JP2022132327A - Birds-and-beasts threatening system and birds-and-beasts threatening method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible, with a simpler configuration, to threaten birds and beasts in a wide range.

SOLUTION: A birds-and-beasts threatening system comprises a monitoring device, a terminal device, and an unmanned flying threatening device. The monitoring device detects existence of a moving body in a predetermined monitor area. When the existence of the moving body is detected, the terminal device transmits a departure instruction to the unmanned flying threatening device. The unmanned flying threatening device comprises a threatening device for threatening the moving body, starts a flight on a predetermined flight route according to the departure instruction, and executes threatening using the threatening device at least in the monitor area.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a wildlife intimidation system and a wildlife intimidation method.

Birds and animals (meaning wild animals), especially crows, cause a lot of bird and animal damage in farmlands such as orchards and fields where crops are produced. In relation to this, Patent Literature 1 describes a wildlife intimidation system in which a user operates an on-site device with reference to a camera image from the on-site device to intimidate the wildlife with laser irradiation, sound, and light emission.

JP 2013-192486 A

However, in order to cover a vast area of farmland using the technology of Patent Document 1, it is necessary to install a large number of on-site devices (devices equipped with cameras and intimidation devices), which is not realistic especially in terms of cost. Moreover, the technique of Patent Document 1 cannot obtain the repelling effect beyond the predetermined range in which the on-site device can threaten.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and an object of the present invention is to provide a technique capable of intimidating birds and animals over a wide range with a simpler configuration.

The present application includes a plurality of means for solving at least part of the above problems, and examples thereof are as follows.

One aspect of the present invention for solving the above problems is a wildlife intimidation system comprising a monitoring device, a terminal device, and an unmanned flight intimidation device, wherein the monitoring device detects presence of a moving object within a predetermined monitoring area. when the presence of the moving object is detected, the terminal device transmits a start instruction to the unmanned flight threatening device, the unmanned flight threatening device includes a threatening device for threatening the moving object, and the A flight along a predetermined flight route is started in accordance with a start instruction, and a threat is executed using the threat device at least within the surveillance area.

In the above wildlife threatening system, the monitoring device detects the absence of the moving object within the monitoring area, and the terminal device lands on the unmanned flight threatening device when the absence of the moving object is detected. An instruction may be transmitted, and the unmanned flight coercion device may terminate flight on the predetermined flight route according to the landing instruction.

In any one of the wildlife threatening systems described above, the unmanned flight threatening device includes at least one of a sounding unit and a light emitting unit as the threatening device, and executes threatening at a predetermined position on the predetermined flight route, or the terminal Intimidation may be executed according to instructions from the device.

In any one of the above wildlife intimidation systems, a plurality of the monitoring devices are provided, and the terminal device instructs the unmanned flight intimidation device to fly on a flight route associated with the monitoring devices that have detected the presence of the moving object. The launch instruction may be transmitted, and the unmanned flight threat device may start flying along the instructed flight route.

In any of the wildlife intimidation systems described above, the predetermined monitoring area includes a plurality of partial monitoring areas, the monitoring device detects the presence of a moving object in any of the partial monitoring areas, and the terminal device and transmitting the launch command to the unmanned flight threat device to fly on a flight route associated with the surveillance area where the presence of the moving object is detected, wherein the unmanned flight threat device flies on the instructed flight route. may start flying.

In any of the wildlife threatening systems described above, the unmanned flight threatening device includes an imaging unit, and when the presence of a moving object is detected using the imaging unit during flight on the flight route, the threatening device is used to You may choose to carry out the intimidation.

In any one of the wildlife intimidation systems described above, the unmanned flight intimidation device includes an imaging unit, and when the presence of a moving object is detected using the imaging unit during flight on the flight route, a part of the flight route is detected. may be changed.

In any of the wildlife intimidation systems described above, the unmanned flying threat device uses the threat device to select one of a plurality of intimidation methods to threaten, and the wildlife intimidation system uses the threat method for each flight. A database for recording a history of threatening methods is provided, the terminal device instructs the unmanned flying threat device to threaten using a threatening method selected from the database, and the unmanned flying threat device responds to the instructed threat method. You may choose to execute the intimidation in the intimidation method.

In any one of the wildlife intimidation systems described above, the unmanned flight intimidation device flies by selecting one of the plurality of predetermined flight routes, and the wildlife intimidation system has a flight route history for each flight. wherein the terminal device transmits the start command to the unmanned flight threat device to fly on a flight route selected from the database, and the unmanned flight threat device sends the commanded flight May start flying on route.

Another aspect of the present invention for solving the above problems is a terminal device used in a wildlife threatening system comprising a monitoring device and an unmanned flight threatening device, wherein the monitoring device detects the presence of a moving object within a predetermined monitoring area. is detected, a start command is transmitted to the unmanned flight threat device.

The terminal device may transmit a landing instruction to the unmanned flight threat device when the monitoring device detects the absence of the moving object.

Any one of the above terminal devices may transmit a threatening instruction to the unmanned flight threatening device to cause it to perform a threatening operation.

Still another aspect of the present invention for solving the above problems is an unmanned flying threat device used in a wildlife threatening system comprising a monitoring device and a terminal device, the device comprising the threat device and a predetermined monitoring by the monitoring device. When the presence of a moving object within the area is detected and a start instruction transmitted from the terminal device is received, a flight along a predetermined flight route is started according to the start instruction, and the threatening device is activated at least within the monitoring area. Use to intimidate.

When the unmanned flight threat device receives a landing instruction transmitted from the terminal device when the monitoring device detects the absence of the moving object, the unmanned flight threat device terminates the flight along the predetermined flight route according to the landing instruction. You can do it.

Any of the above unmanned flight threatening devices includes at least one of a sounding unit and a light emitting unit as the threatening device, and executes the threatening at a predetermined position on the predetermined flight route, or threatens according to instructions from the terminal device. may be executed.

Still another aspect of the present invention for solving the above problems is a wildlife intimidation method in a wildlife intimidation system comprising a monitoring device, a terminal device, and an unmanned flight intimidation device, wherein the monitoring device has a predetermined surveillance area. a step of detecting the presence of a moving object within the terminal device, a step of transmitting a start instruction to the unmanned flight threat device when the presence of the moving object is detected, and a step of the unmanned flight threat device causing the unmanned flight threat device to initiating flight along a predetermined flight route in accordance with the instructions and performing scare with a scare device within at least the surveillance area.

According to the present invention, it is possible to intimidate birds and animals over a wide range with a simpler configuration.

Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a diagram showing a configuration example of a wildlife intimidation system according to an embodiment of the present invention; FIG. It is a figure which shows the schematic structural example of a monitoring apparatus. It is a figure which shows the data structural example of monitoring-apparatus information. It is a figure which shows the data structural example of flight route information. 1 is a diagram showing a schematic configuration example of an unmanned flight threat device; FIG. 4 is a flow chart showing an operation example of the wildlife intimidation system; 4 is a flow chart showing an operation example of an unmanned flight threat device; It is a figure which shows an example of the operation screen displayed on a terminal device. It is a figure which shows an example of the screen for accepting threatening operation. It is a figure explaining the example of a flight route. FIG. 2 is a diagram for explaining the outline of the relationship between devices during operation of the wildlife intimidation system; FIG. 10 is a diagram illustrating an example of a flight route according to a first modified example of the present embodiment; FIG. 11 is a diagram showing a data configuration example of flight route information according to the first modified example; It is a figure which shows the data structural example of the historical information and analysis information based on the 2nd modification of this embodiment.

<Embodiment>
An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing a configuration example of a wildlife intimidation system according to an embodiment. The wildlife intimidation system includes one or more monitoring devices 1 , management servers 2 , terminal devices 3 , and unmanned flight intimidation devices 4 . These devices can communicate with each other via a communication network. The communication network is not limited to a LAN (Local Area Network), for example, and can be configured by combining various communication networks such as the Internet and mobile communication networks. Either or both of wired communication and wireless communication may be used as the communication method.

The monitoring device 1 is installed in farmland such as orchards and fields, and has a function of detecting the presence and absence of birds and animals. Specifically, the monitoring device 1 includes a monitoring control device 11 , a fixed-point camera 12 (also referred to as an imaging unit), an infrared sensor 13 , and a solar panel 14 . The monitoring control device 11 includes a control section 111 , a communication section 112 and a power supply section 113 .

The communication unit 112 transmits and receives information to and from an external device via a communication network. The power supply unit 113 supplies power to the monitoring device 1 . In this embodiment, the power supply unit 113 supplies power generated by the solar panel 14 to the monitoring device 1 . Of course, the power supply unit 113 may supply power from, for example, a commercial power source to the monitoring device 1 in addition to or instead of the solar panel 14 . Moreover, the monitoring device 1 may include a storage battery, and the power supply unit 113 may supply power from the storage battery to the monitoring device 1 .

The control unit 111 comprehensively controls the operation of the monitoring device 1 . Specifically, upon receiving a detection signal indicating detection of the presence of a moving object from the infrared sensor 13 , the control unit 111 causes the fixed-point camera 12 to start photographing, and transmits detection information to the management server 2 via the communication unit 112 . do. Also, the control unit 111 establishes a connection with the terminal device 3 via the communication unit 112 , acquires an image captured by the fixed-point camera 12 , and transmits the image to the terminal device 3 . Further, when receiving a non-detection signal indicating non-detection of the presence of a moving object from the infrared sensor 13 , the control unit 111 transmits non-detection information (also referred to as repulsion information) to the management server 2 via the communication unit 112 . Further, the control unit 111 disconnects the terminal device 3 and causes the fixed-point camera 12 to finish photographing.

FIG. 2 is a diagram showing a schematic configuration example of the monitoring device 1. As shown in FIG. The fixed-point camera 12 performs fixed-point observation of the monitoring area T and outputs an image of the monitoring area T to the control unit 111 . The infrared sensor 13 detects a moving body that has entered the monitoring area T by radially emitting infrared rays and detecting the body temperature of the moving body. The infrared sensor 13 also outputs a detection signal indicating detection of a moving object or a non-detection signal indicating non-detection of a moving object to the control unit 111 .

Note that the control unit 111 can be realized by, for example, an arithmetic device including a CPU (Central Processing System), a memory, and the like. The functions of the control unit 111 can be realized, for example, by the CPU executing a predetermined program. The communication unit 112 can be realized, for example, by a communication device conforming to standards such as Wi-Fi.

Returning to the description of FIG. The management server 2 is installed, for example, in a building of a farmhouse, and manages information and status of each monitoring device 1 . Specifically, the management server 2 includes a control section 21 , a communication section 22 and a storage section 23 .

The communication unit 22 transmits and receives information to and from an external device via a communication network. The storage unit 23 stores monitoring device information 231 regarding information and status of each monitoring device 1 .

FIG. 3 is a diagram showing a data configuration example of the monitoring device information 231. As shown in FIG. The monitoring device information 231 stores records of each monitoring device 1 . Each record includes items such as monitoring device ID 231a, location 231b, detection state 231c, and threatening state 231d. The monitoring device ID 231 a is identification information of the monitoring device 1 . The position 231b is position information (for example, GPS coordinate position) of the monitoring device 1 . The detection state 231c is set with an identifier indicating detection of a moving object (hereinafter "1") or an identifier indicating non-detection of a moving object (hereinafter "0"). In the threatening state 231d, an identifier (hereinafter "1") indicating execution of the threat by the unmanned flight threat device 4 or an identifier (hereinafter "0") indicating non-execution of the threat is set.

Returning to the description of FIG. The control unit 21 comprehensively controls the operation of the management server 2 . Specifically, the control unit 21 receives detection information and repulsion information from each monitoring device 1 via the communication unit 22, and updates the detection state 231c of the record of the monitoring device 1 corresponding to the monitoring device information 231. . Further, the control unit 21 receives start information indicating the start of the unmanned flight threat device 4 and landing information indicating the landing of the unmanned flight threat device 4 from the terminal device 3 via the communication unit 22, and updates the monitoring device information 231. The threat status 231d of the record of the corresponding monitoring device 1 is updated.

Note that the management server 2 can be realized by, for example, a general server computer or a personal computer. The control unit 21 can be implemented by, for example, an arithmetic device including a CPU, a memory, and the like. The functions of the control unit 21 can be realized, for example, by the CPU executing a predetermined program. The communication unit 22 can be realized by, for example, a communication device conforming to standards such as Wi-Fi. The storage unit 23 can be realized by, for example, a storage device such as an HDD or an SSD.

The terminal device 3 is operated by a user such as a farmland manager, and controls the operation of the unmanned flight threat device 4 . Specifically, the terminal device 3 has a control section 31 , a communication section 32 , a storage section 33 , an input section 34 and a display section 35 .

The communication unit 32 transmits and receives information to and from an external device via a communication network. The input unit 34 receives user operations. The display unit 35 displays an operation screen or the like used by the user. The storage unit 33 stores information used for controlling the unmanned flight threat device 4 , such as flight route information 331 for flying to the monitoring area T of each monitoring device 1 .

FIG. 4 is a diagram showing a data configuration example of the flight route information 331. As shown in FIG. The flight route information 331 stores a record corresponding to each monitoring device 1 in association with the unmanned flight threat device ID 331a. Each record includes items such as a monitoring device ID 331b and flight route information 331c. The unmanned flight threat device ID 331 a is identification information of the unmanned flight threat device 4 . The monitoring device ID 331b is identification information of the monitoring device 1 . The flight route information 331c is flight route information for flying to the monitoring area T of the monitoring device 1 indicated by the monitoring device ID 331b, and includes, for example, coordinate information of a departure position, a plurality of passing positions, and a target position. The starting position and the target position are, for example, positions on the platform 44 (see FIG. 5), and the plurality of passing positions are, for example, one or more positions between the platform 44 and the monitoring area T, and a monitoring position. one or more locations within region T;

Returning to the description of FIG. The control unit 31 comprehensively controls the operation of the terminal device 3 . Specifically, the control unit 31 causes the display unit 35 to display an operation screen, and receives through the input unit 34 selection of the monitoring device 1 to be targeted for flight and threat by the unmanned flight threat device 4 . Further, the control unit 31 acquires the flight route information 331c associated with the monitoring device ID of the selected monitoring device 1 from the storage unit 33, and issues a start instruction to the communication unit so that the flight follows the flight route. 32 to the unmanned flight threat device 4.

In addition, the control unit 31 monitors the current position of the unmanned flight threat device 4 that has started, and issues a threat command via the communication unit 32 to threaten the unmanned flight threat device 4 at a predetermined position on the flight route. Send to 4. Further, when the control unit 31 receives the repulsion information from the management server 2, the control unit 31 issues a landing instruction to the unmanned flight threat device 4 via the communication unit 32 so as to return to a predetermined landing position (end the flight) along the flight route. send.

Note that the terminal device 3 can be realized by, for example, a general personal computer, tablet computer, smart phone, or the like. The control unit 31 can be implemented by, for example, an arithmetic device including a CPU, a memory, and the like. The functions of the control unit 31 can be realized, for example, by the CPU executing a predetermined program. The communication unit 32 can be realized, for example, by a communication device conforming to standards such as Wi-Fi. The storage unit 33 can be realized by, for example, a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The input unit 34 can be realized by, for example, a touch panel or a keyboard. The display unit 35 can be realized by, for example, a liquid crystal display or an organic EL display.

An unmanned flight threatening device 4 takes off from a predetermined landing platform and flies to threaten birds and animals. Specifically, the unmanned flight threat device 4 includes a flight control device 41 and a threat control device 42 . The flight control device 41 includes a control section 411 , a communication section 412 and a storage section 413 . The threat control device 42 includes a control section 421 , a communication section 422 and a storage section 423 .

A communication unit 412 transmits and receives information to and from an external device via a communication network. The storage unit 413 stores information used for the flight operation of the unmanned flight threat device 4, such as flight route information. The communication unit 422 transmits and receives information to and from an external device via a communication network. The storage unit 423 stores information used for the threat action of the unmanned flight threat device 4, such as threat pattern information.

FIG. 5 is a diagram showing a schematic configuration example of the unmanned flight threat device 4. As shown in FIG. Although the configuration of the unmanned flight threat device 4 is not limited, it is, for example, a multicopter-type small aircraft equipped with a plurality of electric rotors. The battery of the unmanned flight threat device 4 can be charged by, for example, a non-contact charging device 43 installed on the landing platform 44 . That is, the battery of the unmanned flight threat device 4 is charged while the unmanned flight threat device 4 lands on the platform 44 .

The control unit 411 controls the flight of the unmanned flight threat device 4 by controlling the rotation of each electric rotor, for example. Further, the flight control device 41 includes, for example, a GPS (Global Positioning System) receiver, an acceleration sensor, a gyro sensor, etc., and the control unit 411 controls the unmanned flight threat based on the current position, heading, and flight route information. Control the device 4 to fly according to the flight route. In addition, when the unmanned flight threat device 4 is provided with a camera 414 (also referred to as an imaging unit), the control unit 411 records the image captured by the camera 414 in the storage unit 413 or transmits the image to the terminal via the communication unit 412 . You may transmit to the apparatus 3.

The unmanned flight threat device 4 also includes a light emitting unit 424 configured by an LED or the like, and a sound generating unit 425 configured by a speaker or the like. For example, the control unit 421 controls the light emitting unit 424 to emit light or controls the sound generating unit 425 to output sound according to predetermined threatening pattern information. The threatening pattern information defines, for example, light emission patterns (light emission interval, light emission time, brightness, etc.) and voice output patterns (output interval, output time, volume, etc.). In this embodiment, the storage unit 423 stores a plurality of threatening pattern information in advance, and the control unit 421 controls the threatening operation using randomly selected threatening pattern information each time a threatening instruction is received. . This makes it difficult for birds and animals to get used to the intimidation. Either the light emitting unit 424 or the sound generating unit 425 may be omitted from the unmanned flight threat device 4, or in addition to or instead of the light emitting unit 424 and the sound generating unit 425, another unit for intimidation, such as water, may be used. may be provided.

Note that the control unit 411 and the control unit 421 can be implemented by, for example, an arithmetic device including a CPU, a memory, and the like. The functions of the control unit 411 and the control unit 421 can be realized, for example, by the CPU executing a predetermined program. The communication unit 412 and the communication unit 422 can be implemented by, for example, a communication device complying with standards such as Wi-Fi. The storage unit 413 and the storage unit 423 can be realized by a storage device such as HDD or SSD, for example.

FIG. 6 is a flowchart showing an operation example of the wildlife intimidation system. In the description of FIG. 6, it is assumed that the unmanned flight threat device 4 is stopped on the platform 44 and the monitoring device 1 is not detecting any moving object.

First, the monitoring device 1 determines detection of a moving object (step S10). Specifically, the control unit 111 monitors detection signals from the infrared sensor 13 . The control unit 111 determines that a moving object has been detected when the detection signal is received. If no moving object is detected (step S10: No), the process of step S10 is continued.

When a moving object is detected (step S10: Yes), the monitoring device 1 activates the fixed point camera 12 (step S20). Specifically, the control unit 111 activates the fixed-point camera 12 from the power-off state or the power-saving state, and causes the fixed-point camera 12 to start photographing. Also, the monitoring device 1 transmits the detection information to the management server 2 (step S30). Specifically, the control unit 111 transmits detection information including the monitoring device ID of the monitoring device 1 to the management server 2 via the communication unit 112 .

The management server 2 updates the monitoring device information 231 (step S40). Specifically, when the control unit 21 receives the detection information (including the monitoring device ID) from the monitoring device 1 via the communication unit 22, the detection state 231c of the record corresponding to the monitoring device 1 is changed to "1". update to Further, the control unit 21 reads the records of each monitoring device 1 from the monitoring device information 231, generates map information depicting the position of each monitoring device 1, its detection state, and its threatening state. It is transmitted to the terminal device 3 together with the ID. Map information is a map showing the whole farmland, for example. Note that the control unit 21 updates the map information and sends it to the terminal device 3 every time the monitoring device information 231 is updated.

The terminal device 3 selects the monitoring device 1 (step S50). Specifically, when the control unit 31 receives the map information from the management server 2 via the communication unit 22 , the control unit 31 updates the operation screen displayed on the display unit 35 . The control unit 31 also receives, via the input unit 34, selection of the monitoring device 1 to be targeted for flight and threat by the unmanned flight threat device 4. FIG.

FIG. 8 is a diagram showing an example of an operation screen displayed on the terminal device 3. As shown in FIG. The control unit 31 displays an operation screen 500 as shown in FIG. 8 on the display unit 35 . Operation screen 500 includes image area 510 , map area 520 , and threatening operation area 530 . An image transmitted from the monitoring device 1 is displayed in the image area 510 as will be described later. Map area 520 displays the map information updated in step S50. The threatening operation area 530 displays buttons and the like for operating the threatening operation of the unmanned flight threatening device 4 .

As shown in FIG. 8, map information is displayed in the map area 520. The map information includes the position of each monitoring device 1, its detection state (undetected, detected), and threatening state (threatening). is displayed. Here, the position of each monitoring device 1 can be selected as a target for flight and threat by the unmanned flight threat device 4 by the user's operation. That is, the operation screen 500 can display the detection position and accept the selection of the threat position (also referred to as the flight position).

Further, as shown in FIG. 8, an auto button 531 and a manual button 532 are displayed in the threatening operation area 530 . In the flowchart of FIG. 6, when the unmanned flight threatening device 4 receives a threatening instruction from the terminal device 3, it uses randomly selected threatening pattern information to execute a threatening operation. This function is the “auto” function and is set by selecting the auto button 531 . On the other hand, the unmanned flight threatening device 4 can also execute a threatening action according to the user's operation on the terminal device 3 . This function is a “manual” function and is set by selecting manual button 532 .

FIG. 9 is a diagram showing an example of a screen for accepting a threatening operation. When the manual button 532 is selected, the control unit 31 displays a button or the like for manually operating the threatening operation of the unmanned flight threatening device 4 in the threatening operation area 530 . As shown in FIGS. 9A and 9B, in the middle region of the threatening operation region 530, there are a light emitting button 533 for selecting light emission from the threatening item and a light emitting button 533 for selecting sound from the threatening item. A pronunciation button 534 is displayed.

As shown in FIG. 9A, when the light emission button 533 is selected, a detailed setting area for light emission is displayed in the subsequent area of the threatening operation area 530. In this detailed setting area, An area for setting a light emission pattern (light emission interval, light emission time, brightness, etc.) and the number of times the light emission pattern is executed, a start button 535 for starting light emission, and a stop button 536 for stopping light emission are displayed.

As shown in FIG. 9B, when the sound button 534 is selected, a detailed setting area for sounding is displayed in the latter area of the threatening operation area 530. In this detailed setting area, An area for setting the pronunciation pattern (output interval, output time, volume, etc.) and the number of times the pronunciation pattern is executed, a start button 537 for starting pronunciation, and a stop button 538 for stopping pronunciation are displayed.

Returning to the description of FIG. The control unit 31 receives through the input unit 34 a selection of the monitoring device 1 to be targeted for flight and threat by the unmanned flight threat device 4 .

After step S50, the terminal device 3 establishes connection with the selected monitoring device 1 (step S60). Specifically, the control unit 31 accesses the selected monitoring device 1 using the connection information of each monitoring device 1 stored in advance in the storage unit 33 to establish a connection. After establishing the connection, the control unit 111 of the monitoring device 1 acquires the video captured by the fixed-point camera 12 and transmits it to the terminal device 3 . The control unit 31 of the terminal device 3 displays the image received from the monitoring device 1 in the image area 510 described above.

After step S60, the terminal device 3 transmits a start instruction to the unmanned flight threat device 4 (step S70). Specifically, the control unit 31 acquires the flight route information 331c corresponding to the monitoring device 1 selected in step S50 from the flight route information 331, sends the flight route information to the unmanned flight threat device 4, and A start instruction is sent to the unmanned flight threat device 4 so as to fly according to the route information 331c. As a result, the unmanned flight threat device 4 starts flying toward the monitoring area T of the selected monitoring device 1 . Note that the control unit 411 of the unmanned flight threat device 4 periodically transmits the current position to the terminal device 3 . Further, the control unit 31 transmits start information (including the monitoring device ID of the selected monitoring device 1 ) indicating the start of the unmanned flight threat device 4 to the management server 2 via the communication unit 32 .

The management server 2 updates the monitoring device information 231 (step S80). Specifically, upon receiving the selected start information (including the monitoring device ID) from the terminal device 3, the control unit 21 updates the threat state 231d of the record corresponding to the monitoring device 1 to "1". . Further, the control unit 21 reads the records of each monitoring device 1 from the monitoring device information 231, generates map information depicting the position of each monitoring device 1, its detection state, and its threatening state. It is transmitted to the terminal device 3 together with the ID. The terminal device 3 updates the map information in the map area 520 of the operation screen 500 .

After step S70, the terminal device 3 transmits a threat command to the unmanned flight threat device 4 (step S90). Specifically, the control unit 31 monitors the current position of the unmanned flight threatening device 4 launched in step S70, and issues a threatening instruction via the communication unit 32 at a predetermined position on the flight route. Send to device 4. Predetermined positions on the flight route include positions within the monitoring region T, for example. The control unit 31 may transmit the threatening instruction multiple times.

In step S<b>90 , the control unit 31 may read predetermined threat pattern information from the storage unit 33 and transmit a threat instruction including the threat pattern information to the unmanned flight threat device 4 .

Further, in step S90, the control unit 31 accepts the selection of the start button 535 (or the start button 535) from the user in the threatening operation area 530 shown in FIG. It may be sent to the flight intimidation device 4. This threat instruction may include threat pattern information indicating the pattern set in the detailed setting area and the number of times the pattern is executed.

After transmitting the detection information in step S30, the monitoring device 1 determines whether the moving object has been repelled (step S100). Specifically, control unit 111 monitors an undetected signal from infrared sensor 13 . The control unit 111 determines that the moving object has been repelled when the undetected signal is received. If the moving object has not been repelled (step S100: No), the process of step S100 is continued.

When the moving object is repelled (step S100: Yes), the monitoring device 1 transmits repelling information to the management server 2 (step S110). Specifically, the control unit 111 transmits repulsion information including the monitoring device ID of the monitoring device 1 to the management server 2 via the communication unit 112 .

The management server 2 updates the monitoring device information 231 (step S120). Specifically, when the control unit 21 receives the repulsion information (including the monitoring device ID) from the monitoring device 1 via the communication unit 22, the detection state 231c of the record corresponding to the monitoring device 1 is changed to "0". update to Further, the control unit 21 reads the records of each monitoring device 1 from the monitoring device information 231, generates map information depicting the position of each monitoring device 1, its detection state, and its threatening state. It is transmitted to the terminal device 3 together with the ID. The terminal device 3 updates the map information in the map area 520 of the operation screen 500 .

The terminal device 3 transmits a landing instruction to the unmanned flight threat device 4 (step S130). Specifically, the control unit 31 sends a landing instruction to the unmanned flight threat device 4 to end the flight. As a result, the unmanned flight threat device 4 returns to the landing platform along the flight route and lands. The control unit 31 also transmits landing information (including the monitoring device ID of the selected monitoring device 1 ) indicating landing of the unmanned flight threat device 4 to the management server 2 via the communication unit 32 .

The management server 2 updates the monitoring device information 231 (step S140). Specifically, upon receiving the selected landing information (including the monitoring device ID) from the terminal device 3, the control unit 21 updates the threat state 231d of the record corresponding to the monitoring device 1 to "0". . Further, the control unit 21 reads the records of each monitoring device 1 from the monitoring device information 231, generates map information depicting the position of each monitoring device 1, its detection state, and its threatening state. It is transmitted to the terminal device 3 together with the ID. The terminal device 3 updates the map information in the map area 520 of the operation screen 500 .

After step S130, the terminal device 3 disconnects from the selected monitoring device 1 (step S150). After step S150, the monitoring device 1 stops the fixed point camera 12 (step S160). Specifically, the control unit 111 causes the fixed-point camera 12 to stop shooting and enter a power off state or a power saving state. After that, the control unit 111 may perform the process of step S10 again.

FIG. 7 is a flow chart showing an operation example of the unmanned flight threat device 4 . In the description of FIG. 7, it is assumed that the unmanned flight threat device 4 is stopped on the landing platform 44 .

First, the unmanned flight threat device 4 determines whether or not a start instruction has been received (step S210). Specifically, the control unit 411 determines whether or not a start instruction has been received from the terminal device 3 via the communication unit 412 . If the start instruction has not been received (step S210: No), the control unit 411 continues the process of step S210.

When the start instruction is received (step S210: Yes), the unmanned flight threat device 4 executes start (step S220). Specifically, the control unit 411 controls the unmanned flight threat device 4 to fly along the flight route according to the flight route information included in the start instruction received in step S210. Also, the control unit 411 periodically transmits the current position to the terminal device 3 .

Then, the unmanned flight threatening device 4 determines whether or not it has received a threatening instruction (step S230). Specifically, the control unit 421 determines whether or not a threatening instruction has been received from the terminal device 3 via the communication unit 422 . If the threatening instruction has not been received (step S230: No), the control unit 421 advances the process to step S250.

If the threat instruction is received (step S230: Yes), the unmanned flight threat device 4 executes threat (step S240). Specifically, the control unit 421 reads randomly selected threatening pattern information from the storage unit 423, and controls the light emitting unit 424 to emit light or causes the sound generating unit 425 to output sound according to the threatening pattern information. to control.

Note that the threat instruction may include threat pattern information. In this case, the control unit 421 controls the light emitting unit 424 to emit light or controls the sound generating unit 425 to output sound according to the received pattern and the number of executions of the pattern.

After step S240, or when it is determined No in step S230, the unmanned flight threat device 4 determines whether or not a landing instruction has been received (step S250). Specifically, the control unit 411 determines whether or not a landing instruction has been received from the terminal device 3 via the communication unit 412 . If the landing instruction has not been received (step S250: No), the control unit 411 returns the process to step S230.

When the landing instruction is received (step S250: Yes), the unmanned flight threat device 4 executes landing (step S260). Specifically, the control unit 411 controls the unmanned flight threat device 4 to return to the landing platform and land along the flight route information. After that, the control unit 411 may perform the process of step S210 again.

FIG. 10 is a diagram explaining an example of a flight route. FIG. 10 shows monitoring regions T1 and T2 of two monitoring devices 1, respectively. When the moving object M is detected within the monitoring area T1, the flight route information R1 passing through the monitoring area T1 is set in the unmanned flight threat device 4 in step S70 of FIG. In step S90 of FIG. 6, the unmanned flight threatening device 4 is given a threatening instruction at least while passing through the monitoring area T1. When the moving object M is detected within the monitoring area T2, the flight route information R2 passing through the monitoring area T2 is set in the unmanned flight threat device 4 by the terminal device 3 in step S70 of FIG. Further, the unmanned flight threatening device 4 is given a threatening instruction at least while passing through the monitoring area T2 in step S90 of FIG.

FIG. 11 is a diagram for explaining the outline of the relationship of each device during operation of the wildlife intimidation system. (A) of FIG. 11 shows a state from the detection of birds and animals to the connection between the monitoring device 1 and the terminal device 3 . (B) of FIG. 11 shows the launch and threatening operation of the unmanned flight threat device 4 . (C) of FIG. 11 shows the state from when the repulsion of birds and beasts is detected until the unmanned flight threat device 4 lands.

An embodiment of the present invention has been described above. In this embodiment, for example, one or more monitoring devices 1 having a simple configuration without a threatening device are arranged, and an unmanned flight threatening device 4 equipped with a threatening device flies to the monitoring area T of each monitoring device 1 to perform a threatening operation. I do. As a result, it is possible to intimidate birds and beasts over a wide range with a simple configuration.

<First modification>
In the wildlife intimidation system according to the first modification of the above-described embodiment, the monitoring area T includes a plurality of partial monitoring areas, and can set flight routes corresponding to each of the partial monitoring areas. The following description focuses on points that differ from the above-described embodiment.

FIG. 12 is a diagram illustrating an example of a flight route according to the first modified example of this embodiment. In the first modification, the monitoring area T includes multiple partial monitoring areas. In the example of FIG. 12, the monitoring area T1 and the monitoring area T2 each have four partial monitoring areas (areas separated by dashed lines). Further, in the first modified example, flight route information corresponding to each partial monitoring area is prepared in advance. In the example of FIG. 12, four pieces of flight route information corresponding to each partial monitoring area are prepared for the monitoring area T1. The same applies to the monitoring area T2. For example, when the moving object M is detected within the lower right partial monitoring area of the monitoring area T1, the flight route information R11 passing through the partial monitoring area is set in the unmanned flight intimidation device 4 . Further, for example, when the moving object M is detected within the upper right partial monitoring area of the monitoring area T1, the unmanned flight intimidation device 4 is set with flight route information R12 passing through the partial monitoring area.

A configuration for realizing flight route setting as described above will be described.

FIG. 13 is a diagram showing a data configuration example of flight route information according to the first modified example. The storage unit 33 stores flight route information 331A that is partially different from the flight route information 331 shown in FIG. A record corresponding to each monitoring device 1 includes flight route information 331c for each area ID 331d in association with the monitoring device ID 331b. The area ID 331d is identification information of the partial monitoring area. The flight route information 331c is flight route information for flying the partial monitoring area indicated by the area ID 331d.

The control unit 111 of the monitoring device 1 analyzes the video acquired from the fixed-point camera 12 using image recognition processing or the like, and specifies a partial monitoring area in which a moving object exists and its area ID. Further, the control unit 111 transmits the specified area ID to the management server 2 together with the detection information.

The control unit 21 of the management server 2 associates the received area ID with the record corresponding to the monitoring device 1 that detected the moving object. Further, the control unit 21 transmits to the terminal device 3 the area ID together with the monitoring device ID of the monitoring device 1 that has detected the moving object.

The control unit 31 of the terminal device 3 refers to the flight route information 331A and acquires the flight route information 331c associated with the received region ID 331d from among the plurality of flight route information 331c associated with the selected monitoring device 1. do. Then, the control unit 31 sends flight route information about the partial surveillance area to the unmanned flight threat device 4, and also sends a start command to the unmanned flight threat device 4 so as to fly according to the flight route information.

According to the first modification, the unmanned flight threatening device 4 can be flown and threatened in a partial monitoring area where a moving object is detected in the monitoring area. This makes it possible to repel birds and beasts more effectively.

<Second modification>
The wildlife intimidation system according to the second modification of the above embodiment accumulates history information about repelling wildlife in a database, performs analysis using the history information, and performs flight and intimidation when the next time the wildlife is detected. to use. The following description focuses on points that differ from the above-described embodiment.

In the second modification, the record corresponding to each monitoring device 1 in the flight route information 331 includes multiple pieces of flight route information 331c in association with the monitoring device ID 331b. These flight routes, for example, have different routes approaching the monitoring area T and different routes within the monitoring area T. FIG. The flight route information 331c also includes the identification information of the flight route. The control unit 31 uses flight route information randomly selected each time to send a start instruction. This makes it difficult for birds and animals to get used to the intimidation of flight.

FIG. 14 is a diagram showing a data configuration example of history information and analysis information according to a modification of the above-described embodiment. The storage unit 23 of the management server 2 stores history information 232 and analysis information 233 as shown in FIG.

The history information 232 stores a history record with one history unit from detection to repulsion. Each record includes items such as monitoring device ID 232a, detection time 232b, repulsion time 232c, intimidation method 232d, and flight route 232e. The monitoring device ID 232 a is identification information of the monitoring device 1 . The detection time 232b is the time (for example, date and time) when the moving object was detected. The repulsion time 232c is the time (for example, date and time) when the moving object was repelled. The threatening method 232d is identification information of the threatening pattern used for the threatening action. The flight route 232e is identification information of flight route information used for the flight.

The analysis information 233 stores analysis records for each monitoring device 1 . Each record includes items such as monitoring device ID 233a, intimidation method 233b, and flight route 233c. The monitoring device ID 233 a is identification information of the monitoring device 1 . The intimidation method 233b is the identification information of the intimidation pattern determined as having a high repelling effect as a result of the analysis of the history information 232. FIG. The flight route 233c is identification information of flight route information determined as having a high repelling effect as a result of analysis of the history information 232 .

When the control unit 21 of the management server 2 receives detection information from the monitoring device 1 , it creates a history record and stores it in the history information 232 . The control unit 21 sets the monitoring device ID of the monitoring device 1 that has transmitted the detection information to the monitoring device ID 233a, and sets the reception time of the detection information to the detection time 232b.

The control unit 31 of the terminal device 3 acquires the identification information of the intimidation pattern executed by the unmanned flight intimidation device 4 and transmits it to the management server 2 . When the control unit 21 of the management server 2 receives the identification information of the threat pattern from the terminal device 3 , it sets the identification information to the threat method 232 d of the history record corresponding to the monitoring device 1 .

The control unit 31 of the terminal device 3 acquires the identification information of the flight route information used by the unmanned flight threat device 4 and transmits it to the management server 2 . When receiving the identification information of the flight route information from the terminal device 3 , the control unit 21 of the management server 2 sets the identification information to the flight route 232 e of the history record corresponding to the monitoring device 1 .

When receiving the repulsion information from the monitoring device 1 , the control unit 21 of the management server 2 sets the reception time of the repulsion information to the repulsion time 232 c of the history record corresponding to the monitoring device 1 .

As described above, history information is accumulated each time a moving object is detected and repelled. The control unit 21 of the management server 2 analyzes the history information 232 to determine highly effective intimidation methods and flight routes, and stores them in the analysis information 233 . For example, the control unit 21 reads history records containing the same monitoring device ID 232a, calculates the required time from detection to repulsion based on the detection time 232b and repulsion time 232c of each history record, and selects the record with the shortest required time. Identify. Then, the control unit 21 determines the intimidation method 232 d and the flight route 232 e of the identified record as highly effective intimidation methods and flight routes, and sets them in the corresponding analysis records of the analysis information 233 .

Of course, highly effective intimidation methods and flight route determination methods are not limited to the required time described above. For example, the control unit 21 may calculate the average required time from detection to repulsion for each intimidation method, and identify the record of the intimidation method with the shortest average required time. Further, for example, the control unit 21 may calculate the average required time from detection to repulsion for each flight route, and identify the record of the flight route with the shortest average required time. Further, for example, the control unit 21 may calculate the average required time from detection to repulsion for each combination of intimidation method and flight route, and identify the record of the combination with the shortest average required time.

The control unit 21 of the management server 2 controls each monitoring device ID 233a, each intimidation method 233b, each flight method, and each monitoring device ID 233a included in the analysis information 233 at a predetermined timing (for example, periodically or when there is an instruction from the user). The route 233c is obtained and transmitted to the terminal device 3. The control unit 31 of the terminal device 3 stores the monitoring device ID 233 a , the intimidation method 233 b , and the flight route 233 c received from the management server 2 in the storage unit 33 . The control unit 31 uses the flight route information indicated by the flight route 233c stored in the storage unit 33 to send a start instruction. Further, the control unit 31 uses the threatening method 233b stored in the storage unit 33 to send a threatening instruction. The control unit 421 of the unmanned flight threatening device 4 uses a threatening pattern corresponding to the threatening method 233b specified by the threatening instruction.

In this way, the terminal device 3 can cause the unmanned flight threat device 4 to fly using highly effective flight route information. In addition, the terminal device 3 can cause the unmanned flight threat device 4 to perform threats using highly effective threat patterns.

<Other Modifications>
The control unit 411 of the unmanned flight threat device 4 according to a modification may perform image analysis on the image captured by the camera 414 during flight to detect a moving object. In this case, the controller 411 may notify the controller 421 of the detection information. Then, the control unit 421 that has received the notification may execute the intimidation. In this way, the unmanned flight threatening device 4 can autonomously execute the threatening action without receiving a threatening instruction from the outside.

The control unit 411 of the unmanned flight threat device 4 according to a modification may perform image analysis on the image captured by the camera 414 during flight to detect a moving object. In this case, the control unit 411 may change a part of the flight route and control the flight so that it returns to the original flight route after approaching the position of the detected moving object (by passing near the moving object). good. In this way, the unmanned flying threat device 4 can autonomously threaten birds and beasts by flying.

In one variation, the flight route information sent with the launch instruction may incorporate a scare instruction. Specifically, the position on the flight route where the threat should be executed is set in the flight route information. The unmanned flight intimidation device 4 may perform intimidation according to the current position and flight route information. In this way, the terminal device 3 can omit the process of step S90 of FIG. 6, for example.

In a modification, regardless of whether a moving object is detected, for example, the terminal device 3 sends a start command with predetermined flight route information at a pre-scheduled time, and the unmanned flight threat device 4 sends the Patrol flight may be conducted according to the launch instruction. In this way, even if no moving object is detected, it can be expected to prevent the moving object from entering the monitoring area. When a moving object is detected during patrol flight, the terminal device 3 transmits flight route information corresponding to the monitoring device 1 in which the moving object is detected, and the unmanned flight threat device 4 updates the current flight route. All you have to do is change the received flight route.

In a modification, the wildlife threatening system may include a plurality of terminal devices 3 or a plurality of unmanned flight threatening devices 4 . Moreover, in a modification, the management server 2 and the terminal device 3 may be configured as an integrated device.

The configuration of each device of the wildlife intimidation system shown in FIG. 1 and the like is classified according to the main processing content in order to facilitate understanding of the configuration of each device. The present invention is not limited by the method of classifying the constituent elements or their names. The configuration of each device can also be classified into more components according to the processing content. Also, one component can be grouped to perform more processing. Also, the processing of each component may be executed by one piece of hardware, or may be executed by a plurality of pieces of hardware. Moreover, the processing or division of functions of each component is not limited to what is illustrated as long as the objects and effects of the present invention can be achieved.

In addition, the processing unit of the flowchart shown in FIG. 6 is divided according to the main processing content in order to facilitate understanding of the processing of each device. The present invention is not limited by the division method or name of the processing unit. The processing of each device can also be divided into more processing units according to the content of the processing. Also, one processing unit can be divided to include more processing. Furthermore, the processing order of the above flowcharts is not limited to the illustrated example as long as the objects and effects of the present invention can be achieved.

The present invention is not limited to the above-described embodiments, and includes various modifications. For example, each of the above-described embodiments has been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described components. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Moreover, it is possible to add, delete, or replace part of the configuration of each embodiment with another configuration.

Further, each of the above configurations, functions, processing units, processing means, and the like may be realized by hardware, for example, by designing them in an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, and files that implement each function can be placed in storage devices such as memories, hard disks, and SSDs, or recording media such as IC cards, SD cards, and DVDs. Further, the control lines and information lines indicate those considered necessary for explanation, and not all control lines and information lines are necessarily indicated on the product. In practice, it may be considered that almost all configurations are interconnected.

The present invention can be provided in various aspects such as not only the wildlife intimidation system and the wildlife intimidation method, but also each device included in the wildlife intimidation system, the method of each device, and the computer-readable program of each device.

Reference Signs List 1 monitoring device 2 management server 3 terminal device 4 unmanned flight threat device 11 monitoring control device 12 fixed point camera 13 infrared sensor 14 solar panel 21 control unit 22 Communication unit 23 Storage unit 31 Control unit 32 Communication unit 33 Storage unit 34 Input unit 35 Display unit 41 Flight control device 42 Intimidation control device 43 Non-contact Charging device 44 Departure/arrival platform 111 Control unit 112 Communication unit 113 Power supply unit 231 Monitoring device information 231a Monitoring device ID 231b Position 231c Detection state 231d Intimidation state 232 History information 232a Surveillance device ID 232b Detection time 232c Repulsion time 232d Intimidation method 232e Flight route 233 Analysis information 233a Surveillance device ID 233b Intimidation method 233c Flight route , 331... Flight route information 331A... Flight route information 331a... Unmanned flight threat device ID 331b... Monitoring device ID 331c... Flight route information 331d... Area ID 411... Control unit 412... Communication unit 413... Memory unit 414 Camera 421 Control unit 422 Communication unit 423 Storage unit 424 Light-emitting unit 425 Sound generator 500 Operation screen 510 Video area 520 Map area 530 Intimidation Operation area 531...Auto button 532...Manual button 533...Light emission button 534...Sound button 535...Start button 536...Stop button 537...Start button 538...Stop button

Claims (16)

Equipped with a monitoring device, a terminal device, and an unmanned flight threat device,
The monitoring device detects the presence of a moving object within a predetermined monitoring area,
When the presence of the moving object is detected, the terminal device transmits a start instruction to the unmanned flight threat device;
The unmanned flight threatening device comprises a threatening device for threatening the moving object, starts flying along a predetermined flight route according to the start instruction, and threatens at least within the surveillance area using the threatening device. . The wildlife intimidation system according to claim 1,
The monitoring device detects the absence of the moving object within the monitoring area,
The terminal device transmits a landing instruction to the unmanned flight threat device when the absence of the moving object is detected,
The unmanned flight intimidation device is a wildlife intimidation system that terminates flight on the predetermined flight route according to the landing instruction. The wildlife intimidation system according to claim 1 or 2,
The unmanned flight threatening device includes at least one of a sounding unit and a light emitting unit as the threatening device, and threatens a bird or beast at a predetermined position on the predetermined flight route or according to an instruction from the terminal device. intimidation system. The wildlife intimidation system according to any one of claims 1 to 3,
comprising a plurality of said monitoring devices,
The terminal device transmits the start instruction to the unmanned flight threat device to fly on a flight route associated with the monitoring device that has detected the presence of the moving object,
The unmanned flight intimidation device is a wildlife intimidation system that initiates flight along the instructed flight route. The wildlife intimidation system according to any one of claims 1 to 3,
the predetermined monitoring area includes a plurality of partial monitoring areas;
the monitoring device detects the presence of a moving object in any of the partial monitoring areas;
The terminal device transmits the start instruction to the unmanned flight threat device to fly on a flight route associated with the monitoring area where the presence of the moving object is detected,
The unmanned flight intimidation device is a wildlife intimidation system that initiates flight along the instructed flight route. The wildlife intimidation system according to any one of claims 1 to 3,
A wildlife threatening system, wherein the unmanned flight threatening device includes an imaging unit, and threatens using the threatening device when the presence of a moving object is detected using the imaging unit during flight on the flight route. The wildlife intimidation system according to any one of claims 1 to 3,
The unmanned flight threatening device includes an imaging unit, and if the presence of a moving object is detected using the imaging unit during flight on the flight route, the wildlife threatening system partially changes the flight route. The wildlife intimidation system according to claim 1,
The unmanned flight threatening device uses the threatening device to select and threaten one of a plurality of threatening methods,
The wildlife intimidation system includes a database that records a history of intimidation methods for each flight,
The terminal device instructs the unmanned flight threat device to threaten using a threat method selected from the database;
A wildlife threatening system wherein the unmanned flight threatening device threatens with the instructed threatening method. The wildlife intimidation system according to claim 1,
The unmanned flight threat device selects one of the plurality of predetermined flight routes to fly,
The wildlife intimidation system includes a database that records the history of flight routes for each flight,
The terminal device transmits the launch instruction to the unmanned flight threat device to fly on a flight route selected from the database;
The unmanned flight intimidation device is a wildlife intimidation system that initiates flight along the instructed flight route. A terminal device used in a wildlife threatening system comprising a monitoring device and an unmanned flight threatening device,
A terminal device that transmits a start instruction to the unmanned flight threat device when the presence of a moving object within a predetermined monitoring area is detected by the monitoring device. The terminal device according to claim 10,
A terminal device that transmits a landing instruction to the unmanned flight threat device when the monitoring device detects the absence of the moving object. The terminal device according to claim 10,
A terminal device that transmits a threatening instruction to the unmanned flight threatening device to execute a threatening operation. An unmanned flight intimidation device used in a wildlife intimidation system comprising a monitoring device and a terminal device,
Equipped with an intimidation device,
When the presence of a moving object within a predetermined monitoring area is detected by the monitoring device and a start instruction transmitted from the terminal device is received, flight along a predetermined flight route is started in accordance with the start instruction, and at least the monitoring device An unmanned flying threat device that performs threats using the threat device within an area. 14. The unmanned flight threat device of claim 13,
An unmanned flight intimidation device that terminates flight along the predetermined flight route in accordance with the landing instruction upon receiving a landing instruction transmitted from the terminal device when the absence of the moving object is detected by the monitoring device. 14. The unmanned flight threat device of claim 13,
An unmanned flight threatening device that includes at least one of a sounding unit and a light emitting unit as the threatening device, and executes threatening at a predetermined position on the predetermined flight route or executes threatening according to an instruction from the terminal device. A wildlife intimidation method in a wildlife intimidation system comprising a monitoring device, a terminal device, and an unmanned flight intimidation device, comprising:
the monitoring device detecting the presence of a moving object within a predetermined monitoring area;
a step in which the terminal device transmits a start instruction to the unmanned flight threat device when the presence of the moving object is detected;
and a step of causing the unmanned flight threatening device to start flying along a predetermined flight route in accordance with the start instruction, and performing threatening using the threatening device at least within the surveillance area.

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