PROBLEM TO BE SOLVED: To drive away a target moving object from a doorway to outside a specific area. SOLUTION: When a detection device 2 detects a target moving object T that has entered the specific area S1 while monitoring a monitoring area S2 that includes the physically partitioned specific area S1, a target that has entered the specific area S1. The entrance P of the moving object T is estimated by the estimating means 11c based on the activity status of the target moving object, and the flight robot 3 flies so as to guide the target moving object T from the estimated entrance P to the outside of the specific area S1. Control. [Selection diagram] Fig. 1【課題】対象移動物を進入口から特定領域外へ追い払う。【解決手段】物理的に区画された特定領域Ｓ１を含む監視領域Ｓ２の監視中に、特定領域Ｓ１内へ進入した対象移動物Ｔを検知装置２が検知すると、特定領域Ｓ１内へ進入した対象移動物Ｔの進入口Ｐを、対象移動物の活動状況に基づき推定手段１１ｃにて推定し、推定した進入口Ｐから特定領域Ｓ１外へ対象移動物Ｔを誘導するように飛行ロボット３を飛行制御する。【選択図】図１
