JP6512672B2 - Pest control device - Google Patents

Description

  The present invention relates to a pest control device.

  Various methods and devices have been proposed so far to kill and capture pests typified by life hygiene pests such as mosquitoes and mosquitoes (fly and fly). For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2000-253793) and Patent Document 2 (Japanese Patent Application Laid-open No. 2009-95257), a device for attracting mosquitoes and moths and sucking and catching / killing them by suction means Has been proposed. In addition, in Patent Document 3 (Japanese Patent Laid-Open No. 2010-41976), an operator holds a hand and operates to suction and drive mosquitoes and flies that are in flight or at rest, aiming to perform suction drive. A control device has been proposed.

  The devices described in these prior art documents can be avoided to spray pesticides indiscriminately, and can be said to be a human environment friendly method.

JP, 2000-253793, A JP, 2009-95257, A JP, 2010-41976, A

  However, the “mosquito and mosquito killer” described in the above-mentioned prior art document 1 and the “mosquito removing device” described in patent document 2 are mosquitoes which are presumed to be present by attraction. Since it is intended to aspirate pests such as moths and not to confirm the presence of actual mosquitoes and moths, there is a problem that mosquitoes and moths can not be effectively captured, killed or killed.

  On the other hand, the "insect sucking and exterminating device" described in Patent Document 3 is captured by an operator holding it in hand and operating to suction and drive mosquitoes and flies that are in flight or at rest. It is a thing. Therefore, the above problem can be avoided because the operator confirms the presence of actual mosquitoes and chicks and then performs suction drive.

  However, in the case of the device of Patent Document 3, there is a problem that it is troublesome because it is necessary for a person to hold and operate the device. In addition, those described in the above prior art documents rely on the ability to detect and suck mosquitoes and sputum by the operator and sucking skills, and an operator with poor ability and skill effectively captures, kills and kills mosquitoes and sputum. There is a problem that you can not do it. Furthermore, there is a problem that it can not be used while the operator is away or in an unmanned environment.

  An object of the present invention is to provide a pest control device capable of effectively eliminating the pests such as mosquitoes and moths by solving the above-mentioned problems.

In order to solve the above-mentioned subject, invention of claim 1 is,
An air flight mechanism unit for flying in the air;
One or a plurality of cameras for photographing the periphery, one or a plurality of microphones for picking up ambient sound from a predetermined direction, any smell sensor for detecting smell pest, or a combination thereof ,
And a pest drop processing unit for dropping pests,
Pest image recognition unit recognizes the pest from the photographed image of the camera, by recognizing the sound emitted by the pest from the sound picked up by the microphone, pest generated sound recognition unit recognizes the pests, detected by the odor sensor Any of a pest odor recognition unit that recognizes the pest from odors, or a combination thereof;
And the control section,
And the control unit
Based on the recognition result of the pest image recognition unit , the pest sound recognition unit , or the pest odor recognition unit, or based on the recognition result of the combination thereof , the air flight mechanism unit is driven and controlled, and the pest falling processing unit is Pest control execution means for driving and controlling to drop the pests;
Based on the recognition result of the pest image recognition unit, the pest sound recognition unit, the pest odor recognition unit, or a combination thereof, the pest being dropped by the pest control execution means Means of catching insects,
To provide a pest control device.

  In the pest control apparatus according to the first aspect of the invention described above, the pest image recognition unit recognizes a pest such as a mosquito or a spider by recognizing whether a pest image is present in a captured image of a camera. . When the pest image recognition unit recognizes a pest, the control unit drives the pest fall processing unit to drop the pest.

  Also, since the pest sound recognition unit has, for example, a feather sound emitted by a mosquito or a beak in a specific frequency range, the pest noise is recognized by detecting the component of the frequency band of the feather sound from the sound collected by a microphone Do. The control unit drives the pest drop processing unit to drop the pest when the pest occurrence sound recognition unit recognizes the pest.

  According to the pest control device of the present invention, it is possible to control the pests efficiently by dropping pests such as mosquitoes and chicks.

  According to the pest control device according to the present invention, the pest drop processing is performed not only during stationary but also while flying in the air based on the recognition of the pest by the pest image recognition unit and the pest sound recognition unit. By driving the department, it is possible to drop insect pests such as mosquitoes and moths and eliminate them efficiently.

It is a figure which shows the mechanical structural example of embodiment of the pest capture accommodation apparatus as an example of the pest control apparatus by this invention. It is a block diagram showing an example of composition of a drive control device part of an embodiment of a pest capture accommodation device as an example of a pest control device by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of an example of operation | movement of embodiment of the insect catching and containing apparatus as an example of the pest control apparatus by this invention. It is a figure which shows a part of flowchart for demonstrating the flow of an example of operation | movement of embodiment of the insect catching and containing apparatus as an example of the pest control apparatus by this invention. It is a figure which shows typically an example of the mode of a concrete operation | movement of embodiment of the pest capture accommodation apparatus as an example of the pest control apparatus by this invention. It is a figure which shows typically an example of the mode of a concrete operation | movement of embodiment of the pest capture accommodation apparatus as an example of the pest control apparatus by this invention. It is a figure which shows typically an example of the mode of a concrete operation | movement of embodiment of the pest capture accommodation apparatus as an example of the pest control apparatus by this invention.

  FIG. 1 is a view showing a configuration example of an embodiment of a pest capture and storage device as an example of a pest control device according to the present invention. The embodiment of the pest capture and storage device functionally includes the component parts of the embodiment of the pest controller of the present invention.

  The pest capture and storage device 1 of this embodiment is a configuration of an aircraft that can autonomously fly in the air and move. FIG. 1A is a view of the pest catching and holding device 1 of this embodiment as viewed from above, and FIG. 1B is a front side view of the pest catching and holding device 1 of this embodiment. It is the figure seen from.

  The pest capture and storage device 1 of this embodiment includes an air flight mechanism unit 2 having a so-called quadcopter structure and a drive control unit 3. The air flight mechanism unit 2 is drive-controlled by the drive control unit 3. As shown in FIG. 1, in the air flight mechanism unit 2, rotary blade (rotor) mechanisms 5A, 5B, 5C, 5D are attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. Is configured.

  The rotary wing mechanisms 5A, 5B, 5C, 5D are driven to rotate the rotary wings 52A, 52B, 52C, 52D by rotationally driving rotary wing shafts (not shown) by the motor drive units 51A, 51B, 51C, 51D. It is configured to be rotationally driven. The rotational speeds and rotational directions of the motor drive units 51A, 51B, 51C, and 51D are controlled by drive control signals from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a rotational drive power source or a drive control power source. Power is supplied from the battery to various mechanisms such as a pest suction unit described later, a camera, a directional microphone, various sensors, a controller, and the like. For example, a rechargeable secondary battery is used as the battery.

  In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by the drive control signal from the drive control unit 3, so that the pest capture and storage device 1, which is a flying object, takes off, Landing, climbing (directly above, obliquely upward), descending (directly below, obliquely downward), right turn, left turn, forward, reverse, right shift, left shift, etc. In addition, attitude control such as an inclination angle with respect to the vertical direction and position control of hovering position can be performed.

  And in the insect catching and containing apparatus 1 of this embodiment, the insect trapping and holding unit 6 is formed integrally with the drive control unit 3. In this example, the pest capture and storage unit 6 is configured in a box-like shape as a whole, and although not shown in FIG. 1, it includes an insecticide spray unit, a pest attract unit, and a pest suction unit .

  Then, inside the pest catching and holding unit 6, a pest holding chamber 61 (see a dotted line portion in FIG. 1B) in which the pest sucked by the pest sucking unit is housed is provided. The pest container 61 is filled with an insecticidal agent, and the contained pest is killed by the insecticide agent even though it is alive at the time of containment.

  And as shown to FIG. 1 (B), the side attraction | suction opening part 62 connected to the pest accommodation chamber 61 is provided in the front side surface of the housing | casing of the pest capture accommodation part 6. As shown in FIG. Further, a suction hose portion 63 communicating with the pest storage chamber 61 is provided on the bottom surface of the housing of the pest capture storage portion 6, and the tip end of the suction hose portion 63 communicates with the suction hose. A bottom side suction opening 64 provided with a suction opening is provided.

  And, in this example, the pest catching and holding unit 6 switches whether the opening at the time of driving and sucking the pest suction unit is the side suction opening 62 or the bottom side suction opening 64. A suction port switching mechanism (not shown in FIG. 1) is provided. In addition, in this example, the side suction opening 62 is mainly used when the pest trapping and holding device 1 sucks a pest while flying, and the bottom side suction opening 64 is a landing state of the pest trapping and holding device 1 Is used when sucking in the pests present on the landing surface 8.

  In addition, as shown in FIG. 1 (B), an insecticide spray port 65, 66 is provided in front of the side surface of the pest catching and holding unit 6, and the insecticide spray port 65, 66 is sprayed with the insecticide. Is configured as. Further, as shown in FIG. 1 (B), an infrared light emitting unit 67 effective for attracting mosquitoes and moths is provided in front of the side surface of the pest catching and holding unit 6.

  A pest disposal button (not shown) is provided in the pest capture and storage unit 6, and when the user presses the pest disposal button, the pest capture and storage unit 6 is provided with the pest capture and storage unit 6. The communicating opening is opened, and the carcass of the pest stored in the pest storage chamber 61 can be discarded to the outside through the opening.

  Further, two legs 7A and 7B are attached to the housing of the pest capture and storage unit 6 so as to face each other. In this example, the legs 7A and 7B are pipe members formed in a trapezoidal shape, and as shown in FIG. 1 (B), at the landing surface 8, the edge of the pest catching and holding portion 6 is on the landing surface 8. It is formed to hold the pest capture and storage device 1 stably without contact.

  In this example, as shown in FIGS. 1A and 1B, a camera CM1 and a directional microphone (abbreviated as a directional microphone) MC1 are provided on the upper surface of the housing of the drive control unit 3. It is done. Further, as shown in FIGS. 1A and 1B, cameras CM2 to CM5 and directional microphones MC2 to MC5 are provided on the four side surfaces of the housing of the pest capture and storage unit 6, respectively. Furthermore, as shown in FIG. 1B, a camera CM 6 and a directional microphone MC 6 are provided on the bottom surface of the housing of the pest capture and storage unit 6.

  The optical axes of the cameras CM1 to CM6 (corresponding to the imaging direction) are orthogonal to the attachment surfaces of the cameras CM1 to CM6, and a predetermined range of angle of view can be imaged around the optical axis direction. Further, the directional axis direction of sound collection (sound signal, acoustic information) of the directional microphones MC1 to MC6 is orthogonal to the attachment surface of each of the directional microphones MC1 to MC6, and the directivity characteristic is the directivity range Is preferably narrow and steep, and may be a so-called superdirective microphone.

  A drive control unit 10 is provided in the pest capture storage unit 6 integrated with the drive control unit 3. FIG. 2 is a block diagram showing a configuration example of the drive control unit 10 in the pest capture and storage device 1 of this embodiment. The battery is omitted in FIG.

  As shown in FIG. 2, the drive control unit 10 in this embodiment transmits an air flight drive unit 102 and a gyro sensor to the control unit 101 including a microcomputer (abbreviated as a microcomputer in FIG. 2) through the system bus 100. 103, geomagnetic sensor 104, altitude sensor 105, obstacle sensor 106, moving space information memory 107, current position detection unit 108, flight drive signal generation unit 109, position and attitude control signal generation unit 110, camera group 111, directional microphone group 112, pest image recognition unit 113, pest occurrence sound recognition unit 114, insecticide spray unit 115, suction drive unit 116, pest attraction unit 117, suction port switching mechanism unit 118, operation unit 119 ing. A pest suction unit 120 is connected to the suction drive unit 116.

  The air flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, 51D of the rotary wing mechanisms 5A, 5B, 5C, 5D of the air flight mechanism unit 2 according to the control of the control unit 101. Do.

  The gyro sensor 103 detects an acceleration change during flight of the pest capture and storage device 1, and is used to detect the flight traveling direction of the pest capture and storage device 1, its speed, and its posture. The geomagnetic sensor 104 is used to detect in which direction the insect capture and storage device 1 is flying. The altitude sensor 105 is for detecting the altitude at which the pest capture and storage device 1 is located at that time, and is, for example, an atmospheric pressure sensor.

  The obstacle sensor 106 is used to detect an obstacle such as a wall, a closet, a bed, a desk or the like in a room where the pest capture and storage device 1 is used, and to fly while avoiding a collision with the obstacle.

  The moving space information memory 107 stores space information on the room in which the insect capture and storage device 1 is used. An application program (for example, Photosynth) for panoramic photography is stored in the memory of the control unit 101 of the pest capture and storage device 1 of this embodiment, and the pest capture and storage device 1 flies in the room where it is used in advance. The room is photographed in a 360 degree range using all or part of the cameras CM1 to CM6. Then, using the application program for panoramic photography, the control unit 101 generates 3D image information of the room from the photographed image information taken, and stores the generated 3D image information in the movement space information memory 107.

  In this case, in this example, the pest capture and storage device 1 defines a specific position in the room in which it is used as a home position, and uses that position as a base to take off and land. The information stored in the moving space information memory 107 also stores position information of the home position determined above. In addition, in the moving space information memory 107, information of vertical, horizontal and height of the room to be used is also stored in advance. Furthermore, structural information of a room to be used, such as a beam, a pipe space, or a column may be stored in advance.

  The current position detection unit 108 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the pest capture and storage device 1. In order to obtain more accurate position information, the current position may be detected using radio waves from a mobile phone base station or radio waves from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . In addition, the surroundings of the insect capture and storage device 1 are photographed using all or part of the cameras CM1 to CM6, and the photographed image information photographed is compared with 3D image information stored in the moving space information memory 107 to obtain an image. By recognizing, the relative position in the 3D image space may be grasped and the current position may be detected. In order to detect the current position after movement, the current position detection unit 108 also uses the gyro sensor 103, the geomagnetic sensor 104, and the height sensor 105.

  The flight drive signal generation unit 109 causes the control unit 101 to start flight from a base (home position) and move in the air according to a command based on the activation information, and the position information of the base stored in the movement space information memory 107 From the position information of the current position detected by the current position detection unit 108, the movement direction and movement distance are calculated to generate a flight drive signal for moving in the room to search for a pest.

  Then, the flight drive signal generation unit 109 uses the information such as the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105 and the like based on the calculated direction and distance, and further, the photographed images from the cameras CM1 to CM6 of the camera group 111. And generates a flight drive signal for moving from the base position to the specified tracking start position, and supplies it to the air flight mechanism unit 2 through the air flight drive unit 102. In this case, the flight drive signal is a signal for driving each of the motor drive units 51A to 51D of the four rotary wing mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the air flight mechanism unit 2 through the air flight drive unit 102.

  In response to the flight drive signal, the air flight mechanism unit 2 rotationally drives each of the rotary wings 52A to 52D to fly from the base to the follow-up start position or from the current position after the follow-up movement to the base, Move by

  The position and orientation control signal generation unit 110 detects the position of the pest capture storage unit 6 for the detected pest based on the photographed images of the gyro sensor 103, the geomagnetic sensor 104, the height sensor 105, and the cameras CM1 to CM6 A position and orientation control signal is generated to control the position of the pest capture and storage unit 6 such as the position (height position)) and the position of the insect capture storage unit 6 such as the inclination angle and the inclination direction.

  For example, as described later, when the pest capture and storage device 1 detects a pest, the position and orientation control signal generation unit 110 causes the position and the posture of the pest capture and storage unit 6 to move in the direction of the pest. A position and orientation control signal is generated such that the side suction opening 62 is directed. Further, as described later, when a pest such as a mosquito or a spider falls by spraying of an insecticide, the pest may land directly on the dropped pest and suction the dropped pest from the bottom side suction opening 64. It generates position and orientation control signals as it can.

  The camera group 111 includes the cameras CM1 to CM6 described above. Identification information for identifying which camera is the photographed image information from which camera is added to the photographed image information sent from each of the cameras CM1 to CM6 to the system bus 100.

  The directional microphone group 112 includes the directional microphones MC1 to MC6 described above. The acoustic information sent from each of the directional microphones MC1 to MC6 to the system bus 100 is added with identification information for identifying which directional microphone collects the acoustic information.

  In this embodiment, the pest image recognition unit 113 performs image recognition by comparing captured image information captured by the cameras CM1 to CM6 with indoor 3D image information stored in the moving space information memory 107. Then, it is determined whether or not there is a pest image in the photographed image information, and the pest is recognized. In this case, the pest image recognition unit 113 determines the position of the wall where the pest catching and holding device 1 is facing, at which height position, and at what position, the position and posture. Photographed images of the cameras CM1 to CM6 which are recognized based on the information from the control signal generation unit 110 and specified from the recognized direction, height position and attitude from the moving space information memory 107 based on the recognition result The image information in the room of the range is read out and used as image information for comparison with the image information actually photographed by each of the cameras CM1 to CM6.

  Then, the pest image recognition unit 113 compares each of the photographed image information photographed by the cameras CM1 to CM6 with the respective image information of the photographed image range of the cameras CM1 to CM6 read from the moving space information memory 107. When a difference (difference) is detected, the difference is compared with a pest image which has been registered (stored) in advance in a memory (not shown) built in the pest image recognition unit 113, to detect the presence of a pest. To detect Then, when the pest image recognition unit 113 detects a pest, the pest image recognition unit 113 outputs the pest image detection information to the system bus 100 together with the information specifying the detected indoor position.

  The pest image registered in advance is written in the memory by the manufacturer at the time of factory shipment. However, a memory built in the pest image recognition unit 113 can be accessed later, and can be downloaded from a manufacturer's homepage or the like through the Internet and registered in the memory. May be Further, the pest image photographed by the user or the acquired pest image may be registered in the memory.

  In this embodiment, the pest sound recognition unit 114 detects the presence of the pest by detecting the sound generated by the pest, in this example, the feathering sound, from the acoustic information collected by each of the directional microphones MC1 to MC6. To do. That is, it is known that the wings of mosquitoes are 300 Hz to 600 Hz, and that the wings of wings are around 200 Hz. Therefore, in this embodiment, the insect pest sound recognition unit 114 includes a feathering detection circuit including a band pass filter 114a, and extracts only the frequency component of the feather noise of the pest to be captured by the band pass filter 114a. To detect the presence of The band pass filter 114a may be provided with one or both for mosquito wings and / or wing wings. The component of the flight drive sound generated by the air flight mechanism unit 2 is excluded from the detection targets of the pest sound by the band pass filter 114a.

  In addition, the pest sound recognition unit 114 registers (stores) in advance a waveform pattern of a feather sound of a mosquito or an ax and a spectral pattern in a memory (not shown) built in the pest sound recognition unit 114. In addition to the band pass filter 114a, the presence or absence of mosquitoes or moths may be detected more accurately by detecting coincidence or approximation of their waveform patterns or spectral patterns. Note that the waveform pattern and spectrum pattern of the pest sound that has been registered in advance may be written in the memory by the manufacturer at the time of factory shipment, or can be downloaded from the manufacturer's homepage etc. via the Internet. It is also good. Moreover, you may utilize the insect outbreak sound which the user collected, and the acquired insect outbreak sound. In this case, the pest sound is frequency-analyzed by the pest sound recognition unit 114, converted to a waveform pattern or a spectral pattern, and registered in the memory.

  In the case of mosquitoes, since the frequency of feathering differs between female and male mosquitoes and it is the female mosquito that sucks blood, even if the feathering of female mosquitoes is selectively detected, the presence of female mosquitoes is detected. Good. Furthermore, depending on the type of mosquito, the frequency of feathering and the time to suck blood vary. For example, Culex pipiens sucks blood from evening to night, and Aedes albopictus (commonly known as Yabu mosquito) sucks from noon to evening. Therefore, at daytime (for example from 9 am to around 4 pm) the feathers of Aedes albopictus, in the evening (for example from 4 pm to around 7 pm) the feathered ones of both Aedes aegypti and mosquitoes Until around 5 o'clock), it may be selectively detected as the feather of the house mosquito, and the presence of mosquitoes sucking blood may be detected in each of the time zones.

  In addition, because there are differences in the types of pests such as invading mosquitoes and moths depending on the country, region, or region, the installation location of the pest capture and storage device 1 is detected by a GPS receiver or the like. It is possible to identify the types of pests, such as invading mosquitoes and moths. It is also possible to selectively detect the sound of a pest such as a pest image of a pest of a specified type or feather noise to detect the presence of the pest of that type.

  The pest sound recognition unit 114 detects the direction in which the indoor pests are present by detecting which wing of the pest is detected by any of the directional microphones MC1 to MC6, and identifies the pest such as whether it is a mosquito or a mosquito Information on the direction is also output to the system bus 100 along with the information.

  The insecticide spray unit 115 sprays the insecticide from the insecticide spray ports 65 and 66 by drive control of the control unit 101. The control unit 101 monitors the photographed image information of the cameras CM1 to CM6, and determines whether or not a person is present in the direction to spray the insecticide by the insecticide spray unit 115, and the person is present. If so, control so as not to spray pesticides. In addition, the control unit 101 monitors the photographed image information of the cameras CM1 to CM6, and whether or not not only humans but also pets and food exist in the direction to spray the insecticide by the insecticide spraying unit 115. It can also be controlled not to spray pesticides if there are pets and food present.

  In addition, if the insect pest to catch and kill is a mosquito, even weak winds such as fans and air conditioners are known to cause flight problems, so water spray, air spray, and air may be used instead of insecticide spray. It may be dropped by the injection of In this case, the influence on people, pets, food and drink may not be considered.

  The suction drive unit 116 drives the pest suction unit 120 based on the control of the control unit 101 to suck the pest and capture the pest into the pest storage chamber 61. In this case, when driving the suction drive unit 116, the control unit 101 controls the suction port switching mechanism unit 118 to suck the pest from the side suction opening 62, or the bottom side The switch control is performed to determine whether suction is performed from the suction opening 64. Of course, the pests may be controlled to be suctioned from both the side suction opening 62 and the bottom suction opening 64.

  In this example, the pest attracting portion 117 includes the infrared light emitting portion 67 shown in FIG. 1B, and the infrared light emitting portion 67 is driven by the control of the control portion 101 to emit infrared rays for attracting a pest. Make it emit light.

  Note that the pest attractor 117 emits carbon dioxide (CO 2, CO 2, CO 2, CO 2, CO 2, etc.) by irradiating ultraviolet light to titanium oxide (TiO 2, titanium dioxide) to which organic substances adhere, instead of, or in addition to infrared light emission. May be configured to generate carbon). Further, the pest attracting unit 117 may be blue light, ultraviolet light including black light, sound including ultrasonic waves (sound wave), a method of attracting insect pests using a pheromone agent, one of various methods of attracting insect pests, or the like. It can also be configured using a combination. Of course, the attraction method may differ depending on the type of pest to be captured. In addition, at nighttime, the attractive effect of pests is exhibited by a light bulb of visible light or an LED (Light Emitting Diode).

  The operation unit 119 is for the user to input flight start activation of the pest capture and storage device 1, creation of moving space information, storage instruction to the moving space information memory 107, and other operation instructions. In this example, the flight start start of the pest capture and storage device 1 includes a time set by the user through the operation unit 119 (a predetermined time) by a timer function (provided by the control unit 101) other than an immediate start by a start instruction. It is configured to be able to start a timer at a time or a predetermined time after the current time. Furthermore, in this embodiment, the pest capture and storage device 1 has a pest detection start mode, and when the pest detection start mode is set by the operation unit 119, the pest image recognition unit 113 and the pest occurrence sound recognition unit 114 The cameras CM1 to CM6 and the directional microphones MC1 to MC6 perform detection and monitoring operations of pests at the time of standby at the home position, and are configured to start and fly when it is determined that the pests have been detected.

  The pest capture and storage device 1 of this embodiment is configured to fly autonomously and execute the process of capturing and storing pests even in the absence of the user by the timer activation and the pest detection start mode.

  In FIG. 2, the control unit 101 can also be realized as a software processing function by the flight drive signal generation unit 109, the position and orientation control signal generation unit 110, the pest image recognition unit 113, and the pest noise recognition unit 114. .

[Operation example of the pest capture and storage device 1]
Next, an example of the operation of the pest catching and holding device 1 of this embodiment configured as described above will be described with reference to FIG. 3 and the flowchart of FIG. 4 that is the continuation thereof. In the following description, the control unit 101 realizes the functions of the flight drive signal generation unit 109, the position and orientation control signal generation unit 110, the pest image recognition unit 113, and the pest sound recognition unit 114 as software processing functions. It is assumed that the

  First, the control unit 101 determines whether or not the device 1 is activated to start flight based on the user's operation input through the operation unit 119 (step S1). That is, in step S1, the control unit 101 determines whether a start instruction has been issued through the operation unit 119, or whether it is time to start the set timer, or the pest detection start mode is set. Then, it is determined whether or not the apparatus 1 is activated to start flight by determining whether or not the pest image recognition unit 113 or the pest occurrence sound recognition unit 114 recognizes that a pest has been detected.

  When it is determined in step S1 that the self-device 1 is not activated to start flight, the control unit 101 repeats step S1. When it is determined in step S1 that the apparatus 1 is activated to start the flight, the control unit 101 activates the apparatus 1 to take off from the home position and start the flight in the room. (Step S2).

  Next, the control unit 101 performs photographing with the cameras CM1 to CM6 to execute the pest recognition function processing in the pest image recognition unit 113, and performs sound collection by the directional microphones MC1 to MC6 to perform insect pest sound recognition unit The pest recognition function processing at 114 is executed (step S3).

  Next, the control unit 101 determines whether or not a pest is recognized in the pest detection function processing in step S3 (step S4). When it is determined in step S4 that no pest is recognized, the control unit 101 determines whether or not the flight may be ended (step S9). In this step S9, whether or not the flight may be ended, for example, the indoor search indicated by the 3D movement space information stored in the movement space information memory 107 was conducted without hesitation, but no pest can be recognized It is judged by whether or not it is.

  When it is determined in step S9 that the flight should be continued, the control unit 101 returns the process to step S3 and repeats the processes after step S3. When it is determined in step S9 that the flight may be ended, the control unit 101 causes the device 1 to land at the home position, stops the driving of the air flight mechanism unit 2, and returns to the standby state (see FIG. Step S10).

  When it is determined in step S4 that a pest has been recognized, the control unit 101 directs its own device 1 in the direction in which the pest is recognized, and hovers at a place where the pest is recognized and stands by (step S5). Then, in the hovering state, the control unit 101 drives the pest attracting unit 117 to cause the infrared light emitting unit 67 to emit light, thereby attracting a pest (step S6).

  Next, the control unit 101 can capture a pest from the photographed images of the cameras CM1 to CM6 while referring to the pest recognition result in the pest image recognition unit 113 and / or the pest recognition result in the pest occurrence sound recognition unit It is determined whether there is any (step S7). Here, whether or not the pest can be captured is whether or not the pest can fly to the vicinity of the side suction opening 62 or the bottom side suction opening 64 by attraction by the pest attractor 117. Is determined from the photographed image and the collected sound information.

  When it is determined in this step S7 that capture is possible, the control unit 101 determines which side suction opening 62 or bottom side suction opening 64 a pest is flying in the vicinity, and which one should be used? To control and switch the suction port switching mechanism unit 118, and drive the pest suction unit 120 by the suction drive unit 116 to perform suction of pests and capture pests (step S8). .

  Thereafter, the control unit 101 causes the process to proceed to step S9, and executes the processes after step S9 described above.

  When it is determined in step S7 that the capture of the pest is not possible, the control unit 101 drives the insecticide spray unit 115 to spray the pesticide on the pest (step S21 in FIG. 4). ). In this step S21, it is determined from the photographed images of the cameras CM1 to CM6 whether or not there is a person in the spray direction of the insecticide in consideration of the case where there is a person in the room. Do not spray pesticides, and wait for the situation in which there is no one in the direction of pesticide spray to perform pesticide spraying. If there is a pet rather than a person, do not spray pesticides on the pet as well. Also, even when there is food or drink, spraying of the insecticide toward the food or drink is not performed. In addition, when a person or a pet is present, or when there is food or drink, instead of spraying the insecticide, it is possible to spray water or spray air.

  Next to step S21, a pest that may have fallen due to spraying of the insecticide is searched using the images captured by the cameras CM1 to CM6, in particular, the camera CM6 (step S22). Then, the control unit 101 determines whether or not the dropped pest is found (step S23), and when it is determined that the dropped pest can not be found, stops searching for the pest and returns the process to step S3 in FIG. The process after S3 is repeated.

  When it is determined in step S23 that the dropped pest has been found, the control unit 101 lands at a position where the dropped pest can be sucked and captured from the bottom side suction opening 64 (step S24). The driving of the air flight mechanism unit 2 is temporarily stopped (step S25). Then, after the control unit 101 controls the suction opening switching mechanism unit 118 to switch the bottom suction opening 64 to the suction opening, the suction drive unit 116 drives the pest suction unit 120 to suction the pests. Then, they are captured and stored in the pest storage chamber 61 (step S26).

  Next, the control unit 101 restarts to drive the air flight mechanism unit 2 to take off (step S27), and then the process proceeds to step S9 in FIG. 3 to perform the processes after step S9. .

  An example of the mode of the concrete operation | movement of the insect capture accommodation apparatus 1 is typically shown in FIGS. 5-7. That is, FIG. 5 is a figure which shows a mode that the pest catching and holding apparatus 1 has started flight in the chamber 20, and is searching for a pest. In the example of this FIG. 5, although the mosquito 21 is recognized by the insect capture and storage apparatus 1, it has shown the state which can not be capture | acquired by the attraction | suction in the air by the obstacles, such as a chest 22. FIG.

  Therefore, the control unit 101 of the pest catching and holding device 1 operates the pest attracting unit 117 to attract a pest. Then, as shown in FIG. 6, the control unit 101 waits until the mosquito 21 which is a pest is attracted by the attraction means by the pest attraction unit 117 and flies to the vicinity of the pest catching and holding device 1. The insecticide is sprayed from the spray unit 115. Thereby, the mosquito 21 falls as shown by the arrow in FIG. Therefore, the control unit 101 of the pest capture and storage device 1 searches for the position of the dropped mosquito 21 using captured image information of the cameras CM1 to CM6, and lands on the position of the mosquito 21 as shown in FIG. Then, the mosquito 21 is sucked by the pest suction unit 120 and stored in the pest storage chamber 61.

  The dropped mosquitoes 21 may not necessarily die even if dropped by spraying with an insecticide. However, since the pest container 61 is filled with an insecticide, the mosquitoes 21 sucked and stored in the pest container 61 are surely killed.

  In addition, although the insecticide of the above-mentioned embodiment was demonstrated to spray, it may be a case of a smoke-like thing (insecticidal smoke), and in that case, it sprays not a spray.

  By the way, in the above description, the pest catching and holding device is configured to discover, await and aspirate a pest, chase and aspirate, or spray an insecticide to aspirate the dropped pest. However, in the above description, if a pest is found without suctioning the pest and the pest is stopped on a wall etc., the pest or the insect is sprayed or sprayed with an insecticide or insecticidal smoke, or the pest flies. When the insect pest is tracked, the insect pest is sprayed with or sprayed with an insecticide or insecticidal smoke, or the insect pest, and has a configuration of the embodiment of the pest killer as a component part of the insecticidal function.

[Effect of the embodiment]
As described above, according to the insect capture and storage device 1 of the above-described embodiment, the presence of the insect pest is confirmed from the captured image of the camera and the sound (sound information) collected by the directional microphone. Can be aspirated and captured or sprayed with an insecticide. For this reason, the remarkable effect of being able to capture and store pests, such as a mosquito and an anther, efficiently is exhibited.

  Moreover, according to the pest capture and storage device 1 of the above-described embodiment, the user can autonomously fly and capture and store pests only by performing the start button or the predetermined setting operation through the operation unit. Because it is very convenient. In particular, it is convenient because it can be activated by the timer function while the householder is away. Furthermore, it is activated when it detects the presence of mosquitoes and chicks, and has a mode for capturing the mosquitoes and chicks, and according to the mode, it is possible to perform capture and storage of mosquitoes and chicks more reliably. .

  In addition, pesticides are safe for humans, pets, food and food because they are not sprayed. In addition, when there is a person or a pet, or when there is food or drink, it is possible to spray water or spray air instead of the insecticide, and also in this case, the safety is high.

[Other Embodiments or Modifications]
In the above-mentioned embodiment, although the pest capture storage part 6 was generally comprised by box-shaped shape, it can be made into various shapes, such as not only this but cylindrical shape and hemispherical shape. .

  In the above-described embodiment, the air flight mechanism unit 2 is described as an example of a helicopter-type mechanism unit having four rotary wing mechanisms, but the number of rotary wing mechanisms may be three or less, or five or more. . Furthermore, not only a mechanical unit of a helicopter type, but also a mechanical unit of an aircraft type or the like may be used.

  In the above-described embodiment, the number of cameras in the camera group 111 is six, and the number of directional microphones in the directional microphone group 112 is six. However, the number is not limited. Also, various positions may be provided for providing a camera or a microphone.

  Besides, various modifications can of course be considered in terms of the mechanism of the pest catching and holding device 1.

  In addition, when a pest is recognized, it can also fly so as to track the pest and capture it by suction.

  In addition, the pest capture and storage device 1 starts flying and confirms that no one is present by the cameras CM1 to CM6 or the directional microphones MC1 to MC6, and then sprays the insecticide without hesitation while flying inside the room, Thereafter, the fallen pests may be searched for, and the fallen pests may be sucked and captured. At that time, spraying insecticides is more effective if you look at places with high probability that mosquitoes and moths stop, such as on walls, ceilings, furniture gaps, or lighting umbrellas.

  In the above embodiment, the drive control device unit 10 of the pest capture and storage device 1 includes the pest image recognition unit 113 and the pest occurrence sound recognition unit 114, and the pest capture and storage device 1 itself performs pest image recognition processing and pests Although the generated sound recognition process is performed, the functional units and the memory of the pest image recognition unit 113 and the pest generated sound recognition unit 114 may be configured as a so-called cloud. That is, the drive control unit 10 of the pest capture and storage device 1 does not have the pest image recognition unit 113 and the pest sound recognition unit 114, but instead communicates with an external device through a wireless LAN or the Internet. Set up a part. Then, the functional units and the memory of the pest image recognition unit 113 and the pest sound recognition unit 114 are provided in an external personal computer connected via a wireless LAN or a server device via the Internet. Note that not both of the functional unit and the memory may be configured as a cloud, but only the functional unit or only the memory may be configured as a cloud. Furthermore, the memory can be provided to the pest capture and storage device 1 itself, and a portion that can not be covered by the memory can be appropriately referred to the cloud.

  Then, the drive control device unit 10 of the pest capture and storage device 1 captures captured image information (with identification information) of the cameras CM1 to CM6 and acoustic information collected by the directional microphones MC1 to MC6 (with identification information). , And sends it to a personal computer or a server apparatus via a wireless LAN or the Internet. The personal computer and the server device execute the functional units of the pest image recognition unit 113 and the pest sound recognition unit 114 that are provided using the received information, and the recognition result is used as the drive control unit of the pest capture and storage device 1 Send to 10 The drive control device unit 10 of the pest capture and storage device 1 determines whether or not a pest is detected based on the recognition result sent from the personal computer or the server device through the communication unit.

  In the above-described embodiment, the drive control unit 10 of the pest capture and storage device 1 is provided with both the pest image recognition unit 113 and the pest occurrence sound recognition unit 114, but only one of them is provided. It is possible to detect a pest based on the recognition result of the recognition unit of the The same applies to the above-mentioned cloud.

  In addition, mosquitoes and chicks can cause serious health problems such as transmission of infectious diseases. For example, malaria mediated by Anopheles japonicum, Japanese encephalitis mediated by P. falciparum mosquitoes, trypanosomiasis mediated by tsetse fly, etc. are known. In areas where serious health hazards such as these infectious diseases are likely to occur, or in epidemic periods, pests related to health hazards will be detected and recognized in a strict sense, and they will be constructed so as to ensure capture, killing and killing. You may do so.

  Further, in the above-described embodiment, the insects are exemplified by mosquitoes and moths, but cockroaches, bees and insects that have entered the room, caterpillars, centipedes and the like may be captured as insects.

  In addition, spiders such as spider spiders eat insect pests and thus play a beneficial role in human life, but for people with discomfort they are classified as unpleasant pests and are targeted for capture. Of course, for people who don't like insects, almost all insects are captured as pests.

  In addition, the pest catching and holding device and the pest killing device according to the present invention display a list of pests by providing the display unit, so that the user can select a pest to be captured, killed or killed from among them. It can also be configured.

  Further, in the above-described embodiment, the pests are killed after being captured, but may be released alive outside the room. Of course, depending on the type of pest, the response can be changed.

  In addition, an infrared camera may be mounted as a camera on the assumption that even when the room is dark, for example, during nighttime, the insects are captured and contained.

  In the above embodiment, although a plurality of cameras and directional microphones are mounted, respectively, the camera and directional microphones may be one, and the posture of the pest catching and holding device 1 may be changed. It is also possible to change the shooting direction and the directional axis direction of the directional microphone.

  When capturing insect pests that do not emit sounds, such as caterpillars and centipedes, or insect pests that have difficulty in recognizing sounds, do not use the insect pest sound recognition unit, and recognize the insect pest of the capture object only with the insect image recognition unit To do.

  In the above-described embodiment, the insecticide is sprayed on the pest to damage the pest and cause it to fall, but it applies an electric shock to the pest, irradiates a high-power laser to the pest, strikes the pest, The pests may be damaged and dropped by a method such as Also in the configuration of the pest-killing apparatus, the pest can be killed by methods such as adding a lightning to the pest, irradiating a high-power laser to the pest, striking the pest, and the like.

  Further, in the above-described embodiment, the insect image recognition unit and the insect sound generation unit are provided, and sound is collected by the directional microphone by recognizing whether or not the insect image is present in the photographed image of the camera. We recognized pests by recognizing whether there is a sound emitted by pests, such as the wings of pests, in the sound, but we have an odor sensor and recognize pests by detecting the odor generated by pests. You can also do so.

  According to the present invention, since the pest can be captured and contained, by providing the display unit to the pest catching and holding device, it becomes possible to display the type, the number, the photographed pest image, etc. of the captured pest. . In addition, by providing the display unit to the pest-killing device, it is possible to display the type, the number, and the photographed pest image etc. These indications increase the convenience of the user of the pest control device.

  In addition, in the above-mentioned embodiment, although indoor use was presupposed, the pest catching and containing apparatus of this invention is not limited to indoor use, It can be used also outdoors. For example, it is suitable for use in a summer campsite. The pest catching and holding device of the present invention can also be applied to agricultural pests that damage crops and flowers. For example, it can be used in paddy fields, fields, plastic houses, kitchen gardens, gardens, flower beds and the like.

DESCRIPTION OF SYMBOLS 1 ... pest capture accommodation apparatus, 2 ... air flight mechanism part, 6 ... pest capture accommodation part, 61 ... pest accommodation room, 62 ... side suction opening, 64 ... bottom side suction opening, 65, 66 ... insecticide spray Mouth 67 Infrared light emission unit CM1 to CM6 Camera MC1 to MC6 Directional microphone 113 Pest image recognition unit 114 Pest sound recognition unit 115 Insecticide spray unit 116 Suction drive unit 117: Pest attraction part, 120: Pest suction part

Claims (23)

An air flight mechanism unit for flying in the air;
One or a plurality of cameras for photographing the periphery, one or a plurality of microphones for picking up ambient sound from a predetermined direction, any smell sensor for detecting smell pest, or a combination thereof ,
And a pest drop processing unit for dropping pests,
Pest image recognition unit recognizes the pest from the photographed image of the camera, by recognizing the sound emitted by the pest from the sound picked up by the microphone, pest generated sound recognition unit recognizes the pests, detected by the odor sensor Any of a pest odor recognition unit that recognizes the pest from odors, or a combination thereof;
And the control section,
And the control unit
Based on the recognition result of the pest image recognition unit , the pest sound recognition unit , or the pest odor recognition unit, or based on the recognition result of the combination thereof , the air flight mechanism unit is driven and controlled, and the pest falling processing unit is Pest control execution means for driving and controlling to drop the pests;
When the pest that has been dropped by the pest control execution means is found based on the recognition result of the pest image recognition unit, the pest sound recognition unit, the pest odor recognition unit, or a combination thereof Means for catching insects,
Pest control device comprising: The pest control device according to claim 1, wherein the pest dropping processing unit comprises means for causing a pest to cause a flight obstacle so as to drop the pest. The control unit
It has a function to drive and control the air flight mechanism unit to hover in the air;
The pest control execution means drives the pest dropping processing unit based on the recognition result in the hovering state to drop the pest. Pest control device as described. The pest control device according to any one of claims 1 to 3, wherein the pest dropping processing unit comprises means for damaging the pest and dropping it. The pest drop processing unit comprises means for injecting air and / or water ,
The pest control execution means of the control unit is the presence of a person or a pet based on the recognition result of the pest image recognition unit, the pest sound recognition unit, the pest odor recognition unit, or a combination thereof. 5. The method according to any one of claims 1 to 4 , wherein when the presence of an object is recognized, the pest is damaged and dropped using a means for injecting the air and / or water. Pest control device as described. The pest dropping processing unit comprises any of a means for applying a lightning to a pest, a means for irradiating a high-power laser to the pest, a means for striking a pest, or a combination thereof. Pest control device according to any of the above. A pest attractor that emits a substance that induces pests, light, infrared rays, ultraviolet rays, and / or sounds;
The said control part drives the said pest attraction part, and the substance which attracts the said pest, light, infrared rays, an ultraviolet-ray, and / or a sound are emitted. Pest control device. The pest image recognition unit recognizes the pest by comparing a peripheral captured image stored in advance with an image captured by the camera. Pest control device described in. The pest control device according to any one of claims 1 to 8 , wherein the air flight mechanism portion is a helicopter-type mechanism portion having one or a plurality of rotary wings. The pest control device according to any one of claims 1 to 9 , wherein the pest sound recognition unit includes a filter that extracts a frequency component of feather noise generated by the pest. The pest image recognition unit, the pest generated sound recognition unit, one of the pest odor recognition unit, or a combination thereof, any one of claims 1 to 10, characterized in that identifying the type of the pest Pest control device as described in. A display unit for displaying a list of the pests;
A unit for receiving a selection of a predetermined pest from the list of pests displayed on the display unit;
The pest control apparatus according to any one of claims 1 to 11 , comprising: Based on the recognition result of any one of the pest image recognition unit , the pest sound recognition unit , the pest odor recognition unit, or a combination thereof , the air flight mechanism unit is driven and controlled, and the pest recognized The pest control device according to any one of claims 1 to 12 , wherein tracking is performed. The pest control device according to any one of claims 1 to 13 , wherein the camera includes an infrared camera. The pest control device according to any one of claims 1 to 14 , wherein the microphone is a directional microphone. One of the pest image recognition unit, the pest sound recognition unit, the pest odor recognition unit, or a combination thereof is configured as a cloud
The pest control device according to any one of claims 1 to 15, characterized in that: When the pest in flight is detected based on the recognition result of the pest image recognition unit, the pest sound recognition unit, the pest odor recognition unit, or a combination thereof, the pest capture unit Capture pests
The pest control apparatus according to any one of claims 1 to 16, characterized in that: A display unit for displaying a list of the pests;
A means for receiving a selection of the pest to be dropped and / or the pest to be captured from the list of pests displayed on the display unit;
The pest control apparatus according to any one of claims 1 to 17, further comprising: The pest catching means sucks and captures pests
The pest control apparatus according to any one of claims 1 to 18, which is characterized in that: The pest catching means is
One or more pest suction openings for sucking and capturing pests;
A pest storage unit for storing a pest that has been sucked and captured;
20. The pest control device according to claim 19, comprising: The pest container comprises a pest container filled with a drug
The pest control device according to claim 20, characterized in that: The pest storage unit includes pest release means for releasing the pest stored in the pest storage chamber from the pest storage chamber to the outside.
22. The pest control device according to claim 20 or 21, characterized in that: The pest catching means comprises a plurality of pest suction openings for sucking and catching pests;
Select and use one of the plurality of pest suction openings according to the status of the pest
The pest control apparatus according to any one of claims 19 to 22, characterized in that:

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