JP2018127076A - Aerial spray machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an aerial spray machine capable of securing a spray accuracy of a field by suppressing influence of wind.SOLUTION: An aerial spray machine includes a GPS sensor 4 detecting an airplane body position, a wind speed detection device 5 detecting a field wind speed, and a control part for performing flight spray control of a prescribed spray area in a height adjustable manner, in an airplane body 2 including a storage part 3a of a spray member and a spray mechanism 3b. The control part can secure spray efficiency while suppressing influence of wind to the minimum by performing flight spray control in a low place section having a height equal to or less than a specified value when a detection wind speed by the wind speed detection device 5 is in a high wind speed section of equal to or more than a specified value, and by performing flight spray control in a high place section having the other height when the detection wind speed is in the other low wind speed section.SELECTED DRAWING: Figure 1

Description

  TECHNICAL FIELD The present invention relates to an aerial spreader that mounts a housing part for a dispersion member such as medicinal fertilizer and a dispersion mechanism and spreads medicinal fertilizer on a field by air flight.

  Some work vehicles such as a seedling transplanter used for planting seedlings in the field are equipped with a fertilizer spraying device that spreads the fertilizer on the field, and the fertilizer is spread more efficiently in the field. In order to do this, as described in Patent Document 1, there is one that is operated by an operator and sprays fertilizer from the air.

Japanese Patent Laid-Open No. 2006-144990

  However, when spraying from the air, it is necessary to consider the weather, and it is particularly affected by the wind. There was a problem that complicated adjustment was required.

  In addition, when the farm is large, a large amount of fertilizer is loaded on the aerial spraying device, which consumes a lot of power. was there.

  An object of the present invention is to provide an aerial spreader capable of ensuring the spraying accuracy of a field while suppressing the influence of wind. Further, the spraying operation is interrupted due to power consumption, while ensuring the spraying accuracy and smoothly. The object is to provide an aerial spreader that enables resumption of work.

  According to the first aspect of the present invention, there is provided an aerial spreader provided with an accommodating portion (3a) for a scattering member and a scattering mechanism (3b) in an airplane body (2), a GPS sensor (4) for detecting a body position, and a field wind speed. A wind speed detecting device (5) for detecting the air flow, and a control unit (C) for controlling the flight spraying of the predetermined spraying region so that the altitude can be adjusted. The control unit (C) is detected by the wind speed detecting device (5). If the wind speed is higher than the specified value in the high wind speed category, the altitude is lower than the specified value, and if the detected wind speed is in the other low wind speed categories, the altitude is controlled in the other high location. Features.

  The invention according to claim 2 is the invention according to claim 1, wherein the control unit (C) sprays at a predetermined altitude of the spray area at an altitude of the low section and excludes the peripheral part. In the inner peripheral part of the spray area, spraying is performed at the altitude of the high section, and when the detected wind speed is the high wind speed section, the spraying of the peripheral part is offset to the inner peripheral side. .

  The invention according to claim 3 is configured such that in the invention according to claim 1 or claim 2, the spraying range can be adjusted by controlling the spraying opening degree of the spraying mechanism (3b), and the control unit (C) When the detected wind speed is in the high wind speed section, the spray opening is narrowed, in the low wind speed section, the spray opening is widened, and when the aircraft altitude is in the low section, the spray opening is narrowed, and in the high section The spraying opening is widened.

  The invention according to claim 4 is the invention according to any one of claims 1 to 3, further comprising a charge amount detection device (6a) for detecting a charge amount of a storage battery which is a power supply unit (6) of the aerial application device. And the control unit (C) calculates a return distance to a predetermined charging position and a flightable distance based on the amount of charge, and the spraying operation is interrupted when the return distance is within the range of the flightable distance. It is characterized by feedback control to the charging position.

  The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the control unit (C) records work progress information from the start of spraying of the spray mechanism (3b), and When the operation of the spray mechanism (3b) is interrupted, the work progress information and the interrupt position information are stored, and when the work is resumed, spray control is performed from the interrupt position based on the information.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the control unit (C) includes a communication unit that communicates information with an aerial sprayer for takeover, and the aerial sprayer. The simultaneous operation of the same spraying area by the machine is regulated, the work progress information from the start of spraying of the spraying mechanism (3b) is recorded, and when the operation of the spraying mechanism (3b) is interrupted, the work progress information and the interrupt Position information is transmitted via the communication unit, and at the time of taking over the work of the take-up aerial spreader, spray control can be started from the interruption position based on the information.

  In the invention according to claim 1, the control unit (C) performs flight spraying control over a predetermined spraying area based on the position of the aircraft body received from the GPS sensor (4). Because the flying spraying control is performed at the altitude of the site section, the fertilizer and other spraying members are not blown far away by the wind, and an accurate amount is sprayed on the field. Since the spraying control is performed at the altitude of the division, the spraying efficiency is ensured, so that the non-spraying region can be prevented and the spraying accuracy can be secured.

  In the invention according to claim 2, in addition to the effect of the invention according to claim 1, when the detected wind speed is a high wind speed section, there is a possibility that it will not be sprayed in the spray area, or there is a risk that fertilizer will be sprayed in other adjacent fields. Therefore, the fertilizer can be sprayed at least on the inner periphery of the spraying region by offsetting toward the inner periphery. In addition, by spreading the fertilizer to the spray area more reliably and accurately at the periphery of the spray area at the periphery of the spray area, the altitude of the high section can be applied to the inner periphery of the spray area. Since it can be spread over a wide range, the spraying efficiency can be improved.

  In addition to the effect of the invention according to claim 1 or claim 2, the invention according to claim 3 diffuses by narrowing the spray opening when the wind speed is a high wind speed section or when the altitude is a high section. Is prevented and the spraying efficiency can be improved.

  In addition to the effect of the invention according to any one of claims 1 to 3, the invention according to claim 4 can return to the charging position, and subsequent flight spraying can be performed by recharging.

  In addition to the effect of the invention according to any one of claims 1 to 4, the invention according to claim 5 is stored at the time of interruption without requiring time to redo the program etc. at the start of work after the work is interrupted for some reason. Based on the information, work can be resumed in a short time.

  In the invention according to claim 6, in addition to the effect of the invention according to any one of claims 1 to 5, when the work is interrupted for some reason, the work progress information and the interruption position information are taken over via the communication unit. Can be taken over from the interrupted position based on the received information, minimizing the loss of spraying work, and multiple applications in the same spraying area. Safety is improved by regulating the work of the aerial spreader.

Front view (a), longitudinal section (b), and bottom view (c) of the aerial spreader Flow chart of spray area correction control Flow chart of flight scattering control by region Flow chart of flight dispersion control for wind speed Flow chart of flight dispersion control for wind direction and wind speed 1 Flow chart of flight dispersion control for wind direction and wind speed 2 Flow chart of flight dispersion control for multiple aerial spreaders Feedback control flowchart Flow chart of flight dispersion control for power consumption control

  Embodiments of the invention specifically configured based on the above technical idea will be described below in detail with reference to the drawings. In the description, the front and rear and the left and right are referred to based on the front direction of the aircraft.

(Airframe configuration)
The aerial spreader 1 has a front view (a), a longitudinal sectional view (b) and a bottom view (c) as shown in FIG. The storage unit 3a and the spray mechanism 3b are provided so as to be able to fly and scatter, and further, the GPS sensor 4 that detects the position of the aircraft, the wind speed detection device 5 for the field wind speed, and the predetermined spray area fly at a predetermined altitude. In addition, a control unit C (not shown) that controls the spray amount and spray opening of the spray mechanism 3b is provided.

(Spray area correction control)
The flight spraying control of the aerial spreader 1 by the control unit C will be described in detail. Automatic spraying after correcting the spraying area in consideration of the wind direction and wind speed with respect to predetermined field shape data (and data obtained by correcting it). Apply.

That is, as shown in FIG. 2 in the flowchart of the spray area correction control, the first processing step (hereinafter abbreviated as “S1”) is used to set this field shape data (boundary line data). For the spray area, the wind direction and the wind speed are detected (S2), and the high or low wind speed classification to which the detected wind speed belongs (S2a)
), In the case of a high wind speed classification equal to or higher than a specified value, the border line is offset by 150 mm to the inside of the field at the periphery where the adjacent field is close (for example, 600 mm or less) in the leeward direction, and the spraying area is corrected.

(Spreading control by area)
Also, the spraying area is divided into a peripheral part and an inner peripheral part, and if the flight position is the peripheral part of the spraying area, the amount of spraying is reduced by low-flying, and if the flight position is the inner peripheral part of the spraying area, a high place By spraying a large amount from the above, it is possible to efficiently spray and to secure spraying accuracy by avoiding spraying to non-spreading areas.

  That is, as shown in FIG. 3, the region-by-region flight distribution control flowchart is divided into a peripheral area (for example, within 600 mm from the boundary) and an inner peripheral part of the distribution area excluding the peripheral area. If it is not the peripheral part, it is sprayed at an altitude of 3000 mm from the surface of the field (S3a), and if it is the peripheral part, the spraying opening of the spraying port is narrowed at an altitude of 1500 mm from the field surface. Spray (S3b).

  The above-mentioned spraying work is carried out by separating the peripheral part and inner peripheral part of the spraying area into separate processes, so that the peripheral part of the aerial spreader with the spray opening degree narrowed by low flight and the inner peripheral part by high flight Depending on the aerial spreader to spread, multiple units can work by region.

(Wind speed control)
Next, as shown in FIG. 4 which is a flow chart of the flight scattering control corresponding to the wind speed, the determination of the high or low wind speed classification to which the detected wind speed belongs (S4).
), In the case of high wind speed classification above a specified value (for example, 1 m / s or more), the spray opening of the spray port is narrowed and sprayed at a low position of 1500 mm from the surface of the field (S4a). In the case of the low wind speed classification, it is sprayed at a height of 3000 mm from the field surface (S4b).

In this way, when the wind speed is higher than the specified value in the high wind speed section, the spray opening is reduced and sprayed in low altitude flight, and in the low wind speed section, it is not sprayed by spraying a large amount from the high place. While avoiding spraying to the area, it is possible to ensure spraying accuracy and secure spraying efficiency.
In addition, in order to correspond to the altitude classification, it is possible to apply spray control that reduces the spray amount when the aerial spreader is spraying at a low place below the specified value and increases the spray amount when spraying at a high place. it can.

(Regional wind direction control)
Next, as shown in FIG. 5, the flow direction control of the wind direction and wind speed corresponding to the wind direction and the wind altitude according to the spray area and the wind direction and wind speed, as shown in FIG. The wind direction information is averaged to calculate the virtual wind direction (S5a), and by spreading from the windward position to the leeward in the spraying area (S5b), the spraying efficiency is ensured and the spraying to the non-spraying area is performed. Avoiding this can ensure the accuracy of spraying.

  In addition, according to the determination of the high and low wind speed classification to which the detected wind speed belongs (S5c), in the case of the high wind speed classification, the spraying area is divided into the peripheral part and the inner peripheral part (S5d), and the spraying time is minimized at the inner peripheral part. Change the flight altitude and spraying opening, for example, spray the inner circumference at a height of 3000 mm from the field surface (S5f). By spraying with the spraying opening being reduced (S5e), spraying in the non-spraying region can be avoided while securing spraying efficiency.

  In addition, for the high altitude spread (s5f) in the inner periphery of the spray area, the spray height, the spray coordinates, and so on are minimized according to the wind speed and the length of the spray area in the leeward direction. By changing the spray opening, the spray efficiency can be improved.

(Spreading by altitude)
In this case, as shown in FIG. 6 which is a flowchart of the flight direction control corresponding to the wind direction and wind speed 2, the altitude and the spread opening degree are fixed by setting the two altitude-specific spray controls (S5e, S5f) as separate processes. Troubles due to switching can be reduced, and when multiple aerial sprayers are assigned according to spraying altitude, in the case of low-level flight spraying (S5e) where the spraying opening is narrowed (S5e), from the leeward side at the lowest altitude Scatter.

(Multiple machines sprayed)
In addition, when spraying at different altitudes with a plurality of aerial spreaders, as shown in the flow chart of the flight spraying control of the plurality of aerial spreaders, as shown in FIG. Priority is given to spraying the aircraft (S6a), spraying from the windward to the leeward (S6b), and if the distance from the windward is the same, control that prioritizes spraying on the high altitude side and windward side is configured. .
In this way, by giving priority to the altitude and windward spreading, it is possible to prevent a situation where the low level aerial spreader enters the lower part of the high area.

(Return control)
Next, feedback control to the charging port for recharging will be described. As shown in the flowchart of feedback control in FIG. 8, the predetermined charging port is set to the stop position (S7b), and the stop position is determined based on the body position information. (S7a to S7e) and the flightable distance calculated from the charge amount, that is, the flightable distance Drmd calculated based on the elapsed information of the charge amount W and the consumption current ΔI is calculated ( In S7f), the operation is continued in a range where the flightable distance Drmd exceeds the return distance Dport (S7g).

  In the above work, when the flightable distance Drmd becomes equal to or less than the return distance Dport (S7g), the work is interrupted, the interrupted position is memorized, headed to the stop position, and stopped at the stop position (S7h), It is possible to return to the charging port and shift to recharging before the charging is insufficient.

In the above, the body position information is sensing from the GPS sensor 4 or data (x1, y1, z1) interpolated with reference to the sensing data, and the return distance to a predetermined stop position (x2, y2, z2) Dport is
((X2, x1) ^ 2 + (y2, y1) ^ 2 + (z2, z1) ^ 2) ^ (1/3)
It is calculated by the following formula.

  The amount of charge W, which is the remaining battery level, is sensed by an impedance-type battery fuel gauge IC, the current consumption ΔI is the battery consumption amount per unit time / the distance traveled within the unit time, and the current consumption ΔI is ΔW (Dt) / ΔD (dt) and the possible flight distance Drmd are calculated by W / ΔI.

In this case, by calculating the battery consumption from the most recent (working) data and determining the remaining flight distance, it is possible to avoid a large error when the current consumption data is a known value.
Also, if the sampling time is too short, the variation becomes large, so the average value from the start of flight is used for the current consumption data.

  In addition, in the feedback determination process (S7g), by applying a safety factor of 2 and making the flightable distance Drmd less than or equal to twice the return distance Dport, reliable return to the charging port and stabilization of the posture at the time of stopping The power required for the takeover process can be secured, and the work can be continued by taking over to the spare machine.

  Also, when the work is interrupted by the return judgment process (S7g), if the management machine (mother ship) or spare machine can be used simultaneously as the takeover machine, the work interruption position, work record, and work instruction are transmitted to the takeover machine. Thus, the takeover machine can take over and continue work by returning.

(Power consumption suppression processing)
Further, in a system that does not require GPS reception, the work trajectory on the work program is a case where the remaining battery level falls below 20% of the discharge capacity as shown in FIG. , S8b), the power consumption required for GPS reception within the range of 10% of the limit area that can be linearly replaced on the battery characteristics by performing calculation processing (S8c) derived from position information by the GPS sensor 4 It is possible to work efficiently while suppressing this.

(Work resume processing)
The returned stop position is used as a charger, and charging can be secured as a wireless system with dust and water resistance.

  After recharging the battery at the stop position, the remaining work of the interrupted work program is automatically resumed, and when handing over work information to another machine by passing work information, the work program is not started. Aircraft collisions and heavy spraying can be avoided.

(Key points in configuration)
The main points of the configuration of the aerial spreader are as follows.
The aerial spreader 1 includes a GPS sensor 4 that detects the position of the airframe, a wind speed detection device 5 that detects the field wind speed, and a control unit C that controls the flight distribution of a predetermined spraying area in a highly adjustable manner. C is the low section where the altitude is below the specified value when the wind speed detected by the wind speed detection device 5 is higher than the specified value, and the altitude is other high places when the detected wind speed is other low speed sections. By performing flight spraying control in sections, the control unit C performs flight spraying control over a predetermined spraying area. At this time, if the detected wind speed is in the high wind speed section, the flight spray control is performed at the altitude of the low section. In the case that the spraying member is not blown far away by the wind, the exact amount is sprayed on the field, and when the detected wind speed is in the low wind speed section, the flight spray control is performed at the altitude of the high section, so the spray efficiency Non-spreading territory It is possible to prevent the occurrence ensuring the spraying accuracy.

  The control unit C sprays at the altitude of the low section at a predetermined peripheral edge of the spray area, and sprays at the altitude of the high section at the inner periphery of the spray area excluding the peripheral edge, and the detected wind speed is high. In the case of a division, by offsetting the spreading of the peripheral part to the inner circumference side, if the detected wind speed is a high wind speed division, there is a risk that it will not be spread in the spreading area, or fertilizer may be spread in other adjacent fields Therefore, the fertilizer can be sprayed at least on the inner periphery of the spray area by offsetting toward the inner periphery. In addition, by spreading the fertilizer to the spray area more reliably and accurately at the periphery of the spray area at the periphery of the spray area, the altitude of the high section can be applied to the inner periphery of the spray area. Since it can be spread over a wide range, the spraying efficiency can be improved.

  The spraying mechanism 3b is configured to be able to adjust the spraying range by controlling the spraying opening, and the control unit C reduces the spraying opening when the detected wind speed is the high wind speed section, widens the spraying opening when the low wind speed section, By narrowing the spray opening in the low altitude section and widening the spray opening in the high section, the spray opening can be narrowed when the wind speed is high or the altitude is high. Thus, diffusion is prevented and the spraying efficiency can be improved.

  A charge amount detection device 6a for detecting the charge amount of the power supply unit 6 of the aerial spray device is provided, and the control unit C calculates the return distance to the predetermined charging position and the flightable distance based on the charge amount. By stopping the spraying work within the range of possible distance and returning to the charging position, it is possible to return to the charging position with the charge amount. If a crash occurs, it is possible to avoid a situation where it takes time to resume work due to equipment damage or the like, and it is possible to prepare for work restart by recharging.

  The control unit C records work progress information from the start of spraying of the spraying mechanism 3b, stores the work progress information and the interrupt position information when the operation of the spraying mechanism 3b is interrupted, and based on the information when the work is resumed. By controlling the spraying from the interruption position, it is possible to reduce the time for resuming work based on the information saved at the time of interruption without requiring time to redo the program etc. at the start of work after the work is interrupted for some reason. .

  The control unit C includes a communication unit that communicates information with the aerial spreader for takeover, regulates simultaneous work in the same spraying area by the air spreader, and records work progress information from the spraying start of the spraying mechanism 3b. When the operation of the spraying mechanism 3b is interrupted, work progress information and interrupt position information are transmitted via the communication unit, and when taking over the work of the aerial spreader for takeover, the spray control is performed from the interrupt position based on the information. By making it possible to start, when work is interrupted for some reason, work progress information and interruption position information are transmitted to the takeover aerial spreader via the communication unit, so it is interrupted based on the received information It is possible to take over the work from the position, minimize the loss of spraying work, and improve the safety by regulating the work of multiple aerial spreaders in the same spraying area

1 Air spreader 2 Aircraft body 3a Containment part (tank)
3b Spreading mechanism 4 GPS sensor 5 Wind speed detection device 6 Power supply (storage battery)
6a Charge amount detection device C control unit

Claims (6)

In an aerial spreader equipped with a container part (3a) and a dispersion mechanism (3b) for an airplane member (2),
This control unit includes a GPS sensor (4) for detecting the position of the aircraft, a wind speed detection device (5) for detecting the field wind speed, and a control unit (C) for controlling flight spraying so that a predetermined spraying area can be adjusted in altitude. (C) When the wind speed detected by the wind speed detection device (5) is a high wind speed category where the wind speed is higher than a specified value, the altitude is lower than the specified value, and when the detected wind speed is another low wind speed category An aerial sprayer characterized by flight control at altitude and other heights.   The control unit (C) sprays at the altitude of the low section at a predetermined peripheral portion of the spray area, and at the altitude of the high section at the inner periphery of the spray area excluding the peripheral section. 2. The aerial sprayer according to claim 1, wherein when the detected wind speed is in the high wind speed section, the spraying of the peripheral edge is offset toward the inner peripheral side.   The spraying range can be adjusted by controlling the spraying opening of the spraying mechanism (3b), and the control unit (C) restricts the spraying opening when the detected wind speed is in the high wind speed section, and the low wind speed section. The air opening according to claim 1 or 2, wherein the spraying opening is widened, the spraying opening is narrowed when the aircraft altitude is in the low section, and the spraying opening is widened in the high section. Spreader.   A charge amount detection device (6a) for detecting the charge amount of the power supply unit (6) of the aerial spray device is provided, and the control unit (C) allows a return distance to a predetermined charging position and a flightable distance based on the charge amount. The aerial spraying according to any one of claims 1 to 3, wherein the spraying operation is interrupted while the return distance is within the range of the flightable distance and feedback control is performed to the charging position. Machine.   The control unit (C) records work progress information from the start of spraying of the spraying mechanism (3b), and saves the work progress information and interrupted position information when the operation of the spraying mechanism (3b) is interrupted. The air spreader according to any one of claims 1 to 4, wherein when the work is resumed, spray control is performed from the interruption position based on the information. The control unit (C) includes a communication unit that communicates information with an aerial spreader for takeover, regulates simultaneous work in the same spraying area by the aerial spreader, and starts spraying of the spraying mechanism (3b). The work progress information is recorded, and when the operation of the spraying mechanism (3b) is interrupted, the work progress information and the interrupt position information are transmitted via the communication unit, and when the takeover of the aerial spreader for takeover is taken over. The aerial sprayer according to any one of claims 1 to 5, wherein spraying control can be started from the interruption position based on the information.