JP6842269B2 - Flying robots and control methods for flying robots - Google Patents

Description

The present invention relates to a flying robot or the like.

In order to capture birds and beasts that are harmful to the environment of crops and forests, hunters set up box traps and patrol the box traps. Since the box traps are installed in various places, if the hunter goes around each box trap directly, the burden on the hunter will increase. For this reason, there is a need for a mechanism that automatically notifies each box trap that birds and beasts have been captured from a remote location.

Also, simply notifying the box trap that something has been captured is not enough. For example, when a wild boar is captured in a box trap and when a deer is captured, the deer weakens faster than the wild boar, so it is necessary to preferentially head to the box trap that captured the deer and protect it. It is also important to know the types of birds and beasts.

In order to solve the above problem, a camera that takes an image of the inside is installed in the box trap, and when it is detected that a bird or beast has been captured using a sensor, the camera takes a picture using a 3G (Generation) line or the like. There is a conventional technique of sending image information to a management device by e-mail.

Japanese Unexamined Patent Publication No. 2014-146141 Japanese Unexamined Patent Publication No. 2015-122976

However, the above-mentioned conventional technique has a problem that information on birds and beasts captured in a box trap cannot be obtained.

The above-mentioned conventional technology is a technology on the premise that the wireless communication device installed in each box trap is connected to the 3G line. However, in reality, the box trap is often installed in an area where a 3G line cannot be used, and in such a case, another wireless communication line having low communication performance must be used. In a wireless communication line with low communication performance, it may take a long time to send the camera shooting information by e-mail, or an error may occur during the transmission and the e-mail transmission may not be completed.

If a 3G line cannot be used, it is conceivable to arrange a plurality of wireless relay devices to construct a network between the wireless communication device of each box trap and the management device, but the cost of constructing such a network Is not realistic because it becomes expensive.

In one aspect, it is an object of the present invention to provide a flying robot and a method of controlling a flying robot that can acquire information on birds and beasts captured in a box trap.

In the first plan, the flying robot has a wireless communication unit and a movement control unit. The wireless communication unit executes wireless communication with the wireless communication device when it approaches a spot where wireless communication is possible with the wireless communication device. The movement control unit moves the self-flying robot in flight based on the information of the flight path via the spots that can wirelessly communicate with the plurality of wireless communication devices. When the movement control unit receives the control signal by communication using the wireless communication unit, the movement control unit makes the self-flying robot stand by in the flight state, and when the reception of the shooting information from the wireless communication device is completed, the flight follows the flight path. To resume.

Information on birds and beasts captured in the box trap can be obtained.

FIG. 1 is a diagram showing a configuration of a system according to this embodiment. FIG. 2 is a diagram showing an example of a box trap. FIG. 3 is a functional block diagram showing the configuration of the box trap according to the present embodiment. FIG. 4 is a diagram showing an example of a data structure of capture status information. FIG. 5 is a functional block diagram showing a configuration of a flying robot according to the present embodiment. FIG. 6 is a diagram showing an example of a data structure of flight path information. FIG. 7 is a diagram showing an example of the data structure of the shooting information table. FIG. 8 is a functional block diagram showing the configuration of the management server according to this embodiment. FIG. 9 is a flowchart (1) showing a procedure for processing a box trap. FIG. 10 is a flowchart (2) showing a procedure for processing a box trap. FIG. 11 is a flowchart showing a processing procedure of the flying robot.

Hereinafter, examples of the flying robot and the control method for the flying robot disclosed in the present application will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

FIG. 1 is a diagram showing a configuration of a system according to this embodiment. As shown in FIG. 1, this system has box traps 50a, 50b, 50c, a flying robot 100, and a management server 200. Although box traps 50a-50c are shown here, the system may have other box traps.

The box trap 50a is a box trap that captures birds and beasts. The description of the box traps 50b and 50c is the same as the description of the box trap 50a. FIG. 2 is a diagram showing an example of a box trap. As shown in FIG. 2, the box trap 50a has a door 5, a detection sensor 51, a camera 52, an acceleration sensor 53, and a wireless communication unit 54.

The detection sensor 51 is a sensor that detects whether or not the birds and beasts 6 are present inside the box trap 50a based on the temperature inside the box trap 50a, the vibration of the box trap 50a, image processing, and the like. When the bird / beast 6 is present inside the box trap 50a, the detection sensor 51 closes the door 5 and captures the bird / beast 6 by outputting a signal to the operating portion (not shown) of the door 5.

The camera 52 is a camera that captures an image of the birds and beasts 6 captured in the box trap 50a. For example, the camera 52 starts shooting at the timing when the door 5 of the box trap 50a is closed. In the following description, the information of the image taken by the camera 52 is referred to as shooting data. The shooting data is not limited to image data, but may be video data such as moving images.

The acceleration sensor 53 is a sensor that measures the acceleration of the box trap 50a. When the bird and beast 6 is captured by the box trap 50a, the bird and beast 6 repeatedly collides with the box trap 50a, so that the box trap 50a vibrates and the acceleration of the box trap 50a can be detected. In the following description, the acceleration information of the box trap 50a is referred to as acceleration data. Acceleration data has a relationship between the time and the magnitude of acceleration in each of the three different axial directions. For example, the three different axial directions are the x-axis direction, the y-axis direction, and the z-axis direction of the Cartesian coordinate system, and the z-axis direction is the vertical direction.

The wireless communication unit 54 is a device that wirelessly communicates with the flight robot 100 existing in a spot capable of wireless communication with the box trap 50a. The box trap 50a uses the wireless communication unit 54 to transmit a "control signal" to the flying robot 100 as to whether or not the birds and beasts have been captured. Further, the box trap 50a transmits the shooting data and the acceleration data to the flight robot 100 by using the wireless communication unit 54.

The flight robot 100 is a device that has a plurality of propellers (rotors) and moves in the air by rotating each propeller. For example, the flight robot 100 flies according to the flight path 40, collects shooting data from each of the box traps 50a to 50c, and returns to the management server 200. The flight path 40 is a flight path via spots 60a to 60c capable of wireless communication with each of the box traps 50a to 50c. In the following description, the spots 60a to 60c are collectively referred to as spots 60 as appropriate. Each of the box traps 50a to 50c is collectively referred to as a box trap 50 as appropriate.

When the flight robot 100 reaches the spot 60 during the flight of the flight path 40, the flight robot 100 transmits "providing request information" to the box trap 50. The box trap 50 transmits a control signal indicating whether or not the birds and beasts have been captured to the flight robot 100 in response to the provision request information.

The flight robot 100 receives a control signal from the box trap 50, and when a bird or beast is captured in the box trap 50, it stands by in a flying state at the spot 60, and from the box trap 50, shooting data, acceleration data, etc. Start receiving. When the reception of the shooting data, the acceleration data, and the like is completed, the flight robot 100 resumes the flight following the flight path 40.

The flying robot 100 receives a control signal from the box trap 50, and if no birds or beasts are captured in the box trap 50, the flying robot 100 passes through the spot 60 as it is and flies toward the next spot.

The flight robot 100 returns to the management server 200 after repeatedly executing the above processes at all the spots 60a to 60c. The flight robot 100 outputs the collected shooting data to the management server 200.

The management server 200 is a device that causes the flight robot 100 to execute the above processing by setting the information of the flight path 40 in the flight robot 100. In addition, the management server 200 acquires shooting data, acceleration data, and the like of the box trap 50 from the returned flight robot 100.

Next, an example of the configuration of the box trap 50 shown in FIG. 1 will be described. FIG. 3 is a functional block diagram showing the configuration of the box trap according to the present embodiment. FIG. 3 shows a functional block diagram of the box trap 50a as an example, but the same applies to the functional block diagram of the box traps 50b and 50c. The box trap 50a includes a door operation unit 5a, a detection sensor 51, a camera 52, an acceleration sensor 53, a wireless communication unit 54, a storage unit 55, and a control unit 56.

The door operating unit 5a is a processing unit that closes the door 5 of the box trap 50a when a closing signal is received from the door control unit 56a described later. Further, when the door operating unit 5a receives an open signal from the door control unit 56a, the door operating unit 5a opens the door 5 of the box trap 50a. In order to reduce the cost of the box trap 50a, the door operating unit 5a may only execute the process of closing the door 5 of the box trap 50a.

The timer 5b is a device that outputs information on the current date and time to the control unit 56. The battery 5c is a device that supplies power to each processing unit of the box trap 50a.

The description of the detection sensor 51, the camera 52, the acceleration sensor 53, and the wireless communication unit 54 is the same as the description of the detection sensor 51, the camera 52, the acceleration sensor 53, and the wireless communication unit 54 shown in FIG.

The storage unit 55 has a capture status table 55a. The storage unit 55 corresponds to semiconductor memory elements such as RAM (Random Access Memory), ROM (Read Only Memory), and flash memory (Flash Memory), and storage devices such as HDD (Hard Disk Drive).

The capture status table 55a holds information such as the capture status of birds and beasts and shooting data. FIG. 4 is a diagram showing an example of a data structure of capture status information. As shown in FIG. 4, the capture status information 55a associates capture presence / absence information, capture date / time, shooting data, and acceleration data, respectively. The capture presence / absence information is information indicating whether or not a bird / beast has been captured. When birds and beasts are captured, the capture presence / absence information is "Yes". If the birds and beasts are not captured, the capture presence / absence information is "None". The initial value of the capture presence / absence information is "None".

The capture date and time indicates the date and time when the birds and beasts were captured. The shooting data is shooting data taken by the camera 52 when the birds and beasts are captured. The acceleration data is the acceleration data of the box trap 50a measured by the acceleration sensor 53.

The control unit 56 includes a door control unit 56a, a camera control unit 56b, a registration unit 56c, and a communication control unit 56d. The control unit 56 can be realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like. The control unit 56 can also be realized by hard-wired logic such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

The door control unit 56a is a processing unit that controls the door 5 shown in FIG. 2 based on the detection result of the detection sensor 51. When the door control unit 56a receives a signal from the detection sensor 51 that a bird or beast exists inside the box trap 50a, the door control unit 56a outputs a closing signal to the door operating unit 5a and closes the door 5.

When the door control unit 56a receives a request from an operator to open the door 5 via an input device (not shown), the door control unit 56a outputs an open signal to the door operation unit 5a to open the door 5.

The camera control unit 56b is a processing unit that controls the camera 52. For example, when the camera control unit 56b receives a signal from the detection sensor 51 that a bird or beast exists inside the box trap 50a, the camera control unit 56b starts shooting with the camera 52. After the camera 52 starts shooting, the camera control unit 56b may have the camera 52 shoot the video data for a predetermined time, or the camera 52 may shoot the intermittent image data.

The registration unit 56c is a processing unit that registers various types of information in the capture status table 55a. The registration unit 56c registers the shooting data taken by the camera 52 in the capture status table 55a. The registration unit 56c registers the acceleration data measured by the acceleration sensor 53 in the capture status table 55a. When the registration unit 56c receives a signal from the detection sensor 51 that a bird or beast exists inside the box trap 50a, the registration unit 56c sets the capture presence / absence information of the capture status table 55a to "Yes". The registration unit 56c acquires from the timer 5b the date and time when the detection sensor 51 receives a signal indicating that a bird or beast exists inside the box trap 50a, and registers the date and time in the capture date and time of the capture status table 55a.

The communication control unit 56d is a processing unit that executes data communication with the flight robot 100 located at the spot 60 via the wireless communication unit 54. When the communication control unit 56d receives the "providing request information" from the flight robot 100, the communication control unit 56d transmits a control signal to the flight robot 100 based on the capture presence / absence information in the capture status table 55a. When the capture presence / absence information is "Yes", the communication control unit 56d transmits a control signal indicating that the birds and beasts have been captured. When the capture presence / absence information is "none", the communication control unit 56d transmits a control signal indicating that the birds and beasts have not been captured.

Further, when the capture presence / absence information is "Yes", the communication control unit 56d transmits the shooting data, the acceleration data, and the capture date / time information stored in the capture status table 55a to the flight robot 100.

Next, an example of the configuration of the flight robot 100 shown in FIG. 1 will be described. FIG. 5 is a functional block diagram showing a configuration of a flying robot according to the present embodiment. As shown in FIG. 5, the flight robot 100 includes a wireless communication unit 110, an input unit 120, a drive device 130, a battery 140, a storage unit 150, and a control unit 160.

The wireless communication unit 110 is a device that performs wireless communication with the box trap 50 when the flight device 100 is located at the spot 60. The control unit 160, which will be described later, transmits / receives data to / from the box trap 50 via the wireless communication unit 110. Further, the wireless communication unit 110 executes wireless communication with the management server 200.

The input unit 120 is an input device for inputting various information to the flight robot 100. The input unit 120 corresponds to a touch panel, an input button, or the like.

The drive device 130 moves the flight robot 100 in the air by rotating a plurality of propellers (rotors) based on a drive command from the control unit 160. Further, the drive device 130 can hold the flight robot 100 in the air (hovering) by adjusting the rotation speeds of the plurality of propellers.

The battery 140 is a device that supplies power to the processing units 110 to 130, 150, and 160 of the flight robot 100.

The storage unit 150 has flight path information 150a, a shooting information table 150b, and return position information 150c. The storage unit 150 corresponds to semiconductor memory elements such as RAM, ROM, and flash memory, and storage devices such as HDD.

The flight path information 150a holds information about the flight path 40. FIG. 6 is a diagram showing an example of a data structure of flight path information. As shown in FIG. 6, the flight path information 150a associates a date, an order, a box trap ID, an installation location information, and a flag. The date is the date on which the flight robot 100 is scheduled to fly on the flight path 40. The order indicates the order of moving over the installation location of the corresponding box trap 50.

The box trap ID is information that uniquely identifies the box trap 50. For example, the box trap ID of the box trap 50a is "hako-50a", the box trap ID of the box trap 50b is "hako-50b", and the box trap ID of the box trap 50c is "hako-50c". The installation location information is coordinate information indicating the installation position of the corresponding box trap 50. For example, the ABC point is included in the spot 60a, the BCD point is included in the spot 60b, and the CDE point is included in the spot 60c.

The flag is information indicating whether or not the flying robot 100 has reached the spot 60 corresponding to the installation location information. When the flag is "on", it indicates that the flying robot 100 has reached the spot 60 corresponding to the installation location information. When the flag is "off", it indicates that the flying robot 100 has not reached the spot 60 corresponding to the installation location information. The initial value of the flag is "off".

In the example shown in the flight path information 150a shown in FIG. 6, the flight robot 100 starts from the management server 200, flies in the air in the order of the box trap 50a, the box trap 50b, and the box trap 50c, and returns to the management server 200. Is shown. The location information of the management server 200 is registered in the return location information 150c.

The shooting information table 150b is a table that holds information and the like of shooting data received from each box trap 50. FIG. 7 is a diagram showing an example of the data structure of the shooting information table. As shown in FIG. 7, the shooting information table 150b associates the date, the arrival time, the box trap ID, the capture presence / absence information, the capture date / time, the capture data, the acceleration data, and the bird / beast type.

The date indicates the date on which the flying robot 100 flew. The arrival time indicates the time when the flight robot 100 arrives at the spot 60 capable of wireless communication with the corresponding box trap 50. The box trap ID is information that uniquely identifies the box trap 50. The capture presence / absence information is information indicating whether or not birds and beasts are captured in the corresponding box trap 50. When birds and beasts are captured, the capture presence / absence information is "Yes". If the birds and beasts have not been captured, the capture presence / absence information will be "None".

The capture date and time indicates the date and time when the box trap 50 captured the birds and beasts. The capture date and time corresponds to the capture date and time described in FIG. The shooting data corresponds to the shooting data received from the box trap 50. The acceleration data corresponds to the acceleration data received from the box trap 50. The bird and beast type indicates the type of the captured bird and beast. The bird and beast type is determined by the determination unit 160c described later.

Returning to the description of FIG. The control unit 160 includes a position detection unit 160a, a communication control unit 160b, a determination unit 160c, a movement control unit 160d, and an update unit 160e. The control unit 160 can be realized by a CPU, an MPU, or the like. The control unit 160 can also be realized by hard-wired logic such as ASIC or FPGA.

The position detection unit 160a is a processing unit that detects the position of the flight robot 100 by using GPS (Global Positioning System). For example, the position detection unit 160a receives GPS signals from each GPS satellite using an antenna (not shown), and calculates the position of the flying robot 100 based on the difference in the reception time of each GPS signal. The position detection unit 160a outputs the detected position information to the communication control unit 160b and the movement control unit 160d. In the following description, the position information detected by the position detection unit 160a is referred to as position information.

The communication control unit 160b is a processing unit that executes data communication with the box trap 50 by using the wireless communication unit 110 while the flight robot 100 is located at the spot 60. For example, when the communication control unit 160b compares each installation location information of the flight path information 150a with the position information acquired from the position detection unit 160a, and the distance between any of the installation location information is less than the threshold value. It is determined that the flying robot 100 is located at the spot 60.

When the communication control unit 160b determines that the flight robot 100 is located at the spot 60, the communication control unit 160b transmits the provision request information to the box trap 50. By transmitting the provision request information, the communication control unit 160b receives a control signal from the box trap 50 as to whether or not the birds and beasts have been captured. When the communication control unit 160b receives the control signal indicating that the birds and beasts have been captured, the communication control unit 160b sets the capture presence / absence information corresponding to the corresponding box trap ID to “Yes”. When the communication control unit 160b receives the control signal indicating that the birds and beasts have not been captured, the communication control unit 160b sets the capture presence / absence information corresponding to the corresponding box trap ID to "None".

The communication control unit 160b may specify the corresponding box trap ID by comparing the position information with the installation location information of the flight path information 150a, and the box trap 50 determines its own box trap ID. You may notify.

When the communication control unit 160b receives the control signal indicating that the birds and beasts have been captured, the communication control unit 160b receives shooting data, acceleration data, and capture date / time information from the box trap 50. The communication control unit 160b registers the shooting data, the acceleration data, and the capture date / time information in the shooting information table 150b in association with the corresponding box trap ID. When the reception of the shooting data, the acceleration data, and the capture date / time information is completed, the communication control unit 160b outputs the information to the effect that the reception is completed to the movement control unit 160d.

The determination unit 160c is a processing unit that determines the type of birds and beasts captured in the box trap 50 based on the acceleration data of the shooting information table 150b. For example, the determination unit 160c calculates the average value of the acceleration in the x-axis direction, the average value of the acceleration in the y-axis direction, and the average value of the acceleration in the z-axis direction in a predetermined time width. For example, the predetermined time width is 60 minutes. In the following description, the average value of acceleration in the x-axis direction is referred to as the first average value. The average value of acceleration in the y-axis direction is referred to as the second average value. The average value of acceleration in the z-axis direction is referred to as the third average value.

Determining unit 160c, the first average value is the threshold value th ₁ or more, and, the second average value is the threshold value th ₂ or more, and when the third average value is lower than the threshold th ₃ is captured in Hakowana 50 Judge the type of bird and beast as "boar". When the wild boar is captured by the box trap 50, it has a habit of repeating collisions in the x-axis direction and the y-axis direction.

The determination unit 160c determines that the type of birds and beasts captured in the box trap 50 is "deer" when the following conditions 1 and 2 are satisfied. The determination unit 160c determines that the type of birds and beasts captured in the box trap 50 is "birds and beasts other than wild boar and deer" when the following condition 1 is satisfied and condition 2 is not satisfied. When a deer is captured by the box trap 50, it repeatedly collides in the z-axis direction, but since it has no stamina, it has a habit of stopping the collision after a while.

Condition 1: The first mean value is _{less than the threshold value th 1} , the second mean value is _{less than the threshold value th 2} , and the third mean value is the threshold value th ₃ or more Condition 2: Further time within a predetermined time width (60 minutes) in the width (alpha min) adding the time width (60 min + alpha min), the average value of the acceleration in the z-axis direction is less than the threshold th ₃

By executing the above process, the determination unit 160c determines the type of birds and beasts captured in the box trap 50, and registers the determination result in the shooting information table 150b in association with the corresponding box trap ID.

The movement control unit 160d is a processing unit that moves the flight robot 100 in a flight state so as to pass the installation location information of each box trap 50 according to the order of the flight path information 150a. For example, the movement control unit 160d outputs a drive command for moving the flight robot 100 in a direction in which the distance between the position information acquired from the position detection unit 160a and the installation location information becomes closer to the drive device 130. When the movement control unit 160d reaches the corresponding installation location information, the movement control unit 160d updates the corresponding flag of the flight path information 150a to “on”.

When the flight robot 100 reaches the sky above the installation location of the box trap 50, the movement control unit 160d receives a control signal from the box trap 50. When the movement control unit 160d receives a control signal indicating that the box trap 50 is capturing birds and beasts, the movement control unit 160d uses the flight robot 100 until it receives information from the communication control unit 160b that the data reception is completed. Hover in the field. When the movement control unit 160d receives the information that the data reception is completed from the communication control unit 160b, the movement control unit 160d outputs a drive command to move to the sky above the next installation location to the drive device 130.

On the other hand, when the movement control unit 160d receives a control signal indicating that the box trap 50 has not captured the birds and beasts, the movement control unit 160d does not hover on the spot and issues a drive command to move toward the sky above the next installation location. , Output to the drive device 130.

For example, the movement control unit 160d accesses the flight path information 150a and determines the installation location information of the record having the smallest order value among the records whose flag is “off” as the information of the next installation location. .. When all the flags of the flight path information 150a are "on", the movement control unit 160d is instructed to start the return toward the position of the management server 200 shown in the return position information 150c. Is output to the drive device 130.

The update unit 160e is a processing unit that updates the flight path information 150a when it is determined that any one of the update conditions 1 to 3 shown below is satisfied. For example, the update unit 160e accesses the flight path information 150a and sets all the flags to "on". As a result, the flight robot 100 preferentially returns to the management server 200.

Update condition 1: Total capacity of shooting data stored in the shooting information table 150b> Predetermined data capacity Update condition 2: Remaining electric energy of the battery 140 <Predetermined electric energy update condition 3: "Deer" for the type of bird and beast Is included

Next, an example of the configuration of the management server 200 shown in FIG. 1 will be described. FIG. 8 is a functional block diagram showing the configuration of the management server according to this embodiment. As shown in FIG. 8, the management server 200 includes a wireless communication unit 210, an input unit 220, a display unit 230, a storage unit 240, and a control unit 250.

The wireless communication unit 210 is a processing unit that executes wireless communication with the flight robot 100. The wireless communication unit 210 corresponds to a wireless communication device. The control unit 250, which will be described later, may exchange data with the flight robot 100 via the wireless communication unit 210, or may be connected to the flight robot 100 by wire to exchange data.

The input unit 220 is an input device for inputting various types of information to the control unit 250. The input unit 220 corresponds to a keyboard, a mouse, a touch panel, and the like.

The display unit 230 is a display device that displays various data output from the control unit 250. The display unit 230 corresponds to a liquid crystal display, a touch panel, or the like.

The storage unit 240 has flight path information 240a and box trap monitoring information 240b. The storage unit 240 corresponds to semiconductor memory elements such as RAM, ROM, and flash memory, and storage devices such as HDD.

The flight path information 240a is information corresponding to the flight path information 150a described with reference to FIG. The flight path information 240a may include information on a plurality of types of flight paths.

The box trap monitoring information 240b has information regarding the shooting information table 150b acquired from the flight robot 100.

The control unit 250 has a flight plan setting unit 250a and a collection unit 250b. The control unit 250 can be realized by a CPU, an MPU, or the like. The control unit 250 can also be realized by hard-wired logic such as ASIC or FPGA.

The flight plan setting unit 250a is a processing unit that accesses the flight robot 100 and sets the flight path information 150a of the flight robot 100. For example, the flight plan setting unit 250a sets the flight path information 150a by notifying the flight robot 100 of the flight path information 240a.

The collection unit 250b is a processing unit that accesses the flight robot 100 and collects the shooting information table 150b from the flight robot 100. The collecting unit 250b registers the collected information of the photographing information table 150b in the box trap monitoring information 240b.

Next, an example of the processing procedure of the box trap 50 according to this embodiment will be described. FIG. 9 is a flowchart (1) showing a procedure for processing a box trap. As shown in FIG. 9, the box trap 50 determines whether or not a bird or beast is detected by the detection sensor 51 (step S101). If the detection sensor 51 does not detect birds and beasts (steps S101 and No), the box trap 50 proceeds to step S101.

When the door control unit 56a of the box trap 50 detects a bird or beast by the detection sensor 51 (step S101, Yes), the door control unit 56a of the box trap 50 closes the door 5 of the box trap 50 (step S102). The registration unit 56c of the box trap 50 sets the capture presence / absence information of the capture status table 55a to “Yes” (step S103). The registration unit 56c records the capture date and time in the capture status table 55a (step S104).

The registration unit 56c records the shooting data taken by the camera 52 in the capture status table 55a (step S105). The registration unit 56c records the acceleration data measured by the acceleration sensor 53 in the capture status table 55a (step S106).

FIG. 10 is a flowchart (2) showing a procedure for processing a box trap. As shown in FIG. 10, the communication control unit 56d of the box trap 50 determines whether or not the provision request information has been received from the flight robot 100 (step S201). If the communication control unit 56d has not received the provision request information from the flight robot 100 (steps S201, No), the communication control unit 56d proceeds to step S201 again.

When the communication control unit 56d receives the provision request information from the flight robot 100 (step S201, Yes), the communication control unit 56d determines whether or not the capture presence / absence information in the capture status table 55a is “Yes” (step S202). ..

If the capture presence / absence information in the capture status table 55a is not “Yes” (steps S202, No), the communication control unit 56d proceeds to step S203. When the capture presence / absence information in the capture status table 55a is “Yes” (steps S202, Yes), the communication control unit 56d proceeds to step S204.

Step S203 will be described. The communication control unit 56d transmits a control signal of "not capturing birds and beasts" to the flight robot 100 (step S203), and proceeds to step S201.

Step S204 will be described. The communication control unit 56d transmits a control signal of "captured birds and beasts" to the flight robot 100 (step S204).

The communication control unit 56d determines whether or not there is a request for provision of shooting data from the flight robot 100 (step S205). When the flight robot 100 does not request the provision of shooting data (steps S205, No), the communication control unit 56d shifts to step S205 again.

When the flight robot 100 requests the provision of shooting data (step S205, Yes), the communication control unit 56d transmits the shooting data, acceleration data, and capture date / time information to the flight robot 100 (step S206).

Next, an example of the processing procedure of the flight robot 100 according to this embodiment will be described. FIG. 11 is a flowchart showing a processing procedure of the flying robot. As shown in FIG. 11, the movement control unit 160d of the flight robot 100 reads the flight path information 150a (step S301). The movement control unit 160d starts flying toward the first box trap 50 when the patrol flight time is reached (step S302).

The communication control unit 160b of the flight robot 100 determines whether or not wireless communication is possible with the box trap 50 scheduled to be patrolled (step S303). When the communication control unit 160b is not capable of wireless communication with the box trap 50 scheduled to be patrolled (steps S303 and No), the communication control unit 160b shifts to step S303 again.

When the communication control unit 160b can wirelessly communicate with the box trap 50 scheduled to be patrolled (step S303, Yes), the communication control unit 160b transmits the provision request information to the box trap 50 (step S304). If the movement control unit 160d has not received the control signal indicating that the bird or beast has been captured (step S305, No), the movement control unit 160d starts flying toward the next box trap 50 (step S306), and proceeds to step S303. To do.

On the other hand, when the movement control unit 160d receives a control signal indicating that the birds and beasts have been captured (steps S305, Yes), the movement control unit 160d hovering in the sky where wireless communication is possible, and receives shooting data, acceleration data, and capture date / time information. (Step S307). The movement control unit 160d determines whether or not the reception of the shooting data, the acceleration data, and the capture date / time information is completed (step S308).

If the movement control unit 160d has not completed the reception of the shooting data, the acceleration data, and the capture date / time information (steps S308 and No), the movement control unit 160d shifts to step S308 again. When the reception of the shooting data, the acceleration data, and the capture date / time information is completed (step S308, Yes), the movement control unit 160d determines whether or not all the box traps 50 have been patrolled (step S309).

If the movement control unit 160d has not patrolled all the box traps 50 (steps S309, No), the movement control unit 160d proceeds to step S306. When the movement control unit 160d has patrolled all the box traps 50 (step S309, Yes), the movement control unit 160d flies toward the management server 200 (step S310).

Next, the effect of the flight robot 100 according to this embodiment will be described. The flight robot 100 flies according to the flight path information 150a passing around each box trap 50, and when it receives a control signal indicating that the birds and beasts have been captured from the box trap 50, it hover and receives the shooting data. As a result, even if the box trap 50 is arranged in an area where the communication state is poor, the information on the birds and beasts captured by each box trap 50 can be acquired. In addition, the battery consumption due to hovering can be saved by hovering only when the information on the capture of birds and beasts is received.

When the total capacity of the shooting data stored in the shooting information table 150b is larger than the predetermined data capacity, the flight robot 100 updates the flight path information 150a and returns to the management server 200. As a result, it is possible to prevent the shooting data from being received and lost by exceeding the allowable amount of the storage unit 150 of the flight robot 100.

When the remaining electric power of the battery 140 is smaller than the predetermined electric energy, the flight robot 100 updates the flight path information 150a and returns to the management server 200. This makes it possible to prevent the flight robot 100 from running out of electric power during flight.

When the type of birds and beasts includes "deer", the flight robot 100 updates the flight path information 150a and returns to the management server 200. Since the time from capture of the deer to the box trap 50 to weakening is shorter than that of other birds and beasts, it is possible to promptly notify that the deer has been captured.

By the way, among the processes described in this embodiment, all or part of the processes described as being automatically performed may be manually performed, or the processes described as being manually performed may be performed. All or part of it can be done automatically by a known method. In addition, the processing procedure, control procedure, specific name, and information including various data and parameters shown in the above document and drawings can be arbitrarily changed unless otherwise specified.

Further, each processing function performed by each device can be realized by a CPU and a program in which all or any part thereof is analyzed and executed by the CPU, or can be realized as hardware by wired logic.

50a, 50b, 50c Box Trap 100 Flying Robot 200 Management Server

Claims (5)

When approaching a spot where wireless communication is possible with a wireless communication device connected to a device that captures a trap for capturing birds and beasts, a wireless communication unit that executes wireless communication with the wireless communication device, and
When a self-flying robot is moved in a flight state based on information on a flight path via a spot capable of wireless communication with each of the plurality of wireless communication devices, and a control signal is received by communication using the wireless communication unit. , The movement control that makes the self-flying robot stand by in the flight state and resumes the flight according to the flight path at the timing when the reception of the shooting information taken by the wireless communication device is completed. A flying robot characterized by having a part. The flight robot according to claim 1, further comprising an update unit that updates information on the flight path according to the capacity of the shooting information. The wireless communication unit further receives information from the acceleration sensor installed in the trap from the wireless communication device, and based on the information of the acceleration sensor, determines a determination unit that determines the type of birds and beasts captured by the trap. The flying robot according to claim 2 , further comprising, wherein the updating unit updates information on the flight path based on the determination result of the determination unit. The flight robot according to claim 2 or 3, wherein the update unit updates information on the flight path based on the remaining power of a battery used by the self-flying robot. It is a control method of a flying robot executed by a computer.
When approaching a spot where wireless communication is possible with a wireless communication device connected to a device that captures a trap for capturing birds and beasts, wireless communication with the wireless communication device is executed.
Based on the information of the flight path via the spots capable of wireless communication with each of the plurality of wireless communication devices, the flying robot is moved in a flying state.
When a control signal is received by communication using the wireless communication unit, the flight robot is made to stand by in a flight state, and the shooting information from the wireless communication device, which is the shooting information shot by the device, is received. A control method for a flying robot, characterized in that a process of resuming flight following the flight path is executed at the time of completion.

Images