JP2021049875A - Fertilizer or the like spray system, unmanned flight device, fertilizer or the like spraying method and program - Google Patents

Abstract

To provide a fertilizer or the like spray system capable of effectively spraying fertilizer or the like to a target position and reducing a drift problem in spraying the fertilizer or the like, an unmanned flight device, a fertilizer or the like spraying method and a program.SOLUTION: A fertilizer or the like spray system 100 having an unmanned flight device 1 capable of acquiring thrust by rotations of a plurality of propellers to discharge an object including fertilizer or an agricultural chemical in a prescribed discharge direction includes input reception means for receiving an input of basic information showing a condition of spraying the objects, and spray condition determination means for determining a spray condition including a spray position being a position for spraying the object, a flight route of the unmanned flight device 1, a rotating speed at which the unmanned flight device 1 discharges the object while rotating at the spray position, and the number of rotations at each spray position. The unmanned flight device 1 includes discharge control means for discharging the object while rotating at the spray position at the rotating speed while maintaining a horizontal and vertical position.SELECTED DRAWING: Figure 1

Description

The present invention relates to a fertilizer spraying system, an unmanned aerial vehicle, a fertilizer spraying method and a program.

Conventionally, the use of a small unmanned helicopter (also called a drone) has been proposed.

Japanese Unexamined Patent Publication No. 2004-256020

In recent years, small unmanned helicopters have been used to spray fertilizers, pesticides, etc. (hereinafter referred to as "fertilizers, etc."). By the way, since a small unmanned helicopter flies in the air, there is a limit to the weight of fertilizer and the like. Therefore, efficient work cannot be carried out unless fertilizers and the like are effectively used. In addition, the so-called "drift" in which fertilizer or the like is scattered outside the area where the fertilizer or the like is sprayed causes environmental problems and health problems in the surrounding area.

The present invention has attempted to solve such a problem, and when spraying fertilizer or the like, fertilizer or the like can be effectively sprayed at a target position and the problem of drift can be reduced. The purpose is to provide equal spraying systems, unmanned flight equipment, fertilizer spraying methods and programs.

The first invention is a fertilizer or the like spraying system having an unmanned flight device capable of obtaining thrust by rotating a plurality of propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction. An input receiving means for receiving input of basic information indicating a spraying condition, a spraying position at which the object is sprayed based on the basic information, a flight path of the unmanned flight device, and the unmanned flight at the spraying position. The unmanned flight device includes a turning speed for discharging the object while the device is turning, and a spraying condition determining means for determining a spraying condition including the number of turns at each spraying position, and the unmanned flight device has the spraying position. A fertilizer or the like spraying system having a discharge control means for discharging an object while turning at the turning speed while maintaining positions in the horizontal direction and the vertical direction.

According to the configuration of the first invention, the fertilizer spraying system can determine the spraying position, the flight path, the turning speed, and the number of turns at each spraying position based on the basic information. Then, the unmanned aerial vehicle can discharge the object in a predetermined discharge direction while turning while maintaining the horizontal and vertical positions at the spraying position. When the amount of the object required per unit area is large, the object to be sprayed is sprayed by increasing the number of turns while adopting highly reliable discharge control that keeps the turning speed and the discharge amount constant. The amount can be increased. In addition, since the unmanned flight device maintains the horizontal and vertical positions when ejecting the object, the ejected object is affected by the horizontal or vertical movement speed of the unmanned flight device. Instead, the object can be sprayed at the desired position with high accuracy. This can reduce the problem of drift.

In the second invention, in the configuration of the first invention, the basic information indicates the state of each constituent area of the field and / or the state of the crop cultivated for each constituent area of the field. The spraying condition determining means including the state information is a fertilizer or the like spraying system configured to determine the spraying conditions for each of the constituent areas of the field based on the state information.

In the field, nutritional status may not be uniform, and crop growth may not be uniform. The amount of fertilizer required differs between the area where the nutritional status and the growth condition are good and the area where the growth condition is poor. In this regard, according to the configuration of the second invention, the object can be sprayed under appropriate spraying conditions for each constituent area of the field.

A third invention is a fertilizer according to the first invention or the second invention, wherein the spraying condition determining means has a swirling speed switching mode in which the swirling speed is switched and discharged at one of the spraying positions. It is an equal spraying system.

According to the configuration of the third invention, in one spraying position, for example, the object is sprayed at a position close to the unmanned aerial vehicle at a relatively slow turning speed, and is far from the unmanned aerial vehicle at a relatively fast turning speed. The object can be sprayed at the position. That is, the object can be sprayed at an arbitrary distance with respect to the unmanned aerial vehicle by changing the turning speed without the unmanned aerial vehicle moving in the horizontal direction or the vertical direction.

In the fourth invention, in any of the configurations of the first invention to the third invention, the spraying condition determining means determines a flight angle with respect to an axis indicating the length direction of the field according to the shape of the field. Configured to determine,
It is a fertilizer spraying system.

The fifth invention is an unmanned flight apparatus capable of obtaining thrust by rotating a plurality of propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction, and information indicating conditions for spraying the object. The spraying position, which is the position where the object is sprayed, the flight path through which the flight device flies, and the turning speed for discharging the object while turning at the spraying position, which are determined based on the basic information including. And the spraying condition storage means for storing the spraying conditions including the number of turns at each of the spraying positions, and the object while turning at the turning speed while maintaining the horizontal and vertical positions at the spraying position. It is an unmanned flight device having a discharge control means for discharging.

The sixth invention is a method for spraying fertilizer or the like by obtaining thrust by rotating a plurality of propellers and spraying the target object by an unmanned flight device capable of discharging the target object containing fertilizer or pesticide in a predetermined discharge direction. , An input reception step that accepts input of basic information including information indicating conditions for spraying the object, a spraying position that is a position to spray the object based on the basic information, and a flight in which the unmanned flight device flies. A spraying condition determination step for determining a path, a turning speed for discharging the object while the unmanned flight device is turning at the spraying position, and a spraying condition including the number of turns at each spraying position, and the spraying. It is a method of spraying fertilizer or the like, which comprises a spraying implementation step of flying the unmanned flight device and spraying the object based on the conditions.

The seventh invention relates to a computer for controlling a fertilizer spraying system having an unmanned flight device capable of obtaining thrust by rotating a plurality of propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction. An input receiving means for receiving input of basic information indicating a condition for spraying an object, a spraying position at which the object is sprayed based on the basic information, a flight path of the unmanned flight device, and a spraying position. This is a program for functioning as a spraying condition determining means for determining a spraying condition including a turning speed for discharging the object while turning the unmanned flight apparatus and the number of turns at each of the spraying positions.

As described above, according to the present invention, when fertilizer or the like is sprayed, the fertilizer or the like can be effectively sprayed at a target position, and the problem of drift can be reduced.

It is a figure which shows the outline of the 1st Embodiment of this invention. It is a schematic perspective view which shows the unmanned aerial vehicle. It is a schematic side view of the discharge device. It is a conceptual diagram which shows the state of the discharge of fertilizer and the like by a discharge device. It is the schematic which shows the delivery part of a discharge device. It is the schematic which shows the discharge part of the discharge device. It is the schematic which shows the discharge part of the discharge device. It is a conceptual diagram which shows the operation of a discharge part. It is a conceptual diagram which shows the operation of a discharge part. It is a conceptual diagram which shows the operation of a discharge part. It is a conceptual diagram which shows the operation of a discharge part. It is a conceptual diagram which shows the state of turning of an unmanned aerial vehicle. It is a conceptual diagram which shows the state of turning of an unmanned aerial vehicle. It is a conceptual diagram which shows an example of the range which the effect of fertilizer covers. It is the schematic which shows the functional block of a management device. It is the schematic which shows the functional block of the unmanned aerial vehicle. It is a schematic flowchart which shows the operation of the fertilizer spraying system. It is a conceptual diagram which shows an example of the basic information of the 2nd Embodiment of this invention. It is a schematic diagram which shows an example of a spraying position and a flight path. It is the schematic which shows an example of the spraying position and the flight path of the 3rd Embodiment of this invention. It is a conceptual diagram which shows the turning speed and the reach distance of fertilizer. It is a conceptual diagram which shows the relationship between the reach of fertilizer, the turning speed, and the number of turning. It is the schematic which shows an example of the spraying position and the flight path of the 4th Embodiment of this invention.

Embodiments of the present invention will be described with reference to the drawings. The description of the configuration that can be appropriately implemented by those skilled in the art will be omitted, and only the basic configuration of the present invention will be described.

<First Embodiment>
The fertilizer spraying system 100 (hereinafter referred to as “system 100”) of FIG. 1 includes an unmanned aerial vehicle 1 (hereinafter referred to as “unmanned aerial vehicle 1”) and a computer 80. The unmanned aerial vehicle 1 is a so-called drone or a multicopter, and has a plurality of rotary wings. The unmanned aerial vehicle 1 obtains thrust by rotating a plurality of propellers. Specifically, the number of propellers of the unmanned aerial vehicle 1 is 6. The unmanned aerial vehicle 1 is configured to be able to discharge fertilizer, pesticide, or the like in a predetermined discharge direction. In the present embodiment, the predetermined discharge direction is the nose direction. The nose direction is the direction in which the camera 16 (see FIG. 2) is located in the unmanned aerial vehicle 1. In this specification, fertilizers, pesticides, etc. are collectively referred to as "objects". The object is not limited to fertilizers and pesticides, but includes all substances to be sprayed in the field, such as a geological improver in the field. The system 100 is an example of a fertilizer spraying system, and the unmanned aerial vehicle 1 is an example of an unmanned aerial vehicle. The computer 80 is an example of a management device. In the present embodiment, the unmanned aerial vehicle 1 will be described below assuming that the unmanned aerial vehicle 1 discharges granular fertilizer.

The unmanned aerial vehicle 1 receives a signal from the computer 80 installed on the ground and starts the flight.

The unmanned aerial vehicle 1 can receive the positioning radio waves transmitted from the navigation satellites constituting the navigation satellite system to determine the current position. The rear satellite system is, for example, GPS (Global Positioning System).
The unmanned aerial vehicle 1 can fly while receiving the positioning radio waves transmitted from the navigation satellites 202A to 202D and positioning the current position, for example.

The drone 1 flies over the field AG1. The flight altitude is, for example, 2.5 meters (meter). The flight path is, for example, routes R1 to R13. The unmanned aerial vehicle 1 is configured to discharge fertilizer while maintaining horizontal and vertical positions at positions P1 to P14 and turning. The position P1 and the like are an example of the spraying position, and the route R1 and the like are an example of the flight path.

As shown in FIG. 2, the unmanned aerial vehicle 1 has a housing 2. A round bar-shaped arm 8 is connected to the housing 2. A motor 10 is connected to the motor fixing portion 8a of each arm 8. A propeller 12 is connected to each motor 10. Each motor 10 is independently controlled by a computer in the housing 2, and the unmanned machine 1 is moved and changed in the horizontal and vertical directions, stopped in the air (hovering), and horizontally and vertically. In addition to being able to freely turn while maintaining its position, it is also possible to control its posture.

A leg 14 is connected to the arm 8. A canopy 4 is arranged in the housing 2 to protect the configuration of a computer or the like arranged in the housing 2. A camera 16 is arranged in the housing 2 so as to be exposed from the canopy 4 so that an external image can be acquired.

A computer for controlling each part of the unmanned aircraft 1, a wireless communication device, a positioning device using a navigation satellite system such as GPS (Global Positioning System), an autonomous flight control device, a battery, and the like are arranged in the housing 2. Autonomous flight control devices include inertial sensors such as accelerometers and gyro sensors, magnetic sensors, barometric pressure sensors, and temperature sensors.

A discharge device 20 is connected to the lower part of the housing 2. The discharge device 20 has a container unit 40 for storing fertilizer and a discharge unit 30 for discharging fertilizer. The front of the discharge portion 30 is open. Further, as shown in FIG. 3, the discharge device 20 has a communication unit 36 that connects the container unit 40 and the discharge unit 30. The connecting portion 36 has an inclined plate portion 38 and is open above.

As shown in FIG. 3, the bottom surface 40a inside the container portion 40 is configured as an inclined surface that inclines downward toward the opening / closing portion 40b. When the opening / closing portion 40b is opened, the container portion 40 and the discharge portion 30 communicate with each other.

As shown in FIG. 3, a delivery unit 32 is arranged in the discharge unit 30. The delivery unit 32 has a rotating plate connected to a motor (not shown) as a main component. The fertilizer is sent from the inclined plate portion 38 of the communication unit 36 to the delivery unit 32, and the fertilizer accelerated in a predetermined direction by the delivery unit 32 is discharged from the discharge unit 30.

The fertilizer is sent from the container unit 40 to the delivery unit 32 via the communication unit 36 as shown by arrow C1 (see FIG. 4A). When the delivery unit 32 rotates in the direction of arrow A1 (see FIG. 4B), the fertilizer is accelerated and delivered from the delivery unit 32 as shown by arrow B1. Since fertilizer is composed of a large number of granular fertilizers, in this specification, when explaining the movement of fertilizer and individual particles, it is assumed that the possibility of such movement is explained.

As shown in FIG. 5, the delivery portion 32 includes a disk-shaped rotating plate 32a, a shaft portion 32b connected to a motor (not shown), and a plate-shaped blade portion 32c1 arranged on the rotating plate 32a. , 32c2, 32c3. The rotating plate 32a rotates with the shaft portion 32b as a rotating shaft.

FIG. 6A is a view of the discharge unit 30 and the discharge unit 32 as viewed from the front. As shown in FIG. 6A, the delivery unit 32 is arranged inside the discharge unit 30. The discharge portion 30 is composed of an outer shell 30a and a peripheral wall portion 30b. The front of the discharge portion 30 is open. The front of the discharge portion 30 is the front direction of the paper surface in FIG. 6 (a) and the lower direction in FIG. 6 (b).

FIG. 6B is a plan view of the delivery unit 32 and the discharge unit 30. The sending unit 32 arranged inside the sending unit 30 is shown by a dotted line. An opening 30aa for introducing fertilizer is formed in the outer shell 30a of the delivery portion 30.

FIG. 7 is a diagram showing a delivery unit 32 and a peripheral wall portion 30b of the discharge unit 30. The peripheral wall portion 30b is composed of an arcuate portion 30b1 and left and right straight portions 30b2L and 30b2R.

A state in which the fertilizer F is accelerated to the delivery unit 32 and delivered from the delivery unit 32 will be described with reference to FIGS. 8 to 11. Although the number of particulate matter constituting fertilizer F is actually large, only three are shown for convenience of explanation. As shown in FIG. 8A and the like, the rotating plate 32a rotates at a predetermined rotation speed in the direction of arrow D1. When the fertilizer F is introduced onto the rotating plate 32a from the opening 30aa (see FIG. 8A), the fertilizer F comes into contact with the blade portion 32c1 due to the rotation of the rotating plate 32a (see FIG. 8B). The fertilizer F is given kinetic energy and accelerated by coming into contact with the blade portion 32c1 or the like. By controlling the rotation speed of the rotary plate 32a, the degree to which the fertilizer F is accelerated, that is, the speed at which the fertilizer F is delivered from the delivery unit 32 is adjusted.

When the rotating plate 32a further rotates (FIG. 9 (a)), the fertilizer F moves outward due to centrifugal force, but the outward movement is restricted by the arcuate portion 30b1 (see FIG. 7) of the peripheral wall portion 30b. ing. When the rotary plate 32a further rotates and the blade portion 32c1 reaches the straight portion 30b2L (see FIG. 7) of the peripheral wall portion 30b (see FIG. 9B), the structure that hinders the centrifugal force applied to the fertilizer F disappears, so that the fertilizer F pops out in the direction of centrifugal force (see FIG. 10 (a)). When the direction in which the fertilizer F pops out is a direction other than the front (for example, the direction indicated by the arrow B0), the fertilizer F contacts the straight line portion 30b2L and changes the direction forward (for example, the direction indicated by the arrow X1a).

When the rotating plate 32a further rotates, the fertilizer F sequentially pops out in the direction of centrifugal force (for example, the direction indicated by the arrows X1a or X1b in FIG. 10B and FIG. 11).

The turning of the unmanned aerial vehicle 1 will be described with reference to FIGS. 12 and 13. In the present specification, turning means that the unmanned aerial vehicle 1 rotates in the horizontal plane in the nose direction while maintaining the positions in the horizontal direction and the vertical direction. The nose direction will be described below assuming that it is the direction indicated by the arrow X1.

As shown in FIG. 12A, when the unmanned aerial vehicle 1 is stopped in the air (hovering), the adjacent propellers 12A and the like rotate in opposite directions at the same speed. Propellers 12A, 12C and 12E (hereinafter referred to as "propeller A group") rotate clockwise as indicated by arrow A1, and propellers 12B, 12D and 12F (hereinafter referred to as "propeller B group") are indicated by arrow A2. Rotate counterclockwise. The propellers 12A and the like constituting the propeller A group and the propellers 12B and the like constituting the propeller B group rotate at the same speed. As a result, the reaction force due to the rotation of the propeller 12A and the like is offset, and the nose direction X1 is controlled so as not to fluctuate.

When the unmanned machine 1 turns while maintaining the horizontal position and the vertical position, the rotation speed of the propellers 12A and the like constituting the propeller A group and the rotation speed of the propellers 12B and the like constituting the propeller B group. The speeds may be different. Here, since it is necessary to maintain the thrust of all the propellers 12A and the like, for example, when the rotation speed of the propellers 12A and the like constituting the propeller A group is increased, the rotation speed of the propellers 12B and the like constituting the propeller B group is increased. Maintain thrust by reducing. Further, since it is necessary to maintain the position in the horizontal direction, the rotation speeds of the propellers 12A and the like constituting the propeller A group are controlled to be the same, and the rotation speeds of the propellers 12B and the like constituting the propeller B group are controlled to be the same.

By increasing the rotational speed of the propellers 12A and the like that make up the propeller A group and decreasing the rotational speed of the propellers 12B and the like that make up the propeller B group, the counterforce cancellation becomes incomplete and the unmanned aerial vehicle 1 turns. .. For example, as shown in FIGS. 12 (b) and 12 (c) and 13 (a) to 13 (c), the unmanned aerial vehicle 1 turns while maintaining its position in the horizontal direction and the vertical direction.

As shown in FIG. 14A, the range covered by the fertilizer F is the range of the radius r1 centered on the fertilizer F. The radius r1 is, for example, 15 meters (meter). Then, when the fertilizer F is sprayed at the position of the radius r1 at the position Pc of the unmanned aerial vehicle 1, the effect of the fertilizer F extends to the range of the radius 2r1 (see FIG. 14B). Based on this, the system 100 is configured to control the application of fertilizer by the unmanned aerial vehicle 1.

Next, the functional configuration of the computer 80 will be described with reference to FIG. As shown in FIG. 15, the computer 80 includes a CPU (Central Processing Unit) 82, a storage unit 84, a wireless communication unit 86, and a power supply unit 88.

The computer 80 can communicate with the unmanned aerial vehicle 1 by the wireless communication unit 86. The computer 80 gives the unmanned aerial vehicle 1 instructions regarding flight such as takeoff and landing.

In the storage unit 84, in addition to a program for executing a basic function as a computer, an input reception program and a spraying condition determination program are stored. The CPU 82 and the input reception program are examples of input reception means. The CPU 82 and the spraying condition determining program are examples of the spraying condition determining means.

The computer 80 receives the input of the basic conditions indicating the conditions for spraying the fertilizer on the field AG1 by the input reception program. The basic conditions include, for example, the coordinates for determining the area of the field AG1 and the amount of fertilizer applied per unit area. The coordinates for determining the region of the field AG1 are, for example, the coordinates Q0 to Q3 in FIG. The basic conditions are input by the user of the computer 80.

Based on the basic conditions, the computer 80 uses the spraying condition determination program to determine the spraying position for spraying fertilizer, the flight path of the unmanned aerial vehicle 1, the turning speed for discharging the fertilizer while the unmanned aerial vehicle 1 turns at the spraying position, and , Determine the spraying conditions including the number of turns at each spraying position.

The spraying positions are, for example, positions P1 to P14 in FIG. The flight path is a path that efficiently connects the spraying positions P1 to P14, and is, for example, routes R1 to R13. The turning speed is, for example, the speed at which the unmanned aerial vehicle 1 turns, and is defined by the angular velocity ω. The angular velocity ω defines the centrifugal force acting on the fertilizer, and the distance that the fertilizer reaches with reference to the unmanned aerial vehicle 1. The number of turns is the number of times the unmanned aerial vehicle 1 turns. The more turns, the more fertilizer is sprayed at the same position.

Next, the functional configuration of the unmanned aerial vehicle 1 will be described with reference to FIG. As shown in FIG. 16, the unmanned aerial vehicle 1 includes a CPU 50, a storage unit 52, a wireless communication unit 54, a satellite positioning unit 56, a drive control unit 58, an image processing unit 60, and a power supply unit 62.

The wireless communication unit 54 enables the unmanned aerial vehicle 1 to communicate with the computer 80.

The satellite positioning unit 56 allows the unmanned aerial vehicle 1 to measure the current position of the aircraft. The satellite positioning unit 56 basically receives radio waves from four or more navigation satellites to position the unmanned aerial vehicle 1.

The unmanned aerial vehicle 1 controls each of the six motors 10 by the drive control unit 58.

The image processing unit 60 allows the unmanned aerial vehicle 1 to operate the camera 16 to acquire an external image.

The power supply unit 62 is, for example, a replaceable rechargeable battery, and is adapted to supply electric power to each unit of the unmanned aerial vehicle 1.

In the storage unit 52, in addition to various data and programs required for unmanned flight such as data indicating a flight plan for autonomous flight from the starting point to the target position, and an autonomous control program required for autonomous flight, a discharge control program is stored. It is stored. The CPU 50 and the discharge control program are examples of discharge control means.

Hereinafter, an example of the operation of the system 100 will be described with reference to FIG. Upon receiving the input of the basic information (step ST1 in FIG. 17), the computer 80 determines the spraying position, flight path, turning speed, and number of turns of the fertilizer F by the unmanned aerial vehicle 1 (step ST2). Step ST1 is an example of an input reception step, and step ST2 is an example of a spraying condition determination step.

Subsequently, the computer 80 sends a start instruction to the unmanned aerial vehicle 1 to start the unmanned aerial vehicle 1 (step ST3). When it is determined that the unmanned aerial vehicle 1 has started and reached the vicinity of the turning position (step ST4), the speed is reduced (step ST5), and it is determined that the unmanned aerial vehicle 1 has reached the turning position (step ST6), the turning and fertilizer F Discharge is started (step ST7). Step ST7 is an example of a spraying implementation step.
When the unmanned aerial vehicle 1 determines that the work has been completed (step ST8), it stops turning and fertilizer discharge (step ST9), and when it determines that all the work has not been completed, it moves to the next work position (step). ST11). On the other hand, when the unmanned aerial vehicle 1 determines that all the work has been completed (step ST10), the unmanned aerial vehicle 1 returns to a predetermined position (step ST12).

<Second embodiment>
Next, the second embodiment will be described mainly with reference to FIGS. 18 and 19. The matters common to the first embodiment will be omitted, and the differences from the first embodiment will be mainly described. In the second embodiment, the basic information received by the computer 80 includes, in addition to the contents of the basic information in the first embodiment, the state of each constituent area constituting the field AG1 and / or cultivated. Contains status information that indicates the status of the crop.

The state information is, for example, as shown in FIG. 18, information indicating that the nutritional state of the land is insufficient in the regions S1 and S2 of the field AG1, or information indicating that the growing state of the crop is poor. is there. It is assumed that the state information indicates that the fertilizer F needs to be sprayed in the areas S1 and S2, but the fertilizer does not need to be sprayed in the areas other than the areas S1 and S2.

As the state information, the one generated by observing the field AG1 by the administrator of the system 100 may be used, or the vegetation index (NDVI) obtained by photographing the field AG1 from the unmanned aerial vehicle 1 or another drone is used. You may. When using a drone, for example, the vegetation index is remotely sensed and acquired by a spectroscopic digital camera (crop growth measuring device) that extracts only a specific wavelength range. The vegetation index can be used to evaluate plant height, number of stems, leaf area index, and dry matter weight.

The computer 80 determines the spraying conditions for each constituent area of the field AG1 based on the basic information including the state information. For example, as shown in FIG. 19, the computer 80 calculates a spraying position and a flight path for spraying fertilizer only in the areas S1 and S2.

When the unmanned aerial vehicle 1 receives the spraying condition from the computer 80, it flies according to the flight path FR3 shown in FIG. 19, turns while maintaining the horizontal and vertical positions at the spraying position P201 and the like, and discharges the fertilizer F.

<Third Embodiment>
Next, the third embodiment will be described mainly with reference to FIGS. 20 to 22. The matters common to the first embodiment or the second embodiment will be omitted, and the differences between the first embodiment and the second embodiment will be mainly described. In the third embodiment, the spraying condition determination program of the computer 80 has a turning speed switching mode in which the turning speed of the unmanned aerial vehicle 1 is switched and discharged at one spraying position. The operation mode in which the unmanned aerial vehicle 1 keeps the same turning speed and discharges at one spraying position is called a normal mode. The computer 80 determines the spraying conditions by the administrator of the computer 80 using either the normal mode or the turning speed switching mode.

When the unmanned aerial vehicle 1 receives the spraying conditions from the computer 80, for example, as shown in FIG. 20, the unmanned aerial vehicle 1 sprays fertilizer in the loci of the circles W1 and W2 at the spraying positions P101 to P108, respectively.

As shown in FIG. 21, for example, when the unmanned aircraft 1 increases the rotation speed of the propellers 12A, 12C and 12E belonging to the propeller A group and decreases the rotation speed of the propellers 12B, 12D and 12F belonging to the propeller B group, A reaction force A21 is generated and swivels, and the fertilizer is sprayed on the locus of the circle e1 having a radius r21. On the other hand, when the rotation speed of the propeller A group is further increased and the rotation speed of the propeller B group is further decreased, a reaction force A22 is generated and turns, and the fertilizer is sprayed on the locus of the circle e2 having a radius r22. .. Then, when the rotation speed of the propeller A group is further increased and the rotation speed of the propeller B group is further decreased, a reaction force A23 is generated and turns, and the fertilizer is sprayed on the locus of the circle e3 having a radius r23. The radius r22 is larger than the radius r21, and the radius r23 is larger than the radius r22. In this way, the unmanned machine 1 increases the centrifugal force acting on the fertilizer by increasing the reaction force and increasing the turning speed while maintaining the positions in the horizontal direction and the vertical direction, and the locus of a larger radius. Fertilizer can be sprayed at.

FIG. 22 shows the concept of the relationship between the reach distance r, the turning speed ω, and the amount of spraying uu per unit area in one turning. As shown in FIG. 22A, when the reachable distance r1 is determined, the turning speed ω1 is determined. Then, when the turning speed ω1 is determined, the spray amount uw1 is determined. Then, the number of turns c is determined by the equation 1 shown in FIG. 22 (b). That is, the number of turns c is obtained by dividing the total spray amount tw required per unit area by the spray amount ww per unit area in one turn.

The spraying conditions include the turning speed ω and the number of turns c at each spraying position P101 and the like (see FIG. 20). In FIG. 20, it is expressed that the fertilizer F is sprayed according to the loci of the circles W1 and W2 at any of the spraying positions P101 and the like, but the turning speed ω (that is, the locus of the circle) differs depending on each spraying position P101. ) May be adopted. Further, a different number of turns c may be adopted depending on each spraying position P101 or the like, and the amount of fertilizer F to be sprayed per unit area may be different.

Upon receiving the spraying conditions from the computer 80, the unmanned aircraft 1 flies in the flight path FR2 (see FIG. 20), maintains horizontal and vertical positions at each spraying position P101, and makes a predetermined turning at a predetermined turning speed. The fertilizer F is discharged while turning at the number of times c.

<Fourth Embodiment>
Next, a fourth embodiment will be described mainly with reference to FIG. 23. The matters common to any one of the first to third embodiments will be omitted, and the differences from the first to third embodiments will be mainly described. In the fourth embodiment, the computer 80 is configured to determine the flight angle with respect to the axis indicating the length direction of the field in a plan view according to the shape of the field by the spraying condition determination program.

For example, as shown in FIG. 23, if the shape of the field AG2 is a vertically long shape, a flight path having a predetermined angle θ1 with respect to the axis Zc indicating the length direction of the field AG2 is determined. This makes it possible to determine the flight path through which fertilizer can be effectively applied, depending on the shape of the field.

Upon receiving the spraying condition from the computer 80, the unmanned aircraft 1 flies on the path FR4 (see FIG. 23), maintains the horizontal and vertical positions at the spraying position P301, and has a predetermined number of turns at a predetermined turning speed ω. The fertilizer F is discharged while turning in c. The path FR4 has a predetermined angle θ1 with respect to the axis Zc indicating the length direction of the field AG2.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. Fertilizer discharge needs to be carried out by the unmanned aerial vehicle 1, but reception of basic conditions, determination of spraying conditions, and transmission to the unmanned aerial vehicle 1 may be carried out by a configuration other than the computer 80. For example, the unmanned aerial vehicle 1 may be used to receive the basic conditions, determine the spraying conditions, and discharge the fertilizer. Further, the computer 80 may receive the basic conditions, determine the spraying conditions, and transmit the spraying conditions to the unmanned aerial vehicle 1, and the operation of the unmanned aerial vehicle 1 may be performed by another control device.

1 Unmanned aerial vehicle (unmanned aerial vehicle)
50 CPU
52 Storage unit 54 Wireless communication unit 56 Satellite positioning unit 58 Drive control unit 60 Image processing unit 62 Power supply unit 80 Computer

Claims (7)

A fertilizer spraying system having an unmanned aerial vehicle capable of obtaining thrust by rotating a plurality of propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction.
An input receiving means for accepting input of basic information indicating conditions for spraying the object, and
Based on the basic information, the spraying position which is the position where the object is sprayed, the flight path of the unmanned aerial vehicle, and the turning speed for discharging the object while the unmanned aerial vehicle is turning at the spraying position. And the spraying condition determining means for determining the spraying condition including the number of turns at each of the spraying positions.
Have,
The unmanned aerial vehicle has a discharge control means for discharging an object while turning at the turning speed while maintaining horizontal and vertical positions at the spraying position.
Fertilizer spraying system. The basic information includes state information indicating the state of each constituent area of the field and / or the state of the crop cultivated in each of the constituent areas of the field.
The spraying condition determining means is configured to determine the spraying condition for each of the constituent regions of the field based on the state information.
The fertilizer spraying system according to claim 1. The spraying condition determining means has a swirling speed switching mode in which the swirling speed is switched to discharge at one of the spraying positions.
The fertilizer spraying system according to claim 1 or 2. The spraying condition determining means is configured to determine a flight angle with respect to an axis indicating the length direction of the field according to the shape of the field.
The fertilizer or the like spraying system according to any one of claims 1 to 3. An unmanned aerial vehicle capable of obtaining thrust by rotating multiple propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction.
The spraying position, which is the position where the object is sprayed, the flight path where the flight device flies, and the spraying position while turning at the spraying position, which are determined based on the basic information including the information indicating the conditions for spraying the object. A spraying condition storage means for storing a swirling speed for discharging an object and a spraying condition including the number of swirls at each of the spraying positions, and a spraying condition storage means.
Discharge control means for discharging the object while turning at the turning speed while maintaining the horizontal and vertical positions at the spraying position.
Unmanned aerial vehicle with. A fertilizer or the like spraying method in which thrust is obtained by rotating a plurality of propellers and the target is sprayed by an unmanned aerial vehicle capable of discharging the target containing fertilizer or pesticide in a predetermined discharge direction.
An input reception step that accepts input of basic information including information indicating conditions for spraying the object, and
Based on the basic information, the spraying position which is the position where the object is sprayed, the flight path where the unmanned aerial vehicle flies, and the unmanned aerial vehicle for discharging the object while turning at the spraying position. And the spraying condition determination step for determining the spraying condition including the swirling speed of the
Based on the spraying conditions, the spraying implementation step of flying the unmanned aerial vehicle and spraying the object, and
Fertilizer etc. spraying method. A computer that controls a fertilizer application system with an unmanned aerial vehicle capable of obtaining thrust by rotating multiple propellers and discharging an object containing fertilizer or pesticide in a predetermined discharge direction.
An input receiving means that accepts input of basic information indicating conditions for spraying the object, and
Based on the basic information, the spraying position which is the position where the object is sprayed, the flight path of the unmanned aerial vehicle, and the turning speed for discharging the object while the unmanned aerial vehicle is turning at the spraying position. And the spraying condition determining means for determining the spraying condition including the number of turns at each of the spraying positions,
A program to function as.

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