JP2008068710A - Method and device for managing data on unmanned helicopter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for managing data on an unmanned helicopter capable of efficiently managing data on flying of the unmanned helicopter and spray of a spray agent. <P>SOLUTION: Additional data is inputted to an unmanned helicopter 1 by an input device 2, a mobile terminal device 3, or a remote controller 4. A data collector 22 records flight data and spray data in a memory 25 in association with the additional data. Thereby, a flight trajectory or a spray trajectory can be displayed every item of the additional data, and the additional data associated with the selected flight trajectory or spray trajectory can be displayed, so that a user can easily fetch the data related to the flight of the unmanned helicopter 1 and spray of the spray agent. As a result, flight of the unmanned helicopter 1 and spray of the spray agent can be effectively managed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a data management method related to flight of unmanned helicopters and spraying of medicines.

  Conventionally, unmanned helicopters have been used for spraying spray materials such as drugs and fertilizers (see, for example, Patent Document 1). In this unmanned helicopter, the operator moves the unmanned helicopter within the region to be sprayed by the remote control operation from the ground while confirming the flight state of the aircraft visually or with the signal of the collaborator. Sprinkle the drug. During the flight, flight data such as the flight trajectory of the unmanned helicopter and spray data such as the spray section and the spray amount of the medicine are recorded in a memory by a data collector provided in the unmanned helicopter. After flight, the data recorded in this memory is taken into a personal computer, and the area where the medicine is sprayed can be confirmed by overlaying the area where the medicine is sprayed on the computer screen. , Avoiding overlapping spraying and eliminating unsprayed areas.

JP 2004-322836 A

  However, conventionally, the date and time of spraying, the flight trajectory of the unmanned helicopter, the entire area where the drug was sprayed, etc. can be confirmed, but the operator who operated the unmanned helicopter, the unmanned helicopter sprayed, the drug sprayed, etc. Information related to flight data and scatter data could not be confirmed. For this reason, since such information was recorded on paper by hand, for example, it would be time consuming and may result in errors and forgetting to record, which is more related to flight data and scattered data of unmanned helicopters than before. It has been desired to manage information to be managed more efficiently.

  Accordingly, an object of the present invention is to provide a data management method for an unmanned helicopter that can efficiently manage information related to flight data and scattered data of the unmanned helicopter.

  In order to solve the above-described problems, the unmanned helicopter data management method according to the present invention includes a step of acquiring flight data relating to this flight during the flight of the unmanned helicopter, and a scattering by the unmanned helicopter during the flight of the unmanned helicopter. A step of obtaining scatter data relating to material scatter, a step of receiving input of additional data to be added to at least one of flight data and scatter data, and at least one of the input additional data as flight data and scatter data And a step of recording in association with each other.

  In the data management method for the unmanned helicopter, the step of classifying the flight of the unmanned helicopter based on the additional data associated with at least one of the flight data and the scattering data, and the flight trajectory of the unmanned helicopter based on the flight data You may make it provide with the step which displays on the map of a display screen separately for every. Here, a step of detecting that an arbitrary flight trajectory displayed on the display screen is selected, and when an arbitrary flight trajectory is selected, additional data associated with the flight data corresponding to the flight trajectory is obtained. And a step of displaying.

  Further, in the data management method for the unmanned helicopter, the step of classifying the spraying of the spray agent based on the additional data associated with at least one of the flight data and the spraying data, and the spraying locus of the spraying material based on the spraying data May be further provided with a step of distinguishing for each classification and displaying on the map of the display screen. Here, the step of detecting that an arbitrary scatter locus displayed on the display screen is selected, and when an arbitrary scatter locus is selected, additional data associated with the scatter data corresponding to the scatter locus. You may make it further provide the step which displays.

  Further, in the data management method for the unmanned helicopter, the step of classifying the spraying agent spray area based on the additional data associated with at least one of the flight data and the spraying data, and the spraying of the spraying agent based on the spraying data. The method may further include a step of distinguishing the areas for each classification and displaying them on a map on the display screen. Here, a step of detecting that an arbitrary scatter area displayed on the display screen is selected, and when an arbitrary scatter area is selected, additional data associated with the scatter data corresponding to the scatter area. May be further included. Further, a step of determining whether or not the spraying of the spraying material to the predetermined area is completed by comparing a predetermined area on the map with the spraying area for the predetermined area, and the step of spraying the spraying material by this step. If it is determined that the spraying has been completed, a step of displaying that the spraying of the spraying material on the predetermined region has been completed may be further included.

  The unmanned helicopter data management method may further include a step of generating caution data regarding a predetermined flight operation based on the flight data and a step of displaying the caution data at a corresponding location on the flight trajectory. May be.

  According to the present invention, the additional data related to the flight of the unmanned helicopter and the spraying of the spray material is recorded in association with at least one of the flight data and the spray data. It is not necessary to record the data accompanying the dispersion of the material by handwriting or the like, and it is possible to save time and to prevent an input error or an error. As a result, it is possible to efficiently manage information associated with the flight and dispersion of unmanned helicopters.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Configuration of unmanned helicopter management system]
As shown in FIG. 1, the unmanned helicopter management system according to the present embodiment includes an unmanned helicopter 1, an input device 2, a mobile terminal device 3, a remote controller 4, and a data management device 5.

(Unmanned helicopter)
The unmanned helicopter 1 is a non-autonomous helicopter, that is, a signal from an airframe control transmitter (hereinafter referred to as “remote control”) 4 based on an operation input of an operator, and accordingly opens and closes the throttle valve of the engine, The robot flies by operating various servo motors that change the value, and sprays chemicals, fertilizers and the like based on the operation input. As shown in FIG. 2, the unmanned helicopter 1 includes a flight control device 13 and a GPS control device 14 that are controlled by a control program of the CPU 12 as a controller 11 that controls the entire operation of the unmanned helicopter 1. The controller 11 is connected to a receiver 15, a dispersion control device 16, a servo drive device 17, a rotation sensor 18, an attitude sensor 19, an orientation sensor 20, a GPS (Grobal Positioning System) sensor 21, and a data collector 22. The control program may be stored in a built-in memory of the CPU 12 or a memory device (not shown) provided in the unmanned helicopter 1.

  The CPU 12 performs various calculations according to a control program for each operation of the unmanned helicopter 1 in order to realize the entire operation of the unmanned helicopter 1. The operation of each component of the unmanned helicopter 1 is controlled by the calculation result.

  The flight control device 13 is based on the information input from the rotation sensor 18 and the attitude sensor 19, the calculation result by the GPS control device 14, the information from the receiver 15, etc., and the flight state of the unmanned helicopter 1 according to the control program of the CPU 12. And the control amount of each servo motor for causing the unmanned helicopter 1 to fly stably is calculated.

  The GPS control device 14 is based on information input from the direction sensor 20 or the GPS sensor 21 and the like, according to the control program of the CPU 12, such as the position, speed, acceleration, altitude, and nose direction of the unmanned helicopter 1. Detect information about flight. This detected information is input to the CPU 12.

  The receiver 15 inputs various command signals from the remote controller 4 received by the receiving antenna 23 to the CPU 12. Based on this input signal, the CPU 12 performs a calculation for controlling the operation of the unmanned helicopter 1. The receiver 15 acquires information from the input device 2, the mobile terminal device 3, and the remote controller 4 in addition to the flight command signal from the remote controller 4. These pieces of information may be acquired not only via the receiving antenna 23 but also via, for example, a cable.

  The spraying control device 16 controls the spraying of a spraying material such as a medicine from the spraying device 26 based on an instruction from the controller 11.

  The servo drive device 17 controls the drive of a plurality of servo motors provided in the unmanned helicopter 1 based on instructions from the controller 11. Thereby, the movement of the body of the unmanned helicopter 1 in the front-rear and left-right directions and the up-down direction, the rotation direction, and the throttle drive are realized.

  The rotation sensor 18 detects the rotation speed of the engine of the unmanned helicopter 1. This detected value is input to the controller 11.

  The attitude sensor 19 detects the attitude of the unmanned helicopter 1 by a gyro. This detected value is input to the controller 11.

  The orientation sensor 20 detects the orientation of the unmanned helicopter 1 body. This detected value is input to the controller 11.

  The GPS sensor 21 detects information related to the coordinates (latitude and longitude) of the unmanned helicopter 1 based on a signal from a GPS satellite received by the GPS antenna 24. This detected information is input to the controller 11.

  The data collector 22 is information regarding the flight of the unmanned helicopter 1 during flight (spreading) (hereinafter referred to as “flight data”) and information regarding the spraying of medicines and the like by the unmanned helicopter 1 (hereinafter referred to as “spread data”). Further, data (hereinafter referred to as “integrated data”) in which these data are associated with additional data, which will be described later, is recorded in the memory 25 such as a semiconductor memory. Here, the flight data is data acquired via the controller 11 during the flight of the unmanned helicopter 1, and includes the flight path, flight altitude, GPS control state, control amount of the servo motor and actuator of the unmanned helicopter 1, It consists of values detected by each sensor. Further, the spray data includes a spray area, a spray amount, a control amount of the spray control device 16 and the like as a result of spraying the medicine or the like by the unmanned helicopter 1. Note that the memory 25 may be detachable from the data collector 22.

(Input device)
The input device 2 includes a terminal device such as a PC (Personal Computer), a tablet PC, and a PDA (Personal Digital Assistant), a barcode reader, and the like, and acquires predetermined information from the outside. In the present embodiment, the input device 2 acquires information (hereinafter referred to as “additional data”) regarding the fuselage, operator, sprayed drug, weather, and the like of the unmanned helicopter 1 as the predetermined information. When the input device 2 can read a barcode or the like, the input device 2 acquires the additional data by reading the barcode attached to the medicine or the like. The input device 2 may acquire additional data from a user operation input via an input device such as a keyboard or a touch panel. The acquired additional data is input to the mobile terminal device 3, the remote controller 4, or the unmanned helicopter 1 via an information recording medium, a radio signal, a cable, or the like.

(Mobile terminal device)
The portable terminal device 3 may be a so-called portable information terminal or a mobile PC that can input data on a liquid crystal screen such as a PDA (Personal Digital Assistant) or a tablet PC and shares data with a personal computer. In the present embodiment, the mobile terminal device 3 acquires additional data by a user operation input via the input device 2 or the keyboard or touch panel of the mobile terminal device 3 itself. The acquired additional data is input to the remote controller 4 or the unmanned helicopter 1 via an information recording medium, a radio signal, a cable, or the like.

(Remote controller)
The remote control 4 controls the flight of the unmanned helicopter 1 by detecting the operation input of the operator relating to the driving of the unmanned helicopter 1 and the start or stop of the spraying of the medicine, and transmitting a radio signal based on this operation input to the unmanned helicopter 1. Remote control device. In the present embodiment, the remote controller 4 can transmit the additional data acquired from the input device 2 or the mobile terminal device 3 to the unmanned helicopter 1 by a radio signal.

(Data management device)
The data management device 5 uses the integrated data recorded in the data collector 22 of the unmanned helicopter 1, that is, the flight trajectory of the unmanned helicopter 1, the spraying region of the medicine, etc. The additional data is superimposed on the map on which the unmanned helicopter 1 flew and displayed on the display. As shown in FIG. 3, the data management apparatus 5 includes an I / F unit 51, an input unit 52, a display unit 53, a storage unit 54, and a calculation unit 55.

  The I / F unit 51 acquires integrated data from the unmanned helicopter 1 via the memory 25. The acquired integrated data is output to the calculation unit 55. Further, the integrated data may be output to the storage unit 54.

  The input unit 52 detects an operation input from the user via the input device. Information regarding the detected operation input is output to the calculation unit 55.

  The display unit 53 displays the calculation result by the calculation unit 55 on the display device.

  The storage unit 54 stores various types of information for realizing operations by the data management device 5 such as acquired integrated data and map data.

  The calculation unit 55 is a functional unit that performs various calculations for realizing the operation of the data management device 5. Such a calculation unit 55 includes a trajectory extraction unit 551 that extracts a flight trajectory of the unmanned helicopter 1 based on the flight data, a map extraction unit 552 that extracts map data of a region in which the unmanned helicopter 1 flew, from the storage unit 54, and An additional data reflection unit 553 for associating additional data with the flight trajectory and map data, a spray area calculation unit 554 for calculating the area of the medicine sprayed by the unmanned helicopter 1 based on the flight data and the spray data, and the spray area calculation A spraying end determination unit 555 for determining whether or not the spraying of the medicine on the predetermined region is completed based on the calculation result by the unit 554, and data relating to a specific flight operation based on the flight data (hereinafter referred to as “attention data”). Attention data generation unit 556, locus extraction unit 551, scatter area calculation unit 554, scatter end determination unit 55 And a calculation result by the attention data generation unit 556 from the projection unit 557 Metropolitan to be displayed on the display device by the display unit 53 superimposed on the map data extracted by the map extraction unit 552.

  Such a data management device 5 includes an arithmetic device such as a CPU (Central Processing Unit), a storage device such as a memory and an HDD (Hard Disc Drive), a keyboard, a mouse, a pointing device, a button, a touch panel, a joystick, and a sliding pad. Such as an input device for detecting information input from the outside, the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a telephone line, a communication line such as wireless communication, and a recording medium such as a semiconductor memory Consists of an I / F device that transmits and receives information, a computer having a display device such as an LCD (Liquid Crystal Display), an organic EL (Electoroluminescence), or an FED (Field Emission Display), and a program installed in the computer Is done. In other words, the above hardware resources are controlled by a program through the cooperation of the hardware device and software, and the above-described I / F unit 51, input unit 52, display unit 53, storage unit 54, and calculation unit 55 are realized. Is done. Note that the program may be provided in a state of being recorded on a recording medium such as a flexible disk, a CD-ROM, a DVD-ROM, or a memory card.

[Operation of unmanned helicopter management system]
Next, the operation of the unmanned helicopter management system according to the present embodiment will be described.

(Additional data input)
In the unmanned helicopter management system according to the present embodiment, first, the additional data is input to the unmanned helicopter 1 before the unmanned helicopter 1 sprays the medicine and the like. This additional data means information accompanying the flight of the unmanned helicopter 1 and the spraying of the spray material. The items include, for example, the operator of the unmanned helicopter 1, the collaborator of this operator, and the aircraft name of the unmanned helicopter 1. , The owner of the unmanned helicopter 1, the medicine sprayed by the unmanned helicopter 1, the dilution rate of this medicine, the weather during driving, the crops in the area where the medicine is sprayed, and the like.

  The additional data can be input by the following method. When inputting by the input device 2, it is input to the unmanned helicopter 1 directly or via the mobile terminal device 3 or the mobile terminal device 3 and the remote controller 4. When inputting by the portable terminal device 3, it inputs into the unmanned helicopter 1 directly or via the remote control 4. When inputting with the remote controller 4, it is directly input to the unmanned helicopter 1. Such additional data can be input wirelessly via the receiving antenna 23, via the receiver 15 via a cable or the like, or via the memory 25.

  The additional data input to the unmanned helicopter 1 is recorded in the memory 25 of the data collector 22 via the CPU 12.

(Recording flight data and scattered data)
When the additional data is input, the operator drives the unmanned helicopter 1 by manipulating the remote controller 4 to spray a medicine or the like on a predetermined area. At this time, the data collector 22 records in the memory 25 the flight data and scatter data at that time, and also the integrated data in which these data are associated with the additional data.

  Here, the flight data items collected include flight date and time, flight start time, flight end time, coordinates at each time point, speed at each time point, acceleration at each time point, control amount for each servo motor at each time point, Examples include the engine speed at the time. Such flight data can be acquired from the flight control device 13, the GPS control device 14, and the receiver 15 via the CPU 12.

  In addition, as the items of the scattered data to be collected, a spray start time, a spray end time, a spray amount at each time point, and the like are recorded. Such scatter data can be acquired from the receiver 15 and the scatter controller 16 via the CPU 12.

  It should be noted that the time point at which each item such as speed and acceleration is measured can be freely set, for example, at 1 msec intervals or 1 sec intervals.

  In this way, by recording flight data and scatter data in association with additional data, it is not necessary to manually record it on paper as in the past, saving time and preventing input errors and typographical errors. As a result, it is possible to efficiently manage information associated with the flight of the unmanned helicopter 1 and the spraying of the spray material.

(Display operation)
When spraying of the medicine or the like by the unmanned helicopter 1 is completed, the memory 25 is removed from the unmanned helicopter 1 and the integrated data recorded in the memory 25 is input to the data management device 5. The integrated data may be input from the unmanned helicopter 1 to the data management device 5 via wired or wireless.

  The input integrated data is recorded in the storage unit 54 of the data management device 5. The data management device 5 records integrated data for each flight of the unmanned helicopter 1. For example, as shown in FIG. 4, a record is formed for each flight of the unmanned helicopter 1, and data corresponding to the item is stored in a field provided for each item of the record. Accordingly, in one record, flight data, scatter data, and additional data are stored in corresponding item fields. For example, data that changes with the passage of time, such as the speed and coordinates of the unmanned helicopter 1, is stored in the storage unit 54 in a form associated with the corresponding record in a form different from that record. May be.

  The meaning of each item of the integrated data shown in FIG. 4 is as follows. “Identification number” means a number that identifies each flight of the unmanned helicopter 1. "Date" means the date on which the flight corresponding to this identification number was performed. “Flight start time” means the time at which the flight started. “Flight end time” means the time at which the flight ends. “Airframe name” means a name for identifying the unmanned helicopter 1. “Owner” means the owner of the unmanned helicopter 1. The “operator” means an operator who has operated the unmanned helicopter 1 during the flight. “Sign Man” means a collaborator of the operator. “Crop” means a crop that exists in an area where a medicine is sprayed by the unmanned helicopter 1. “Spreading type” means how many times the unmanned helicopter 1 sprayed the medicine on the area. “Used drug” means the type of drug sprayed by the unmanned helicopter 1. “Dilution rate” means the rate of dilution of this drug. “Amount used” means the amount of the drug sprayed.

  As a result, the integrated data is stored in the storage unit 54 of the data management device 5 for each flight of the unmanned helicopter 1. Therefore, when the unmanned helicopter 1 flies a plurality of times for spraying the spray material, the integrated data is recorded in the storage unit 54 for each flight. In addition, when the spray material is sprayed by a plurality of unmanned helicopters 1, integrated data is recorded in the storage unit 54 for each flight of each unmanned helicopter 1.

  When the integrated data is stored in the storage unit 54, the trajectory extraction unit 551 of the calculation unit 55 displays the flight trajectory and the scattering trajectory of the unmanned helicopter 1 on the display device. Extract a series of coordinates and data of the time at which the medicine etc. was sprayed. In the case where the integrated data of a plurality of flights is stored in the storage unit 54, data of all flights or selected flights may be extracted. Thereby, a plurality of or selected flight trajectories and scattering trajectories can be displayed on the display device.

  When the coordinate data of the unmanned helicopter 1 is extracted, the map extraction unit 552 extracts map data including the coordinates from the storage unit 54. Also in this case, when integrated data of a plurality of flights is stored in the storage unit 54, the map extraction unit 552 extracts map data including those flights.

  When the map data is extracted, the projection unit 557 projects the coordinates extracted by the trajectory extraction unit 551 onto the map data, and draws a flight trajectory on the map data by connecting them with a line. Is displayed on the screen of the display device via the display unit 53. Thereby, on the screen of the display device shown in FIG. 5, the flight trajectory indicated by the symbol b is displayed on the map data indicated by the symbol a.

  At this time, when the flight trajectory displayed on the screen is different in data of predetermined items such as date and time, operator, aircraft, and medicine used, the projection unit 557 determines the flight trajectory from other flight trajectories for each same data. You may make it display separately. In this case, the projection unit 557 classifies the flight trajectory for each of the same data, and displays the flight trajectory with different colors such as yellow, red, and blue, for example. Thereby, for example, the flight trajectory can be displayed for each arbitrary item such as the aircraft, date, operator, or medicine.

  In addition, the projection unit 557 displays a spray locus that means a spot where the medicine or the like is sprayed on the flight track. For example, as shown by reference sign c in FIG. 5, a thick-line scattered locus may be displayed on the flight locus. This can be done by detecting the coordinates of the unmanned helicopter 1 corresponding to the time at which the extracted medicine or the like is sprayed, and displaying this location with a bold line. Thereby, the user can easily confirm in which part the agricultural chemical is sprayed.

  At this time, when the data of the predetermined items such as date and time, operator, machine, and medicine used for the spraying trajectory displayed on the screen are different, the projection unit 557 separates the spraying trajectory from other spraying trajectories for each same data. You may make it display separately. For example, as shown in FIG. 5, when the data of any item such as the scatter trajectories indicated by symbols c, d, and e are different, the projection unit 557 classifies the scatter trajectories for the same data. , Each color is displayed separately from yellow, red, blue, etc. Thereby, for example, a spray locus can be displayed for each arbitrary item such as a machine body, a date, an operator, or a medicine. Therefore, the user can display a distribution locus for each desired item such as a distribution locus for each operator. As a result, the operator who sprayed each area, the drug sprayed in each area, the date when sprayed in each area, etc. can be easily confirmed, so the information accompanying the flight and spraying of the unmanned helicopter 1 Can be managed more efficiently.

  Further, the scattering trajectory and the flight trajectory may be selectively displayed. For example, as shown in FIG. 5, when a check box indicating the relationship between each condition displayed on the screen and the color is provided in the dialog box indicated by reference numeral f, an arbitrary value can be set by a cursor or the like as shown in FIG. When the check box is selected (in the case of FIG. 6, the blue scatter locus is selected), the projection unit 557 displays only the scatter locus and the flight locus corresponding to the selected check box (indicated by symbol d in the case of FIG. 6). (Only the blue scatter locus) is displayed on the screen. Thereby, since the user can select the distribution locus to be displayed for each condition, the flight locus, the distribution locus, etc. of the unmanned helicopter 1 under the selected conditions can be more easily confirmed.

  Further, additional data may be associated with the flight trajectory and the scattering trajectory displayed on the map data. This is performed by the additional data reflecting unit 553 associating the positions of the flight trajectory and the scattering trajectory on the map data with the additional data corresponding to the trajectory stored in the storage unit 54. The associated additional data may be displayed on the screen of the display device. For example, as shown in FIG. 5, when the input unit 52 detects that the user has operated the input device to move the cursor (symbol g) on the display screen and selected any flight trajectory or scattering trajectory, The unit 557 causes the additional data associated with the flight trajectory or the scattering trajectory to be pop-up displayed on the display screen as indicated by reference numeral g. Thereby, the user can confirm the additional data corresponding to the selected flight trajectory or scatter trajectory simply by moving the cursor.

  In FIG. 5, as additional data, data of items such as “date and time”, “weather”, “machine number”, “operator”, “medicine to be used” are displayed. It is not limited to this, and can be set as appropriate according to the use of the data management device 5 and the like.

  As described above, according to the present embodiment, by recording the flight data and the scatter data in association with the additional data, the flight trajectory and the scatter trajectory are displayed for each item of the additional data, or the selected flight trajectory and Since it is possible to display additional data corresponding to the spraying trajectory, the user can easily acquire data associated with the flight of the unmanned helicopter 1 and spraying of the spraying agent. The flight of the helicopter 1 and the spraying of the spray agent can be efficiently managed.

  The unmanned helicopter data management device according to the present embodiment can display not only the additional data but also the scatter area and the attention data on the screen of the display device. Each will be described below.

(Spray area display)
For example, the area of a region in which medicine or the like is dispersed (hereinafter referred to as a “dispersed region”) may be displayed. In this case, when a flight trajectory or a scattering trajectory for which the area of the scattering area is to be calculated is selected with a cursor or the like, the scattering area calculation unit 554 calculates the area of the scattering area based on those trajectories. The falling dispersion area of the medicine, that is, the width of the medicine to be sprayed can be estimated from the spraying direction of the medicine from the spraying device 26 and the altitude of the unmanned helicopter 1. Therefore, the spray area calculation unit 554 calculates the area of the spray area based on the spray trajectory and the width.

  When the area is calculated, the projection unit 557 displays the scattering region on the screen together with the flight locus and the scattering locus as shown in FIG. At this time, as in the case of the spray locus, when the data of predetermined items such as date and time, operator, machine, and medicine used is different, the projection unit 557 displays the spray area separately from the other spray areas for the same data. You may do it. For example, as shown in FIG. 7, when the scatter areas indicated by symbols i, j, and k have different data in arbitrary items, the projection unit 557 classifies the scatter areas for the same data, and each of yellow, Red and blue are distinguished from the color of the area. Thereby, the user can easily identify the scattered areas having different data. Note that the condition, that is, the item for changing the color for each same data, can be set as appropriate.

  When the scatter area is displayed, the projection unit 557 may not display the flight path and the scatter path on the display device. For example, as shown in FIG. 8, only the scattering areas that are color-coded for the same data may be displayed. At this time, as in the case of the scatter locus and the flight locus, the scatter region and the additional data may be associated with each other. For example, as shown in FIG. 8, the user operates the input device to move the cursor (symbol 1) on the display screen, and inputs that one of the spraying areas is selected (splashing area of j in FIG. 8). When the unit 52 detects, the projection unit 557 causes the additional data associated with the scattering region to be pop-up displayed on the display screen as indicated by a symbol m. Thereby, the user can confirm the additional data corresponding to the selected scatter area only by moving the cursor. In addition, you may make it display the area of a distribution area | region with additional data. As this area, the value calculated by the scatter area calculation unit 554 is displayed. Thereby, the area of each spreading | diffusion area | region can be grasped | ascertained easily.

  In addition, when the area of the spraying area is calculated, the spraying end determination unit 556 compares the area of the field such as the field or rice field where the spraying has been performed with the area of the spraying area, and whether the spraying for that part has been completed. Judge whether or not. The spraying end determination unit 556 determines that spraying has ended when the spraying area is equal to or greater than a predetermined ratio of the area of the section, such as 80%. For the section determined to have been sprayed, the projection unit 557 causes the projection unit 557 to display that the spraying has ended, for example, by painting the entire section with a predetermined color. For example, in the case of FIG. 9, since the section indicated by the symbol n is determined to have been spread, the entire section is painted with a predetermined color. On the other hand, since the section indicated by the symbol o is not determined to have been sprayed, the section is not filled. By doing in this way, the user can identify easily the division which spread | dispersed.

  At this time, the colors for filling the sections may be filled with the same color for each same data in a predetermined item. Thereby, the user can more easily identify a section having the same data in a predetermined item.

  Further, as in the case of the scatter locus and the flight locus, the scatter area may be selectively displayed. For example, as shown in FIG. 10, when a check box indicating the relationship between each condition displayed on the screen and the color is provided in the dialog box indicated by the symbol f, any cursor can be used as shown in FIG. When the check box is selected (in the case of FIG. 10, the blue scatter locus is selected), the projection unit 557 performs only the scatter area corresponding to the selected check box (in the case of FIG. 10, the blue scatter indicated by the symbol p). (Trajectory only) is displayed on the screen. Thereby, since the user can select the scatter area | region displayed for every condition, he can confirm the scatter area | region in the selected conditions more easily.

  As described above, according to the present embodiment, by calculating the area of the scatter area, the desired scatter area or the area of the scatter area can be displayed, or the scatter areas with different data can be distinguished and displayed in a predetermined item. It is possible to determine whether or not the spraying has been completed, and to display the sections for which the spraying has been completed separately from the sections for which the spraying has not been completed. Data accompanying spraying of the spraying agent can be easily obtained. As a result, it is possible to efficiently manage the flight of the unmanned helicopter 1 and the spraying of the spray agent.

  Thereby, for example, when paying the reward of the worker or work group in the area unit of the scatter area, conventionally, which worker scatters for what area, it was recorded by handwriting, etc. It was difficult to calculate the reward accurately. However, in the present embodiment, since the area of the spray area and the spray area for each worker or work group can be easily grasped, it is possible to easily calculate the reward.

(Precaution data display)
Further, for example, attention data for calling attention to the operation of the operator of the unmanned helicopter 1 may be displayed. In this case, for example, if the attention data generation unit 556 detects from the flight data that the unmanned helicopter 1 flew at a predetermined speed or a predetermined altitude or more, the attention data generation unit 556 generates attention data, and this is the location where the attention data is detected. Corresponds to the coordinates.

  When the attention data is generated, the projection unit 557 displays the attention data on the screen together with the flight trajectory, for example, by displaying a portion corresponding to the attention data with a thick line or the like. Here, when a plurality of attention data is generated, the attention data may be displayed separately from other attention data by type. For example, in the case of FIG. 11, on the flight trajectory q, a portion that flew at a speed of 30 [km / h] or more is indicated by a bold line with a symbol r, and a portion that flew at an altitude of 30 [m] or more is indicated by a bold line with a symbol s. Yes. Thereby, the user can easily identify different attention data.

  Further, as shown in FIG. 11, the user operates the input device to move the cursor (symbol t) on the display screen and selects any caution data (scattering region denoted by r in FIG. 11). When the input unit 52 detects, the projection unit 557 pops up the content of the caution data on the display screen as indicated by a symbol u. Thereby, the user can confirm the additional data corresponding to the selected scatter area only by moving the cursor.

  As described above, according to the present embodiment, by generating the caution data regarding the predetermined flight state of the unmanned helicopter 1 and displaying the caution data, the operator can operate after the flight of the unmanned helicopter 1 or after spraying the spray agent. You can easily check the maneuvering content. Thereby, even if it does not accompany the flight of the unmanned helicopter 1, it becomes possible to confirm the operation content of the operator or to objectively evaluate the operation. Further, since the operator can be alerted or instructed based on the generated attention data, the operator's maneuvering technique for the unmanned helicopter 1 can be improved.

  The present invention can be applied to an apparatus capable of remote operation such as an unmanned helicopter.

It is a figure which shows typically the structure of the management system of the unmanned helicopter of this invention. It is a block diagram which shows the structure of an unmanned helicopter. It is a block diagram which shows the structure of a data management apparatus. It is a schematic diagram which shows the structure of integrated data. It is a figure which shows an example of a display screen when a flight locus, a distribution locus, and additional data are displayed. It is a figure which shows an example of the display screen when selecting arbitrary distribution locus | trajectories. It is a figure which shows an example of the display screen when a dispersion | spreading area | region is displayed. It is a figure which shows an example of the display screen when only a spreading | diffusion area | region is displayed. It is a figure which shows an example of a display screen when only the spreading | diffusion area | region which spread | dispersed was displayed. It is a figure which shows an example of the display screen when selecting arbitrary spreading | diffusion area | regions. It is a figure which shows an example of the display screen when displaying attention data.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Unmanned helicopter, 2 ... Input device, 3 ... Portable terminal device, 4 ... Remote control, 5 ... Data management device, 11 ... Controller, 12 ... CPU, 13 ... Flight control device, 14 ... GPS control device, 15 ... Receiver , 16 ... Scattering control device, 17 ... Servo drive device, 18 ... Rotation sensor, 19 ... Attitude sensor, 20 ... Direction sensor, 21 ... GPS sensor, 22 ... Data collector, 23 ... Receiving antenna, 24 ... GPS antenna, 25 ... Memory, 26 ... Scattering device, 51 ... I / F section, 52 ... Input section, 53 ... Display section, 54 ... Storage section, 55 ... Calculation section, 551 ... Trajectory extraction section, 552 ... Map extraction section, 553 ... Additional data Reflection unit, 554... Scattering area calculation unit, 555... Scattering end determination unit, 556... Caution data generation unit, 557.

Claims (9)

Obtaining flight data about this flight during the flight of an unmanned helicopter;
Obtaining scatter data relating to the application of spray material by the unmanned helicopter during the flight of the unmanned helicopter;
Receiving input of additional data to be added to at least one of the flight data and the scattered data;
And recording the input additional data in association with at least one of the flight data and the scatter data. A data management method for an unmanned helicopter, comprising: Classifying a flight of the unmanned helicopter based on the additional data associated with at least one of the flight data and the scatter data;
The unmanned helicopter data management method according to claim 1, further comprising the step of distinguishing the flight trajectory of the unmanned helicopter based on the flight data for each classification and displaying it on a map on a display screen. Detecting an arbitrary flight trajectory displayed on the display screen; and
3. The unmanned helicopter data management method according to claim 2, further comprising a step of displaying the additional data associated with the flight data corresponding to the flight trajectory when an arbitrary flight trajectory is selected. . Classifying the spray of the spray agent based on the additional data associated with at least one of the flight data and the spray data;
The unmanned helicopter according to any one of claims 1 to 3, further comprising: a step of distinguishing the distribution trajectory of the spray material based on the distribution data for each classification and displaying it on a map of a display screen. Data management method. Detecting that an arbitrary scattering locus displayed on the display screen is selected;
The unmanned helicopter data management method according to claim 4, further comprising the step of displaying the additional data associated with the scatter data corresponding to the scatter locus when an arbitrary scatter locus is selected. Classifying the spray area of the spray agent based on the additional data associated with at least one of the flight data and the spray data;
The unmanned helicopter according to any one of claims 1 to 5, further comprising a step of distinguishing the spraying area of the spraying agent based on the spraying data for each classification and displaying it on a map of a display screen. Data management method. Detecting that an arbitrary spraying area displayed on the display screen is selected;
The unmanned helicopter data management method according to claim 6, further comprising the step of displaying the additional data associated with the scatter data corresponding to the scatter area when an arbitrary scatter area is selected. . Determining whether or not the spraying of the spraying material to the predetermined area is completed by comparing the predetermined area on the map and the spraying area for the predetermined area;
The step of displaying, when it is determined that the spraying of the spraying material is finished by this step, shows that the spraying of the spraying material to the predetermined region is finished. 8. An unmanned helicopter data management method according to 7. Generating attention data regarding a predetermined flight operation based on the flight data;
The unmanned helicopter data management method according to claim 2, further comprising: displaying the caution data at a corresponding location on the flight trajectory.

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