JP4284264B2 - Unmanned helicopter and control method thereof - Google Patents

Description

  The present invention relates to an unmanned helicopter that sprays medicines in a predetermined spraying region and a control method thereof.

  Currently, an unmanned helicopter that sprays a medicine in a predetermined spraying area using a medicine spraying device has been put into practical use. A conventional unmanned helicopter is steered by a maneuver signal transmitted from a ground maneuvering device. And if the ground observer monitors whether or not the unmanned helicopter aircraft has entered the predetermined spraying area, and determines that the aircraft has entered the spraying area, the pilot sends a predetermined spraying signal from the ground. It was sent and spraying was started.

  However, in recent years, the number of spraying areas having a complicated shape has increased. In addition, there are cases where the spraying region is scattered in a region where the medicine is not sprayed (hereinafter referred to as “non-spraying region”). For this reason, if the start time or stop time of spraying is left to the judgment of a human (monitor) as in the past, an unmanned helicopter may enter the non-spraying area and mistakenly spray the medicine in the non-spraying area. there were.

In order to solve this problem, the position of the aircraft in flight is detected using GPS or an inertial navigation device, and when the aircraft departs from the spraying area, the spraying is automatically interrupted, while the aircraft returned to the spraying area. In some cases, a technique for controlling a medicine spraying device so as to automatically restart spraying has been proposed (see, for example, Patent Document 1).
JP 2000-4759 A

  However, even in the technique described in Patent Document 1, the unmanned helicopter is controlled by a control signal transmitted from the ground, and the flight speed and flight altitude of the aircraft are left to the pilot on the ground. Or due to operational delays, unmanned helicopters may enter non-spray areas at low altitudes. In such a case, the crop may fall down due to the collision of the aircraft with the crop cultivated in the non-spreading area or downwash.

  An object of the present invention is to prevent lodging of crops cultivated in a non-spreading area in an unmanned helicopter that sprays a drug in a predetermined non-spraying area while spraying the drug in a predetermined spraying area. .

  In order to solve the above problems, the invention according to claim 1 is directed to an unmanned helicopter that disperses medicines in a predetermined non-spraying area while spraying medicines in a predetermined spraying area. A position sensor to detect, a speed sensor to detect the flight speed of the aircraft, an altitude sensor to detect the flight altitude of the aircraft, position information of the non-scattering area, and information of the flight altitude required above the non-scattering area; Based on information acquisition means for acquiring non-scattering area information including the position, flight speed and flight altitude of the aircraft detected by each sensor, and the non-scattering area information acquired by the information acquisition means Position altitude determination means for determining whether or not the aircraft enters above the non-spreading area after a predetermined time and whether or not the flight altitude of the aircraft at the time of entry is below the required flight altitude above the non-spraying area; , When it is determined by the position altitude determining means that the aircraft has entered the non-spreading area after a predetermined time and the flight altitude of the aircraft at the time of entry is less than the flight altitude required over the non-spreading area, the aircraft is And altitude control means for raising the flight altitude required above the non-spraying area.

  According to a second aspect of the present invention, in the unmanned helicopter according to the first aspect, the position altitude determination means is acquired by the position, flight speed and flight altitude of the aircraft detected by the sensors, and the information acquisition means. Based on the non-spreading area information, it is determined whether or not the aircraft has passed over the non-spraying area and whether or not the flight altitude of the aircraft after passing exceeds a predetermined spraying height, and the altitude control means When the position altitude determination means determines that the aircraft passes over the non-spreading area and the flight altitude of the aircraft after passing exceeds a predetermined scattering altitude, the aircraft is lowered to the scattering flight altitude. Features.

  According to a third aspect of the present invention, in the unmanned helicopter according to the first or second aspect, the non-spraying area information includes information on a flight speed required over the non-spraying area, and the position sensor and the speed Based on the position and flight speed of the aircraft detected by the sensor and the non-spreading area information acquired by the information acquisition means, whether or not the aircraft enters the non-spreading area after a predetermined time and A position speed determination means for determining whether or not a flight speed of the aircraft is lower than a flight speed required over the non-spraying area; and the aircraft enters the non-spreading area after a predetermined time by the position speed determination means; Speed control means for accelerating the aircraft to the required flight speed over the non-spraying area when it is determined that the flight speed of the aircraft at the time of entry is lower than the required flight speed over the non-spreading area; Characterized in that it comprises.

  According to a fourth aspect of the present invention, in the unmanned helicopter according to the third aspect, the position / speed determination means is acquired by the position sensor and the speed of the airframe detected by the speed sensor, and the information acquisition means. On the basis of the non-spraying area information, it is determined whether the aircraft has passed over the non-spraying area and whether the flight speed of the aircraft after passing exceeds a predetermined spraying flight speed, the speed The control means decelerates the fuselage to the spray flight speed when the position speed determination means determines that the aircraft has passed over the non-spray area and the flight speed of the aircraft after passing exceeds a predetermined spray flight speed. It is characterized by making it.

The invention according to claim 5 is the unmanned helicopter according to any one of claims 1 to 4, wherein the information acquisition means includes:
Medium mounting means for mounting the specific recording medium in which the non-spreading area information is recorded;
Medium information reading means for reading the non-scattering area information from the specific recording medium mounted on the medium mounting means;
It is characterized by having.

  According to a sixth aspect of the present invention, in the unmanned helicopter according to any one of the first to fourth aspects, the information acquisition means includes a reference information input means for inputting specific reference information, and the reference information An information generating unit that generates the non-scattering region information based on the reference information input by the input unit; and a generation information reading unit that reads the non-scattering region information generated by the information generating unit. To do.

  The invention according to claim 7 is an unmanned helicopter control method for spraying medicine in a predetermined non-spraying area while spraying medicine in a predetermined spraying area. Airframe information detection step for detecting altitude, information acquisition step for acquiring non-scattering region information including position information of the non-spraying region and flight altitude information required over the non-spraying region, and airframe information detection Based on the position, flight speed and flight altitude of the airframe detected in the process, and the non-scattering area information acquired in the information acquisition process, whether or not the aircraft enters the non-scattering area after a predetermined time and A position altitude determination step for determining whether or not the flight altitude of the aircraft at the time of entry is below the flight altitude required over the non-spraying region, and the aircraft over the non-spraying region after a predetermined time in the position altitude determination step. Approach And an altitude control step of raising the aircraft to the required flight altitude above the non-spraying area when it is determined that the flight altitude of the aircraft at the time of entry is below the required flight altitude above the non-spreading area. It is characterized by providing.

  According to an eighth aspect of the present invention, in the method for controlling an unmanned helicopter according to the seventh aspect, in the position altitude determination step, the position, flight speed and flight altitude of the airframe detected in the airframe information detection step, and the information Based on the non-spreading area information acquired by the acquisition means, it is determined whether or not the aircraft has passed over the non-spreading area and whether or not the flight altitude of the aircraft after passing exceeds a predetermined spraying flight altitude. In the altitude control step, when it is determined in the position altitude determination step that the aircraft passes over the non-spreading area and the flying altitude of the aircraft after passing exceeds a predetermined scattering altitude, the aircraft is moved to the scattering flight. It is characterized by being lowered to an altitude.

  The invention according to claim 9 is the unmanned helicopter control method according to claim 7 or 8, wherein the non-spraying area information includes information on a flight speed required over the non-spraying area, and the airframe information Based on the position and flight speed of the aircraft detected in the detection step and the non-spreading region information acquired in the information acquisition step, whether or not the aircraft enters the non-spraying region after a predetermined time and when entering A position speed determination step for determining whether or not the flight speed of the aircraft is lower than the flight speed required over the non-spraying region, and the aircraft enters the non-spraying region after a predetermined time in the position speed determination step. And a speed control step of accelerating the aircraft to the required flight speed over the non-spraying area when it is determined that the flight speed of the aircraft at the time of entry is lower than the required flight speed over the non-spreading area. Characterized in that it obtain.

  According to a tenth aspect of the present invention, in the control method for an unmanned helicopter according to the ninth aspect, in the position speed determination step, the position and flight speed of the airframe detected in the airframe information detection step, and the information acquisition step Based on the acquired non-spreading area information, it is determined whether the aircraft has passed over the non-spreading area and whether the flight speed of the aircraft after passing exceeds a predetermined spraying flight speed, In the speed control step, when it is determined in the position / speed determination step that the aircraft passes through the non-spreading area and the flight speed of the aircraft after passing exceeds a predetermined spray flight speed, the aircraft is decelerated to the spray flight speed. It is characterized by making it.

  The invention according to claim 11 is the method for controlling an unmanned helicopter according to any one of claims 7 to 10, wherein the information acquisition step is performed by using a specific recording medium on which the non-scattering region information is recorded as a predetermined recording medium. The method includes a step of inputting the non-scattering area information by mounting the medium on the medium mounting means.

  The invention according to claim 12 is the unmanned helicopter control method according to any one of claims 7 to 10, wherein the information acquisition step includes a step of inputting a spraying time, coordinate information of a non-spraying region, and A step of inputting coordinate crop information including information on the name of the crop cultivated in the non-spreading area, a step of inputting crop height information including information on the crop name and the height of the crop, and the name of the crop and A step of inputting crop distance information including information of a distance to be separated from the crop at the time of flight; a step of inputting crop flight speed information including information of a crop name and a flight speed required over the crop; From the step of selecting the crop height information corresponding to the time, the coordinate crop information, the selected crop height information, the crop distance information, and the crop flight speed information, Corresponding to the name of the crop, information on the height of the crop, the distance to be separated from the crop at the time of flight and the flight speed required over the crop is extracted, and the height of the crop should be separated from the crop at the time of flight. A step of calculating flight altitude information by adding a distance, and a step of generating non-scattering region information from the extracted flight speed information, the calculated flight altitude information, and the coordinate information of the non-scattering region in which they are adopted And a step of reading the generated non-scattering area information.

  According to the first or seventh aspect of the invention, the position altitude determining means (step) performs non-spreading after a predetermined time based on the airframe information (the position of the airframe, the flight speed and the flight altitude) and the non-spreading area information. It is determined whether or not the aircraft enters the region and whether or not the flight altitude of the aircraft at the time of entry is lower than the required flight altitude over the non-spray region. When the aircraft enters the non-spray area after a predetermined time and the flight altitude of the aircraft at the time of entry is lower than the flight altitude required over the non-spread area, the altitude control means (process) requests the aircraft. Raise to flight altitude. Therefore, even when a tall crop is cultivated in the non-spreading area, the fall of this crop can be prevented. Moreover, the influence of the downwash given to the crop cultivated in the non-spreading area can be reduced.

  According to the invention described in claim 2 or 8, the position altitude determination means (step) determines whether the airframe is in the non-spraying area based on the airframe information (position of the airframe, flight speed and flight altitude) and the non-spreading area information It is determined whether or not the aircraft has passed through the sky and whether or not the flight altitude of the aircraft after passing exceeds a predetermined spraying altitude. Then, when the aircraft passes over the non-spreading area and the flying altitude of the aircraft after passing exceeds a predetermined spraying altitude, the aircraft is lowered to a predetermined spraying height by the altitude control means (process). Therefore, it is possible to reliably spray the medicine from the predetermined spraying height to the crop cultivated in the spraying area.

  According to the invention described in claim 3 or 9, the position / velocity judging means (step) is to fly over the non-spreading area after a predetermined time based on the airframe information (the position and flight speed of the airframe) and the non-spraying area information. It is determined whether or not the aircraft enters, and whether or not the flight speed of the aircraft at the time of entry is lower than the required flight speed over the non-spray area. When the aircraft enters the sky above the non-spraying area and the flying speed of the airframe at the time of entry is lower than the flight speed required above the non-spraying area, the speed control means (process) up to the flight speed required by the aircraft Accelerate. Therefore, the hover time in the non-spreading area can be shortened (passing through the non-spraying area in a short time), so even if crops that are prone to fall in the non-spraying area are cultivated, the effect of downwashing Can be avoided to prevent the fall of this crop.

  According to the invention described in claim 4 or 10, in the position / velocity determination means (step), the aircraft passes over the non-spreading area based on the airframe information (the position and flight speed of the airframe) and the non-spraying area information. It is determined whether or not the flight speed of the aircraft after passing exceeds a predetermined spraying flight speed. Then, when it is determined that the aircraft passes over the non-spreading region and the flight speed of the aircraft after passing exceeds a predetermined spraying flight speed, the aircraft is decelerated to a predetermined spraying flight speed by the speed control means (step). . Therefore, a prescribed amount of the drug can be sprayed on the crop to be sprayed.

  According to the invention described in claim 5 or 11, the non-scattering area information can be obtained very easily using the specific recording medium in which the non-scattering area information is recorded.

  According to the invention described in claim 6 or 12, based on specific reference information (for example, information on spraying time, information on the name of a crop cultivated in a non-spraying area, information on the height of a crop, etc.) Scatter area information can be generated and acquired.

  According to the present invention, when the aircraft enters the sky above the non-spraying area and the flight altitude of the aircraft at the time of entry is lower than the flight altitude required above the non-spraying area, the means for raising the airframe to the required flight altitude Since (process) is provided, even when a tall crop is cultivated in a non-spreading area, the lodging of this crop can be prevented. In addition, a means (step) for accelerating the aircraft to the required flight speed when the aircraft enters the sky above the non-spray area and the flight speed of the aircraft at the time of entry is lower than the flight speed required above the non-spray area. Therefore, even when a crop that tends to fall in the non-spraying area is cultivated, the fall of this crop can be prevented.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, the structure of the unmanned helicopter 1 according to the embodiment of the present invention will be described with reference to FIGS.

  As shown in FIGS. 1 and 3, the unmanned helicopter 1 according to the present embodiment includes a position sensor 2 that detects the position of the aircraft, a speed sensor 3 that detects the flight speed of the aircraft, and an attitude angle (pitch angle) of the aircraft. Attitude angle sensor 4 for detecting the aircraft, altitude sensor 5 for detecting the flight altitude of the aircraft, wireless receiver 6 for receiving a radio command, actuator 7 for driving a control surface in response to a predetermined control signal, receiving a predetermined scattering signal In order to control the airframe based on the information detected by each sensor, the radio command or the input specific information, the drug spraying device 8 for spraying the drug, the input device 9 for inputting specific information to the control computer 10 The control computer 10 that outputs the control signal and the scattering signal, the fuselage 11, the main rotor 12, the tail rotor 13, the engine (not shown), and the like are provided.

  In the present embodiment, as the position sensor 2, the speed sensor 3, and the altitude sensor 5, the GPS that receives the information transmitted from the GPS satellite by the GPS receiver and calculates the three-dimensional position and speed of the aircraft is adopted. is doing. An inertial navigation device may be employed as the position sensor 2 and the velocity sensor 3, and a radio altimeter, a laser altimeter, a stereo camera altimeter, or the like may be employed as the altitude sensor 5. In the present embodiment, a gyro is adopted as the attitude angle sensor 4.

  The radio receiver 6 receives a radio command (a flight command such as an altitude command and a speed command) transmitted from the ground radio control device 20. The radio command received by the radio receiver 6 is transmitted to the control computer 10. The actuator 7 operates in response to the control signal output from the control computer 10 and drives the control surface of the main rotor 12 to change the collective steering angle and the cyclic steering angle. The medicine spraying device 8 receives the spraying signal output from the control computer 10 and sprays the medicine.

  The input device 9 is a medium mounting means in the present invention, has a structure for mounting the memory card 30 and is connected to the control computer 10. In the memory card 30 as a specific recording medium in the present invention, “non-scattering area information” composed of “position information” of the non-scattering area and “condition information” required above the non-scattering area is recorded. Has been.

  In the present embodiment, as “position information”, two-dimensional planar coordinate information of a closed polygon that connects a plurality of points (P1, P2, P3,...) Represented by latitude and longitude as shown in FIG. Adopted. Further, as “condition information”, as shown in FIG. 2, the minimum flight altitude information and the minimum flight speed information required in the non-spraying region are adopted. These “position information” and “condition information” are read and stored in the control computer 10. Further, using another memory card (not shown), the flight area and flight direction data for the spraying operation and the altitude and speed data for spraying the drug and flying are input to the memory of the control computer 10. And memorized. The unmanned helicopter 1 according to the present embodiment performs autonomous flight that repeats straight travel, lateral travel, and inversion based on these data.

  The control computer 10 receives a radio command transmitted from the ground radio control device 20 via the radio receiver 6, and drives the engine according to the radio command to rotate the main rotor 12 and the tail rotor 13. Let Further, as shown in FIG. 4, the control computer 10 obtains the target speed by the speed control law 10A based on the flight speed and attitude angle of the aircraft detected by the speed sensor 3 and the attitude angle sensor 4, and the target speed. A control signal (cyclic rudder angle command) that follows the speed of the aircraft is generated and output to the actuator 7. Further, the control computer 10 controls the control signal (collective rudder angle command) to follow the altitude of the aircraft to the target altitude by the altitude control law 10B based on the flight altitude of the aircraft detected by the altitude sensor 5 and the target altitude. ) And output to the actuator 7. Then, by operating the actuator 7 with these control signals, the control surface of the main rotor 12 is driven to realize a predetermined flight. As the speed control law 10A and the advanced control law 10B, general PD control can be adopted.

  Further, the control computer 10 reads the non-scattering area information from the memory card 30 attached to the input device 9 and stores it in the memory. That is, the control computer 10 is information reading means in the present invention, and the information acquisition means in the present invention is constituted by the input device 9 and the control computer 10.

  Further, as shown in FIG. 4, the control computer 10 acquires the information on the position of the aircraft, the flight speed and the flight altitude detected by the position sensor 2, the speed sensor 3 and the altitude sensor 5, and the information obtained via the input device 9. Based on the non-spraying area information, the position after a predetermined time is calculated, and whether or not the aircraft enters the non-spraying area after a predetermined time, and the flight altitude and flight speed of the aircraft at the time of entry are above the non-spraying area Determination means 10 </ b> C for determining whether or not the minimum flight altitude and the minimum flight speed required by the above are met.

  The control computer 10 determines that the aircraft does not enter the non-spray area after a predetermined time by the determination means 10C, or the flight altitude of the aircraft at the time of entry is higher than the minimum flight altitude required over the non-spray area. When it determines with it being, it produces | generates and outputs the control signal (collective steering angle instruction | command) which makes the altitude at the time of determination the target altitude. Further, the control computer 10 determines that the aircraft does not enter the non-spray area after a predetermined time by the determination means 10C, or the flight speed of the aircraft at the time of entry is not less than the minimum flight speed required over the non-spray area. When it is determined that the speed is determined, a control signal (cyclic rudder angle command) is generated and output with the speed at the time of determination as the target speed. In addition, when the determination unit 10C determines that the airframe has not entered the non-spreading area, the control computer 10 outputs a spray signal to the drug spraying device 8 to realize drug spraying.

  On the other hand, if the control computer 10 determines by the determination means 10C that the aircraft has entered the non-scattering area after a predetermined time and the flight altitude of the aircraft at the time of entry is below the minimum flight altitude required above the non-scattering area. Then, a predetermined determination signal is output, and the target altitude is switched to the minimum flight altitude required over the non-scattering area as shown in FIG. As a result, a control signal (collective rudder angle command) for raising the aircraft to the lowest flight altitude is generated and output to the actuator 7. That is, the control computer 10 functions as position altitude determination means and altitude control means in the present invention.

  Further, when the control computer 10 determines by the determination means 10C that the aircraft has entered the non-spray area after a predetermined time and the flight speed of the aircraft at the time of entry is below the minimum flight speed required over the non-spray area. Then, a predetermined determination signal is output, and the target speed is switched to the minimum flight speed required over the non-scattering area as shown in FIG. As a result, a control signal (cyclic steering angle command) for accelerating the airframe to at least the minimum flight speed is generated and output to the actuator 7. That is, the control computer 10 functions as a position / speed determining means and a speed control means in the present invention.

  Further, the determination means 10C of the control computer 10 determines whether or not the aircraft has passed over the non-scattering area based on the detected position, flight speed and flight altitude, and the acquired non-scattering area information. It is determined whether the flight altitude and flight speed of the subsequent aircraft exceed a predetermined spray altitude and spray flight speed. Then, when the control computer 10 determines that the aircraft has passed over the non-scattering region and the flight altitude and flight speed of the aircraft after passing are higher than the predetermined spraying altitude and spraying flight speed by the determination unit 10C, the spraying region A control signal (cyclic rudder angle command and collective rudder angle command) is generated and output with the predetermined speed and altitude at the target speed and target altitude, and the aircraft is lowered to the predetermined spraying altitude and up to the predetermined spraying flight speed. Decelerate. In addition, when the determination unit 10C determines that the airframe has passed over the non-spreading area, the control computer 10 outputs a spraying signal to the medicine spraying device 8 to restart the medicine spraying.

  Next, the control method of the unmanned helicopter 1 according to the embodiment of the present invention will be specifically described with reference to FIGS.

  First, the operator on the ground attaches the memory card 30 to the input device 9 of the unmanned helicopter 1, and the “position information” of the non-spreading area recorded in the memory card 30 and the “conditions” required above the non-spreading area. “Non-dispersed area information” composed of “information” is input to the control computer 10 and stored (information acquisition step). Then, a radio command is transmitted to the unmanned helicopter 1 by operating the radio control device 20. The control computer 10 of the unmanned helicopter 1 receives a radio command via the radio receiver 6, and drives and controls the engine according to the radio command.

  Further, the control computer 10 detects airframe information (aircraft position, flight speed, attitude angle, and flight altitude) through each sensor (aircraft information detection step). Then, the control computer 10 generates and outputs a control signal (cyclic rudder angle command and collective rudder angle command) based on the detected body information and pre-recorded data such as a flight area, A flight at a predetermined flight speed and flight altitude is realized. As a result, the unmanned helicopter 1 is guided to a predetermined spray area. Note that the flight area and flight direction data, and altitude and speed data for flying by spraying the medicine are input from the input device 9 to the memory of the control computer 10 using a memory card before the start of flight. .

  Next, the control computer 10 calculates the position of the airframe after a predetermined time based on the airframe information detected in the airframe information detection process and the non-spreading area information input via the input device 9. Then, whether or not the aircraft enters the non-spray area after a predetermined time, and whether or not the flight altitude and the flight speed of the aircraft at the time of entry are below the minimum flight altitude and minimum flight speed required over the non-spray area. Determination (position altitude determination process, position speed determination process).

Here, an example of a position altitude determination process and a position speed determination process in the case where non-scattering area information as shown in FIG. The control computer 10 calculates each side of the non-scattering area A ₁ from the position information of a plurality of points (P1, P2, P3,...) Constituting the non-scattering area A ₁ shown in FIG. . Next, as shown in FIG. 5B, a half line L is drawn in an arbitrary direction from the current position B of the aircraft, and the number of intersections between the half line L and each side of the non-spraying area A ₁ flies. Calculate within the region. When the number of intersections is “odd”, it is determined that the aircraft is inside the non-spreading area A _{1. When} the number of intersections is “even”, the aircraft is in the non-spreading area A 1. Judged to be outside of ₁ . Further, the control computer 10, the flight altitude and flying speed of when the aircraft enters high over the non-sprayed area A ₁ is the minimum flight altitude (7.0 m) and the lowest flight required by over non sprayed area A ₁ It is determined whether or not the speed is below 6.0 m / s.

The control computer 10 determines that the aircraft does not enter the non-spray area A ₁ after a predetermined time in the position altitude determination process, or the flight altitude of the aircraft at the time of entry is requested above the non-spread area A _1. When it is determined that the altitude is higher than the minimum flight altitude (7.0 m), a control signal (collective rudder angle command) corresponding to the altitude command for maintaining the altitude is generated and output. The control computer 10 determines that the aircraft does not enter the non-spray area A ₁ after a predetermined time in the position / speed determination step, or the flight speed of the aircraft at the time of entry is above the non-spread area A ₁ . When it is determined that the required minimum flight speed (6.0 m / s) or higher, a control signal (cyclic rudder angle command) corresponding to a speed command for maintaining the speed is generated and output. Further, when the control computer 10 determines that the aircraft does not enter the sky above the non-spreading area A ₁ after a predetermined time, the control computer 10 outputs a spraying signal to the medicine spraying device 8 to realize medicine spraying.

On the other hand, the control computer 10 determines the minimum flight altitude at which the aircraft enters the sky above the non-spreading area A ₁ after a predetermined time in the position altitude determination process and the flight altitude of the aircraft at the time of entry is required above the non-spraying area A _1. When it is determined that the distance is less than (7.0 m), a control signal (collective rudder angle command) for raising the aircraft to the lowest flight altitude is output to the actuator 7 to raise the aircraft to at least the lowest flight altitude (altitude control process). ). In addition, the control computer 10 determines that the aircraft enters the sky above the non-spraying area A ₁ after a predetermined time in the position / speed determination step, and the flying speed of the airframe at the time of entering is the minimum flight speed required above the non-spraying area A _1. When it is determined that the speed is lower than (6.0 m / s), a control signal (cyclic rudder angle command) for accelerating to the minimum flight speed is output to accelerate the aircraft to at least the minimum flight speed (speed control process) ). At this time, the traveling direction of the aircraft during the approach is maintained. Furthermore, when the control computer 10 determines that the aircraft has reached the boundary between the spraying region and the non-spraying region, the control computer 10 stops the output of the spraying signal and stops the spraying of the medicine by the medicine spraying device 8.

For example, as shown in FIG. 3, the application target crop is “paddy rice”, and the crop cultivated in the non-spreading area A ₁ is a tall plant such as “corn”, and the spraying height “ When the airframe enters the sky above the non-spraying area A ₁ at 5 m ”and the spraying flight speed“ 4 m / s ”, the control computer 10 is required above the non-spraying area A ₁ as shown in FIG. The aircraft is raised to the lowest flight altitude (7.0 m) and accelerated to the lowest flight speed (6.0 m / s) required above the non-spray area A ₁ .

At this time, when the unmanned helicopter 1 has a performance of accelerating at an acceleration of about 1 m / s ² and rising at a speed of about 1.5 m / s, about 10 m before entering the sky above the non-spraying area A _1. after starting the acceleration at the position, by starting to rise at a position before about 7m entering high over the non-sprayed area a _1, almost simultaneously minimum flying speed and minimum and entry into non-sprayed area a ₁ of the sky The flight altitude can be reached. That is, taking into account the operation delay of the unmanned helicopter 1, by performing the determination and control in about n seconds before the step of reaching high over the non-sprayed area A ₁ as shown in FIG. 5 (a), non-dusting It becomes possible to reach the minimum flight speed and the minimum flight altitude almost simultaneously with the entry into the sky of the area A ₁ . The value of n can be variously changed according to the specifications of the aircraft. In addition, acceleration may be started after starting to rise, and acceleration and rising may be started simultaneously.

After that, the control computer 10 determines whether or not the aircraft has passed over the non-spreading area A ₁ based on the aircraft information and the non-spreading area information, and the flight altitude and the flying speed of the aircraft after passing through It is determined whether or not a predetermined spray altitude (5 m) and spray flight speed (4 m / s) are exceeded. When the aircraft passes over the non-spreading area A ₁ and the flight altitude and flight speed of the aircraft exceed the predetermined spraying altitude (5 m) and spraying flight speed (4 m / s), If it is determined, a control signal (cyclic steering angle command and collective steering angle command) for returning to the speed command and altitude command before starting acceleration and climbing immediately before entering the sky above the non-spraying area A ₁ is generated. Output. Thereby, as shown in FIG. 3, while lowering | hanging a body to the spraying altitude (5m) at the time of paddy rice spraying, it can decelerate to the spraying flight altitude (4m / s) at the time of paddy rice spraying. In addition, when the control computer 10 determines that the aircraft has passed over the non-spreading area A ₁ , the control computer 10 outputs a spray signal to the medicine spraying device 8 to restart the medicine spraying.

The control computer 10 repeats the position altitude determination process, position / velocity determination process, altitude control process and speed control process as described above for each other non-spreading area (A ₂ , A ₃ ,...). Continue spraying.

In the unmanned helicopter 1 according to the embodiment described above, the control computer 10 uses the airframe information (the position of the airframe, the flight speed and the flight altitude) and the non-spraying area information, and after a predetermined time, the non-spreading area A _1. over a determines whether the aircraft flight altitude of whether and ingress when the aircraft enters drops below the minimum altitude required by over non sprayed area a ₁ (7.0 m) of. Then, when the aircraft enters the sky above the non-spraying area A ₁ after a predetermined time and the flight altitude of the aircraft at the time of entry is below the minimum flight altitude (7.0 m) required above the non-spraying area A ₁ , Raise the aircraft to at least the lowest flight altitude (7.0 m). Therefore, even when a tall crop (for example, corn) is cultivated in the non-spreading area A ₁ , lodging of this crop can be prevented. Further, it is possible to reduce the influence of downwash given to crops that are grown in non-sprayed area A _1.

Further, in the unmanned helicopter 1 according to the embodiment described above, the control computer 10 determines whether or not the aircraft has passed over the non-scattering region A ₁ based on the aircraft information and the non-scattering region information. It is determined whether the flight altitude of the subsequent aircraft exceeds a predetermined spraying altitude (5.0 m). Then, when the aircraft passes over the non-spreading area A ₁ and the flight altitude of the aircraft after passing exceeds a predetermined spraying altitude (5.0 m), the aircraft is lowered to the spraying altitude (5.0 m). Therefore, a chemical | medical agent can be reliably sprayed from the predetermined spraying height (5.0 m) to the crops (for example, paddy rice) cultivated in the spraying area.

Moreover, in the unmanned helicopter 1 according to the embodiment described above, whether or not the aircraft enters the sky above the non-spreading area A ₁ after a predetermined time on the basis of the airframe information and the non-spreading area information by the control computer 10. And whether or not the flying speed of the aircraft at the time of entry is lower than the minimum flying speed (6.0 m / s) required over the non-spraying area A ₁ is determined. When the aircraft enters the sky above the non-spraying area A ₁ and the flight speed of the aircraft at the time of entry is below the minimum flight speed (6.0 m / s) required above the non-spraying area A ₁ Is at least accelerated to a minimum flight speed (6.0 m / s). Accordingly, it is possible to shorten the flight time in high over the non-sprayed area A ₁ (pass in a short time over the non-sprayed area A _1), easy crop to lodging in a non-sprayed area A ₁ are grown Even in such a case, the effect of downwash can be reduced to prevent the fall of this crop. In addition, even when the spraying is continued over the non-spraying area A ₁ due to an erroneous operation by the operator, a failure of the medicine spraying device 8 or the like, it is given to the crop cultivated in the non-spreading area A _1. The influence of the drug can be reduced.

In the unmanned helicopter 1 according to the embodiment described above, the control computer 10 determines whether or not the aircraft has passed over the non-spreading area A ₁ based on the airframe information and the non-spreading area information. It is determined whether the flight speed of the subsequent aircraft exceeds a predetermined scattering flight speed (4 m / s). When it is determined that the aircraft passes over the non-spreading area A ₁ and the flying speed of the aircraft after passing exceeds a predetermined flying speed (4 m / s), the flying speed (4 m / s) ) Therefore, a prescribed amount of the drug can be sprayed on the crop to be sprayed.

  Further, in the unmanned helicopter 1 according to the embodiment described above, it is possible to obtain the non-scattering area information very easily using the memory card 30 in which the non-scattering area information is recorded.

  In the above embodiment, the non-scattering area information is recorded in advance on the memory card 30 and the non-scattering area information is input to the control computer 10 via the input device 9 for altitude control and speed control. Although the example used was shown, specific reference information can be input into the control computer 10, and non-scattering area | region information can also be produced | generated based on this reference information.

  For example, a monthly “crop table” as shown in FIG. 6 (crop altitude information that records the name of the crop to be cultivated and the height of the crop, and the name of the crop to be cultivated and maintained when flying over the crop. Controls the crop flight speed information that records the minimum flight speed information and the crop distance information (not shown) that records the name of the cultivated crop and the distance from the crop when flying. Record in the memory of the computer 10. At this time, for example, the “crop table” can be recorded on the memory card 30 using an external recording device, and the memory card 30 can be attached to the input device 9 and input to the memory of the control computer 10 for recording.

  Also, the spraying time (“August 1”), the name of the crop to be sprayed (“paddy rice”), the coordinate information of each non-spraying area and the name of the crop cultivated in that non-spraying area (“corn”, Information (coordinate crop information) such as “soybean” is input to the memory of the control computer 10 via the input device 9. Various information such as the “crop table”, the spraying time, the name of the crop to be sprayed, and the coordinate crop information input via the input device 9 are specific reference information in the present invention.

  Then, the control computer 10 generates “condition information” of the non-spraying region based on the “crop table” recorded in the memory and various pieces of input information, and this “condition information” and “position information” Is recorded in the memory. The control computer 10 reads this non-spreading area information and uses it for altitude control and speed control.

Hereinafter, the case where the “condition information” of the non-spreading area A ₁ is generated will be specifically described. First, the control computer 10 searches the crop height table, the crop distance table, and the crop speed table for “August” from the memory based on the information on the application time (“August 1”). . Next, the control computer 10 calculates “paddy rice” based on the input name of the crop to be spread (“paddy rice”) and the name of the crop cultivated in the non-spreading area A ₁ (“corn”). At the same time, the height (250 cm) of “corn” cultivated in the non-spraying area A ₁ is read from the crop height table for “August” and the distance to be separated from “corn” when flying is “August Read from the crop distance table. Then, the control computer 10 adds these values to calculate the minimum flight altitude information (7.0 m) that does not affect the “corn”. Further, the control computer 10 calculates “paddy rice” based on the input information related to the crop to be spread (“paddy rice”) and information related to the crop cultivated in the non-spread area A ₁ (“corn”). read "the minimum flight speed information of the sky of" corn ", which is grown in a non-sprayed area a ₁ at the same time the (6.0m / s) from the crop speed table of" August "minute.

Minimum altitude information calculated in this procedure (7.0 m) and minimum flying speed information (6.0 m / s), the non-sprayed area A ₁ is "condition information", the non-sprayed area A ₁ Non-spreading area information is configured together with “position information” and recorded in the memory of the control computer 10. The control computer 10 reads the non-scattering area information and uses it for altitude control and speed control.

  In such a case, the input device 9 is a reference information input unit in the present invention, and the control computer 10 is a non-scattering region information generation unit and a generation information reading unit. The input device 9 and the control computer 10 constitute information acquisition means in the present invention. Further, the information acquisition step in the present invention includes a step of inputting reference information such as a “crop table”, a step of generating non-spreading region information based on the reference information, and a step of reading the generated non-spraying region information. Composed.

  Further, in the above embodiment, the unmanned helicopter 1 that autonomously flies based on a predetermined scattering flight pattern recorded in the memory of the control computer 10 (or input via a recording medium such as a memory card) is described. However, the present invention can also be applied to an unmanned helicopter 1 that flies based on radio commands (speed commands, altitude commands) from the ground.

  Further, in the above embodiment, an example in which a “memory card” is used as the specific recording medium in the present invention has been described. However, another recording medium capable of recording non-scattering area information is used as the specific recording medium. You can also.

It is a block diagram for demonstrating the functional structure of the unmanned helicopter which concerns on embodiment of this invention. It is a figure which shows an example of the non-scattering area | region information used with the control method of the unmanned helicopter which concerns on embodiment of this invention. It is explanatory drawing for demonstrating an example of the flight path | route at the time of implementing the control method of the unmanned helicopter concerning embodiment of this invention. It is a conceptual diagram for demonstrating the control content by the control computer of the unmanned helicopter which concerns on embodiment of this invention. It is explanatory drawing for demonstrating the position altitude determination process and position speed determination process of the control method of the unmanned helicopter which concerns on embodiment of this invention. It is explanatory drawing for demonstrating the production | generation procedure of the non-scattering area | region information used with the control method of the unmanned helicopter which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Unmanned helicopter 2 Position sensor 3 Speed sensor 5 Altitude sensor 9 Input device (medium mounting means, reference information input means, part of information acquisition means)
10 Control computer (position altitude determination means, altitude control means, position speed determination means, speed control means, medium information reading means, information generation means, generation information reading means, part of information acquisition means)

Claims (12)

In an unmanned helicopter that sprays drugs in a predetermined spray area while stopping spraying drugs in a predetermined non-spray area,
A position sensor for detecting the position of the aircraft,
A speed sensor that detects the flight speed of the aircraft,
An altitude sensor that detects the flight altitude of the aircraft,
Information acquisition means for acquiring non-scattering area information including position information of the non-scattering area and flight altitude information required above the non-scattering area;
Whether the aircraft enters the non-spray area after a predetermined time based on the position, flight speed and flight altitude detected by each sensor and the non-spread area information acquired by the information acquisition means And position altitude determination means for determining whether or not the flight altitude of the aircraft at the time of entry is lower than the flight altitude required over the non-spraying area,
When it is determined by the position altitude determination means that the aircraft enters the non-spreading area after a predetermined time and the flight altitude of the aircraft at the time of entry is lower than the flight altitude required over the non-spreading area, the aircraft is Altitude control means to raise to the required flight altitude above the non-spraying area;
An unmanned helicopter characterized by comprising: The position altitude determination means includes
Based on the position, flight speed and flight altitude of the airframe detected by each sensor, and the non-scattering area information acquired by the information acquisition means, whether or not the airframe has passed over the non-scattering area and the passage Determine whether the flight altitude of the subsequent aircraft exceeds the prescribed spraying altitude,
The altitude control means includes
When the position altitude determining means determines that the aircraft passes over the non-spreading area and the flight altitude of the aircraft after passing exceeds a predetermined spraying altitude, the aircraft is lowered to the spraying flight altitude. The unmanned helicopter according to claim 1. The non-scattering area information is
Including information on the required flight speed over the non-spray area;
Based on the position and flight speed of the airframe detected by the position sensor and the speed sensor, and the non-spraying area information acquired by the information acquisition unit, whether the airframe enters the non-spraying area after a predetermined time Position speed determination means for determining whether or not and the flight speed of the aircraft at the time of approach is less than the required flight speed over the non-spray area;
When it is determined by the position / velocity determination means that the aircraft has entered the non-spreading area after a predetermined time and the flight speed of the aircraft at the time of entry is lower than the flight speed required over the non-spraying area, the aircraft is Speed control means for accelerating to the required flight speed over the non-spray area;
The unmanned helicopter according to claim 1 or 2, characterized by comprising: The position speed determination means includes
Based on the position and flight speed of the airframe detected by the position sensor and the speed sensor, and the non-scattering area information acquired by the information acquisition unit, whether the airframe has passed over the non-spreading area and Determine if the aircraft's flight speed after passing exceeds a predetermined spray flight speed,
The speed control means is
When the position speed determination means determines that the aircraft passes over the non-spreading region and the flight speed of the aircraft after passing exceeds a predetermined spray flight speed, the aircraft is decelerated to the spray flight speed. The unmanned helicopter according to claim 3. The information acquisition means includes
Medium mounting means for mounting the specific recording medium in which the non-spreading area information is recorded;
Medium information reading means for reading the non-scattering area information from the specific recording medium mounted on the medium mounting means;
The unmanned helicopter according to any one of claims 1 to 4, characterized by comprising: The information acquisition means includes
Reference information input means for inputting specific reference information;
Information generating means for generating the non-scattering region information based on the reference information input by the reference information input means;
Generation information reading means for reading the non-scattering region information generated by the information generation means;
The unmanned helicopter according to any one of claims 1 to 4, characterized by comprising: A method for controlling an unmanned helicopter that sprays medicine in a predetermined spraying area while stopping spraying medicine in a predetermined non-spraying area,
Airframe information detection process for detecting the position, flight speed and flight altitude of the aircraft,
An information acquisition step of acquiring non-scattering area information including position information of the non-scattering area and information on a flight altitude required above the non-scattering area;
Based on the position, flight speed and flight altitude of the airframe detected in the airframe information detection step, and the non-spraying region information acquired in the information acquisition step, the airframe enters the non-spraying region after a predetermined time. A position altitude determination step for determining whether or not the flight altitude of the aircraft at the time of approach is lower than the required flight altitude above the non-spraying area;
When it is determined in the position altitude determination step that the aircraft enters the non-spray area after a predetermined time and the flight altitude of the aircraft at the time of entry is below the flight altitude required over the non-spread area, the aircraft is An altitude control process to raise to the required flight altitude above the non-spraying area;
A method for controlling an unmanned helicopter. In the position altitude determination step,
Whether or not the aircraft has passed over the non-spreading area based on the position, flight speed and flight altitude detected in the airframe information detection step and the non-spraying area information acquired by the information acquisition means. And determine whether the flight altitude of the aircraft after passing exceeds a predetermined scattering flight altitude,
In the advanced control process,
When the aircraft passes over the non-spreading area in the position altitude determination step and the flight altitude of the aircraft after passing is determined to exceed a predetermined spray altitude, the aircraft is lowered to the spray flight altitude. An unmanned helicopter control method according to claim 7. The non-scattering area information is
Including information on the required flight speed over the non-spray area;
Based on the position and flight speed of the airframe detected in the airframe information detection step and the non-spray area information acquired in the information acquisition step, whether or not the airframe enters the non-spray area after a predetermined time And a position speed determination step for determining whether or not the flight speed of the aircraft at the time of entry is lower than the required flight speed over the non-spray area;
When it is determined in the position speed determination step that the aircraft enters the non-spray area after a predetermined time and the flight speed of the aircraft at the time of entry is lower than the flight speed required over the non-spread area, the aircraft is A speed control process that accelerates to the required flight speed over the non-spray area;
The control method of the unmanned helicopter according to claim 7 or 8, characterized by comprising: In the position speed determination step,
Based on the position and flight speed of the aircraft detected in the aircraft information detection step and the non-scattering region information acquired in the information acquisition step, whether the aircraft has passed over the non-scattering region and after passing To determine whether the aircraft's flight speed exceeds the prescribed spray flight speed,
In the speed control step,
The aircraft is decelerated to the spray flight speed when it is determined in the position speed determination step that the aircraft passes through the non-spreading area and the flight speed of the aircraft after passing exceeds a predetermined spray flight speed. The method for controlling an unmanned helicopter according to claim 9. The information acquisition step includes
11. The method according to claim 7, further comprising a step of inputting the non-scattering area information by mounting a specific recording medium in which the non-scattering area information is recorded on a predetermined medium mounting unit. Control method for unmanned helicopters. The information acquisition step includes
A process of entering the spraying time;
Inputting coordinate crop information including coordinate information of a non-spreading area and information of a crop name cultivated in the non-spreading area;
Inputting crop height information including information on the crop name and the height of the crop by spraying time;
Inputting crop distance information including information on the name of the crop and the distance from the crop when flying;
Inputting crop flight speed information including information on the crop name and flight speed required over the crop; and
Selecting the crop height information corresponding to the spraying time;
Based on the coordinate crop information, the selected crop height information, the crop distance information, and the crop flight speed information, the height of the crop and the distance from the crop when flying in association with the name of the crop cultivated in the non-spray area. Extracting the power distance and the flight speed information required above the crop, and calculating the flight altitude information by adding the distance to the crop when flying from the crop height;
A step of generating non-scattering region information with the extracted flight speed information, the calculated flight altitude information, and the coordinate information of the non-scattering region in which these are employed;
Reading the generated non-spray area information;
The method for controlling an unmanned helicopter according to any one of claims 7 to 10, wherein:

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