JP2011250745A - Method and system for threatening harmful animal - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method and system for threatening harmful animals, which can accurately recognize throughout the day and night without generating a noise to the neighbors, that a harmful animal invades into a protection area, while eliminating the problem that the animal is accustomed with being threatened.SOLUTION: The method for threatening the harmful animals includes installing an image acquirer and a super-directive speaker adjacent to the image acquirer and determining the invasion of the harmful animal when the image acquirer obtains the image including a moving body. The method for threatening the harmful animal invading into the protection is obtained by calculating the direction of the harmful animal on the basis of the position of the moving body in the image and emitting sound to the direction of the harmful animal in a pinpoint manner.

Description

  The present invention relates to wild boars, monkeys, deer, crows, etc. (including these birds and beasts) that invade protected areas (hereinafter referred to as “protected areas”) such as farms, gardens, parking lots, and parks. It is related to the harm beast threat method and the threat beast threat system.

  In recent years, with changes in the natural environment such as the forest where birds and beasts live, these birds and animals have come down from the mountains and seek food from fields and fields. According to the Ministry of Agriculture, Forestry and Fisheries, the damage to crops is estimated to be 20 billion yen, but when large beasts such as wild boar enter the field, not only the damage to the crops but also the surrounding facilities and the fields themselves are destroyed, making the farmer economical In addition to the damage, it currently suffers mental damage.

  Conventionally, in order to protect fields such as fields and fields from harmful beasts, intimidating objects such as scarecrows have been installed, fences have been installed around the field, and devices that emit intimidating sounds regularly or continuously. Various ideas were devised such as installation.

  However, threats such as scarecrows are always installed, so there is a problem that pests become accustomed and the effect does not last long, and when installing a fence around the field, it takes time and effort to install and maintain it. There was a problem that it cost considerable. Furthermore, in addition to the problem of “familiarity with pests”, the device that emits a threatening sound had a problem of noise to the neighborhood.

  Therefore, Patent Document 1 proposes a method for eliminating birds and beasts, in which intrusion of birds and beasts is detected by an optical sensor, and light is emitted by a flasher at the detected timing and sound is generated.

Japanese Patent Laid-Open No. 8-187048

In the case of Patent Document 1, since a threatening sound is generated only when a pest invades within the protection range, an effect can be expected for “habituation of a pest”, but the threatening sound is Because it is emitted not only to the neighborhood but also to the neighborhood, the noise problem for the neighborhood is not solved.

  The object of the present invention is to eliminate the problem of “familiarity with pests” and to accurately recognize pests that invade the protected area day and night without causing noise in the vicinity. It is to provide a method and pest threatening system.

The pest threatening method of the present invention is a pest threatening method for threatening a pest invading a protection range, an image acquisition means capable of acquiring an image within the protection range, and a desired position within the protection range. In addition, a super-directional speaker that can radiate sound is installed, and the image acquisition means determines an intrusion of a pest by acquiring an image including a moving body that has entered the protection range. The direction of the pest is calculated based on the position of the moving body in the image, and the super-directional speaker emits sound in the calculated direction of the pest, thereby preventing the pest that has entered the protection range. It is a way to threaten. In this case, an illumination unit and a sensor capable of detecting a pest moving within the protection range are provided, and at night, when the sensor detects the pest, the illumination unit illuminates the protection range and the image is acquired by the image acquisition unit. It can also be a method that enables acquisition.

The pest threatening system of the present invention is a pest threatening system threatening against a pest invading the protection range, an image acquisition means capable of acquiring an image within the protection range, and a desired position within the protection range. A super-directional speaker capable of radiating sound, a moving unit capable of changing a radiation direction of the super-directional speaker, and a control unit capable of determining the invasion of a pest and controlling the moving unit. The control means determines the invasion of a harmful animal when the image acquiring means acquires an image including a moving object that has entered the protection range, and based on the position of the moving object in the acquired image, The direction is calculated, and sound is emitted to the super-directional speaker while controlling the moving means so that the super-directional speaker faces the direction of the pest. In this case, an illumination unit and a sensor capable of detecting a pest moving within the protection range are provided, and at night, when the sensor detects the pest, the illumination unit illuminates the protection range and the image is acquired by the image acquisition unit. It can also be obtained.

The pest threatening method of the present invention has the following effects.
(1) Pests are threatened by intimidating sounds, and even if they enter the protected area, they can be expelled before they are damaged, so that crops within the protected area are protected.
(2) Since a threatening sound is emitted only when a pest invades, the pest does not get used to this sound.
(3) The threatening sound from the super-directional speaker reaches only the ears of harmful animals (ear effects), and since this threatening sound does not leak to the neighborhood, there is no worry of noise problems. Also in this respect, the “familiarity of pests” is eliminated.
(4) By using lighting, it is possible to reliably recognize and threaten harmful animals even at night.
(5) Since it is not necessary to always arrange a person to be monitored or a person to be managed, it can be operated without incurring labor costs.

In addition to the above effects, the harmful animal threat system of the present invention has the following effects.
(1) Since commercially available image acquisition means, superdirective speakers, illumination means, etc. can be used, they can be manufactured easily and at low cost.

The whole figure which shows the outline | summary of the pest threatening method and the pest threatening system in Embodiment 1. FIG. The flowchart which shows the whole flow of the pest-infestation method and pest-intimidation system in Embodiment 1 and Embodiment 2. FIG. FIG. 9 is a flowchart showing another example different from FIG. 2 in the night mode flow of the pest threatening method and the pest threatening system in the second embodiment. FIG. 9 is a flowchart showing another example different from FIG. 2 and FIG. 3 in the night mode flow of the pest threatening method and the pest threatening system in the second embodiment. The whole figure which shows the outline | summary of the pest threatening method and the pest threatening system in Embodiment 3. The flowchart which shows the flow of the whole pest threatening method and pest threatening system in Embodiment 3. The general view which shows the outline | summary of the pest control method and pest control system when two cameras are arranged.

(Embodiment 1)
A first embodiment of a pest and threatening method and a pest and threatening system according to the present invention will be described with reference to FIG. FIG. 1 is an overall view showing an outline of a pest and threatening method and a pest and threatening system of the present invention. As shown in this figure, the pest-infestation method and the pest-intimidation system of the present invention recognize a pest 2 entering the protection range 1 such as a field by the camera 3 and calculate the direction in which the pest 2 is present. The directional speaker 4 is pointed at the pest 2 and is intimidated by emitting a repelling sound. This repelling sound is a sound that the beast 2 is surprised, barking, or disgusting, and various repelling sounds can be created in advance by combining the frequency and the volume.

  The camera 3 that is an image acquisition means for acquiring an image is a digital camera incorporating an image sensor. For example, a commercially available surveillance camera can be used, and of course, a dedicated camera 3 using the image sensor is manufactured. Also good. The camera 3 is installed so that the entire range of the protection range 1 can be captured. In the figure, the camera 3 is arranged at a predetermined height of the column 5, but the camera 3 can be installed in a house or other structure, or the camera 3 can be arranged on a dedicated installation table. it can. In short, the camera 3 is installed so that the entire range of the protection range 1 can be captured. As will be described later, since the camera 3 needs to grasp the range of the protection range 1 in a planar manner, it is installed at a position that is somewhat high (a height of several meters from the ground).

  The super-directional speaker 4 that emits repellent sound toward the pest 2 is also simply called a directional speaker or a parametric speaker, and is a speaker that uses nonlinear interference generated during propagation of air by an ultrasonic wave. It has the characteristic of excellent directivity for delivering sound only. In recent years, it has attracted attention in various fields, such as explanations of exhibits (which can be heard only by viewers) and guidance in buildings and intersections. When a person listens to the sound emitted from the super-directional speaker 4, it is said that the person feels as if the sound is generated at the ear of the person or that the sound reaches directly into the head. Of course, the audible range of the superdirective speaker 4 has a certain extent, and is generally said to have an extent of about 10 to 20 degrees. When the super-directional speaker 4 is used to threaten a pest as in the present invention, the pest 2 suddenly feels a repellent sound at the ear due to its characteristics, and escapes with surprise and barking. In addition, the super-directional speaker 4 does not become noise to the neighborhood, and it is possible to increase the surprise and barking of the pests by adjusting the volume and frequency of the repelling sound. Superdirective speaker 4 is commercially available, and commercially available superdirective speaker 4 can also be used in the present invention.

  In FIG. 1, the super-directional speaker 4 is installed on the support column 5 so as to be in the vicinity of the camera 3. As described above, the camera 3 is not limited to the support column 5 and may be installed in a house or other structure. Accordingly, the superdirectional speaker 4 is also installed in the house or other structure near the camera 3. May be. If superdirective speaker 4 is in the vicinity of camera 3 as shown in FIG. 1, the wiring process between camera 3 and superdirective speaker 4 is facilitated, which is preferable. The speaker 4 may be installed. That is, separately from the column 5 for the camera 3, the column 5 can be erected and the super-directional speaker 4 can be installed on the column 5.

  Superdirective speaker 4 is placed on moving body 6 so that it can radiate repellent sound toward an arbitrary location within protection range 1. That is, the moving body 6 is attached to the vicinity of the camera 3 in the support column 5, and the super-directional speaker 4 is mounted on the mounting surface of the moving body 6 and fixed. Further, the moving body 6 is placed on the super-directional speaker 4 so that the sound radiation direction of the super-directional speaker 4 can be freely set, that is, the posture (horizontal direction and vertical direction) of the super-directional speaker 4 can be freely set. The mounting surface is rotatable with respect to a horizontal plane and is also rotatable with respect to a vertical surface. The rotation operation of the mounting surface of the moving body 6 is performed according to a command from the control means 7 to be described later, and an automatic pan head or the like that can operate automatically (pan / tilt control is possible by remote operation) is used. be able to.

  When one camera 3 can capture the entire range of the protection range 1, it is sufficient to install only one set of the camera 3 and superdirective speaker 4 as shown in FIG. When the camera 3 having a wide field of view or a narrow field of view is used, it is assumed that the entire range of the protection range 1 is covered with two or more necessary cameras 3 and two superdirective speakers 4 are provided depending on the situation. The above required number can be installed.

  Hereinafter, based on the flowchart shown in FIG. 2, the whole flow until threatening a pest will be described.

  S0 shown in FIG. 2 sets the moving body 6 in a predetermined direction (for example, the direction in which the center of the protection range 1 is held), sets the state of the control means 7 to the initial state, or sets necessary settings before starting the harmful animal threat system. Are various steps. S1 is a step of selecting either “daytime mode” when using the pest and threatening system in the daytime or “night mode” when using the harmful and threatening system at night. A case where “daytime mode” is selected will be described. Note that S1 for selecting the mode is provided when the pest and intimidation system is used both day and night. When the pest and intimidation system is used only in the daytime, or when the pest and intimidation system is used only at night, S1 is selected. There is no need to provide.

  In the image acquisition step S2, image acquisition by the camera 3 is performed. The camera 3 acquires images automatically and continuously. The acquisition interval is a guideline of acquiring several tens to several hundred images per second. For example, an image can be acquired at an interval of 30 images per second. Of course, the interval is appropriately set according to the situation of the protection range 1. It can also be designed. Further, since the shooting direction of the camera 3 is fixed, the image acquisition range is always constant (of course, there is a slight change due to wind and vibration). The acquired image data is stored in a database (not shown). In this way, the infestation of the pest 2 is awaited while continuously acquiring images.

  In step S <b> 3, the presence / absence of the invading beast 2 is determined based on the image acquired by the camera 3. The presence / absence of the invader pest 2 is determined by comparing the “current image” and the “absent image” acquired this time. The image comparison is performed by the control means 7 from the database every time an image is acquired. The “image” data is read, and it is determined whether or not there is a change between both images. The “absent image” is an image acquired in a state where no harmful animal 2 exists within the protection range 1. As the control means 7, a computer such as a personal computer shown in FIG. 1 can be used, or a dedicated camera 3 can be created, and the control means 7 can be built in the camera 3.

  The image change can be determined using a conventional image technique. For example, the “current image” data and the “comparison image” data are compared for each pixel, and an image quantitative value (for example, , RGB values) can be determined by extracting pixels having different values. In this case, in order to avoid the influence of disturbances such as light and darkness due to sunlight, fluctuation of crops due to wind, and invasion of garbage, it is desirable to allow a certain degree of tolerance (buffer) in judging the change of both images. In the case of comparing RGB values, it is determined that there is a change when there is a predetermined difference (threshold value) between the RGB values of both images, or the number of different pixels exceeds the predetermined number (threshold value). Sometimes it can be determined that there is a change, or a change can be determined using various buffers.

  As a result of comparing the “current image” and the “absent image”, the control means 7 determines that there is a change between the two images (hereinafter referred to as “change determination”), and the harmful animal 2 enters the protection range 1. It is determined that it has entered (hereinafter referred to as “harmful beast”). However, comparing the “current image” with the “absent image” and determining that there is a “poisonous beast” based on a single determination of change is not reliable, so if the change in both images is stable to some extent, It is desirable to judge that there is a beast. As an example, when the change determination that “the current image” has changed with respect to the “absent image” continues for a predetermined number of times (threshold), or after the change determination, the change determination is further performed at a predetermined frequency (threshold). If there is (for example, 270 or more out of 300 times), it can also be determined that “there is a pest”. The “absence image” can be acquired periodically and stored in a database periodically (once every hour on the hour, once every day), for example, When there is a change determination, the “immediate image” that is the immediately preceding image can be stored in the database as the “absent image”.

  As described above, if the change determination that the change in the “current image” has changed with respect to the “absent image” continues for a predetermined number of times, for example, if the change determination is stable, it is determined that there is a harmful animal and the next step (S4) If there is no change between the “absent image” and the “current image”, it is determined that there is no “poisonous beast” and the process returns to the mode selection S1 (or to S2 if S1 is not provided). In addition, in a state where the change determination is not stable, for example, the change determination continues but is not continued up to a predetermined number of times, the presence of a pest is determined to be “indefinite” and the process returns to the image acquisition step S2.

  In S4, it is determined whether or not the pest 2 is stationary. Note that “stationary” here means not only “stationary” in a strict sense (that is, a state that does not move at all) but also a concept that includes “a state in which there is some movement but can be regarded as stationary”. Point to. When the repelling sound is emitted after confirming that the pest 2 is stationary, the threatening effect on the pest 2 is further improved. However, it is also possible to radiate a repellent sound immediately after determining that there is a pest, without waiting for the pest 2 to be stationary, that is, D4 can be omitted depending on the situation. In step S4, the “current image” is compared with the “previous image” which is the immediately preceding image. The comparison method is the same as in step S3, in which the control means 7 reads the image data from the database. Do. Further, in step S4, it is determined whether or not the position of the pest 2 has changed, that is, whether or not the pest 2 has moved. Similarly to the image change step in S3, a conventionally used image is used. The control means 7 determines using the technique.

  Even in the stillness determination of the pest 2, the “current image” and the “previous image” are compared, and it is determined that “the harmful pest is still” after a single change determination. It is desirable to determine that the “poisonous beast is stationary” in a state in which changes in both images are stabilized to some extent, such as a continuous number of times (change is determined at a predetermined frequency). When the control means 7 determines that there is no change between the “current image” and the “previous image”, it determines that “the pest is still” and proceeds to the next step (S5). If there is a change between the “previous image”, it is determined that “the harmful animal has moved” and the process returns to the step S2.

In S5, the position of the harmful animal 2 is grasped, and the radiation direction of the repelling sound, that is, the repelling sound radiation direction of the superdirective speaker 4 (hereinafter referred to as “target direction”) is calculated. This calculation is performed by the control means 7, and a spatial calculation based on images conventionally used can be employed. An example of the technique is shown below. In order to acquire the image of the protection range 1 from above, the camera 3 is set at a predetermined height (2 to 10 m from the ground), and the image acquired by the camera 3 is covered with a grid mesh in advance. Since the installation position and installation orientation (imaging direction) of the camera 3 are fixed, the mesh grid points are also fixed, and plane coordinates (X, Y) as known points are given to the mesh grid points. be able to. By such a pre-setting, when a moving body such as the pest 2 is included in the image during the system operation, the plane coordinates (Xm, Ym) of the pest 2 position are calculated based on the plane coordinates of the mesh grid points. Can be calculated. The predetermined coordinate Zm (for example, the height from the ground to the ear of the harmful animal 2) is added to the coordinate value to the plane coordinate of the position of the harmful animal 2 and the position coordinate (Xm, Ym, Zm). Furthermore, the representative point (for example, sound emission point) coordinates (X0, Y0, Z0) of the known superdirective speaker 4 and the direction between the two points from the position coordinates (Xm, Ym, Zm) of the harmful animal 2 Can be calculated as the target direction of superdirective speaker 4.

The direction control step of S6 adjusts the attitude of superdirective speaker 4. The control means 7 operates the moving body 6 which is a moving means based on the target direction of the superdirective speaker 4 obtained in S5, whereby the mounting surface of the moving body 6 is set at a predetermined angle (horizontal angle and elevation angle). As a result, the superdirective speaker 4 is in a posture of emitting a repellent sound toward the target direction. The orientation of superdirective speaker 4 can also be adjusted so that the radiation direction of superdirective speaker 4 fluctuates vertically (elevation angle) and left and right (horizontal angle) around the target direction determined above. . Thereby, even if an error occurs in the calculation of the target direction, it is preferable that the repellent sound is surely emitted to the pest 2.

In step S7, the evasive sound emission step is such that the superdirective speaker 4 actually radiates the evasive sound in accordance with a command from the control means 7 after the attitude of the superdirectional speaker 4 is adjusted to a predetermined direction (S6). The repelling sound data is stored in a database (not shown), and the repelling sound data is read and the repelling sound is emitted from the superdirective speaker 4. Since the type of repellent sound may differ depending on the kind of harmful animal, it is also preferable to store a plurality of types of repellent sounds in a database and radiate these different types of repellent sounds cyclically.

  After emitting the repellent sound in the step of S7, the mode selection S1 is returned to (if S1 is not provided, the process returns to S2), the image is continuously acquired (S2), and the presence or absence of a pest is determined (S3). If it is determined that there is no harmful animal, the repelling sound is stopped (S8) according to a command from the control means, and the mode selection S1 is returned (or S2 if S1 is not provided).

(Embodiment 2)
A second embodiment of the pest threatening method and the pest threatening system of the present invention will be described with reference to FIG. The present embodiment describes a case where the harmful beast 2 is threatened at night, and the contents not described here such as the basic structure and action are common to the first embodiment.

  In the present invention, since the intrusion of the harmful animal 2 is confirmed from the image acquired by the camera 3 and its position is calculated, illumination is necessary at night. Therefore, as shown in FIG. 1, an illuminating means 8 capable of illuminating the inside of the protection range 1 is installed. In FIG. 1, only one lighting means 8 is installed. However, depending on the width of the protection range 1 and the lighting range of the lighting means 8, two or more necessary lighting means 8 can be installed. In addition, as the illumination means 8, various lamps such as a fluorescent lamp, a mercury lamp, and an LED lamp can be used, or commercial power or solar power can be used. If the camera 3 using an infrared image sensor is used, the illumination means 8 becomes unnecessary although the cost of the camera 3 increases. Therefore, depending on the situation of the protection range 1, the illumination means 8 and the sensor 9 can be omitted by adopting the camera 3 using an infrared image sensor.

  Since the illumination means 8 is not necessary in the daytime, it is desirable to provide an illumination on / off switch. This on / off can be operated by a person, but can also be operated based on a detection result of the illuminance sensor provided with an illuminance sensor (not shown). Also, a sensor 9 capable of detecting the invasion of the pest 2 is installed, and when this sensor 9 detects the passage of the pest 2, the switch is turned on, the passage of a predetermined time, the detection of the pest 2 again, or a control means When 7 is determined to be “no pest” (determined that the pest is leaving), the switch can be turned off. That is, it can be set in a state where the lighting is applied only while the pest 2 is within the protection range 1.

  A conventionally used motion sensor can be used as the sensor 9 for detecting the invasion of the pest 2. For example, an infrared sensor, an ultrasonic sensor, a temperature sensor, an odor sensor, or the like can be used. The sensor 9 shown in FIG. 1 detects the invasion of the pest 2 and is arranged at each of the four corners of the protection range 1, but the arrangement position and the number of arrangements can be designed as appropriate.

  Hereinafter, based on the flowchart shown in FIG. 2, the overall flow in the embodiment will be described. In addition, what attached the same step number as Embodiment 1 performs the operation | movement similar to Embodiment 1. FIG.

  S1 in FIG. 2 is a step of selecting either “daytime mode” when using the pest-intimidation system in the daytime or “night mode” in using the pest-intimidation system at night. In the form, “night mode” is selected, and the flow proceeds to “night mode”.

  As in the first embodiment, an image is acquired in step S2, and the presence or absence of a pest is determined in step S3. If the determination here is “indefinite” (a change determination is not stable), S2 If “no pest”, proceed to the next step (S4), and if “no pest”, the mode selection of S1 is selected (if the repelling sound is emitted, the repelling sound is After stopping, return to S1).

  In step S4, it is determined whether or not the pest has moved. If it is determined that the pest is moved, the process returns to step S2. If it is determined that the pest is stationary, S5 to S5 are performed. Proceed to step S7. When the avoidance sound is emitted in step S7, the process returns to step S1.

  Separately from the above flow, when the sensor 9 detects the passage of the pest 2 (S9), the switch of the illumination means 8 is turned on to light it (S10). If it is determined that there is no harmful animal in step S3 with the illumination unit 8 turned on, the illumination unit 8 is turned off by turning off the switch of the illumination unit 8 (S11), and then the process proceeds to step S1. Will return.

  In the night mode in which the sensor 9 is arranged, as shown in FIG. 3, the lighting means 8 is turned on with the passage detection (S9) of the harmful animal 2 by the sensor 9 as a trigger (trigger), and the presence or absence of the harmful animal is detected. It is also possible to start the determination (S3) and proceed to the steps after S4. Note that the daytime mode in FIG. 3 is omitted because it is the same as in FIG.

  Further, in the night mode in which the sensor 9 is arranged, as shown in FIG. 4, the illumination means 8 is turned on with the passage detection (S9) of the pest 2 by the sensor 9 as a trigger (trigger), and image acquisition (S2) is performed. ) Can be started to proceed to the steps after S3. Note that the daytime mode in FIG. 3 is omitted because it is the same as in FIG.

(Embodiment 3)
A third embodiment of the pest threatening method and the pest threatening system of the present invention will be described with reference to FIG. The present embodiment describes a case where the arranged supervisor operates the pest and intimidation system, and the contents not described here such as the basic structure and action are common to the first and second embodiments.

  FIG. 5 is an overall view showing an outline of a pest and threatening method and a pest and threatening system in the present embodiment. As shown in this figure, a monitor 10 is arranged in a monitoring room 11 in the pest threatening system in the present embodiment. Similarly, the observer 10 threatens by performing appropriate operations while visually confirming the protection range 1 displayed on the monitor 12 disposed in the monitoring room 11 and radiating a repellent sound to the invading beast 2. Is.

  The camera 3, superdirective speaker 4, support column 5, moving body 6, and control means 7 shown in FIG. 5 are the same as those described in the first embodiment, and the illumination means 8 and sensor 9 are the same as those in the second embodiment. It is the same as described. However, the camera 3 is not fixed, but is placed on the camera moving body 13. As the camera moving body 13, the same moving body 6 (for example, an automatic camera platform) on which the superdirective speaker 4 is mounted can be used. It is also possible to place both the camera 3 and the superdirective speaker 4 on the moving body 6, in which case the camera moving body 13 can be omitted.

  Images continuously acquired by the camera 3 are transmitted from the camera 3 in a wired manner (or wirelessly) and are displayed on the monitor 12 arranged in the monitoring room 11. When the monitor 10 monitors the monitor 12 and confirms the invasion of the pest 2, the supervision speaker 4 is operated so as to face the target direction, and a repelling sound is emitted to the pest 2. Since the observer visually confirms the invasion of the pest 2, disturbances such as shaking of crops and invasion of garbage can be surely eliminated.

  The monitor 10 can check the desired range of the protection range 1 by adjusting the direction of the camera 3 while monitoring the monitor 12. The direction adjustment of the camera 3 is performed by remotely operating the camera moving body 13. In this way, if the shooting range by the camera 3 can be changed, the number of cameras 3 installed can be reduced.

  In the present embodiment, since the supervisor 10 is arranged, use only in the daytime can be considered. However, it is also possible to arrange the supervisor 10 day and night by three shifts, etc. In this case, the lighting means 8 and the sensor 9 are installed, and there is an invasion of the harmful animal 2 at night as described in the second embodiment. Sometimes, the illumination means 8 illuminates the protection range 1.

  The overall flow in the embodiment will be described below based on the flowchart shown in FIG. In addition, about the step of the content similar to Embodiment 1 or Embodiment 2, it shall show a corresponding step. The steps surrounded by the dotted line frame on the left side in the flow are performed in the field (protection range 1 and its surroundings), and the steps surrounded by the dotted line frame on the right side in the flow are performed in the monitoring room 11. is there.

  MS1 in FIG. 6 is in a state of waiting for the invasion of the pest 2. When the sensor 9 detects the pest 2 (MS2), this detection information is transmitted to the control means 7, and the control means 7 notifies the notification device such as a mobile phone of the monitor 10 of the detection of the pest 2 (MS3). The monitor 10 goes to the monitor room 11 and confirms the monitor 12 (MS4). If the pest 2 is not confirmed on the display of the monitor 12, it is judged as a disturbance and returns to the standby state (MS1). If the pest 2 is confirmed, it is judged that there is a pest and the next step (MS6) is performed. move on.

  In MS 6, the supervisor 10 uses the control means 7 to calculate the target direction of the superdirective speaker 4. In addition, the calculation method of the target direction by the control means 7 is the same as that of Embodiment 1 or Embodiment 2. In MS7, the attitude of superdirective speaker 4 is adjusted in the same manner as in DS8 and NS2 of Embodiment 2, and in MS8, repellent sound is applied to superdirective speaker 4 as in DS9 and NS9 of Embodiment 2. Let it radiate.

  In MS9, the monitor 10 confirms the display on the monitor 12 again, and determines whether or not the pest 2 has left (MS10). If the pest 2 is not confirmed on the monitor 12, it is determined that “the pest has left”, the process proceeds to the next step (MS 11), the emission of the repellent sound is stopped, and the standby state (MS 1) is set again. When the pest 2 is confirmed on the monitor 12, the position calculation (MS7) is performed until it can be determined that “the pest exists” and “the pest has left”, and a repelling sound is emitted (MS8). ).

(Other embodiments)
In the first to third embodiments, the case where the position of the harmful animal 2 is grasped from the image acquired by one camera 3 and the target direction of the superdirective speaker 4 is calculated has been described. Instead of this calculation method, it is possible to calculate with two or more cameras 3 or with a laser.

  When calculating with two or more cameras 3, a plurality (two in the figure) of cameras 3 are installed as shown in FIG. Based on the installation position and installation direction of each of the two or more cameras 3 (the shooting direction of the camera 3) and the surveying reference point installed in advance, conventional spatial computation (for example, computation processing used in aerial triangulation) is performed. The position coordinates (X1, Y1, Z1) of the pest 2 are calculated. The direction between the two points is calculated from the position coordinates (X1, Y1, Z1) of the pest 2 and the sound radiation point (X0, Y0, Z0) of the superdirective speaker 4, Target direction. In addition, by installing two or more cameras 3, even if the harmful animal 2 destroys the camera 3, the remaining camera 3 can cope with it.

  The position of the pest 2 can also be calculated by using a laser that has been recently used in aerial photogrammetry. In this method, the position coordinate of the harmful animal is measured based on the direction of the laser irradiated to the harmful animal 2 and the reflection time thereof.

  In addition, when image data including the pest 2 is accumulated in the database, the movement of the pest 2 can be predicted. For each type of pest 2, the movement and stop timings are analyzed, and the behavior pattern of the pest 2 is predicted. Based on the predicted behavior pattern of the pest 2, the pest 2 can be automatically tracked and the target direction of the superdirective speaker 4 can be automatically adjusted. Or the kind of effective repelling sound can be analyzed for every kind of harmful beast 2, and a repelling sound can also be suitably changed and radiated for every kind of invading harmful beast 2.

  The pest control method and pest control system of the present invention can be used in fields such as rice fields and fields, as well as school gates, shops, museums, entrances to apartment buildings, entrance cameras, etc. It can also be applied to interphones, crows at street corners and stray cats. In particular, in a place where a surveillance camera is already installed, since the harmful animal threatening method and harmful animal threatening system of the present invention can be introduced simply by installing a directional speaker, a control means, etc., it is easier to use.

DESCRIPTION OF SYMBOLS 1 Protection range 2 Pest 3 Camera 4 Super directional speaker 5 Prop 6 Mobile body 7 Control means 8 Illumination means 9 Sensor 10 Monitor 11 Monitor room 12 Monitor 13 Camera mobile body

Claims (4)

In the beast threatening method that threatens against the pests that enter the protected area,
An image acquisition means capable of acquiring an image within the protection range, and a super-directional speaker capable of emitting sound to a desired position within the protection range; and
The image acquisition means acquires an image including a moving object that has entered the protection range, and determines the invasion of a harmful animal, and calculates the direction of the harmful animal based on the position of the moving object in the acquired image. And
A pest threatening method characterized in that the superdirective speaker radiates sound in the calculated direction of the harmful pest and thereby threatens the pest that has entered the protection range. The pest threatening method according to claim 1,
A lighting means and a sensor capable of detecting a pest moving within the protection range,
A pest threatening method characterized in that when the sensor detects a pest at night, the illuminating means illuminates the protected area and enables the image acquiring means to acquire an image. In a pest and intimidation system that threatens pests that invade within the scope of protection,
Image acquiring means capable of acquiring an image within the protection range, a super directional speaker capable of emitting sound to a desired position within the protection range, and a moving means capable of changing the radiation direction of the super directional speaker. A control means for determining the invasion of a pest and controlling the moving means,
The control means determines the invasion of a pest when the image acquisition means acquires an image including a moving body that has entered the protection range, and determines the direction of the pest based on the position of the moving body in the acquired image. The pest control system is characterized by controlling the moving means so that the super directional speaker is directed to the pest direction and causing the super directional speaker to emit sound. In the pest threatening system according to claim 3,
A lighting means and a sensor capable of detecting a pest moving within the protection range,
When the sensor detects a pest at night, the illuminating unit illuminates the protected area and enables image acquisition by the image acquisition unit.

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