JP7353430B2 - Bird and beast intimidation system and bird and beast intimidation method - Google Patents

Description

The present invention relates to a bird and beast threatening system and a bird and beast threatening method.

In farmland where crops are produced, such as orchards and fields, damage caused by birds and animals (meaning wild animals), especially crows, occurs frequently. Regarding this, Patent Document 1 describes a bird and beast intimidation system in which a user operates a field device with reference to a camera image from the field device to intimidate birds and beasts by laser irradiation, sound, and light emission.

Japanese Patent Application Publication No. 2013-192486

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

The present invention has been made in view of such problems, and an object of the present invention is to provide a technique that enables threatening birds and beasts over a wide range with a simpler configuration.

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

One aspect of the present invention that solves the above problems is a bird and beast threat system that includes a monitoring device, a terminal device, and an unmanned flight threat device, the monitoring device detecting the presence of a moving object within a predetermined monitoring area. , the terminal device transmits a start instruction to the unmanned flight threat device when the presence of the moving object is detected, and the unmanned flight threat device includes a threat device that threatens the moving object; A flight is started on a predetermined flight route in accordance with a start instruction, and a threat is executed using the threat device at least within the monitoring area.

In the above bird and beast threat system, the monitoring device detects the absence of the moving object within the monitoring area, and the terminal device lands on the unmanned flying threat device when the absence of the moving object is detected. An instruction may be transmitted, and the unmanned flight threat device may complete the flight on the predetermined flight route in accordance with the landing instruction.

In any of the above bird and beast threat systems, the unmanned flying threat device includes at least one of a sounding section and a light emitting section as the threat device, and executes the threat at a predetermined position on the predetermined flight route, or the terminal The threat may be executed according to instructions from the device.

Any of the above bird and beast threat systems includes a plurality of the monitoring devices, and the terminal device directs the unmanned flying threat device to fly on a flight route associated with the monitoring device that has detected the presence of the moving object. The start instruction may be transmitted, and the unmanned flight threat device may start flying along the instructed flight route.

In any of the above bird and beast threat systems, the predetermined monitoring area includes a plurality of partial monitoring areas, the monitoring device detects the presence of a moving object in any of the partial monitoring areas, and the terminal device detects the presence of a moving object in any of the partial monitoring areas. , transmitting the launch instruction to the unmanned flight threat device to fly along the flight route associated with the monitoring area in which the presence of the moving object is detected; Start flying, you may as well.

In any of the above bird and beast threat systems, the unmanned flying threat device includes an imaging unit, and when the presence of a moving object is detected using the imaging unit during flight on the flight route, the You may carry out the threat.

In any of the above bird and beast threat systems, the unmanned flight threat device includes an imaging unit, and when the presence of a moving object is detected using the imaging unit during flight on the flight route, the unmanned flight threat device You may change it as follows.

In any of the above bird and beast threat systems, the unmanned flight threat device uses the threat device to select one of a plurality of threat methods to make a threat, and the bird and beast threat system The terminal device includes a database for recording a history of intimidation methods, the terminal device instructs the unmanned flight threat device to intimidate using the intimidation method selected from the database, and the unmanned flight threat device Alternatively, the threat may be carried out using a method of intimidation.

In any of the bird and beast threat systems described above, the unmanned flight threat device selects and flies one of the plurality of predetermined flight routes, and the bird and beast threat system is configured to monitor the history of flight routes for each flight. the terminal device transmits the launch instruction to the unmanned flight threat device to fly along the flight route selected from the database, and the unmanned flight threat device You may start flying on the route.

Another aspect of the present invention that solves the above-mentioned problems is a terminal device used in a bird and beast threat system that includes a monitoring device and an unmanned flying threat device, wherein the monitoring device detects the presence of a moving object within a predetermined monitoring area. is detected, a launch instruction is sent to the unmanned flight threat device.

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

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

Still another aspect of the present invention for solving the above-mentioned problems is an unmanned flight threat device used in a bird and beast threat system including a monitoring device and a terminal device, the device being equipped with a threat device, and configured to perform predetermined monitoring by the monitoring device. When the presence of a moving object in the area is detected and a start instruction transmitted from the terminal device is received, the device starts flying on a predetermined flight route in accordance with the start instruction, and at least launches the threatening device within the monitoring area. Use it to carry out intimidation.

The unmanned flight threat device described above, upon receiving a landing instruction transmitted from the terminal device when the monitoring device detects the absence of the moving object, terminates the flight on the predetermined flight route in accordance with the landing instruction. You may do so.

Any of the above unmanned flight threat devices includes at least one of a sounding section and a light emitting section as the threat device, and executes the threat at a predetermined position on the predetermined flight route, or performs the threat according to instructions from the terminal device. It may be done as follows.

Still another aspect of the present invention that solves the above problems is a bird and beast threat method in a bird and beast threat system comprising a monitoring device, a terminal device, and an unmanned flight threat device, wherein the monitoring device is configured to control a predetermined monitoring area. detecting the presence of a moving object within the vehicle; the terminal device transmitting a start instruction to the unmanned flight threat device when the presence of the moving object is detected; The method includes the step of starting a flight on a predetermined flight route according to the instruction, and executing a threat using a threat device at least within the monitoring area.

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

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

1 is a diagram illustrating a configuration example of a bird and beast threat system according to an embodiment of the present invention. 1 is a diagram showing an example of a schematic configuration of a monitoring device. FIG. 3 is a diagram illustrating an example data structure of monitoring device information. FIG. 3 is a diagram showing an example of a data structure of flight route information. 1 is a diagram illustrating a schematic configuration example of an unmanned flight threat device. It is a flow chart which shows an example of operation of a bird and beast threat system. It is a flowchart which shows an example of operation of an unmanned flight threat device. FIG. 3 is a diagram showing an example of an operation screen displayed on a terminal device. FIG. 3 is a diagram showing an example of a screen for accepting an intimidation operation. FIG. 3 is a diagram illustrating an example of a flight route. FIG. 2 is a diagram illustrating an overview of the relationship between devices during operation of the bird and beast threat system. It is a figure explaining the example of the flight route concerning the 1st modification of this embodiment. It is a figure which shows the data structure example of the flight route information based on a 1st modification. It is a figure which shows the data structure example of history information and analysis information based on the 2nd modification of this embodiment.

<Embodiment>
Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

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

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

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

The control unit 111 controls the operation of the monitoring device 1 in an integrated manner. Specifically, upon receiving a detection signal indicating detection of the presence of a moving object from the infrared sensor 13, the control unit 111 causes the fixed-point camera 12 to start photographing, and transmits the detection information to the management server 2 via the communication unit 112. do. Further, the control unit 111 establishes a connection with the terminal device 3 via the communication unit 112, acquires an image captured by the fixed point camera 12, and transmits the image to the terminal device 3. Further, upon receiving an undetected signal indicating that the presence of a moving object has not been detected from the infrared sensor 13 , the control unit 111 transmits undetected information (also referred to as repulsion information) to the management server 2 via the communication unit 112 . Further, the control unit 111 disconnects the terminal device 3 and causes the fixed-point camera 12 to finish photographing.

FIG. 2 is a diagram showing an example of a schematic configuration of the monitoring device 1. As shown in FIG. The fixed point camera 12 observes the monitoring area T at a fixed point, and outputs a captured image of the monitoring area T to the control unit 111. The infrared sensor 13 detects a moving object that has entered the monitoring area T by emitting infrared rays radially and detecting the body temperature of the moving object. Further, the infrared sensor 13 outputs a detection signal indicating that a moving object has been detected or an undetected signal indicating that a moving object has not been detected to the control unit 111.

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

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

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

FIG. 3 is a diagram showing an example of the data structure of the monitoring device information 231. The monitoring device information 231 stores records of each monitoring device 1. Each record includes items such as a monitoring device ID 231a, a position 231b, a detection state 231c, and a threatening state 231d. The monitoring device ID 231a is identification information of the monitoring device 1. The position 231b is position information of the monitoring device 1 (for example, a GPS coordinate position). In the detection state 231c, an identifier (hereinafter referred to as "1") indicating that a moving object is detected or an identifier (hereinafter referred to as "0") indicating that no moving object is detected is set. In the threat state 231d, an identifier (hereinafter referred to as "1") indicating that the unmanned flight threat device 4 has executed the threat or an identifier (hereinafter referred to as "0") indicating that the threat has not been executed is set.

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

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

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

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

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

Returning to the explanation of FIG. The control unit 31 controls the operation of the terminal device 3 in an integrated manner. Specifically, the control unit 31 causes the display unit 35 to display an operation screen, and receives, via the input unit 34, the selection of the monitoring device 1 to be the target of flight and intimidation by the unmanned flight threat device 4. The control unit 31 also acquires flight route information 331c associated with the monitoring device ID of the selected monitoring device 1 from the storage unit 33, and sends a launch instruction to the communication unit to fly according to the flight route. 32 to the unmanned flight threat device 4.

Further, the control unit 31 monitors the current position of the launched unmanned flight threat device 4, and sends a threat instruction to the unmanned flight threat device 4 via the communication unit 32 to perform the threat at a predetermined position on the flight route. Send to 4. Further, upon receiving the repulsion information from the management server 2, the control unit 31 sends a landing instruction to the unmanned flight threat device 4 via the communication unit 32 to return to a predetermined landing position (end the flight) according to the flight route. send.

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

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

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

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

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

Further, the unmanned flight threat device 4 includes a light emitting section 424 made up of an LED or the like, and a sounding section 425 made up of a speaker or the like. For example, the control unit 421 controls the light emitting unit 424 to emit light or controls the sounding unit 425 to output audio according to predetermined threat pattern information. In the threatening pattern information, for example, a light emission pattern (emission interval, emission time, brightness, etc.) and an audio output pattern (output interval, output time, volume, etc.) are defined. In this embodiment, the storage unit 423 stores a plurality of pieces of threatening pattern information in advance, and the control unit 421 controls the threatening action using the randomly selected threatening pattern information every time a threatening instruction is received. . This can make it difficult for birds and animals to get used to threats. The unmanned flight threat device 4 may omit either the light emitting section 424 or the sounding section 425, or may include other threatening units, such as water, in addition to or in place of the light emitting section 424 and the sounding section 425. It may also be provided with an injection section that injects.

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

FIG. 6 is a flowchart showing an example of the operation of the bird and beast threat system. In explaining FIG. 6, it is assumed that the unmanned flight threat device 4 is stopped on the take-off and landing platform 44, and the monitoring device 1 is not detecting a moving object.

First, the monitoring device 1 determines whether a moving object is detected (step S10). Specifically, the control unit 111 monitors the detection signal from the infrared sensor 13. When the control unit 111 receives the detection signal, it determines that a moving object has been detected. If a moving object is not detected (step S10: No), the process of step S10 is continued.

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

The management server 2 updates the monitoring device information 231 (step S40). Specifically, upon receiving detection information (including the monitoring device ID) from the monitoring device 1 via the communication unit 22, the control unit 21 sets the detection state 231c of the record corresponding to the monitoring device 1 to “1”. Update to. Further, the control unit 21 reads the record of each monitoring device 1 from the monitoring device information 231, generates map information depicting the position of each monitoring device 1, its detection state, and threatening state, and It is transmitted to the terminal device 3 along with the ID. The map information is, for example, a map representing the entire farmland. Note that the control unit 21 updates the map information and sends it to the terminal device 3 every time the monitoring device information 231 is updated.

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

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

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

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

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

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

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

Returning to the explanation of FIG. 6. The control unit 31 receives, via the input unit 34, the selection of the monitoring device 1 to be the target of flight and intimidation by the unmanned flight threat device 4.

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

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

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

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

Note that in step S90, the control unit 31 may read predetermined threat pattern information from the storage unit 33, and transmit a threat instruction including the threat pattern information to the unmanned flight threat device 4.

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

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

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

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

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

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

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

FIG. 7 is a flowchart showing an example of the operation of the unmanned flight threat device 4. In explaining FIG. 7, it is assumed that the unmanned flight threat device 4 is stopped on the takeoff and landing platform 44.

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

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

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

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

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

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

If a landing instruction is received (step S250: Yes), the unmanned flight threat device 4 executes landing (step S260). Specifically, the control unit 411 controls the unmanned flight threat device 4 to return to the landing pad and land in accordance with the flight route information. After that, the control unit 411 may execute the process of step S210 again.

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

FIG. 11 is a diagram illustrating an overview of the relationship between devices during operation of the bird and beast threat system. (A) of FIG. 11 shows the state from when a bird or beast is detected until the monitoring device 1 and the terminal device 3 are connected. FIG. 11(B) shows the launch and threat operation of the unmanned flight threat device 4. (C) of FIG. 11 shows the state from when the repulsion of birds and beasts is detected until the unmanned flying threat device 4 lands.

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

<First modification example>
In the bird and beast threat system according to the first modification of the above-described embodiment, the monitoring area T includes a plurality of partial monitoring areas, and a flight route corresponding to each partial monitoring area can be set. Hereinafter, differences from the above-described embodiment will be mainly explained.

FIG. 12 is a diagram illustrating an example of a flight route according to the first modification of the present embodiment. In the first modification, the monitoring area T includes a plurality of partial monitoring areas. In the example of FIG. 12, the monitoring area T1 and the monitoring area T2 each have four partial monitoring areas (areas separated by broken lines). Furthermore, in the first modification, flight route information corresponding to each partial monitoring area is prepared in advance. In the example of FIG. 12, four pieces of flight route information corresponding to each partial monitoring area are prepared in the monitoring area T1. The same applies to the monitoring area T2. For example, when a moving object M is detected within a partial monitoring area at the lower right of the monitoring area T1, flight route information R11 that passes through the partial monitoring area is set in the unmanned flight threat device 4. For example, when a moving object M is detected within the upper right partial monitoring area of the monitoring area T1, flight route information R12 that passes through the partial monitoring area is set in the unmanned flight threat device 4.

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

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

The control unit 111 of the monitoring device 1 analyzes the video obtained from the fixed point camera 12 using image recognition processing or the like, and identifies the partial monitoring area where the moving object is present and its area ID. Further, the control unit 111 transmits the identified area ID together with the detection information to the management server 2.

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

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

According to the first modification, the unmanned flight threat device 4 can be flown to execute a threat to a partial monitoring area where a moving object within the monitoring area has been detected. This makes it possible to repel birds and beasts more effectively.

<Second modification example>
The bird and beast threat system according to the second modification of the above-described embodiment accumulates historical information regarding the repulsion of birds and beasts in a database, performs analysis using the historical information, and then performs flight and threat when birds and beasts are detected. Use it for. Hereinafter, differences from the above-described embodiment will be mainly explained.

In the second modification, the record corresponding to each monitoring device 1 of the flight route information 331 includes a plurality of pieces of flight route information 331c in association with the monitoring device ID 331b. These flight routes include, for example, different routes approaching the monitoring area T, and different routes within the monitoring area T. Note that the flight route information 331c also includes identification information of the flight route. The control unit 31 sends a start instruction using randomly selected flight route information each time. This makes it difficult for birds and animals to become accustomed to the threat of flight.

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

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

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

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

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

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

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

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

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

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

In this way, the terminal device 3 can fly the unmanned flight threat device 4 using highly effective flight route information. Further, the terminal device 3 can cause the unmanned flying threat device 4 to execute the threat using a highly effective threat pattern.

<Other variations>
The control unit 411 of the unmanned flying threat device 4 according to a certain modification may perform image analysis on the video of the camera 414 during flight to detect a moving object. In this case, the control unit 411 may notify the control unit 421 of the detection information. The control unit 421 that has received the notification may then execute the threat. In this way, the unmanned flight threat device 4 can autonomously execute the threat operation even if it does not receive a threat instruction from the outside.

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

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

In a modified example, regardless of whether a moving object is detected, the terminal device 3 sends a launch instruction with predetermined flight route information at a pre-scheduled time, and the unmanned flight threat device 4 sends a launch instruction at a pre-scheduled time. Patrol flights may be conducted in accordance with launch instructions. In this way, even if a moving object is not detected, it can be expected to prevent a moving object from entering the monitoring area. If a moving object is detected during a patrol flight, the terminal device 3 transmits flight route information corresponding to the monitoring device 1 where the moving object was detected, and the unmanned flight threat device 4 updates the current flight route with a new one. All you have to do is change the flight route you received.

In a modification, the bird and beast threat system may include a plurality of terminal devices 3 or a plurality of unmanned flying threat devices 4. Moreover, in a certain modification, the management server 2 and the terminal device 3 may be configured as an integrated device.

The configuration of each device of the bird and beast threat system shown in FIG. 1 etc. is classified according to the main processing content in order to facilitate understanding of the configuration of each device. The present invention is not limited by the classification or names of the components. The configuration of each device can be further classified into more components depending on the processing content. It is also possible to classify one component so that it performs more processes. Furthermore, the processing of each component may be executed by one piece of hardware or by a plurality of pieces of hardware. In addition, the processing or division of functions of each component is not limited to what is shown in the drawings, as long as the objectives and effects of the present invention can be achieved.

Furthermore, the processing units in the flowchart shown in FIG. 6 are divided according to the main processing contents in order to facilitate understanding of the processing of each device. The present invention is not limited by the way the processing units are divided or their names. The processing of each device can also be divided into more processing units depending on the processing content. Furthermore, one processing unit can be divided to include more processing. Furthermore, the processing order of the above flowchart is not limited to the illustrated example as long as the objects and effects of the present invention can be achieved.

The present invention is not limited to the embodiments described above, and includes various modifications. For example, each of the above-described embodiments has been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the components described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace some of the configurations of each embodiment with other configurations.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized in hardware by designing, for example, an integrated circuit. Further, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tables, files, etc. that implement each function can be stored in a memory, a storage device such as a hard disk or SSD, or a recording medium such as an IC card, SD card, or DVD. Further, the control lines and information lines are shown to be necessary for explanation purposes, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.

The present invention can be provided in various aspects such as not only a bird and beast threat system and a bird and beast threat method, but also each device included in the bird and beast threat system, a method for each device, and a computer-readable program for each device.

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

Claims (8)

Equipped with a monitoring device, a terminal device, and an unmanned flight threat device,
The monitoring device detects the presence of a moving object within a predetermined monitoring area,
The terminal device transmits a launch instruction to the unmanned flight threat device when the presence of the moving object is detected,
The unmanned flight threat device includes a threat device that threatens the moving object, starts flight on a predetermined flight route according to the start instruction, and executes the threat using the threat device at least within the monitoring area,
The predetermined monitoring area includes a plurality of partial monitoring areas,
The monitoring device detects the presence of a moving object in any of the partial monitoring areas,
The terminal device is configured to fly on a flight route that is associated with the partial monitoring area in which the presence of the moving object is detected and that includes coordinate information of each of a departure position, a plurality of passing positions, and a destination position. transmitting the launch instruction to the unmanned flight threat device;
The unmanned flight threat device starts flying along the instructed flight route.
Bird and beast intimidation system. The bird and beast intimidation system according to claim 1,
The monitoring device detects the absence of the moving object within the monitoring area,
The terminal device transmits a landing instruction to the unmanned flight threat device when the absence of the moving object is detected,
The unmanned flight threat device is a bird and beast threat system that terminates flight on the designated flight route in accordance with the landing instruction. The bird and beast threat system according to claim 1 or 2,
The unmanned flight threat device includes at least one of a sounding section and a light emitting section as the threat device, and executes the threat at a predetermined position on the indicated flight route, or according to instructions from the terminal device. Bird and beast intimidation system. The bird and beast threat system according to any one of claims 1 to 3,
comprising a plurality of the monitoring devices,
The plurality of monitoring devices detect the presence of a moving object in any of the partial monitoring areas within each of the predetermined monitoring areas,
The terminal device flies on a flight route that is associated with the partial monitoring area of the monitoring device that detected the presence of the moving object and that includes coordinate information of each of a departure position, a plurality of passing positions, and a destination position. transmitting the launch instruction to the unmanned flight threat device so as to
The unmanned flight threat device is a bird and beast threat system that starts flying along the instructed flight route. A terminal device used in a bird and beast threat system comprising a monitoring device and an unmanned flight threat device,
If the monitoring device detects the presence of a moving object within a predetermined monitoring area, transmitting a launch instruction to the unmanned flight threat device ;
The predetermined monitoring area includes a plurality of partial monitoring areas,
The monitoring device detects the presence of a moving object in any of the partial monitoring areas,
The terminal device is configured to fly on a flight route that is associated with the partial monitoring area in which the presence of the moving object is detected and that includes coordinate information of each of a departure position, a plurality of passing positions, and a destination position. transmitting the launch instruction to the unmanned flight threat device;
Terminal device. The terminal device according to claim 5 ,
A terminal device that transmits a landing instruction to the unmanned flight threat device when the monitoring device detects the absence of the moving object. The terminal device according to claim 5 or 6 ,
A terminal device that transmits a threat instruction to the unmanned flight threat device and causes it to execute a threat operation. A bird and beast threat method in a bird and beast threat system comprising a monitoring device, a terminal device, and an unmanned flight threat device,
a moving object presence detection step in which the monitoring device detects the presence of a moving object within a predetermined monitoring area;
an outgoing instruction sending step in which the terminal device sends a start instruction to the unmanned flight threat device when the presence of the moving object is detected;
The unmanned flight threat device starts flight on a predetermined flight route in accordance with the start instruction, and includes a threat step of executing the threat using the threat device at least within the monitoring area ,
In the moving object presence detection step, the monitoring device detects the presence of a moving object in any one of a plurality of partial monitoring regions included in the predetermined monitoring region;
In the transmission instruction step, the terminal device includes coordinate information of a departure position, a plurality of passing positions, and a destination position, which are flight routes associated with the partial monitoring area in which the presence of the moving object is detected. transmitting the launch instruction to the unmanned flight threat device to fly on a flight route;
In the intimidation step, the unmanned flight intimidation device starts flying along the instructed flight route.
How to intimidate birds and animals.

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