CN113163745A - Aircraft support device and aircraft support system - Google Patents

Aircraft support device and aircraft support system Download PDF

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Publication number
CN113163745A
CN113163745A CN201980078407.7A CN201980078407A CN113163745A CN 113163745 A CN113163745 A CN 113163745A CN 201980078407 A CN201980078407 A CN 201980078407A CN 113163745 A CN113163745 A CN 113163745A
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CN
China
Prior art keywords
aircraft
unit
spray
spraying
information
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Granted
Application number
CN201980078407.7A
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Chinese (zh)
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CN113163745B (en
Inventor
望月良真
内田隆史
执行宗司
藤原宽昌
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Kubota Corp
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Kubota Corp
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Publication of CN113163745A publication Critical patent/CN113163745A/en
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Publication of CN113163745B publication Critical patent/CN113163745B/en
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    • 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
    • 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
    • B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Abstract

The result of the previous work can be confirmed and the work management can be easily performed. A support device (30) for an aircraft (1) is provided with: a position information acquisition unit (31a) that acquires the position of the aircraft; a spray information acquisition unit (31b) that acquires information relating to the spraying of a spray by a spraying device (10) provided in an aircraft (1); and a display unit (34) that displays the area of the field and the periphery of the field, wherein the display unit (34) displays the movement trajectory of the aircraft (1) on the basis of the position of the aircraft (1) acquired by the position information acquisition unit (31a), and displays the spray range (E) of the spray that is sprayed by the spray device (10) on the basis of the information acquired by the spray information acquisition unit (31 b). The support device (30) for the aircraft (1) is further provided with an altitude information acquisition unit (31d), wherein the altitude information acquisition unit (31d) acquires information on the altitude of the aircraft, and the display unit (34) displays the altitude of the aircraft (1) on the basis of the altitude (H1) of the aircraft acquired by the altitude information acquisition unit (31 d).

Description

Aircraft support device and aircraft support system
Technical Field
The present invention relates to an aircraft support device and an aircraft support system.
Background
Conventionally, a display disclosed in patent document 1 displays a path diagram as a two-dimensional map including a start point of an aircraft and an arrival target point of the aircraft, the path diagram showing the start point of the aircraft as a black circle, the arrival target point of the aircraft as a white star, and the current position of the aircraft as a black triangle to show the path of the aircraft.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2018-110352 "
Disclosure of Invention
Technical problem to be solved by the invention
In the support device of patent document 1, the display unit displays the route map, so that the operator can grasp the relationship between the starting point of the aircraft (i.e., the point where the operator is present), the current position of the aircraft, and the arrival target point of the aircraft.
However, in the support device of patent document 1, although the path of the aircraft can be displayed, the work result of the aircraft cannot be displayed, and the work result of the aircraft cannot be confirmed and reflected in the work management.
The present invention has been made to solve the above-described problems of the prior art, and an object of the present invention is to provide an aircraft support device capable of confirming the results of previous work and easily performing work management.
Means for solving the problems
An aircraft support device according to an aspect of the present invention includes: a position information acquisition unit that acquires the position of the aircraft; a spraying information acquisition unit that acquires information relating to spraying of a spray object by a spraying device provided in the aircraft; and a display unit that displays an area of the field and a periphery of the field, wherein the display unit displays a movement trajectory of the aircraft based on the position of the aircraft acquired by the position information acquisition unit, and displays a spraying range of the spray object sprayed by the spraying device based on the information acquired by the spraying information acquisition unit.
The aircraft support device further includes an altitude information acquisition unit that acquires information on the altitude of the aircraft, and the display unit displays the altitude of the aircraft based on the altitude of the aircraft acquired by the altitude information acquisition unit.
The aircraft support device further includes an information altitude information acquisition unit that acquires an altitude of the aircraft, and the display unit displays the movement trajectory when the altitude of the aircraft is within a predetermined range, does not display the movement trajectory when the altitude of the aircraft is outside the predetermined range, displays the spraying range when the altitude of the aircraft is within the predetermined range, and does not display the spraying range when the altitude of the aircraft is outside the predetermined range.
In addition, the aircraft support device includes: a wind information acquisition unit that acquires information including a wind direction and a wind speed of the field; and a calculation unit that calculates the spraying range based on the information acquired by the spraying information acquisition unit and the wind direction and the wind speed acquired by the wind information acquisition unit, wherein the display unit displays the spraying range calculated by the calculation unit.
The aircraft support device further includes a grid setting unit that sets a predetermined grid in the spray range, and the display unit displays the grid in different display modes for each of the grids set by the grid setting unit according to the amount of spray of the spray material sprayed by the spray device.
The aircraft support device further includes a correction unit that corrects the deviation of the position of the aircraft acquired by the position information acquisition unit, and the display unit displays the movement trajectory of the aircraft based on the position of the aircraft corrected by the correction unit.
Further, the aircraft support device includes an operation information acquisition unit that acquires operation information of an operation device capable of operating the aircraft, and the display unit displays the operation of the operation device based on the operation information acquired by the operation information acquisition unit.
In addition, a support system for an aircraft is provided with a support device for an aircraft and the aircraft.
In addition, the aircraft has: a detection unit that detects which region of the field the aircraft is located in and outside the region of the field; and a control section that allows the spraying of the spray by the spraying device in a case where the detection section detects that the aircraft is located within the area of the field, and prohibits the spraying of the spray by the spraying device in a case where the detection section detects that the aircraft is located outside the area of the field.
Effects of the invention
According to the aircraft support device, the result of previous operation can be confirmed and operation management can be easily performed.
Drawings
Fig. 1 is an overall view of a support system of an aircraft of embodiment 1.
Fig. 2A is a diagram illustrating a spraying range of the spraying device of embodiment 1.
Fig. 2B is a diagram illustrating a spraying range of the spraying device in consideration of the wind direction and wind speed of the field according to embodiment 1.
Fig. 3A is a view 1 showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3B is a view 2 showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3C is a view 3 showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3D is a view 4 showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3E is a 5 th view showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3F is a 6 th view showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 3G is a 7 th view showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 1.
Fig. 4 is an overall view of a support system of the aircraft of embodiment 2.
Fig. 5A is a view 1 showing an example of a screen displayed on the display unit of the support device according to embodiment 2.
Fig. 5B is a view 2 showing an example of a screen displayed on the display unit of the support apparatus according to embodiment 2.
Fig. 5C is a view 3 showing an example of a screen displayed on the display unit of the support device according to embodiment 2.
Fig. 5D is a view 4 showing an example of a screen displayed on the display unit of the support device according to embodiment 2.
FIG. 6A is a side elevational view of the aircraft.
Fig. 6B is an overhead overview of the aircraft.
Reference numerals
1: aircraft (multi-rotor craft); 10: a spraying device; 15: an operating device; 23: a detection unit; 30: a support device; 31 a: a position information acquisition unit; 31 b: a spraying information acquisition section; 31 c: a height calculating section; 31 d: a height information acquisition unit; 31 e: a wind information acquisition unit; 31f 1: a correction unit; 31 g: a calculation unit; 31 h: a mesh setting unit; 31 j: an operation information acquisition unit; 34: a display unit; 80: a support system; e: the spraying range; h1: altitude of aircraft
Detailed Description
An embodiment of the present invention will be described below with reference to the drawings.
[ embodiment 1 ]
Fig. 1 is an overall view of a support system 80 of the aircraft 1. The support system 80 for the aircraft 1 includes the aircraft 1, the support device 30 for the aircraft 1, and the server 40. The support system 80 of the aircraft 1 is the following system: the server 40 manages information on the aircraft 1 and information on the field, and the display unit 34 of the support device 30 displays the information transmitted from the server so that the operation result of the aircraft 1 is reflected in the operation management of the aircraft 1. In the present embodiment, the support device 30 will be described by taking a mobile terminal such as a smartphone or a tablet terminal having a high processing capability as an example.
First, a multi-rotor aircraft, which is one of the aircraft 1, will be explained. As shown in fig. 6A and 6B, the aircraft 1 has a fuselage 2, a boom 3, a rotary wing 4, an antiskid device (ski) 8, and a sprinkler 10. A plurality of booms 3 are mounted to the body 2. In the case of the present embodiment, 6 booms 3 are attached to the body 2. The 6 booms 3 extend radially in a horizontal plane (plane parallel to the ground in the landing state) from the center of the fuselage 2. However, the number of the cantilevers 3 is not limited to 6, and may be 7 or more, or 5 or less. Further, the cantilever 3 may be configured to be foldable toward the body. The bottom end side of the boom 3 is mounted to the body 2. A rotary wing 4 is attached to each of the tip ends of the cantilevers 3.
The rotor 4 generates lift for flying the aircraft 1. The rotary wing 4 includes a rotor 5 and blades (propellers) 6. The rotor 5 is constituted by an electric motor (DC motor or the like). The rotor 5 is driven by electric power supplied from a battery (not shown) provided in the body 2. A blade 6 is attached to an upper portion of the rotation shaft of the rotor 5. The adjacent rotary wings 4 rotate in opposite directions to each other.
The number of the rotor blades 4 is not particularly limited, and may be changed according to a required lift force or the like. For example, the aircraft 1 may be a three-rotor aircraft having 3 rotor blades 4, a four-rotor aircraft having 4 rotor blades 4, a six-rotor aircraft having 6 rotor blades 4, or an eight-rotor aircraft having 8 rotor blades 4.
The anti-skid means 8 are arranged to support the fuselage 2 on the ground when the aircraft 1 lands. Specifically, the antiskid device 8 extends downward from the body 2 and gradually expands.
The spraying device 10 is a device which is provided in the aircraft 1 and sprays a spray. As shown in fig. 6A, the spraying device 10 has a container 11 for containing a spray and a pump 12 for spraying the spray. The container 11 is fitted to the fitting portion 9, and the fitting portion 9 is provided at an intermediate portion of the antiskid device 8. The container 11 is detachable from the mounting portion 9. The container 11 is formed with an inner space for accommodating the spray to be sprayed on the farm. The spray is, for example, fertilizer, water, pesticide, etc.
The pump 12 sprays the spray contained inside the container 11. The pump 12 is connected to the control unit 21 so as to be able to communicate with each other, and sprays the spray on the basis of an instruction from the control unit 21. A suction port of the pump 12 is connected to the inside of the container 11 via a hose (not shown). Further, a discharge port of the pump 12 is connected to the nozzle 13 via a hose. The pump 12 sprays a spray from a nozzle 13. The nozzle 13 enables the spray particles to be relatively uniform in size and to be sprayed in a predetermined amount.
As shown in fig. 6A, the nozzle 13 is provided, for example, below the rotor 5, and the discharge port of the nozzle 13 faces downward. The spray nozzle 13 is driven by the pump 12 to spray the spray contained in the container 11 from the spray nozzle 13 toward the field. That is, when the pump 12 is driven, the nozzle 13 sprays the spray, and when the pump 12 is not driven, the nozzle 13 stops spraying the spray. Further, as shown in fig. 2A, the spray nozzles 13 spray the spray at a predetermined spray angle θ, and therefore the spray range (effective spray width) E varies depending on the height H1 of the aircraft 1 (the distance between the lower end of the spray nozzle 13 and the ground of the field). That is, the spray range E can be calculated based on the spray angle θ and the height H1 of the aircraft 1. In addition, as shown in fig. 2B, in the case where wind is generated in the field, the spray range E moves from the upwind to the downwind of the wind, as compared with the case where wind is not generated in the field.
The nozzle 13 may be installed not only below the rotor 5 but also on the antiskid device 8 as long as the nozzle 13 can spray the spray toward the field, and is not limited to the above position. In addition, the spraying amount, the spraying angle θ and the spraying range E of the sprayed material sprayed from the nozzle 13 may be switchable, and the structure of the spraying device 10 is not limited to the above-described structure.
As shown in fig. 1, the aircraft 1 flies and performs a spraying operation based on information (operation information) related to the operation of the operation device 15, and the operation device 15 is constituted by a joystick 16 that can be operated by swinging, a push button switch 17 that can be operated by pushing, and the like. In detail, the aircraft 1 has a 1 st control device 20, a 1 st communication part 24, a position detection device 25 and an altitude detection device 26. The 1 st control device 20 is constituted by a CPU, an electronic circuit, and the like, and performs various controls related to the aircraft 1 in accordance with the operation of the operation device 15. The 1 st control device 20 includes a control unit 21 and a 1 st storage unit 22. The control unit 21 is constituted by a CPU, a program stored in the 1 st storage unit 22, and the like, and performs various controls related to the aircraft 1. The control unit 21 controls the rotary blade 4 and the sprinkler 10 (pump 12) based on the operation information of the operation device 15 received by the 1 st communication unit 24, for example. The 1 st storage unit 22 is a nonvolatile memory or the like, and stores various information including information of the aircraft 1.
The 1 st communication unit 24 is a device that performs wireless communication with the operation device 15 and the 3 rd communication unit 43 of the server 40. The 1 st communication unit 24 wirelessly communicates with the operation device 15 and the 3 rd communication unit 43 by Wi-Fi (Wireless Fidelity, registered trademark), for example. The 1 st communication unit 24 can perform wireless communication with the operation device 15 and the 3 rd communication unit 43 through a data communication network, a mobile phone communication network, or the like.
The position detection device 25 is capable of detecting its own position (including latitude and longitude positioning information) by a satellite positioning system (positioning satellites) such as D-GPS, GLONASS, beidou, galileo, directions (みち, vents き). That is, the position detection device 25 receives satellite signals (the position of the positioning satellite, the transmission time, the correction information, and the like) transmitted from the positioning satellite, and detects the position (for example, latitude and longitude) of the aircraft 1 based on the satellite signals. In the present embodiment, for example, the position detection device 25 is provided to the fuselage 2 of the aircraft 1. The position information of the aircraft 1 detected by the position detection device 25 is transmitted to the server 40 via the 1 st communication section 24 in association with the time at which the position of the aircraft 1 is detected. The position detection device 25 may be any device as long as it can detect the position of the aircraft 1, and the installation position and structure thereof are not limited to the above-described structure.
The altitude detection device 26 is a device that detects the altitude H1 of itself (the aircraft 1). The height detection device 26 is an air pressure sensor 26 such as a static pressure sensor for measuring air pressure. The value detected by the air pressure sensor 26 is associated with the time when the air pressure is detected, and is transmitted to the server 40 via the 1 st communication unit 24.
In the present embodiment, the operation device 15 is a controller including a joystick 16, a push button switch 17, and the like, but the operation device 15 may be a terminal such as a Personal Computer (PC), a smart phone (multi-function mobile phone), a tablet terminal, and the like, which is communicably connected to the aircraft 1, as long as the aircraft 1 can be operated. Further, the 1 st control device 20 controls the aircraft 1 based on the operation information of the operation device 15, but may control the aircraft so as to autonomously fly based on a signal output from a sensor provided in the aircraft 1 and a predetermined route for flight set in advance. The predetermined flight route is a route along which the aircraft 1 moves, and includes information of control information of the sprinkler 10 (spraying of the spray and stopping of spraying). In this case, the planned flight route is stored in the 1 st storage unit 22, and the 1 st control device 20 acquires the planned flight route from the outside (for example, the server 40) via the 1 st communication unit 24.
The support device 30 is a terminal capable of displaying the result of the work (spraying work) performed by the aircraft 1. The aircraft 1 and the server 40 are connected to each other so as to be able to communicate with each other, and are mobile terminals such as tablet terminals, Personal Computers (PCs), and smartphones (multifunctional mobile phones). In the following description, a tablet terminal is taken as an example of the support device 30. The support device 30 may be any device as long as it can communicate with the server 40 and can display various information on a screen (display unit), and when the operation device 15 has a screen (display unit), the operation device 15 may be used as the support device 30 instead of a portable terminal such as a tablet terminal.
As shown in fig. 1, the support device 30 includes a 2 nd control device 31, a 2 nd communication unit 33, and a display unit 34. The 2 nd control device 31 is constituted by a CPU, an electronic circuit, and the like, and performs various controls related to the support device 30. The 2 nd control device 31 has a 2 nd storage unit 32. The 2 nd storage unit 32 is a nonvolatile memory or the like, and stores information or the like received by the 2 nd communication unit 33.
The 2 nd communication unit 33 is a device that performs wireless communication with the 3 rd communication unit 43 of the server 40. The 2 nd communication unit 33 performs Wireless communication with the 3 rd communication unit 43 by Wi-Fi (registered trademark), for example. The 2 nd communication unit 33 receives information on the area of the field and the periphery of the field from the server 40, for example. The 2 nd communication unit 33 can perform wireless communication with the 3 rd communication unit 43 through a data communication network, a mobile phone communication network, or the like.
The display unit 34 can display various information stored in the 2 nd storage unit 32, information received by the 2 nd communication unit 33, and information stored in the 2 nd storage unit 32. The display unit 34 displays the field area and the field periphery. The display unit 34 is a touch panel or the like that can be operated by a fingertip of a worker, and the support device 30 can be operated by operating the display unit 34. In the case where the display unit 34 is not a touch panel that can be operated with a fingertip or the like, the support device 30 may include an operation tool such as a push button switch that can be operated.
As shown in fig. 1, the server 40 receives information from outside the aircraft 1 or the like, performs predetermined processing on the information, and transmits the processed information to the support device 30. The server 40 includes a 3 rd control device 41 and a 3 rd communication unit 43. The 3 rd control device 41 is constituted by a CPU, an electronic circuit, and the like, and performs various arithmetic processes. For example, the 3 rd control device 41 performs predetermined processing on the information received by the 3 rd communication unit 43 as information to be displayed on the display unit 34 of the support device 30. In the present embodiment, the 3 rd control device 41 has the 3 rd storage unit 42. The 3 rd storage unit 42 is a nonvolatile memory or the like, and stores various information, various programs, and the like received by the 3 rd communication unit 43. For example, the 3 rd storage unit 42 stores map data including position information of a field in which the aircraft 1 performs work.
The 3 rd communication unit 43 performs Wireless communication with the 1 st communication unit 24 of the aircraft 1, the 2 nd communication unit 33 of the support apparatus 30, and the like, for example, by Wi-Fi (registered trademark) of the IEEE802.11 series, which is a communication standard. For example, the 3 rd communication part 43 receives information related to the aircraft 1 and the like from the 1 st communication part 24. The 3 rd communication unit 43 transmits the information and the like received from the 1 st communication unit 24 to the 2 nd communication unit 33. The 3 rd communication unit 43 may perform wireless communication with the 1 st communication unit 24, the 2 nd communication unit 33, and the like through, for example, a mobile phone communication network, a data communication network, and the like.
The support system 80 of the aircraft 1 is the following system: the relationship between the movement trajectory of the aircraft 1 and the work result (spraying result) is reflected in the work management of the aircraft 1 by displaying the movement trajectory of the aircraft 1 and the spraying range E of the spray sprayed by the spraying device 10 on the display unit 34 of the support device 30. In addition, the support system 80 of the aircraft 1 can cause the spraying range E of the spray to be displayed more accurately by acquiring information relating to the aircraft 1, information relating to the wind of the field. In the support system 80 of the aircraft 1, the server 40 acquires information of the field from, for example, the site server 50, and transmits the information to the support device 30.
The site server 50 detects information related to the wind of the field and transmits the information to the server 40. The site server 50 is a device that collects information related to the wind of the field. The site server 50 is installed in a field, and as shown in fig. 1, includes a 4 th control device 51, a 4 th communication unit 53, and an information collection unit 54.
The 4 th control device 51 is constituted by a CPU, an electronic circuit, and the like, and performs processing of information (data) acquired by the information collection unit 54. The 4 th control device 51 has a 4 th storage unit 52. The 4 th storage unit 52 is a nonvolatile memory or the like, and stores various information including information processed by the 4 th control device 51.
The 4 th communication unit 53 performs Wireless communication with the 3 rd communication unit 43 of the server 40 by, for example, Wi-Fi (registered trademark) of IEEE802.11 series, which is a communication standard. The 4 th communication unit 53 transmits information on the wind of the field to the 3 rd communication unit 43. The 4 th communication unit 53 may perform wireless communication with the 3 rd communication unit 43 through, for example, a mobile phone communication network, a data communication network, or the like.
The information collection unit 54 collects information on the environment in the field, particularly information on wind in the field. As shown in fig. 1, the information collection unit 54 includes sensors such as an air velocity sensor 54a and an air direction sensor 54 b. The wind speed sensor 54a is a sensor that measures the wind speed in the field. The wind direction sensor 54b is a sensor that measures the wind direction in the field. The information collected by the information collection unit 54 is transmitted to the 2 nd communication unit 33 via the 4 th communication unit 53 and the 3 rd communication unit 43 in association with the time when the information is collected.
The support device 30 will be described in detail below. The support device 30 acquires various information such as information on the aircraft 1 and information on the field wind via the server 40, and displays the information on the display unit 34 of the support device 30. As shown in fig. 1, the 2 nd control device 31 of the support device 30 has a position information acquisition section 31a, a spray information acquisition section 31b, a height calculation section 31c, a height information acquisition section 31d, and a wind information acquisition section 31 e. In other words, the support device 30 of the aircraft 1 includes a position information acquisition unit 31a, a spray information acquisition unit 31b, an altitude calculation unit 31c, an altitude information acquisition unit 31d, and a wind information acquisition unit 31 e.
The position information acquiring unit 31a, the spray information acquiring unit 31b, the height calculating unit 31c, the height information acquiring unit 31d, and the wind information acquiring unit 31e are constituted by a CPU, an electronic circuit, a program stored in the 2 nd storage unit 32, and the like. The position information obtaining section 31a obtains the position of the aircraft 1. In detail, the position information acquiring unit 31a acquires the position information of the aircraft 1 received by the 2 nd communication unit 33 via the 1 st communication unit 24 and the 3 rd communication unit 43.
The spray information acquiring section 31b acquires information related to spraying of the sprayed material by the spraying device 10 provided to the aircraft 1. The spray information acquiring section 31b acquires information related to the spraying of the spray object by the spraying device 10, which is received by the 2 nd communication section 33 via the 1 st communication section 24 and the 3 rd communication section 43. For example, the spray information acquisition section 31b acquires information on the amount of spray of the spray, the spray angle θ, the spraying of the spraying device 10, or the stop of spraying, in association with time.
The altitude calculation unit 31c calculates the air pressure of the aircraft 1 on the ground and the air pressure of the aircraft 1 in flight based on the values of the air pressure sensor 26 received by the 2 nd communication unit 33 via the 1 st communication unit 24 and the 3 rd communication unit 43, and calculates the altitude H1 of the aircraft 1.
The altitude information acquisition section 31d acquires information relating to the altitude H1 of the aircraft 1. Specifically, the altitude information acquisition unit 31d acquires the calculation result of the altitude H1 of the aircraft 1 calculated by the altitude calculation unit 31 c. In the present embodiment, the altitude information acquiring unit 31d acquires the calculation result of the altitude H1 of the aircraft 1 calculated by the altitude calculating unit 31c, but the altitude information acquiring unit 31d may acquire information on the altitude H1 of the aircraft 1, or the server 40 may calculate the altitude H1 of the aircraft 1 based on the value detected by the air pressure sensor 26, the altitude information acquiring unit 31d may acquire the calculation result of the altitude H1 of the aircraft 1 received by the 2 nd communication unit 33 from the 3 rd communication unit 43 of the server 40, and the source of acquiring the information on the altitude H1 of the aircraft 1 is not limited to the altitude calculating unit 31c described above.
The wind information acquisition unit 31e acquires information including the wind direction and the wind speed of the field. Specifically, the wind information acquiring unit 31e acquires information on the wind in the field received by the 2 nd communication unit 33 via the 1 st communication unit 24 and the 3 rd communication unit 43. In the present embodiment, the site server 50 detects information on wind in the field and transmits the information to the server 40, but the wind information acquiring unit 31e may be any device as long as it can acquire information on wind in the field, and may acquire weather information (including at least wind direction and wind speed) provided by a weather station by connecting the server 40 to a server or the like of the weather station via an external network such as the internet instead of the site server 50, and the wind information acquiring unit 31e acquires the weather information via the 3 rd communication unit 43 and the 2 nd communication unit 33. Alternatively, the server 40 may access a server such as a weather information providing company that provides weather information to acquire weather information, or may acquire weather information provided by another information providing company, and the wind information acquiring unit 31e may acquire the weather information via the 3 rd communication unit 43 and the 2 nd communication unit 33.
As shown in fig. 1, the 2 nd control device 31 of the support device 30 includes a trajectory generation unit 31f, a calculation unit 31g, a mesh setting unit 31h, and a correlation unit 31 i. In other words, the support device 30 of the aircraft 1 includes the trajectory generation unit 31f, the calculation unit 31g, the grid setting unit 31h, and the association unit 31 i. The trajectory generation unit 31f, the calculation unit 31g, the mesh setting unit 31h, and the association unit 31i are configured by a CPU, a program stored in the 2 nd storage unit 32, and the like.
The trajectory generation unit 31f generates the movement trajectory of the aircraft 1 based on the position information of the aircraft 1 acquired by the position information acquisition unit 31 a. Specifically, the trajectory generation unit 31f connects the position coordinates of the aircraft 1 by a line to generate a movement trajectory. For example, the trajectory generation unit 31f connects the position coordinates of the position (n) of the aircraft 1 at the predetermined time point and the position coordinates of the position (n-1) of the aircraft 1 at the previous time point by a line to generate the movement trajectory. The trajectory generation unit 31f includes a correction unit 31f 1. The correction unit 31f1 corrects the deviation of the position of the aircraft 1 acquired by the position information acquisition unit 31 a. Specifically, for example, the correction unit 31f1 corrects the deviation in the position of the aircraft 1 by averaging the positions of the aircraft 1 acquired by the position information acquisition unit 31 a. The correction unit 31f1 may be any device as long as it can average the position of the aircraft 1 acquired by the position information acquisition unit 31a, and the method of correcting the deviation is not limited to averaging.
The calculation section 31g calculates the spray range E based on the spray information acquired by the spray information acquisition section 31 b. Specifically, the calculation unit 31g calculates the spraying range E based on the spraying information at the predetermined time point (information on the spraying amount of the sprayed material, the spraying angle θ, the spraying or the stopping of the spraying by the spraying device 10), the position information of the aircraft 1, the moving speed and the altitude H1 of the aircraft 1, and the like. Specifically, the calculation unit 31g calculates the spray range E from the range calculated using the spray angle θ of the nozzle 13 and the height H1 of the aircraft 1 and the position of the aircraft 1.
As shown in fig. 2B, when the wind speed in the field is equal to or higher than a predetermined value (for example, equal to or higher than 1 m/s), the calculation unit 31g can calculate the spraying range E based on the wind direction and the wind speed acquired by the wind information acquisition unit 31E in addition to the spraying information, the position information, the moving speed and the altitude H1 of the aircraft 1. Specifically, the calculation unit 31g calculates the spraying range E based on the spraying information at the predetermined time point (information on the spraying amount of the sprayed material, the spraying angle θ, and the spraying or stopping of the spraying by the spraying device 10), the position information of the aircraft 1, the moving speed of the aircraft 1, the altitude H1, the wind direction, the wind speed, and the like. Specifically, the calculation unit 31g calculates the spraying range E by combining the wind speed and the moving speed of the aircraft 1 within the range calculated by using the spraying angle θ of the nozzle 13 and the height H1 of the aircraft 1.
The calculation unit 31g may calculate the spray range E based on the spray information acquired by the spray information acquisition unit 31b and the wind direction and the wind speed acquired by the wind information acquisition unit 31E, and the calculation method is not limited to the above calculation method. For example, in the present embodiment, the wind speed and the moving speed of the aircraft 1 are combined to calculate the spraying range E within the range calculated using the spraying angle θ of the nozzle 13 and the height H1 of the aircraft 1, but as shown in fig. 2A, the spraying range E may be calculated using the wind speed and the moving speed of the aircraft 1 combined using the spraying angle θ of the nozzle 13 and the distance H3 between the nozzle 13 and the crop R in place of the height H1 of the aircraft 1 and the distance H3 obtained by subtracting the crop height H2 of the crop R in the field from the height H1 of the aircraft 1. In this case, the information collecting unit 54 of the site server 50 includes an image pickup unit such as a camera, for example, and the site server 50 detects the crop height H2 of the crop R based on the image picked up by the image pickup unit.
The grid setting unit 31h performs a process of assigning information (spray amount data) of the spray amount included in the spray information acquired by the spray information acquiring unit 31b to each spray range E calculated by the calculating unit 31 g. For example, when the mesh size is 1m, the mesh setting unit 31h sets the width (vertical width, horizontal width) of 1 side of the region Qn to 1m, divides the spray range E into a plurality of regions Qn every 1m, and divides the spray amount data into data entering the regions Qn formed by dividing the mesh size. Here, when there are a plurality of pieces of data entering the region Qn, the mesh setting unit 31h averages the values of the data, for example, and assigns the average value to the divided data Dn corresponding to the region Qn. When there are 1 pieces of data entering the region Qn, the mesh setting unit 31h assigns the data to the divided data Dn corresponding to the region Qn. The grid size can also be set by inputting a numerical value of "grid size" shown in the basic display unit 59 of the display unit 34, which will be described later. The method of allocating the field data to the divided data Dn corresponding to the region Qn is not limited to the above example. In addition, the mesh setting section 31h sets the amount of spray of the spray for each area Qn based on the divided data Dn for each area Qn.
The association unit 31i associates the information on the movement trajectory of the aircraft 1 generated by the trajectory generation unit 31f, the information on the altitude H1 of the aircraft 1, and the information processed by the grid setting unit 31H. Specifically, the association unit 31i associates information on the movement trajectory of the aircraft 1 at the same time, information on the altitude H1 of the aircraft 1, and information processed by the grid setting unit 31H on the basis of time.
The 2 nd control device 31 of the support device 30 includes an operation information acquiring unit 31j and an operation trajectory generating unit 31 k. In other words, the support device 30 of the aircraft 1 includes the operation information acquiring unit 31j and the operation trajectory generating unit 31 k. The operation information acquiring unit 31j and the operation trajectory generating unit 31k are constituted by a CPU, a program stored in the 2 nd storage unit 32, and the like. The operation information acquiring unit 31j acquires operation information of the operation device 15. Specifically, the operation information acquiring unit 31j acquires the operation information of the operation device 15 via the 1 st communication unit 24, the 3 rd communication unit 43, and the 2 nd communication unit 33. In the present embodiment, the operation information acquiring unit 31j acquires the operation information via the 1 st communication unit 24, the 3 rd communication unit 43, and the 2 nd communication unit 33, but the operation information acquiring unit 31j may be any unit as long as it can acquire the operation information of the operation device 15, and the operation information may be transmitted from the operation device 15 to the 2 nd communication unit 33, and the source of acquiring the operation information is not limited to the above configuration.
The operation trajectory generation section 31k generates a movement trajectory of the aircraft 1 based on the operation information acquired by the operation information acquisition section 31 j. The movement trajectory of the aircraft 1 based on the operation information generated by the operation trajectory generation unit 31k is an ideal movement trajectory without considering resistance such as wind and rain in the field and obstacles.
The screen displayed on the display unit 34 will be described in detail below. As shown in fig. 3A to 3G, the display unit 34 can display a spraying screen M1 indicating the result of the spraying operation of the aircraft 1. The spray screen M1 displays the area of the field, the periphery of the field, the actual movement trajectory of the aircraft 1, the movement trajectory of the aircraft 1 based on the operation information, the height H1 of the aircraft 1, and the spray range E of the spray. Accordingly, the display unit 34 displays the result of the spraying work by the aircraft 1, and therefore the result of the spraying work can be easily confirmed without manual input. In addition, by displaying the moving trajectory together with the spraying range E in addition to the spraying range E of the object to be sprayed, the relationship between the moving trajectory and the spraying range E can be confirmed, and the operation plan can be utilized.
In detail, the spray screen M1 has the basic display section 59, the peripheral image 60, the movement locus image 61, the operation locus image 62, the height display image 65, and the spray range image 66. The basic display section 59 displays various information related to the operation of the aircraft 1. Specifically, for example, the basic display unit 59 displays the name of the field where the aircraft 1 has performed the work, the size of the field, the start date and time of the work, the work time, the end date and time of the work, the model number of the aircraft 1, the grid size, the wind direction and the wind speed in the field, and the like.
As shown in fig. 3A to 3G, the peripheral image 60 is an image showing the region of the field and the periphery of the field. The peripheral image 60 displays the area of the field and the periphery of the field in an overhead view, for example.
As shown in fig. 3A, 3C, and the like, the movement trajectory image 61 is an image showing the actual movement trajectory of the aircraft 1, and is an image based on the trajectory generated by the trajectory generation unit 31 f. In other words, the display unit 34 displays the movement locus of the aircraft 1 based on the position of the aircraft 1 acquired by the position information acquisition unit 31a and the position of the aircraft 1 corrected by the correction unit 31f 1. The display unit 34 displays the movement trace image 61 in a different display mode in the field region and in the field region. Specifically, the display unit 34 displays the movement trace image 61 within the field area as a solid line 61b, and displays the movement trace image 61 outside the field area as a broken line 61 c. In addition, the display unit 34 displays the movement start point of the aircraft 1 and the final point of the aircraft 1 in the movement trajectory image 61 in a predetermined pattern. In the present embodiment, the display unit 34 displays the movement start point of the aircraft 1 in a substantially circular figure 61a, and displays the final point of the aircraft 1 in a simplified figure 61d of the aircraft 1.
As shown in fig. 3B, the operation trajectory image 62 is an image showing the movement trajectory of the aircraft 1 based on the operation information of the operation device 15, and is an image based on the trajectory generated by the operation trajectory generation unit 31 k. The operation trajectory image 62 is displayed in a display manner different from at least the movement trajectory image 61. The operation trajectory image 62 is displayed, for example, in a two-dot chain line. The operation trajectory image 62 can be switched to be displayed or not displayed by operating the switching button 63 displayed in the spray screen M1. When the operation trajectory image 62 is displayed, the display unit 34 does not display the movement trajectory image 61. In other words, the display unit 34 displays either the movement trace image 61 or the operation trace image 62. In the present embodiment, the display unit 34 displays either the movement trace image 61 or the operation trace image 62, but the display unit 34 may simultaneously display both the movement trace image 61 and the operation trace image 62 without complicating the image displayed on the display unit 34. Accordingly, since the operation and the actual movement locus of the aircraft 1 can be confirmed, the characteristics of the movement of the aircraft 1 with respect to the operation of the operation device 15 can be grasped. The operator of the aircraft 1 can therefore grasp the operability of the aircraft 1 more appropriately, and thus can achieve an increase in the operational skill of the aircraft 1 as quickly as possible.
In the present embodiment, the operation trajectory generation unit 31k generates the movement trajectory of the aircraft 1 based on the operation information, and the display unit 34 displays the operation trajectory image 62 and displays the operation of the operation device 15 based on the movement trajectory, but the display unit 34 may be configured as follows as long as the operation information of the operation device 15 can be displayed: as shown in fig. 3C, the operation state of the operation device 15 at each point is displayed by displaying the icon 64 obtained by simplifying the operation device 15 without displaying the operation trajectory image 62, and the display image is not limited to the above-described image. Further, as shown in fig. 3C, in the case of displaying an icon 64 in which the operation device 15 is simplified, the operation state of the operation device 15 may be displayed using an arrow or the like.
As shown in fig. 3D, the altitude display image 65 is an image showing the altitude H1 of the aircraft 1, and is an image based on the information on the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31D. In other words, the display unit 34 displays the altitude H1 of the aircraft 1 based on the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31 d. The altitude display image 65 displays the altitude H1 of the aircraft 1 at each location (each time point) in numerical values. Accordingly, by displaying the altitude information together with the spray range E, the relationship between the altitude H1 of the aircraft 1 and the spray range E can be confirmed, and the altitude information can be utilized for the work plan. Specifically, when the operation support device 30 selects a part of the movement trace image 61, the display unit 34 displays the height display image 65 of the selected spot and does not display the height display images 65 of other spots. In the present embodiment, the display unit 34 displays the altitude H1 of the selected point by value, but the display unit 34 may display the altitude H1 of the aircraft 1, and may display the altitude H1 of the aircraft 1 in a different display form such as color according to the altitude H1, and the display form of the altitude H1 of the aircraft 1 is not limited to the above display form.
As shown in fig. 3A to 3G, the spray range image 66 is an image showing the spray range E calculated by the calculation unit 31G and the divided data Dn for each region Qn allocated by the mesh setting unit 31 h. In other words, the display unit 34 displays the spray range E of the spray material sprayed by the spraying device 10 based on the spray information acquired by the spray information acquiring unit 31b and the spray range E calculated by the calculating unit 31 g. In the spray range image 66, the display forms of the grids are displayed differently for each grid generated by the grid setting unit 31h according to the amount of spray of the spray material sprayed by the spraying device 10. In other words, the display unit 34 displays the grids in different display modes for each grid generated by the grid setting unit 31h, depending on the amount of the spray material sprayed by the spray device 10. The display unit 34 changes the display density of the grid for each grid generated by the grid setting unit 31h in accordance with the amount of spray of the spray. Specifically, the display unit 34 displays the grid so that the display density becomes deeper in proportion to the amount of the sprayed object. That is, as the sprayed amount of the sprayed matter becomes lower, the display section 34 displays the display density of the grid to be shallow. On the other hand, as the sprayed amount of the sprayed matter becomes higher, the display section 34 displays the display density of the grid deeper. Accordingly, it is possible to intuitively grasp a place where the amount of the sprayed object actually sprayed is small and a place where the amount of the sprayed object is large. Therefore, the spraying operation can be properly performed according to the previous operation results by grasping the areas where spraying is not needed or is needed. Further, the display section 34 may display a legend 67 indicating the sprayed amount of the sprayed object corresponding to the display density of the grid.
As shown in fig. 3E, the display unit 34 can switch the display of the movement trajectory of the aircraft 1 and the spray range E according to the altitude H1 of the aircraft 1. Specifically, as shown in fig. 3A to 3G, the spray screen M1 includes an altitude selection unit 69 that selects the altitude H1 of the aircraft 1. The height selecting section 69 has a slider 69a capable of sliding operation. The altitude selection unit 69 can select the range of the altitude H1 of the aircraft 1 by operating the slider 69a to select the upper limit value and the lower limit value of the altitude H1 of the aircraft 1. The display unit 34 displays the moving trajectory of the aircraft 1 at the altitude H1 within the range of the altitude H1 selected by the altitude selection unit 69 and the spray range E of the spray sprayed by the aircraft 1. Specifically, the display unit 34 displays the movement locus image 61 and the spray range image 66 of the height H1 within the range of the height H1 selected by the height selection unit 69.
As shown in fig. 3E, the display unit 34 does not display the movement trajectory of the aircraft 1 at the altitude H1 outside the range of the altitude H1 selected by the altitude selection unit 69 and the spray range E of the spray object sprayed by the aircraft 1. Specifically, the display unit 34 does not display the movement locus image 61 and the spray range image 66 of the height H1 outside the range of the height H1 selected by the height selection unit 69. Accordingly, the result of the spraying work of the aircraft 1 can be confirmed for each altitude H1 of the aircraft 1. The relationship between the altitude H1 of the aircraft 1 and the spray range E can therefore be confirmed more simply and can be used for work planning. In the present embodiment, the display unit 34 does not display the spraying range E of the spray sprayed by the aircraft 1 at the height H1 outside the range of the height H1 selected by the height selection unit 69, but the display unit 34 may be configured to switch the display of the spraying range E according to the height H1 of the aircraft 1, and may be configured to gray the spraying range E of the spray sprayed by the aircraft 1 at the height H1 outside the range of the height H1 selected by the height selection unit 69. In fig. 3A to 3E, the display unit 34 displays the results of 1 spraying operation for 1 aircraft 1, but as shown in fig. 3F, the display unit 34 may display the results of spraying operations for a plurality of aircraft 1, or may simultaneously display the results of a plurality of spraying operations for 1 aircraft 1. In this case, the mesh setting unit 31h averages the values of the data of the respective job results, and assigns the average value as the divided data Dn corresponding to the region Qn. Further, the display section 34 displays a movement trajectory image 61, an operation trajectory image 62, a switching button 63, a height display image 65, and a spray range image 66 for each of the respective spray jobs.
As shown in fig. 3G, when the wind speed in the field is equal to or higher than a predetermined value (for example, equal to or higher than 1 m/s), the display unit 34 can switch the display of the spray range image 66 by operating the change button 70 so that the spray range E of the spray is displayed in consideration of the wind direction and the wind speed acquired by the wind information acquisition unit 31E. In this case, the spray area image 66 is an image showing the spray area E calculated based on the wind direction and the wind speed acquired by the wind information acquisition unit 31E in addition to the spray information acquired by the spray information acquisition unit 31b, and the divided data Dn for each area Qn allocated by the mesh setting unit 31 h. That is, when the change button 70 is operated, the spray range image 66 switches the display of the spray range E calculated by the calculation unit 31g based on the spray information, the position information, the moving speed of the aircraft 1, the altitude H1, and the like to the spray range E calculated based on the spray information, the position information, the moving speed of the aircraft 1, the altitude H1, and the wind direction and the wind speed acquired by the wind information acquisition unit 31E.
The aircraft 1 can automatically end the spraying of the spray by the spraying device 10 in the event of movement outside the area of the field. As shown in fig. 1, the 1 st control device 20 of the aircraft 1 has a detection section 23. In other words, the aircraft 1 has the detection section 23. The detection unit 23 is constituted by a CPU, a program stored in the 1 st storage unit 22, and the like. The detection unit 23 detects the position of the aircraft 1 within the field and outside the field based on the position information detected by the position detection device 25 and the position information of the field. The positional information of the field is stored in, for example, the 1 st storage unit 22. Specifically, the positional information of the field is acquired from the server 40 via the 3 rd communication unit 43 and the 1 st communication unit 24, and is stored in the 1 st storage unit 22 in advance. The detection unit 23 outputs the detection result to the control unit 21. In the present embodiment, the detection unit 23 detects which position the aircraft 1 is located within the field area and outside the field area based on the position information detected by the position detection device 25 and the position information of the field, but the detection unit 23 may detect which position the aircraft 1 is located within the field area and outside the field area, or may detect which position the aircraft 1 is located within the field area and outside the field area by detecting the boundary of the field based on an image captured by an imaging unit such as a camera provided in the aircraft 1, and this detection method is not limited to the above configuration.
The control unit 21 controls the sprinkler 10 based on the detection result of the detection unit 23. Specifically, in the case where the detection section 23 detects that the aircraft 1 is located within the region of the field, the control section 21 performs control of the sprinkler 10 based on the operation of the operating device 15. On the other hand, in the case where the detection section 23 detects that the aircraft 1 is located outside the area of the field, the control section 21 stops the driving of the pump 12 and stops the spraying of the spraying device 10 separately from the operation of the operation device 15. That is, the control section 21 permits the spraying of the spray by the spraying device 10 when the aircraft 1 is located within the area of the field, and prohibits the spraying of the spray by the spraying device 10 when the aircraft 1 is located outside the area of the field.
The aircraft 1 support device 30 includes: a position information acquisition unit 31a that acquires the position of the aircraft 1; a spraying information acquisition section 31b that acquires information relating to spraying of a sprayed object by a spraying device 10 provided in the aircraft 1; and a display unit 34 that displays the area of the field and the periphery of the field, wherein the display unit 34 displays the movement trajectory of the aircraft 1 based on the position of the aircraft 1 acquired by the position information acquisition unit 31a, and displays the spray range E of the spray object sprayed by the spray device 10 based on the spray information acquired by the spray information acquisition unit 31 b.
According to the above configuration, the display unit 34 can be caused to display the result of the spraying operation of the aircraft 1. The operator performing the work management of the aircraft 1 can thus easily confirm the result of the spraying work without manual input. Further, since the display unit 34 displays not only the spraying range E of the sprayed material but also the movement locus and the spraying range E at the same time, the operator can confirm the relationship between the movement locus and the spraying range E.
The support device 30 for the aircraft 1 includes an altitude information acquisition unit 31d that acquires information on the altitude H1 of the aircraft 1, and the display unit 34 displays the altitude H1 of the aircraft 1 based on the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31 d.
According to the above configuration, since the display unit 34 displays the altitude information and the spray range E at the same time, the operator can confirm the relationship between the altitude H1 of the aircraft 1 and the spray range E and can use the information for the operation plan.
In addition, the support device 30 for the aircraft 1 is provided with an altitude information acquisition unit 31d that acquires information on the altitude H1 of the aircraft 1, and the display unit 34 displays the movement trajectory when the altitude H1 of the aircraft 1 is within the predetermined range, and does not display the movement trajectory when the altitude H1 of the aircraft 1 is outside the predetermined range, displays the spraying range E when the altitude H1 of the aircraft 1 is within the predetermined range, and does not display the spraying range E when the altitude H1 of the aircraft 1 is outside the predetermined range.
According to the above configuration, the result of the spraying work of the aircraft 1 can be confirmed for each altitude H1 of the aircraft 1. The crew can therefore identify the spray range E for each altitude H1 of the aircraft 1, and can use the relationship of the altitude H1 to the spray range E for the work plan.
Further, the support device 30 of the aircraft 1 includes: a wind information acquisition unit 31e for acquiring information including the wind direction and wind speed of the field; and a calculation unit 31g that calculates a spraying range E based on the spraying information acquired by the spraying information acquisition unit 31b and the wind direction and the wind speed acquired by the wind information acquisition unit 31E, wherein the display unit 34 displays the spraying range E calculated by the calculation unit 31 g.
According to the above configuration, when wind is generated in the field, the display unit 34 can display the spraying range E close to the actual spraying range sprayed by the spraying operation of the aircraft 1. Therefore, the relationship between the movement trajectory when wind occurs and the spray range E can be confirmed, and the operation plan such as the flight path of the aircraft 1 can be used to adjust the state of the wind in the field.
The support device 30 of the aircraft 1 further includes a grid setting unit 31h that sets a predetermined grid in the spray range E, and the display unit 34 displays the grid in different display modes for each grid set by the grid setting unit 31h, depending on the amount of spray of the spray material sprayed by the spray device 10.
According to the above configuration, it is possible to intuitively grasp a place where the amount of the sprayed material actually sprayed is small and a place where the amount of the sprayed material is large. Therefore, the appropriate operation plan can be made according to the operation result by grasping the places where the spraying is not needed or adjusting the spraying amount.
The support device 30 for the aircraft 1 further includes a correction unit 31f1, the correction unit 31f1 corrects the deviation of the position of the aircraft 1 acquired by the position information acquisition unit 31a, and the display unit 34 displays the movement trajectory of the aircraft 1 based on the position of the aircraft 1 corrected by the correction unit 31f 1.
According to the above configuration, even when the frequency of acquiring the position information of the aircraft 1 is low, the display unit 34 can smoothly display the movement trajectory of the aircraft 1, and can easily grasp the movement trajectory.
Further, the support device 30 of the aircraft 1 includes an operation information acquisition unit 31j that acquires operation information that enables operation of the operation device 15 of the aircraft 1, and the display unit 34 displays the operation of the operation device 15 based on the operation information acquired by the operation information acquisition unit 31 j.
According to the above configuration, the operation and the actual movement trajectory of the aircraft 1 can be confirmed, and therefore the characteristics of the movement of the aircraft 1 with respect to the operation of the operation device 15 can be grasped. Accordingly, the operator of the aircraft 1 can grasp the operability of the aircraft 1 more appropriately, and thus can improve the operational skill of the aircraft 1 as quickly as possible.
In addition, the support system 80 of the aircraft 1 includes the aircraft 1 and the support device 30 of the aircraft 1.
According to the above configuration, the support system 80 of the aircraft 1 that achieves the excellent effects of the support device 30 of the aircraft 1 described above can be realized.
In addition, the aircraft 1 has: a detection unit 23 that detects at which position the aircraft 1 is located within and outside the field area; and a control section 21 that allows the spray device 10 to spray the spray if the detection section 23 detects that the aircraft 1 is located within the area of the field, and prohibits the spray device 10 from spraying the spray if the detection section detects that the aircraft 1 is located outside the area of the field.
According to the above configuration, the aircraft 1 can be inhibited from spraying the spray outside the field area. It is therefore possible to suppress the spraying device 10 from spraying the sprayed object in the field other than the spraying object. Further, since the sprinkler device 10 can suppress wasteful consumption of the sprinkled material without sprinkling the sprinkled material on the roads around the field, the aircraft 1 can carry out the sprinkling operation with the minimum amount of sprinkled material loaded. In this way, the operating time of the aircraft 1 can be ensured.
[ 2 nd embodiment ]
Fig. 4 shows a further embodiment (embodiment 2) of a support system 80 of the aircraft 1. The support device 30 of the aircraft 1 according to embodiment 1 shows the result of the work (spraying work) performed by the aircraft 1, but the support device 30 of the aircraft 1 according to embodiment 2 can display the movement trajectory and the spraying range (effective spraying width) E in the previous work of the aircraft 1, and can create a work plan for the aircraft 1. The following description will focus on the configuration of the support system 80 for the aircraft 1 according to embodiment 2 that is different from the above-described embodiment (embodiment 1), and the same reference numerals are given to the same configuration as in embodiment 1, and detailed description thereof is omitted.
As shown in fig. 4, the 3 rd control device 41 of the server 40 has an operation plan setting unit 44. The job plan setting unit 44 is constituted by a CPU, a program stored in the 3 rd storage unit 42, and the like. The operation plan setting unit 44 sets, as an operation plan, an operation to be performed in a field, a period of the operation (operation period), the aircraft 1 performing the operation, a movement path of the aircraft 1, and the like. The work plan is a plan of how to perform work in which period (work period) in a predetermined field, that is, a plan for associating "work" performed in the field, "work period" during which work is performed, and "aircraft 1" with the "movement path" of the aircraft 1, and is performed by, for example, an operator, a manager, or the like before the work is actually performed.
The 3 rd storage unit 42 of the server 40 stores default values of the job and the job period as a reference when setting the job plan, and the default values of the job and the job period stored in the 3 rd storage unit 42 are set according to the past job and the like.
Next, the setting of the operation plan by the operation plan setting unit 44 will be described in detail. The setting of the work plan by the work plan setting unit 44 can be performed by operating the support device 30 connected to the server 40 so as to be able to communicate with the server. Specifically, when the support device 30 requests the server 40 to create a work plan, the work plan setting unit 44 of the server 40 operates to display a work plan screen M2 for creating a work plan of a field on the display unit 34, as shown in fig. 5A to 5D.
The screen displayed on the display unit 34 will be described in detail below. As shown in fig. 5A to 5D, the work plan screen M2 displays a portion to which the content of the work plan is input, a field area, and the periphery of the field. Specifically, the job planning screen M2 includes the job input unit 156, the surrounding image 160, and the calling unit 157.
The work input unit 156 can input information such as the date of the work, the field in which the work is performed, the worker who performs the work, and the aircraft 1 which performs the work. The work plan setting unit 44 stores the information input by the work input unit 156 in the 3 rd storage unit 42 as a work plan. As shown in fig. 5A to 5D, the work input unit 156 includes a date input unit 156a, a field input unit 156b, a worker input unit 156c, an aircraft input unit 156D, a route creation unit 156e, and a determination button 156 f. The date input unit 156a is a part for inputting the date on which the work is performed. The field input portion 156b is a portion where a field to be worked is input. The operator input unit 156c is a part for inputting an operator who performs a work. The aircraft input section 156d is a section that inputs the aircraft 1 that performs work. The route creating unit 156e can perform a selection operation, and the route of the aircraft 1 can be drawn on the peripheral image 160 by selecting the route creating unit 156e and operating the same with a fingertip touch and dash display unit 34 or the like. The determination button 156f is a button for determining information input from the date input unit 156a, the field input unit 156b, the operator input unit 156c, the aircraft input unit 156d, and the route creation unit 156e as the operation plan. When the decision button 156f is operated, the work plan setting unit 44 stores the information input to the work input unit 156 in the 3 rd storage unit 42 as a work plan.
The peripheral image 160 is an image showing an area of a field and the periphery of the field. The peripheral image 160 displays the field area and the field periphery in an overhead view, for example. The peripheral image 160 displays the field called by the calling unit 157.
The calling unit 157 can input information on the date of the past work, the field where the work was performed, the operator who performed the work, the aircraft 1 who performed the work, and the like. The job plan setting unit 44 acquires the past job from the 3 rd storage unit 42 based on the information input by the calling unit 157. As shown in fig. 5A to 5D, the calling unit 157 includes a date input unit 157a, a field input unit 157b, an operator input unit 157c, an aircraft input unit 157D, and a search button 157 e. The date input unit 157a is a portion for inputting the date of the past work. The field input unit 157b is a portion to which a field that has been worked in the past is input. The operator input unit 157c is a part for inputting an operator who has performed a previous operation. The aircraft input section 157d is a section to which the aircraft 1 that has been operated in the past is input. The search button 157e is a button for specifying a search for a past operation using information input at the date input unit 157a, the field input unit 157b, the operator input unit 157c, and the aircraft input unit 157 d. When the search button 157e is operated, the display unit 34 displays a list on the job scheduling screen M2 as shown in fig. 5B
A display section 158. In addition, it is not necessary to perform work on the date input unit 157a and the field input unit 157b
The information input by the operator input unit 157c and the aircraft input unit 157d may be at least 1 input of the information input by the calling unit 157.
As shown in fig. 5B, the list display unit 158 displays a list of jobs of the past job acquired by the job plan setting unit 44 from the 3 rd storage unit 42 based on the information input by the calling unit 157. Specifically, for example, the list display unit 158 displays information such as the date of the work, the field in which the work was performed, the operator who performed the work, and the aircraft 1 in which the work was performed, which are acquired by the work plan setting unit 44, as a list. The selection operation can be performed for the past job displayed on the list display unit 158. When one past job is selected from the past jobs displayed on the list display section 158, the display section 34 displays information of the one past job, the movement trajectory of the aircraft 1 in the past job, the height H1 of the aircraft 1, and the spray range (effective spray width) E of the spray on the job plan screen M2, as shown in fig. 5C. Specifically, the job plan screen M2 includes a basic display unit 159, a movement path image 161, and a spray range image 166. The basic display unit 159 displays various information related to the past job. Specifically, for example, the basic display unit 159 displays the start date and time of the past work, the end date and time of the work, the work time, the name of the worker, the model of the aircraft 1, the wind direction and the wind speed of the field, and the like.
As shown in fig. 5C, the movement trajectory image 161 is an image showing the actual movement trajectory of the aircraft 1 in the past work, and is an image based on the trajectory generated by the trajectory generation unit 31 f. In other words, the display unit 34 displays the movement locus of the aircraft 1 based on the position of the aircraft 1 acquired by the position information acquisition unit 31a and the position of the aircraft 1 corrected by the correction unit 31f 1. The display unit 34 displays the movement trajectory image 161 in a different display mode in the field region from the field region. As shown in fig. 5C, the display unit 34 displays the movement trace image 161 inside the field area as a solid line 161b, and displays the movement trace image 161 outside the field area as a broken line 161C. In addition, the display unit 34 displays the movement start point of the aircraft 1 and the final point of the aircraft 1 in the movement trajectory image 161 in a predetermined pattern. In the present embodiment, the display unit 34 displays the movement start point of the aircraft 1 in a substantially circular figure 161a, and displays the final point of the aircraft 1 in a simplified figure 161d of the aircraft 1.
As shown in fig. 5C, the spray range image 166 is an image showing the height H1 of the aircraft 1 and the spray range E calculated by the calculation unit 31 g. The spray range image 166 is displayed in a different manner depending on the height H1 of the aircraft 1. The display unit 34 changes the display density of the spray range image 166 according to the altitude H1 of the aircraft 1. Specifically, the display unit 34 displays the spray range image 166 so that the display density thereof becomes deeper in proportion to the altitude H1 of the aircraft 1. That is, as the height H1 of the aircraft 1 becomes lower, the display section 34 displays the display density of the spray range image 166 to be shallow. On the other hand, as the height H1 of the aircraft 1 becomes higher, the display section 34 displays the display density of the spray range image 166 to be deep. Furthermore, the display section 34 may also display a legend 167 indicating the altitude H1 of the aircraft 1 corresponding to the display density of the spray range image 166.
As shown in fig. 5D, when the wind speed in the field is equal to or higher than a predetermined value (for example, equal to or higher than 1 m/s), the display unit 34 can switch the display of the spray range image 166 by operating the change button 170 so that the spray range E of the spray is displayed in consideration of the wind direction and the wind speed acquired by the wind information acquisition unit 31E. In this case, the spray range image 166 is an image that displays the spray range E calculated based on the wind direction and the wind speed acquired by the wind information acquisition unit 31E in addition to the spray information acquired by the altitude H1 of the aircraft 1 and the spray information acquisition unit 31 b. That is, when the change button 70 is operated, the spray range image 166 switches the display of the spray range E calculated by the calculation unit 31g based on the spray information, the position information, the moving speed of the aircraft 1, the altitude H1, and the like to the spray range E calculated based on the spray information, the position information, the moving speed of the aircraft 1, the altitude H1, and the wind direction and the wind speed acquired by the wind information acquisition unit 31E.
While the present invention has been described above, it should be understood that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is defined not by the above description but by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

Claims (9)

1. An aircraft support device is provided with:
a position information acquisition unit that acquires the position of the aircraft;
a spraying information acquisition unit that acquires information relating to spraying of a spray object by a spraying device provided in the aircraft; and
a display unit for displaying a field area and a field periphery,
wherein the display section displays a movement trajectory of the aircraft based on the position of the aircraft acquired by the position information acquisition section,
the display part displays the spraying range of the sprayed object sprayed by the spraying device based on the information acquired by the spraying information acquisition part.
2. The aircraft support apparatus of claim 1,
an altitude information acquisition unit that acquires information on the altitude of the aircraft,
the display section displays the altitude of the aircraft based on the altitude of the aircraft acquired by the altitude information acquisition section.
3. Support device for an aircraft according to claim 1 or 2,
an altitude information acquisition unit that acquires information on the altitude of the aircraft,
the display section displays the movement locus when the altitude of the aircraft is within a predetermined range, and causes the movement locus when the altitude of the aircraft is outside the predetermined range not to be displayed,
the display section displays the spray range when the altitude of the aircraft is within a predetermined range, and causes the spray range when the altitude of the aircraft is outside the predetermined range not to be displayed.
4. The aircraft support device according to any one of claims 1 to 3, comprising:
a wind information acquisition unit that acquires information including a wind direction and a wind speed of the field; and
a calculation unit that calculates the spraying range based on the information acquired by the spraying information acquisition unit and the wind direction and the wind speed acquired by the wind information acquisition unit,
wherein the display part displays the spraying range calculated by the calculation part.
5. The aircraft support device according to any one of claims 1 to 4,
a mesh setting unit for setting a predetermined mesh in the spray range,
the display unit displays the grids in different display modes for each of the grids set by the grid setting unit according to the amount of the spray material sprayed by the spraying device.
6. The aircraft support device according to any one of claims 1 to 5,
a correction unit that corrects the deviation of the position of the aircraft acquired by the position information acquisition unit,
the display section displays a movement locus of the aircraft based on the position of the aircraft corrected by the correction section.
7. The aircraft support device according to any one of claims 1 to 6,
an operation information acquisition section that acquires operation information of an operation device capable of operating the aircraft,
the display section displays an operation of the operation device based on the operation information acquired by the operation information acquisition section.
8. An aircraft support system comprising:
an aircraft support device according to any one of claims 1 to 7; and
the aircraft is described.
9. The support system for an aircraft according to claim 8,
the aircraft has:
a detection unit that detects which region of the field the aircraft is located in and outside the region of the field; and
a control section that allows the spraying of the spray by the spraying device in a case where the detection section detects that the aircraft is located within the area of the field, and prohibits the spraying of the spray by the spraying device in a case where the detection section detects that the aircraft is located outside the area of the field.
CN201980078407.7A 2018-12-28 2019-11-15 Support device for an aircraft and support system for an aircraft Active CN113163745B (en)

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JP2018248051A JP7163179B2 (en) 2018-12-28 2018-12-28 Aircraft support device and aircraft support system
PCT/JP2019/044908 WO2020137242A1 (en) 2018-12-28 2019-11-15 Aircraft assistance device and aircraft assistance system

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