CN107207091A - Aerial dispensing device - Google Patents
Aerial dispensing device Download PDFInfo
- Publication number
- CN107207091A CN107207091A CN201680004191.6A CN201680004191A CN107207091A CN 107207091 A CN107207091 A CN 107207091A CN 201680004191 A CN201680004191 A CN 201680004191A CN 107207091 A CN107207091 A CN 107207091A
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- Prior art keywords
- spreading
- spreading amount
- amount
- unit
- acquisition unit
- Prior art date
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- 238000003892 spreading Methods 0.000 claims abstract description 164
- 230000007480 spreading Effects 0.000 claims abstract description 163
- 239000004744 fabric Substances 0.000 claims description 8
- 239000003337 fertilizer Substances 0.000 abstract description 56
- 238000005507 spraying Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 6
- 230000005055 memory storage Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 239000003814 drug Substances 0.000 description 3
- 230000004720 fertilization Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000196324 Embryophyta Species 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 101001031591 Mus musculus Heart- and neural crest derivatives-expressed protein 2 Proteins 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
-
- 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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Environmental Sciences (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Soil Sciences (AREA)
- Fertilizing (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of aerial dispensing device.Helicopter (30) flies, while by fertilizer spraying in field.Helicopter (30) possesses spreading portion (33), dose chart input unit (51), positional information acquisition unit (52), required spreading amount acquisition unit (54) and measure control portion (55).Spreading portion (33) can dispense fertilizer, and the spreading amount of time per unit can be changed.Dose chart input unit (51) can input dose chart, in the dose chart, for by each unit after the sectionalization of field it is determined that dispense fertilizer amount.Positional information acquisition unit (52) obtains the position of helicopter in itself.Required spreading amount acquisition unit (54) is based on dose chart and obtained：The required spreading amount of the fertilizer of the position of the helicopter got by positional information acquisition unit (52) in itself.Measure control portion (55) is based on required spreading amount and the spreading amount to the time per unit of spreading portion (33) is controlled.
Description
Technical field
Mainly flown, the present invention relates to a kind of while the spreading object such as fertilizer, medicament is dispensed in field
Aerial dispensing device.
Background technology
In the past, it is known that：The aerial of medicament etc. is dispensed using remote-operated depopulated helicopter etc. is carried out from ground to spread
Cloth apparatus.For example there is this aerial dispensing device disclosed in patent document 1.
The aerial dispensing device of patent document 1 is formed as structure, when being dispensed in the air as described above, base
Spreading amount is calculated in the speed set in the following manner-spreading flow characteristic and dispensed, which is：In speed
There is defined minimum spreading amount, as speed is from zero increase, spreading amount for example proportionally increases with speed when being zero.Separately
Outside, in patent document 1, it is formed as structure：Speed on the basis of standard speed during by usual flight, by the reference speed
Under spreading amount as benchmark spreading amount, can be according to the spreading amount adjustment amount (volume) for being arranged at sender before flight
Or in-flight benchmark spreading amount is adjusted, and caused according to benchmark spreading amount above and below whole spreading amount-speed characteristics
Skew.
According to the structure of patent document 1, pin can be correspondingly realized with manipulation hobby or tendency, the custom of user
To the accurate speed coordinated signals of spreading amount.
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2007-30544 publications
The content of the invention
But, along with the large-scale in field in recent years etc., the growth of the crop in 1 field, the deviation of yield
The problem of become serious, so as to will be limited to using with consistent management method in the past.Therefore, it is possible to what is expected and grow
Deviation etc. accordingly carries out local change to the spreading amount for dispensing object.
On this point, in the structure of patent document 1, it is thought：According to spreading amount adjustment amount awing to base
Quasi- spreading amount is adjusted, thus, it is possible to cause spreading amount to be changed locally.However, due to the flying bodies such as helicopter with compared with
High speed flight, therefore, the operating personnel on ground are fine according to the local deviation in terms of growth and lead to exactly
Cross manually operated so that spreading amount increase or reduction then become extremely difficult, at this point, also room for improvement.
The present invention be in view of situation above and complete, its object is to provide a kind of aerial dispensing device, this spreads in the air
Cloth apparatus can while with high-speed mobile, on one side efficiently dispensed, and can and the growth of crop in terms of deviation
Accordingly so that spreading amount automatically changes locally.
The problem of the invention to be solved to the means and its effect for solving the problem as described above, next, enter
Row explanation.
According to the viewpoint of the present invention, there is provided the aerial dispensing device of following structure.That is, aerial dispensing device while flight,
While being dispensed object is dispensed in field.The aerial dispensing device possess spreading portion, required spreading amount distributed intelligence input unit,
Positional information acquisition unit, required spreading amount acquisition unit and spreading amount control unit.The spreading portion can enter to dispensing object
Row is dispensed, and the spreading amount of time per unit can be changed.Spreading amount distributed intelligence input unit can needed for described
By required spreading amount distributed intelligence input, wherein, the required spreading amount distributed intelligence is to be directed to the field as object is dispensed
Each unit after being segmented and it is determined that dispensing the information of the amount for dispensing object.The positional information is obtained
Portion obtains the position of aerial dispensing device in itself.Spreading amount acquisition unit needed for described be based on it is described needed for spreading amount distributed intelligence come
Obtain：Spread needed for the spreading object of the position of the aerial dispensing device got by the positional information acquisition unit in itself
Cloth amount.The spreading amount control unit is carried out based on the required spreading amount come the spreading amount of the time per unit to the spreading portion
Control.
Thus, while field overhead with high-speed flight, while based on the required spreading amount distributed intelligence pre-entered
And and the deviation of growth etc. of crop accordingly make it that spreading amount correctly changes locally, so as to enter to dispensing object
Row is dispensed.Therefore, it is possible to easily and securely carry out the local management to field.
For the aerial dispensing device, following structure is preferably formed into.That is, the aerial dispensing device possesses：Obtain
Take the velocity information acquisition unit of the flying speed of aerial dispensing device in itself.The spreading amount control unit is controlled as follows：If
The flying speed increase obtained using the velocity information acquisition unit, then cause the spreading of the time per unit in the spreading portion
Amount increase, if the flying speed reduces, causes the spreading amount of the time per unit in the spreading portion to reduce.
Thus, due to the influence of the variation that can suppress flying speed, therefore, it is possible to correctly realize by required spreading amount
Spreading amount needed for determined by distributed intelligence.
In the aerial dispensing device, it is preferably, time per unit of the spreading amount control unit to the spreading portion
Spreading amount be controlled, to cause the spreading amount to be obtained substantially with the required spreading amount and using the velocity information
The flying speed for taking portion and obtaining is directly proportional.
Thereby, it is possible to more accurately realize the institute determined by required spreading amount distributed intelligence by simply controlling
Need spreading amount.
Brief description of the drawings
Fig. 1 has been expressed as making dose chart and field has been entered from overhead by multirotor helicopter (muticopter)
The side view for the situation that row is shot.
Fig. 2 is the figure illustrated to dose chart.
Fig. 3 is the flying overhead and spreading fertilizer for representing the helicopter involved by an embodiment of the invention in field
Situation side view.
Fig. 4 is the block diagram for the electric composition for representing helicopter.
The helicopter in field overhead when Fig. 5 is required spreading amount and the spreading fertilizer for representing the fertilizer in dose chart
The corresponding top view of flight path.
Embodiment
Next, referring to the drawings, being illustrated to embodiments of the present invention.First, the aerial of present embodiment is spread
Dose chart (required spreading amount distributed intelligence) needed for cloth apparatus control spreading amount is illustrated.
The aerial dispensing device (helicopter 30 described later) of present embodiment is used for following fertilization system, the fertilization system
It is：Made based on being evaluated by the growth to the crop (being in the present embodiment paddy rice) in full wafer field
Dose chart, to be applied fertilizer.
As shown in figure 1, using the multirotor helicopter (flying body) 10 of multispectral camera 20 is equipped with, while making many rotations
Wing helicopter 10 flies as the field 1 of object, while field 1 is shot using multispectral camera 20, and accordingly
And obtain normalized site attenuation (Normalized Difference Vegetation Index, NDVI) distribution number
According to the dose chart above-mentioned thus, it is possible to make.
Nobody many rotors that multirotor helicopter 10 is configured to be equipped with multiple (such as 6) propellers (rotor) 11 are gone straight up to
Machine, wirelessly can carry out remote control to it.In addition, multirotor helicopter 10 possesses for being driven to propeller 11
Dynamic driving source (such as electro-motor), thus enables that body flies.In addition, multirotor helicopter 10 is configured to：Can not only
Enough flown, but also can automatically flown by manually operated (remote control) of operating personnel.
Multispectral camera 20 is configured to while shooting such as 2 light belts (band) (visual feux rouges and near-infrared
Light) image digital camera.The multispectral camera 20 is so that the state of lens downward is installed on many rotors goes straight up to
The bottom of machine 10, and field 1 can be shot from overhead and obtain image.
Possess the positioning apparatus such as GPS (not shown) in multirotor helicopter 10, utilizing multispectral camera 20 to field 1
In the case of being shot, the position of body when can measure and store the shooting.Thus, the synthesis of image described later, apply
The making of fertilizer amount chart becomes easy.
It is known on above-mentioned NDVI, simply illustrates below.Generally, it is known that the greenery tool of plant
There is following characteristic：Absorb the light of the wavelength of visual red light region, and the consumingly light of the wavelength in reflection near infrared light region.NDVI
That make use of the index of speciality, by NDVI=(IR-R)/(IR+R) formula to represent the presence or absence of plant, quantity and
The index that is, NDVI of activity degree are calculated.Wherein, R is the observation of visual feux rouges, and IR is the observation of near infrared light.It is right
In NDVI value, take -1~1 value and be normalized, for the value, for example make black~white as color build therewith
Vertical association, thus, it is possible to generate NDVI images.
Operating personnel make multirotor helicopter 10 in the flying overhead in the field 1 as object, and utilize multi-spectral camera
Machine 20 is shot from overhead to the field 1.The image of the multiple light belts obtained by shooting is stored in respectively：It is assemblied in many
The packaged type external memory storage of spectrographic camera 20.The image for being stored in the external memory storage is read in for image procossing
Appropriate computer, and suitably handled using above-mentioned calculating formula, thus, it is possible to generate NDVI images.
In addition, field 1 it is larger in the case of, additionally it is possible to expect：Full wafer field 1 is introduced into multispectral camera
20 can coverage situation.In this case, during 1 time of multirotor helicopter 10 flight, as long as mutually not
Identical place repeatedly shoot and image is being synthesized afterwards.
But, the NDVI images that obtain in the above described manner it can be shown that：Crop 2 in the field 1 is in local growth
Good and bad situation.Therefore, it is possible to expect：In order to eliminate the deviation of the growth, according to the raising of yield and the stabilization of quality and
The efficient viewpoint of fertilising, preferably relatively reduces dose in well-grown place, and in the place of undergrowth
Dose is changed according to the difference in place with relatively increasing dose.Above-mentioned fertilising spirogram has been made based on the idea
Table.
Hereinafter, dose chart is described in detail.As shown in Fig. 2 in the dose chart 5, with appropriately sized
Dividing unit (grid), the field ground in the field 1 as object is split, and for each division after the segmentation
Unit determines the amount that should be dispensed of fertilizer.In the present embodiment, with the grid of 10 meters × 7.5 meters of rectangle, to field 1
Split.In addition, though the rectangle that is shaped as in field 1 is shown a case that in Fig. 2, but the shape in field 1 can also be square
Shape (such as trapezoidal) beyond shape.
As shown in Fig. 2 the spreading amount in each grid is different according to the change of NDVI value.In addition, in this reality
Apply in mode, as shown in Fig. 2 the spreading amount determined in dose chart 5 to be set to the spreading amount of per unit area, but it is also possible to
For each grid come it is determined that the total amount of the fertilizer dispensed.
The dose chart 5 can be automatically generated based on above-mentioned NDVI images, additionally it is possible to by operating personnel on one side
NDVI images with reference to shown by display, while making the dose chart 5 by manual working.The dose being made
The data of chart 5 are stored in the appropriate storage medium such as packaged type external memory storage.
Next, reference picture 3, changes dose to one side, while dispensing the straight of fertilizer based on above-mentioned dose chart 5
The machine of liter (aerial dispensing device) 30 is illustrated.Fig. 3 is to represent the helicopter 30 involved by an embodiment of the invention
Field flying overhead and dispense fertilizer situation side view.
The helicopter 30 possesses the body 31 that can be flown by propeller 32.The operator on ground can be utilized
Member operation sender 60 wirelessly and the flight to the body 31 is controlled.
The body 31 of helicopter 30 is provided with the spreading portion for dispensing granular fertilizer (granule, spreading object)
33.Spreading portion 33 possesses container 34, guiding road 35 and impeller 36.
Container 34 is configured to：The container for the hollow form that can be stored for the fertilizer of ormal weight.Formed in the bottom of container
There is opening, can be to guiding road 35 supply fertilizer by the opening.
Guiding road 35 is configured to：The cartridge extended downward from the bottom of container 34.Guiding road 35 can make storage
The fertilizer for depositing the inside of case 34 is supplied downwards by deadweight.
Impeller 36 is configured at the vicinity of the opening formed in the lower end on guiding road 35.Impeller 36 can be to expand by rotation
The mode for being dissipated to wide scope is dispensed to the fertilizer supplied from guiding road 35.
Next, reference picture 4 and Fig. 5, illustrate for controlling spreading portion 33 to the structure of the spreading of fertilizer.Fig. 4 is to show
The block diagram of the electrical structure of helicopter 30.Fig. 5 is the required spreading amount for representing the fertilizer in dose chart 5 with dispensing during fertilizer
Field overhead helicopter 30 the corresponding top view of flight path.
As shown in figure 4, the body 31 of helicopter 30 possess battery 41, dc-dc 42,43, receiver 37 and spread
Cloth amount adjustment unit 50.In addition, spreading portion 33 possesses measure motor 38, opening and closing motor 39 and impeller drive motor 40.
Battery 41 is configured to：For the power supply source of each several part of body 31.Dc-dc 42 is straight by battery 41
Stream voltage conversion is different DC voltage, and can be to receiver 37, measure motor 38, opening and closing motor 39 and impeller-driven
Motor 40 supplies the DC voltage.In addition, dc-dc 43 is converted to the DC voltage of battery 41 in different direct currents
Pressure, and the DC voltage can be supplied to spreading amount adjustment unit 50.
Receiver 37 is controlled based on the control command from the sender 60 to each several part of body 31.By
This, can realize the related control of the spreading of flight to body 31 and fertilizer.
Spreading amount adjustment unit 50 is controlled as follows according to position of body 31 etc.：Based on dose chart 5 certainly
The spreading amount of the fertilizer in spreading portion 33 is adjusted dynamicly.In addition, hereinafter spreading amount adjustment unit 50 is described in detail.
Measure motor 38 can be driven by the drive mechanism for omitting diagram to metering gate part 48, wherein,
The middle part that the metering gate part 48 is used for pair guiding road 35 being connected with container 34 is opened and closed.Measure motor 38 is with nothing
The mode of rank difference (or being divided into enough grades) is changed to the aperture of metering gate part 48, thus, it is possible to draw
Amount of the flow restriction of fertilizer in guide passage 35 for needed for, so as to adjust the amount of the fertilizer supplied to impeller 36 (in other words,
For the spreading amount of the fertilizer of time per unit).Based on the opening amount signal inputted from spreading amount adjustment unit 50, to control to measure horse
Up to the aperture change of 38 pairs of metering gate parts 48.
Opening and closing motor 39 can be driven by the drive mechanism for omitting diagram to opening and closing shutter part 49, wherein,
The opening and closing shutter part 49 is used to the middle part for guiding road 35 is opened and closed.Motor 39 is opened and closed by being opened and complete complete
The aperture of opening and closing shutter part 49 is switched between the state of closing, so as to having to the fertilizer downstream supply of side
Nothing is switched over.
Sender 60 possesses main dispense (not shown) and switched, and operating personnel operate to the switch, thus receive and
From the receiver 37 of the wireless signal of sender 60, by opening and closing motor 39, the opening and closing to closing gate part 49 is controlled.By
This, can start to dispense fertilizer according to the instruction of operating personnel or stop dispensing fertilizer.
Impeller drive motor 40 supplies the driving force for driving impeller 36 to rotate, and the impeller 36 is wide for diffusing to fertilizer
Scope.
Next, spreading amount adjustment unit 50 is described in detail.Spreading amount adjustment unit 50 is configured to computer, its
In, the computer has：The operational part that is made up of CPU, the storage part for possessing ROM, RAM etc. and can be for above-mentioned removable
The connector of dynamic formula external memory storage assembling, the spreading amount that the spreading amount for the time per unit to fertilizer is adjusted is adjusted
Whole program storage is in the storage part.By the cooperation of above-mentioned hardware and software, the conduct of spreading amount adjustment unit 50 is enabled to
Dose chart input unit (required spreading amount distributed intelligence input unit) 51, positional information acquisition unit 52, velocity information acquisition unit
53rd, required spreading amount acquisition unit 54 and measure control portion (spreading amount control unit) 55 grade and acted.
Dose chart input unit 51 can be from above-mentioned packaged type external memory storage by dose chart as Fig. 2
5 data input, and the data can be read in the storage parts such as the RAM possessed to spreading amount adjustment unit 50.
In addition, when dose chart 5 is read in spreading amount adjustment unit 50, the rectangle on dose chart 5
The positional information (specifically, being latitude and longitude) of the position in corner, is inputted by appropriate method.Thus, spread
Cloth amount adjustment unit 50 results in corresponding etc the letter of which of the current position of body 31 and dose chart 5 grid
Breath.
Positional information acquisition unit 52 obtains related to the position of body 31 from location portion (not shown) (such as GPS receivers)
Information (specifically, being latitude and longitude).
Position of the velocity information acquisition unit 53 based on the body 31 obtained using above-mentioned positional information acquisition unit 52
The detected value of the acceleration transducer for the omission diagram that change and body 31 possess, to obtain the translational speed of body 31
(including orientation).
Required spreading amount acquisition unit 54 compares the current location of the body 31 obtained using positional information acquisition unit 52
In the dose chart 5 inputted using dose chart input unit 51, the fertilizer of the current position of body 31 is thus obtained
Required spreading amount.As shown in Fig. 2 being that, in the information of which region (grid) flight in field, should dispense according to body 31
Fertilizer amount it is different.The required spreading amount for the fertilizer that required spreading amount acquisition unit 54 is got is exported to measure control portion
55。
Required spreading amount of the measure control portion 55 based on the fertilizer obtained using required spreading amount acquisition unit 54, Yi Jili
The speed of the helicopter obtained with velocity information acquisition unit 53 in itself, to generate and dispense the metering gate portion that portion 33 possesses
The related signal of the aperture of part 48, and by the signal output to measure motor 38.
Spreading portion 33 of 55 pairs of measure control portion is controlled, to realize the fertilizer obtained using required spreading amount acquisition unit 54
The required spreading amount of material.Therefore, it is by the spreading amount control of the fertilizer of the time per unit in spreading portion 33：With above-mentioned fertilizer
Required spreading amount is directly proportional and is directly proportional to the helicopter speed in itself obtained using velocity information acquisition unit 53.
That is, pass through the control in measure control portion 55 so that the spreading amount of the fertilizer of the time per unit in spreading portion 33 with
The increase of the flying speed of helicopter in itself and increase, and reduce with the reduction of flying speed.Thereby, it is possible to suppress to go straight up to
The influence of the variation of the flying speed of machine in itself, so as to accurately be carried out based on dose chart 5 to dose
Adjustment.
The flight road by fertilizer spraying in the case of field 1 using the helicopter 30 of present embodiment is shown in Fig. 5
The example in footpath.In addition, in Figure 5, virtually describing each of above-mentioned dose chart 5 by dotted line in the mode overlapping with field 1
Grid, and identified required spreading amount in each grid is represented by numerical value.
As shown in figure 5, carrying out remote control to helicopter 30 by operating personnel so that the helicopter 30 is according to from dose
The center of each grid in chart 5 by dispense offline mode and in the flying overhead in field 1.Moreover, whenever helicopter 30
From each grid by when, based on the required spreading amount in the grid cause the time per unit of spreading portion 33 automatically to fertilizer
Spreading amount changed.Thereby, it is possible to fully flexible with the efficient advantage dispensed in the air, and without cumbersome behaviour
Work just can realize the spreading of the fertilizer as the distribution determined in dose chart 5.
As described above, the helicopter 30 of present embodiment flies, while by granular fertilizer spraying in field 1.
The helicopter 30 possesses：Spreading portion 33, dose chart input unit 51, positional information acquisition unit 52, required spreading amount acquisition unit
54 and measure control portion 55.Spreading portion 363 can dispense fertilizer, and the spreading amount of time per unit can be become
More.Dose chart input unit 51 can input dose chart 5, in the dose chart 5, for being used as fertilising object
Field 1 be segmented after each unit and it is determined that dispense fertilizer amount.Positional information acquisition unit 52 is obtained and gone straight up to
The position of machine (body 31) in itself.Required spreading amount acquisition unit 54 is based on dose chart 5 and obtained：Obtained using positional information
The required spreading amount of fertilizer at the position of body 31 accessed by portion 52.Measure control portion 55 is right based on required spreading amount
The spreading amount of the time per unit in spreading portion 33 is controlled.
Thus, field 1 overhead with high-speed flight, and meanwhile based on the dose chart 5 pre-entered with work
The deviation of the growth of thing 2 etc. accordingly causes spreading amount correctly to change locally, so as to be dispensed to fertilizer.Cause
This, can easily and securely carry out the local management to field 1.
In addition, the helicopter 30 of present embodiment possesses：Obtain the speed of the helicopter flying speed of (body 31) in itself
Information acquiring section 53.Measure control portion 55 is controlled as follows：If the flying speed obtained using velocity information acquisition unit 53
Increase, then cause the spreading amount increase of the time per unit in spreading portion 33, if flying speed reduces, cause the every of spreading portion 33
The spreading amount of unit interval reduces.
Thus, due to the influence of the variation that can suppress flying speed, therefore, it is possible to correctly realize by dose chart
Spreading amount needed for identified.
In addition, in the helicopter 30 of present embodiment, the time per unit in 55 pairs of spreading portions 33 of measure control portion is spread
Cloth amount is controlled, with cause the spreading amount substantially with according to dose chart 5 obtain required spreading amount and utilize
Velocity information acquisition unit 53 and obtain flying speed be directly proportional.
Dispensed thereby, it is possible to more accurately be realized by simply controlling as needed for determined by dose chart
Amount.
Although the preferred embodiment of the present invention is illustrated above, said structure can for example be become as follows
More.
The helicopter 30 of above-mentioned embodiment is not limited to dispense the situation of granular fertilizer, can also be applied to dispense
The situation of other coccoids, powder or liquid.In addition, helicopter 30 can also be applied to dispense the medicament beyond fertilizer etc.
Situation.
Above-mentioned size and shape is not limited to as the size and shape of the grid of the unit of dose chart 5, can
Arbitrarily provided with considering practical situation.But, if the length at least 1 side of the grid of rectangle is set as：With utilization
Helicopter 30 and can dispense fertilizer width it is equal or for the width integral multiple, then the planning of flight path become hold
Easily, in addition, the control based on measure control portion 55 becomes simple, therefore which is preferred embodiment.
The flying method of aerial dispensing device can be any-mode.For example, spreading portion 33 and spreading amount adjustment unit
50 are not limited to be arranged at helicopter 30, can also be arranged at the multirotor helicopter 10 for example shown in Fig. 1.
Because the grade of helicopter 30 is in the flying overhead in field, it is thus possible to enough expect following situation：When body 31 is located at certain
The fertilizer dispensed during the position of grid in overhead falls on other grids (such as adjacent grid).In consideration of it, in order to by
Fertilizer is dispensed exactly according to dose chart 5, and measure control portion 55 is configured to：Flight speed based on helicopter in itself
Degree, orientation, height etc. and predict it is current which grid in field 1 can be just fallen on from the fertilizer dispensed in the air, and based on the prediction
As a result and the spreading amount to time per unit is controlled.
In the case where the body 31 of helicopter 30 is deviated from the corresponding region of dose chart 5, it can carry out automatic
Control, to cause opening and closing shutter part 49 to automatically turn off.
Spreading amount adjustment unit 50 is configured to：Whether each grid that directing fertilization spirogram table 5 can be stored completes fertilizer
Spreading information, when body 31 again from the grid of the spreading for completing fertilizer by when, can be automatically controlled so that
It must measure that gate part 48 is automatically completely closed or so that opening and closing shutter part 49 is automatically turned off.
It is configured to that following pattern can be switched over：Enter to exercise spreading amount in part based on dose chart 5
The pattern (the spreading pattern based on chart) of the control of change；And the pattern for being not based on dose chart 5 and being dispensed is (logical
Often dispense pattern).
Metering gate part 48 and opening and closing shutter part 49 can be driven by the appropriate actuator beyond electro-motor.
In the above-described embodiment, the data of dose chart 5 are stored in from the PC that the chart has been made it is removable
After formula external memory storage, by by the memory device assigned in helicopter 30 (spreading amount adjustment unit 50) by the dose
The data input of chart 5.However, instead, helicopter 30 can also be (such as logical based on wireless mode using communication unit
Letter portion) data of dose chart 5 are received and inputted from the PC.
Description of reference numerals
1 field
5 dose charts (required spreading amount distributed intelligence)
30 helicopters (aerial dispensing device)
33 spreading portions
51 dose chart input units (required spreading amount distributed intelligence input unit)
52 positional information acquisition units
53 velocity information acquisition units
Spreading amount acquisition unit needed for 54
55 measure control portions (spreading amount control unit)
Claims (3)
1. a kind of aerial dispensing device, its flies, while dispensed object is dispensed in field,
The aerial dispensing device is characterised by possessing：
Spreading portion, it can be dispensed to dispensing object, and the spreading amount of time per unit can be changed；
Required spreading amount distributed intelligence input unit, it can input required spreading amount distributed intelligence, wherein being dispensed needed for described
Amount distributed intelligence be directed to as dispense object field be segmented after each unit and it is determined that dispense described in spread
The information of the amount of cloth object；
Positional information acquisition unit, it obtains the position of the aerial dispensing device in itself；
Required spreading amount acquisition unit, it is obtained based on the required spreading amount distributed intelligence：By the positional information acquisition unit
The required spreading amount of spreading object at the position of the aerial dispensing device got in itself；And
Spreading amount control unit, it is controlled based on the required spreading amount come the spreading amount of the time per unit to the spreading portion
System.
2. aerial dispensing device according to claim 1, it is characterised in that
The aerial dispensing device possesses velocity information acquisition unit, and the velocity information acquisition unit obtains the aerial dispensing device sheet
The flying speed of body,
The spreading amount control unit is controlled as follows：If the flying speed obtained using the velocity information acquisition unit is increased
Greatly, then cause the spreading amount increase of the time per unit in the spreading portion, if the flying speed reduces, cause described dispense
The spreading amount of the time per unit in portion reduces.
3. aerial dispensing device according to claim 2, it is characterised in that
The spreading amount control unit is controlled to the spreading amount of the time per unit in the spreading portion, to cause the spreading amount real
The flying speed obtained in matter to the required spreading amount and using the velocity information acquisition unit is directly proportional.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015022757A JP6431395B2 (en) | 2015-02-07 | 2015-02-07 | Aerial sprayer |
| JP2015-022757 | 2015-02-07 | ||
| PCT/JP2016/000005 WO2016125422A1 (en) | 2015-02-07 | 2016-01-04 | Aerial dispersion device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107207091A true CN107207091A (en) | 2017-09-26 |
Family
ID=56563779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004191.6A Pending CN107207091A (en) | 2015-02-07 | 2016-01-04 | Aerial dispensing device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6431395B2 (en) |
| CN (1) | CN107207091A (en) |
| WO (1) | WO2016125422A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2016125422A1 (en) | 2016-08-11 |
| JP6431395B2 (en) | 2018-11-28 |
| JP2016144990A (en) | 2016-08-12 |
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