JP6407930B2 - System and method for repelling or exterminating pests - Google Patents

Description

  The present invention relates to a system and method for repelling or exterminating pests that enter inside farmland areas.

  In recent years, harmful animals including beasts such as deer, monkeys, wild boars and bears and birds such as crows have invaded farmland areas such as fields, and damages such as eating crops and ruining farmland continue. Pests can attack people and cause death. This damage has incurred tremendous economic losses for farmers as well as endangering the lives of local residents. Therefore, in areas where damage caused by pests is severe, electric fences and the like are installed around farmland and at the boundary between mountainous areas and villages in order to prevent the invasion of pests. However, electric fences, etc. require labor for installation and removal, and management such as mowing and repairing damaged parts is necessary, making it difficult to manage in depopulated areas. In addition, pests can break into electric farms by breaking electric fences.

  There is also a technology that threatens pests with light and sound to prevent them from entering. For example, in patent document 1, the detection means which detects the approach of a pest is provided, and based on the detection of a detection means, a sound wave is emitted toward a pest. However, in the threat of light and sound waves alone, the pests may become used to the threat and do not evacuate from the farmland area. In addition, such technology does not reduce the number of pests, so it will not be a fundamental solution because pests will invade and injure places where no threatening devices are installed.

  There is also a technique for preventing the invading of harmful pests into farmland using a small unmanned aerial vehicle (so-called drone) that can fly three-dimensionally. In the technique of Patent Document 2, threatening means for threatening a harmful animal to an unmanned aircraft is provided, and the unmanned aircraft automatically controls the operation of the airframe to fly three-dimensionally. However, even with this technology, the three-dimensional flight of the aircraft and the threatening means only threaten the pests, so the pests may become used to the threats and not escape from the farmland area. Also, this technique does not reduce the number of pests and therefore does not provide a fundamental solution.

JP 2010-246535 A Utility Model Registration No. 3199308

  Therefore, in view of the above problems, the problem to be solved by the present invention is that a pest does not get used to intimidation, the pest can be surely removed from the farmland area, and in some cases, the tracking distance is increased. It is to provide a system and method for reducing the number of individuals by causing pests to die by lengthening them.

In order to solve the above problems, the system according to the present invention is:
A system for repelling or exterminating pests that enter the farmland area,
A plurality of detection units that are arranged outside the farmland area with a predetermined interval, and for detecting pests that invade the farmland area,
A small unmanned aerial vehicle that can fly in three dimensions,
A threatening part to threaten the pests,
A recognizing unit for recognizing pests, installed on an unmanned aerial vehicle,
A position acquisition unit for acquiring the position of the unmanned aerial vehicle;
A position storage unit for storing the position of a river near the farmland area ,
Unmanned aerial vehicles
(I) Start flying based on detection by the detection unit;
(Ii) while approaching and tracking the pest based on the recognition of the recognition unit, threatening the pest in the threatening unit, driving away the pest from the farmland area,
Fly over or near the river between (i) and (ii) .

Preferably,
The unmanned aerial vehicle tracks the pest after (ii) to a tracking area set outside the farmland area.

Preferably,
The unmanned aerial vehicle tracks the pests for a predetermined time after (ii).

Preferably,
The system further
It has a clock that detects the current time,
The detection unit is driven during midnight.

Preferably,
The threatening part irradiates light pests with both or one of light and ultrasonic waves.

Moreover, the method according to the present invention includes:
A method for repelling or exterminating a pest that invades a farmland area,
Provided in the unmanned aerial vehicle, a plurality of detection units for detecting pests that invade the farmland region, a small unmanned aircraft capable of three-dimensional flight, and arranged at predetermined intervals outside the farmland region A threatening part for threatening pests, an unmanned aircraft, a recognition part for recognizing harmful pests, a position acquisition part for acquiring the position of unmanned aerial vehicles, and a farmland area A step of preparing a position storage unit for storing the position of the river in
(Iii) starting the flight of the unmanned aerial vehicle based on the detection of the detection unit;
(Iv) intimidating and tracking the pests while approaching and tracking the pests based on the recognition of the recognition unit, and driving away the pests from the farmland area ;
Flying an unmanned aerial vehicle over or near the river between (iii) and (iv) .

Preferably,
(Iv) is followed by the step of tracking a pest with an unmanned aerial vehicle to a tracking area set outside the farmland area.

Preferably,
(Iv) is followed by the step of tracking a pest with an unmanned aerial vehicle for a predetermined time.

Preferably,
The method is further
It has a clock that detects the current time,
The detection unit is driven during midnight.

Preferably,
The threatening part irradiates light pests with both or one of light and ultrasonic waves.

  The system and method according to the present invention do not get used to the pests, and can reliably remove the pests from the farmland area.

The top view which shows the system which concerns on this invention. The side view which shows the system which concerns on this invention. The figure which shows the structure of a detection part. The figure which shows the structure of an unmanned aerial vehicle. The flowchart which shows the process of the method which concerns on this invention.

  Hereinafter, an embodiment of a system and method according to the present invention will be described based on the drawings.

[Constitution]
As shown in FIGS. 1 and 2, the system includes a plurality of detection units 2. The detection unit 2 is disposed outside the farmland region 1 with a predetermined interval. The farmland area 1 includes a field 10 and a field 11 that may be eaten by the pests 4. The harmful animals 4 include animals such as deer, monkeys, wild boars and bears, and birds such as crows.

  In a general farmland region 1, the vicinity of both banks of the river 12 is flat, and a farmer 13 is disposed on the flatland together with the rice field 10 and the field 11. In general, the outside of the territory area 1 is a mountainous area. The detection unit 2 detects a harmful animal 4 that is directed to the farmland area 1 and enters the farmland area 1.

  The system includes at least one (two in this embodiment) small unmanned aerial vehicles 3 (so-called drones). The unmanned aerial vehicle 3 includes a plurality of rotary wings and can fly three-dimensionally. The system includes a landing area 3a where the unmanned aerial vehicle 3 waits. The landing area 3a is arranged inside or outside the farmland area 1. Considering convenience of management, prevention of theft, etc., it is preferable that the landing area 3 a is arranged near the farmhouse 13 inside the farmland area 1.

  A virtual first boundary line 1 a is arranged along the plurality of detection units 2 on the outer periphery of the farmland region 1. The system further comprises a tracking area 14 set outside the farmland area 1. A virtual second boundary line 1 b is arranged on the outer periphery of the tracking area 14. For example, the first boundary line 1a and the second boundary line 1b are arranged in parallel at a distance of about 1.5 km. In general, the tracking area 14 is located in a mountainous area.

  As shown in FIG. 3, the detection unit 2 includes a detection unit 22 that detects the pest 4. The sensing unit 22 includes, for example, a moving body sensing unit that can detect the movement of the pest 4 and a heat sensing unit that can detect the body temperature of the pest 4. The detection unit 2 includes a communication unit 21 for transmitting and receiving signals to and from the unmanned aircraft 3. The detection unit 2 includes a clock unit 23 that detects the current time.

  The detection unit 2 includes a control unit 20 that controls the communication unit 21, the detection unit 22, the clock unit 23, and the like. The control unit 20 controls activation / termination of the detection unit 2, transmission of the communication unit 21, and the like based on signals from the detection unit 22 and the like.

  Since the pest 4 often eats and destroys the farmland at midnight, in order to prevent misrecognition and wasteful energy consumption, the detection unit 2 can be driven only at midnight (for example, 1 am to 4 am). preferable.

  As shown in FIG. 4, the unmanned aerial vehicle 3 includes a communication unit 31 for transmitting and receiving signals to and from the detection unit 2. The unmanned aerial vehicle 3 includes a threatening unit 32 for threatening the pest 4. The threatening unit 32 includes, for example, a light unit that irradiates the harmful animal 4 with blinking light and a sound wave unit that irradiates the harmful animal 4 with ultrasonic waves.

  The unmanned aerial vehicle 3 includes a recognition unit 33 for recognizing the pest 4. The recognition unit 33 includes, for example, a CCD camera that can acquire the appearance of the pest 4, a moving body sensor that can detect the movement of the pest 4, and a thermal sensor that can detect the body temperature of the pest 4.

  The unmanned aerial vehicle 3 includes a position acquisition unit 34 for acquiring three-dimensional coordinate information of its own position using GPS (Global Positioning System). The unmanned aerial vehicle 3 includes a position storage unit 35 for storing the positions of the farmland area 1 and the tracking area 14 including the river 12 and the three-dimensional coordinate information of the terrain using GIS (Geographic Information System).

  The unmanned aerial vehicle 3 includes a control unit 30 that controls the communication unit 31, the threatening unit 32, the recognition unit 33, the position acquisition unit 34, the position storage unit 35, and the like. The control unit 30 controls activation / termination of the unmanned aerial vehicle 3, operation of the rotor blades, and the like based on signals from the communication unit 31 and the recognition unit 33.

[Operation]
As shown in FIG. 5, when the midnight of a predetermined time preset by the clock unit 23 is detected, the detection unit 2 is activated (step S1). The detection unit 2 detects whether or not the pest 4 has entered the farmland area 1 by the detection unit 22 (step S2). When the detection unit 2 detects, the communication unit 21 transmits a detection signal to the unmanned aircraft 3.

  When the communication unit 31 receives the detection signal from the detection unit 2, the unmanned aircraft 3 starts to fly from the departure / arrival place 3a (step S3). The unmanned aerial vehicle 3 performs a three-dimensional flight at an altitude of 20 m for safety by the position acquisition unit 34 and the position storage unit 35.

  The unmanned aerial vehicle 3 flies over or near the river 12 by the position acquisition unit 34 and the position storage unit 35 (step S4). Then, the threatening part 32 of the unmanned aerial vehicle 3 is activated (step S5). Since the pest 4 is near the detection unit 2 that has transmitted the detection signal, the unmanned aerial vehicle 3 flies toward the detection unit 2. The unmanned aerial vehicle 3 approaches and tracks the harmful animal 4 by the recognition unit 33 (step S6).

  The reason why the unmanned aircraft 3 approaches the pest 4 after flying over the river 12 is as follows. In particular, when the pest 4 is a deer, the natural enemy dog slows down when entering the river 12 and tracks its prey using not only the vision but also the sense of smell. It recognizes that the clue of tracking is not given to natural enemies by erasing, and has the habit of escaping into the river 12 when it is tracked by a dog. Therefore, if the unmanned aerial vehicle 3 approaches the deer 4, the deer 4 may escape in the direction of the river 12 and cannot be driven away to the mountains. Therefore, when the unmanned aircraft 3 approaches the deer 4 from the river 12 side, the deer 4 can be surely driven away to the mountainous area opposite to the river 12.

  Thereafter, the unmanned aerial vehicle 3 keeps the harmful beast 4 away from the farmland area 1 by tracking the harmful beast 4 while threatening. The unmanned aerial vehicle 3 detects whether or not it is flying outside the tracking area 14 by the position acquisition unit 34 and the position storage unit 35 (step S7). If the unmanned aerial vehicle 3 is flying outside the tracking area 14, the unmanned aircraft 3 returns to the landing area 3a (step S8). Even if the unmanned aerial vehicle 3 does not fly outside the tracking area 14, it will return to the departure / arrival place 3a when a predetermined time elapses or fuel is low.

  The reason why the unmanned aerial vehicle 3 tracks the harmful beast 4 not to the farmland area 1 but to the tracking area 14 is as follows. In particular, when the pest 4 is a deer, the deer may die if the body temperature exceeds a predetermined temperature, but if the deer is chased by a natural enemy, it has a habit of continuing to escape until it dies. Therefore, the unmanned aerial vehicle 3 tracks the deer 4 over a long distance to the tracking area 14 and sets the deer 4 to a predetermined body temperature or more, so that the deer 4 is not simply evacuated from the farmland area 1 but also a part of the mountain. It will also be possible to reduce the number of individuals within the region by dying.

As mentioned above, although preferable embodiment of this invention was described, the structure of this invention is not limited to these embodiment.
-Since there is no river 12 in the farmland area 1 or there is an area where there is no deer as the harmful animal 4, step S4 and step S7 may be omitted.
・ When the number of deer is too large, the tracking area 14 is not set and a predetermined time (for example, 10 minutes) is set, and the unmanned aerial vehicle 3 speeds the harmful animal 4 (deer) for a predetermined time By tracking and raising body temperature and dying, safe removal is possible without requiring personnel.
-When there is a possibility that the pest 4 may act other than midnight, the detection unit 2 may be driven at all times.

DESCRIPTION OF SYMBOLS 1 Farmland area | region 12 River 14 Tracking area | region 2 Detection part 23 Clock part 3 Unmanned aircraft 32 Threatening part 33 Recognition part 34 Position acquisition part 35 Position storage part 4 Pest

Claims (10)

A system for repelling or exterminating pests that enter the farmland area,
While being arranged at predetermined intervals on the outer side of the land area, and a plurality of detecting portions for detecting the vermin from entering the inside of the land area,
A small unmanned aerial vehicle that can fly in three dimensions,
A threatening part for threatening the pests, provided on the unmanned aerial vehicle,
A recognition unit provided in the unmanned aerial vehicle and for recognizing the harmful animal,
A position acquisition unit for acquiring the position of the unmanned aircraft;
A position storage unit for storing the position of a river near the farmland area ,
The unmanned aircraft
(I) starting flight based on detection by the detection unit;
(Ii) while approaching and tracking the pest based on the recognition of the recognition unit, threatening the pest at the threatening unit, driving away the pest from the farmland area,
A system that flies over or near the river between (i) and (ii) . The system according to claim 1 , wherein the unmanned aerial vehicle tracks the pest after (ii) to a tracking area set outside the farmland area. The system of claim 1 , wherein the unmanned aerial vehicle tracks the pests for a predetermined time after the (ii). The system further comprises:
It has a clock that detects the current time,
The detection unit, a system which is according to any one of claims 1 to 3, characterized in that driving between midnight. The intimidating unit, the system according to any of claims 1-4, characterized in that both or one of the optical and ultrasound is irradiated toward the vermin. A method for repelling or exterminating a pest that invades a farmland area,
While it is arranged at predetermined intervals on the outer side of the land area, and the vermin plurality of detecting portions for detecting entering the inside of the land area, and unmanned aircraft sterically flyable small In order to obtain the position of the unmanned aerial vehicle, a threatening unit for threatening the harmful animal, a recognition unit for recognizing the harmful animal, and a threatening part for threatening the harmful animal Preparing a position acquisition unit, and a position storage unit for storing the position of a river near the farmland area ,
(Iii) starting the flight of the unmanned aircraft based on the detection of the detection unit;
(Iv) threatening the pest at the threatening part while approaching and tracking the pest based on the recognition of the recognition unit, and driving the pest away from the farmland area ;
Flying the unmanned aerial vehicle between (iii) and (iv) above or near the river . The method according to claim 6 , further comprising: after (iv), tracking the pest with the unmanned aerial vehicle to a tracking area set outside the farmland area. The method of claim 6 , comprising tracking the pest with the unmanned aerial vehicle for a predetermined time after (iv). The method further comprises:
It has a clock that detects the current time,
The detection unit, the method according to any of claims 6-8, characterized in that the drive between midnight. The method according to any one of claims 6 to 9 , wherein the threatening unit irradiates the harmful animal with both or one of light and ultrasonic waves.

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