JP6806967B2 - Control device and control method - Google Patents

Description

The present invention relates to a control device and 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 the equipment cost for obtaining information on the birds and beasts captured in the box trap is high.

For example, in the above-mentioned conventional technique, since the surveillance cameras are installed for each box trap, the number of surveillance cameras to be installed increases according to the number of box traps. It is also possible to use a drone equipped with a surveillance camera to patrol the sky above each box trap and acquire an image of each box trap, but if the movement route is wide, the battery power is sufficient. It may disappear.

In one aspect, it is an object of the present invention to provide a control device and a control method capable of obtaining information on birds and beasts captured in a box trap.

In the first plan, the control device has a receiving unit, a determining unit, and a designated unit. The receiving unit receives a plurality of acceleration information measured by a plurality of sensors installed in each of the plurality of traps. The determination unit determines whether or not there is a trap that captures birds and beasts among the plurality of traps based on the characteristics of the plurality of acceleration information. If there is a trap that captured the birds and beasts, the designation unit identifies the position of the trap that captured the birds and beasts, accesses the flying robot, and uses the trap that captured the birds and beasts as the destination of the flying robot. Specify the position. When the destination is specified, the flying robot moves in the air toward the destination, and when it reaches the destination, it takes a picture with the camera and then returns to the return point.

You can get information on birds and beasts captured in the box trap.

FIG. 1 is a diagram showing an example 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 acceleration data. FIG. 5 is a functional block diagram showing a configuration of a flying robot according to the present embodiment. FIG. 6 is a functional block diagram showing the configuration of the management server according to this embodiment. FIG. 7 is a diagram showing an example of the data structure of the acceleration table. FIG. 8 is a diagram showing an example of the data structure of the type determination table. FIG. 9 is a diagram showing an example of the data structure of the box trap position table. FIG. 10 is a diagram showing an example of the data structure of the photographing data table. FIG. 11 is a flowchart showing a processing procedure of the box trap according to the present embodiment. FIG. 12 is a flowchart showing a processing procedure of the management server according to this embodiment.

Hereinafter, examples of the control device and the control method 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 an example 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 to 50c are shown here, the system may have other box traps. The management server 200 is an example of a control device. Box traps 50a to 50c are collectively referred to as box trap 50 as appropriate.

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, an acceleration sensor 52, and a wireless communication unit 53.

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, object detection, vibration of the box trap 50a, 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 acceleration sensor 52 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 53 is a device that performs wireless communication with the management server 200. For example, when the box trap 50a captures the bird / beast 6, "bird / beast detection data" indicating that the bird / beast has been captured is transmitted to the management server 200. Acceleration data and capture date / time data are stored in the bird / beast detection data.

The flight robot 100 is a device that has a plurality of propellers (rotors) and moves in the air by rotating each propeller. Further, the flight robot 100 has a camera. For example, the flight robot 100 heads for the position of the box trap 50 shown in the target position data set in the management server 200, captures an image or video of the box trap, and returns to the management server 200. Information of an image or video taken by the flight robot 100 using a camera is referred to as shooting data.

The management server 200 receives the bird / beast detection data from the box trap 50 and identifies the box trap 50 that captured the bird / beast. Further, the management server 200 determines the type of birds and beasts captured by the box trap 50 based on the characteristics of the acceleration data received from the box trap 50. By setting the target position data of the box trap 50 that captured the birds and beasts in the flying robot 100, the management server 200 directs the flying robot 100 to the box trap 50 that captured the birds and beasts, and captures an image or video of the box trap 50. Let me. The management server 200 acquires and manages shooting data from the returned flying robot.

When there are a plurality of box traps 50 that capture birds and beasts, the management server 200 selects the box traps 50 having a high priority based on the type of birds and beasts specified based on the acceleration data. The management server 200 sets the target position data of the selected box trap 50 in the 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 has a door operation unit 5a, a detection sensor 51, an acceleration sensor 52, a wireless communication unit 53, a timer 54, a battery 55, a storage unit 56, and a control unit 57.

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 57a, which will be described later. Further, the door operating unit 5a opens the door 5 of the box trap 50a when the opening signal is received from the door control unit 57a. 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 description of the detection sensor 51, the acceleration sensor 52, and the wireless communication unit 53 is the same as the description of the detection sensor 51, the acceleration sensor 52, and the wireless communication unit 53 shown in FIG.

The timer 54 is a device that outputs information on the current date and time to the control unit 57. The battery 55 is a device that supplies power to each processing unit of the box trap 50a.

The storage unit 56 has acceleration data 56a and capture date / time data 56b. The storage unit 56 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 acceleration data 56a is acceleration data measured by the acceleration sensor 52. FIG. 4 is a diagram showing an example of a data structure of acceleration data. As shown in FIG. 4, the acceleration data associates the time with the acceleration value of each axis (X-axis, Y-axis, Z-axis). The unit of the acceleration value is "mGal".

The capture date / time data 56b is information indicating the date and time when the birds and beasts were captured.

The control unit 57 includes a door control unit 57a, a registration unit 57b, and a transmission unit 57c. The control unit 57 can be realized by a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or the like. The control unit 57 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 57a 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 57a receives a signal from the detection sensor 51 that a bird or beast exists inside the box trap 50a, the door control unit 57a outputs a closing signal to the door operating unit 5a and closes the door 5.

When the door control unit 57a receives a request from an operator to open the door 5 via an input device (not shown), the door control unit 57a outputs an open signal to the door operation unit 5a to open the door 5.

The registration unit 57b registers the acceleration data measured by the acceleration sensor 52 as the acceleration data 56a in the storage unit 56. When the registration unit 57b receives a signal from the detection sensor 51 that a bird or beast exists inside the box trap 50a, the registration unit 57b sets the date and time when the signal indicating that the bird or beast exists inside the box trap 50a is received. It is acquired from the timer 54 and registered in the storage unit 56 as the capture date / time data 56b.

The transmission unit 57c is a processing unit that transmits the bird / beast detection data indicating that the bird / beast has been captured to the management server 200 when the detection sensor 51 receives a signal indicating that the bird / beast exists inside the box trap 50a. is there. For example, the transmission unit 57c adds the box trap ID for identifying the box trap 50a, the acceleration data 56a, and the capture date / time data 56b to the bird / beast detection data, and transmits the bird / beast detection data to the management server 200.

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, a camera 120, an input unit 130, a drive device 140, a battery 150, a storage unit 160, and a control unit 170.

The wireless communication unit 110 is a device that performs wireless communication with the management server 200. The control unit 170, which will be described later, transmits / receives data to / from the management server 200 via the wireless communication unit 110.

The camera 120 is a camera that shoots an image or a video included in the shooting range when a shooting command is received from the camera control unit 174, which will be described later. The camera 120 ends shooting when it receives a shooting end command from the camera control unit 174.

For example, the shooting direction of the camera 120 is the downward direction of the flying robot 100. The camera 120 takes a picture of the box trap 50 when the flying robot 100 reaches the sky above the box trap 50 and starts hovering.

The input unit 130 is an input device for inputting various information to the flight robot 100. The input unit 130 corresponds to a touch panel, an input button, or the like.

The drive device 140 moves the flight robot 100 in the air by rotating a plurality of propellers (rotors) based on a drive command from the control unit 170. Further, the drive device 140 can hold the flight robot 100 in the air (hovering) by adjusting the rotation speeds of the plurality of propellers.

The battery 150 is a device that supplies power to the processing units 110 to 140, 160, and 170 of the flight robot 100.

The storage unit 160 has target position data 161, shooting data 162, and return position data 163. The storage unit 160 corresponds to semiconductor memory elements such as RAM, ROM, and flash memory, and storage devices such as HDD.

The target position data 161 is data indicating the position coordinates of the box trap 50 to which the flight robot 100 heads. For example, the target position data 161 includes a box trap ID. The shooting data 162 is shooting data shot by the camera 120. The return position data 163 is data indicating the position coordinates of the management server 200.

The control unit 170 includes a reception unit 171, a position detection unit 172, a movement control unit 173, a camera control unit 174, and a transmission unit 175. The control unit 170 can be realized by a CPU, an MPU, or the like. The control unit 170 can also be realized by hard-wired logic such as ASIC or FPGA.

When the reception unit 171 receives the target position data 161 from the management server 200, the reception unit 171 registers the target position data 161 in the storage unit 160. When the reception unit 171 receives the shooting data 162 from the camera 120, the reception unit 171 registers the shooting data 162 in the storage unit 160. When the reception unit 171 receives the request for the shooting data 162 from the management server 200, the reception unit 171 outputs the shooting data 162 registered in the storage unit 160 to the management server 200.

The position detection unit 172 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 172 receives GPS signals from each GPS satellite using an antenna (not shown), and calculates the position of the flying robot 100 based on the deviation of the reception time of each GPS signal. The position detection unit 172 outputs the detected position information to the movement control unit 173. In the following description, the position information detected by the position detection unit 172 is referred to as position information.

The movement control unit 173 is a processing unit that moves the flight robot 100 toward the box trap 50 in a flight state based on the target position data 161. For example, the movement control unit 173 outputs a drive command for moving the flight robot 100 in a direction so that the distance between the position information acquired from the position detection unit 172 and the target position data 161 becomes closer to the drive device 140. When the movement control unit 173 reaches the corresponding target position, the movement control unit 173 outputs information to the effect that the target position has been reached to the camera control unit 174.

When the movement control unit 173 receives the information that the shooting is completed from the camera control unit 174, the movement control unit 173 moves the flight robot 100 toward the management server 200 in the flight state based on the return position data 163. When the distance between the position of the flight robot 100 and the position of the return position data 163 is less than the threshold value, the movement control unit 173 outputs information to the effect that it has returned to the management server 200 to the transmission unit 175.

When the camera control unit 174 receives information from the movement control unit 173 that the corresponding target (box trap 50) has been reached, the camera control unit 174 outputs a shooting command to the camera 120. The camera control unit 174 outputs a shooting end command to the camera 120 when any one of the following conditions A1 to A3 is satisfied. After outputting the shooting end command to the camera 120, the camera 120 outputs information to the effect that the shooting is completed to the movement control unit 173.
Condition A1: A predetermined time has elapsed since the shooting command was output to the camera 120.
Condition A2: The data capacity of the shooting data 162 exceeds the threshold value.
Condition A3: The remaining battery level of the battery 150 is less than a predetermined value.

The transmission unit 175 is a processing unit that transmits the shooting data 162 to the management server 200 when the flight robot 100 returns to the management server 200. The transmission unit 175 adds the information of the box trap ID included in the target position data 161 to the shooting data 162.

Next, the configuration of the management server 200 shown in FIG. 1 will be described. FIG. 6 is a functional block diagram showing the configuration of the management server according to this embodiment. As shown in FIG. 6, the management server 200 includes a communication unit 210, an input unit 220, a display unit 230, a storage unit 240, and a control unit 250.

The communication unit 210 is a processing unit that executes data communication with the box trap 50 or the flight robot 100. The communication unit 210 corresponds to a communication device. The control unit 250, which will be described later, exchanges data with the box trap 50 or the flight robot 100 via the communication unit 210.

The input unit 220 is an input device for inputting various information to the management server 200. 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 information from the control unit 250. The display unit 230 corresponds to a liquid crystal monitor, a touch panel, and the like.

The storage unit 240 has an acceleration table 241, a type determination table 242, a box trap position table 243, and a shooting data table 244. The storage unit 240 corresponds to semiconductor memory elements such as RAM, ROM, and flash memory, and storage devices such as HDD.

The acceleration table 241 is a table that holds acceleration data received from each box trap 50. FIG. 7 is a diagram showing an example of the data structure of the acceleration table. As shown in FIG. 7, the acceleration table 241 associates the box trap ID, the capture date and time, the acceleration data, the bird / beast type, and the flag. The box trap ID is information that uniquely identifies the box trap 50. The capture date and time is the date and time when the box trap captured the birds and beasts. The acceleration data is the acceleration data measured by the sensors installed in each box trap 50.

The bird / beast type indicates the type of the bird / beast determined by the determination unit 252 described later. The flag is information indicating whether or not the flying robot 100 is directed to the corresponding box trap. When the flag is "on", it indicates that the flying robot is directed to the corresponding box trap. When the flag is "off", it indicates that the flying robot is not directed to the corresponding box trap.

The type determination table 242 is a table that holds information on conditions for determining the type of birds and beasts. FIG. 8 is a diagram showing an example of the data structure of the type determination table. As shown in FIG. 8, the type determination table 142 associates the condition with the bird / beast type.

The condition indicates the characteristics of the acceleration sensor 52 when the box trap 50 captures the birds and beasts, and when the condition is met, it indicates that the associated birds and beasts are captured. The bird and beast type indicates the type of bird and beast.

For example, when all of the following conditions a1, a2, and a3 are satisfied, it is determined that the type of bird or beast captured in the box trap 50 is "wild boar". When the wild boar is captured by the box trap 50, it has a habit of repeatedly moving in the X-axis direction and the Y-axis direction. The first time width is a time width preset by the user, for example, 60 minutes.
Condition a1: In the first time width, the average value of acceleration in either the X-axis direction or the Y-axis direction is 200 (mGal) or more.
Condition a2: In the first time width, the average value of the other accelerations in the X-axis direction or the Y-axis direction is 100 (mGal) or more.
Condition a3: In the first time width, the average value of acceleration in the Z-axis direction is less than 200 (mGal).

When all of the following conditions b1, b2, and b3 are satisfied, it is determined that the type of bird or beast captured in the box trap 50 is "deer". When a deer is captured by the box trap 50, it has a habit of repeatedly jumping in the Z-axis direction (vertical direction) as compared with the X-axis direction and the Y-axis direction, and since it has little stamina, it does not move much after a while. The first time width and the second time width are time widths preset by the user. However, the first time width <the second time width.
Condition b1: In the first time width, the average value of acceleration in the X-axis direction and the Y-axis direction is less than 200 (mGal).
Condition b2: In the first time width, the average value of acceleration in the Z-axis direction is 200 (mGal) or more.
Condition b3: In the second time width, the average value of the acceleration in the Z-axis direction is less than 200 (mGal).

If the set of conditions a1 to a3 and the set of conditions b1 to b3 are not met, it is determined that birds and beasts other than "boar" and "deer" have been captured.

The box trap position table 243 is information for holding the position data of each box trap 50. FIG. 9 is a diagram showing an example of the data structure of the box trap position table. As shown in FIG. 9, the box trap position table 243 associates the box trap ID with the position data. The box trap ID is information that uniquely identifies the box trap. The position data is data indicating the position of the box trap.

The shooting data table 244 is a table that holds shooting data shot by the flying robot. FIG. 10 is a diagram showing an example of the data structure of the photographing data table. As shown in FIG. 10, the shooting data table 244 associates the box trap ID with the shooting date and time and the shooting data. The box trap ID is information that uniquely identifies the box trap. The shooting date and time indicates the date and time when the flight robot 100 shot the box trap 50. The shooting data is shooting data taken by the flight robot 100.

The control unit 250 includes a reception unit 251, a determination unit 252, and a designation unit 253. 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 receiving unit 251 is a processing unit that receives various data from the box trap 50 or the flying robot 100. When the receiving unit 251 receives the bird / beast detection data from the box trap, the receiving unit 251 stores the box trap ID, the capture date / time, and the acceleration data added to the bird / beast detection data in the acceleration table 241 in association with each other. The receiving unit 251 registers a new record in the acceleration table 241 each time it receives new bird / beast detection data.

When the receiving unit 251 receives the box trap ID and the shooting data from the flying robot 100, the receiving unit 251 associates the received box trap ID with the shooting data and registers them in the shooting data table 244.

The determination unit 252 is a processing unit that determines the type of birds and beasts captured by the box trap based on the acceleration data and the type determination table 242, and registers the determination result in the acceleration table 241. The determination unit 252 acquires acceleration data corresponding to a certain box trap ID from the acceleration table 241 and calculates the average value of the accelerations of the X-axis, Y-axis, and Z-axis in the first time width starting from the capture date and time. Further, the determination unit 252 calculates the average value of the accelerations of the X-axis, Y-axis, and Z-axis in the second time width starting from the capture date and time.

The determination unit 252 includes an average value of accelerations on the X-axis, Y-axis, and Z-axis in the first time width, an average value of acceleration on the X-axis, Y-axis, and Z-axis in the second time width, and a type determination table 242. Compare with the conditions to determine the applicable bird and beast type. The determination unit 252 repeatedly executes the above process every time a new record is added to the acceleration table 241.

When there is a box trap that captures birds and beasts, the designation unit 253 specifies the position of the box trap that captured the birds and beasts, and sets target position data indicating the position of the specified box trap in the flight robot 100. Is. After setting the target position data in the flight robot 100, the designation unit 253 gives a departure instruction.

The designation unit 253 refers to the acceleration table 241 and selects the record having the highest priority among the records whose flag is "off", and identifies the box trap ID of the selected record. The designation unit 253 acquires the position data corresponding to the specified box trap ID from the box trap position table 243. The designation unit 253 sets the acquired position data and the box trap ID in the flight robot 100 as target position data. After setting the target position data in the flight robot 100, the designation unit 253 sets the flag of the acceleration table 241 corresponding to the box trap ID of the target position data to “on”.

The designation unit 253 selects the record having the highest priority for the record whose flag is "off" based on the following criteria.
Criterion c1: The record whose bird / beast type is "deer" has the highest priority. When there are a plurality of records whose bird / beast type is "deer", the record whose capture date / time is the oldest is the record with the highest priority among the records whose bird / beast type is "deer".
Criteria c2: If there is no record satisfying the criterion c1, the criterion c2 is applied. The record whose bird / beast type is "Other" has the highest priority. When there are a plurality of records whose bird / beast type is "other", the record whose capture date / time is the oldest is the record with the highest priority among the records whose bird / beast type is "other".
Criteria c3: If there are no records satisfying the criteria c1 and c2, the criterion c3 is applied. Of each record, the record with the oldest capture date and time is the record with the highest priority.

Next, an example of the processing procedure of the box trap 50 according to this embodiment will be described. FIG. 11 is a flowchart showing a processing procedure of the box trap according to the present embodiment. As shown in FIG. 11, the box trap 50 determines whether or not a bird or beast is detected by the detection sensor 51 (step S101). If the box trap 50 does not detect birds and beasts by the detection sensor 51 (steps S101 and No), the box trap 50 proceeds to step S101 again.

When the box trap 50 detects a bird or beast by the detection sensor 51 (step S101, Yes), the door control unit 57a of the box trap 50 closes the door 5 (step S102). The registration unit 57b of the box trap 50 records the capture date and time (step S103) and records the acceleration data 56a (step S104).

The transmission unit 57c of the box trap 50 transmits the bird / beast detection data to the management server 200 (step S105).

Next, an example of the processing procedure of the management server 200 according to this embodiment will be described. FIG. 12 is a flowchart showing a processing procedure of the management server according to this embodiment. As shown in FIG. 12, the receiving unit 251 of the management server 200 determines whether or not the bird / beast detection data has been received from the box trap 50 (step S201). If the receiving unit 251 has not received the bird / beast detection data from the box trap 50 (steps S201, No), the receiving unit 251 proceeds to step S201 again.

When the receiving unit 251 receives the bird / beast detection data from the box trap 50 (step S201, Yes), the receiving unit 251 registers the acceleration data in the acceleration table 241 (step S202). The determination unit 252 of the management server 200 determines the type of birds and beasts (step S203).

The designation unit 253 of the management server 200 determines whether or not the birds and beasts have been captured by the plurality of box traps 50 (step S204). When the birds and beasts are not captured by the plurality of box traps 50 (step S204, No), the designation unit 253 sets the target position data of the box traps 50 that captured the birds and beasts in the flight robot 100 (step S205). , Step S208.

When the designated unit 253 captures birds and beasts in a plurality of box traps 50 (steps S204, Yes), the designated unit 253 proceeds to step S206. The designation unit 253 selects the box trap 50 according to the priority (step S206). The designation unit 253 sets the target position data of the selected box trap in the flight robot 100 (step S207), and shifts to step S208. The designation unit 253 gives a flight instruction to the flight robot 100 (step S208).

Next, the effect of the management server 200 according to this embodiment will be described. The management server 200 selects the box traps that captured the birds and beasts by using the acceleration data of each box trap 50, notifies the position of the selected box trap 50 to the flying robot 100 having the camera 120, and corresponds to the corresponding box trap 50. Let's go to shoot the image of Box Trap 50. Therefore, it is possible to acquire information on birds and beasts captured in the box trap while suppressing equipment costs.

When there are a plurality of box traps 50 that capture birds and beasts, the management server 200 selects position data designated as the destination of the flying robot 100 based on the types of birds and beasts. Therefore, it is possible to preferentially acquire the shooting data of birds and beasts having a high priority.

When the birds and beasts captured in the box trap are "deer", the management server 200 preferentially directs the flying robot to the box trap that captured the deer. Deer are more vulnerable than other birds and beasts, so you can prioritize the situation of deer.

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 (4)

A receiver that receives multiple acceleration information from multiple traps equipped with one sensor that measures acceleration information ,
Based on the characteristics of the plurality of acceleration information, a determination unit that executes a process of determining whether or not a trap that captures a bird or beast exists among the plurality of traps , and a process of determining the type of the bird or beast. ,
When there are a plurality of traps that capture birds and beasts by the determination unit , a trap is selected from the plurality of traps that capture birds and beasts based on the type of birds and beasts .
When a destination is specified, it moves in the air toward the destination, and when it reaches the destination, it takes a picture with a camera and then accesses a flying robot having a function of returning to a return point, and the flying robot A control device characterized by having a designated unit for designating the position of a selected trap as a destination. The determination unit determines whether the birds and beasts captured in the trap are deer or non-deer birds and beasts based on the characteristics of the acceleration information, and the designated unit has a plurality of traps that capture the birds and beasts. when present, control apparatus according to claim 1, characterized in that preferentially select the position of the trap that captured deer. In the determination unit, the average value of the vertical acceleration in the first time width is equal to or greater than the threshold value, and the average value of the vertical acceleration in the second time width longer than the first time width is the said. The control device according to claim 2 , wherein when the value is less than the threshold value, it is determined that the birds and beasts captured in the trap are deer. A control method executed by a computer
Receive multiple acceleration information from multiple traps with one sensor to measure acceleration information ,
Based on the characteristics of the plurality of acceleration information, it is determined whether or not there is a trap that captures birds and beasts among the plurality of traps.
Based on the characteristics of the plurality of acceleration information, the type of bird or beast is determined.
If there are multiple traps that capture birds and beasts based on the judgment result, select a trap from the multiple traps that capture birds and beasts based on the type of birds and beasts .
When a destination is specified, it moves in the air toward the destination, and when it reaches the destination, it takes a picture with a camera and then accesses a flying robot having a function of returning to a return point, and the flying robot A control method characterized by executing each process that specifies the position of a selected trap as a destination.

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