WO2017208354A1 - ドローン飛行制御システム、方法及びプログラム - Google Patents
ドローン飛行制御システム、方法及びプログラム Download PDFInfo
- Publication number
- WO2017208354A1 WO2017208354A1 PCT/JP2016/066040 JP2016066040W WO2017208354A1 WO 2017208354 A1 WO2017208354 A1 WO 2017208354A1 JP 2016066040 W JP2016066040 W JP 2016066040W WO 2017208354 A1 WO2017208354 A1 WO 2017208354A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drone
- flight
- insect
- insecticidal
- control system
- Prior art date
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims description 13
- 241000238631 Hexapoda Species 0.000 claims abstract description 81
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000000749 insecticidal effect Effects 0.000 claims description 53
- 239000002917 insecticide Substances 0.000 claims description 14
- 238000010191 image analysis Methods 0.000 claims description 4
- 241000607479 Yersinia pestis Species 0.000 abstract description 13
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M5/00—Catching insects in fields, gardens, or forests by movable appliances
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
Definitions
- the present invention relates to a drone flight control system that controls flight of a drone equipped with insecticidal means.
- insects sometimes have harmful effects on crops etc. on farms. For this reason, devices for combating such insects are known.
- an aerial flight mechanism unit for flying in the air, one or a plurality of cameras for photographing the periphery, a suction mechanism unit for sucking pests and storing them in a pest storage chamber, A pest image recognition unit for recognizing a pest from a photographed image of the camera, and a control unit, and the control unit drives and controls the aerial flight mechanism unit based on the recognition result of the pest image recognition unit, and a suction mechanism unit Has been proposed (see Patent Document 1). According to the pest capturing and storing apparatus of Patent Document 1, when a pest is recognized, the aerial flight mechanism unit can approach and store the pest.
- Patent Document 1 since the pest capturing and storing device of Patent Document 1 recognizes an insect and approaches and stores the insect, the insect may escape when approaching, and the insect control efficiency is poor.
- an object of the present invention is to provide a drone flight control system, method, and program capable of improving insect extermination efficiency using a drone.
- the present invention provides the following solutions.
- the invention according to the first feature is A drone flight control system for flight control of a drone equipped with insecticidal means, Distance measuring means for measuring the distance between the insecticidal means or the drone and the object, Flight altitude control means for controlling the flight altitude of the drone so that the measured distance satisfies a predetermined condition; An insect detection means for detecting an insect killed by the insecticide means or an insect gathered in the insecticide means; According to the detection result of the insect detection means, a flight speed control means for controlling the flight speed or flight direction of the drone so as to satisfy a predetermined condition; A drone flight control system is provided.
- a drone flight control system that controls flight of a drone equipped with insecticidal means includes distance measuring means, flight altitude control means, insect detection means, and flight speed control means.
- the insecticidal means is, for example, an insecticide, an insecticide or the like.
- a drone is a drone that can fly remotely or autonomously.
- the distance measuring means measures the distance between the insecticidal means or the drone and the object.
- the object includes, for example, an object that has a high possibility of having an insect such as the ground or a crop, or an object that is desired to avoid damage caused by the insect.
- the flight altitude control means controls the flight altitude of the drone so that the measured distance satisfies a predetermined condition.
- the insect detection means detects an insect killed by the insecticidal means or an insect gathered in the insecticidal means.
- the flight speed control means controls the flight speed or flight direction of the drone so as to satisfy a predetermined condition according to the detection result of the insect detection means.
- a drone equipped with insecticidal means to fly at an altitude corresponding to the distance of the target and to fly at a flight speed or flight direction according to the result of detecting the insect.
- a drone equipped with insecticidal means is flying at a height within a predetermined distance from the target crop (for example, a distance that does not contact the crop and the insect can fly), and the insect is detected.
- the insects approaching the crop can be effectively removed.
- the invention according to the first feature is a category of the system, but the method and the program exhibit the same operations and effects.
- the invention according to the second feature is in addition to the invention according to the first feature, Comprising external environment acquisition means for acquiring external environment information of the drone;
- the flight altitude control means controls the flight altitude of the drone based on the acquired external environment information,
- the flight speed control means provides a drone flight control system that controls a flight speed of the drone based on the acquired external environment information.
- the drone flight control system further comprises external environment acquisition means.
- the external environment acquisition unit acquires the external environment information of the drone.
- the external environment information includes time information indicating time, meteorological information indicating weather, temperature information indicating temperature, illuminance information indicating brightness, and the like.
- the flight altitude control means controls the flight altitude of the drone based on the acquired external environment information.
- the flight speed control means controls the flight speed of the drone based on the acquired external environment information.
- the invention according to the third feature is in addition to the invention according to the first feature, Obstacle detection means for detecting obstacles; Insecticide stopping means for stopping the insecticidal means when the detected obstacle is determined to be a human by image analysis; A drone flight control system is provided.
- the drone flight control system further includes an obstacle detection unit and an insecticidal stop unit.
- the obstacle detection means detects an obstacle.
- the insecticidal stop means stops the insecticidal means when it is determined that the detected obstacle is a human by image analysis.
- insecticidal means when a drone equipped with insecticidal means comes close to a human, the insecticidal means can be stopped, so that safety can be improved.
- the invention according to the fourth feature is in addition to the invention according to the first feature, There is provided a drone flight control system comprising insect catching means for securing insects killed by the insecticide means.
- the drone flight control system further includes insect trapping means.
- the insect trapping means is, for example, a bag, a net or the like.
- FIG. 1 is a diagram for explaining an outline of a drone flight control system 1 which is a preferred embodiment of the present invention.
- FIG. 2 is a diagram showing the relationship between the functional blocks of the drone 10 and the functions in the drone flight control system 1.
- FIG. 3 is a flowchart of the drone flight control process executed by the drone flight control system 1.
- FIG. 4 is a diagram for explaining the altitude condition table 110 stored in the storage unit 12 of the drone 10.
- FIG. 5 is a diagram for explaining an example of the operation of the drone 10 in the drone flight control system 1.
- FIG. 6 is a diagram for explaining an example of the operation of the drone 10 in the drone flight control system 1.
- FIG. 1 is a diagram for explaining an outline of a drone flight control system 1 which is a preferred embodiment of the present invention. Based on this FIG. 1, the outline
- the drone flight control system 1 controls the flight of the drone 10 provided with the insecticidal means 20.
- the drone 10 is a drone that generates lift and flies by rotating a plurality of rotor blades remotely or autonomously.
- the insecticidal means 20 is an insecticide that attracts insects with an attracting lamp and kills them with electricity flowing through an electric wire arranged around the attracting lamp.
- the drone 10 is provided with an insect net 30 as an insect trapping means for securing insects killed by the insecticide apparatus 20 below the insecticide apparatus 20.
- the drone flight control system 1 measures the distance between the insecticidal device 20 or the drone 10 and the object 100 using the object sensor 14, and the measured distance is a predetermined condition (for example, an example of the object 100).
- the flight altitude of the drone 10 is controlled so as to satisfy within 0.1 m to 1 m from a certain crop.
- the drone flight control system 1 detects the insect 200 killed by the insecticidal device 20 or the insect 200 gathered in the insecticidal device 20 by the insect sensor 15 as the insect detecting means, and according to the detection result, The flying speed or flying direction of the drone 10 so as to satisfy predetermined conditions (for example, the minimum speed at which the insect 200 is detected by turning, the hovering around the position where the insect 200 is detected, or the hovering at the position where the insect 200 is detected).
- predetermined conditions for example, the minimum speed at which the insect 200 is detected by turning, the hovering around the position where the insect 200 is detected, or the hovering at the position where the insect 200 is detected.
- the drone 10 having the insecticidal means 20 is caused to fly at an altitude corresponding to the distance of the target object 100 and to fly at a flight speed or a flight direction according to the result of detecting the insect 200.
- the drone 10 provided with insecticidal means is caused to fly at a height within a predetermined distance (for example, a distance that does not contact the farm product and the insect can fly) from the target crop, and the insect is detected.
- the insect 200 that approaches the crop can be effectively removed by reducing the flight speed or turning the flight direction.
- FIG. 2 is a diagram showing the relationship between the functional blocks of the drone 10 and the functions in the drone flight control system 1.
- the drone 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like as the control unit 11, and the storage unit 12 includes a hard disk or a semiconductor memory.
- the data storage unit is provided, and the drive unit 13 includes, for example, a plurality of rotor blades, a motor that rotates the rotor blades under the control of the control unit 11, and the like.
- the storage unit 12 stores a flight control program 100, an altitude condition table 110, and other data necessary for controlling the drone 10 and flying.
- the drone 10 includes a distance sensor that emits light such as a laser beam, receives the emitted light, and outputs an electrical signal at the emission timing and the reception timing as the object sensor 14.
- a photoelectric sensor having a light emitting unit that emits light such as a laser beam and a light receiving unit that receives light emitted from the light emitting unit, detects a change in the light received by the light receiving unit, converts the light into an electrical signal, and outputs the electrical signal
- an external environment sensor 16 a sensor that detects date and time, temperature, humidity, brightness, etc., converts it into an electrical signal and outputs it, and as an obstacle sensor 17, detects an image captured by a CCD camera and a human in advance.
- An image sensor that compares a base image with a base image to calculate a feature amount of a human being that is a detection target in the captured image and outputs a determination result as to whether or not the captured image includes a human Provided.
- the drone 10 includes a battery that supplies power, a GPS (Global Positioning System) receiver that acquires the current position, a gyro sensor that detects the accelerated direction of the drone 10,
- GPS Global Positioning System
- the control unit 11 when the control unit 11 reads the flight control program 100, the distance measurement module 101 is realized in cooperation with the storage unit 12, the drive unit 13, and the object sensor 14. Further, in the drone 10, the control unit 11 reads the flight control program 100 to realize the flight altitude control module 102 in cooperation with the storage unit 12, the drive unit 13, and the external environment sensor 16. Further, in the drone 10, the control unit 11 reads the flight control program 100 to realize the flight speed control module 103 in cooperation with the storage unit 12, the drive unit 13, the insect sensor 15, and the external environment sensor 16. In the drone 10, the control unit 11 reads the flight control program 100, thereby realizing the insecticidal device control module 104 in cooperation with the storage unit 12, the drive unit 13, and the obstacle sensor 17.
- FIG. 3 is a flowchart of the drone flight control process executed by the drone flight control system 1. A drone flight control process performed by the various modules of the above-described drone flight control system 1 will be described.
- the control unit 11 reads the flight control program 100, controls the drive unit 13, and starts flying along a preset route or toward the target position.
- the drone 10 causes the insecticidal device 20 to light the insect lamp by the insecticidal device control module 104 and causes electricity to flow through the electric wires arranged around the insecticidal lamp.
- step S1 the external environment sensor 16 acquires external environment information of the drone 10.
- the external environment information includes, for example, information indicating date and time, temperature, humidity, brightness, and the like.
- the distance measuring module 101 measures the distance between the insecticidal device 20 or the drone 10 and the object 100 (see FIG. 1). Specifically, the distance measurement module 101 detects the object 100 and the insecticidal device 20 or the time difference between the electrical signal output at the timing when the target sensor 14 emits light and the electrical signal output at the timing when the light is received. The shortest distance from the drone 10 (the vertical distance between the object 100 and the insecticidal device 20 or the drone 10) is calculated.
- step S3 the flight altitude control module 102 refers to the altitude condition table 110 (see FIG. 4 described later) based on the external environment information acquired by the external environment sensor 16 in step S1, and the flight altitude control module 102 In step S2, the flight altitude of the drone 10 is controlled by the distance measurement module 101 so that the measured distance satisfies a predetermined condition (altitude condition).
- FIG. 4 is a diagram for explaining the altitude condition table 110 stored in the storage unit 12 of the drone 10.
- the altitude condition indicating the shortest distance between the insecticidal device 20 or the drone 10 and the object 100 is associated with the external environment information as a predetermined condition regarding the flight altitude.
- the external environment information includes temperature, humidity, brightness, and the like.
- the altitude condition is set to a range where there is a high possibility of insects when the external environment (such as temperature) is a value indicated in the external environment information.
- the altitude condition table 110 may be provided for each type of the object 100. Specifically, if the altitude condition table 110 in the example shown in FIG. 4 is used when the object 100 is a crop, the altitude condition is 0.1 m when the external environment information is 20 ° C. ⁇ T ⁇ 30 ° C. However, in the altitude condition table in which the object 100 is the ground, the altitude condition may be 2 m to 2.5 m even if the external environment information is the same.
- the flight altitude control module 102 further cooperates with the obstacle sensor 17 to generate a base image for each type of the object 100.
- the image stored by the storage unit 12 and captured by the CCD camera of the obstacle sensor 17 is compared with the base image for each type of the target object 100 to determine the type of the target object 100.
- the flight altitude of the drone 10 may be controlled based on the predetermined condition for each type of the object 100.
- step S3 when the external environment information is 20 ° C. ⁇ T ⁇ 30 ° C., in step S3, the flight altitude control module 102 assumes that the shortest distance calculated in step S2 is 2 m. Control and lower the drone 10 until the shortest distance reaches a predetermined condition of 0.1 m to 1 m.
- the flight speed control module 103 controls the flight speed of the drone 10 based on the external environment information acquired by the external environment sensor 16 in step S1.
- the flight speed control module 103 causes the drone 10 to fly at a relatively high speed when the temperature, which is one of the external environment information, is relatively high (when insects are in a wide range), Makes it possible to kill insects.
- the flight speed control module 103 sets the specific range at a relatively low speed. It is possible to fly the drone 10 and focus on a specific range of insects.
- step S ⁇ b> 4 the flight speed control module 103 detects from the insect sensor 15 the insect killed by the insecticidal means 20 or the insect gathered at the insecticidal means 20 (the insect sensor 15 receives light). It is determined whether or not an electrical signal output by detecting a change in light received by the unit is received.
- the flight speed control module 103 receives an electrical signal indicating that an insect has been detected, the flight speed control module 103 proceeds to step S5, and when it has not received an electrical signal indicating that an insect has been detected, step S6. Move processing to.
- step S5 the flight speed control module 103 controls the flight speed and flight direction of the drone so as to satisfy predetermined conditions.
- FIG. 5 is a diagram for explaining an example of the operation of the drone 10 in the drone flight control system 1.
- the flight speed control module 103 receives an electrical signal indicating that an insect has been detected at a certain position in step S4, for example, the flight speed control module 103 sets the flight speed of the drone 10 as a predetermined condition relating to the flight speed or flight direction. As shown in FIG. 5, the flight direction is controlled so that the drone 10 makes a turn so as to repeatedly pass through the position.
- step S6 the insecticidal device control module 104 determines whether the obstacle detected by the obstacle sensor 17 is a human by image analysis. If the insecticidal device control module 104 determines that the person is a human, the process proceeds to step S ⁇ b> 7, and if it is not determined that the person is a human, the process ends.
- FIG. 6 is a diagram for explaining an example of the operation of the drone 10 in the drone flight control system 1.
- step S6 for example, as shown in FIG. 6, when the human 300 is imaged by the CCD camera of the obstacle sensor 17, the insecticidal device control module 104 captures an image of the human 300, a human base image, , It is determined that a captured image contains a human, and the process proceeds to step S7.
- step S7 the insecticidal device control module 104 stops the insecticidal device 20 (at least stops supplying electricity to the electric wires arranged around the insect attracting lamp of the insecticidal device 20).
- the means and functions described above are realized by a computer (including a CPU, an information processing device, and various terminals) reading and executing a predetermined program.
- the program is provided in a form recorded on a computer-readable recording medium such as a flexible disk, CD (CD-ROM, etc.), DVD (DVD-ROM, DVD-RAM, etc.), for example.
- the computer reads the program from the recording medium, transfers it to the internal storage device or the external storage device, stores it, and executes it.
- the program may be recorded in advance in a storage device (recording medium) such as a magnetic disk, an optical disk, or a magneto-optical disk, and provided from the storage device to the computer.
- 1 drone flight control system 10 drone, 15 insect sensor, 20 insecticide device, 101 distance measurement module, 102 flight altitude control module, 103 flight speed control module, 104 insecticide device control module
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Forests & Forestry (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
殺虫手段を備えたドローンを飛行制御するドローン飛行制御システムであって、
前記殺虫手段又は前記ドローンと、対象物と、の距離を計測する距離計測手段と、
前記計測された距離が所定の条件を満たすように前記ドローンの飛行高度を制御する飛行高度制御手段と、
前記殺虫手段によって殺された虫又は前記殺虫手段に集まって来た虫、を検知する虫検知手段と、
前記虫検知手段の検知結果に応じて、所定の条件を満たすように前記ドローンの飛行速度又は飛行方向を制御する飛行速度制御手段と、
を備えることを特徴するドローン飛行制御システムを提供する。
前記ドローンの外部環境情報を取得する外部環境取得手段を備え、
前記飛行高度制御手段は、前記取得された外部環境情報に基づいて前記ドローンの飛行高度を制御し、
前記飛行速度制御手段は、前記取得された外部環境情報に基づいて前記ドローンの飛行速度を制御することを特徴とするドローン飛行制御システムを提供する。
障害物を検知する障害物検知手段と、
前記検知された障害物が画像解析により人間であったと判断した場合に、前記殺虫手段を停止する殺虫停止手段と、
を備えることを特徴とするドローン飛行制御システムを提供する。
前記殺虫手段によって殺された虫を確保する捕虫手段を備えることを特徴とするドローン飛行制御システムを提供する。
図1は、本発明の好適な実施形態であるドローン飛行制御システム1の概要を説明するための図である。この図1に基づいて、ドローン飛行制御システム1の概要を説明する。ドローン飛行制御システム1は、殺虫手段20を備えたドローン10を飛行制御する。
よって、例えば、対象物である農作物から所定距離(例えば、農作物に接触しない距離であり、虫が飛翔可能距離)以内の高さで、殺虫手段を備えたドローン10を飛行させ、虫を検知した場合には、飛行速度を減速させたり、飛行方向を旋回させたりすることで、農作物に寄ってくる虫200を効率的に駆除できる。
図2は、ドローン飛行制御システム1におけるドローン10の機能ブロックと各機能の関係を示す図である。
図3は、ドローン飛行制御システム1が実行するドローン飛行制御処理のフローチャートである。上述したドローン飛行制御システム1の各種モジュールが行うドローン飛行制御処理について説明する。
Claims (6)
- 殺虫手段を備えたドローンを飛行制御するドローン飛行制御システムであって、
前記殺虫手段又は前記ドローンと、対象物と、の距離を計測する距離計測手段と、
前記計測された距離が所定の条件を満たすように前記ドローンの飛行高度を制御する飛行高度制御手段と、
前記殺虫手段によって殺された虫又は前記殺虫手段に集まって来た虫、を検知する虫検知手段と、
前記虫検知手段の検知結果に応じて、所定の条件を満たすように前記ドローンの飛行速度又は飛行方向を制御する飛行速度制御手段と、
を備えることを特徴するドローン飛行制御システム。 - 前記ドローンの外部環境情報を取得する外部環境取得手段を備え、
前記飛行高度制御手段は、前記取得された外部環境情報に基づいて前記ドローンの飛行高度を制御し、
前記飛行速度制御手段は、前記取得された外部環境情報に基づいて前記ドローンの飛行速度を制御することを特徴とする請求項1に記載のドローン飛行制御システム。 - 障害物を検知する障害物検知手段と、
前記検知された障害物が画像解析により人間であったと判断した場合に、前記殺虫手段を停止する殺虫停止手段と、
を備えることを特徴とする請求項1に記載のドローン飛行制御システム。 - 前記殺虫手段によって殺された虫を確保する捕虫手段を備えることを特徴とする請求項1に記載のドローン飛行制御システム。
- 殺虫手段を備えたドローンを飛行制御するドローン飛行制御システムが実行する方法であって、
前記殺虫手段又は前記ドローンと、対象物と、の距離を計測する距離計測ステップと、
前記計測された距離が所定の条件を満たすように前記ドローンの飛行高度を制御する飛行高度制御ステップと、
前記殺虫手段によって殺された虫又は前記殺虫手段に集まって来た虫、を検知する虫検知ステップと、
前記虫検知ステップにおける検知結果に応じて、所定の条件を満たすように前記ドローンの飛行速度又は飛行方向を制御する飛行速度制御ステップと、
を含む方法。 - 殺虫手段を備えたドローンを飛行制御するドローン飛行制御システムを制御するコンピュータを、
前記殺虫手段又は前記ドローンと、対象物と、の距離を計測する距離計測手段、
前記計測された距離が所定の条件を満たすように前記ドローンの飛行高度を制御する飛行高度制御手段、
前記殺虫手段によって殺された虫又は前記殺虫手段に集まって来た虫、を検知する虫検知手段、
前記虫検知手段の検知結果に応じて、所定の条件を満たすように前記ドローンの飛行速度又は飛行方向を制御する飛行速度制御手段、
として機能させるためのプログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/066040 WO2017208354A1 (ja) | 2016-05-31 | 2016-05-31 | ドローン飛行制御システム、方法及びプログラム |
JP2018520253A JP6410993B2 (ja) | 2016-05-31 | 2016-05-31 | ドローン飛行制御システム、方法及びプログラム |
PCT/JP2016/067967 WO2017208468A1 (ja) | 2016-05-31 | 2016-06-16 | ドローン飛行制御システム、方法及びプログラム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/066040 WO2017208354A1 (ja) | 2016-05-31 | 2016-05-31 | ドローン飛行制御システム、方法及びプログラム |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017208354A1 true WO2017208354A1 (ja) | 2017-12-07 |
Family
ID=60478144
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/066040 WO2017208354A1 (ja) | 2016-05-31 | 2016-05-31 | ドローン飛行制御システム、方法及びプログラム |
PCT/JP2016/067967 WO2017208468A1 (ja) | 2016-05-31 | 2016-06-16 | ドローン飛行制御システム、方法及びプログラム |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/067967 WO2017208468A1 (ja) | 2016-05-31 | 2016-06-16 | ドローン飛行制御システム、方法及びプログラム |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6410993B2 (ja) |
WO (2) | WO2017208354A1 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019208537A1 (ja) * | 2018-04-25 | 2019-10-31 | 株式会社Nttドコモ | 情報処理装置 |
WO2019235585A1 (ja) * | 2018-06-07 | 2019-12-12 | 株式会社ナイルワークス | 薬剤の吐出制御システム、その制御方法、および、制御プログラム |
JPWO2019139172A1 (ja) * | 2018-01-15 | 2020-02-27 | 本郷飛行機株式会社 | 情報処理システム |
JP6818184B1 (ja) * | 2019-07-23 | 2021-01-20 | 楽天株式会社 | 無人飛行装置 |
JP2021046207A (ja) * | 2020-12-25 | 2021-03-25 | 楽天株式会社 | 無人飛行装置 |
US20210251209A1 (en) * | 2018-07-29 | 2021-08-19 | Bzigo Ltd. | System and method for locating and eliminating insects |
WO2021191947A1 (ja) * | 2020-03-23 | 2021-09-30 | 株式会社ナイルワークス | ドローンシステム、ドローンおよび障害物検知方法 |
CN114506452A (zh) * | 2022-01-15 | 2022-05-17 | 江西农业大学 | 一种农作物图像检测识别装置 |
JP2022177114A (ja) * | 2020-12-25 | 2022-11-30 | 楽天グループ株式会社 | 無人飛行装置 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6968911B2 (ja) * | 2018-01-23 | 2021-11-17 | 株式会社Nttドコモ | 情報処理装置及び情報処理方法 |
CN110024769A (zh) * | 2019-04-28 | 2019-07-19 | 河南省农业科学院植物保护研究所 | 无人机式捕虫装置及高空飞行昆虫网捕方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000159194A (ja) * | 1998-11-30 | 2000-06-13 | Mitsubishi Agricult Mach Co Ltd | 無人ヘリコプタ |
JP2015228803A (ja) * | 2014-06-03 | 2015-12-21 | みこらった株式会社 | 害虫捕獲収容装置及び害虫殺虫装置 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3117670U (ja) * | 2005-10-14 | 2006-01-12 | 啓文 鄭 | 電撃殺虫器 |
JP5759929B2 (ja) * | 2012-05-15 | 2015-08-05 | イカリ消毒株式会社 | 捕虫装置、捕虫装置の製造方法および虫の監視方法 |
-
2016
- 2016-05-31 WO PCT/JP2016/066040 patent/WO2017208354A1/ja active Application Filing
- 2016-05-31 JP JP2018520253A patent/JP6410993B2/ja active Active
- 2016-06-16 WO PCT/JP2016/067967 patent/WO2017208468A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000159194A (ja) * | 1998-11-30 | 2000-06-13 | Mitsubishi Agricult Mach Co Ltd | 無人ヘリコプタ |
JP2015228803A (ja) * | 2014-06-03 | 2015-12-21 | みこらった株式会社 | 害虫捕獲収容装置及び害虫殺虫装置 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2019139172A1 (ja) * | 2018-01-15 | 2020-02-27 | 本郷飛行機株式会社 | 情報処理システム |
WO2019208537A1 (ja) * | 2018-04-25 | 2019-10-31 | 株式会社Nttドコモ | 情報処理装置 |
JP7299213B2 (ja) | 2018-04-25 | 2023-06-27 | 株式会社Nttドコモ | 情報処理装置 |
JPWO2019208537A1 (ja) * | 2018-04-25 | 2021-06-10 | 株式会社Nttドコモ | 情報処理装置 |
WO2019235585A1 (ja) * | 2018-06-07 | 2019-12-12 | 株式会社ナイルワークス | 薬剤の吐出制御システム、その制御方法、および、制御プログラム |
JPWO2019235585A1 (ja) * | 2018-06-07 | 2020-12-17 | 株式会社ナイルワークス | 薬剤の吐出制御システム、その制御方法、および、制御プログラム |
JP6996792B2 (ja) | 2018-06-07 | 2022-01-17 | 株式会社ナイルワークス | 薬剤の吐出制御システム、その制御方法、および、制御プログラム |
US20210251209A1 (en) * | 2018-07-29 | 2021-08-19 | Bzigo Ltd. | System and method for locating and eliminating insects |
JP6818184B1 (ja) * | 2019-07-23 | 2021-01-20 | 楽天株式会社 | 無人飛行装置 |
WO2021038666A1 (ja) * | 2019-07-23 | 2021-03-04 | 楽天株式会社 | 無人飛行装置 |
US11939058B2 (en) | 2019-07-23 | 2024-03-26 | Rakuten Group, Inc. | Unmanned aerial vehicle |
WO2021191947A1 (ja) * | 2020-03-23 | 2021-09-30 | 株式会社ナイルワークス | ドローンシステム、ドローンおよび障害物検知方法 |
JP7411280B2 (ja) | 2020-03-23 | 2024-01-11 | 株式会社ナイルワークス | ドローンシステム、ドローンおよび障害物検知方法 |
JP2021046207A (ja) * | 2020-12-25 | 2021-03-25 | 楽天株式会社 | 無人飛行装置 |
JP7141443B2 (ja) | 2020-12-25 | 2022-09-22 | 楽天グループ株式会社 | 無人飛行装置 |
JP2022177114A (ja) * | 2020-12-25 | 2022-11-30 | 楽天グループ株式会社 | 無人飛行装置 |
JP7297130B2 (ja) | 2020-12-25 | 2023-06-23 | 楽天グループ株式会社 | 無人飛行装置 |
CN114506452A (zh) * | 2022-01-15 | 2022-05-17 | 江西农业大学 | 一种农作物图像检测识别装置 |
CN114506452B (zh) * | 2022-01-15 | 2024-02-27 | 江西农业大学 | 一种农作物图像检测识别装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2017208468A1 (ja) | 2017-12-07 |
JP6410993B2 (ja) | 2018-10-24 |
JPWO2017208354A1 (ja) | 2018-11-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6410993B2 (ja) | ドローン飛行制御システム、方法及びプログラム | |
JP6274430B2 (ja) | 害虫捕獲収容装置及び害虫殺虫装置 | |
CN106259288B (zh) | 驱赶鸟类的方法、服务器及信息采集装置 | |
JP2019517243A (ja) | 捕虫器 | |
RU2652482C2 (ru) | Измерительная система для измерений в отношении дерева | |
EP3466256A1 (en) | Machine for capturing, counting and monitoring insects | |
US9693547B1 (en) | UAV-enforced insect no-fly zone | |
US20210289765A1 (en) | Devices and methods for monitoring and elimination of honey bee parasites | |
EP3742881A1 (en) | Autonomous unmanned ground vehicle and handheld device for pest control | |
JP6512672B2 (ja) | 害虫駆除装置 | |
US20180068164A1 (en) | Systems and methods for identifying pests in crop-containing areas via unmanned vehicles | |
CN110238837B (zh) | 自主移动装置、自主移动方法以及存储介质 | |
KR102028363B1 (ko) | 유해성 말벌 퇴치 시스템 | |
JP2020069833A (ja) | ドローンによる建物の狭隘空間での作業方法 | |
KR101759130B1 (ko) | 무인항공기를 이용한 농작물 데이터베이스화 구축시스템 | |
CN106070133A (zh) | 飞行灭蚊器控制方法及装置 | |
WO2020193458A1 (en) | Apparatus for insect control | |
KR101840812B1 (ko) | 침입경보장치 | |
KR20170058767A (ko) | 스마트 재배농장 시스템 및 그 제어방법 | |
KR20200091524A (ko) | 농작물 관리 장치 | |
WO2022061632A1 (zh) | 障碍物检测方法、装置、无人机和存储介质 | |
JP6637642B2 (ja) | 虫除去システムおよびその使用 | |
KR20210129493A (ko) | 농작물의 피해 방지를 위한 추적형 야생동물 퇴치장치 | |
JP2022104060A (ja) | 飛行型ロボット、飛行型ロボットの制御プログラムおよび飛行型ロボットの制御方法 | |
KR20160028296A (ko) | 해충 포획 장치 및 이의 제어 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 2018520253 Country of ref document: JP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16903982 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205N DATED 06.02.2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16903982 Country of ref document: EP Kind code of ref document: A1 |