JP2017206066A - Unmanned aircraft for spraying chemical solution - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned aircraft for spraying a chemical solution capable of accurately controlling a spray amount to make the spray amount per unit area uniform.SOLUTION: An unmanned aircraft for spraying a chemical solution sprays the chemical solution stored in a chemical solution tank 24 over a pre-input area 71 to be sprayed: comprises a control part 57 for controlling to fly on a flight route which is set for the area 71 to be sprayed, and a set of flight control sensors 55 for detecting a flight speed during a flight on the flight route; and controls a spray amount of the chemical solution stored in the chemical solution tank 24, on the basis of the flight speed detected by the set of flight control sensors 55.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an unmanned aerial vehicle for spraying chemicals such as agricultural chemicals in the air, and in particular, by uniformly controlling the spraying amount of the chemical solution, the spraying amount per unit area is made uniform, and the desired spraying target region The present invention relates to an unmanned aerial vehicle for spraying chemicals suitable for preventing chemicals from splashing outside.

  Conventionally, chemical solutions such as agricultural chemicals are sprayed in the air on agricultural land by unmanned helicopters. Such an unmanned helicopter is equipped with a chemical solution tank for storing a chemical solution, a pump for pumping the chemical solution in the chemical solution tank, and a nozzle for spraying the chemical solution fed by the pump. The unmanned helicopter sets a flight path in advance on the agricultural ground as a spray target area, and sprays the chemical solution from the nozzle while flying on the flight path.

  Conventional unmanned helicopters often fail to draw a stable flight trajectory when the wind is strong, and may not be able to efficiently spray a chemical solution to a desired spray target region. In addition to this, the sprayed chemical liquid may be scattered by the wind, and a so-called drift may occur in which the chemical liquid flies outside the spray target area. As a result, the chemical solution adheres to other crops outside the spraying target area, or the chemical solution also adheres to the car or the building structure, causing trouble.

  In addition, when the above-described unstable flight or drift of the unmanned helicopter occurs, it is not possible to uniformly adjust the spraying amount per unit area on the farmland in the spraying target region. As a result, even within the same spraying target area, the spraying amount of the chemical solution is uneven, and in the region where the spraying amount of the chemical solution is large, so-called pesticide burning occurs, which causes the crops to wither. Also, in areas where the amount of sprayed chemicals is reduced, it is not always possible to prevent crop diseases, and pests cannot be completely killed, causing damage to crops.

  In particular, chemicals such as pesticides are specified in detail for each crop so that the effect can be achieved even in small amounts. Can not.

  Conventionally, Patent Document 1 discloses a technique for adjusting the spray concentration of a chemical solution by an unmanned helicopter. According to the technique disclosed in Patent Document 1, the setting is performed so that an area where no scattering is performed over a predetermined width is provided on the leeward side in response to input of wind direction and wind power. Thereby, careless spraying of the chemical solution outside the spray target area can be prevented. In addition to this, a technique for adjusting the spraying concentration by controlling the flight altitude is also disclosed taking advantage of the fact that the adjustment of the flight altitude in an unmanned helicopter is relatively easy.

JP 2014-113864 A

  By the way, the technique disclosed in Patent Document 1 described above is a technique aiming at adjusting the chemical spray concentration in the spray target area without causing an increase in size and complexity of the unmanned helicopter. For this reason, the main focus is on optimizing the flight path and flight altitude of the unmanned helicopter rather than imposing design changes on the unmanned helicopter side that would lead to an increase in size and complexity.

  However, according to the technology disclosed in Patent Document 1, drift in response to a suddenly blowing wind is prevented in real time, and the real-time application amount per unit area in the farmland in the application target area is made uniform. There is no specific disclosure regarding adjustment. Due to topography and weather conditions in the area to be spread, it is usually possible that the unmanned helicopter will fly slightly from the flight path and flight altitude that were initially set in the actual site. is there. Conventionally, there has been a demand for a technique that can flexibly cope with changes in various situations in the field on the unmanned helicopter side, spray a chemical solution evenly over a spray target region, and prevent drift.

  Therefore, the present invention has been devised in view of the above-described problems, and the object of the present invention is to uniformize the spraying amount per unit area by controlling the spraying amount of the chemical solution with high accuracy. Another object of the present invention is to provide an unmanned aircraft for spraying chemicals capable of preventing drift of chemicals scattered outside a desired spray target area.

  The unmanned aerial vehicle for spraying chemicals according to the first aspect of the present invention is an unmanned aircraft for spraying chemicals that sprays a chemical stored in a chemical tank on a spray target region that is input in advance, and is set for the spray target region. Flight control means for controlling to fly on a flight path, flight speed detection means for detecting a flight speed at the time of flight of the flight path, and the liquid medicine based on the flight speed detected by the flight speed detection means And a spray control means for controlling the spray amount of the chemical stored in the tank.

  The unmanned aerial vehicle for spraying chemicals according to a second aspect of the present invention further comprises position information acquisition means for acquiring each position information at the time of flight of the flight route in the first invention, and the flight control means is configured to acquire the position information. The flight speed is controlled based on the relationship between the position information acquired by the means and the region to be scattered.

  The unmanned aerial vehicle for spraying chemicals according to the third aspect of the present invention is an unmanned aircraft for spraying chemicals that sprays a chemical stored in a chemical tank on a spray target region that is input in advance, and is set for the spray target region. Flight control means for controlling to fly on the flight path, position information acquisition means for acquiring each position information at the time of flight of the flight path in real time, and a plurality of spray ports for the chemical liquid stored in the chemical liquid tank A spray control unit capable of spraying via the position information, and closes one or more of the plurality of spray ports based on the relationship between the position information acquired by the position information acquisition unit and the region to be sprayed. It is characterized by that.

  The unmanned aerial vehicle for spraying chemicals according to the fourth aspect of the present invention is an unmanned aircraft for spraying chemicals that sprays a chemical stored in a chemical tank on a spray target region that is input in advance, and is set for the spray target region. Flight control means for controlling to fly on the flight path, flight altitude detection means for detecting the flight altitude at the time of flight of the flight path, and the chemical solution based on the flight altitude detected by the flight altitude detection means A spray control means for controlling any one or more of the spray amount of the chemical solution stored in the tank and the diffusion angle of the chemical solution is provided.

  The unmanned aerial vehicle for spraying chemicals according to a fifth aspect of the present invention is the unmanned aircraft for spraying chemical liquid according to the fourth aspect, further comprising position information acquisition means for acquiring in real time each position information at the time of flight of the flight path, Based on the relationship between the position information acquired by the means and the region to be sprayed, one or more of the spray amount of the chemical liquid stored in the chemical tank and the diffusion angle of the chemical liquid is controlled. .

  The unmanned aerial vehicle for spraying chemicals according to the sixth aspect of the present invention is an unmanned aircraft for spraying chemicals that sprays a chemical stored in a chemical tank on a spray target region that is input in advance, and is set for the spray target region. Based on the flight control means for controlling to fly on the flight path, the wind detection means for detecting the wind direction and the wind speed in flight on the flight path in real time, and the wind direction and wind speed detected by the wind detection means, Spraying control means for changing the spraying direction of the chemical solution in the process of flying the flight path.

  The unmanned aerial vehicle for spraying chemicals according to a seventh aspect of the present invention further comprises position information acquisition means for acquiring in real time each position information at the time of flight of the flight path according to the sixth aspect, and the spray control means further includes the position information. The spray direction of the chemical solution is changed based on the relationship between the position information acquired by the acquisition unit and the region to be sprayed.

  An unmanned aerial vehicle for spraying chemicals according to an eighth aspect of the present invention is an unmanned aircraft for spraying chemicals that sprays a chemical stored in a chemical tank on a spray target region that is input in advance, and is set for the spray target region. Flight control means for controlling to fly on the flight path and wind detection means for detecting in real time the wind direction and wind speed during flight of the flight path, the flight control means being detected by the wind detection means. The flight path is switched based on the wind direction and wind speed.

  An unmanned aerial vehicle for spraying chemicals according to a ninth aspect of the present invention, according to any one of the sixth to eighth aspects, wherein the wind detecting means is based on an inclination angle and an inclination direction of the fuselage when flying on the flight path. The wind direction and the wind speed are detected.

  According to the present invention having the above-described configuration, the spray amount of the chemical liquid stored in the chemical liquid tank is controlled based on the detected flight speed. Thereby, the spraying quantity of the chemical | medical solution per unit area in the farmland in a spraying object area | region can be adjusted uniformly. As a result, it is possible to prevent unevenness in the spraying amount of the chemical solution, and it is possible to prevent the burning of agricultural chemicals due to the excessive spraying amount of the chemical solution and the disease and pest damage to the crops caused by the spraying amount of the chemical solution being too small. It becomes. In particular, even if the flight speed of the unmanned aircraft for spraying chemicals is set to be constant, the flight speed is not necessarily constant due to sudden changes in the wind, surrounding environment, or components of the unmanned aircraft for spraying chemicals. It may be blurred in a slight range. Even in such a case, by detecting the change in the flight speed in real time and adjusting the spraying amount based on this, it is possible to prevent unevenness in the spraying amount of the chemical solution as a result.

It is a figure which shows the external appearance structure of the unmanned aircraft for chemical | medical solution dispersion | distribution to which this invention is applied, and the control terminal for operating this. It is a figure which shows the flow-path structure from a chemical | medical solution tank to a nozzle. It is a figure which shows the detailed block structure of a control unit. It is a figure which shows the example which formulated the flight plan with respect to the acquired scattering object area | region. When spraying a chemical | medical solution about the edge part of a dispersion | spreading object area | region, it is a figure which shows the example which made the flight speed slow. It is a figure which shows the example controlled to inject a chemical | medical solution only from a part of nozzle, and to stop the injection of a chemical | medical solution from another part of nozzle. It is a figure which shows typically the relationship of the spraying range of the chemical | medical solution in the ground in each flight altitude. It is a figure for demonstrating the relationship of the spray range with respect to the spray angle of the chemical | medical solution from each nozzle. FIG. 6 is a diagram illustrating an example of adjusting a diffusion angle of a chemical solution from a nozzle when it is determined that the end of the spray target region is flying. It is a figure which shows the example by which a chemical | medical solution is poured when the wind of the wind direction E blows with respect to the unmanned aircraft for chemical | medical solution spraying. It is a top view which shows the state which visually recognized this unmanned aircraft for chemical | medical solution distribution from right above. It is a figure which shows the example which changed the spraying direction when the wind of the wind direction E blows with respect to the unmanned aircraft for chemical | medical solution spraying. It is a figure which shows the example which controls a flight path | route based on the detected wind speed and the wind direction. It is a figure which shows the example which controls a flight path, referring the present position of the unmanned aircraft for chemical | medical solution dispersion | distribution in a dispersion | distribution object area | region. It is a figure for demonstrating the example which detects a wind direction and a wind speed based on the inclination angle and inclination direction of a body.

  Hereinafter, an embodiment for implementing an unmanned aerial vehicle for spraying chemicals to which the present invention is applied will be described in detail with reference to the drawings.

  FIG. 1 shows an external configuration of an unmanned aerial vehicle 1 for spraying chemicals to which the present invention is applied and a control terminal 2 for operating the unmanned aircraft 1.

  The unmanned aerial vehicle 1 for spraying chemicals is a so-called small and unmanned drone (multi-copter) or unmanned helicopter. A rotor 11, a rotor motor 12 for driving the rotor 11, and a rotor motor 12 at the tip are provided. The attached motor stay 13, the installation device 20 attached to the root of the motor stay 13, the first central plate 16 and the second central plate 17 that sandwich the installation device 20 from above and below, and the second central plate 17 A control unit 15 provided on the second central plate 17, a third central plate 18 provided in parallel with the second central plate 17 spaced apart upward, and a battery 14 provided on the third central plate 18. ing.

  The unmanned aerial vehicle 1 for spraying chemicals includes a plurality of legs 26 extending downward from the first central plate 16, two skids 28 provided at the lower ends of the legs 26, and two A mounting arm 27 erected on the book skid 28, a chemical tank 24 mounted on the mounting arm, a pair of right and left right booms 21 extending outward from the legs 26, and A left boom 22, nozzles 23 a to 23 c provided on the right boom 21, and nozzles 23 d to 23 f provided on the left boom 22 are provided.

  The rotor 11 rotates based on the rotation of the rotor motor 12 and can give buoyancy to the unmanned aircraft 1 for spraying chemicals. In the present embodiment, a quad copter having four rotors 11 will be described as an example. However, the present invention is not limited to this, and required flight performance, reliability for failure, allowable cost, etc. The rotor 11 is embodied as a helicopter composed of one rotor, a tricopter composed of three rotors 11, a hexacopter composed of six rotors 11, and an octocopter composed of eight rotors 11. It may be a thing.

  The rotor motor 12 is provided for each of the rotors 11 and is capable of rotating based on electric power supplied from the battery 14 via the motor stay 13. The rotor motor 12 is not limited as long as it has the above function, and any commercially available one can be applied. The rotor 11 can be rotated by rotating the rotor motor 12, and the unmanned aerial vehicle 1 for spraying chemicals can be immediately raised or lowered in the vertical direction, or can be stopped on the spot. It becomes. Further, when the unmanned aircraft for spraying chemical liquid 1 is moved back and forth and right and left, the rotational speed of the rotor motor 12 in the traveling direction is decreased, and the rotational speed of the rotor motor 12 on the opposite side to the traveling direction is increased. As a result, the unmanned aerial vehicle 1 for spraying chemicals is in a forward bending posture with respect to the traveling direction, and can move in the traveling direction. In addition, by adjusting the output according to the rotation direction of the rotor motor 12, it is possible to rotate the unmanned aircraft for spraying chemical liquid 1 itself. Control of the rotation speed of these rotor motors 12 is performed via a control unit 15.

  The motor stay 13 extends from the first central plate 16 and the second central plate 17 in different directions. In particular, in the case of a quadcopter having four rotors 11, the motor stays 13 that respectively support these are extended so as to be spaced from each other by about 90 ° in plan view. The motor stay 13 may be formed of a tubular body made of, for example, metal or resin, carbon, or other material. In such a case, a cable for supplying power from the battery 14 can be inserted into the tube of the motor stay 13.

  The 1st center plate 16 and the 2nd center plate 17 are comprised by plate-shaped bodies, such as metal or resin, mutually. The first central plate 16 and the second central plate 17 are provided so as to be substantially parallel to each other via an installation tool 20 to be sandwiched. The first central plate 16 is provided with a screw hole (not shown) necessary for attaching the leg portion 26 in advance. Similarly, the second central plate 17 is provided with screw holes necessary for attaching the control unit 15 in advance.

  The control unit 15 is composed of a housing for housing integrated circuits and devices necessary for various controls. The control unit 15 is fixed to a screw hole provided on the second central plate 17 via a screw. Details of the block configuration of the control unit 15 will be described later.

  The third central plate 18 is configured by a plate-like body made of metal or resin. The third center plate 18 is fixed via a long screw 18 a erected on the surface of the second center plate 17 so as to be parallel to the second center plate 17 while being separated from the second center plate 17. .

  The battery 14 is a battery for supplying electric power necessary for driving the control unit 15 and the rotor motor 12. The battery 14 also supplies power necessary for controlling the nozzle 23. The battery 14 may be detachable and may be charged.

  The skid 28 provided at the lower end of the leg 26 is provided for grounding when the unmanned aerial vehicle 1 for spraying a chemical solution lands on the ground. Similarly, the mounting arm 27 provided between the skids 28 also plays a role of grounding when the unmanned aerial vehicle 1 for spraying the chemical solution lands on the ground. In addition, it also has a role of supporting the chemical solution tank 24 from below. Bear.

  The right boom 21 and the left boom 22 may be provided to the leg portion 26 via a rotation device 29a and a rotation device 29b. Thus, the right boom 21 and the left boom 22 are configured to be rotatable in the direction A in the figure by the rotating device 29a and the rotating device 29b. For example, when the unmanned aerial vehicle 1 for spraying chemicals is stored in a warehouse or the like, not only can it be removed, but the right boom 21 and the left boom 22 can be turned upward and folded via the turning devices 29a and 29b. It becomes possible. In addition, by rotating the right boom 21 and the left boom 22 freely in the A direction via the rotating devices 29a and 29b, it is possible to adjust the spraying direction of the chemical solution from the nozzle 23. The right boom 21 and the left boom 22 are provided slightly above the lower end of the leg portion 26, so that when the unmanned aircraft for spraying chemical liquid 1 is grounded via the skid 28 when landing, 23 can be prevented from contacting the ground. The right boom 21 and the left boom 22 may be manually rotated via rotating devices 29a and 29b, or the rotating devices 29a and 29b themselves may be connected via an electrical signal from the control unit 14. May be automatically rotated.

  At the time of landing, the aircraft of the unmanned aerial vehicle 1 for spraying chemicals is landed in a horizontal state, but the aircraft may be tilted when there is an operation error or there is a crosswind at the time of landing. In preparation for such a case, the right boom 21 and the left boom 22 may be folded upward to avoid the boom from contacting the ground when landing.

  The chemical liquid tank 24 is a tank for storing a chemical liquid, and is made of a material such as resin or metal. The chemical liquid tank 24 has a lid 24a that can be freely opened and closed. When the chemical liquid is injected, the lid 24a is opened, and when the chemical liquid is actually sprayed, the lid 24a is firmly secured so that it does not leak. The lid will be closed. In addition, you may enable it to remove the chemical | medical solution tank 24 from the unmanned aerial vehicle 1 for chemical | medical solution spraying by simple operation. In such a case, a plurality of chemical liquid tanks 24 are prepared in advance and filled with the chemical liquid, whereby a plurality of times of spraying can be efficiently performed.

  Although the chemical | medical solution stored in this chemical | medical solution tank 24 assumes the pesticide for spraying to agricultural land, it is not limited to this, For example, liquid fertilizer, a paint, and any other liquid are included. A hose 32 extends from the inside of the chemical tank 24, and each hose 32 is continuous with each nozzle 23 a to 23 c provided on the right boom 21 and each nozzle 23 d to 23 f provided on the left boom 22. The chemical tank 24 is not limited to the case where the chemical tank 24 is placed on the placement arm 27, and may be hung from a structure including the first center plate 16 and the installation tool 20. Or it is good also as a form suspended from the some leg part 26 grade | etc.,.

  FIG. 2 shows a flow path configuration from the chemical solution tank 24 to the nozzle 23. The chemical liquid discharged from the chemical liquid tank 24 branches and flows into the two chemical liquid pipes 36a and 36b. Then, the chemical liquid pipe 36a reaches the chemical liquid pump 35a, and the chemical liquid pipe 36b reaches the chemical liquid pump 35b. The hose 32 is continuously connected from the chemical liquid pump 35a to the nozzles 23a to 23c. Moreover, the hose 32 will continue from the chemical | medical solution pump 35b to each nozzle 23d-23f.

  Here, the chemical pumps 35a and 35b have a structure in which a piston is reciprocated using a motor as a power source to suck the chemical from the chemical pipes 36a and 36b and discharge the hose 32 and the nozzles 23a to 23c and 23d to 23f. is there. Incidentally, the chemical pumps 35 a and 35 b can be controlled independently via the control unit 15. For example, when the operation command is transmitted from the control unit 15 for the chemical liquid pump 35a and the operation command is not transmitted from the control unit 15 for the chemical liquid pump 35b, the chemical liquid is ejected only from the nozzles 23a to 23c connected to the chemical liquid pump 35a. On the other hand, it is possible to control the injection of the chemical liquid from the nozzles 23d to 23f connected to the chemical liquid pump 35b. In the above-described example, the case where the two chemical pumps 35a and 35b are used has been described as an example. However, the present invention is not limited to this, and the chemical pump 35 is not particularly limited in the case of spraying a relatively small volume. You may make it comprise only one. Further, when spraying a large volume of chemical liquid, the chemical liquid pump 35 may be composed of three or more.

  Further, by controlling the discharge force of the chemical liquid pump 35, the amount of the chemical liquid sprayed from the nozzle 23 can be controlled. That is, it is possible to reduce the amount of chemical liquid sprayed from the nozzle 23 by reducing the discharge force of the chemical liquid from the chemical liquid pump 35, and to increase the chemical liquid discharge from the nozzle 23 by increasing the discharge power of the chemical liquid from the chemical liquid pump 35. The amount of spraying can be increased. Moreover, since the discharge force can be controlled separately between the chemical pumps 35a and 35b, the spraying amount can be controlled independently of each other for the nozzles 23a to 23c and the nozzles 23d to 23f. In the case where two chemical pumps 35a and 35b are used, the flow rate control device for each nozzle 23 may be omitted. In such a case, the discharge amount for each of the right boom 21 and the left boom 22 is simply changed. Although this configuration only controls the discharge amount for each of the left and right sides of the machine body, the structure of each nozzle 23 can be simplified and the cost can be reduced.

  The nozzle 23 is supported by the right boom 21 or the left boom 22 described above, and the chemical solution is sent through the connected hose 32. In the present embodiment, the case where the nozzles 23 are arranged over six nozzles 23a to 23f will be described as an example, but the present invention is not limited to this, and any number may be arranged.

  The nozzle 23 sprays the sent chemical liquid at a predetermined diffusion angle. Any one or more of the diffusion angle of the chemical solution and the spraying direction may be controllable. When changing the diffusion angle of the chemical solution, for example, a commercially available spray nozzle having a variable diffusion angle may be used. Moreover, when changing a spraying direction, you may use a commercially available spray direction free nozzle. The diffusion angle or spray direction of these chemicals may be changed manually, but may be changed based on an electrical signal under the control of the control unit 15. In such a case, by combining a servo motor with the nozzle 23, it becomes possible to automatically adjust the diffusion angle and the spraying direction of the nozzle 23 based on an electrical signal.

  Next, a detailed configuration of the control unit 15 will be described. As shown in FIG. 3, the control unit 15 includes a flight controller 50 as a center, and includes a wireless communication unit 51, an electric gimbal 52, a camera 53, and an ESC (Electronic Speed Controller) 54 that are connected to the flight controller 50. Yes. The configurations of the electric gimbal 52 and the camera 53 are not essential and may be omitted.

  The wireless communication unit 51 includes an antenna that performs frequency conversion and other various conversion processes necessary for performing wireless communication with the control terminal 2, converts an electric signal into a radio wave, or converts a radio wave into an electric signal. It is. The wireless communication unit 51 converts the control information superimposed on the radio wave transmitted from the control terminal 2 into an electrical signal and outputs the electrical signal to the flight controller 50. As a result, control of the flight controller 50 based on the operation information from the operation terminal 2 is realized. The wireless communication unit 51 converts the data sent from the flight controller 50 into radio waves and transmits the radio waves to the control terminal 2. If possible, these data may be transmitted to a public communication network such as the Internet. Note that the wireless communication unit 51 may acquire various information from the public communication network through wireless communication and transmit the information to the flight controller 50.

  The flight controller 50 includes a control unit 57, a flight control sensor group 55 connected to the control unit 57, and a GNSS (Global Navigation Satelite System) receiving unit 56.

  The control unit 57 includes a CPU (Central Processing Unit) 111, a memory 112 and a PWM controller 113 respectively connected to the CPU 111. The control unit 57 is connected to the chemical pump 35 and the nozzle 23.

  The memory 112 is storage means embodied as a ROM (Read Only Memory) or a RAM (Random Access Memory). The ROM stores a program for controlling hardware resources of the entire control unit 15. The RAM is used as a work area used for storing and developing data, and temporarily stores various instructions for controlling hardware resources of the entire control unit 15.

  The CPU 111 is a so-called central processing unit for controlling all the components. The CPU 111 notifies each component of an instruction for reading a program stored in the memory 112 and performing various operations. For example, if the program stored in the memory 112 relates to a method for determining the flight path of the unmanned aerial vehicle 1 for spraying chemicals or a flight method, various instructions for flying based on the program are stationary and transmitted to each component. To do. Further, if the program stored in the memory 112 relates to a chemical solution spraying method by the chemical spraying unmanned aircraft 1, various commands for spraying the chemical solution are generated based on this and transmitted to each component. .

  In addition, the CPU 111 generates various commands based on the operation information and other information transmitted from the wireless communication unit 51 and transmits them to each component. Further, the CPU 111 controls each component based on the data sent from the flight control sensor group 55 and the current position information of the chemical spraying unmanned aircraft 1 sent from the GNSS receiver 56. Further, the CPU 111 generates and transmits an electrical signal for controlling the connected chemical pump 35 and nozzle 23. The CPU 111 controls the electric gimbal 52 and the camera 53, and transmits necessary instructions to the PWM controller 113.

  The PWM controller 113 controls the rotational speed, rotational speed, and the like of the rotor motor 12 via the ESC 54 under the control of the CPU 111.

  The flight control sensor group 55 includes at least an acceleration sensor, an angular velocity sensor, an atmospheric pressure sensor (altitude sensor), a geomagnetic sensor (direction sensor), an altimeter for detecting a flight altitude, and a wind direction anemometer for detecting a wind speed and a wind direction. It is composed of various sensors such as an acceleration sensor and a gyro sensor for detecting the tilt angle and tilt direction of the airframe. Incidentally, the flight control sensor group 55 is not limited to the case where all of these sensors are mounted. For example, the flight speed of the unmanned aerial vehicle 1 for spraying chemicals can be detected from an acceleration sensor and an angular velocity sensor. In addition, the tilt direction and tilt angle of the unmanned aerial vehicle 1 for dispensing chemicals can be detected from a gyro sensor, an acceleration sensor, and an angular velocity sensor. Further, it is possible to detect in real time the wind direction and wind speed of the wind blown on the spot when the unmanned aircraft 1 for spraying the chemical solution is flying from the wind direction anemometer. It becomes possible to detect the flight altitude of the unmanned aerial vehicle 1 for spraying chemicals in real time from the altimeter. The flight control sensor group 55 transmits each detected data to the control unit 57.

  The GNSS receiving unit 56 acquires real-time position information at the time of flight of the unmanned aerial vehicle 1 for dispensing chemicals based on a satellite positioning signal transmitted from an artificial satellite. The GNSS reception unit 56 transmits the acquired position information to the control unit 57.

  The electric gimbal 52 is a turntable on which the camera 53 is placed. The electric gimbal 52 is configured to be rotatable under the control of the CPU 111 in the control unit 57. By rotating the electric gimbal 52, the shooting direction of the camera 53 can be changed. The electric gimbal 52 may be provided with a vibration absorbing mechanism for preventing the swing from the unmanned aircraft 1 for spraying chemicals from being transmitted to the camera 53.

  The camera 53 images a subject in a shooting direction determined based on the rotation of the electric gimbal 52. The imaging timing of the camera 53 is controlled by the CPU 111. The camera 53 transmits the captured image to the control unit 57. In addition to being stored in the memory 112 under the control of the CPU 111, the image transmitted to the control unit 57 may be sent to the public communication network via the wireless communication unit 51 as necessary.

  Of the above-described components, the flight controller 50, the electric gimbal 52, the camera 53, and the ESC 54 are all connected to the battery 14 and supplied with power.

  The control terminal 2 is configured by a terminal device capable of wireless communication such as a PC (personal computer), a mobile terminal, a smartphone, a tablet terminal, and a wearable terminal, but is not limited thereto, and is a dedicated controller. It may be embodied by. The control terminal 2 includes a user I / F 6 for a user to actually perform a desired operation, and a wireless communication unit 7 connected to the user I / F 6.

  The user I / F 6 includes a touch panel, buttons, levers, and the like for inputting operation information for operating the unmanned aerial vehicle 1 for spraying chemicals. The user I / F 6 also includes a liquid crystal panel for displaying various information to the user. The user I / F 6 transmits the input operation information to the wireless communication unit 7. In addition, when various information received by the wireless communication unit 7 is transmitted, the user I / F 6 displays it on the user via a liquid crystal panel or the like as necessary.

  The wireless communication unit 7 performs frequency conversion and other various conversion processes necessary for wireless communication with the unmanned aircraft 1 for spraying chemicals, converts an electric signal into a radio wave, or converts a radio wave into an electric signal. An antenna is also included. The wireless communication unit 7 outputs information transmitted from the unmanned aircraft 1 for dispensing chemicals and information transmitted from the public communication network to the user I / F 6. Further, the wireless communication unit 7 converts the control information sent from the user I / F 6 into radio waves and transmits the radio waves to the unmanned aircraft 1 for spraying chemicals.

  Next, the operation of the unmanned aerial vehicle 1 for spraying chemicals having the above-described configuration will be described.

  First, the unmanned aerial vehicle 1 for spraying chemicals receives an input of a spray target area for spraying chemicals. This application | coating area | region is the map information etc. of the farmland which sprays the agricultural chemical as a chemical | medical solution in practice. When the user himself / herself inputs the scattering target area, an input operation is performed via the user I / F 6 in the control terminal 2. The input spray target area is transmitted to the wireless communication unit 51 in the unmanned aircraft for spraying chemical liquid 1 via the wireless communication unit 7. The control unit 57 in the flight controller 50 acquires the scattering target area and stores it in the memory 112 as necessary.

  Next, the CPU 111 actually formulates a flight plan for the map information based on the scattering target area. For the formulation of the flight plan, the flight plan formulation program stored in the memory 112 is read and executed. Note that the formulation of the flight plan is not limited to the case based on reading from the memory 112 but may be based on input information from the user I / F 6. In such a case, each time input information related to a flight plan is received from the user I / F 6, it may be transmitted to the control unit 57 of the unmanned aircraft 1 for spraying chemicals.

  FIG. 4 shows an example of formulation of a flight plan. The CPU 111 formulates a flight plan in which the acquired scattering target area 71 can be almost filled with an actual scattering range indicated by hatching. For example, since the width w of the spraying area sprayed from the nozzle 23 in the unmanned aircraft for spraying chemical liquid 1 is known, various flight path candidates that can fill the spraying target area 71 with the spraying range of this width w are listed. be able to. Among these, for example, by proceeding in a zigzag manner like a flight path as shown by a dotted line in FIG. 4, the scattering target region 71 can be covered by a scattering range having a width w around the center. In this flight plan, as shown in FIG. 4, a route may be set such that the upper end or lower end of the scattering target area 71 is overrun and then a U-turn is made to return to the scattering target area 71 again. As a result, the inside of the spray target area 71 can be filled with the spray range without any gap. Incidentally, the spraying of the chemical solution may be temporarily stopped during the flight outside the overrun spray target area 71.

  In addition to this, when reaching almost the upper end or the lower end of the scattering target area 71, a U-turn may be made by flying along the boundary between the upper end and the lower end of the flight path without overrun.

  After setting such a flight path, the CPU 111 performs control for causing the chemical liquid spraying unmanned aircraft 1 to fly based on the flight path, with respect to the PWM controller 113. The PWM controller 113 controls the rotational speed, rotational speed, rotational direction, and the like of the rotor motor 12 through the ESC 54 under the control of the CPU 111, thereby causing the flight on the flight path shown in FIG.

  Further, in the process of flying on the flight path, the control unit 57 transmits an operation command to the chemical liquid pump 35 to cause the pump to discharge the chemical liquid. As a result, the chemical liquid stored in the chemical liquid tank 24 is sent to the nozzles 23 a to 23 f by the chemical liquid pump 35. And the chemical | medical solution sent to these nozzles 23a-23f will be spread | dispersed in a spreading | diffusion range.

  In the process of spraying the chemical solution, the unmanned aerial vehicle 1 for spraying the chemical solution continuously flies on the flight path. Thereby, as shown in FIG. 4, a chemical | medical solution can be spread | dispersed about the spreading | diffusion range along a flight path | route. Then, by flying to the end point of the flight path, it is possible to spray the chemical liquid over most of the spray target area 71.

  In the present invention, the flight speed of the unmanned aircraft for spraying chemical liquid 1 may be detected via an acceleration sensor, an angular velocity sensor, or the like in the flight control sensor group 55 during the flight of the flight path. The detected flight speed is sent to the control unit 57, and the control unit 57 controls the spraying amount of the chemical liquid pump based on the flight speed, thereby controlling the spraying amount of the chemical liquid from the nozzle 23.

  Here, it is assumed that the spray rate per unit area in the spray target region 71 is appropriate by setting the flight speed of the unmanned aircraft 1 for spraying chemicals to 20 km / hour and the spray rate to 1 l / sec. For example, when the flight speed is detected at the point P via the flight control sensor group 55 at the start of the flight, the flight speed is 20 km as in the beginning. When it is / hour, the control for changing the special application amount is not performed. Next, when the flying speed measured at the point Q is 25 km / hour, the flying speed is increased, and the amount of spraying per unit area is reduced accordingly. For this reason, the control part 57 which detected this flight speed controls the chemical | medical solution pump 35 so that a spraying quantity may be larger than 1 l / sec. Next, when the flying speed measured at the point R is 15 km / hour, the flying speed is slow, so that the amount of spraying per unit area increases accordingly. For this reason, the control part 57 which detected this flight speed controls the chemical | medical solution pump 35 so that a spraying quantity may become lower than 1 l / sec.

  Thus, in the present invention, the spray amount of the chemical liquid stored in the chemical liquid tank 14 is controlled based on the detected flight speed. Thereby, the spraying quantity of the chemical | medical solution per unit area in the agricultural land in the spraying object area | region 71 can be adjusted uniformly. As a result, it is possible to prevent unevenness in the spraying amount of the chemical solution, and it is possible to prevent the burning of agricultural chemicals due to the excessive spraying amount of the chemical solution and the disease and pest damage to the crops caused by the spraying amount of the chemical solution being too small. It becomes.

  In particular, even if the flight speed of the unmanned aircraft for spraying chemicals 1 is set to be constant, the flight speed may be reduced due to sudden changes in the wind and surrounding environment, or due to each component of the unmanned aircraft 1 for spraying chemicals. It is not always constant, and blurring may occur in a slight range. Even in such a case, by detecting the change in the flight speed in real time and adjusting the spraying amount based on this, it is possible to prevent unevenness in the spraying amount of the chemical solution as a result.

  In the embodiment described above, the case where the flight speed is detected at three points from the P point to the R point has been described as an example. However, the present invention is not limited to this, and the flight speed is set at a shorter pitch. You may make it detect. In such a case, for example, the flight speed may be detected every second, and the amount of spraying may be controlled every second accordingly.

  In addition, when spraying a chemical | medical solution about the edge part 72 of the spreading | diffusion target area | region 71 as shown in FIG. 5, it may be effective to deliberately make flight speed slow. As described above, the flight speed may be increased or decreased depending on the position in the spray target area 71. In such a case, the current position information in the scatter target area 71 is received in real time via the GNSS receiving unit 56, and the control unit 57 flies based on the relationship of the received position information with the scatter target area 71. The speed may be controlled. Since the spray target area 71 is acquired in advance as map information, by superimposing the received position information on this, the unmanned aircraft for spraying chemical liquid 1 flies at any position on the spray target area 71 at the present time. It can be detected in real time. The control unit 57 controls the flight speed based on the information.

  Further, the spray amount may be controlled directly using the result of detecting in real time which position on the spray target area 71 the unmanned aircraft 1 for spraying chemicals is currently flying, You may make it control. The method for controlling the spraying amount is as described above. However, when controlling the spraying range, for example, as shown in FIG. 6, the chemical liquid is sprayed only from the nozzles 23d to 23f, and the chemical liquid is sprayed from the nozzles 23a to 23c. Control to stop. These controls are realized by transmitting an operation command from the control unit 15 to the chemical pumps 35a and 35b as described above. Since the control unit 15 detects in real time which position on the scatter target area 71 is flying, if it is determined that the end of the scatter target area 71 is flying, By spraying the chemical liquid from only the nozzles 23d to 23f located on the region 71, the chemical liquid can be sprayed on the crop. Further, by stopping the spraying of the chemical liquid from the nozzles 23 a to 23 c that are out of the spray target area 71, it is possible to prevent damage due to the spray of the chemical liquid outside the spray target area 71.

  Further, according to the present invention, the spray amount of the chemical solution may be controlled based on the detected flight altitude. In such a case, the flight altitude of the unmanned aircraft for spraying chemical liquid 1 may be detected via an altimeter or the like in the flight control sensor group 55. The detected flight altitude is sent to the control unit 57. The control unit 57 controls the spraying amount of the chemical liquid pump based on the flight altitude, thereby controlling the spraying amount of the chemical liquid from the nozzle 23 in real time.

  FIG. 7 schematically shows the relationship of the spraying range of the chemical solution on the ground at each flight altitude V to W. When the unmanned aerial vehicle 1 for spraying chemicals has a flying altitude W, the spraying concentration per unit area is almost uniform without overlapping the spraying ranges of chemicals and without forming non-spraying areas where no chemicals are sprayed. can do. On the other hand, in the case of the flight altitude V, the flight altitude is too low and reaches the ground before the spread range of the chemical solution is expanded. As a result, a non-spreading region is formed in the spraying target region 71. On the other hand, when the flying altitude is Z, the flying altitude is too high, and the spraying ranges of the chemicals sprayed from the adjacent nozzles 23 overlap.

  That is, at the flight altitudes V and Z, the unmanned aerial vehicle 1 for spraying chemicals with respect to the ground does not have an appropriate flight altitude, resulting in unevenness in the amount of sprayed chemicals per unit area. For this reason, in the present invention, if the flight altitude of the unmanned aircraft 1 for spraying a chemical solution is measured and this is an appropriate height such as the flight altitude W, there is no need to perform any new control. On the other hand, if the flight altitude is V, control is performed to widen the spray angle of the chemical solution from each nozzle 23 as shown in FIG. Specifically, the control unit 57 determines that the flight altitude detected from the flight control sensor group 55 is the flight altitude V, and based on this, sends an electrical signal to the nozzle 23 to expand the diffusion angle. To control. As a result, the chemical solution emitted from the nozzle 23 is spread on the ground in such a manner that it spreads further, so that the non-spreading region can be made narrower. On the other hand, if the flight altitude is Z, the spraying angle of the chemical solution from each nozzle 23 is controlled to be narrowed as shown in FIG. Specifically, the control unit 57 determines that the flight altitude detected from the flight control sensor group 55 is the flight altitude Z, and based on this, sends an electrical signal to the nozzle 23 to narrow the diffusion angle. To control. As a result, the chemical solution emitted from the nozzle 23 is further narrowed and sprayed on the ground, and as a result, the overlap of the spraying ranges can be further narrowed.

  Incidentally, the control unit 57 may adjust the spray amount in addition to the adjustment of the spray angle from the nozzle 23 described above when the flight altitude is determined. For example, in the case of a low altitude flight altitude V, the spraying amount is increased so that the chemical solution can be distributed to the non-spreading area. It is possible to prevent the spraying density from becoming extremely high in the overlapping portion. In the present invention, any one or more of the spray angle and the spray amount may be adjusted.

  Further, since the control unit 15 detects in real time through the GNSS receiver 56 which position on the scatter target area 71 is flying, the end of the scatter target area 71 as shown in FIG. When it is determined that the liquid is being used, the diffusion angle of the chemical solution from the nozzle 23 may be adjusted. At this time, when the diffusion angle of the chemical solution from the nozzle 23 is set wide, if the chemical solution is sprayed outside the spray target region 71, the diffusion angle of the chemical solution may be narrowed. In addition, when the spreading angle of the chemical solution is widened so that the entire spraying range including the remaining portion of the spraying target region 71 can be filled, the spreading angle from the nozzle 23 may be set wide. At this time, not only the diffusion angle but also one or more of the spray angle and the spray amount may be controlled.

  According to the present invention, the direction of the chemical solution may be changed based on one or more of the detected wind direction and wind speed. In such a case, the wind direction and wind speed of the unmanned aircraft for spraying chemical liquid 1 may be detected via a wind direction anemometer or the like in the flight control sensor group 55. The detected wind direction and wind speed are sent to the control unit 57, and the control unit 57 controls the spraying direction of the nozzles 23 in real time based on the wind direction and wind speed.

  For example, as shown in FIG. 10, when a wind in the wind direction E blows against the unmanned aircraft 1 for spraying chemical liquid, the chemical liquid emitted from the nozzle 23 is caused to flow in the direction of the wind direction E. As a result, the spray range of the chemical liquid that lands on the ground at each flight altitude V to X is greatly biased toward the wind direction E. FIG. 11 is a plan view showing a state in which the unmanned aircraft 1 for spraying chemicals is viewed from directly above. The solid line in the figure showing the chemical discharged from the nozzle 23 shows the spread of the chemical immediately after spraying, and the dotted line in the figure shows the spread of the chemical just before contacting the ground at the flight altitude W. It is shown that the spraying range of the chemical solution deviates greatly from the intended range depending on the wind direction.

  Therefore, according to the present invention, the wind direction and wind speed are detected by the wind direction anemometer or the like in the flight control sensor group 55, and the control unit 57 sends an electrical signal to the nozzle 23 based on the detected wind direction and wind speed. Control to change the spraying direction.

  The example of FIG. 12 shows an example in which the spraying direction of the chemical liquid is changed in the F direction opposite to the wind direction E. By tilting the spraying direction of the chemical solution in the F direction, even if it is affected by the wind direction E, it is possible to prevent it from being canceled out and deviating greatly from the intended spraying range. How much the nozzle 23 is actually tilted toward the F direction may be determined based on the detected wind speed. That is, when the wind speed of the wind direction E is large, the inclination angle k of the nozzle 23 in the F direction is increased in order to firmly counter this. On the other hand, when the wind speed of the wind direction E is small, the inclination angle k of the nozzle 23 in the F direction is decreased.

  Note that, in the process of changing the spray direction of the chemical solution by the nozzle 23, it may be varied according to the detected flight altitude. In such a case, setting is performed so that the optimum spray angle is obtained according to the flight altitudes V to X. At this time, the diffusion angle and the spread amount may be adjusted together.

  Moreover, when changing the spray direction of the chemical | medical solution by the nozzle 23, it is not limited to the case based on a wind direction or a wind speed. For example, the spraying direction may be directly controlled using the result of detecting in real time which position on the spraying target area 71 is flying. For example, when it is identified that the vicinity of the end of the spray target area 71 is flying, the chemical liquid spraying direction is adjusted in real time so that the chemical liquid does not deviate outside the spray target area 71. You may do it.

  Further, according to the present invention, the flight path may be controlled based on the detected wind speed and direction. For example, in the process of flying the unmanned aircraft for spraying chemical liquid 1 in the direction of the arrow shown in FIG. 13, the wind direction and the wind speed are detected as needed. When the wind direction and the wind speed detected at point G are both 0, the flight path continues to fly in the direction of the arrow in the figure without performing special control. Here, when it is determined that the wind direction is the E direction and the wind speed is 2 m / s at the point H, in order to counter this, the flight direction is changed toward the F direction which is the opposite direction to the E direction. Control for. The magnitude of the flight direction change direction vector in the figure corresponds to the magnitude of the propulsive force in the F direction. The balance of the propulsive force is adjusted based on the measured wind speed, and the propulsive force passes H ′ on the originally intended flight path. Similarly, when it is determined that the wind direction is the E direction and the wind speed is 5 m / s at the point I, in order to counter this, the flight direction is changed toward the F direction which is the opposite direction to the E direction. The propulsive force in the F direction is also greatly adjusted accordingly. As a result, it passes through I ′ on the originally intended flight path.

  As a result, the unmanned aerial vehicle 1 for spraying chemical liquids detects the wind direction and the wind speed in real time even when a large wind blows suddenly during the flight, and changes the flight direction accordingly, It is possible to follow the route in the direction of the dotted line arrow in the figure.

  Note that an upper limit value of the wind speed may be set in advance, and when the measured wind speed exceeds the upper limit value, spraying of the chemical solution may be stopped and hovered on the spot.

  In this route change, as shown in FIG. 14, the current position of the unmanned aircraft 1 for spraying chemicals in the spray target area 71 may be referred to. For example, even when the end of the spray target area 71 has a complicated shape from the acquired map information, the flight route of the unmanned aircraft for spraying chemical liquid 1 may be changed along this. In such a case, when it is identified that the unmanned aircraft for spraying chemical solution 1 is located at the point J in relation to the spray target area 71, the end of the spray target area 71 is located on the inner side from the prior map information. Since it is known that it has entered, the flight path is changed inward along this. Then, when it flies so as to draw a curve along the end of the scattering target area 71 and it is determined through the flight control sensor group 55 that it has reached the point K, it goes straight again in the direction of the arrow. Control to do.

  In addition, in each control described above, it is possible to conduct an experimental study in advance to determine how much the spray amount, diffusion angle, flight path, spray direction, etc. are controlled with respect to the flight speed, flight altitude, wind direction, and wind speed. Data may be acquired through simulation, and the actual control amount may be determined with reference to the acquired data.

  Further, in the present invention, the wind direction and the wind speed may be detected based on the inclination angle and the inclination direction of the airframe of the unmanned aerial vehicle 1 for spraying chemicals when flying on the flight path. For the tilt angle and the tilt direction, a digital level or the like in the flight control sensor group 55 is used.

  FIG. 15A is a plan view showing a state in which the wind in the wind direction Wd is blown when the unmanned aircraft for spraying chemical liquid 1 flying in the flight direction Fw is flying in the flight direction Fw. The unmanned aerial vehicle 1 for spraying the chemical liquid that has received the wind in the wind direction Wd is inclined downward in the figure toward the wind direction Wd. The angle of the wind direction Wd with respect to the flight direction Fw is called angle θ.

  FIG. 15B shows a cross-sectional configuration on the extension line Ls of the wind direction Wd. In FIG. 15 (b), only the control unit 15 is shown as a representative of the components in the unmanned aircraft 1 for spraying chemicals for simplicity. The control unit 15 normally flies in a cross-sectional view so as to be substantially horizontal as indicated by a solid line, but is inclined to bend forward as indicated by a dotted line with respect to the wind of the wind direction Wd. It will be. The inclination angle at which this forward bending with respect to the wind is called angle φ. The stronger the wind speed, the more the unmanned aerial vehicle for spraying chemical liquid 1 is inclined forward with respect to the wind direction Wd. That is, the angle φ depends on the wind speed. The unmanned aerial vehicle 1 for spraying chemicals avoids being swung forward with respect to the wind direction Wd when hovering, but detects the wind direction Wd and the wind speed using this change in posture. .

  That is, the angle θ can be determined by identifying which direction the plane is inclined in a plan view, and the wind direction Wd can be determined from the angle θ. By determining the angle φ in cross-sectional view, it is possible to determine the wind speed.

  The correspondence relationship of the wind speed with respect to the angle φ in the cross-sectional view is previously converted into data by a correspondence table or the like through simulation or experiment in advance for each model of the unmanned aircraft for spraying chemical liquid. The actual wind speed may be determined from the detected angle φ by referring to this correspondence table at the stage of actually flying the unmanned aircraft 1 for spraying the chemical liquid. The angle θ and the angle φ can be detected with high accuracy via the flight control sensor group 55. Therefore, it is possible to detect the wind direction Wd and the wind speed with high accuracy from the angle θ and the angle φ.

  In particular, the unmanned aerial vehicle 1 for spraying chemical liquids often has a complicated flow of air and changes in atmospheric pressure generated by the rotation of the rotor 11. However, since the airflow and the atmospheric pressure are hardly affected by the detection of the angle θ and the angle φ, it is possible to measure the wind direction Wd and the wind speed with higher accuracy.

1 Unmanned aerial vehicle for spraying chemicals 2 Control terminal 6 User I / F
7 Wireless communication unit 11 Rotor 12 Rotor motor 13 Motor stay 14 Battery 15 Control unit 16 First central plate 17 Second central plate 18 Third central plate 20 Installation tool 21 Right boom 22 Left boom 23 Nozzle 24 Chemical solution tank 26 Leg 27 Mounting Arm 28 Skid 32 Hose 35 Chemical Pump 35 Chemical Pump 36 Chemical Pipe 50 Flight Controller 51 Wireless Communication Unit 52 Electric Gimbal 53 Camera 54 ESC
55 Flight Control Sensor Group 56 GNSS Receiver 57 Controller 71 Scatter Target Area 72 End 112 Memory 113 PWM Controller

Claims (9)

In the unmanned aircraft for spraying chemicals that sprays the chemicals stored in the chemical tank to the spray target area input in advance,
Flight control means for controlling to fly on the flight path set for the scattering target area;
Flight speed detection means for detecting the flight speed during flight of the flight path;
An unmanned aerial vehicle for spraying chemical liquid, comprising: spray control means for controlling a spray amount of the chemical liquid stored in the chemical liquid tank based on the flight speed detected by the flight speed detection means. It further comprises position information acquisition means for acquiring each position information in flight on the flight path in real time,
The unmanned aerial vehicle for spraying chemicals according to claim 1, wherein the flight control unit controls the flight speed based on a relationship between the position information acquired by the position information acquiring unit and the region to be sprayed. In the unmanned aircraft for spraying chemicals that sprays the chemicals stored in the chemical tank to the spray target area input in advance,
Flight control means for controlling to fly on the flight path set for the scattering target area;
Position information acquisition means for acquiring each position information at the time of flight of the flight path in real time;
A spray control means capable of spraying the chemical liquid stored in the chemical liquid tank through a plurality of spray ports;
An unmanned aerial vehicle for spraying chemicals, wherein one or more of the plurality of spray ports are closed based on the relationship between the position information acquired by the position information acquisition unit and the region to be sprayed. In the unmanned aircraft for spraying chemicals that sprays the chemicals stored in the chemical tank against the spray target area input in advance,
Flight control means for controlling to fly on the flight path set for the scattering target area;
A flight altitude detecting means for detecting a flight altitude during the flight of the flight path;
And a spray control means for controlling one or more of the spray amount of the chemical liquid stored in the chemical liquid tank and the diffusion angle of the chemical liquid based on the flight altitude detected by the flight altitude detecting means. An unmanned aircraft for spraying chemicals. It further comprises position information acquisition means for acquiring each position information in flight on the flight path in real time,
The spray control means is either a spray amount of the chemical liquid stored in the chemical liquid tank or a diffusion angle of the chemical liquid based on the relationship between the position information acquired by the position information acquisition means and the region to be sprayed. The unmanned aerial vehicle for spraying chemicals according to claim 4, wherein one or more are controlled. In the unmanned aircraft for spraying chemicals that sprays the chemicals stored in the chemical tank to the spray target area input in advance,
Flight control means for controlling to fly on the flight path set for the scattering target area;
Wind detection means for detecting in real time the wind direction and wind speed during flight of the flight path;
An unmanned aerial vehicle for spraying chemical liquid, comprising: spray control means for changing a spray direction of the chemical liquid in a process of flying the flight path based on a wind direction and a wind speed detected by the wind detection means. It further comprises position information acquisition means for acquiring each position information in flight on the flight path in real time,
The chemical spraying means according to claim 6, wherein the spraying control means further changes the spraying direction of the chemical liquid based on the relationship between the position information acquired by the position information acquisition means and the spray target area. Unmanned aerial vehicle. In the unmanned aircraft for spraying chemicals that sprays the chemicals stored in the chemical tank to the spray target area input in advance,
Flight control means for controlling to fly on the flight path set for the scattering target area;
Wind detection means for detecting in real time the wind direction and wind speed during flight of the flight path,
The unmanned aircraft for spraying chemical liquid, wherein the flight control means switches the flight path based on a wind direction and a wind speed detected by the wind detection means. The said wind detection means detects the said wind direction and the said wind speed based on the inclination angle and inclination direction of an airframe when flying on the said flight path, The any one of Claims 6-8 characterized by the above-mentioned. Unmanned aerial vehicle for spraying chemicals.

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