REPELLENCE SYSTEM AND REPELLENCE METHOD FOR REPELLING ANIMALS

Abstract

A repellence system and method for repelling animals. The repellence system includes an imaging device arranged to generate image data from a surveillance area, one or more deterrence devices arranged to carry out deterrence actions for repelling animals and an repellence sub-system having one or more processors and memory storing instructions for execution by the one or more processors. The repellence sub-system being configured to receive image data of the surveillance area from the imaging device, detect an animal in the image data, identify animal species of the detected animal in the image data, provide species specific deterrence instructions to the one or more deterrence devices based on the identified animal species.

Claims

1.-23. (canceled)

24. A repellence system for repelling animals, wherein the repellence system comprises: an unmanned vehicle, comprising an imaging device arranged to generate image data, and one or more deterrence devices arranged to carry out deterrence actions for repelling animals; and a repellence sub-system having one or more processors and memory storing instructions for execution by the one or more processors, the repellence sub-system being configured to a) control movement of the unmanned vehicle in a predetermined geographical surveillance area having a surveillance area border defining the predetermined geographical surveillance area, b) receive image data of the predetermined geographical surveillance area from the imaging device during movement of the unmanned vehicle in the predetermined geographical surveillance area, c) detect an animal in the image data with the repellence sub-system, d) identify animal species of the detected animal in the image data with the repellence sub-system, e) control the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area, and f) provide species specific deterrence instructions to the one or more deterrence devices based on the identified animal species for carrying out species specific deterrence actions with the deterrence device, the species specific deterrence instructions being specific to the identified animal species.

25. The repellence system according to claim 24, wherein the repellence sub-system is configured to: a) control movement of the unmanned vehicle in the predetermined geographical surveillance area in an autonomous manner; or a) control movement of the unmanned vehicle in the predetermined geographical surveillance area along a predetermined surveillance path; or a) maintain geographical location information of the predetermined geographical surveillance area and control movement of the unmanned vehicle in the predetermined geographical surveillance area; or a) maintain geographical location information of the predetermined geographical surveillance area and control movement of the unmanned vehicle in the predetermined geographical surveillance area in an autonomous manner or along a predetermined surveillance path.

26. The repellence system according to claim 24, wherein the repellence sub-system is configured to: c) detect the animal in the image data with a computer vision algorithm, the computer vision algorithm being trained to detect animal in the image data; or c) input the image data as first input image data to a computer vision algorithm, and detect the animal in the first input image data with the computer vision algorithm, the computer vision algorithm being trained to detect animals in the first input image data; or c) input the video image data as first input image data to a computer vision algorithm, and detect the animal in the first input image data with the computer vision algorithm by processing each frame of the video image data with the computer vision algorithm to detected the animal, the computer vision algorithm being trained to detect animals in the first input image data.

27. The repellence system according to claim 24, wherein the repellence sub-system is configured to: d) identify the animal species of the detected animal in the image data with an image identification algorithm, the image identification algorithm being trained to identify different animals species from the image data; or d) input the image data as second input image data to an image identification algorithm, and identify animal species of the detected animal in the second input image data with the image identification algorithm, the image identification algorithm being trained to identify different animal species from the second input image data; or d) inputting the video image data as second input image data to an image identification algorithm, and identify animal species of the animal in the second input image data with the image identification algorithm by processing one or more frames of the video image data with the image identification algorithm to identify animal species of the animal, the image identification algorithm being trained to identify different animal species from the second input image data.

28. The repellence system according to claim 24, wherein the repellence sub-system is configured to: c) detect the animal and identify animal species of the detected animal in the image data with a computer vision algorithm, the computer vision algorithm being trained to detect animals and identify animal species in the image data; or c) input the image data as first input image data to a computer vision algorithm, and detect the animal and identify animal species of the detected animal in the first input image data with the computer vision algorithm, the computer vision algorithm being trained to detect animals and identify animal species in the first input image data; or c) input the video image data as first input image data to a computer vision algorithm, and detect the animal and identify animal species of the detected animal in the first input image data with the computer vision algorithm by processing each frame of the video image data with the computer vision algorithm to detected the animal, the computer vision algorithm being trained to detect animals and identify animal species in the first input image data.

29. The repellence system according to claim 24, wherein the one or more deterrence devices comprise: a deterrence sound device arranged to generate species specific deterrence sound action as the deterrence action in response to the species specific deterrence instructions; or a deterrence ultrasound device arranged to generate species specific deterrence ultrasound action as the deterrence action in response to the species specific deterrence instructions; or a deterrence light device arranged to generate species specific deterrence light action as the deterrence action in response to the species specific deterrence instructions; or a deterrence sound device arranged to generate species specific deterrence sound action and a deterrence light device arranged to generate species specific deterrence light action as the deterrence actions in response to the species specific deterrence instructions; or a deterrence ultrasound device arranged to generate species specific deterrence ultrasound action and a deterrence light device arranged to generate species specific deterrence light action as the deterrence actions in response to the species specific deterrence instructions; or a deterrence ultrasound device arranged to generate species specific deterrence ultrasound action and a deterrence sound device arranged to generate species specific deterrence sound action as the deterrence actions in response to the species specific deterrence instructions.

30. The repellence system according to claim 29, wherein: f) the repellence sub-system is configured to generate species specific deterrence instructions based on the identification of the animal species of the detected animal, and provide the generated species specific deterrence instructions to the one or more deterrence devices; or f) each of the two or more animal species profiles comprise species specific deterrence instructions specific to the respective animal species, the species specific deterrence instructions comprising instructions to carry out species specific deterrence actions with the one or more deterrence devices specific to the animal species, the repellence sub-system being configured to carry out the species specific deterrence actions based on the species specific deterrence instructions of the animal species profile corresponding the identified animal species of the detected animal, or provide the species specific deterrence instructions of the animal species profile corresponding the identified animal species of the detected animal to the one or more deterrence devices, and operate the one or more deterrence devices based on the species specific deterrence instructions corresponding the animal species profile of the identified animal species o the detected animal to generate species specific deterrence actions with the one or more deterrence devices.

31. The repellence system according to claim 24, wherein the one or more deterrence devices comprise the deterrence ultrasound device, the repellence sub-system being configured to: carry out the species specific deterrence actions by utilizing a species specific ultrasound frequency value in the deterrence ultrasound device based on the identified animal species of the detected animal, the species specific deterrence instructions comprising the species specific ultrasound frequency value; or generate species specific deterrence instructions comprising a species specific ultrasound frequency value for the deterrence ultrasound device based on the identified animal species of the detected animal, provide the generated species specific deterrence instructions to the deterrence ultrasound device, and operate the deterrence ultrasound device with the species specific ultrasound frequency value of the species specific deterrence instructions; or each of the two or more animal species profiles comprise species specific deterrence instructions specific to the respective animal species, the species specific deterrence instructions comprising species specific ultrasound frequency value to be utilized by the deterrence ultrasound device, and the repellence sub-system being configured to carry out the species specific deterrence actions by utilizing the species specific ultrasound frequency value in the deterrence ultrasound device based on the species specific deterrence instructions of the animal species profile corresponding the identified animal species of the detected animal, or provide the species specific deterrence instructions of the animal species profile corresponding the identified animal species of the detected animal to the deterrence ultrasound devices, the species specific deterrence instructions comprising a species specific ultrasound frequency value, and operate the deterrence ultrasound device with the species specific ultrasound frequency value of the species specific deterrence instructions of animal species profile corresponding the identified animal species of the detected animal.

32. The repellence system according to claim 24, wherein the repellence sub-system is configured to: e) control movement of the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area, and g) initiate the species specific deterrence actions with the one or more deterrence devices during the movement of the unmanned vehicle towards the detected and identified animal; or e) control movement of the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area and measure distance between the unmanned vehicle and the animal, and g) initiate the species specific deterrence actions with the one or more deterrence devices when the distance between the unmanned vehicle and the animal equal or less than a predetermined deterrence distance threshold value.

33. The repellence system according to claim 24, wherein the repellence sub-system is configured to: e) determine location of the detected and identified animal in the predetermined geographical surveillance area in relation to the surveillance area border and control movement of the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area in an approach direction (D) in which the detected and identified animal is located between the unmanned vehicle and the surveillance area border for repelling the animal out of the predetermined geographical surveillance area; or e) determine location of the detected and identified animal in the predetermined geographical surveillance area in relation to the surveillance area border and control movement of the unmanned vehicle towards the detected and identified animal and towards the surveillance area border in the predetermined geographical surveillance area in an approach direction (D) in which the detected and identified animal is located between the unmanned vehicle and the surveillance area border for repelling the animal out of the predetermined geographical surveillance area.

34. The repellence system according to claim 33, wherein the repellence sub-system is configured to: e) determine moving direction (A) of the detected and identified animal based on the image data from the imaging device, control the unmanned vehicle towards the detected and identified based on the moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area; or c) determine location and moving direction (A) of the detected and identified animal based on the image data from the imaging device, control the unmanned vehicle towards the detected and identified based on the location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area; or c) determine location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area in relation to the surveillance area border based on the image data from the imaging device, control the unmanned vehicle towards the detected and identified based on the location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area in the approach direction (D) in which the detected and identified animal is located between the unmanned vehicle and the surveillance area border for repelling the animal out of the predetermined geographical surveillance area; or e) determine location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area in relation to the surveillance area border based on the image data from the imaging device, control the unmanned vehicle towards the detected and identified based on the location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area in the approach direction (D) in which the detected and identified animal is located between the unmanned vehicle and the surveillance area border for repelling the animal out of the predetermined geographical surveillance area, and redetermine the location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area in relation to the surveillance area border based on the image data from the imaging device, adjusting the approach direction (D) based on the redetermined location and moving direction (A) of the detected and identified animal in the predetermined geographical surveillance area such the detected and identified animal is located between the unmanned vehicle and the surveillance area border for repelling the animal out of the predetermined geographical surveillance area.

35. The repellence system according to claim 24, wherein the unmanned vehicle is an unmanned aerial vehicle.

36. The repellence system according to claim 35, wherein the repellence sub-system is configured to: a) control movement of the unmanned aerial vehicle in the predetermined geographical surveillance area at a patrolling altitude, and e) control the unmanned manned aerial vehicle to a repellence altitude as a response to c) detecting the animal in the image data, the repellence altitude being less than the patrolling altitude.

37. The method for repelling animals performed by a repellence system, wherein the repellence system comprising an unmanned vehicle having an imaging device and one or more deterrence devices, and repellence sub-system having one or more processors and memory storing instructions for execution by the one or more processors, the method comprising: controlling the unmanned vehicle in a predetermined geographical surveillance area having a surveillance area border defining the predetermined geographical surveillance area for patrolling in the predetermined geographical surveillance area, generating image data from the predetermined geographical surveillance area with the imaging device during controlling the unmanned vehicle in the predetermined geographical surveillance area; detecting an animal in the image data with the repellence sub-system, identifying animal species of the detected animal in the image data with the repellence sub-system, defining species specific deterrence instructions based on the identified animal species with the repellence sub-system, controlling the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area, and carrying out species specific deterrence actions based on the defined species specific deterrence instructions with the deterrence device.

38. The method for repelling animals performed by a repellence system, wherein the repellence system comprising an unmanned vehicle having an imaging device and one or more deterrence devices, and repellence sub-system having one or more processors and memory storing instructions for execution by the one or more processors, the method comprising: controlling the unmanned vehicle in a predetermined geographical surveillance area having a surveillance area border defining the predetermined geographical surveillance area for patrolling in the predetermined geographical surveillance area, generating image data from the predetermined geographical surveillance area with the imaging device during controlling the unmanned vehicle in the predetermined geographical surveillance area; detecting an animal in the image data with the repellence sub-system, identifying animal species of the detected animal in the image data with the repellence sub-system, defining species specific deterrence instructions based on the identified animal species with the repellence sub-system, controlling the unmanned vehicle towards the detected and identified animal in the predetermined geographical surveillance area, and carrying out species specific deterrence actions based on the defined species specific deterrence instructions with the deterrence device, wherein in that the method is carried out with a repellence system according to claim 24.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0127] The invention is described in detail by means of specific embodiments with reference to the enclosed drawings, in which

[0128] FIGS. 1 and 2 show schematically a repellence system comprising an unmanned aerial vehicle according to one embodiment of the present invention;

[0129] FIGS. 3 to 5 show schematically a repellence method utilizing the repellence system of FIGS. 1 and 2;

[0130] FIG. 6 shows a schematic representation of one embodiment of the repellence system according to the present invention; and

[0131] FIGS. 7 to 14 show schematically flow charts of different embodiments of the repellence method according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION

[0132] FIGS. 1 and 2 show one embodiment of the present invention in which a repellence system according to the present invention is provided to an unmanned aerial vehicle 10. FIG. 1 shows schematic side view of the unmanned aerial vehicle 10 and FIG. 2 shows a schematic top view of the unmanned aerial vehicle 10.

[0133] The unmanned aerial vehicle 10 can be any kind of known unmanned aerial vehicle. The unmanned aerial vehicle 10 comprises a body 11 and propellers 12 or the like propulsion elements arranged to move the unmanned aerial vehicle 10.

[0134] The unmanned aerial vehicle 10 further comprises a control unit 13, as shown in FIG. 2. The control unit 13 is configured to control the movement of the unmanned aerial vehicle 10. The control unit 10 is operatively connected to the propellers 12 and configured to control operation of the propellers 12 for moving the unmanned aerial vehicle 10. The control unit 13 comprises a control processor and a control memory (not shown). The control processor is configured to carry out control instructions stored in the control memory for controlling the unmanned aerial vehicle 10.

[0135] In some embodiments, the unmanned aerial vehicle 10 is an autonomous unmanned aerial vehicle 10 configured to move automatically based on the instruction stored to the control unit 13. The control unit 13 may further comprise a navigation module such as a GPS module (not shown) for controlling movement of the unmanned aerial vehicle 10 in autonomous manner. The control unit 13 may also comprise a communication module (not shown) such as 4G, 5G, radio frequency module or the like for receiving instructions for controlling the unmanned aerial vehicle 10. The communication module may also be configured to communicate with another unmanned aerial vehicle 10.

[0136] In an alternative embodiment, the unmanned aerial vehicle 10 is configured to be controllable with a remote controller (not shown). In this embodiment, the control unit 13 comprise a communication module (not shown) such as 4G, 5G, radio frequency module or the like for receiving control instructions from the remote controller for controlling the unmanned aerial vehicle 10. In this embodiment, the unmanned aerial vehicle 10 may be human controlled.

[0137] It should be noted that the present invention is not restricted to any specific type of unmanned aerial vehicle 10, but any suitable unmanned aerial vehicle 10 may be used for carrying out the present invention.

[0138] The repellence system according to the present invention is provided to the unmanned aerial vehicle 10. The repellence system comprises an imaging device 14 provided to the unmanned aerial vehicle 10. The imaging device 14 is configured to generate image data from a surveillance area. The generated image data comprises one or more separate images taken with the imaging device 14 or a video taken with the imaging device 14. The video comprises several separate image frames.

[0139] The imaging device 14 is provided to the to the unmanned aerial vehicle 10 as a fixed imaging device 14. The fixed imaging device 14 is arranged stationary to the unmanned aerial vehicle 10.

[0140] In an alternative embodiment, the imaging device 14 is provided to the unmanned aerial vehicle 10 as a movable or turnable imaging device 14. The movable imaging device 14 is arranged to the unmanned aerial vehicle 10 movable or turnable in relation to the unmanned aerial vehicle 10.

[0141] The repellence system further comprises a repellence sound device or devices 16 arranged to generate deterrence sound or sounds. The deterrence sound device 16 is provided to the unmanned aerial vehicle 10.

[0142] The deterrence sound device 16 may comprise a speaker or a sound source or the like sound generator arranged to emit sound or noise for repelling animals.

[0143] In some embodiments, the deterrence sound device 16 is configured to generate and emit different sounds at different sound volumes and/or sound frequencies. Accordingly, the repellence system is configured to adjust the sound volume and/or sound frequencies generated and emitted by the deterrence sound device 16.

[0144] The repellence system further comprises a repellence ultrasound device or devices 16 arranged to generate deterrence ultrasound or ultrasounds. The deterrence ultrasound device 16 is provided to the unmanned aerial vehicle 10.

[0145] The deterrence ultrasound device 16 may comprise an ultrasound source or the like ultrasound generator arranged to emit ultrasound for repelling animals.

[0146] In some embodiments, the deterrence ultrasound device 16 is configured to generate and emit ultrasound at different ultrasound frequencies. Accordingly, the repellence system is configured to adjust the ultrasound frequencies generated and emitted by the deterrence ultrasound device 16.

[0147] The repellence system may comprise one or more deterrence sound devices 16 or one or more deterrence ultrasound devices 16 for generating and emitting sound or ultrasound.

[0148] Alternatively, the repellence system may comprise one or more deterrence sound devices 16 and one or more deterrence ultrasound devices 16 for generating and emitting both sound and ultrasound. The repellence system may be configured to generate and emit sound and ultrasound simultaneously or at different times.

[0149] The repellence system further comprises a repellence light device or devices 18 arranged to generate deterrence light. The deterrence light device 18 is provided to the unmanned aerial vehicle 10.

[0150] The deterrence light device 18 may comprise a light source or the like illumination device arranged to generate and emit visible light.

[0151] The deterrence light device 18 may comprise for example one or more LED (light emitting diode) elements or laser elements for generating and emitting deterrence light.

[0152] In some embodiments, the deterrence light device 18 is configured to generate and emit different lights at different brightness and/or at different colours. Further, the deterrence light device 18 is configured to generate and emit continuous light or blinking light. Accordingly, the repellence system is configured to adjust the light brightness, colour and emitting pattern by the deterrence light device 16.

[0153] The repellence system comprises both deterrence light devices 18 and deterrence sound devices 16, or deterrence light devices 18, deterrence sound devices 16 and deterrence ultrasound devices 16 provided to the unmanned aerial vehicle 10.

[0154] In an alternative embodiment, the repellence system comprises only deterrence light devices, or deterrence sound devices or deterrence ultrasound devices.

[0155] The repellence system further comprises a repellence sub-system 51 having one or more processors and memory storing instructions for execution by the one or more processors.

[0156] The repellence sub-system 51 is provided to the unmanned aerial vehicle 10, as shown in FIG. 2. The imaging device 14 and the one or more deterrence devices 16, 18 are connected or operatively connected to the repellence sub-system 51.

[0157] In an alternative embodiment, the repellence sub-system 51 is provided to an external identification server (not shown) and the unmanned aerial vehicle 10 is provided with a repellence system communication module (not shown) configured to provide communication connection with the external server and the repellence sub-system 51 in the external identification sever. The repellence system communication module being configured to transmit and receive data, or exchange data, with the external identification server and the repellence sub-system 51. The imaging device 14 and the one or more deterrence devices 16, 18 are connected or operatively connected to the repellence system communication module.

[0158] The repellence sub-system 51 is configured to receive image data from the imaging device 14. The repellence sub-system 51 is further configured to detect an animal or animals in the image data and identify animal species of the detected animal or animals in the image data. The repellence sub-system 51 is also configured to generate species specific deterrence instructions based on the identified animal species in the image, and to provide species specific deterrence instructions to the one or more deterrence devices 16, 18 based on the identified animal species.

[0159] The species specific deterrence instructions comprise instructions for carrying out species specific deterrence actions with the deterrence device 16, 18. The species specific deterrence instructions are specific to the identified animal species. Thus, the generated species specific deterrence instructions and thus performed species specific deterrence actions are different for different animal species. This provides efficient repellence of animals.

[0160] FIGS. 3 to 5 show one embodiment, in which the repellence system is arranged in connection with or to the unmanned aerial vehicle 10. Thus, FIGS. 3 to 5 schematically show utilization of the repellence system with the unmanned aerial vehicle 10 for repelling animals.

[0161] It should be noted, that the unmanned aerial vehicle 10 may also be replaced with an unmanned ground vehicle.

[0162] As shown in FIG. 3, the unmanned aerial vehicle 10 patrols a predetermined geographical surveillance area 30. When the unmanned aerial vehicle 10 is an autonomous unmanned aerial vehicle 10, the unmanned aerial vehicle 10 is configured to move a pre-determined route in the surveillance area 30 or move according to control instructions stored or provided to the control unit 13.

[0163] The predetermined geographical surveillance area 30 is determined by location coordinates stored in the repellence sub-system 51. Thus, geographical location information of the predetermined geographical surveillance area 30 is stored to the repellence sub-system 51.

[0164] The geographical location information of the predetermined geographical surveillance area 30 may be determined with global navigation satellite system (GNSS) coordinates, such as Global Navigation System (GPS) coordinates.

[0165] The predetermined geographical surveillance area 30 comprises a surveillance area border 32 within which the predetermined geographical surveillance area 30 is provided.

[0166] The surveillance area border 32 is determined with the GNSS coordinates.

[0167] The surveillance area border 32 is configured to generate a geofence in the repellence sub-system 51 for controlling the movement of the unmanned vehicle 10 and determining the predetermined geographical surveillance area 30.

[0168] The unmanned vehicle 10 is configured to patrol in the predetermined geographical surveillance area according to the control instructions provide by the repellence sub-system.

[0169] The unmanned vehicle 10 is provided with a GNSS receiver, such as GPS receiver, configured to receive GNSS signals from GNSS satellites, such as GPS satellites. The repellence sub-system is configured determine vehicle location information of the unmanned vehicle 10 based on the GNSS signals received in the GNSS receiver of the unmanned vehicle 10.

[0170] Accordingly, the repellence sub-system is configured to control the movement of the unmanned vehicle 10 in the predetermined geographical surveillance area 30 based on the geographical location information of the predetermined geographical surveillance area 30, and the vehicle location information of the unmanned vehicle.

[0171] The unmanned aerial vehicle 10 generates image data from the surveillance area 30 with the imaging device 14 during the patrolling. The image data is processed with the repellence sub-system 51 continuously and in real-time for detecting and identifying animals in the surveillance area 30.

[0172] Accordingly, predetermined geographical surveillance area 30 may be any land or sea area. The predetermined geographical surveillance area 30 has the perimeter or border 32 inside which is the predetermined geographical surveillance area 30. Outside the border 32 is surrounding area 34, which is so called free area where the unmanned aerial vehicle 10 does not patrol.

[0173] The object of the repellence system of the present invention is to repel animals detected and identified inside surveillance area 30 out of the predetermined geographical surveillance area 30 to the free area 34 outside the surveillance area 30.

[0174] It should be noted that in the present invention the animals detected inside predetermined geographical surveillance area 30 are identified to identify the species of the animals. Identifying the species of the animal is important such that effective deterrence actions may be used. The effective deterrence actions are specific to the identified animal species.

[0175] As shown in FIG. 3, the repellence system provided to the unmanned aerial vehicle 10 detects an animal 40 inside the surveillance area 30. The detection of the animal 40 is carried out by inputting image data generated by the imaging device 14 to the repellence sub-system 51. The repellence sub-system 51 is configured to detect animals 40 in the image data and to further identify species of the detected animals 40.

[0176] When the animal 40 is detected by the repellence sub-system 51 in the image data of the imaging device 14, the repellence sub-system 51 identifies species of the detected animal 40. The repellence sub-system 51 comprises deterrence instructions for different animal species. Thus, after identification of the animal species of the detected animal 40 with the repellence sub-system 51, the repellence sub-system 51 is configured to generate deterrence instructions specific to the identified animal species. The repellence sub-system 51 is further configured to provide the species specific deterrence instructions to the one or more deterrence devices 16, 18 and the deterrence devices 16, 18 are configured to carry out species specific deterrence actions based on the species specific deterrence instructions.

[0177] In certain situations, the repellence sub-system 51 is unable to identify the detected animal 40 in the image data. This maybe due to great distance between the imaging device 14 and the detected animal 40 or due to for example weather conditions, such as rain or fog. In this case the repellence sub-system 51 is configured to generate control instructions for controlling the movement of the unmanned aerial vehicle 10. The repellence sub-system 51 is configured to provide the control instructions to the control unit 13 of the unmanned aerial vehicle 10 for automatically controlling the movement of the unmanned aerial vehicle 10. Alternatively, when the unmanned aerial vehicle 10 is not an autonomous unmanned aerial vehicle 10, the repellence sub-system 51 provides the control instructions to a user of the unmanned aerial vehicle 10 or to remote controller of the unmanned aerial vehicle 10.

[0178] The repellence sub-system 51 is configured to generate control instructions controlling the unmanned aerial vehicle 10 towards the detected animal 40, as shown with arrow D in FIG. 3, such that the distance between the animal 40 and the unmanned aerial vehicle 10 or the imaging device 14 decreases. The imaging device 14 is configured to generate image data continuously and the repellence sub-system 51 is configured to receive the image data from the imaging device 14 continuously. The repellence sub-system 51 is configured to continuously detect the animal 40 in the image data and when the distance between the imaging device 14 and the animal 40 is decreased, or decreased enough, the repellence sub-system 51 is able to identify the species of the detected animal 40.

[0179] The output from the detection algorithm or identification algorithm may be provided as input to the control unit 13 of the unmanned aerial vehicle 10. The control unit 13 may be further provided with a control algorithm for controlling the movement of the unmanned aerial vehicle 10. The output from the detection algorithm or identification algorithm may be provided as input to the control algorithm of the control unit 13 of the unmanned aerial vehicle 10.

[0180] The repellence sub-system 51 is configured to generate or update the control instructions based on each image received or processed with repellence sub-system 51. Thus, the control instructions are configured to control the unmanned aerial vehicle 10 continuously towards the animal or to follow animal 40 even when the animal 40 is moving.

[0181] The repellence sub-system 51 is configured to process the image data continuously such that each received image or image frame is processed to detect and identify the animal 40. Thus, the repellence sub-system 51 is configured to generate or update the control instructions based on each image or each frame received in repellence sub-system 51.

[0182] The control unit 13 is configured to control the unmanned aerial vehicle 10 to fly at a height of 2 to 100 m from the ground.

[0183] The repellence sub-system 51 is configured to detect animal 40 from a distance of 0 to 400 m, ore 0 to 300 m, or 0 to 200 m depending on the used imaging device 14 and the weather conditions in the surveillance area.

[0184] The repellence sub-system 51 is configured to control the unmanned aerial vehicle 10 towards the detected animal 40, and initiate the species specific deterrence actions with the deterrence devices.

[0185] Usually, the repellence sub-system 51 is configured to control the unmanned aerial vehicle 10 towards the detected animal 40 to a deterrence distance from animal 40. When the deterrence distance is reached, the repellence sub-system 51 is configured to initiate the species specific deterrence actions with deterrence devices 16, 18 by providing the deterrence instructions to the deterrence devices 16, 18.

[0186] The deterrence distance may also be pre-determined and further it may be specific to the animal species. Thus, the repellence sub-system 51 is configured to store a pre-determined deterrence distance threshold value, control the unmanned vehicle 10 towards the detected animal 40, determine distance between the unmanned vehicle or the unmanned aerial vehicle 10 and the detected animal 40 continuously as the unmanned aerial vehicle 10 is controlled towards the detected animal 40, and initiate the species specific deterrence actions with the one or more deterrence devices 16, 18 when the determined distance is equal to or less than the pre-determined deterrence distance threshold value.

[0187] Determining the distance between the unmanned vehicle or the unmanned aerial vehicle 10 and the detected animal 40 is carried out from the image data with the repellence sub-system 51. Therefore, the between the unmanned vehicle or the unmanned aerial vehicle 10 and the detected animal 40 is determined from images or from each image or each image frame.

[0188] Alternatively, the unmanned aerial vehicle 10 is provided with a distance measurement device (not shown), such as a laser measurement device, generating distance measurement data and being connected to or operatively connected to the repellence sub-system 51. Further alternatively, the imaging device 14 is configured to generate distance measurement data.

[0189] FIG. 4 shows schematically further preferred controlling of the movement of the unmanned aerial vehicle 10 upon detecting the animal in the surveillance area 30.

[0190] The repellence sub-system 51 is configured to generate control instructions to control the unmanned aerial vehicle 10 towards the detected animal in an approach direction D. The repellence sub-system 51 is configured to generate control instructions to control the unmanned aerial vehicle 10 towards the detected animal 40 in the approach direction D in which the detected animal 40 is placed between the unmanned aerial vehicle 10 and a periphery location 33 on the periphery 32 of the surveillance area 30. The periphery location 33 being predetermined target location on the periphery 32 via which the animal 40 is repelled out of the surveillance area 30. Alternatively, the periphery location 3 is the location of the periphery 32 closest to the detected animal 40.

[0191] The animal 40 may be moving in an animal moving direction A and possibly also the moving velocity, as shown in FIG. 4. The repellence sub-system 51 is configured to determine the animal moving direction A from the image data of the imaging device 14.

[0192] The repellence sub-system 51 is configured to determine animal moving direction A and possibly also the moving velocity based on the successive images or image frames in the image data. Thus, the animal moving direction and possibly also moving velocity is updated continuously.

[0193] The repellence sub-system 51 is configured to generate control instructions for controlling the unmanned aerial vehicle 10 towards the detected animal 40 in the approach direction D. The repellence sub-system 51 is configured to control the unmanned aerial vehicle 10 towards the detected animal 40 in the approach direction D such that an angle C between the animal moving direction A and the approach direction is less than 90 degrees. Preferably, the repellence sub-system 51 is configured to control the unmanned aerial vehicle 10 towards the detected animal 40 in the approach direction D such that an angle C between the animal moving direction A and the approach direction is less than 90 degrees, or less than 60 degrees, or between 30 to 60 degrees, and more preferably 45 degrees.

[0194] It should be noted that the embodiment of FIGS. 1 to 4 is described in connection with an unmanned aerial vehicle 10, but the repellence system may also be provided in connection with any other unmanned vehicle such as an unmanned ground vehicle.

[0195] FIGS. 6 to 14 disclose operation of the repellence system 50 of the present invention. The disclosed operation is common for all embodiments o the present invention.

[0196] FIG. 6 shows schematically the repellence system 50 according to the present invention. The repellence system 50 comprises the repellence sub-system 51 having repellence unit 55. The repellence unit 55 comprises one or more processors 52 and a memory 54 storing instructions 56 for execution by the one or more processors 52.

[0197] The imaging device 14 is connected to the repellence sub-system 51 and the repellence sub-system 51 is configured to receive image data from the imaging device 14. The repellence sub-system 51, or the repellence unit 55, is configured to detect an animal in the image data, identify animal species of the detected animal in the image data, and provide species specific deterrence instructions to the one or more deterrence devices 16, 18 based on the identified animal species for carrying out species specific deterrence actions with the deterrence device 16, 18. The species specific deterrence instructions are specific to the identified animal species.

[0198] The deterrence device 16, 18 connected to the repellence sub-system 51 and configured to receive the species specific deterrence instructions from the repellence sub-system 51.

[0199] The repellence system 50 further comprises a user device 60 connected to the repellence sub-system 51 over a communication network 100. The user device 60 may be a computer, mobile user device, mobile phone, tablet computer or the any other known user device. The communication network 100 may be Wi-Fi-network, internet, 4G, 5G, Bluetooth, radio frequency network or any other known wireless communication network or a communication line.

[0200] The repellence sub-system 51 is configured to generate a notification or alarm upon detection of an animal in the surveillance area 30 and/or upon detection and identification of an animal in the surveillance area 30, and providing the alarm or notification to the user device 60 over the communication network 100.

[0201] The repellence sub-system 51 further comprises an identification database 58 having two or more animal species profiles stored in the identification database 58. Each of the animal species profiles being specific to one animal species. Each animal species profile comprises the species specific deterrence instructions specific to the animal species of the animal species profile.

[0202] The identification subsystem 51 is configured to define an animal species profile corresponding the identified animal species of the detected animal 40 based on the identification, and utilize or apply the species specific deterrence instructions of the defined animal species and provide the species specific deterrence instructions to the one or more deterrence device 16, 18 arranged to carry out species specific deterrence actions based on the species specific deterrence instructions.

[0203] FIG. 7 shows general steps of the method of the present invention. IN step 150 a geographical area is determined as the predetermined geographical surface area 30. In step 160, the autonomous unmanned vehicle 160 patrols in the predetermined geographical surface area 30 and in step 200 an animal is detected in the predetermined geographical surface area 30 with the imaging device of the unmanned vehicle 10 during the patrolling.

[0204] FIG. 8 shows a general flow chart of a repellence method according to the present invention carried out with the repellence system 50. The method comprises generating image data from a surveillance area with the imaging device 14. The repellence sub-system 51 is configured to receive the image data from the imaging device 14.

[0205] Then, in step 200 the repellence sub-system 51 is configured to detect an animal in the image data with the repellence sub-system 51, and further to animal species of the detected animal 40 in the image data with the repellence sub-system 51 in step 300.

[0206] It should be noted that the steps 200 and 300 may be carried out simultaneously or successively.

[0207] In step 400, the repellence sub-system 51 is configured to generate the species specific deterrence instructions based on the identification of the detected animal in step 300. The species specific deterrence instructions are further provided to the one or more deterrence devices 16, 18 in step 400. Step 400 further comprises carrying out deterrence actions with the one or more deterrence devices 16, 18 based on the species specific deterrence instructions.

[0208] The method further comprises step 500 in which the repellence sub-system 51 is configured to generate a notification or alarm based on the detection and/or identification of the animal with the repellence sub-system 51. The step 500 further comprises providing the alarm or notification to the user device 60 over the communication network 100, as disclosed on connection with FIG. 8.

[0209] FIG. 9 shows one embodiment of step 200. The step 200 comprises scanning the surveillance area 30, 31 with the imaging device and producing image data in step 202. The produced image data is provided as input data to the repellence sub-system 51 in step 204. The repellence sub-system 51 is configured to detect animal(s) in the inputted image data in step 206.

[0210] FIG. 10 shows another embodiment of step 200. The step 200 comprises scanning the surveillance area 30 with the imaging device and producing image data in step 202. The produced image data is provided as input data to an image detection algorithm or computer vision algorithm in the repellence sub-system 51 in step 204. The repellence sub-system 51 and the image detection algorithm or the computer vision algorithm is configured to detect animal(s) in the inputted image data in step 206.

[0211] FIG. 11 shows one embodiment of step 300. The step 300 comprises inputting the produced image data as input data to the repellence sub-system 51 in step 302. The repellence sub-system 51 is configured to identify animal species of the detected animal in the inputted image data in step 304.

[0212] FIG. 12 shows another embodiment of step 300. The step 300 comprises inputting the produced image data as input data to the image detection algorithm or computer vision algorithm in the repellence sub-system 51 in step 302. The repellence sub-system 51 and the image detection algorithm or the computer vision algorithm is configured to identify animal species of the detected animal in the inputted image data in step 304.

[0213] The image detection algorithms or computer vision algorithms in steps 200 and 300 are different algorithms.

[0214] Alternatively, the image detection algorithms or computer vision algorithms in steps 200 and 300 are one combined algorithm configured to both detect animals in the image data and identify animal species of the detected animals in the image data. In this embodiment, the steps 200 and 300 are combined.

[0215] FIG. 13 shows one embodiment of step 400. The step 400 comprises activating the one or more deterrence devices 16, 18 based on the identification of the animal species of the detected animal in step 402.

[0216] FIG. 14 shows one embodiment of step 400. The step 400 comprises controlling the unmanned vehicle 10 towards the detected animal 40 to repel the animal 40 towards the border 32 of the predetermined geographical surveillance area 30 in step 404.

[0217] FIG. 15 shows another embodiment of step 400. The step 400 comprises providing two or more different deterrence instructions or deterrence actions for two or more different animal species instep 406. The different deterrence instructions or deterrence actions are provided to the animal species profiles stored in the identification database 58. The step 400 further comprises selecting deterrence instructions or deterrence actions corresponding the identified animal species in step 408. Thee step 408 may comprise selecting an animal species profile corresponding the identified animal species. The step 400 further comprises providing the deterrence instructions of the identified animal species to the one or more deterrence devices 16, 18, and carrying out deterrence actions with the one or more deterrence devices 16, 18 based on the species specific deterrence instructions.

[0218] The invention has been described above with reference to the examples shown in the figures. However, the invention is in no way restricted to the above examples but may vary within the scope of the claims.