JP2019208404A - Spray apparatus and spray system - Google Patents

Abstract

To provide a spray apparatus capable of appropriately supplying a material to be sprayed in a container so as to construct a spray system in which spray efficiency and spray accuracy are further improved, and a spray system having this spray apparatus.SOLUTION: A spray apparatus that sprays a granular or powdery material to be sprayed while flying in an unmanned state includes: rotary wings that rotate to cause the spray apparatus to fly; a container having an opening for holding a material to be sprayed charged from the opening; and an ejector for receiving the material to be sprayed in the container and discharging the received material to be sprayed while the spray apparatus is flying. The rotary wings are positioned outside the edge of the opening.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a spraying device and a spraying system, and more particularly, to a spraying device and a spraying system for spraying granular or powdered spatter while flying in an unmanned state.

  2. Description of the Related Art In recent years, sprays such as agricultural chemicals, fertilizers, and seeds are sprayed on a target area using an unmanned aerial vehicle (hereinafter referred to as UAV). Moreover, as a dispersion | distribution technique using UAV, the technique of patent document 1 and patent document 2 is mentioned, for example.

The technique described in Patent Document 1 uses an unmanned helicopter to spray fertilizer on a field. Specifically, the unmanned helicopter includes a spraying unit, a fertilizer application amount map input unit, a position information acquisition unit, a necessary spraying amount acquisition unit, and a metering control unit. The spraying unit can spray fertilizer and change the spraying amount per unit time. The fertilizer application map input unit can input a fertilizer application map that defines the amount of fertilizer to be sprayed for each unit obtained by subdividing the field. The position information acquisition unit acquires the position of the own device. The required application amount acquisition unit acquires the required application amount of fertilizer at the position of the own machine acquired by the position information acquisition unit based on the fertilization amount map. The metering control unit controls the application amount per unit time in the application unit based on the required application amount.
According to the above technique, an unmanned helicopter can efficiently spray fertilizer while flying at high speed, and the spray amount can be locally and automatically changed according to each position on the field.

The technique described in Patent Document 2 is to spray a drug in the air using an unmanned helicopter (in Patent Document 2, expressed as “radio-controlled helicopter”). More specifically, the unmanned helicopter is equipped with an atomizer spray device that can change the angle by radio control. In addition, the flying speed of the unmanned helicopter is detected by a sensor, and the spray amount is controlled in accordance with the detected flying speed.
According to the above technique, it is possible to change the spread width and the spray direction of the medicine without replacing the spreader.

International Publication No. 2016/125422 Japanese Patent Laid-Open No. 11-138071

  In patent document 1 and patent document 2, both are equipped with the container which accommodates a scattered matter, patent document 1 corresponds to a storage tank, and patent document 2 corresponds to a chemical solution tank. The sprays such as fertilizers and drugs stored in these tanks are consumed according to the progress of spraying. For example, when the tank is empty or nearly empty, it is necessary to supply (supplement) the sprays. Become. When replenishing the spatter, the UAV is transported to a predetermined replenishment place, and the spatter is supplied (supplemented) into the container at that place, and the UAV is again directed to the sprinkler. It is desirable that a series of processes (specifically, transport of UAV and replenishment of sprayed material) related to such replenishment of sprayed materials be automated, and a system that realizes this (hereinafter referred to as a spraying system). Development) is expected.

  In the above-mentioned spraying system, in order for the UAV to spray the sprayed material accurately and efficiently after the sprayed material is replenished, naturally, the sprayed material needs to be replenished smoothly and accurately. However, in Patent Document 1 and Patent Document 2, there is a problem in replenishment (supply) of the sprayed material into the tank because there are UAV main parts around the tank, more specifically, a rotor blade such as a propeller. There is a possibility of causing. Therefore, in order to construct a spraying system with improved spraying efficiency and spraying accuracy, it is important to set the container placement position to a suitable position in relation to the UAV body.

Then, this invention is made | formed in view of said situation, The place made into the objective is to provide the spraying apparatus which can supply a sprinkling material into a container appropriately.
Moreover, the further objective of this invention is to improve a spraying efficiency and a spraying precision more in the spraying system which automated the process regarding supply of a scattered material.

  In order to achieve the above object, a spraying device of the present invention is a spraying device that sprays granular or powdered spatter while flying in an unmanned state, and is a rotating blade that rotates to fly the spraying device. And a container that has an opening and contains the spatter that has been thrown in from the opening, and a discharger that receives the spatter in the container and discharges the received spatter in the flight of the sprinkler. The wing is characterized by being located outside the edge of the opening.

  In the spraying device of the present invention configured as described above, the rotor blades are arranged outside the edge of the opening of the container for storing the sprayed material. In other words, the rotor blades do not reach the inside of the container opening. Therefore, when the sprayed material is supplied into the container through the opening, the sprayed material comes into contact with the rotor blades and comes out of the opening or passes through the opening. Situations that are late to do are suppressed. As described above, according to the spraying device of the present invention, it is possible to smoothly and accurately supply a necessary amount of sprayed material without interfering with the rotor blade (without being obstructed by the rotor blade).

In the above-described spraying device, it is preferable that the opening is exposed and faces upward when the spraying device is landing.
If it is said structure, it will become easier to supply a scattered material in a container through opening.

In addition, it is preferable that the rotor blade is positioned above the opening in a state where the spraying device is landing.
With the above configuration, since the rotor blades are positioned above the opening with the spraying device landing, the rotor blades are arranged outside the edge of the opening so that the necessary amount of sprayed material is placed. The effect of supplying smoothly and accurately is more conspicuous.

In addition, it is effective that the portion of the spraying device including the rotor blade that is positioned above the opening with the spraying device landing is positioned outside the edge of the opening.
If it is said structure, it will become possible to supply a required quantity of sprinkles more reliably.

In the above-described spraying device, it is more preferable that the opening is circular, and a plurality of rotor blades are arranged symmetrically with respect to the center of the opening.
If it is said structure, it will become possible to supply a sprinkle appropriately in a container, arrange | positioning a rotary blade with sufficient balance.

In the above-described spraying device, it is more preferable that the discharger is attached to the bottom wall of the container so as to be detachable from the bottom wall of the container.
If it is said structure, it will become possible to perform replacement | exchange and replacement | exchange of a discharger easily, for example.

Further, in the above-described spraying device, the type of the discharger includes a dropping port and a feeding unit that feeds the scattered material toward the dropping port, and the feeding unit is fed by the feeding unit with the dropping port facing downward. There are a first discharger that drops the spatter from the dropping port, and a second discharger that has a circular rotary blade and discharges the spatter to the outside in the radial direction of the rotary blade by the centrifugal force of the rotary blade It is more preferable that the spraying method of the sprayed material is switched by changing the type of the discharger attached to the bottom wall of the container.
In the above configuration, the spraying method can be switched by changing the type of the discharger attached to the bottom wall of the container. It becomes.

Further, the above-mentioned spraying device has a plurality of legs provided below the container to support the container, and the discharger is disposed at a position surrounded by the plurality of legs, so that the spraying device lands. In this state, it is more preferable that the lower end of each of the plurality of leg portions is positioned below the lower end of the ejector.
In said structure, in the state which the spreading | diffusion apparatus has landed, the lower end of each of several leg parts is located below rather than the lower end of a discharger. For this reason, a spraying apparatus comes to land appropriately, without the lower end of an ejector grounding (in other words, the lower end of each leg part does not float).

Further, in the above-mentioned spraying device, it is more preferable that an annular portion is provided and a frame is attached to the container by fitting the container in the annular portion, and the frame is provided with a plurality of legs at the lower portion of the frame. It is.
In said structure, it becomes possible to attach a flame | frame to a container easily by inserting a container in the annular part provided in the flame | frame.

In order to achieve the above-mentioned object, a spraying system according to the present invention includes a spraying device according to any one of claims 1 to 7 and a transfer unit provided to transport the sprayed material. And a sprinkle supply device for supplying the spatter transferred by the transfer unit from the front end of the transfer unit, and the sprinkle supply device is sprayed by the transfer unit with the front end of the transfer unit facing the opening. It is characterized in that the sprinkled material is supplied into the container through the opening by transferring the material.
In the above-mentioned spraying system, since the spraying device having the above-described configuration is used, the sprayed material can be smoothly and accurately supplied to the container. As a result, it is possible to further improve the spraying efficiency and the spraying accuracy.

Further, the above-mentioned spraying system has a transport device for landing the spray device and transporting the spray device, and the transport device has the tip of the transfer unit positioned immediately above the opening after the spray device has landed on the transport device. It is preferable to transport the spraying device to a position that reaches the end.
In the above configuration, after the spraying device has landed on the transporting device, the transporting device transports the spraying device to a position where the tip of the transfer unit reaches a position immediately above the opening. Thereby, it becomes possible to reliably move the spraying device to the supply place of the sprayed material.

  ADVANTAGE OF THE INVENTION According to this invention, the spreading | spraying apparatus which can supply a sprinkling material in a container appropriately is implement | achieved. Moreover, according to the present invention, a spraying system with improved spraying efficiency and spraying accuracy is realized.

It is a figure which shows the structure of the spraying system which concerns on one Embodiment of this invention. It is explanatory drawing of the 1st spraying system which the spraying apparatus which concerns on one Embodiment of this invention employ | adopts. It is explanatory drawing of the 2nd spraying system which the spraying apparatus which concerns on one Embodiment of this invention employ | adopts. It is explanatory drawing of the 3rd spraying system which the spraying apparatus which concerns on one Embodiment of this invention employ | adopts. It is a typical front view of the spreading device concerning one embodiment of the present invention. It is a typical top view of a spreading device concerning one embodiment of the present invention. It is a figure which shows the attachment state of a container and an ejector, and is a schematic diagram which shows the II cross section of FIG. It is a schematic diagram which shows a 1st discharger. It is a schematic diagram which shows a 2nd discharger. It is a block diagram which shows the structure of the spraying apparatus which concerns on one Embodiment of this invention. It is a figure which shows the operation example of the spraying system which concerns on one Embodiment of this invention (the 1). It is a figure which shows the operation example of the spraying system which concerns on one Embodiment of this invention (the 2). It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a typical front view of a container. It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a typical bottom view of a container. It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a typical front view of a discharger. It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a typical top view of a discharger. It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a schematic diagram which shows a mode that a discharger is brought close to a container. It is explanatory drawing about another example of the attachment structure which attaches a discharger to a container, and is a schematic diagram which shows the state in which the discharger was attached to the container.

  Hereinafter, the configuration of a spraying apparatus and a spraying system according to an embodiment (this embodiment) of the present invention will be described in detail with reference to the accompanying drawings. In addition, although embodiment described below is one suitable embodiment of this invention, it is only an example to the last and does not limit this invention. That is, the present invention can be changed and improved without departing from the gist thereof, and the present invention includes the equivalents thereof.

In the following description, unless otherwise specified, it is assumed that the spraying device has landed on a horizontal plane, and the positions and orientations of the various parts of the device when in this state will be described.
In the following, description will be made by taking as an example a spraying device and a spraying system used for spraying fertilizers, chemicals, seeds, and other sprayed materials on outdoor land such as farmland or fields. However, the present invention is not limited to this, and the present invention can be applied to a case where a granular or powdery sprinkle is sprayed from the air. For example, a granular or powdery bait is sprayed from above the farm. Even in this case, the present invention is effective.

<< About the outline of the spraying system >>
An outline of a spraying system according to the present embodiment (hereinafter, spraying system S) will be described with reference to FIG. FIG. 1 is a diagram showing a configuration of the spraying system S. As shown in FIG.
As shown in FIG. 1, the spraying system S includes a spraying device 10 that is an unmanned aerial vehicle (UAV), a spraying material supply device 90 that supplies the spraying material d to the spraying device 10, and spraying when the spraying material d is supplied. It has the conveyance apparatus 100 which conveys the apparatus 10 so that the sprinkling material supply apparatus 90 may be approached, and the operation terminal 110 operated by the user in order to set spraying conditions.

  The spraying device 10 is a device that sprays the scattered matter d from the air while flying in an unmanned state, that is, an unmanned aerial vehicle (UAV). In the present embodiment, the spraying device 10 sprays a granular sprinkle d, such as seeds, a granule-type fertilizer, and a medicine. In addition, although this embodiment demonstrates the spraying apparatus 10 which sprays a granular sprinkle, it is not limited to this, You may spray a powdery sprinkle.

  As shown in FIG. 1, the spraying device 10 includes a container 12 in which the sprayed material d is stored (stored), a frame 14 attached to the container 12, and a rotary blade 24 supported by the frame 14. Further, the spraying device 10 flies in a state where any one of a first discharger 50 and a second discharger 70 described later is mounted as a discharger that receives and discharges the scattered matter d in the container 12. Then, the spraying device 10 sprays the sprayed material d from the air by discharging the sprayed material d in the container 12 from the ejector during the flight.

  The spraying device 10 according to the present embodiment has a plurality of rotor blades 24 (rotors), and specifically is a multicopter having six rotor blades 24. However, the number of the rotor blades 24 is not limited, and it is sufficient that one or more rotor blades 24 are provided, and preferably three, four, six, or eight.

  The scattering device 10 can autonomously fly, and specifically autonomously fly by grasping position information by GPS (Global Positioning System). However, the method of autonomous flight is not particularly limited, a method for estimating position, velocity, and attitude using an IMU (Inertial Measurement System) or an acceleration sensor, a method using wireless communication, a laser Alternatively, a method using a SLAM (Simultaneous Localization and Mapping) technology using a camera, a method of estimating a position using a marker and a camera, and the like can be used, and these can be used alone or in combination. .

  In addition, the flight of the spraying device 10 can be switched between autonomous flight and manual operation. When manual operation is selected, the operation can be performed remotely using the operation terminal 110.

  Furthermore, the spraying device 10 according to the present embodiment sprays according to one mode selected from a plurality of spraying modes. The plurality of spraying modes correspond to different spraying methods, and three modes are prepared in this embodiment. The first spraying mode corresponds to the spraying method of the sprayed material d shown in FIG. In the sowing method, the sprayed material d is discharged radially from the discharger (specifically, the first discharger 50), and the sprayed product d is distributed over a relatively wide area and substantially uniformly in the area located below the spraying device 10. Scatter.

The second spraying mode corresponds to the spraying method of the sprayed material d shown in FIG. In the sowing method, the sprayed material d is continuously dropped from the discharger (specifically, the second discharger 70) directly below it, and the sprayed product d is streaked in the area located below the spraying device 10. Spray. The third spraying mode is for the spraying method of the sprayed material d shown in FIG. The sowing method means that the sprayed material d is intermittently dropped from the discharger (specifically, the second discharger 70) directly below (specifically, with one or several grains being spaced apart). In the area located below the spraying device 10, the sprayed material d is sprayed in a broken line shape.
2-4 is a figure which shows an example of the spraying system which the spraying apparatus 10 employ | adopts, However, It is not limited to the spraying system illustrated in these figures. In addition to the above-described spraying method, or in place of any of the above-described spraying methods, the sprayed material d is distributed so as to have a random distribution in a spraying method other than the above, for example, in an area located below the spraying device 10. A spraying method may be added.

  The sprinkled material supply device 90 and the conveying device 100 automatically supply the sprinkled material d to the spraying device 10 (specifically, supply for the first time in one spraying operation and replenishment after the second time). Is provided. More specifically, the sprinkle supply device 90 has a function of automatically supplying a predetermined amount of spatter d. The transport device 100 transports the spraying device 10 from a starting position set in the vicinity of the spraying target area (an area where the sprayed material d is sprayed) to an end point in the vicinity of the sprayed material supply device 90.

  The spraying device 10 flies toward the starting position when starting to spray the sprayed material d. When the spraying device 10 reaches the starting point position and lands, the transport device 100 operates to transport the spraying device 10 to the end point position. When the spraying device 10 reaches the end point position, the sprayed material supply device 90 supplies the sprayed material d into the container 12 of the spraying device 10. Thereafter, the transport device 100 is operated to return the spraying device 10 from the end point position to the starting position, and when reaching the starting position, the spraying device 10 takes off and flies toward the spraying start position in the spray target area.

  After a while, when the container 12 of the spraying device 10 becomes empty or nearly empty, the spraying device 10 flies again toward the starting position. Thereafter, the above-described procedure is repeated, and specifically, the transport of the spraying device 10 by the transport device 100 and the supply of the sprayed material d by the sprayed material supply device 90 are performed again. Thereby, the sprayed material d is replenished in the container 12, and the spraying apparatus 10 restarts spraying of the sprayed material d after that.

  The operation terminal 110 is operated by a user of the spraying device 10 and is used when inputting conditions for spraying by the spraying device 10 (for example, the above-described spraying mode and flight conditions). The operation terminal 110 can wirelessly communicate with the micro computer 36 of the spraying device 10, and transmits information indicating a condition input by the user to the micro computer 36. The micro computer 36 controls the flight of the spraying device 10 according to the information received from the operation terminal 110. The micro computer 36 is configured by a single board computer called “Raspberry Pi”, for example.

  Specifically, the micro computer 36 sets the flight condition of the spraying device 10 according to the information received from the operation terminal 110, and sends a command signal to the flight controller 34 to fly the spraying device 10 according to the set condition. To transmit. The flight controller 34 determines a control amount for the rotational speed of each rotor blade 24 based on the command signal. The flight controller 34 controls the rotational speed of each rotor blade 24 in accordance with the determined control amount, and more specifically controls the rotational speed of the rotor motor 26 via the speed controller 28 described later.

  Further, as described above, the flight of the spraying device 10 can be switched from autonomous flight to manual control, and can be remotely operated using the operation terminal 110 during manual control.

  In the present embodiment, the operation terminal 110 is configured by a tablet computer, but is not limited thereto. The operation terminal 110 may be configured by, for example, a notebook-type or desktop-type personal computer, a PDA (Personal Data Assistant), a smartphone, a mobile phone, or other communication device that can accept a user's input operation.

<< Detailed configuration of spraying device >>
Next, a detailed configuration of the spraying device 10 will be described with reference to FIGS. FIG. 5 is a schematic front view of the spraying device 10. FIG. 6 is a schematic top view of the spraying device 10. FIG. 7 is a view showing a state in which the container 12 and the discharger (specifically, the first discharger 50) are attached, and is a schematic view showing the II cross section of FIG.

FIG. 8 is a schematic diagram showing the first ejector 50. FIG. 9 is a schematic diagram showing the second ejector 70. In each figure of FIG.8 and FIG.9, some components arrange | positioned inside the illustrated discharger are shown with the broken line.
FIG. 10 is a block diagram illustrating a configuration of the spraying device 10 (particularly, related to power supply and device control). In the figure, among lines connecting elements, a power supply line is indicated by a solid line, and an information (data) transmission line is indicated by a broken line.

  As shown in FIGS. 5, 6, and 7, the spraying device 10 includes a container 12, a frame 14, a rotating blade 24, a discharger, a battery 30, a flight controller 34, a micro computer 36, Have Moreover, as shown in FIG. 10, the scattering apparatus 10 includes a GPS module 40 for autonomous flight. By mounting the GPS module 40, it is possible to identify the position of the spraying device 10 in flight at any time. Further, a camera 42 as a photographing device is attached to a predetermined position of the spraying device 10. In addition, a power distribution base 32 for supplying power from the battery 30 to the flight controller 34, the micro computer 36, the GPS module 40, and the camera 42 is provided. Hereinafter, the container 12, the frame 14, the rotary blade 24, and the discharger will be described in detail among the constituent devices of the spraying device 10.

(Container 12)
The container 12 constitutes an airframe (body) of the spraying device 10 and is a plastic container that accommodates the sprayed material d therein. The container 12 is a hollow body with a bottom, and has an outer shape of a truncated cone that is reduced in diameter toward the bottom, that is, a bucket shape. In the container 12, an opening is provided at an end opposite to the bottom wall 12b (specifically, an end having a larger diameter). The opening is circular as shown in FIG. 6 and faces upward when the spraying device 10 is landed. In other words, the spraying device 10 lands with the opening facing upward (particularly directly above in the vertical direction). In addition, it is not limited to this, About the direction of opening in the state where the spraying apparatus 10 is landing, the direction slightly inclined with respect to the perpendicular direction may be sufficient.

  Moreover, the bottom wall 12b of the container 12 consists of a disk, and as shown in FIG. 7, the communication hole 12c which penetrated the bottom wall 12b is formed in the center part.

(Frame 14)
The frame 14 includes an upper annular portion 16 and a lower annular portion 18 as two annular portions, and is attached to the container 12 by fitting the container 12 into each annular portion as shown in FIG. Yes. More specifically, the inner diameter of the upper annular portion 16 is slightly smaller than the outer diameter of the end of the container 12 on the opening side. The upper annular portion 16 is attached to the container 12 by fitting the opening-side end portion of the container 12 therein. The upper annular portion 16 is securely fixed by a fastener such as a screw or clip (not shown) after being attached to the container 12.

  On the other hand, the inner diameter of the lower annular portion 18 is slightly smaller than the outer diameter of the bottom end of the container 12. The lower annular portion 18 is attached to the container 12 by fitting the bottom end of the container 12 inside. The lower annular portion 18 is securely fixed by a fastener such as a screw or a clip (not shown) after being attached to the container 12.

  As shown in FIG. 6, the upper annular portion 16 has a plurality of arms 22 extending outward in the radial direction of the upper annular portion 16 at regular intervals in the circumferential direction of the upper annular portion 16 (in this embodiment, 6) provided. As shown in FIG. 5, a motor (rotor blade motor 26) for rotating the rotor blade 24 is fixed to the upper surface of the tip portion of each arm 22 by a fastener (not shown) such as a clip. . The rotor blade motor 26 is a motor on which a speed detection sensor is mounted, and the rotor blade 24 is rotatably supported on a shaft portion (not shown). In addition, a speed controller 28 that controls the number of rotations of the rotor blade motor 26 fixed to the tip of each arm 22 is fixed to the middle part of each arm 22. As shown in FIG. 10, drive power is supplied from the battery 30 to the rotor blade motor 26 and the speed controller 28 via the power distribution board 32.

  As shown in FIG. 5, the lower annular portion 18 has legs 20 extending toward the side opposite to the upper annular portion 16 (that is, downward) at regular intervals in the circumferential direction of the lower annular portion 18. A plurality (four in this embodiment) are provided. Each leg part 20 inclines so that it may go to the radial direction outer side of the lower side annular part 18 as it approaches a front-end | tip (free end). The lower ends of each of the plurality of leg portions 20 are grounded when the spraying device 10 is landed. That is, in the state where the spraying device 10 is landed, each of the plurality of legs 20 is positioned below the container 12 and supports the container 12.

  A camera 42 is attached to the lower annular portion 18 so that the ground can be photographed during the flight of the spraying device 10. An image photographed by the camera 42 (strictly, image data) is transmitted to the operation terminal 110 by the micro computer 36.

  In the present embodiment, the frame 14 is configured by two annular parts (the upper annular part 16 and the lower annular part 18), but the present invention is not limited to this. For example, the frame 14 may be configured by a substantially truncated cone-shaped cylindrical body. In the frame 14 made of a cylindrical body, the diameter of the upper end side opening of both ends of the frame 14 is smaller than the outer diameter of the container 12 (strictly, the maximum value of the outer diameter), and the diameter of the lower end side opening is the container 12. If it is larger than the outer diameter (strictly speaking, the minimum value of the outer diameter), it is possible to fit the container 12 in the frame 14 and arrange it well. Note that the battery 30, the power distribution board 32, and the like may be arranged using the space between the frame 14 and the container 12. In such a case, a door that can be opened and closed may be provided on the frame 14 that is a cylindrical body for the purpose of exchanging the battery 30 and maintaining the distribution board 32.

(Rotating blade 24)
The rotor blades 24 rotate to fly the spraying device 10, and a plurality (six) of rotor blades 24 are provided as described above. The rotary blade 24 according to the present embodiment rotates by driving the rotary blade motor 26, and the rotation speed is controlled by the speed controller 28. In addition, the rotary blade 24 according to the present embodiment is a propeller with a guard, and the outer shape is circular. However, the type and shape of the rotor blade 24 are not particularly limited, and may be, for example, a guardless propeller.

  In the present embodiment, the plurality of rotor blades 24 are arranged symmetrically (strictly, point symmetry) with respect to the center of the opening of the container 12 as shown in FIG. Further, as shown in FIG. 6, each of the plurality of rotor blades 24 has an outer edge located outside the edge 12 a of the opening of the container 12. That is, each rotor blade 24 rotates outside the edge 12a of the opening, and the spraying device 10 flies in a state in which the opening of the container 12 is opened (a state in which the components of the spraying device 10 do not reach the opening). It will be. Furthermore, in a state where the spraying device 10 is flying (strictly, a state where the spraying device 10 is flying in a horizontal posture), each of the plurality of rotor blades 24 rotates at a position above the opening of the container 12. Similarly, each of the plurality of rotary blades 24 is located above the opening of the container 12 in a state where the spraying device 10 is landed.

(Ejector)
The ejector is a device for receiving the spatter d in the container 12 and discharging the received spatter d during the flight of the sprinkler 10. In this embodiment, two types of dischargers can be used. Specifically, a first discharger 50 illustrated in FIG. 8 and a second discharger 70 illustrated in FIG. 9 are prepared. Each type of discharger (first discharger 50 and second discharger 70) is attached to the bottom wall 12b at a position directly below the bottom wall 12b of the container 12, as shown in FIGS. Specifically, it is arranged at a position surrounded by a plurality of legs 20. As can be seen from FIGS. 2 to 5, the height of the ejector (the length in the vertical direction) is somewhat shorter than the height of each leg 20. Therefore, in a state where the spraying device 10 is landed, the lower ends of each of the plurality of leg portions 20 are positioned below the lower end of the ejector (see, for example, FIG. 12).

  Moreover, in this embodiment, each of the 1st discharger 50 and the 2nd discharger 70 is attached to the bottom wall 12b in the state which can be attached or detached with respect to the bottom wall 12b of the container 12. FIG. The mounting structure of each of the first ejector 50 and the second ejector 70 will be described with reference to FIG. Since the mounting structure is common between the first discharger 50 and the second discharger 70, the first discharger 50 will be described below as an example.

  An annular fixing portion 64 extending in a bowl shape is provided at the upper end of the first ejector 50, and screw holes are formed in the fixing portion 64 at regular intervals along the circumferential direction. Yes. On the other hand, screw holes are formed in the bottom wall 12 b of the container 12 around the communication holes 12 c at the same intervals as the screw holes of the fixing portion 64. Then, the first ejector 50 is attached to a position directly below the bottom wall 12 b of the container 12 by inserting the bolt 66 in a state where both screw holes are in communication and fitting a nut 68 on the tip of the bolt 66. According to such an attachment structure, the first ejector 50 is attached to the bottom wall 12b of the container 12 by attaching the bolt 66 and the nut 68, and conversely, the first ejector 50 is removed by removing the bolt 66 and the nut 68. Can be removed from the bottom wall 12b.

  The mounting structure of the discharger (the first discharger 50 and the second discharger 70) is not limited to the bolt / nut structure, and the discharger can be suitably attached to the bottom wall 12b of the container 12. Other structures may be employed if present. Hereinafter, another example regarding the attachment structure of the ejector and the container 12 will be described with reference to FIGS. 13A to 13F. 13A to 13F are explanatory views of another example of the attachment structure for attaching the ejector to the container 12 (hereinafter, the attachment structure according to another example), and FIGS. 13A and 13B are schematic front views of the container 12. FIG. FIG. 13C and FIG. 13D are a schematic front view and top view of an ejector (specifically, the first ejector 50). FIG. 13E is a schematic diagram illustrating a state in which the ejector is brought close to the container 12, and FIG. 13F is a schematic diagram illustrating a state in which the ejector is attached to the container 12. In FIGS. 13A, 13B, 13E, and 13F, the leg portion 20 and the like are not shown for the purpose of facilitating the illustration of the mounting structure.

  In the mounting structure according to another example, the bottom wall 12b of the container 12 is provided with a pair of guide pieces 12d disposed on both sides of the communication hole 12c, as shown in FIGS. 13A and 13B. The pair of guide pieces 12 are attached to the bottom surface of the container 12 with a predetermined gap provided therebetween. Further, as shown in FIGS. 13A and 13B, a cut-out guide slit 12e is formed in a portion of each guide piece 12 facing the gap. Furthermore, a fitting hole 12f shown in FIG. 13B is provided in a region sandwiched between the guide pieces 12d on the bottom surface of the container 12 (more strictly speaking, a side closer to the opening of the guide slit 12e). .

  On the other hand, on the discharger side, as shown in FIGS. 13C and 13D, a erection part 52 a erected on the upper end of the receiving part 52 so as to cross the upper end opening of the receiving part 52, and an upper side from the upper surface of the erection part 52 a Are provided with an elastic claw 52b protruding from the side, a slide part 52c protruding from both ends of the erection part 52a, and a through-hole 52d pierced in a central portion of the erection part 52a. When the discharger having such a configuration is horizontally moved from the side of the container 12 toward the bottom surface of the container 12 as shown in FIG. 13E, each slide portion 52c enters the guide slit 12e from the opening of the guide slit 12e. Get in.

  Thereafter, the container 12 further moves horizontally so that each slide portion 52c slides while being guided by the guide slit 12e, and eventually the through-hole 52d on the discharger side and the communication hole 12c on the bottom wall 12b of the container 12 are connected. It reaches the position where it communicates. At this time, the elastic claw 52b on the ejector side enters the fitting hole 12f on the container 12 side while being elastically deformed, and is fitted into the fitting hole 12f. As a result, the discharger is attached to the lower part of the container 12 as shown in FIG. 13F in a state where the inside of the container 12 and the inside of the receiving part 52 of the discharger are in communication with each other.

  The configuration of each of the first discharger 50 and the second discharger 70 will be described. The first discharger 50 is a discharger for uniform sowing, strictly speaking, it corresponds to the above-described dispersion method, and is spread. The object d is released radially. As shown in FIG. 8, the first ejector 50 includes a receiving portion 52, a guide portion 54, and a discharge portion 56, and a rotating blade 58 is accommodated in the discharge portion 56.

  The receiving portion 52 is a portion that forms the upper end portion of the first ejector 50, and is a portion that receives the scattered matter d in the container 12 from the container 12. More specifically, the receiving portion 52 has a tab shape, and the above-described fixing portion 64 is provided at the upper end portion thereof. In the state where the first ejector 50 is attached to the bottom wall 12b of the container 12, as shown in FIG. 7, the communication hole 12c of the bottom wall 12b is surrounded. That is, in the state where the first ejector 50 is attached to the bottom wall 12b of the container 12, the interior of the receiving portion 52 communicates with the interior of the container 12 through the communication hole 12c.

  The guide portion 54 is a portion that is continuous with the receiving portion 52 at the lower end of the receiving portion 52 and guides the scattered matter d received by the receiving portion 52 toward the discharge portion 56. The guide portion 54 has a cylindrical shape with a smaller diameter than the receiving portion 52, and the diameter decreases toward the lower side. Thereby, the scattered matter d in the receiving part 52 descends in the guide part 54 toward the discharge part 56.

  The discharge part 56 is a part that is continuous with the guide part 54 at the lower end of the guide part 54 and accommodates the rotary blade 58 therein. In addition, a plurality of discharge ports 56 a are provided on the side wall of the discharge portion 56 at regular intervals along the rotation direction of the rotary blade 58. The rotary blade 58 is a circular impeller, and includes a disk portion and a blade portion, and is supported by the rotary shaft 60. The rotary shaft 60 is inserted into the receiving portion 52, the guide portion 54, and the discharge portion 56. A rotary blade 58 is attached to one end portion, and the other end portion is a shaft (not shown) of the rotary shaft motor 62. It is linked with. When the rotary shaft motor 62 is supplied with power from the battery 30 via the power distribution board 32 and rotates, the rotary shaft 60 rotates integrally with the rotary blade 58.

  The rotational speed of the rotating shaft 60 (in other words, the rotational speed of the rotating shaft motor 62) is controlled by the micro computer 36 as shown in FIG. And if the rotational speed of the rotating shaft 60 changes, the discharge | release amount (namely, spraying amount) of the sprinkling material d from the 1st discharger 50 will be adjusted to the quantity according to the rotational speed after a change.

  In the first ejector 50 configured as described above, the receiving unit 52 receives the scattered material d from the container 12, and the guide unit 54 guides the scattered material d into the discharge unit 56. The spatter d introduced into the discharge unit 56 is placed on a rotating blade 58 in a rotating state. As a result, a centrifugal force is applied to the sprinkled material d from the rotary blade 58, and the spattered material d is directed radially outward of the rotary blade 58 while rotating. Eventually, the spatter d is discharged toward the outside in the radial direction of the rotary blade 58 through the discharge port 56 a formed in the side wall of the discharge portion 56. As described above, the first ejector 50 discharges the scattered matter d toward the outside in the radial direction of the rotating blade 58 by using the centrifugal force of the rotating blade 58. As a result, the spread d is spread over a relatively wide area and uniformly.

  The second discharger 70 is a discharger for linear seeding, strictly corresponds to the above-described strip seeding method and spot seeding method, and drops the sprinkled material d downward. As shown in FIG. 9, the second ejector 70 includes a receiving portion 72 and a guide portion 74, a delivery portion 76 is provided in the guide portion 74, and a stirring blade 78 is provided in the receiving portion 72. Is provided.

  The receiving unit 72 is provided for the same purpose as the receiving unit 52 of the first ejector 50, and the shape and the arrangement position are the same as those of the receiving unit 52 of the first ejector 50. A fixing portion 82 similar to the fixing portion 64 provided in the first ejector 50 is provided at the upper end portion of the receiving portion 72.

  The guide part 74 is a part that is continuous with the receiving part 72 at the lower end of the receiving part 72 and directs the scattered material d received by the receiving part 72 downward in cooperation with the sending part 76. The guide portion 74 has a cylindrical shape with a smaller diameter than the receiving portion 72, and the diameter decreases toward the lower side. In addition, a drop port 74 a is formed at the lower end of the guide portion 74.

  The delivery part 76 is driven in the guide part 74, and sends out the sprinkled material d in the guide part 74 below. The delivery part 76 is a spiral blade wound around the outer peripheral surface of the rotating shaft 80 at a constant pitch, and forms a screw together with the rotating shaft 80. That is, the delivery part 76 rotates with rotation of the rotating shaft 80, and sends the sprayed material d by a fixed amount in the axial direction by rotating.

  The stirring blade 78 is driven in the receiving portion 72 and stirs and leveles the spatter d in the receiving portion 72. The stirring blades 78 project radially from the outer peripheral surface of the upper end portion of the rotating shaft 80 where the delivery portion 76 is not provided. That is, the stirring blade 78 rotates with the rotation of the rotating shaft 80, and rotates to stir and level the sprinkled matter d in the receiving portion 72.

  The rotating shaft 80 is inserted into the receiving portion 72 and the guide portion 74 and is connected to a shaft (not shown) of the rotating shaft motor 62. When the rotating shaft motor 62 is supplied with power from the battery 30 via the power distribution board 32 and rotates, the rotating shaft 80 rotates integrally with the delivery unit 76 and the stirring blade 78.

  In the second discharger 70 configured as described above, the receiving unit 72 receives the sprayed material d from the container 12, and the sprayed material d is stirred by the stirring blades 78 in the receiving unit 72 and leveled. The scattered matter d in the receiving part 72 enters the guide part 74 from the central part of the receiving part 72. The spatter d that has entered the guide part 74 is sent downward by a fixed amount through the guide part 74 by the action of the delivery part 76 and is finally discharged from the drop port 74a that is the lower end of the guide part 74. After that, it falls by its own weight. In this way, the second ejector 70 uses the delivery unit 76 to drop the fixed amount of scattered matter d downward. As a result, the scattered matter d is scattered linearly on the ground.

  In addition, by controlling the rotational speed of the rotary shaft 80, the amount of sprayed material d falling (sprayed amount) can be adjusted. When the rotational speed is equal to or higher than the predetermined speed, the material d is continuously dropped. When the speed is less than the predetermined speed, the seed material d is intermittently dropped.

  As described above, in this embodiment, the first discharger 50 and the second discharger 70 can be used as the discharger, and the type of the discharger attached to the bottom wall 12b of the container 12 is changed. Thus, the spraying method of the sprayed material d is switched. Thereby, according to the objective, the kind of sprinkling thing, etc., it becomes possible to use a spraying method properly suitably.

<< Operation example of spraying system >>
Next, as an operation example of the spraying system S, the flow of the operation of supplying the sprayed material d into the container 12 of the spraying device 10 will be described with reference to FIGS. 11 and 12. 11 and 12 are diagrams illustrating the flow of the operation of the spraying system S, FIG. 11 is a diagram when the spraying device 10 is at the starting position, and FIG. 12 is the spraying device 10 at the end point position. It is a figure of time.

  In describing the operation of the spraying system S, the configurations of the sprayed material supply device 90 and the transport device 100 will be described again with reference to FIGS. 1, 11, and 12.

  The spatter supply device 90 includes a supply tank 92, a transfer unit 94, and a detection camera 96. The supply tank 92 is a tank that stores the scattered matter d. The transfer unit 94 is provided for transferring the spatter d in the supply tank 92. More specifically, the transfer unit 94 is a substantially box-shaped movable shooter attached to the supply tank 92, and is normally in a standby position indicated by a broken line in FIG. The transfer unit 94 enters the supply tank 92 in the standby position. On the other hand, the transfer section 94 jumps out of the supply tank 92 and moves to the position (supply position) shown in FIGS. Thus, the transfer part 94 can be accommodated by moving between the standby position and the supply position and being positioned at the standby position. As a configuration in which the transfer unit 94 moves between the standby position and the supply position in this way, for example, the base (the end opposite to the tip) of the transfer unit 94 is rotatably attached to the supply tank 92. The structure which can be considered. With this configuration, the transfer unit 94 is accommodated in the supply tank 92 (that is, moved to the standby position) by rotating from the supply position illustrated in FIG. 12 to the supply tank 92 side.

In the state where it is in the supply position, the transfer unit 94 is inclined so as to be positioned downward toward the tip (free end). And while the transfer part 94 exists in a supply position, the predetermined amount of sprinkling material d is thrown in into the transfer part 94 from the inside of the supply tank 92. FIG. Thereby, the scattered material d in the transfer unit 94 slides down along the inner wall surface of the transfer unit 94 and is transferred toward the tip of the transfer unit 94.
With the above configuration, the spray supply device 90 supplies the spray d, which has been transferred by the transfer unit 94, from the tip of the transfer unit 94. It should be noted that the tilt angle when the transfer unit 94 is at the supply position (strictly speaking, the tilt angle of the inner wall surface of the transfer unit 94) is preferably adjustable, and in particular, the spraying device 10 at the end point position. It is more preferable that it can be automatically adjusted according to the height or the like.

  The detection camera 96 detects the spraying device 10 when the spraying device 10 is at the end point position, and is supported at a position above the transport device 100 by a support base (not shown). When the spraying device 10 at the end point position is detected by the detection camera 96, a driving device (not shown) is activated, and the transfer unit 94 is moved from the standby position to the supply position.

  The transport device 100 is for landing the spray device 10 and transporting the spray device 10. If it demonstrates concretely, as shown in FIG.1, FIG11 and FIG.12, the conveying apparatus 100 is comprised by the belt conveyor laid from the starting point position to the end point position. When the conveying device 100 is rotationally driven in a state where the dispersing device 10 is placed on the upper surface of the conveying device 100 that is a belt conveyor, the dispersing device 10 is conveyed from the starting position to the ending position, and is reversely driven (reversely rotated). As a result, the spraying device 10 is returned from the end point position to the start point position. In addition, although it does not specifically limit about the structure of the conveying apparatus 100, You may use conveying apparatuses other than a belt conveyor as long as the dispersion apparatus 10 can be conveyed automatically.

  A detection sensor 102 is provided at the starting position. The detection sensor 102 detects the spraying device 10 when the spraying device 10 has landed on the upper surface of the transport device 100 at the starting position. And if the spreading | diffusion apparatus 10 which landed on the upper surface of the conveying apparatus 100 in the starting point position is detected by the detection sensor 102, the conveying apparatus 100 will be rotationally driven and will convey the dispersing apparatus 10 from a starting point position to an end point position.

  The procedure for automatically supplying the sprayed material d into the container 12 of the above-described spraying device 10 by the sprayed material supply device 90 and the conveying device 100 described above will be described. Fly and then land on the upper surface of the transfer device 100 at the starting position. Specifically, the micro computer 36 compares the starting position stored in the memory and the current position specified by the GPS module 40 to determine the flight path, the flight distance, etc. from the current position to the starting position. The flight controller 34 is controlled according to the identification result. Thereby, the spraying device 10 flies toward the starting position.

  Further, a marker (mark) (not shown) is formed on a portion of the upper surface of the transport apparatus 100 at the starting position. Immediately before the spraying device 10 reaches the starting position, the micro computer 36 controls the camera 42 mounted on the spraying device 10 and causes the camera 42 to take an image of the ground. Thereafter, the micro computer 36 analyzes the photographed image to determine whether or not the marker is included in the image. And when said marker is reflected in a picked-up image, the micro computer 36 controls the flight controller 34 to make the spraying device 10 the upper surface (more specifically, Land on the part where the marker is formed.

  When the spreading device 10 lands on the upper surface of the transport device 100 at the starting position as shown in FIG. 11, the detection sensor 102 detects the spray device 10, and the transport device 100 is rotationally driven using this as a trigger. Thereby, the spreading device 10 is conveyed from the starting position to the ending position. When the spraying device 10 reaches the end point position, the detection camera 96 captures the spraying device 10 and detects the spraying device 10. With this as a trigger, the transfer part 94 of the spray supply device 90 moves from the standby position to the supply position.

  When the transfer unit 94 reaches the supply position, the tip of the transfer unit 94 faces the opening of the container 12 of the spraying device 10, and specifically, as shown in FIG. is there. In other words, after the spraying device 10 has landed on the upper surface of the transporting device 100, the transporting device 100 transports the spraying device 10 to a position where the tip of the transfer unit 94 reaches a position directly above the opening. In the state where the spraying device 10 is at the end point position, the opening of the container 12 faces upward (specifically, directly above in the vertical direction).

  When a predetermined amount of the scattered matter d is introduced into the transfer portion 94 from the supply tank 92 while the transfer portion 94 is in the supply position, the scattered matter d in the transfer portion 94 is changed to the inner wall surface of the transfer portion 94. Slide down along. When the spatter d passes through the tip of the transfer part 94, it is supplied into the container 12 through the opening of the container 12 located immediately below. Thus, the sprinkling material supply apparatus 90 transfers the sprinkling material d with the transfer part 94 in the state which made the front-end | tip of the transfer part 94 face the opening of the container 12, and thereby it is in the container 12 through an opening from the upper direction. Supply spatter d. At this time, the spray d passes smoothly through the opening of the container 12, and a prescribed amount of the spray d is supplied into the container 12 with high accuracy.

  More specifically, the portion of the spraying device 10 including the plurality of rotor blades 24 that is positioned above the opening of the container 12 in a state where the spraying device 10 is landed is outside the edge 12a of the opening. Is located. Thereby, at the time of supply of the sprinkling material d, it becomes possible to supply the spattering material d into the container 12 appropriately and smoothly without interfering with the rotary blades 24 and the like. As a result, a prescribed amount of spatter d is accurately supplied into the container 12.

  After the supply of the spread material d is completed, the transfer unit 94 returns from the supply position to the standby position, and the transport device 100 is driven to rotate backward to return the spray device 10 from the end position to the start position. The spraying device 10 that has reached the starting position takes off at the starting position, flies to the spray target area, and sprays the sprayed material d. Here, in the pre-spreading stage, as described above, since the prescribed amount of spatter d is accurately supplied into the container 12, in the subsequent sprinkling, the sprinkler 10 sprays the spatter d with high accuracy. It becomes possible to do.

DESCRIPTION OF SYMBOLS 10 Spreading device 12 Container 12a Open edge 12b Bottom wall 12c Communication hole 12d Guide piece 12e Guide slit 12f Fitting hole 14 Frame 16 Upper annular part 18 Lower annular part 20 Leg part 22 Arm 24 Rotary blade 26 Rotary blade motor 28 Speed controller 30 Battery 32 Power distribution board 34 Flight controller 36 Micro computer 38 IMU
40 GPS module 42 Camera 50 First ejector 52 Receiving part 52a Construction part 52b Elastic claw 52c Slide part 52d Through hole 54 Guide part 56 Discharge part 56a Discharge port 58 Rotary blade 60 Rotating shaft 62 Rotating shaft motor 64 Fixing part 66 Bolt 68 Nut 70 Second Ejector 72 Receiving Portion 74 Guide Portion 74a Drop Port 76 Delivery Portion 78 Stirring Blade 80 Rotating Shaft 82 Fixed Portion 90 Scattered Material Supply Device 92 Supply Tank 94 Transfer Unit 96 Detection Camera 100 Conveying Device 102 Detection Sensor 110 Operation Terminal d Spreading material S Spreading system

Recently, unmanned aerial vehicles (Unmanned Aerial Ve hi cle, hereinafter referred to as UAV.) Using a pesticide, be sprayed on the target area the spraying of such fertilizers and seeds have been made. Moreover, as a dispersion | distribution technique using UAV, the technique of patent document 1 and patent document 2 is mentioned, for example.

Further, in the above-mentioned spraying device, the type of the discharger includes a circular rotary blade, a first discharger that discharges scattered matter toward the outside in the radial direction of the rotary blade by a centrifugal force of the rotary blade , and a drop There is a second discharger that has a mouth and a delivery part that sends the sprinkled material toward the drop opening, and drops the sprinkled material sent out by the feed part from the drop opening with the drop opening facing downward It is more preferable that the spraying method of the sprayed material is switched by changing the type of the discharger attached to the bottom wall of the container.
In the above configuration, the spraying method can be switched by changing the type of the discharger attached to the bottom wall of the container. It becomes.

In order to achieve the above-mentioned object, a spraying system according to the present invention includes a spraying device according to any one of claims 1 to 8 and a transfer unit provided to transport the sprayed material. And a sprinkle supply device for supplying the spatter transferred by the transfer unit from the front end of the transfer unit, and the sprinkle supply device is sprayed by the transfer unit with the front end of the transfer unit facing the opening. It is characterized in that the sprinkled material is supplied into the container through the opening by transferring the material.
In the above-mentioned spraying system, since the spraying device having the above-described configuration is used, the sprayed material can be smoothly and accurately supplied to the container. As a result, it is possible to further improve the spraying efficiency and the spraying accuracy.

The second spraying mode corresponds to the spraying method of the sprayed material d shown in FIG. In the sowing method, the sprayed material d is continuously dropped from the discharger (specifically, the second discharger 70) directly below it, and the sprayed product d is streaked in the area located below the spraying device 10. Spray. The third spraying mode is for the spraying method of the sprayed material d shown in FIG. The point播方formula ejector to (specifically, the second ejector 70) intermittently to spray product d toward just below the or Raso (specifically, while intervals one grain or few grains) The sprayed material d is sprayed in a broken line shape in an area located below the spraying device 10.
2-4 is a figure which shows an example of the spraying system which the spraying apparatus 10 employ | adopts, However, It is not limited to the spraying system illustrated in these figures. In addition to the above-described spraying method, or in place of any of the above-described spraying methods, the sprayed material d is distributed so as to have a random distribution in a spraying method other than the above, for example, in an area located below the spraying device 10. A spraying method may be added.

(Frame 14)
The frame 14 includes an upper annular portion 16 and a lower annular portion 18 as two annular portions, and is attached to the container 12 by fitting the container 12 into each annular portion as shown in FIG. Yes. More specifically, the inner diameter of the upper annular portion 16, the container 12 is slightly large Kuna' than the outer diameter of the end on the opening side. The upper annular portion 16 is attached to the container 12 by fitting the opening-side end portion of the container 12 therein. The upper annular portion 16 is securely fixed by a fastener such as a screw or clip (not shown) after being attached to the container 12.

On the other hand, the inner diameter of the lower annular portion 18, the container 12 is slightly large Kuna' than the outer diameter of the bottom end. The lower annular portion 18 is attached to the container 12 by fitting the bottom end of the container 12 inside. The lower annular portion 18 is securely fixed by a fastener such as a screw or a clip (not shown) after being attached to the container 12.

DESCRIPTION OF SYMBOLS 10 Spreading device 12 Container 12a Open edge 12b Bottom wall 12c Communication hole 12d Guide piece 12e Guide slit 12f Fitting hole 14 Frame 16 Upper annular part 18 Lower annular part 20 Leg part 22 Arm 24 Rotary blade 26 Rotary blade motor 28 Speed controller 30 Battery 32 Power distribution board 34 Flight controller 36 Micro computer
40 GPS module 42 Camera 50 First ejector 52 Receiving part 52a Installation part 52b Elastic claw 52c Slide part 52d Through hole 54 Guide part 56 Discharge part 56a Discharge port 58 Rotary blade 60 Rotating shaft 62 Rotating shaft motor 64 Fixed part 66 Bolt 68 Nut 70 Second discharger 72 Receiving part 74 Guide part 74a Drop port 76 Delivery part 78 Stirrer blade 80 Rotating shaft 82 Fixed part 90 Scattered substance supply apparatus 92 Supply tank 94 Transfer part 96 Detection camera 100 Conveyance apparatus 102 Detection sensor 110 Operation terminal d Spreading material S Spreading system

Claims (10)

A spraying device for spraying granular or powdered spatter while flying in an unmanned state,
A rotating wing rotating to fly the spraying device;
A container having an opening and containing the sprinkled material charged from the opening;
An ejector for receiving the spatter in the container and discharging the received spatter during flight of the sprinkler;
The spreading device, wherein the rotor blade is located outside an edge of the opening.   The spraying device according to claim 1, wherein the opening is exposed and faces upward when the spraying device is landed.   The spraying device according to claim 2, wherein a portion of the spraying device located above the opening in a state where the spraying device is landed is positioned outside the edge of the opening. The opening is circular;
The spraying device according to any one of claims 1 to 3, wherein a plurality of the rotating blades are arranged symmetrically with respect to a center of the opening.   The spraying device according to any one of claims 1 to 4, wherein the discharger is attached to the bottom wall of the container in a detachable state with respect to the bottom wall of the container. The type of the discharger includes
A dropping port and a feeding unit that feeds the sprinkled material toward the dropping port, and the sprinkled material fed by the feeding unit is dropped from the dropping port with the dropping port facing downward. One discharger,
A second discharger that includes a circular rotary blade, and discharges the scattered matter toward the outside in the radial direction of the rotary blade by the centrifugal force of the rotary blade;
The spraying device according to claim 5, wherein a spraying method of the sprayed material is switched by changing a type of the discharger attached to a bottom wall of the container. A plurality of legs provided below the container to support the container;
The ejector is disposed at a position surrounded by the plurality of legs,
7. The lower end of each of the plurality of leg portions is positioned below the lower end of the ejector in a state where the spraying device is landed. Spraying device. An annular part, and having a frame attached to the container by fitting the container into the annular part;
The spraying device according to claim 7, wherein the frame includes the plurality of legs at a lower portion of the frame. A spraying device according to any one of claims 1 to 8,
A sprinkler supply device that includes a transfer unit provided to transfer the spatter, and supplies the spatter transferred by the transfer unit from a tip of the transfer unit;
The spatter supply device supplies the spatter into the container through the opening by transferring the spatter by the transfer unit with the tip of the transfer unit facing the opening. And spraying system. Having a transport device for landing the spray device and transporting the spray device;
The spraying system according to claim 9, wherein the transporting device transports the spraying device to a position where a tip of the transfer unit reaches a position immediately above the opening after the spraying device has landed on the transporting device.