 406, for example, causes the speaker 204 to output a predetermined sound. The predetermined sound can be, for example, a recorded cry of a bird of prey or a synthetic sound that imitates a cry of a bird of prey. The predetermined sound can also be, for example, a recorded gunshot or a synthetic sound that imitates a gunshot.

Furthermore, the predetermined sound may be, for example, a recorded dog barking or a synthetic sound that imitates a dog barking, or a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthetic sound that imitates these sounds. In this case, the output unit 406 can specifically realize its function by, for example, the speaker 204 shown in FIG. 2.

The output unit 406 also turns on the LED lamp 104, for example. The output unit 406 also blinks the LED lamp 104, for example. In this case, the output unit 406 can specifically realize its function by, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2.

In addition, the output unit 406 may output a voice informing the user of the possibility of an event that may have some effect on people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather, upon acquiring information indicating the possibility of the event occurring, or may cause the LED lamp 104 to light up or flash in a specific pattern or color.

The control unit 407 controls the entire flying robot 101. Specifically, the control unit 407 can realize its functions, for example, by the control circuit 207 shown in FIG. 2. More specifically, the control unit 407 can realize its functions, for example, by the CPU in the control circuit 207 shown in FIG. 2 executing a program stored in a memory or the like.

The control unit 407, for example, controls the drive unit 405 to make the flying robot 101 fly. The control unit 407 also takes images by, for example, controlling the drive of the image capture unit 403. The control unit 407 also recognizes the object based on the image captured by the image capture unit 403. The object can be, for example, a crow. The object (crow) is recognized, for example, by determining whether or not the object is included in the image captured by the image capture unit 403.

The control unit 407 may have an AI (Artificial Intelligence) function and may learn multiple types of objects (crows) such as large-billed crows and carrion crows. The control unit 407 may have specialized AI specialized for recognizing crows. In recent years, computers equipped with AI have become smaller, and even a control circuit 207 (computer) equipped with AI can fly the flying robot 101 smoothly. The control unit 407 may further learn animals such as cats that scatter garbage accumulated in garbage collection areas, and humans that take away recyclable garbage.

When recognizing the object, the control unit 407 makes it easier to extract the object (crow) contained in the image by, for example, removing noise and distortion from the image captured by the image capture unit 403, emphasizing the contours of objects contained in the image, and adjusting the brightness and color of the image. In addition, if the lens of the camera 103 is a wide-angle lens, the control unit 407 may correct distortion of the image.

When recognizing an object, the control unit 407 extracts features such as the position of the wings and the shape of the beak on a pixel-by-pixel basis, and determines whether the object is included in the image captured by the image capture unit 403 based on various information such as color and brightness assigned to the pixels.

When recognizing an object, the control unit 407 may recognize the object based on a distorted image obtained by using a wide-angle lens or the like, or may recognize the object based on an image that has been corrected for distortion so that the image resembles an image obtained with a standard lens.

The object may be a crow rummaging through trash or about to rummage through trash. In other words, if a crow is simply photographed, it may not be recognized as an object, but may be recognized as an object if the crow touches trash or if the distance between the crow and the trash falls below a predetermined value.

When recognizing an object, the control unit 407 may, for example, learn (machine learning) the characteristics of the recognized crow and store the learning results in the storage unit 401. The characteristics of the crow may be, for example, the size of the crow that arrives, the day of the week when it most often arrives, the time of day when it most often arrives, the direction from which it arrived, etc.

In this case, the control unit 407 may control the operation of the image capturing unit 403 to capture images only under conditions where there is a high possibility of a crow arriving. Alternatively, in this case, the control unit 407 may capture images continuously under conditions where there is a high possibility of a crow arriving, and capture images intermittently at time intervals of, for example, 5 or 10 minutes under conditions where there is a low possibility of a crow arriving.

Intermittent filming may involve, for example, filming for one minute, stopping for five minutes, and then filming for another minute. Whether or not conditions are favorable for crows to arrive can be determined, for example, by whether elements such as the current day of the week and time meet pre-set conditions. Also, whether or not conditions are favorable for crows to arrive may be determined, for example, by whether the number of elements that meet pre-set conditions exceeds a specified threshold.

When the control unit 407 recognizes an object (a crow), it controls the driving unit 405 to fly the flying robot 101. When the control unit 407 recognizes an object based on an image captured by the image capture unit 403, for example, it controls the driving unit 405 to fly the flying robot 101 so as to approach the object.

Specifically, the control unit 407, for example, makes the object fly from inside to outside the predetermined range relative to the crow, so as to push the object out of the predetermined range. This puts pressure on the crow, making it possible to scare the crow away from the garbage collection area without injuring it.

When the control unit 407 recognizes an object (a crow), for example, it flies within a predetermined range at a speed equal to or lower than a set speed. Furthermore, when the control unit 407 recognizes an object (a crow), it may perform hovering flight or vertical flight at any position within the predetermined range. The any position within the predetermined range may be, for example, the vicinity of the crow. This also makes it possible to put pressure on the crow and drive it away from the garbage collection area without harming it.

The flying robot 101 equipped with an integrated camera 103 can fly autonomously to a position within the garbage dump where it is easy to photograph. This allows it to photograph crows without any blind spots, without being influenced by environmental factors such as the position of the camera, the positions of trees and houses around the garbage dump, the way the garbage is disposed of, or the shape and size of the garbage disposed of. This makes it possible to reliably photograph crows and effectively scare them away from garbage dumps, compared to conventional technology that scare crows away from garbage dumps by flying a drone based on images taken by a stationary camera.

Furthermore, the flying robot 101 equipped with the integrated camera 103 can fly autonomously to a position where it can reliably photograph crows. This makes it possible to avoid losing sight of crows, reliably photograph crows, and effectively scare them away from garbage dumps, compared to conventional techniques that use drones to fly based on images taken by a stationary camera to scare crows away from garbage dumps and the like.

The inventor has named the flying robot 101, which operates to scare off crows that are present in a specified range such as a garbage dump, i.e., to repel crows that fly into the garbage dump and scatter garbage, "Drop Crow." The inventor has also named the flying robot 101, which operates to scare off crows that are present in a specified range such as a garbage dump, i.e., to repel crows that fly into the garbage dump and scatter garbage, "Drop Attacker."

The control unit 407 may execute a predetermined process while controlling the driving unit 405 to fly the flying robot 101 so as to approach the target object. For example, when the output unit 406 is realized by the speaker 204 shown in FIG. 2, the control unit 407 can execute a predetermined process by controlling the output unit 406 to output a sound that imitates the cry of a bird of prey or a sound made by a frightened crow.

If the speaker 204 is a directional speaker, even in a noisy environment, the drone can fly while checking the position of the crow using the camera 103, so that the sound emitted by the speaker 204 can be reliably delivered to the target crow without being mixed with surrounding sounds or being lost.

In addition, if the speaker 204 is a directional speaker, sound can be emitted only in the necessary direction, thereby preventing sound from being emitted in all directions, even in directions where there are no crows. This makes it possible to prevent the garbage dump from becoming a nuisance to the surrounding residents, even if the dump is located in a residential area.

For example, when the output unit 406 is realized by the LED lamp 104 shown in FIG. 1 or FIG. 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to turn on or blink the light source (LED lamp 104). In particular, blinking the LED lamp 104 provided in the part corresponding to the eye can increase the visibility of the flying robot 101, making it possible to make crows aware of the presence of the flying robot 101 from a distance.

Crows are highly intelligent and understand that even though the flying robot 101 is a robot, it has the shape of a bird of prey, which crows dislike, and has "eyes." By flashing the LED lamps 104, which are the "eyes" of the bird of prey, and creating a situation that would not exist in the natural world, it is possible to make the crows feel uneasy and uncomfortable at the garbage dump, thereby inducing them to leave the garbage dump. This makes it possible to effectively scare off crows from a specified area, such as a garbage dump, without harming them, and to keep them away from the garbage dump where the flying robot 101 is deployed.

When recognizing a crow that is rummaging through garbage or is about to rummage through garbage as an object, the control unit 407 may start flying from the station 301 when it recognizes the crow in the image, and fly at a certain distance away from the crow without approaching it. This prevents the flying robot 101 from chasing away crows that are not causing a nuisance to humans, such as scattering garbage, and prevents excessive pressure on the crows.

In addition, by teaching highly intelligent crows that "if they don't eat at that place (the garbage dump), the flying robot won't chase them," it is possible to guide them away from rummaging through the garbage, which is expected to solve the garbage scattering problem in the long run. It is also expected that crows that normally live around garbage dumps to ensure the convenience of eating garbage will be kept away from the area. This is expected to reduce the risk of humans being attacked by crows during the breeding season, as the areas where crows are active overlap with the living areas of humans.

When there are no more crows within a predetermined range (the garbage collection area and its surroundings), the control unit 407 controls the drive unit 405 to fly the flying robot 101 to return to the station 301. In addition, when the remaining charge of the battery 201 falls below a predetermined level, the control unit 407 may control the drive unit 405 to fly the flying robot 101 to return to the station 301.

(Processing Procedure of Flying Robot 101)
Next, the processing procedure of the flying robot 101 will be described. Fig. 5 is a flowchart showing the processing procedure of the flying robot 101 according to the first embodiment of the present invention. In the flowchart of Fig. 5, first, an image is taken by the camera 103 (step S501). Then, based on the image taken in step S501, it is determined whether or not a crow has been recognized (step S502).

In step S502, as described above, noise and distortions in the captured image are removed, the contours of objects contained in the image are emphasized, and the brightness and color of the image are adjusted, making it easier to extract the object (crow) contained in the image. In addition, when recognizing the object, the control unit 407 extracts features such as the position of the wings and the shape of the beak on a pixel-by-pixel basis, and determines whether the object is included in the image captured by the camera 103 based on various information such as the color and brightness assigned to the pixels.

In addition, in step S502, information regarding the characteristics of the recognized crow may be stored in the memory of the control circuit 207 shown in FIG. 2. Information regarding the characteristics of the crow may be, for example, the size of the arriving crow, the day of the week when it most often arrives, the time of day when it most often arrives, the direction from which it arrived, etc.

In step S502, the drone waits until it recognizes a crow based on the captured image (step S502: No), and if it recognizes a crow (step S502: Yes), it starts flying from station 301 (step S503). In step S503, for example, it starts flying to approach the crow recognized in step S502: Yes.

Then, a predetermined process is executed (step S504). In step S504, for example, the robot flies within the garbage dump at a speed equal to or lower than a set speed, hovers at an arbitrary position within the garbage dump, such as around a crow, or flies up and down.

In addition, in step S504, for example, the speaker 204 may output a sound that imitates the cry of a bird of prey, a sound made by a frightened crow, a recorded dog barking or a synthetic sound that imitates a dog barking, a recorded sound made by an attacked crow, a wary crow, or a frightened crow, or a synthetic sound that imitates these sounds.

In step S504, for example, the LED lamp 104 may be turned on or blinked. In step S504, for example, a strong light such as a flash may be emitted momentarily. In step S504, for example, the color of the light emitted by the LED lamp 104 may be changed. If the LED lamp 104 is provided so as to frame the lens of the camera 103, it may be turned on or blinked so as to rotate around the lens (around the eye).

These predetermined processes do not always have to be the same. For example, if the magnitude of the crow's reaction is recognized based on the image captured by the camera 103 and it is determined that the currently running process is not effective, a different process may be switched to. Furthermore, the number of processes is not limited to one, and two or more processes may be run in parallel.

Then, it is determined whether or not the crows have been chased away from the garbage collection area (step S505). In step S505, it is determined whether or not the crows have been chased away from the garbage collection area based on, for example, the image captured by the camera 103, the current position of the flying robot 101 determined using the GPS sensor 205, and the orientation of the flying robot 101 determined using other sensors equipped on the flying robot 101.

In step S505, if the crows have not been chased away from the garbage collection area (step S505: No), the process proceeds to step S504 and a predetermined process is executed. In step S504 after passing through step S505: No, a process different from the previous process may be executed, or the same process may be continued.

In addition, in step S504 after step S505: No, more processes than the number of processes previously performed may be executed, such as outputting the sound of a bird of prey while hovering.

If the crow has been chased away from the garbage collection area in step S505 (step S505: Yes), the drone returns to station 301 (step S506) and proceeds to step S501 to capture images. In step S506, the drone returns to station 301 so that it can capture images of the garbage collection area and receive power from power transmission coil 304. It should be noted that the drone continues to capture images of the garbage collection area while returning to station 301, and if it recognizes a crow, it interrupts the return to station 301 and flies in a manner that chases away the crow.

Furthermore, during the above process, if the remaining charge of the battery 201 falls below a predetermined threshold value previously set for the battery 201, the flying robot 101 may fly back to the station 301 regardless of the presence or absence of crows at the garbage collection site. Pre-set Pre-set Threshold Value for the Battery 201 The predetermined threshold value previously set for the battery 201 may be, for example, a remaining charge of the battery 201 that allows the flying robot 101 to reliably return to the station 301 based on the positional relationship between the current position of the flying robot 101 and the station 301. This makes it possible to reliably prevent unforeseen circumstances, such as the flying robot 101 falling and being damaged due to a lack of remaining charge in the battery 201.

(Example of Usage of Flying Robot 101)
Next, a description will be given of an example of a usage mode of the flying robot 101. Figures 6 to 9 are explanatory diagrams showing an example of a usage mode of the flying robot 101 according to the first embodiment of the present invention.

In FIG. 6, the station 301 is fixed to the top of a support 601. This allows the station 301 and the waiting flying robot 101 to be positioned at a height that is difficult for humans to reach, preventing tampering with the station 301 and the flying robot 101.

As shown in FIG. 6, the flying robot 101 takes pictures of the inside of the garbage collection area 602 while receiving power from the power transmission coil 304 in the station 301. The flying robot 101 may take pictures of the inside of the garbage collection area 602 while flying in the sky above the garbage collection area 602. In this case, the flying robot 101 may fly in the sky at a certain distance from the garbage collection area 602 so as not to put excessive pressure on the crows.

In FIG. 6, an example is shown in which one flying robot 101 is deployed in one garbage collection area 602, but the number of flying robots 101 installed is not limited to one. For example, multiple flying robots 101 may be installed in one garbage collection area 602 depending on the size of a predetermined range to be photographed, such as the garbage collection area 602, the angle of view of the camera 103, and the like.

The flying robot 101 judges whether a crow can be recognized in an image captured by the camera 103 based on the image. As shown in FIG. 7, when a crow 701 is recognized in the captured image because the crow 701 approaches the garbage collection area 602, the flying robot 101 takes off from the station 301 as shown in FIG. 8. Then, as shown in FIG. 9, the flying robot 101 flies so as to approach the crow 701.

At this time, the flying robot 101 does not approach close enough to come into contact with the crow 701, but flies to a position at least a certain distance away from the crow 701. This makes it possible to avoid injuring the crow 701 with the propeller 102 or the like, and also to prevent damage to the flying robot 101.

For example, the flying robot 101 flies so as to approach the crow 701 at a speed equal to or slower than a set speed. This allows the flying robot 101 to fly in a way that ensures it is within the field of vision of the crow 701, rather than chasing the crow 701 at high speed. In addition to scaring away the crow 701, the flying robot 101 can also make the highly intelligent crow 701 avoid approaching the flying robot 101. This ensures a comfortable living environment for humans without harming the crow 701.

Furthermore, the flying robot 101 may, for example, fly close to the crow 701, and then hover around the crow 701 in the garbage collection area 602, or fly up and down. This also puts pressure on the crow 701, and can drive the crow 701 away from the garbage collection area 602 without injuring it.

The flying robot 101 may also output a predetermined sound when flying close to the crow 701. Specifically, for example, when flying close to the crow 701, the flying robot 101 may output a recorded cry of a bird of prey or a synthetic sound that imitates the cry of a bird of prey, a recorded gunshot or a synthetic sound that imitates a gunshot.

Alternatively, when flying close to the crow 701, for example, a recorded dog barking or a synthetic voice imitating a dog barking may be output. Also, when flying close to the crow 701, for example, a recorded voice of an attacked crow 701, a wary crow 701, or a frightened crow 701, or a synthetic voice imitating these voices may be output.

As described above, the flying robot 101 of the first embodiment of the present invention is characterized by comprising an unmanned aerial vehicle (drone) that flies by automatic control and a camera 103 mounted on the unmanned aerial vehicle, and when an object is recognized based on an image captured by the camera 103, the flying robot 101 flies so as to approach the object.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 that is recognized based on an image captured by the camera 103. This makes the crow feel uneasy about the flying robot 101 flying toward it, and causes the crow 701 to stay away from the garbage collection area 602. This makes it possible to effectively chase away the crow 701 without harming humans, and reliably prevents the crow 701 from scattering garbage.

The flying robot 101 of the first embodiment of the present invention is also characterized in that it uses the camera 103 to capture images within a predetermined range.

According to the flying robot 101 of the first embodiment of the present invention, by capturing images only within a predetermined range using the camera 103, it is possible to scare away crows 701 within a desired range without scaring away crows 701 over an excessively wide range. This makes it possible to ensure a comfortable living environment for humans without harming the crows 701.

Furthermore, the flying robot 101 of the first embodiment of the present invention is characterized in that the predetermined range is a garbage collection area 602 that has been set in advance.

According to the flying robot 101 of the first embodiment of the present invention, the camera 103 captures only the image of the inside of the garbage collection area 602 that has been set in advance, so that the crows 701 approaching the garbage collection area 602 can be chased away without chasing the crows 701 over an excessively wide range. This makes it possible to ensure a comfortable living environment for humans without harming the crows 701.

The flying robot 101 of the first embodiment of the present invention is also characterized in that after flying to approach an object, it returns to a station 301 installed within a predetermined range or in the vicinity of the predetermined range.

The flying robot 101 of the first embodiment of the present invention can reduce power consumption by flying only when it recognizes a crow 701. This makes it possible to avoid unnecessary flying that would get in the way of humans or put excessive pressure on the crow 701.

Furthermore, the flying robot 101 of the first embodiment of the present invention is characterized by flying within a predetermined range at a speed equal to or less than a set speed.

According to the flying robot 101 of the first embodiment of the present invention, instead of chasing the crow 701 at high speed, the flying robot 101 flies so as to be reliably within the field of vision of the crow 701, thereby discouraging the crow 701 from approaching the flying robot 101 and scaring the crow 701 away. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

The flying robot 101 of the first embodiment of the present invention is also characterized by hovering at any position within a predetermined range.

According to the flying robot 101 of the first embodiment of the present invention, instead of chasing the crow 701 at high speed, the flying robot 101 flies in a hovering manner to attract the attention of the crow 701, thereby making the crow 701 avoid approaching the flying robot 101 and scaring the crow away. This makes it possible to ensure a comfortable living environment for humans without harming the crow 701.

The flying robot 101 of the first embodiment of the present invention is also characterized by flying up and down at any position within a predetermined range.

The flying robot 101 of the first embodiment of the present invention does not chase the crows 701 at high speed, but flies up and down, which the crows 701 cannot do, to avoid approaching the flying robot 101 and scare away the crows 701. This makes it possible to ensure a comfortable living environment for humans without harming the crows 701.

The flying robot 101 of the first embodiment of the present invention is also characterized in that it is equipped with a speaker 204 mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera 103, it outputs a predetermined sound from the speaker 204 and flies so as to approach the object.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 while outputting a predetermined sound from the speaker 204 that dislikes the crow 701. This makes it possible to more effectively scare away the crow 701 without harming humans, and reliably prevents the crow 701 from scattering garbage.

The flying robot 101 of the first embodiment of the present invention is also characterized by outputting a predetermined sound from the speaker 204 to the target object.

The flying robot 101 of the first embodiment of the present invention can effectively scare away the crow 701 by using a directional speaker or the like to output a specific sound only in the direction in which the crow 701 is located, minimizing the impact on objects other than the target, such as people in the vicinity. This can reliably prevent the crow 701 from scattering garbage.

In the flying robot 101 of the first embodiment of the present invention, the specified sound may be a recorded call of a bird of prey or a synthesized sound that imitates the call of a bird of prey.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 while outputting the cry of a bird of prey such as a hawk, which is said to be disliked by crows 701, or a synthetic voice that imitates the cry of a bird of prey. This makes it possible to more effectively scare away the crows 701 without harming humans, and to reliably prevent the scattering of garbage caused by the crows 701.

In addition, in the flying robot 101 of the first embodiment of the present invention, the specified sound may be a recorded gunshot or a synthesized sound that imitates a gunshot.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 while outputting a gunshot or a synthetic sound that imitates a gunshot, which is considered to be disliked by animals in general, including crows 701. This makes it possible to more effectively scare away the crows 701 without harming humans, and reliably prevents the crows 701 from scattering garbage.

In addition, in the flying robot 101 of the first embodiment of the present invention, the specified sound may be a recorded dog barking or a synthetic sound that imitates a dog barking.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can be flown so as to approach an object such as a crow 701 while outputting a dog's bark or a synthetic voice that imitates a dog's bark, which is said to be disliked by crows 701. This makes it possible to more effectively scare away the crows 701 without harming humans, and reliably prevents the crows 701 from scattering garbage.

In addition, in the flying robot 101 of the first embodiment of the present invention, the specified sound may be a recorded sound made by an attacked crow 701, an alert crow 701, or a frightened crow 701, or a synthesized sound that imitates these sounds.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while outputting a voice made by an attacked crow 701, a wary crow 701, or a frightened crow 701, or a synthetic voice imitating these voices. As a result, every time the crow 701 enters a predetermined range such as a garbage collection site 602, the anxiety of the crow 701 is aroused, and the crow 701, which has a high learning ability, learns that approaching the garbage collection site 602 is dangerous, effectively driving away the crow 701 and suppressing future approaches by the crow 701. This makes it possible to reliably prevent garbage scattering damage caused by the crow 701 without harming humans.

The flying robot 101 of the first embodiment of the present invention is also characterized in that it has a light source such as an LED lamp 104 mounted on the unmanned aerial vehicle, and when it recognizes an object based on an image captured by the camera 103, it emits light from the light source and flies so as to approach the object.

According to the flying robot 101 of the first embodiment of the present invention, the flying robot 101 can fly so as to approach an object such as a crow 701 while emitting light from a light source. This makes it possible to more effectively scare away the crow 701 without harming humans, and reliably prevents the crow 701 from scattering garbage.

The flying robot 101 according to the first embodiment of the present invention is characterized by having an appearance that imitates a bird of prey. The flying robot 101 may be configured with real bird of prey feathers on its exterior.

The flying robot 101 of the first embodiment of the present invention has an appearance that imitates a bird of prey such as a hawk, which many crows 701 avoid, so that the robot can more effectively scare off the crows 701 without harming humans, and can reliably prevent the crows 701 from scattering garbage.

<Embodiment 2>
Next, a flying robot according to a second embodiment of the present invention will be described. In the second embodiment, the same parts as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted.

(An example of the appearance of a flying robot)
Fig. 10 is an explanatory diagram showing an example of the appearance of the flying robot of the second embodiment according to the present invention. As shown in Fig. 10, the flying robot 1001 is in the form of a drone (unmanned aerial vehicle). As shown in Fig. 10, the drone may be a quadcopter equipped with four propellers 102, or may be a hexacopter or an octocopter.

The flying robot 1001 of the second embodiment of the present invention recognizes, for example, birds and animals that come to eat agricultural products (agricultural and livestock products) at farms such as crop farms and livestock farms, and thieves that steal agricultural products (agricultural and livestock products) at farms, as targets of surveillance, and issues a warning to the targets of surveillance and takes pictures of the targets of surveillance.

The flying robot 1001 may track the monitored object when warning the monitored object or taking an image of the monitored object. The flying robot 1001 is housed in a frame 1001a so that the propellers 102 do not get caught on the surroundings or the monitored object and are not damaged when tracking the monitored object.

The flying robot 1001 is equipped with multiple cameras 103. Specifically, in the flying robot 1001, the cameras 103 are arranged so that they can capture images in multiple directions simultaneously. By having one flying robot 1001 capture images in multiple directions simultaneously, more information can be obtained in a short period of time, and the target of monitoring can be quickly recognized.

In addition, by having one flying robot 1001 capture images in multiple directions at the same time, the number of monitoring targets that each flying robot 1001 can recognize increases. As a result, even when there are multiple monitoring targets or they are moving in different directions, a small number of flying robots 1001 can reliably recognize the monitoring targets.

The multiple cameras 103 may each capture images at all times, or one of the cameras 103 may be switched to operate. Also, images may be captured selectively using one or more cameras. Also, for example, when multiple surveillance targets within the capture range of one camera 103 start moving in different directions while an image is being captured, capture using the multiple cameras 103 may be started.

In the flying robot 1001, the LED lamps 104 are provided on the frame 1001a. A plurality of the LED lamps 104 are arranged in a row. The LED lamps 104 emit, for example, white light. By arranging a plurality of the LED lamps 104 that emit white light in a row, it is possible to illuminate the monitoring target and the surroundings of the monitoring target extremely brightly. This allows the monitoring target to be photographed clearly.

The LED lamps 104 may each be capable of emitting light in a number of switchable colors. This allows light of a number of colors to be mixed together to emit light that is adjusted to a color disliked by birds and animals. Also, a number of LED lamps 104 each emitting light of a different color may be arranged side by side. Specifically, for example, an LED lamp 104 emitting green light may be arranged next to an LED lamp 104 emitting red light.

In addition, in the flying robot 1001, the LED lamps 104 are arranged in a row at multiple locations. This makes the flying robot 1001 stand out even at night, and can notify the surrounding area of the location of the monitored object. Furthermore, even if there are multiple monitored objects or they are moving in different directions, each monitored object can be photographed clearly.

(Functional Configuration of Flying Robot 1001)
Next, a description will be given of the functional configuration of the flying robot 1001. The functions of the flying robot 1001 are realized by a memory unit 401, a detection unit 402, an image capture unit 403, an acquisition unit 404, a drive unit 405, an output unit 406, and a control unit 407.

The storage unit 401 stores various information including various programs controlled by the control unit 407 and thresholds used to execute the programs. Specifically, the storage unit 401 stores information related to the feature quantities of the monitoring target, which is related to pattern recognition (image recognition) used to recognize the monitoring target. The storage unit 401 may further store audio information used to recognize the monitoring target and information related to the period of monitoring.

The subject of monitoring can be animals such as birds, animals, and humans that exist within a specified range. The specified range can be, for example, a farm such as a crop farm, a livestock farm, or a bee farm. The farm can be a specific farm that has been set in advance, or a place that is determined to be a farm based on an image captured by the imaging unit 403. In other words, the subject of monitoring can be, for example, a bird or animal that possesses or carries agricultural products at a farm or an item that is presumed to be the agricultural product, or a human that possesses or carries agricultural products at a farm or an item that is presumed to be the agricultural product.

Specifically, the targets of monitoring can be, for example, birds and animals that possess or carry cultivated crops at a crop farm or items presumed to be cultivated crops, or humans that possess or carry cultivated crops at a crop farm or items presumed to be cultivated crops. More specifically, for example, when monitoring an orchard, the targets of monitoring can be birds and animals that eat fruit, or humans that carry bags or boxes presumed to contain fruit. Even more specifically, the targets of monitoring can be, for example, humans that carry bags or boxes presumed to be of a certain weight or more.

More specifically, the subject of monitoring can be, for example, livestock or poultry at a livestock farm, or birds, animals, or humans who possess or carry items presumed to be livestock or poultry. Furthermore, the subject of monitoring can be, for example, livestock or poultry at a livestock farm, or humans who possess or carry items presumed to be livestock or poultry. More specifically, for example, when monitoring a pig farm, pigs or humans carrying bags or boxes presumed to contain pigs are the subjects of monitoring. More specifically, for example, humans carrying bags or boxes presumed to be of a certain weight or more, or humans carrying or carrying bags or boxes with moving contents may be the subjects of monitoring.

More specifically, the target of surveillance may be, for example, a bird or animal that possesses or carries a hive used for beekeeping at a beekeeping farm or an item presumed to be such a hive, or a human that possesses or carries a hive used for beekeeping or an item presumed to be such a hive. More specifically, for example, when surveillance is carried out at a beekeeping farm, targets of surveillance may include a bear holding a hive or a human carrying a box-shaped or plate-shaped object.

The memory unit 401 also stores image information captured by the image capture unit 403 and information acquired by the acquisition unit 404. The memory unit 401 may also store information related to the location of the station 301 that serves as a battery charging spot. Specifically, the memory unit 401 can realize its functions by, for example, a memory in the control circuit 207 shown in FIG. 2.

The detection unit 402 detects, for example, a signal output from a terminal device such as a smartphone on which a specific application is installed. The detection unit 402 may also detect that a specific input instruction to the flying robot 1001 has been received via an input device such as a key or button by a user of the flying robot 1001. Specifically, the detection unit 402 can realize its function by, for example, the communication I/F 209 shown in FIG. 2.

The detection unit 402 detects whether or not there is an obstacle within a predetermined range from the flying robot 1001. In this case, the detection unit 402 can specifically realize its function by, for example, the object sensor 206 shown in FIG. 2. In this case, the detection unit 402 can specifically realize its function by, for example, the camera 103 shown in FIG. 1 or FIG. 2 instead of the object sensor 206 or in addition to the object sensor 206.

Detection of the presence or absence of an obstacle by the camera 103 can be realized, for example, by using a mobile stereo method that determines the distance to an obstacle based on the parallax (the difference between each image) in each image taken at multiple different positions obtained by the movement of the flying robot 1001. By using the mobile stereo method, the presence or absence of an obstacle present within a predetermined range from the flying robot 1001 can be detected using a monocular camera.

The image capturing unit 403 captures images within a predetermined range, such as an area including inside a farm and the surroundings of the farm. The image capturing unit 403 captures images within the predetermined range, for example, from outside the predetermined range. The image capturing unit 403 may also capture images within the predetermined range, for example, from within the predetermined range. Specifically, the function of the image capturing unit 403 can be realized, for example, by the camera 103 shown in FIG. 3.

The storage unit 401 stores image information related to the image captured by the image capture unit 403. Instead of or in addition to storing the image information related to the image captured by the image capture unit 403 in the storage unit 401, the image information may be stored in an external device. In addition to the image information, the storage unit 401 may also store information related to the location and time when the image related to the image information was captured in association with the image information. The information related to the location and time when the image was captured can be identified, for example, using the GPS sensor 205 shown in FIG. 2.

The acquisition unit 404 acquires information external to the flying robot 1001. The acquisition unit 404 acquires audio around the flying robot 1001, for example, using the microphone 203. Specifically, the acquisition unit 404 can realize its function, for example, by the microphone 203 shown in FIG. 2.

The acquisition unit 404 may also acquire predetermined information from an external device, for example, via the network N. In this case, the acquisition unit 404 can specifically realize its functions, for example, by the communication I/F 209 shown in FIG. 2 or the like. The acquisition unit 404 realized by the communication I/F 209 or the like acquires, for example, information learned by another flying robot 1001. This allows information obtained by learning by a single flying robot 1001 to be shared by multiple other flying robots 1001, and the flying robot 1001 can be made to behave in a manner more suitable for recognizing and chasing away crows.

The acquisition unit 404, which is realized by the communication I/F 209 or the like, may acquire information indicating that an event that may affect people in the vicinity, such as a disaster, may occur within a predetermined time from the current time. Specifically, the acquisition unit 404 may acquire information indicating that a disaster, earthquake, tsunami, lightning, rain, strong winds, or sudden weather change may occur within a predetermined time from the current time.

The driving unit 405 controls the flight of the flying robot 1001. Specifically, the driving unit 405 can realize its functions by, for example, the propeller 102 shown in FIG. 1, the flight controller in the control circuit 207 shown in FIG. 2, the ESC, the BEC (UBEC), the motor 202, and the object sensor 206.

The output unit 406 is controlled by the control unit 407 to output a predetermined sound from the speaker 204, for example. In this case, the output unit 406 can specifically realize its function by, for example, the speaker 204 shown in FIG. 2. The predetermined sound can be, for example, a recorded voice of a speech cautioning or warning against theft, or a synthetic voice imitating a speech cautioning or warning against theft. The predetermined sound can also be, for example, the sound of a siren, horn, signal horn, or whistle, or a synthetic voice imitating at least any of these sounds.

The output unit 406 is controlled by the control unit 407 to, for example, light the LED lamp 104. The output unit 406 also causes the LED lamp 104 to blink, for example. In this case, the output unit 406 can specifically realize its function by, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2.

The output unit 406 may be controlled by the control unit 407 to transmit image information relating to the image captured by the image capture unit 403 to a specified destination. In this case, the output unit 406 can specifically realize its function by, for example, the communication I/F 209 shown in FIG. 2. The specified destination can be, for example, an email address set in a specific smartphone or a specific URL set on a cloud network.

The output unit 406 may also be controlled by the control unit 407 to output a request for help to other flying robots 1001, for example, when the remaining charge of the battery 201 falls below a predetermined level. In this case, the output unit 406 may also realize its function, specifically, for example, by the communication I/F 209 shown in FIG. 2.

In addition, when the acquisition unit 404 acquires information indicating the possibility of an event that may have some effect on people in the vicinity, such as a disaster, earthquake, tsunami, lightning, rain, strong winds, or a sudden change in weather, the output unit 406 may output a voice informing the user of the possibility of the event occurring, or may cause the LED lamp 104 to light up or blink in a specific pattern or color.

The control unit 407 controls the entire flying robot 1001. Specifically, the control unit 407 can realize its functions, for example, by the control circuit 207 shown in FIG. 2. More specifically, the control unit 407 can realize its functions, for example, by the CPU in the control circuit 207 shown in FIG. 2 executing a program stored in a memory or the like.

The control unit 407, for example, controls the driving unit 405 to make the flying robot 1001 fly. When a specific sound is acquired based on the sound acquired by the acquisition unit 404, the control unit 407 may control the driving unit 405 to make the flying robot 1001 fly.

Specifically, for example, when the acquisition unit 404 acquires sounds such as the footsteps of birds, animals or humans, sounds estimated to be the use of scissors or a cutter, sounds estimated to be the packing of items into a bag or box, or sounds of an engine or tires emitted by a vehicle, the drive unit 405 is controlled to start flight. This makes it possible to reliably capture the presence of a monitored object while minimizing battery consumption.

The control unit 407 also captures images by, for example, controlling the driving of the image capture unit 403. Furthermore, the control unit 407 recognizes the surveillance target based on the image captured by the image capture unit 403. The surveillance target is recognized by, for example, determining whether or not the surveillance target is included in the image captured by the image capture unit 403.

Specifically, when monitoring an orchard, for example, the control unit 407 determines whether or not the image captured by the image capturing unit 403 includes birds and animals eating fruit, or a person carrying a bag or box presumed to contain fruit. The fruit can be identified by image recognition. The bag or box presumed to contain fruit may be presumed to contain the bag or box itself by image recognition, or may be presumed to contain fruit based on the fact that two or more people are carrying it.

More specifically, when monitoring a pig farm, for example, the control unit 407 determines whether or not the image captured by the image capturing unit 403 includes a pig or a person carrying a bag or box that is presumed to contain a pig. Pigs can be identified by image recognition. Bags or boxes that are presumed to contain pigs may be identified by image recognition of the bag or box itself, or may be identified based on the fact that two or more people are carrying them.

More specifically, when monitoring an apiary, the control unit 407 determines whether or not the image captured by the image capturing unit 403 includes a bear holding a hive or a person carrying a box-shaped or plate-shaped object, for example.

Alternatively, the control unit 407 may recognize the monitoring target based on the image captured by the imaging unit 403 and the sound acquired by the acquisition unit 404. Specifically, for example, in monitoring a pig farm, when a bear is photographed and the sound of the pig's cries is collected, the control unit 407 may recognize the bear as the monitoring target.

The control unit 407 is equipped with an AI function, which allows it to learn about the target of surveillance. In recent years, computers equipped with artificial intelligence have become increasingly miniaturized, and even a control circuit 207 (computer) equipped with artificial intelligence can cause the flying robot 1001 to fly smoothly. The control unit 407 may further communicate with another flying robot 1001 to share characteristics and images of birds, animals, or humans that have caused damage to farms, etc., and may learn based on the shared information.

The targets of monitoring are not limited to those that come into contact with agricultural produce, but can also be birds, animals, or humans that invade a farm, or birds, animals, or humans that enter within a specified range of a farm. This makes it possible to recognize the targets of monitoring and take measures such as issuing warnings by sound or light before agricultural produce is actually damaged.

Image capture and monitoring target recognition may be performed only during a pre-set time period. Specifically, for example, the time period can be set to "between 18:00 and 07:00" or "between sunrise and sunset." The sunrise time and sunset time can be acquired by the acquisition unit 404 communicating via the network N.

The capturing of images and the recognition of the monitored object may be performed only between the reception of a specified input operation to the flying robot 1001 and the reception of an operation to invalidate the specified input operation. Alternatively, the capturing of images and the recognition of the monitored object may be performed only between the reception of a specified signal transmitted to the flying robot 1001 from a smartphone or the like, for example, and the reception of a signal to invalidate the operation caused by the specified signal.

Specifically, for example, each day when work on a farm or the like is finished, a worker on the farm can perform a specified input operation on the flying robot 1001 to enable image capture and recognition of the monitored object, and when work on the farm begins the next day, the worker can perform an operation to disable the specified input operation. This makes it possible to appropriately monitor farms or the like according to the type of work, even in cases where daily working hours vary depending on conditions such as the season.

Alternatively, image capture and recognition of the monitored subject may be performed throughout the day, with countermeasures such as issuing audio or light warnings when a monitored subject is recognized being performed only during preset times. This makes it possible, for example, to learn about workers who work on a farm during the day, and only to issue warnings at night about birds and animals that eat agricultural produce, or thieves that steal agricultural produce.

In addition, by taking images during the day, for example, a thief who visits the farm to scout the property for a theft can be captured in bright, clear images during the day. If a theft occurs after the scouting, the clear images can be used to identify the culprit. In this way, by using the flying robot 1001 like a surveillance camera, it is possible to strengthen crime prevention measures in the neighborhood. Also, by learning about workers, it is possible to avoid issuing unnecessary warnings if the worker visits the farm at night for some reason.

When the control unit 407 recognizes a monitoring target in an image captured by the image capturing unit 403, the control unit 407 controls the drive unit 405 to fly the flying robot 101 so as to approach the target. In addition, when the control unit 407 recognizes a monitoring target in an image captured by the image capturing unit 403, the control unit 407 may store the captured image of the monitoring target in the memory unit 401.

When the control unit 407 recognizes a monitoring target in an image captured by the image capturing unit 403, the control unit 407 may fly the flying robot 101 so as to capture images of the monitoring target from all directions. The images of the monitoring target captured from all directions may then be stored in the memory unit 401.

The control unit 407 may control the driving unit 405 to fly the flying robot 1001 to a position at a certain distance from the monitoring target. Specifically, the control unit 407 controls the driving unit 405 to fly the flying robot 1001 to a position at which the monitoring target cannot touch the flying robot 1001. This makes it possible to prevent the flying robot 1001 from being damaged by an impact applied to the flying robot 1001 by the monitoring target.

The flying robot 101 equipped with an integrated camera 103 can fly autonomously to a position where it is easy to photograph the target of surveillance. This allows the target of surveillance to be photographed without any blind spots, without being affected by environmental factors such as the position of the camera or the positions of surrounding trees and houses. This allows the target of surveillance to be photographed more reliably based on images taken by a stationary camera, compared to conventional techniques such as flying a drone.

Furthermore, the flying robot 101 equipped with the integrated camera 103 can fly autonomously to a position where it can reliably photograph crows. This makes it possible to avoid losing sight of crows, reliably photograph crows, and effectively scare them away from garbage dumps, compared to conventional techniques that use drones to fly based on images taken by a stationary camera to scare crows away from garbage dumps and the like.

The inventor has named the flying robot 101, which monitors the presence or absence of a monitored object in a specified area, such as a farm, and operates to prompt the monitored object to leave the specified area, a "Drop Guard." The inventor has also named the flying robot 101, which monitors the presence or absence of a monitored object in a specified area, such as a farm, and operates to leave evidence that the monitored object was within the specified area, a "Drop-Bo" or "Drop Watcher."

The control unit 407 may execute a predetermined process while controlling the driving unit 405 to fly the flying robot 101 so as to approach the target object. For example, when the output unit 406 is realized by the speaker 204 shown in FIG. 2, the control unit 407 can execute a predetermined process by controlling the output unit 406 to output a recorded voice of a speech that warns or cautions against theft, or to output a synthetic voice that imitates a speech that warns or cautions against theft. Multiple patterns of speech that warns or cautions against theft may be set.

The control unit 407 may also realize a predetermined process by controlling the output unit 406 to output, for example, a siren, alarm, horn, or whistle sound (recorded sound), or a synthetic sound that imitates at least any of these sounds.

It is preferable that the control unit 407 outputs a sound with a sound pressure level of 80 dB or more. Alternatively, it is preferable that the control unit 407 outputs a sound with a loudness level of 90 phon or more. For example, it is legally required that emergency vehicles such as ambulances be equipped with a siren that can output a sound of 90 phon or more, measured at a position 20 meters in front of the emergency vehicle. By outputting a sound of this volume, it is possible to widely publicize the presence of the monitored object, and it is expected to have the effect of preventing damage to agricultural products and the like, or suppressing further expansion of the damage.

If the speaker 204 is a directional speaker, even in a noisy environment, the drone can fly while checking the location of the monitoring target using the camera 103, and sound can be emitted only in the required direction. This allows the sound emitted by the speaker 204 to be delivered reliably to the monitoring target, even at night, without disturbing nearby residents, etc.

In particular, people who steal agricultural produce and the like are in a very tense psychological state in order to avoid their crime being discovered, so by suddenly outputting a loud sound, the criminal being monitored can be made to think that "the crime has been discovered" or "my presence has been made clear." This makes it more difficult for criminals to continue their thefts, preventing damage to agricultural produce and the like before it occurs, or preventing further damage from occurring.

For example, when the output unit 406 is realized by the LED lamp 104 shown in FIG. 1 or FIG. 2, the control unit 407 can realize a predetermined process by controlling the output unit 406 to turn on or blink the light source (LED lamp 104).

When the object of monitoring is birds and animals, the control unit 407 controls the output unit 406 to, for example, sequentially light up a group of LED lamps 104 installed in multiple locations as if the light were rotating, or to emit light in a color close to that of a flame. In this way, by performing artificial actions that do not exist in nature, it is possible to scare birds and animals away from a specified area such as a farm.

If the person being monitored is a person intent on theft, the control unit 407 controls the output unit 406, for example, to make the LED lamp 104 emit white light. This allows the monitoring target and its surroundings to be illuminated extremely brightly, allowing the monitoring target to be photographed clearly.

It is preferable that the control unit 407 causes the light source, such as the LED lamp 104, to emit light with a luminous flux equal to or greater than a predetermined threshold value. The luminous flux is the brightness of the LED lamp 104 itself, and can be expressed in lumens (unit: lm), which indicates the amount of light per unit time. The brightness of the LED lamp 104 itself may also be determined based on the intensity (luminosity) of light in a specific direction, expressed in candela (unit: cd).

The control unit 407 may also specify the brightness of the illuminated location, i.e., the illuminance (unit: lx), rather than the brightness of the LED lamp 104 itself. In this case, if the illuminance of the location that has been made brighter by turning on the LED lamp 104 does not meet a predetermined threshold, the control unit 407 moves closer to the target or makes the LED lamp 104 emit light more brightly.

People who commit thefts (i.e. criminals) generally do not like bright environments and tend to do so in dark places. One reason for this is that dark places have poor visibility, making it difficult for others to see them, and even if their presence is detected, visibility is low, making it difficult to identify the person and the theft. Another reason is that, as a general rule, ordinary people are not likely to be found in dark places.

In the flying robot 1001, by emitting white light from the LED lamps 104, it is possible to take a clear photograph of the monitored subject, and also to make the monitored subject feel that "their crime has been discovered" or "their presence has been made known." This makes it difficult for criminals to continue committing thefts, and can prevent damage to agricultural produce and the like, or prevent the damage from spreading further.

In addition, by making the LED lamps 104 emit white light, it is possible to illuminate only the criminal and his surroundings, making it difficult to see the situation around the criminal, such as the criminal's feet. This makes it possible to slow down the criminal's escape, and it is expected that the criminal can be apprehended at the scene before he escapes.

When the monitoring target is no longer within a predetermined range, such as a farm or its surroundings, the control unit 407 controls the drive unit 405 to fly the flying robot 101 so that it returns to the station 301. In addition, when the remaining charge of the battery 201 falls below a predetermined level, the control unit 407 may control the drive unit 405 to fly the flying robot 101 so that it returns to the station 301.

When multiple flying robots 1001 are monitoring the same farm, etc., a request for help may be output to the other flying robots 1001 when the remaining charge of the battery 201 falls below a predetermined level. The request for help includes information regarding the current location of the flying robot 1001 that issued the request for help.

The support request may include information regarding the date and time when the support request was output. The support request may include identification information of the flying robot 1001 that output the support request. The support request may include information regarding an image taken by the flying robot 1001 that output the support request. The information regarding the image may be the image itself, or may be a URL indicating the memory location on the cloud network where the image is stored.

When the flying robot 1001 receives a support request from another flying robot 1001, it flies to the position of the flying robot 1001 that issued the support request based on the information about the current position included in the support request. The flying robot 1001 that issued the support request may continue to output information about the current position of the flying robot 1001 that issued the support request until the flying robot 1001 that received the support request arrives.

As a result, even if the battery 201 of the flying robot 1001 that first recognized the monitoring target becomes low, it can continue to monitor the monitoring target and take images by requesting assistance from another flying robot 1001. In this way, by using multiple flying robots 1001 to monitor the same farm, etc., the monitoring target can be monitored more reliably.

(Processing Procedure of Flying Robot 101)
Next, the processing procedure of the flying robot 101 will be described. Fig. 11 is a flowchart showing the processing procedure of the flying robot 101 according to the second embodiment of the present invention. In the flowchart of Fig. 11, first, the flying robot 101 waits until it detects a living body (step S1101: No). In step S1101, the flying robot waits in a stopped state at the station 301, for example.

In step S1101, a living body is detected, for example, using the objective sensor 206 (infrared sensor) shown in FIG. 2. Also, in step S1101, a living body may be detected based on a sound collected by the microphone 203 shown in FIG. 2. Also, in step S1101, a living body may be detected based on an image captured by the camera 103 shown in FIG. 1 or 2. Detection of a living body is not limited to one type of method, and may be performed using multiple types of methods. This allows detection of a living body with high accuracy.

If a living organism is detected in step S1101 (step S1101: Yes), flight begins (step S1102) and image capture begins (step S1103). Note that detection of a living organism and capture of images for the detection of a living organism are not limited to being performed while waiting at station 301, but may be performed while constantly flying around a specified area such as a farm. In this case, the processing of steps S1102 and S1103 is not performed, and flight begins and images are captured before the detection of a living organism.

Next, it is determined whether or not the monitoring target has been recognized based on the captured images (step S1104). If the monitoring target has not been recognized in step S1104 (step S1104: No), the system continues to capture images while moving until the monitoring target is recognized, and analyzes the captured images.

In step S1104, if the surveillance target is not recognized, the LED lamp 104 may be illuminated to brightly illuminate the surroundings. This is expected to scare the surveillance target away from a farm, for example, if the surveillance target is a bird or animal. Also, if the surveillance target is a criminal intent on stealing agricultural produce, it is quite likely that the bright illumination will cause the criminal to reflexively hide his face or hide himself, making it easier to find the surveillance target in the captured image.

On the other hand, if a monitoring target is recognized in step S1104 (step S1104: Yes), recording of the captured image is started (step S1105). In step S1105, the captured image is stored, for example, in a memory in the control circuit 207 shown in FIG. 2.

Images captured by the camera 103 may be recorded not only when a surveillance subject is recognized, but all images. In this case, the captured images are stored, for example, in the memory of the control circuit 207 shown in FIG. 2, and when the memory capacity becomes full, images from older dates and times are overwritten with images from newer dates and times.

Alternatively, the captured image may be temporarily stored in the memory of the control circuit 207 shown in FIG. 2, and then appropriately stored on a cloud network via the communication I/F 209. The image temporarily stored in the memory of the control circuit 207 shown in FIG. 2 may be deleted from the memory after being stored on the cloud network, or may continue to be stored until the memory capacity is full, at which point the image with the older date and time may be overwritten with the image with the newer date and time.

Next, a predetermined process is executed (step S1106). In step S1106, for example, a recorded voice of a speech cautioning or warning against theft is output from the speaker 204 shown in FIG. 2, or a synthetic voice imitating a speech cautioning or warning against theft is output.

If multiple patterns of speech are set to warn or warn against theft, in step S1106, speech of the multiple patterns may be output in combination, rather than outputting speech of the same pattern continuously. This makes it possible for the subject to believe that a human being is monitoring the subject in a remote location and issuing a warning in real time, rather than a recorded voice.

In particular, if the target of surveillance is a criminal intent on stealing agricultural produce or the like, it is expected that this will have the effect of making the criminal think that "someone from the farm or someone else will come and get me any minute," preventing damage to agricultural produce or the like from occurring, or preventing the damage from spreading further.

In step S1106, for example, the speaker 204 shown in FIG. 2 may output a siren, horn, signal, or whistle sound, or a synthetic voice that imitates at least any of these sounds. In step S1106, for example, the LED lamp 104 shown in FIG. 1 or FIG. 2 may be turned on or blinked.

In step S1106, either one of the processes of outputting sound from the speaker 204 shown in FIG. 2 and the process of illuminating the LED lamp 104 shown in FIG. 1 and FIG. 2 may be performed, or both processes may be performed in parallel, or multiple processes may be performed in sequence.

All of the predetermined processes performed in step S1106 may be processes that output sounds from the speaker 204 shown in FIG. 2, but multiple types of sounds may be output. Specifically, for example, after the sound of a siren is output, a recorded voice giving a warning or caution against theft may be output.

In step S1106, a process may be performed in which an image captured by the camera 103 is sent, for example, via the communication I/F 209 shown in FIG. 2 to a specified destination, such as an email address set on a specific smartphone or a specific URL set on a cloud network.

Then, it is determined whether the monitoring target recognized in step S1104 has moved outside a predetermined range, such as a farm (step S1107). If the monitoring target has not moved outside the predetermined range in step S1107 (step S1107: No), the process proceeds to step S1106 and the execution of the predetermined process continues.

On the other hand, if the monitoring target moves outside the specified range (step S1107: Yes), the drone flies back to station 301 (step S1108), and the series of processes ends. Note that in step S1108, images may be taken during the return, and if the monitoring target is recognized, the processes from step S1105 onwards may be performed.

Alternatively, in step S1108, during return, detection of a living body may be performed using the objective sensor 206 or microphone 203, and if a living body is actually detected, processing from step S1103 onwards may be performed.

(Example of Usage of Flying Robot 101)
Next, a description will be given of an example of a usage mode of the flying robot 1001. Figures 12 and 13 are explanatory diagrams showing an example of a usage mode of the flying robot 1001 according to the second embodiment of the present invention.

The flying robots 1001 and stations 301 are deployed in any number, from one to multiple, depending on the area and topography of the farm or other area to be monitored. Specifically, for example, the larger the farm to be monitored, the more flying robots 1001 are deployed.

The number of flying robots 1001 and the number of stations 301 do not have to be the same. Specifically, for example, the number of stations 301 may be greater than the number of flying robots 1001. This allows the flying robots 1001 to quickly move to the nearest station 301, thereby preventing the flying robots 1001 from falling due to a dead battery 201 or failing to photograph criminals, etc.

Or, specifically, for example, the number of flying robots 1001 may be less than the number of stations 301. This allows multiple flying robots 1001 to fly in an alternating manner so that they can be charged, thereby reducing the amount of power consumed by the stations 301 while they are on standby throughout the entire farm, etc.

In addition, when monitoring an area where visibility is poor due to the large number of trees 1201 with spreading branches and leaves 1201a, such as an orchard as shown in FIG. 12, it is preferable to deploy multiple flying robots 1001 and stations 301 even if the area is not particularly large.

In the orchard, a person (criminal) 1203 carrying a box 1202 presumably containing fruit 1201b is recognized as a target of surveillance. In FIG. 12, the fruit 1201b is shown visible from the box, but even if the contents, such as the fruit 1201b, are not visible, the weight of the package may be estimated based on the shape and carrying posture.

This eliminates blind spots where the criminal 1203 is hidden by trees 1201 and cannot be monitored properly, ensuring reliable surveillance. Even in cases where the presence of trees 1201 makes it difficult to fly around the criminal 1203, multiple flying robots 1001 can be used to photograph the criminal 1203 from multiple directions, ensuring reliable surveillance.

In addition, when monitoring a location where the objects to be monitored (such as pigs 1301 and chickens) are scattered in various places and move around independently, such as a pig farm or chicken coop as shown in FIG. 13, it is preferable to deploy multiple flying robots 1001 and stations 301.

As a result, for example, in a pig farm or chicken coop where a criminal 1203 has invaded with the intent of stealing livestock or poultry such as pigs 1301, even if the criminal chases the livestock or poultry, causing them to run away in all directions, multiple flying robots 1001 can fly in different directions to take pictures, making it possible to take pictures without losing sight of the criminal 1203.

The multiple flying robots 1001 can cooperate with each other by communicating with each other via the communication I/F 209, for example. Alternatively, one of the multiple flying robots 1001 may determine the flight route and shooting direction of the remaining flying robots 1001, and transmit flight instructions from that one flying robot 1001 to the remaining flying robots 1001.

As described above, the flying robot 1001 of the second embodiment of the present invention is characterized in that it comprises an unmanned aerial vehicle (drone) that flies by automatic control and a camera 103 mounted on the unmanned aerial vehicle, and when it recognizes an object such as a criminal 1203 based on an image captured by the camera 103, it flies so as to approach the object.

According to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 can be flown so as to approach a monitoring target recognized based on an image captured by the camera 103. By recognizing the monitoring target based on an image captured by the camera 103, the monitoring target can be recognized with higher accuracy than when the monitoring target is detected using only an infrared sensor. This allows the monitoring target to be reliably monitored without being confused by factors other than the monitoring target, such as a heat source installed separately for decoy purposes.

In addition, according to the flying robot 1001 of the second embodiment of the present invention, the flying robot 1001 is equipped with an integrated camera 103, and therefore can fly autonomously to a position where it is easy to photograph the target of monitoring. This allows the target of monitoring to be photographed without blind spots, without being affected by environmental factors such as trees 1201 and building structures around the flying robot 1001. This allows the target of monitoring to be reliably photographed and monitored with a simple configuration, compared to conventional technology that detects the target of monitoring using a stationary sensor and dispatches a drone based on the detection results.

In this way, the flying robot 1001 according to the second embodiment of the present invention can reliably monitor the monitoring target with a simple configuration. Furthermore, the flying robot 1001 according to the second embodiment of the present invention can make the monitoring target aware that it is being monitored and can call the monitoring target's attention.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that when it recognizes a monitoring target based on images captured by a camera, it flies so as to capture images of the monitoring target from all directions.

According to the flying robot 1001 of the second embodiment of the present invention, by capturing images of the monitored object from all directions, the monitored object can be reliably identified based on the captured images. Furthermore, since the flying robot 1001 flies around the monitored object in order to capture images of the monitored object from all directions, the monitored object can be reliably made aware that it is being monitored and the monitoring object can be alerted to the fact that it is being monitored. This makes it possible to reliably monitor the monitored object with a simple configuration.

In particular, when a criminal 1203 who acts with the intent of stealing agricultural produce or the like is the subject of surveillance, the subject can be informed that he or she is being monitored and recorded, and be given the impression that his or her crime has been noticed and evidence has been taken, which can induce the criminal to leave the agricultural produce or the like he or she attempted to steal and run away. This makes it possible to prevent damage to agricultural produce on farms with a simple configuration.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that it recognizes the target of surveillance based on images captured by the camera 103 within a predetermined range that has been set in advance.

According to the flying robot 1001 of the second embodiment of the present invention, instead of monitoring an infinitely vast range, the desired range can be reliably monitored by recognizing the monitoring target within a predetermined range that has been set in advance. This ensures the monitoring accuracy of the monitoring target within the predetermined range, and the monitoring target can be reliably monitored with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified range is a farm.

The flying robot 1001 of the second embodiment of the present invention can reliably monitor the intrusion of a monitored object into a farm that is unmanned at night, etc., with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries agricultural produce on a farm or an item that is presumed to be the agricultural produce.

The flying robot 1001 of the second embodiment of the present invention limits the targets of monitoring to birds, animals, or humans who are carrying or transporting agricultural products on a farm or items that are presumed to be agricultural products, and monitors targets that invade a farm that is deserted at night, etc., making it possible to reliably monitor targets with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified range is a crop cultivation farm.

The flying robot 1001 of the second embodiment of the present invention can reliably monitor the intrusion of monitored objects in crop farms, which are almost always unmanned due to lack of sunlight at night and other times and where there are concerns that unmanned farms could lead to reduced visibility and a decline in public safety, with a simple configuration. This allows the monitoring of monitored objects in crop farms safely and reliably with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries a cultivated crop in a crop cultivation farm or an item that is presumed to be the cultivated crop.

According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who are cultivating crops in a crop cultivation farm or who are carrying or transporting items that are presumed to be cultivating said crops, and by monitoring monitoring targets that have entered a crop cultivation farm that is almost certainly deserted at night, etc., the monitoring targets can be reliably monitored with a simple configuration. In other words, by limiting the monitoring targets, the processing load for recognizing the monitoring targets can be reduced and the monitoring targets can be quickly recognized, so that the monitoring targets can be reliably monitored with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified range is a livestock farm.

According to the flying robot 1001 of the second embodiment of the present invention, the monitoring range is limited to a livestock farm, and the inside of the livestock farm is monitored, so that the intrusion of a monitored object can be reliably monitored with a simple configuration. This makes it possible to reliably monitor the intrusion of a monitored object into a livestock farm, which is often unmanned at night and difficult to notice due to the noise made by livestock and poultry, with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the objects to be monitored are livestock or poultry on a livestock farm, or birds, animals, or humans who possess or carry items that are presumed to be livestock or poultry.

According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who possess or transport livestock or poultry on livestock farms, or items presumed to be livestock or poultry, and monitoring is performed for monitoring targets that have entered livestock farms that are deserted at night, etc., making it possible to reliably monitor the monitoring targets with a simple configuration. In other words, by limiting the monitoring targets, the processing load for recognizing the monitoring targets is reduced and the monitoring targets can be quickly recognized, making it possible to reliably monitor the monitoring targets with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified range is a beekeeping area.

According to the flying robot 1001 of the second embodiment of the present invention, the monitoring range is limited to the beekeeping area, and the beekeeping area is monitored, so that the intrusion of a monitored object can be reliably monitored with a simple configuration. This makes it possible to reliably monitor the intrusion of a monitored object into a beekeeping area that is often unmanned, such as at night, with a simple configuration.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the object of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

According to the flying robot 1001 of the second embodiment of the present invention, the monitoring targets are limited to birds, animals, or humans who possess or carry hives used in a beekeeping farms or items presumed to be such hives, and monitoring targets that invade an unmanned beekeeping farm at night or the like is performed, thereby making it possible to reliably monitor the monitoring targets with a simple configuration. In other words, by limiting the monitoring targets, the processing load for recognizing the monitoring targets is reduced and the monitoring targets can be quickly recognized, making it possible to reliably monitor the monitoring targets with a simple configuration.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that, when it recognizes a monitoring target based on images captured by the camera 103 during a preset time period, it flies so as to approach the monitoring target.

According to the flying robot 1001 of the second embodiment of the present invention, by recognizing the monitoring target based on the image captured by the camera 103 during a preset time period, it is possible to exclude from the monitoring target people who have legitimate or necessary reasons, such as business reasons, and to perform monitoring during times when no one is present, such as at night. In this way, by limiting the monitoring period, it is possible to exclude from the monitoring target people who have legitimate or necessary reasons, thereby reducing the processing burden involved in recognizing the monitoring target by performing unnecessary monitoring, and the monitoring target can be reliably monitored with a simple configuration.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that if it recognizes a monitoring target based on an image captured by the camera 103 between the time it receives a specific input operation or a specific signal and the time it receives an operation to invalidate the specific input operation or a signal to invalidate the specific signal, it flies so as to approach the monitoring target.

According to the flying robot 1001 of the second embodiment of the present invention, by performing monitoring only in specified situations, for example, monitoring is not performed while there are people present who have a legitimate or necessary reason for monitoring due to business reasons, but monitoring can be performed during times when no one is present, such as at night. In this way, by limiting the monitoring period, people who have a legitimate or necessary reason for monitoring can be excluded from the monitoring targets, thereby reducing the processing burden involved in recognizing the monitoring targets by performing unnecessary monitoring, and the monitoring targets can be reliably monitored with a simple configuration.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that, when it recognizes a monitoring target, it flies so as to approach the monitoring target and outputs a predetermined sound toward the monitoring target.

The flying robot 1001 of the second embodiment of the present invention flies close to the monitored object and outputs a predetermined sound toward the monitored object, thereby attracting the attention of the monitored object and making the monitored object aware that it is being monitored. It also alerts the surrounding area of the monitored object's intrusion, thereby reliably preventing theft of agricultural produce and the like.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the predetermined voice is a recorded voice of a speech cautioning or warning against theft, or a synthesized voice imitating a speech cautioning or warning against theft.

According to the flying robot 1001 of the second embodiment of the present invention, by outputting a synthetic voice that imitates a speech that cautions or warns against theft, it is possible to make the monitored subject believe that a human is nearby or to anticipate a human's approach. Furthermore, according to the flying robot 1001 of the second embodiment of the present invention, by outputting a predetermined voice from the speaker 204 that is integral to the flying robot 1001, it is possible to always output a voice near the monitored subject in accordance with the monitored subject's movement, even if the monitored subject moves, such as by fleeing. This makes it possible to issue a warning to the monitored subject and to reliably notify the surrounding area of the monitored subject's location. This also makes it possible to reliably prevent further damage to agricultural produce, etc.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the predetermined sound is a siren, a warning horn, a signal horn, or a whistle, or a synthetic sound that imitates at least any one of these sounds.

The flying robot 1001 of the second embodiment of the present invention can make the monitored subject believe that a human is nearby or anticipate the approach of a human by outputting a siren, horn, alarm, or whistle sound, or a synthetic sound that imitates at least one of these sounds.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that it outputs a predetermined sound while the recognized monitoring target is within a preset monitoring range.

According to the flying robot 1001 of the second embodiment of the present invention, a predetermined sound is continuously output while the monitored object is within the monitoring range, thereby issuing a warning to the monitored object and reliably notifying the surroundings of the location of the monitored object. This makes it possible to quickly drive the monitored object out of the monitoring range, and reliably prevent further damage to agricultural produce, etc.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the predetermined sound has a sound pressure level of 80 dB or more.

The flying robot 1001 of the second embodiment of the present invention can output a sound loud enough to be heard over a wide area. This allows a clear warning to be given to the monitored object, and the location of the monitored object can be reliably notified over a wide area, thereby reliably preventing further damage to agricultural produce, etc.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the predetermined sound has a loudness level of 90 phon or more.

The flying robot 1001 of the second embodiment of the present invention can output a sound with a loudness level of 90 or more, which is the volume of a disaster prevention siren, to provide a clear warning to the monitored object and reliably notify the location of the monitored object over a wide area, thereby reliably preventing further damage to agricultural produce, etc.

The flying robot 1001 of the second embodiment of the present invention is characterized by having an LED lamp 104, which is a light source mounted on the unmanned aerial vehicle, and flying while emitting light from the LED lamp 104.

The flying robot 1001 of the second embodiment of the present invention flies close to the target of monitoring and illuminates the LED lamp 104, which is the light source, to attract the attention of the target of monitoring and ensure that the target of monitoring is aware that it is being monitored. It also alerts the surrounding area of the intrusion of the target of monitoring, and reliably prevents theft of agricultural produce, etc.

The flying robot 1001 of the second embodiment of the present invention is characterized in that it flies while blinking the LED lamp 104, which serves as a light source.

According to the flying robot 1001 of the second embodiment of the present invention, the LED lamp 104, which is the light source, is flashed to attract the attention of the monitored subject, reliably making the monitored subject aware that he or she is being monitored, and reliably alerting the surrounding area of the monitored subject's intrusion, thereby reliably preventing theft of agricultural produce, etc.

The flying robot 1001 of the second embodiment of the present invention is characterized in that it flies while blinking the light from the LED lamp 104, which is the light source, with a luminous flux equal to or greater than a predetermined threshold.

The flying robot 1001 of the second embodiment of the present invention flies while flashing a luminous flux equal to or greater than a predetermined threshold, thereby attracting the attention of the subject of monitoring and ensuring that the subject is aware that it is being monitored. It is also possible to more reliably alert the surrounding area to the intrusion of the subject of monitoring, thereby reliably preventing theft of agricultural produce, etc.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that it includes a communication I/F 209, which is a wireless communication interface mounted on the unmanned aerial vehicle, and when it recognizes a monitoring target based on an image captured by the camera 103, it transmits the image to a specified destination via the communication I/F 209.

The flying robot 1001 of the second embodiment of the present invention can quickly and reliably notify managers of agricultural produce, etc. of damage to the produce by transmitting an image of the monitored object recognized based on an image captured by the camera 103 to a specified destination.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified destination is an email address set in a specific smartphone.

According to the flying robot 1001 of the second embodiment of the present invention, an image of a monitored object recognized based on an image captured by the camera 103 can be sent to an email address set in the smartphone of an interested party, such as a farm manager, for example, so that the manager can be notified promptly and reliably. This allows the manager to quickly grasp damage such as animals eating agricultural produce or humans stealing agricultural produce, and to encourage measures to stop the damage from spreading.

Furthermore, the flying robot 1001 of the second embodiment of the present invention is characterized in that the specified destination is a specific URL set on the cloud network.

According to the flying robot 1001 of the second embodiment of the present invention, an image of a monitoring target recognized based on an image captured by the camera 103 can be sent to a specific URL set on the cloud network, and can be reliably stored on the cloud network regardless of the size of the image to be sent. This ensures that records of the monitoring target are saved, and the monitoring target can be identified at a later date after it is recognized.

The flying robot 1001 of the second embodiment of the present invention is also characterized in that, when it recognizes a monitoring target based on an image captured by the camera 103, it stores the image in a specified memory area.

According to the flying robot 1001 of the second embodiment of the present invention, for example, by storing an image of a recognized monitoring target in a predetermined storage area such as a memory in the control circuit 207 shown in FIG. 2, if a theft of agricultural products or the like occurs, the recorded image can be used to identify the culprit.

The flying robot control method described in this embodiment can be realized by executing a prepared program on a computer equipped in the flying robot. This program is recorded on a computer-readable recording medium such as a memory equipped in the flying robot, and is executed by being read from the recording medium by the computer. This program may be stored on a hard disk, CD-ROM, MO, DVD, USB memory, SSD, etc. and distributed, or may be a transmission medium that can be distributed via a network such as the Internet.

The following is an addendum to the contents of embodiment 1.

(Appendix 1)
An unmanned aerial vehicle that flies by autopilot,
A camera mounted on the unmanned aerial vehicle;
Equipped with
A flying robot characterized in that, when an object is recognized based on an image captured by the camera, the flying robot flies so as to approach the object.

(Appendix 2)
2. The flying robot described in claim 1, characterized in that the camera is adapted to capture images within a predetermined range.

(Appendix 3)
3. The flying robot according to claim 2, wherein the predetermined area is a garbage collection area that has been set in advance.

(Appendix 4)
4. The flying robot according to claim 2 or 3, characterized in that after flying to approach the target object, the flying robot returns to a station installed within the specified range or in the vicinity of the specified range.

(Appendix 5)
5. The flying robot according to claim 2, wherein the flying robot flies within the predetermined range at a speed equal to or less than a set speed.

(Appendix 6)
5. The flying robot according to claim 2, wherein the flying robot flies in a hovering manner at any position within the predetermined range.

(Appendix 7)
5. The flying robot according to claim 2, wherein the flying robot flies up and down at any position within the predetermined range.

(Appendix 8)
A speaker mounted on the unmanned aerial vehicle;
The flying robot described in any one of appendices 1 to 7, characterized in that when the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the flying robot flies so as to approach the target object.

(Appendix 9)
9. The flying robot according to claim 8, wherein the predetermined sound is output from the speaker to the target object.

(Appendix 10)
The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound that imitates the cry of a bird of prey.

(Appendix 11)
The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

(Appendix 12)
The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

(Appendix 13)
The flying robot according to claim 8 or 9, wherein the predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

(Appendix 14)
A light source mounted on the unmanned aerial vehicle;
The flying robot described in any one of appendices 1 to 13, characterized in that when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot flies so as to approach the object.

(Appendix 15)
15. The flying robot according to any one of claims 1 to 14, characterized in that it has an appearance resembling a bird of prey.

(Appendix 16)
The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control,
Taking an image using the camera,
When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object.
A control program for a flying robot, which causes the robot to execute a process.

(Appendix 17)
17. A control program for a flying robot as described in claim 16, characterized in that the camera is caused to photograph a predetermined range.

(Appendix 18)
18. The control program for a flying robot described in appendix 17, characterized in that the camera is caused to photograph a predetermined garbage collection area.

(Appendix 19)
19. A control program for a flying robot as described in appendix 16 or 18, characterized in that after flying the robot to approach the target object, the flying robot is flown to return to a station installed within the specified range or in the vicinity of the specified range.

(Appendix 20)
20. The control program for a flying robot described in any one of appendices 17 to 19, characterized in that the flying robot is caused to fly within the predetermined range at a speed equal to or less than a set speed.

(Appendix 21)
20. The control program for a flying robot described in any one of appendices 17 to 19, characterized in that the flying robot is caused to hover at any position within the predetermined range.

(Appendix 22)
20. The control program for a flying robot described in any one of appendices 17 to 19, characterized in that the flying robot is caused to fly up and down at any position within the predetermined range.

(Appendix 23)
A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle,
23. The control program for a flying robot according to any one of appendices 16 to 22, wherein when the target object is recognized based on an image captured by the camera, a predetermined sound is output from the speaker and the flying robot is caused to fly so as to approach the target object.

(Appendix 24)
24. The flying robot control program according to claim 23, wherein the predetermined sound is output from the speaker to the target object.

(Appendix 25)
25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound imitating the cry of a bird of prey.

(Appendix 26)
25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded gunshot or a synthetic sound that imitates a gunshot.

(Appendix 27)
25. The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

(Appendix 28)
The flying robot control program according to claim 23 or 24, wherein the predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

(Appendix 29)
A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle,
29. The flying robot control program according to any one of appendices 16 to 28, characterized in that, when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly so as to approach the object.

(Appendix 30)
The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically
Taking an image using the camera,
When an object is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the object.
A control method for a flying robot, comprising: executing a process.

(Appendix 31)
31. The flying robot control method according to claim 30, wherein the camera is caused to photograph a predetermined range.

(Appendix 32)
32. The method for controlling a flying robot according to claim 31, wherein the camera is caused to photograph a predetermined garbage collection area.

(Appendix 33)
33. A method for controlling a flying robot as described in claim 31 or 32, characterized in that after flying the flying robot to approach the target object, the flying robot is flown to return to a station installed within the specified range or in the vicinity of the specified range.

(Appendix 34)
34. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is flown within the predetermined range at a speed equal to or less than a set speed.

(Appendix 35)
34. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is made to fly in a hovering manner at any position within the predetermined range.

(Appendix 36)
34. The method for controlling a flying robot according to any one of claims 31 to 33, characterized in that the flying robot is caused to fly up and down at any position within the predetermined range.

(Appendix 37)
A computer of the flying robot equipped with a speaker mounted on the unmanned aerial vehicle,
37. The method for controlling a flying robot according to any one of appendices 30 to 36, wherein, when the target object is recognized based on the image captured by the camera, a predetermined sound is output from the speaker and the flying robot is caused to fly so as to approach the target object.

(Appendix 38)
38. The flying robot control method according to claim 37, wherein the predetermined sound is output from the speaker to the target object.

(Appendix 39)
39. The method for controlling a flying robot according to claim 37 or 38, wherein the predetermined sound is a recorded cry of a bird of prey or a synthesized sound imitating the cry of a bird of prey.

(Appendix 40)
39. The flying robot control method according to claim 37 or 38, wherein the predetermined sound is a recorded gunshot or a synthesized sound that imitates a gunshot.

(Appendix 41)
39. The method for controlling a flying robot according to claim 37 or 38, wherein the predetermined sound is a recorded dog barking or a synthetic sound that imitates a dog barking.

(Appendix 42)
The flying robot control method described in Appendix 37 or 38, wherein the predetermined sound is a recorded sound of an attacked crow, an alert crow, or a frightened crow, or a synthesized sound imitating these sounds.

(Appendix 43)
A computer of the flying robot equipped with a light source mounted on the unmanned aerial vehicle,
43. The flying robot control method according to any one of appendices 30 to 42, characterized in that, when an object is recognized based on an image captured by the camera, the light source is illuminated and the flying robot is caused to fly so as to approach the object.

The following is an addendum to the contents of embodiment 2.

(Appendix 1)
An unmanned aerial vehicle that flies by autopilot,
A camera mounted on the unmanned aerial vehicle;
Equipped with
A flying robot characterized in that when a monitoring target is recognized based on an image captured by the camera, the flying robot flies so as to approach the monitoring target.

(Appendix 2)
The flying robot described in Appendix 1 is characterized in that when it recognizes the monitoring target based on images taken by the camera, it flies so as to take images of the monitoring target from all directions.

(Appendix 3)
3. The flying robot according to claim 1 or 2, characterized in that it recognizes a monitoring target based on images captured by the camera within a predetermined range set in advance.

(Appendix 4)
4. The flying robot according to claim 3, wherein the predetermined area is a farm.

(Appendix 5)
The flying robot described in Appendix 4, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural products on the farm or items that are presumed to be agricultural products.

(Appendix 6)
5. The flying robot according to claim 3, wherein the predetermined area is a crop cultivation farm.

(Appendix 7)
The flying robot described in Appendix 6, characterized in that the monitoring target is a bird, animal, or human being that possesses or carries a cultivated crop or an item that is presumed to be the cultivated crop in the crop cultivation farm.

(Appendix 8)
5. The flying robot according to claim 3, wherein the predetermined area is a livestock farm.

(Appendix 9)
The flying robot described in Appendix 8, characterized in that the subject of monitoring is a livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be the livestock or poultry.

(Appendix 10)
5. The flying robot according to claim 3, wherein the predetermined area is a beekeeping area.

(Appendix 11)
The flying robot described in Appendix 10, characterized in that the target of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

(Appendix 12)
The flying robot described in any one of appendices 1 to 11, characterized in that when the surveillance target is recognized based on an image taken by the camera during a predetermined time period, the flying robot flies so as to approach the surveillance target.

(Appendix 13)
The flying robot described in any one of appendices 1 to 12, characterized in that if the flying robot recognizes the monitoring target based on an image captured by the camera between receiving a specified input operation or a specified signal and receiving an operation to invalidate the specified input operation or a signal to invalidate the specified signal, the flying robot flies so as to approach the monitoring target.

(Appendix 14)
The flying robot described in any one of appendices 1 to 13, characterized in that when the monitoring target is recognized, the flying robot flies so as to approach the monitoring target and outputs a predetermined sound toward the monitoring target.

(Appendix 15)
The flying robot according to claim 14, wherein the predetermined voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating a voice giving a caution or warning against theft.

(Appendix 16)
15. The flying robot according to claim 14, wherein the predetermined sound is a siren, a warning horn, a signal horn, or a whistle, or a synthesized sound that imitates at least any one of these sounds.

(Appendix 17)
The flying robot described in any one of appendices 14 to 16, characterized in that the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

(Appendix 18)
The flying robot according to any one of appendices 14 to 17, wherein the predetermined sound has a sound pressure level of 80 dB or more.

(Appendix 19)
The flying robot according to any one of appendices 14 to 17, wherein the predetermined sound has a loudness level of 90 phon or more.

(Appendix 20)
A light source mounted on the unmanned aerial vehicle;
20. The flying robot described in any one of appendices 1 to 19, wherein the flying robot flies while emitting light from the light source.

(Appendix 21)
21. The flying robot described in claim 20, which flies while blinking the light source.

(Appendix 22)
22. The flying robot described in claim 21, wherein the flying robot flies while flashing the light source with a luminous flux equal to or greater than a predetermined threshold.

(Appendix 23)
A wireless communication interface is provided on the unmanned aerial vehicle.
The flying robot described in any one of appendices 1 to 22, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

(Appendix 24)
The flying robot described in Appendix 23, characterized in that the specified destination is an email address set in a specific smartphone.

(Appendix 25)
The flying robot described in Appendix 23, characterized in that the specified destination is a specific URL set on a cloud network.

(Appendix 26)
The flying robot described in any one of appendices 1 to 25, characterized in that when the surveillance target is recognized based on an image captured by the camera, the image is stored in a predetermined memory area.

(Appendix 27)
The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control,
Taking an image using the camera,
When a surveillance target is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the target.
A control program for a flying robot, which causes the robot to execute a process.

(Appendix 28)
A control program for a flying robot described in Appendix 27, characterized in that when the monitoring target is recognized based on images taken by the camera, the flying robot is caused to fly so as to take images of the monitoring target from all directions.

(Appendix 29)
29. A control program for a flying robot as described in appendix 27 or 28, characterized in that a monitoring target is recognized based on an image captured by the camera within a predetermined range set in advance.

(Appendix 30)
30. The control program for a flying robot described in Appendix 29, wherein the predetermined area is a farm.

(Appendix 31)
The control program for a flying robot described in Appendix 30, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural products on the farm or items that are presumed to be agricultural products.

(Appendix 32)
31. The control program for an flying robot described in appendix 29 or 30, wherein the predetermined area is a crop cultivation farm.

(Appendix 33)
The control program for a flying robot described in Appendix 32, characterized in that the monitored object is a bird, animal, or human being that possesses or carries a cultivated crop or an item that is presumed to be the cultivated crop in the crop cultivation farm.

(Appendix 34)
31. The control program for a flying robot described in appendix 29 or 30, wherein the predetermined area is a livestock farm.

(Appendix 35)
The control program for a flying robot described in Appendix 34, characterized in that the subject of monitoring is a livestock or poultry at the livestock farm, or a bird, animal, or human being that possesses or carries an item that is presumed to be a livestock or poultry.

(Appendix 36)
31. The control program for an flying robot described in claim 29 or 30, wherein the predetermined range is a beekeeping area.

(Appendix 37)
The control program for a flying robot described in Appendix 36, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

(Appendix 38)
A control program for a flying robot described in any one of appendices 27 to 37, characterized in that when the surveillance target is recognized based on images taken by the camera during a predetermined time period, the flying robot is caused to fly so as to approach the surveillance target.

(Appendix 39)
A control program for a flying robot described in any one of Appendices 27 to 38, characterized in that if the surveillance target is recognized based on an image captured by the camera between receiving a specified input operation or a specified signal and receiving an operation to invalidate the specified input operation or a signal to invalidate the specified signal, the flying robot is caused to fly so as to approach the surveillance target.

(Appendix 40)
A control program for a flying robot described in any one of appendices 27 to 39, characterized in that when the monitoring target is recognized, the flying robot is caused to fly close to the monitoring target and a predetermined sound is output toward the monitoring target.

(Appendix 41)
The flying robot control program according to claim 40, wherein the predetermined voice is a recorded voice giving a caution or warning against theft, or a synthesized voice imitating a voice giving a caution or warning against theft.

(Appendix 42)
The flying robot control program according to claim 40, wherein the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound that imitates at least any one of these sounds.

(Appendix 43)
43. The flying robot control program according to any one of appendices 40 to 42, wherein the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

(Appendix 44)
The flying robot control program according to any one of appendices 40 to 43, wherein the predetermined sound has a sound pressure level of 80 dB or more.

(Appendix 45)
The flying robot control program according to any one of appendices 40 to 43, wherein the predetermined sound has a loudness level of 90 phon or more.

(Appendix 46)
A light source mounted on the unmanned aerial vehicle;
46. A control program for a flying robot described in any one of appendices 27 to 45, characterized in that the flying robot is flown while emitting light from the light source.

(Appendix 47)
47. A control program for a flying robot as described in appendix 46, characterized in that the flying robot is caused to fly while the light source is blinking.

(Appendix 48)
48. A control program for a flying robot described in Appendix 47, characterized in that the light source is caused to fly while flashing a luminous flux equal to or greater than a predetermined threshold.

(Appendix 49)
A wireless communication interface is provided on the unmanned aerial vehicle.
A control program for a flying robot described in any one of appendices 27 to 48, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

(Appendix 50)
The flying robot control program described in Appendix 49, characterized in that the specified destination is an email address set in a specific smartphone.

(Appendix 51)
The flying robot control program described in Appendix 49, characterized in that the specified destination is a specific URL set on a cloud network.

(Appendix 52)
A control program for a flying robot described in any one of appendices 27 to 51, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is stored in a predetermined memory area.

(Appendix 53)
The computer of the flying robot, which is equipped with a camera and an unmanned aerial vehicle that flies by automatic control,
Taking an image using the camera,
When a surveillance target is recognized based on the image captured by the camera, the drone is caused to fly so as to approach the target.
A control method for a flying robot, comprising: executing a process.

(Appendix 54)
A control method for a flying robot described in Appendix 53, characterized in that when the monitoring target is recognized based on images taken by the camera, the flying robot is flown so as to capture images of the monitoring target from all directions.

(Appendix 55)
55. A method for controlling a flying robot as described in appendix 53 or 54, characterized in that a monitoring target is recognized based on an image taken by the camera within a predetermined range set in advance.

(Appendix 56)
56. The method for controlling an flying robot described in Appendix 55, wherein the specified area is a farm.

(Appendix 57)
The flying robot control method described in Appendix 56, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries agricultural products on the farm or items that are presumed to be agricultural products.

(Appendix 58)
57. The method for controlling an airborne robot according to claim 55 or 56, wherein the predetermined area is a crop cultivation farm.

(Appendix 59)
The flying robot control method described in Appendix 58, characterized in that the monitored object is a bird, animal, or human being that possesses or carries a cultivated crop or an item presumed to be the cultivated crop in the crop cultivation farm.

(Appendix 60)
57. The method for controlling a flying robot described in appendix 55 or 56, wherein the specified area is a livestock farm.

(Appendix 61)
The flying robot control method described in Appendix 60, characterized in that the monitored object is a livestock or poultry at the livestock farm, or a bird, animal, or human possessing or carrying an item presumed to be the livestock or poultry.

(Appendix 62)
57. The method for controlling an flying robot described in appendix 55 or 56, wherein the specified range is a beekeeping area.

(Appendix 63)
The flying robot control method described in Appendix 62, characterized in that the subject of monitoring is a bird, animal, or human being that possesses or carries a beehive used for beekeeping or an item that is presumed to be such a hive.

(Appendix 64)
A control method for a flying robot described in any one of appendices 55 to 63, characterized in that when the surveillance target is recognized based on images taken by the camera during a predetermined time period, the flying robot is caused to fly so as to approach the surveillance target.

(Appendix 65)
A method for controlling a flying robot as described in any one of appendices 53 to 64, characterized in that if the surveillance target is recognized based on an image captured by the camera between the time when a specified input operation or a specified signal is received and the time when an operation to invalidate the specified input operation or a signal to invalidate the specified signal is received, the flying robot is caused to fly so as to approach the surveillance target.

(Appendix 66)
A method for controlling a flying robot described in any one of appendices 55 to 65, characterized in that when the monitoring target is recognized, the flying robot is flown so as to approach the monitoring target and a predetermined sound is output toward the monitoring target.

(Appendix 67)
The flying robot control method of claim 66, wherein the specified voice is a recorded voice that warns or cautions against theft, or a synthesized voice that imitates a voice that warns or cautions against theft.

(Appendix 68)
67. The flying robot control method of claim 66, wherein the predetermined sound is a siren, a warning horn, a signal horn or a whistle, or a synthesized sound that imitates at least any one of these sounds.

(Appendix 69)
70. A method for controlling a flying robot according to any one of appendices 66 to 68, characterized in that the predetermined sound is output while the recognized monitoring target is within a preset monitoring range.

(Appendix 70)
70. The method for controlling an flying robot described in any one of appendices 66 to 69, wherein the predetermined sound has a sound pressure level of 80 dB or more.

(Appendix 71)
70. The flying robot control method according to any one of appendices 66 to 69, wherein the predetermined sound has a loudness level of 90 phon or more.

(Appendix 72)
A light source mounted on the unmanned aerial vehicle;
72. A method for controlling a flying robot according to any one of claims 55 to 71, characterized in that the flying robot is flown while the light source is illuminated.

(Appendix 73)
73. The method for controlling a flying robot described in appendix 72, characterized in that the flying robot is flown while the light source is blinking.

(Appendix 74)
74. A method for controlling a flying robot as described in appendix 73, characterized in that the light source is caused to fly while flashing a luminous flux equal to or greater than a predetermined threshold.

(Appendix 75)
A wireless communication interface is provided on the unmanned aerial vehicle.
A method for controlling a flying robot according to any one of appendices 53 to 74, characterized in that when the monitoring target is recognized based on an image captured by the camera, the image is transmitted to a predetermined destination via the wireless communication interface.

(Appendix 76)
The flying robot control method described in Appendix 75, characterized in that the specified destination is an email address set in a specific smartphone.

(Appendix 77)
The flying robot control method described in Appendix 75, characterized in that the specified destination is a specific URL set on a cloud network.

(Appendix 78)
A method for controlling a flying robot described in any one of appendices 53 to 77, characterized in that when the monitoring target is recognized based on an image taken by the camera, the image is stored in a specified memory area.

As described above, the flying robot, the control program for a flying robot, and the control method for a flying robot according to the present invention are useful as a flying robot, a control program for a flying robot, and a control method for a flying robot that monitors garbage collection sites and the like, and are particularly suitable as a flying robot, a control program for a flying robot, and a control method for a flying robot that monitors the arrival of crows at garbage collection sites.

101 Flying robot 102 Propeller 103 Camera 104 LED lamp 201 Battery 202 Motor 203 Microphone 204 Speaker 205 GPS sensor 206 Object sensor 207 Control circuit 208 Acceleration sensor 209 Communication I/F
210 Solar cell 301 Station 302 Exterior 303 Battery 304 Power transmission coil 305 Solar cell 401 Memory 402 Detection 403 Photography 404 Acquisition 405 Drive 406 Output 407 Control unit 601 Support 602 Garbage collection site 701 Crow 1001 Flying robot 1201 Tree 1201a Branches and leaves 1201b Fruit 1202 Box 1203 Criminal 1301 Pig

Claims (4)

An unmanned aerial vehicle that flies by autopilot,
A camera mounted on the unmanned aerial vehicle;
Equipped with
waiting in a state in which the predetermined range can be photographed by the camera at a station provided within the predetermined range or in the vicinity of the predetermined range;
While waiting at the station, the camera captures an image of the predetermined range,
During standby, when an object is recognized within the predetermined range based on an image captured by the camera , the drone starts flying from the station and approaches the object;
A flying robot characterized in that, during flight, if the target object is no longer recognized within the specified range based on images taken by the camera , the flying robot returns to the station and ends its flight. The flying robot according to claim 1, characterized in that it flies in a hovering manner or vertically during the flight. The computer of a flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically
The flying robot is made to wait in a station provided within a predetermined range or in the vicinity of the predetermined range in a state in which the predetermined range can be photographed by the camera ;
While the flying robot is waiting at the station, the camera is caused to photograph a predetermined range.
When an object is recognized within the predetermined range based on an image captured by the camera while the flying robot is waiting, the flying robot is caused to start flying from the station and approach the object;
When the target object is no longer recognized within the predetermined range based on the image captured by the camera during the flight of the flying robot, the flying robot is returned to the station and the flying robot is caused to end its flight.
A control program for a flying robot, which causes the robot to execute a process. A flying robot equipped with a camera and an unmanned aerial vehicle that flies automatically.
a station provided within a predetermined range or in the vicinity of the predetermined range , the station being made to wait in a state in which the predetermined range can be photographed by the camera ;
While the vehicle is waiting at the station, the camera is caused to photograph a predetermined range.
During standby, when an object is recognized within the predetermined range based on an image captured by the camera, the drone starts flying from the station and approaches the object;
When the target object is no longer recognized within the predetermined range based on the image captured by the camera during the flight , the drone returns to the station and ends the flight .
A method for controlling a flying robot.

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