JP2020168900A - Material spray system and material spray device - Google Patents

Abstract

To provide a device which can spray a material, such as an agricultural chemical, without taking-off and landing frequently.SOLUTION: A material spray system has: a material spray device mounted on a manned aircraft (a helicopter 100); and one or more unmanned aircrafts (drones 200). The material spray device of the manned aircraft has: supply means (a pump) which supplies a material to the unmanned aircrafts; and control means (a controller 130) which controls the unmanned aircrafts. Each unmanned aircraft has: spray means (a chemical tank, a spray nozzle, and a chemical compression adjustment part) which sprays the material supplied from the supply means; and flight means (a control part and a motor) which causes the unmanned aircrafts to fly in response to controlling of the control means.SELECTED DRAWING: Figure 1

Description

The present invention relates to a material spraying system, a material spraying device, and an unmanned aerial vehicle.

Conventionally, as a technique for spraying materials such as pesticides by an unmanned aerial vehicle, for example, there is a technique disclosed in Patent Document 1.

In the technique disclosed in Patent Document 1, a tank mounting port filled with pesticides or the like is formed in the central portion of the machine body, and the tank is inserted into the tank mounting port so as to be dropped from above the machine body. The upper part of the tank is exposed on the upper surface of the machine body, and the tank is filled with 1/2 of the chemicals. At this time, the position of the center of gravity of the drone is directed downward from the rotation center point of each propeller with respect to the center line connecting each propeller. It is characterized in that it is set within the range of the virtual line connecting in the range of 10 to 20 degrees.

According to such a technique, the stability of the airframe under wind pressure can be improved, so that the effect of stably spraying materials such as chemicals can be expected.

Japanese Unexamined Patent Publication No. 2017-24488

However, in the technique disclosed in Patent Document 1, since the amount of chemicals that can be loaded on an unmanned aerial vehicle is limited and the amount of electric power that can be stored in the battery is also limited, it is frequently used for replenishing chemicals or replacing the battery. There is a problem that it is necessary to take off and land.

An object of the present invention is to provide a material spraying system, a material spraying device, and an unmanned aerial vehicle capable of spraying materials without taking off and landing frequently.

In order to solve the above problems, the present invention relates to a material spraying system having a central device mounted on a manned aircraft and one or more unmanned aerial vehicles, wherein the central device of the manned aircraft is a material for the unmanned aerial vehicle. The unmanned aerial vehicle has a supply means for supplying the unmanned aerial vehicle and a control means for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle has a spraying means for spraying the material supplied from the supply means and a control means for controlling the control means. It is characterized by having a flight means for flying the unmanned aerial vehicle.
With such a configuration, it is possible to disperse materials without frequent takeoffs and landings.

Further, the present invention is characterized in that the control means calculates the flight path of the unmanned aerial vehicle based on the spraying range of the material and controls the unmanned aerial vehicle according to the flight path.
According to such a configuration, the material can be sprayed in a desired range by designating the spraying range.

Further, in the present invention, the control means calculates and presents the flight path of the manned aircraft based on the spray range of the material, and the unmanned aerial vehicle based on the spray range and the flight path of the manned aircraft. It is characterized in that the flight path of the above is calculated and the unmanned aerial vehicle is controlled according to the obtained flight path.
According to such a configuration, materials can be efficiently sprayed by cooperating a manned aircraft and an unmanned aerial vehicle.

Further, according to the present invention, the unmanned aerial vehicle has a wind direction and wind speed sensor, and has a spraying direction adjusting means for adjusting the spraying direction of the material by the spraying means according to the detection result of the wind direction and wind speed sensor. It is a feature.
With such a configuration, the influence of wind can be reduced and the drug can be sprayed in an appropriate range.

Further, the present invention is characterized in that the unmanned aerial vehicle has a spraying amount adjusting means for adjusting the spraying amount of the material.
With such a configuration, it becomes possible to appropriately set the density at which the material is sprayed.

The present invention is also characterized in that the manned aircraft supplies the material to the unmanned aerial vehicle via a cable, and the manned aircraft has a tension adjusting means for adjusting the tension of the cable.
According to such a configuration, the influence of the tension of the cable can be reduced and the material can be sprayed in a desired range.

Further, the present invention is characterized in that the spraying means sprays the material by applying pressure to the material by air or a spiral mechanism.
According to such a configuration, it can be sprayed by an appropriate method according to the type of material.

Further, the present invention is characterized in that the spraying means uses the wind pressure of a propeller possessed by the unmanned aerial vehicle to fly.
According to such a configuration, the material can be sprayed by effectively utilizing the downdraft of the propeller.

Further, the present invention provides a supply means for supplying a material to the unmanned aerial vehicle and the unmanned aerial vehicle in a material spraying device mounted on the manned aircraft of a material spraying system having a manned aircraft and one or a plurality of unmanned aerial vehicles. It is characterized by having a control means for controlling.
With such a configuration, it is possible to disperse materials without frequent takeoffs and landings.

The present invention also comprises a spraying means for spraying materials supplied from a supply means mounted on the manned aircraft and the manned in the unmanned aerial vehicle of a material spraying system having a manned aircraft and one or more unmanned aircraft. It is characterized by having a flight means for flying the unmanned aerial vehicle according to the control of a control means mounted on the aircraft.
With such a configuration, it is possible to disperse materials without frequent takeoffs and landings.

According to the present invention, it is possible to provide a material spraying system, a material spraying device, and an unmanned aerial vehicle capable of spraying materials without taking off and landing frequently.

It is a figure which shows the structural example of the material spraying system which concerns on embodiment of this invention. It is a figure which shows the configuration example of the drug / power supply device and the control device shown in FIG. It is a figure which shows the detailed configuration example of the control device shown in FIG. It is a side view which shows the structural example of the drone shown in FIG. It is a top view which shows the structural example of the drone shown in FIG. It is a figure which shows the electric structure example of the drone shown in FIG. This is an example of a display screen displayed on the LCD touch panel shown in FIG. It is a figure which shows the mode of spraying by a drone. It is a figure which shows the mode of spraying by a drone. It is a flowchart explaining an example of the process executed by the control part shown in FIG. It is a flowchart for demonstrating the detail of "drug spraying process" shown in step S19 of FIG. 6 is a flowchart illustrating an example of processing executed by the control unit shown in FIG. This is a configuration example of a spray nozzle using a spiral carrier.

Next, an embodiment of the present invention will be described.

(A) Explanation of the configuration of the embodiment of the present invention FIG. 1 is a diagram showing a configuration example of a material spraying system according to the embodiment of the present invention. As shown in FIG. 1, the material spraying system has a helicopter 100 as a manned aircraft and a drone 200 as one or more unmanned aerial vehicles.

The helicopter 100 has a central device including a drug / power supply device 110 and a control device 130. The drug / power supply device 110 supplies the drug and power to the drone 200. The control device 130 controls the drug / power supply device 110 and the drone 200.

FIG. 2 shows a detailed configuration example of the drug / power supply device 110 and the control device 130 as the central device shown in FIG. As shown in FIG. 2, the drug / power supply device 110 includes a reel mechanism 111, a motor 112, a pump 113, a drug tank 114, and a power supply 115. Further, the control device 130 has a control unit 131 and a transmission / reception unit 132. The drug / power supply device 110 is provided for each drone.

Here, in the reel mechanism 111, a cable 300 having a power cable and a chemical cable is wound around, and is driven by a motor 112 so that the cable 300 can be wound up and unwound. Further, by controlling the motor 112, the tension of the cable 300 between the helicopter 100 and the drone 200 can be adjusted.

The motor 112 is controlled by the control unit 131 to rotate the reel mechanism 111 in an arbitrary direction to wind up and unwind the cable 300.

The pump 113 is controlled by the control unit 131 to pressurize the drug stored in the drug tank 114 and supply the drug to the drug cable whose end is connected to the reel mechanism 111.

The drug tank 114 is a tank for storing the drug, and a suction port of the pump 113 is provided below the drug tank 114.

The power supply 115 is controlled by the control unit 131, and supplies electric power to the drone 200 via a power cable whose end is connected to the reel mechanism 111.

The control unit 131 controls the motor 112, the pump 113, and the power supply 115, and controls the drone 200 by transmitting a control signal via the transmission / reception unit 132.

The transmission / reception unit 132 has an antenna 132a, and is capable of transmitting a control signal by radio waves to and from the drone 200 via the antenna 132a.

FIG. 3 is a diagram showing a detailed configuration example of the control unit 131 shown in FIG. As shown in FIG. 3, the control unit 131 includes a CPU (Central Processing Unit) 131a, a ROM (Read Only Memory) 131b, a RAM (Random Access Memory) 131c, an HDD (Hard Disk Drive) 131d, an LCD touch panel 131e, and a bus 131f. , And I / F 131g.

Here, the CPU 131a is a central processing unit that controls each unit according to a program stored in the ROM 131b.

The ROM 131b is composed of a non-volatile semiconductor storage device, and stores a basic program or the like executed by the CPU 131a.

The RAM 131c is composed of a volatile semiconductor storage device, and temporarily stores a program to be executed by the CPU 131a and data in the middle of calculation.

The HDD 131d is composed of a magnetic storage medium and stores a program or the like executed by the CPU 131a.

The LCD touch panel 131e is configured by, for example, superimposing a touch sensor on the display unit of the liquid crystal panel. The LCD touch panel 131e displays an image or the like drawn by the CPU 131a on the LCD, and when the touch sensor is operated, transmits information indicating the operation location to the CPU 131a.

The bus 131f is a group of signal lines for connecting the CPU 131a, the ROM 131b, the RAM 131c, the HDD 131d, the LCD touch panel 131e, and the I / F 131g to each other and enabling information exchange between them.

The I / F 131g is connected to the motor 112, the pump 113, the power supply 115, and the transmission / reception unit 132, and exchanges information with them.

4 and 5 are side views and top views showing a configuration example of the drone 200. As shown in FIG. 4, the drone 200 has a main body 210, a connection 211, a motor 212, a propeller 213, a propeller guard 214, a skid 215, a drug tank 216, and a spray nozzle 217.

As shown in the top view of FIG. 5, the main body 210 has a substantially cross shape, and the electronic circuit shown in FIG. 6 and a battery (for example, a lithium ion battery) (not shown) are incorporated or interchangeably mounted inside. Will be done.

The connection portion 211 is arranged on the upper surface of the main body portion 210, and the cable 300 is connected to the upper end portion thereof. The connecting portion 211 penetrates the main body portion 210 and is connected to the chemical tank 216 described later. Further, since the upper end of the connecting portion 211 is rotatably configured, even if the connected cable 300 is twisted, it is possible to prevent the rotational force due to the twist from being transmitted to the main body portion 210.

The motor 212 is composed of, for example, a brushless motor, is arranged at each of the four tip portions of the main body 210, and when an alternating current is applied, the propeller 213 is rotated to generate lift and the propeller 213 is rotated. By controlling the number, the attitude and flight direction of the drone 200 are controlled. The motor 212 may be controlled by a direct current.

The propeller 213 is mounted on the motor 212 and generates lift according to the rotational force of the motor 212. It is also used for the purpose of spreading the drug over a wide area by the rotating downward flow generated by the propeller 213.

As shown in FIG. 5, the propeller guard 214 is configured to surround the rotating range of the propeller 213, and prevents the cable 300 and the like from coming into contact with the propeller 213.

The skid 215 is a member for maintaining the stability of the airframe by coming into contact with the ground when the drone 200 lands.

The drug tank 216 is a tank for temporarily storing the drug supplied from the helicopter 100 via the cable 300. Further, by applying pressure to the drug tank 216, the drug is sprayed from the spray nozzle 217.

The spray nozzle 217 is composed of eight pipes extending from the center of the machine body and a nozzle attached to the tip of the pipe. One end of the pipe constituting the spray nozzle 217 is arranged near the bottom surface of the chemical tank 216 to receive the chemical solution. Further, nozzles are attached to the eight other ends of the pipes constituting the spray nozzle 217, and the atomized chemicals are ejected from the nozzles to spray the chemicals into the air. A gimbal 235-2 is attached to the base of the spray nozzle 217 so that the direction of the spray nozzle can be controlled.

FIG. 6 is a diagram showing an example of an electrical configuration of the drone 200 shown in FIGS. 4 and 5. As shown in FIG. 6, the drone 200 includes a LIDAR (Laser Imaging Detection and Ranging) 231, an image sensor 232, a gimbal 235-1,235-2, an image processing unit 234, a transmission / reception unit 236, an antenna 236a, and a control unit 237. It has a sensor 238, a drug pressurization adjustment unit 239, and motors 212-1 to 212-4.

Here, the LIDAR 231 is a device that irradiates the periphery with a laser beam that emits a pulse of light, measures the scattered light with respect to the irradiation light, and analyzes the properties such as the distance to the object and the shape of the object.

The image sensor 232 decomposes the visible light radiated from the subject into the three primary colors, photoelectrically converts the intensity of the light of each color into the corresponding charge, and outputs the visible light image.

The gimbal 235-1 controls the inclination of the fixing member to which both the LIDAR 231 and the image sensor 232 are fixed by electronic control, so that even if the drone 200 swings, the image captured by the LIDAR 231 and the image sensor 232 can be obtained. Control so that it does not change.

As shown in FIG. 4, the gimbal 235-2 is arranged at the base of the pipe constituting the spray nozzle 217, and by controlling the direction of the spray nozzle 217 by electronic control, even when the drone 200 swings, The spraying nozzle 217 controls so that the spraying direction does not change. Further, by controlling the gimbal 235-2 electronically, the spraying direction of the drug can be arbitrarily changed.

The image processing unit 234 performs, for example, compression processing on the images output from the LIDAR 231 and the image sensor 232, and supplies the images to the transmission / reception unit 236.

The transmission / reception unit 236 transmits the image supplied from the image processing unit 234 to the transmission / reception unit 132 via the antenna 236a, and receives the control signal transmitted from the transmission / reception unit 132 via the antenna 236a. It is supplied to the control unit 237. The antenna 236a transmits / receives information to / from the transmission / reception unit 132 by radio waves.

The control unit 237 has gimbal 235-1, based on the control signal supplied from the transmission / reception unit 236, the position information supplied from the sensor 238, and the information indicating the flight state of the drone 200 supplied from the sensor 238. It controls 235-2 and motors 212-1 to 212-4.

The sensor 238 includes a GPS (Global Positioning System) sensor, a gyro sensor, a magnetic sensor, a pressure sensor, a wind direction air volume sensor, an ultrasonic sensor, a tension sensor, a speed sensor, and a vision positioning sensor. The GPS sensor receives signals having time information transmitted from a plurality of artificial satellites, detects information (latitude information and longitude information) related to its own position from these time differences, and supplies the information to the control unit 237. The gyro sensor detects the angular velocity of the drone 200 in the three axial directions (yaw axis direction, roll axis direction, and pitch axis direction) and supplies it to the control unit 237. The magnetic sensor detects the direction of the drone 200 based on the geomagnetism and supplies it to the control unit 237. By detecting the atmospheric pressure around the drone 200, the atmospheric pressure sensor detects, for example, the altitude and supplies it to the control unit 237. The wind direction and speed sensor detects the wind direction and speed around the drone 200 and supplies the wind direction and speed to the control unit 237. The ultrasonic sensor irradiates the surroundings with ultrasonic waves and detects the scattered waves to detect obstacles existing around the drone 200 and supplies them to the control unit 237. The tension sensor detects the tension of the cable and supplies it to the control unit 237. The speed sensor detects the flight speed of the drone 200 and supplies it to the control unit 237. The vision positioning sensor is arranged on the bottom surface of the main body 210 of the drone 200, and by imaging the shape of the ground, even if the GPS signal is difficult to reach, the current position is grasped and supplied to the control unit 237.

The motors 212-1 to 212-4 are composed of, for example, brushless motors, and propellers are attached to the respective motors 212-1 to 212-4. The control unit 237 can move to a target direction or change the direction of the drone 200 by individually controlling the rotation speeds of these motors 212-1 to 212-4.

(B) Description of Operation of Embodiment of the Present Invention Next, the operation of the embodiment of the present invention will be described. In the following, after explaining the operation of the embodiment, a flowchart for realizing such an operation will be described with reference to FIGS. 10 and 11.

First, the operation of the embodiment will be described. When spraying the drug, first, the drug to be sprayed to the drug tank 114 of the helicopter 100 is adjusted to a predetermined concentration and then stored.

Next, the operator of the helicopter 100 operates the LCD touch panel 131e shown in FIG. 3 to specify the spraying range and the spraying amount of the drug. For example, by operating the LCD touch panel 131e, a screen as shown in FIG. 7 is displayed, and the spraying range is specified on the map. In the display example of FIG. 7, the map M is displayed on the screen, and the spraying range R of the drug is designated by being surrounded by a broken line in a part of the map M. By operating the LCD touch panel 131e with a touch pen or a finger, the operator can move or enlarge the map and specify a desired spraying range. In FIG. 7, the spraying range has a rectangular shape, but a shape other than the rectangular shape (for example, a circular shape, an elliptical shape, a polygonal shape, or an amorphous shape) may be used.

Next, the operator specifies the spray amount (spray density) of the drug. For example, the amount of spray (L / m ² ) per square meter is specified.

When the designation of the spraying amount is completed, the control unit 131 receives the input of the wind direction and the wind speed at the spraying point. The wind direction and speed may be measured and input by the operator with a wind direction and anemometer, or automatically measured by a wind direction and wind speed sensor equipped in the helicopter 100, and the measurement result is measured by the control unit 131. May be obtained.

Subsequently, the control unit 131 calculates the flight path of the helicopter 100 according to the spray range, the spray amount, the wind direction and the wind speed, the number of drones 200, and the like. For example, as shown in FIG. 8A, the drone 200 can spray the drug in a substantially circular range of the diameter R when flying at an altitude H. For example, as shown in FIG. 8B, when two drones 200 are used, spraying is possible when the two drones 200 fly the most apart in a direction orthogonal to the traveling direction of the helicopter 100. Assuming that the maximum width is W, the spraying range can be set to be scanned by this width W, and the flight path can be set so that the helicopter 100 flies at the center of the maximum width W. Of course, it may be set by a method other than this.

Next, the control unit 131 calculates the flight path of the drone 200. First, the flight path of the helicopter 100 is referred to, and the helicopter is divided according to the number of drones 200 having a maximum width W. For example, when there are two drones 200, the maximum width W is divided into two to set two divided areas. Next, the flight path for spraying the drug to the divided region to which each drone 200 is assigned is set with reference to the spray amount and the wind direction and speed.

Since the range in which the chemicals can be sprayed by one drone 200 changes depending on the wind condition, it is desirable to set the flight path with reference to the wind condition. More specifically, when the drone 200 is in a stationary state and in a windless state, the drug is sprayed in a substantially circular area as shown in FIG. 9A, and the drug is sprayed as the distance from the center increases. The density decreases. When the drone 200 is in a stationary state and in a windy state, as shown in FIG. 9B, the drug is sprayed in a substantially teardrop-shaped range, and the spray density of the drug increases as the distance from the center increases. descend. Therefore, the flight path is set in consideration of the wind direction and speed so that the concentration of the drug becomes constant within the spraying range.

Next, the control unit 131 causes the LCD touch panel 131e to display the flight start point, and causes the pilot to move the helicopter 100 to the flight start point. When moving to the flight start point, the drone 200 may be housed inside the helicopter 100, for example, or is provided outside the helicopter 100 so that the drone 200 can be housed and is remote. It may be moved to the flight start point in a state of being housed in a housing part having a lid part that can be opened and closed by operation. The drone 200 may move following the helicopter 100.

Upon arriving at the flight start point, the pilot or operator initiates the flight of the drone 200. More specifically, the operator or operator either grasps and releases the drone 200 by hand, or remotely opens the lid of the accommodating portion described above to start the flight of the drone 200.

When the drone 200 starts flying, the control unit 131 displays the flight path of the helicopter 100 on the LCD touch panel 131e and displays the current position of the helicopter 100. The pilot can fly the helicopter 100 appropriately for spraying by flying the helicopter 100 along the flight path displayed on the LCD touch panel 131e.

On the other hand, the drone 200 moves to the flight start position of each assigned division area. More specifically, the control unit 237 of the drone 200 acquires information indicating a flight path (for example, flight path information by latitude and longitude) from the control unit 131 of the helicopter 100 via the transmission / reception unit 132 and the transmission / reception unit 236. .. Next, the drone 200 starts flying according to the flight route information and starts spraying the drug.

When the drone 200 starts flying, the helicopter 100 executes the following processing. That is, the control unit 131 of the helicopter 100 detects the tension of the cable 300 and drives the motor 112 so that the tension becomes constant. Specifically, even when the drone 200 is farthest from the helicopter 100, the cable 300 has some margin and the tension is adjusted so that the drone 200 can move freely.

Further, the control unit 131 of the helicopter 100 detects the remaining amount of the battery mounted on the drone 200 and charges the drone 200 as necessary. For example, the battery may be charged when the remaining capacity of the battery becomes equal to or less than a predetermined threshold value, or may be constantly charged.

Further, the control unit 131 of the helicopter 100 acquires the value of the flow rate sensor mounted on the drone 200, controls the pump 113 according to the flow rate, and adjusts the pressurization amount. More specifically, when the detection value of the flow rate sensor mounted on the drone 200 increases, the pressurization amount can be increased. Alternatively, the pressurization amount may be adjusted so that the remaining amount of the drug tank 216 of the drone 200 becomes constant.

On the other hand, the control unit 237 of the drone 200 detects the wind direction and wind speed based on the output from the wind direction and wind speed sensor, detects the flight speed of the drone based on the output from the speed sensor or the GPS sensor, and outputs the output from the flow rate sensor. Based on this, the flow rate of the drug is detected, and the shape of the ground is detected based on the output from the LIDAR 231 and the image pickup element 323. Then, based on this information, the application range and the application density of the drug are estimated. That is, as shown in FIG. 9, the diffusion range of the drug changes depending on the wind direction and the wind speed, the spray density changes depending on the flow rate and the flight speed, and the surface area changes according to the shape of the ground. Changes. Therefore, based on this information, the spray range and spray density at that time may be estimated, it may be determined whether these are appropriate, and if not, spraying at the same place may be repeated again. .. Further, the control unit 237 of the drone 200 detects the inclination of the spray nozzle 217, and if the inclination of the spray nozzle 217 is not appropriate, adjusts the gimbal 235-2 to adjust the angle of the spray nozzle 217.

When the spraying of the drug is completed, the drone 200 is collected in the helicopter 100, and the spraying operation is completed.

As described above, according to the embodiment of the present invention, the helicopter 100 and one or more drones 200 are connected by a cable 300, and the drug is sprayed by the drone 200. Therefore, the helicopter 100 itself approaches. The drug can be sprayed even in places where it cannot be done.

In addition, since the drug and electric power are supplied from the helicopter 100, the drone 200 does not need to repeat takeoff and landing.

Further, since the helicopter 100 has a downdraft due to the main rotor, the drug is unnecessarily diffused. However, in the present embodiment, the drone 200 approaches the ground and sprays the drug, so that the drug is effective. Can be sprayed on.

Next, a flowchart for realizing the operation described above will be described with reference to FIGS. 10 to 12.

FIG. 10 is an example of processing executed by the control unit 131 of the helicopter 100. When the processing of the flowchart shown in FIG. 10 is started, the following steps are executed.

In step S10, the control unit 131 causes the LCD touch panel 131e to display a map and specify the spraying range on the map.

In step S11, the control unit 131 displays an input screen on the LCD touch panel 131e and receives an input of the spray density. For example, the amount of spray (L) per square meter is input as the spray density (L / m ² ).

In step S12, the control unit 131 displays an input screen on the LCD touch panel 131e and receives an input of the wind direction and speed at the spraying point. For example, the operator is made to input the measured value measured by the anemometer as, for example, "north-northeast, 5 m / sec". Alternatively, the output from the wind direction and speed sensor may be referred to and automatically input.

In step S13, the control unit 131 calculates the flight path of the helicopter 100. More specifically, when W is the maximum width that can be sprayed when the drone 200 flies most distantly in the direction orthogonal to the traveling direction of the helicopter 100 with respect to the spraying range specified in step S10, W. Calculate the flight path to scan the spray range.

In step S14, the control unit 131 calculates the flight path of the drone 200 based on the flight path of the helicopter 100 calculated in step S13. More specifically, the maximum width W is divided according to the number of drones 200 to form a divided area, and the flight path for spraying the drug to the divided area to which each drone 200 is assigned is determined by the amount of application and the wind direction and speed. Refer to and set.

In step S15, the control unit 131 displays the flight start point of the helicopter 100 on the LCD touch panel 131e and displays the current position of the helicopter 100. The operator can move the helicopter 100 to the spraying start point with reference to such a display.

In step S16, the control unit 131 refers to the output of a GPS sensor (not shown), determines whether or not the helicopter 100 has moved to the spraying start point, and if it is determined that the helicopter 100 has moved (step S16: Y), step S16. The process proceeds to S17, and in other cases (step S16: N), the process returns to step S15 and the same process is repeated.

In step S17, the control unit 131 transmits the flight path calculated in step S14 to the drone 200, and also transmits a control signal for starting the flight of the drone 200. As a result, the drone 200 starts flying along the set flight path.

In step S18, the control unit 131 displays the flight path of the helicopter 100 on the LCD touch panel 131e and displays the current position of the helicopter 100. The pilot can fly the helicopter 100 along the flight path with reference to such a display.

In step S19, the control unit 131 executes the drug spraying process. The details of this process will be described later with reference to FIG.

In step S20, the control unit 131 determines whether or not the drug spraying process is completed, and if it is determined that the drug spraying process is completed (step S20: Y), the process is terminated, and in other cases (step S20: N). ) Returns to step S19 and repeats the same process.

Next, with reference to FIG. 11, the details of the “drug spraying treatment” shown in step S19 of FIG. 10 will be described. When the processing of the flowchart shown in FIG. 11 is started, the following steps are executed.

In step S30, the control unit 131 starts spraying the drug. More specifically, the control unit 131 transmits a control signal via the transmission / reception unit 132. As a result, the transmission / reception unit 236 of the drone 200 receives the control signal and supplies it to the control unit 237. The control unit 237 controls the drug pressurization adjustment unit 239 based on the control signal to start spraying the drug.

In step S31, the control unit 131 displays the flight path of the helicopter 100 on the LCD touch panel 131e. If the flight path is already displayed, the flight path is updated according to the current position of the helicopter 100.

In step S32, the control unit 131 determines whether or not the helicopter 100 exists at the set position, and if it determines that the helicopter 100 exists at the set position (step S32: Y), the process proceeds to step S33. In cases other than the above (step S32: N), the process returns to step S31 and the same process is repeated. The processing of steps S31 to S32 can prevent the helicopter 100 from deviating from the flight path.

In step S33, the control unit 131 moves the drone 200 along the set flight path. That is, the control unit 131 transmits a control signal via the transmission / reception unit 132, and causes the drone 200 to fly according to the flight path.

In step S34, the control unit 131 detects the tension of the cable 300. When there are a plurality of drones 200, the tension of the cable 300 connected to each drone 200 is detected.

In step S35, the control unit 131 drives the motor 112 to adjust the tension of the cable 300 based on the information detected in step S34.

In step S36, the control unit 131 detects the remaining capacity of the battery mounted on the drone 200. When there are a plurality of drones 200, the remaining capacity of the battery of each drone 200 is detected.

In step S37, the control unit 131 charges the battery by adjusting the output voltage of the power supply 115. If there are a plurality of drones 200, charging is performed for each drone.

In step S38, the control unit 131 detects the flow rate of the drug from the flow rate sensor of the drone 200. More specifically, it detects the flow rate of the drug being supplied to the drone 200.

In step S39, the control unit 131 controls the pump 113 according to the flow rate of the drug detected in step S38, and adjusts the pressurization amount of the drug according to the flow rate. This makes it possible to supply an appropriate amount of drug to the drone 200.

In step S40, the control unit 131 determines whether or not to end the process, ends the process if it determines that the process ends (step S40: Y), and ends the process in other cases (step S40: N). Return to step S31 and repeat the same process as described above.

Next, the processing executed in the drone 200 will be described. FIG. 12 is a flowchart illustrating an example of processing executed in the drone 200. When the processing of the flowchart shown in FIG. 12 is started, the following steps are executed.

In step S50, the control unit 237 refers to the output of the GPS sensor, determines whether or not the drone 200 has moved to a predetermined position at which spraying starts, and determines that the drone 200 has moved to a predetermined position (step S50). : Y) proceeds to step S51, and in other cases (step S50: N), the same process is repeated.

In step S51, the control unit 237 controls the drug pressurization adjustment unit 239 to start spraying the drug.

In step S52, the control unit 237 flies the drone 200 along the flight path by controlling the rotation speeds of the motors 212-1 to 212-4 with reference to the output of the GPS sensor.

In step S53, the control unit 237 refers to the output of the wind direction / wind speed sensor and detects the wind direction and the wind speed around the drone 200. As a result, "north-northeast" as the wind direction and "5 m / sec" as the wind speed are detected.

In step S54, the control unit 237 detects the flight speed of the drone 200 with reference to the output of the speed sensor or the GPS sensor. As a result, "20 m / sec" is detected as the flight speed.

In step S55, the control unit 237 refers to the output of the flow rate sensor and detects the flow rate of the drug. As a result, "0.5 L / sec" is detected as the flow rate.

In step S56, the control unit 237 detects the condition of the ground on which the drug is sprayed with reference to the output of the LIDAR 231 or the image sensor 232. As a result, for example, unevenness on the ground is detected.

In step S57, the control unit 237 estimates the current application range of the drug based on the information detected in steps S53 to S56. For example, in the case of no wind, the shape of FIG. 9 (A) is the spray range, and in the case of wind, the shape of FIG. 9 (B) is the spray range. Further, since the spraying range changes depending on the flight speed of the drone 200 and the condition of the ground, the control unit 237 integrates these situations and estimates the spraying range at that time.

In step S58, the control unit 237 estimates the spray density of the drug from the spray range obtained in step S57 and the flow rate obtained in step S55.

In step S59, the control unit 237 determines whether or not the spraying range and spraying density of the drug estimated in steps S57 and S58 are appropriate, and if it is determined to be appropriate (step S59: Y), the process proceeds to step S61. If it is determined that it is not appropriate (step S59: N), the process proceeds to step S60.

In step S60, the control unit 237 adjusts the spraying amount and spraying position of the drug. More specifically, if there is an unsprayed area or a low density area, return to that area and re-apply. If the density is high, the amount of spraying is reduced or the flight speed is increased.

In step S61, the control unit 237 adjusts the gimbal 235-2 as needed to adjust the spraying direction of the drug. For example, the spraying direction may be adjusted by adjusting the angle of the gimbal 235-2 according to the wind direction and speed.

In step S62, the control unit 237 determines whether or not to end the spraying, and if it determines that the spraying is finished (step S62: Y), the process is finished, and in other cases (step S62: N). Return to step S52 and repeat the same process as described above.

According to the processing of the above flowchart, the operation of the above-described embodiment can be realized.

(C) Description of Modified Embodiment It goes without saying that each of the above embodiments is an example, and the present invention is not limited to the above-mentioned case. For example, in the above examples, the liquid chemicals have been described as an example of the chemicals to be sprayed, but the "materials" that can be sprayed in the present embodiment include, for example, powders.
There are granules, viscous substances, solid substances and the like. Of course, materials other than these may be sprayed.

Further, in the above embodiment, the material is sprayed by applying pressure, but in addition to applying the pressure, for example, the material is sprayed by using centrifugal force, or the wind pressure of the propeller 213 is used. The material may be sprayed, or the material may be sprayed using the carrier showing the spiral shape shown in FIG. Instead of applying pressure to the material itself, the material may be sprayed by applying air pressure to the material in the medicine tank 114 or the medicine tank 216.

In the example shown in FIG. 13, the material is input to the input unit 401. Such a material is supplied to the transport pipe 403 via a drive unit 402 for rotationally driving the spiral transport body 404. A spiral transport body 404 is arranged inside the transport pipe 403, and by rotating the spiral transport body 404 by the drive unit 402, the material is transported from the right to the left in the drawing, and the material is transported from the nozzle unit 405. It is sprayed to the outside. Materials may be sprayed using such a structure.

Further, in the above embodiment, the drug is sprayed while both the helicopter 100 and the drone 200 are moving, but the helicopter 100 moves after only the drone 200 moves and sprays while the helicopter 100 is stationary. Then, the drone 200 may be used for spraying again.

The flowcharts shown in FIGS. 10 to 12 are examples, and the present invention is not limited to the flowcharts shown in FIGS. 10 to 12.

100 Helicopter 110 Power supply device 111 Reel mechanism 112 Motor 113 Pump 114 Chemical tank 115 Power supply 130 Control device 131 Control unit 131a CPU
131b ROM
131c RAM
131d HDD
131e LCD touch panel 131f bus 131g I / F
132 Transmission / reception 200 Drone 210 Main body 211 Connection 212 Motor 212-1 Motor 213 Propeller 214 Propeller guard 215 Skid 216 Chemical tank 217 Spray nozzle 232 Image sensor 234 Image processing unit 235 Gimbal 235-1 Gimbal 235-2 Gimbal 236 Transmission / reception unit 236a Antenna 237 Control unit 238 Sensor 239 Drug pressurization adjustment unit 300 Cable 323 Image sensor 401 Input unit 402 Drive unit 403 Conveyance tube 404 Spiral conveyor 405 Nozzle unit

The present invention relates to a material spraying system and a material spraying device .

An object of the present invention is to provide a material spraying system and a material spraying device capable of spraying materials without taking off and landing frequently.

In order to solve the above problems, the present invention relates to a material spraying system having a central device mounted on a manned aircraft and one or more unmanned aerial vehicles, wherein the central device of the manned aircraft is a material for the unmanned aerial vehicle. The unmanned aerial vehicle has a supply means for supplying the unmanned aerial vehicle and a control means for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle has a spraying means for spraying the material supplied from the supply means and a control means for controlling the control means. have a, and flight means for flying the unmanned aircraft, said control means, based on the spraying range of the material, the flight path of the unmanned aircraft is calculated to control the unmanned aircraft in response to the flight path , Characterized by.

Further, the present invention relates to a material spraying system having a central device mounted on a manned aircraft and one or more unmanned aircraft, wherein the central device of the manned aircraft is a supply means for supplying materials to the unmanned aircraft. The unmanned aircraft has a control means for controlling the unmanned aircraft, and the unmanned aircraft flies the unmanned aircraft under the control of the spraying means for spraying the materials supplied from the supply means and the control means. The control means calculates and presents the flight path of the manned aircraft based on the spray range of the material, and the control means calculates and presents the flight path of the manned aircraft, and based on the spray range and the flight path of the manned aircraft. It is characterized in that the flight path of the unmanned aircraft is calculated and the unmanned aircraft is controlled according to the obtained flight path .

Further, according to the present invention, in a material spraying device mounted on the manned aircraft of a material spraying system having a manned aircraft and one or more unmanned aircraft, materials are supplied and sprayed to the spraying means possessed by the unmanned aircraft. It has a supply means for causing the unmanned aircraft to fly, and a control means for controlling the flight means of the unmanned aircraft to fly the unmanned aircraft, and the control means has a flight path of the unmanned aircraft based on a spray range of the material. Is calculated, and the unmanned aircraft is controlled according to the flight path .

Further, according to the present invention, in a material spraying device mounted on the manned aircraft of a material spraying system having a manned aircraft and one or more unmanned aircraft, materials are supplied and sprayed to the spraying means possessed by the unmanned aircraft. It has a supply means for causing the unmanned aircraft to fly and a control means for controlling the flight means of the unmanned aircraft to fly the unmanned aircraft, and the control means has a flight path of the manned aircraft based on a spray range of the material. Is calculated and presented, the flight path of the unmanned aircraft is calculated based on the spray range and the flight path of the manned aircraft, and the unmanned aircraft is controlled according to the obtained flight path. To do.

According to the present invention, it is possible to provide a material spraying system and a material spraying device capable of spraying materials without taking off and landing frequently.

Claims (10)

In a material spraying system with a central unit mounted on a manned aircraft and one or more unmanned aerial vehicles.
The central device of the manned aircraft
A supply means for supplying materials to the unmanned aerial vehicle and
Having a control means for controlling the unmanned aerial vehicle,
The unmanned aerial vehicle
A spraying means for spraying the material supplied from the supply means,
It has a flight means for flying the unmanned aerial vehicle under the control of the control means.
A material spraying system characterized by that. The material spraying system according to claim 1, wherein the control means calculates a flight path of the unmanned aerial vehicle based on the spraying range of the material, and controls the unmanned aerial vehicle according to the flight path. .. The control means calculates and presents the flight path of the manned aircraft based on the spray range of the material, and calculates the flight path of the unmanned aerial vehicle based on the spray range and the flight path of the manned aircraft. The material spraying system according to claim 1, wherein the unmanned aerial vehicle is controlled according to the obtained flight path. The unmanned aerial vehicle has a wind direction and speed sensor.
It has a spraying direction adjusting means for adjusting the spraying direction of the material by the spraying means according to the detection result of the wind direction and speed sensor.
The material spraying system according to any one of claims 1 to 3, wherein the material spraying system is characterized. The material spraying system according to any one of claims 1 to 4, wherein the unmanned aerial vehicle has a spraying amount adjusting means for adjusting the spraying amount of the material. The manned aircraft supplies the material to the unmanned aerial vehicle via a cable.
The manned aircraft has a tension adjusting means for adjusting the tension of the cable.
The material spraying system according to any one of claims 1 to 5, characterized in that. The material spraying system according to any one of claims 1 to 6, wherein the spraying means sprays the material by applying pressure to the material by air or a spiral mechanism. The material spraying system according to any one of claims 1 to 7, wherein the spraying means is sprayed by utilizing the wind pressure of a propeller possessed by the unmanned aerial vehicle to fly. In a material spraying device mounted on the manned aircraft of a material spraying system having a manned aircraft and one or more unmanned aerial vehicles.
A supply means for supplying materials to the unmanned aerial vehicle and
The control means for controlling the unmanned aerial vehicle and
A material spraying device characterized by having. In the unmanned aerial vehicle of a material spraying system having a manned aircraft and one or more unmanned aerial vehicles.
A spraying means for spraying materials supplied from the supply means mounted on the manned aircraft, and
A flight means for flying the unmanned aerial vehicle according to the control of the control means mounted on the manned aircraft, and
An unmanned aerial vehicle characterized by having.