JP2019064544A - 空中散布装置、無人飛行体システム及び無人飛行体 - Google Patents
空中散布装置、無人飛行体システム及び無人飛行体 Download PDFInfo
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Abstract
【解決手段】空中散布装置11(無人飛行体システム10)は、1以上のドローン(無人飛行体)14と、1以上のドローン14の少なくとも1つに有線接続される地上のステーション12と、を含む。ドローン14は、ステーション12又は他のドローン14に接続されるドローン側ケーブル86と、ドローン側ケーブル86の繰り出し又は引き込みを行うドローン側ケーブル機構部108と、を備える。
【選択図】図1
Description
lcmd=h+α …(1)
α=αbase+αcorr …(2)
ここで、αは、ステーション側ケーブル42の余裕代であり、αbaseは、作業者が設定可能な値であり、αcorrは、伸縮ポール52の収縮速度dh/dtを基にして算出される値である。
Revcmd=ceil(lcmd/2πr) …(3)
Poscmd=(lcmd/2πr−Revcmd)×2πr …(4)
すなわち、式(3)は、Ceil関数で整数部分のみを取り出す計算式であり、式(4)は、小数部分を[rad]に変換する計算式である。
Tn=μω …(5)
Fact=(Iα+Tn+Tb)/r …(6)
なお、αは、ドローン側モータ120の角加速度である。
Im=P×E+I∫Edt+DdE/Dt …(7)
12…ステーション 14…ドローン
16…移動体 22…ステーション側制御装置
30…電力供給部 32…散布剤供給部
46…高さ調整部 48…伸縮機構部
50…ステーション側ケーブル機構部 52…伸縮ポール
54…伸縮アクチュエータ 56…ステーション側外部コネクタ
86…ドローン側ケーブル 98…飛行制御装置
108…ドローン側ケーブル機構部 110…ドローン側制御装置
114…ドローン側外部コネクタ 150…ポンプ処理部
152…ケーブル処理部
Claims (11)
- 遠隔操作又は自動操縦により空中を飛行する1以上の無人飛行体と、前記1以上の無人飛行体の少なくとも1つに有線接続される地上のステーションと、を含む空中散布装置であって、
前記ステーションは、散布剤を供給可能な散布剤供給部を有し、
前記1以上の無人飛行体は、
前記ステーション又は他の無人飛行体に接続されるケーブルと、
前記ケーブルの繰り出し又は引き込みを行うケーブル機構部と、
前記散布剤を散布する散布部と、を備え、
前記1以上の無人飛行体のうち少なくとも1つが前記ケーブルにより前記ステーションに接続され、前記ケーブルを介して前記散布剤供給部から前記1以上の無人飛行体に前記散布剤を供給して、前記1以上の無人飛行体から散布剤を散布する
ことを特徴とする空中散布装置。 - 請求項1記載の空中散布装置において、
前記1以上の無人飛行体は、前記ケーブルを収容するハウジングを有すると共に、
前記ハウジング内に、前記他の無人飛行体のケーブルを接続可能な無人飛行体側内部コネクタを備える
ことを特徴とする空中散布装置。 - 請求項1又は2記載の空中散布装置において、
前記1以上の無人飛行体は、前記ケーブル機構部による前記ケーブルの繰り出し又は引き込みにおいて、該ケーブルの張力を一定化させる張力制御を行う無人飛行体側制御装置を有する
ことを特徴とする空中散布装置。 - 請求項1〜3のいずれか1項に記載の空中散布装置において、
前記ステーションは、前記ケーブルを介して前記1以上の無人飛行体に電力を供給する電力供給部を有する
ことを特徴とする空中散布装置。 - 請求項1〜4のいずれか1項に記載の空中散布装置において、
前記ステーションは、
前記ケーブルが接続されるステーション側外部コネクタと、
前記ステーション側外部コネクタの高さ位置を変位させる高さ調整部と、を有する
ことを特徴とする空中散布装置。 - 請求項5記載の空中散布装置において、
前記ステーションは、
前記ステーション側外部コネクタに接続されるステーション側ケーブルと、
少なくとも前記ステーション側ケーブルの引き込みを行うステーション側ケーブル機構部と、を有する
ことを特徴とする空中散布装置。 - 請求項6記載の空中散布装置において、
前記高さ調整部は、前記ステーション側外部コネクタが上端部に設けられ、上下に伸縮可能な伸縮ポールを有し、
前記ステーションは、前記伸縮ポールの伸縮量を制御するステーション側制御装置を有する
ことを特徴とする空中散布装置。 - 請求項7記載の空中散布装置において、
前記ステーション側制御装置は、前記伸縮ポールの収縮に追従して、前記ステーション側ケーブル機構部により前記ステーション側ケーブルを引き込む引き込み制御を行う
ことを特徴とする空中散布装置。 - 請求項1〜8のいずれか1項に記載の空中散布装置において、
前記ステーションは、前記地上を移動可能な移動体に構成されている
ことを特徴とする空中散布装置。 - 遠隔操作又は自動操縦により空中を飛行する1以上の無人飛行体と、前記1以上の無人飛行体の少なくとも1つに有線接続される地上のステーションと、を含む無人飛行体システムであって、
前記1以上の無人飛行体は、
前記ステーション又は他の無人飛行体に接続されるケーブルと、
前記ケーブルの繰り出し又は引き込みを行うケーブル機構部と、を備える
ことを特徴とする無人飛行体システム。 - 遠隔操作又は自動操縦により空中を飛行する無人飛行体であって、
地上のステーション又は他の無人飛行体に対して有線接続されるケーブルと、
前記ケーブルの繰り出し又は引き込みを行うケーブル機構部と、を備える
ことを特徴とする無人飛行体。
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JP2017195030A JP6867924B2 (ja) | 2017-10-05 | 2017-10-05 | 空中散布装置、無人飛行体システム及び無人飛行体 |
US16/140,616 US11040773B2 (en) | 2017-10-05 | 2018-09-25 | Aerial spraying apparatus, unmanned aerial vehicle system, and unmanned aerial vehicle |
CN201811168474.1A CN109720577A (zh) | 2017-10-05 | 2018-10-08 | 空中喷洒装置、无人飞行器系统和无人飞行器 |
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Cited By (6)
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JP2020189614A (ja) * | 2019-05-24 | 2020-11-26 | 株式会社荏原製作所 | ドローンシステム |
JP2021008195A (ja) * | 2019-07-01 | 2021-01-28 | 稔 新村 | 防爆対応ドローンシステム |
WO2021131983A1 (ja) * | 2019-12-27 | 2021-07-01 | 株式会社クボタ | 散布機能付きマルチコプターの離着陸装置 |
JP2021154984A (ja) * | 2020-03-30 | 2021-10-07 | グローブライド株式会社 | 伸縮式ライン案内具 |
WO2022145331A1 (ja) * | 2020-12-29 | 2022-07-07 | 株式会社クボタ | 農業機械 |
WO2023203673A1 (ja) * | 2022-04-20 | 2023-10-26 | 株式会社クボタ | 飛行体制御システムおよび飛行体システム |
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US11505330B2 (en) * | 2016-08-20 | 2022-11-22 | Modern Technology Solutions, Inc. | Refueling system and systems with end effectors |
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US20190106212A1 (en) | 2019-04-11 |
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