JP6596631B1 - Unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle capable of reliably spreading a sprayed medicine (liquid) to a farm product while suppressing wasteful spraying of the medicine (liquid). SOLUTION: A liquid storage container 3, a forward side spraying system communicating from the liquid storage container 3 to the outside of the forward side, a reverse side spraying system communicating from the liquid storage container 3 to the outside of the backward side, and a second side located on the forward side Two forward rotors and two reverse rotors positioned on the reverse side, and the liquid in the liquid storage container 3 is arbitrarily switched between the forward side spray system and the reverse side spray system or A quadcopter type unmanned aerial vehicle 1 having a liquid spraying mechanism 4 capable of spraying to the outside from both sides. [Selection] Figure 1

Description

  The present invention relates to an unmanned aerial vehicle having a liquid spraying mechanism that assists cultivation of agricultural products.

  Conventionally, the cultivation of agricultural crops is mainly carried out by spraying various chemicals such as chemicals for promoting growth, fertilizers and herbicides, which are represented by pesticides that control pests. These various chemicals exist in the form of liquids, powders or solids, and the most suitable spraying method is used depending on the application and shape, but mainly human human tactics are used. It has been achieved by carrying out complicated work by applying.

  However, in recent years, a method has been proposed in which an unmanned air vehicle (commonly referred to as a drone) capable of performing a desired flight by wireless operation is used to spray these chemicals (see, for example, Patent Document 1). This is because the unmanned air vehicle on which a container storing chemicals is flying above the crop, the chemical can be sprayed toward the lower crop, and the downwash generated by the rotor included in the unmanned air vehicle It is a fluid spraying device capable of biasing medicine downward.

JP-A-2018-109

  However, in the fluid spraying device of Patent Document 1, since chemicals are always sprayed from the four nozzles placed below the rotor at the same time, they are sprayed from the nozzles below the rotor that follow from the rear in the traveling direction. The chemicals immediately deviate from the area affected by the downwash due to the movement of the unmanned aerial vehicle, and not only do they reach the crops, but also move to undesired surroundings under the influence of natural winds, etc. There was a risk of adverse effects.

  Therefore, when focusing on the structure of a conventional unmanned air vehicle having a liquid spraying mechanism in order to investigate the cause of these problems, a plurality of nozzles for spraying chemicals and a mechanism for spraying chemicals using these nozzles are used. It is clear that there is no mechanism to ensure that the sprayed chemicals reach the crops while suppressing wasteful spraying, and there is still room for improvement.

  Therefore, the present invention has been made in view of the above problems, and is capable of ensuring that the spread medicine (liquid) can reliably reach the agricultural product without unevenness while suppressing wasteful dispersion of the medicine (liquid). The object is to provide a flying object.

In order to solve the above problems, the present invention provides:
A liquid storage container;
A forward spreading system communicating from the liquid reservoir to the forward exterior; and
A reverse side spraying system communicating with the outside of the reverse side from the liquid storage container;
Two forward rotors located on the forward side;
Two reverse rotors located on the reverse side,
Comprising
Said liquid in the liquid storage container can be sprayed the forward side scatter grid and the reverse side scatter system and optionally switched to either hand or al outside,
A quadcopter type unmanned air vehicle having a liquid spraying mechanism characterized by the above.

In the above unmanned air vehicle of the present invention,
It is desirable that the switching is performed according to the traveling direction of the unmanned air vehicle.

In the above unmanned air vehicle of the present invention,
The forward side spraying system and the reverse side spraying system may each include two nozzles and one pump.

In the above unmanned air vehicle of the present invention,
Two nozzles of the front spraying system are respectively disposed below the two forward rotors,
It is desirable that the two nozzles of the reverse side spraying system are respectively disposed below the two reverse side rotors.

  In the unmanned air vehicle of the present invention having such a configuration, the liquid discharged from the forward spreading system is urged by the forward wash of the forward rotor and pushed downward in the direction Z, but the unmanned air vehicle gradually moves. Accordingly, the effect of the urging force is lost because the forward rotor is out of the range of the downwash, so that the farm does not reach the crop and temporarily stays. However, a downward urging force is again applied to the staying liquid by the downwashing of the reverse rotor following the movement of the unmanned air vehicle, so that the farm product can be reliably reached. Furthermore, the dispersion | distribution nonuniformity of the liquid with respect to the crop of a to-be-spread area | region can be reduced suitably.

  In addition, the liquid discharged from the reverse side spray system is urged by the down wash of the reverse side rotor and pushed downward in the direction Z, but gradually from the range of the down wash of the reverse side rotor as the unmanned air vehicle moves. Because it loses and loses the influence of the urging force, it does not reach the crops and is temporarily in a state of staying. However, due to the downwash of the forward side rotor following the movement of the unmanned air vehicle, the downward biasing force can be added again to the accumulated liquid, and the farm product can be reliably reached. Furthermore, the dispersion | distribution nonuniformity of the liquid with respect to the crop of a to-be-spread area | region can be reduced suitably.

  Since the liquid that has flowed out can be surely reached to the crops, there are various ways to reduce the waste of the liquid and ensure that the liquid flows to an undesired place while ensuring the dispersibility of the liquid at a high level. It is possible to prevent the occurrence of problems.

  According to the present invention, it is possible to provide an unmanned aerial vehicle that can reliably spread sprayed medicine (liquid) to a farm product while suppressing wasteful spraying of the medicine (liquid).

It is a perspective view which shows the outline | summary of the unmanned air vehicle 1 of this embodiment. 2A and 2B are diagrams showing the structure of the aircraft body 2 in FIG. 1, in which FIG. 2A is a plan view of the aircraft body 2 looking down from above, and FIG. It is a front view of the arrow A shown in FIG. It is a perspective view which shows the structure of the liquid storage container 3 in FIG. FIG. 3 is a schematic view of the liquid storage container 3, the forward-side spraying system 5, and the reverse-side spraying system 7 showing the connection relationship when viewed from the front of the liquid storage container 3. FIG. 3 is a schematic view of the liquid storage container 3, the forward-side spraying system 5, and the reverse-side spraying system 7 showing a connection relationship when viewed from above the liquid storage container 3. It is a side view of the forward side rotor drive part 31 (reverse drive side rotor drive part 33) which shows the arrangement | positioning aspect of the 1st nozzle 9 and the 2nd nozzle 13. FIG. It is a schematic diagram which shows the state which sprays the liquid 51 by the downwash of the advance side rotor 17 (reverse side rotor 19). FIG. 4 is a schematic diagram showing a state of spraying of liquid 51 by unmanned air vehicle 1.

  Hereinafter, typical embodiments of an unmanned air vehicle according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to what is shown in the drawings, and each drawing is for conceptual description of the present invention, and therefore, ratios and numbers are exaggerated or simplified as necessary for easy understanding. In some cases, it is expressed in a form. Further, in the following description, the same or corresponding parts are denoted by the same reference numerals, and redundant description may be omitted.

1. Outline of Unmanned Air Vehicle 1 An outline of the unmanned air vehicle 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a perspective view showing an outline of an unmanned air vehicle 1 of the present embodiment. The unmanned aerial vehicle 1 can be remotely operated from a ground or the like by using a radio control device (not shown) without a human being flying, and can spray various liquids 51 related to agriculture from the air to crops in a field. To do. In the present embodiment, the left and right direction of the unmanned air vehicle 1 is described as X, the front and rear direction is Y, and the height direction is Z for easy understanding.

  As shown in FIG. 1, the unmanned air vehicle 1 of the present embodiment includes an air vehicle body 2 that is paired with the radio control device, a liquid storage container 3 that stores liquid 51 such as agricultural chemicals, and the like. And a liquid spraying mechanism 4 for guiding the liquid 51 stored inside the liquid storage container 3 to the outside and spraying it. As will be described later, the liquid spraying mechanism 4 includes a forward side (first) spraying system 5 communicating from the liquid storage container 3 to the outside, a reverse side (second) spraying system 7 communicating from the liquid storage container 3 to the outside, Has.

<Structure of the flying body 3>
Next, the structure of the aircraft body 2 will be described in detail with reference to FIG. FIG. 2 is a view showing the structure of the flying vehicle body 2. FIG. 2 (a) is a plan view of the flying vehicle body 2 looking down from above, and FIG. It is a front view of the arrow A shown to a). The air vehicle body 2 is a part having the flight function of the unmanned air vehicle 1 of the present embodiment, and the air vehicle body 2 wirelessly communicates with a separate radio control device, so that the flight intended by the operator can be performed. Can be realized.

  As shown in FIGS. 2 (a) and 2 (b), the aircraft body 2 includes a body 27 on which various electronic components such as a receiver (not shown) are placed, and a predetermined angle from the body 27. The four arms 29 projecting in the direction X and the direction Y, and the tip ends of the two arms 29 oriented in the front direction in the direction Y among the four arms 29 (in other words, the side opposite to the body 27). ) Disposed on the tip side of the two arms 29 oriented rearward in the direction Y, and the forward rotor drive unit 31. From the forward-side rotor 17 provided, the reverse-side rotor 19 provided in the reverse-side rotor drive unit 33, and the leg 35 connected to the four arms 29 and extending downward in the direction Z. It is configured.

  The arm 29 is a substantially rod-shaped part made of carbon, lightweight metal, hard resin, or the like, and its length can be determined according to the rigidity, the size of the forward-side rotor 17 and the backward-side rotor 19, and the like. The body 27 is connected to one end, and the forward rotor drive unit 31 or the reverse rotor drive unit 33 is connected to the other end. Further, the unmanned aerial vehicle 1 constituted by providing a mechanism such as a joint or a bending to the arm 29 can be folded and deformed in a compact manner, and the transportability and the storage property can be suitably improved.

  Further, it is desirable that the inside of the arm 29 is hollow, and wiring is performed by inserting a wiring cord that connects the inside of the body 27 and the forward side rotor drive unit 31 and the reverse side rotor drive unit 33 into the arm 29. The cord can be prevented from being disconnected and the design can be improved. In this embodiment, the four arms 29 are used for convenience of explanation, but two long arms may be crossed to extend in four directions.

  The body 27 is a part connected to one end of the four arms 29 and is formed in a substantially box-shaped housing. The housing is preferably formed of a lightweight resin and the like, and inside this housing is a flight controller that communicates wirelessly with a separate radio control device and measures various flight-related controls by measuring gyros, acceleration, etc. (Not shown), a battery (not shown) serving as an overall drive source, and a pump switching device (not shown) for operating the first pump 11 and the second pump 15 (to be described later) while receiving a flight controller signal. At least) is placed.

  The forward side rotor drive unit 31 and the reverse side rotor drive unit 33 are so-called motors that are rotationally driven by electricity. Since the unmanned air vehicle 1 of the present embodiment flies in the air as described above, a brushless motor that replaces the brush with an electric circuit and does not have a commutator is used in order to reduce the size and weight. It is desirable to configure. The rotational speed and torque may be appropriately determined according to the size and weight of the unmanned air vehicle 1 and the desired flight speed (flight performance).

  In the present embodiment, the forward-side rotor drive unit 31 and the reverse-side rotor drive unit 33 are configured by the same motor. The forward-side rotor drive unit 31 is fixed to the other ends of the two arms 29 oriented forward in the direction Y, and the reverse-side rotor drive unit 33 is provided with two arms oriented backward in the direction Y. 29 is fixed to the other end. The shaft cores (motor rotation shafts) of the forward-side rotor drive unit 31 and the reverse-side rotor drive unit 33 are oriented upward in the direction Z and connected to the flight controller on which the body 27 is placed via the inside of the arm 29. Has been.

  The forward-side rotor 17 and the reverse-side rotor 19 are propellers composed of blades (blades) and hubs (bearings), and are formed using a hard resin or the like. More specifically, two blades (2 翅 propellers) are arranged in a single character and both are connected by a hub. By this hub, the forward side rotor drive unit 31 and the reverse side rotor drive unit 33 are connected. Can be connected to the shaft core. The forward rotor drive unit 31 and the reverse rotor drive unit 33 have a symmetrical shape in plan view because the rotational directions are different (see particularly FIG. 2A).

  As a general unmanned aerial vehicle, in addition to the quadcopter type as in the present embodiment, a tricopter type configured with three rotors, a hexacopter type configured with six rotors, and eight There is an octocopter type, etc., which is configured with a rotor of the same size, but it is the most advantageous for achieving stability during flight, quietness by increasing the size of the rotor, and expanding the range of influence of the downwash. It is limited to a quadcopter type constituted by a rotor, and has structural features here.

  The leg portion 35 is formed in a substantially trapezoidal shape by bending a substantially bar-shaped part at a predetermined position, and a cushioning material such as a sponge is disposed on the lower bottom side. In the unmanned air vehicle 1 of the present embodiment, two legs 35 are provided, and the unmanned air vehicle 1 can be stably supported upward from the ground surface while maintaining a weight balance near the lower portion of the body 27. The upper bottom side is connected and fixed to the arm 29 or the body 27.

  In the present embodiment, the liquid storage container 3 can be fixed to the leg portion 35. Both the leg portion 35 and the liquid storage container 3 can be fixed by screws or locked or engaged by various methods. Can be fixed. However, it is important that both are securely fixed so that the liquid storage container 3 does not fall out of the flying body 2 during the flight.

<Liquid storage container 3>
Next, the structure of the liquid storage container 3 will be described in detail with reference to FIG. FIG. 3 is a perspective view showing the structure of the liquid storage container 3. As shown in FIG. 3, the liquid storage container 3 is a component capable of storing various liquids 51 relating to farm work such as liquid medicine, liquid fertilizer, and liquid herbicide.

  More specifically, the liquid storage container 3 is a part formed with a hollow inside using a resin such as polyethylene, the first opening 37 is disposed above the direction Z, and the second opening 39 is formed below. It is arranged. The size of each part (including the internal volume in which the liquid 51 can be stored) is desirably determined as appropriate in consideration of the storage amount of the liquid 51 and the combination with other components.

<Structure of the liquid spraying mechanism 4>
Subsequently, the structure of the liquid spraying mechanism 4 will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a schematic view seen from the front of the liquid storage container 3 showing the connection relationship between the liquid storage container 3, the forward-side spray system 5, and the reverse-side spray system 7, and FIG. It is the schematic diagram seen from the upper direction of the liquid storage container 3 which shows the connection relation of the distribution system 5 and the reverse side distribution system 7. FIG. The liquid spraying mechanism 4 is for spraying the liquid 51 stored in the liquid storage container 3 from the forward-side spraying system 5 and the reverse-side spraying system 7 according to the flight state.

  As shown in FIGS. 4 and 5, the liquid spray mechanism 4 includes a forward spray system 5, a reverse spray system 7, a plurality of tube tubes 25, and a plurality of T-shaped union tubes 21 </ b> A, 21 </ b> B, 21 </ b> C. And 21D and the exhaust pressure regulating valve 23. The forward-side spraying system 5 and the reverse-side spraying system 7 are water conduits for spraying the liquid 51 stored in the liquid storage container 3 to the outside. The forward spraying system 5 and the reverse-side spraying system 7 can operate separately and switch the liquid 51 by switching both. Can be sprayed outside.

  The forward-side spraying system 5 includes a first pump 11 that sends out a liquid 51 in a predetermined direction, and two first nozzles 9 connected to the pump via a tube tube 25. The reverse side spraying system 7 includes a second pump 15 that sends out the liquid 51 in a predetermined direction, and two second nozzles 13 connected to the pump via a tube 25 and the tube. In addition, since the 1st nozzle 9 and the 2nd nozzle 13 can sprinkle the liquid 51 guided by the predetermined water pressure from the inside to the outside, it is preferable that the liquid 51 leaks unnecessarily. Can be prevented.

  More specifically, when the forward-side spraying system 5 and the reverse-side spraying system 7 are set so that the inside of the liquid storage container 3 is a river side, first, one end of the tube tube 25 is connected to the second opening 39 of the liquid storage container 3. By connecting the other to the one end side of the union pipe 21A, the water conduit from the river upper side is branched to constitute two systems. Furthermore, the tube pipe 25, the first pump 11 or the second pump 15, the tube pipe 25, and the union pipe 21B (upstream on the one mouth side, downstream on the two mouth sides) The tube side 25, two first nozzles 9 or the second nozzle 13 are connected in this order to constitute the forward side spraying system 5 and the reverse side spraying system 7.

  It is desirable that the forward-side spray system 5 and the reverse-side spray system 7 are switched according to the traveling direction of the unmanned air vehicle 1. The first pump 11 and the second pump 15 are connected to the pump switching device mounted in the body 27 by a wiring cable, and the first pump 11 and the second pump 15 are switched according to the operation state of the flight controller. Can be operated. In the present embodiment, the operation of the first pump 11 and the second pump 15 is set to be switched between when the unmanned air vehicle 1 moves forward and when it moves backward, and when moving forward, the first pump 11 is operated to move forward. The liquid 51 is sprayed from the spray system 5 to the outside, and the second pump 15 is operated during reverse travel to spray the liquid 51 from the reverse travel system 7.

  The forward side spraying system 5 is further provided with a union pipe 21C between the first pump 11 and the union pipe 21B, so that the forward side spraying system 5 is further branched by the union pipe 21C, and the union pipe 21C from above the river. The tube tube 25, the exhaust pressure regulating valve 23, the tube tube 25, and the union tube 21D (two-port side) are connected in this order.

  Also, in the reverse side spraying system 7, by disposing the union pipe 21C between the second pump 15 and the union pipe 21B, the reverse side spraying system 7 is further branched by this union pipe 21C, and from the river upper side. The union pipe 21C, the tube pipe 25, the exhaust pressure adjusting valve 23, the tube pipe 25, and the union pipe 21D (two-port side) are connected in this order. The exhaust pressure adjusting valve 23 is a valve that is manually or electrically opened and closed.

  As described above, it is branched from the forward-side spraying system 5 and the reverse-side spraying system 7 and merged by the union pipe 21D. Further, the tube pipe 25 is connected to the one opening side of the union pipe 21D and the first opening 37 of the liquid storage container 3. In addition to the water conduit from the liquid storage container 3 to the outside by the forward-side spray system 5 and the reverse-side spray system 7, a circulation path centering on the liquid storage container 3 branched from these two systems is formed. Is done.

  This circulation path allows the liquid 51 in the liquid storage unit 3 to flow through the first nozzle 9 and the second nozzle 13 when air has entered the forward-side spraying system 5 and the reverse-side spraying system 7 at the time of initial spraying of the liquid 51. Even if water is introduced into the water, the air reaches the first nozzle 9 and the second nozzle 13 first, so that a predetermined water pressure cannot be applied, and the liquid 51 cannot be sprayed to the outside. For this reason, air can be returned to the liquid storage part 3 through the union pipe 21 </ b> D and the first opening 37 by opening the exhaust pressure adjusting valve 23 first, and the liquid guided from the second opening 39. 51 can be reliably guided to the first nozzle 9 and the second nozzle 13.

  The two first nozzles 9 and the second nozzle 13 branched from the union pipe 21 </ b> B are respectively disposed below the forward-side rotor drive unit 31 or the reverse-side rotor drive unit 33. The arrangement | positioning aspect of the 1st nozzle 9 and the 2nd nozzle 13 is demonstrated in detail using FIG. FIG. 6 is a side view of the forward-side rotor drive unit 31 (reverse-side rotor drive unit 33) showing the arrangement of the first nozzle 9 and the second nozzle 13. Two first nozzles 9 are respectively disposed below the two forward rotors 17 positioned on the forward direction side of the unmanned air vehicle 1, and the two second nozzles 13 are disposed on the backward direction side of the unmanned air vehicle 1. It is desirable that each of the two rearwardly-rotating rotors 19 is disposed at the lower part.

  As shown in FIG. 6, the first nozzle 9 (second nozzle 13) is disposed below the direction Z of the forward rotor drive unit 31 (reverse rotor drive unit 33). The forward-side rotor drive unit 31 (reverse-side rotor drive unit 33) and the first nozzle 9 (second nozzle 13) may be arbitrarily separated and adjusted within a range where the spraying performance does not deteriorate. It is desirable to fix the tube tube 25 connected to 9 (second nozzle 13) while being along the arm 29 with an insulation lock or the like. Further, it is desirable that the water discharge direction of the first nozzle 9 (second nozzle 13) is oriented downward in the direction Z.

2. Spraying of liquid 51 using liquid spraying mechanism 4 <Blowing of liquid 51 by downwashing of forward rotor 17 (reverse rotor 19)>
Next, the spraying of the liquid 51 by the downwash of the forward side rotor 17 (reverse side rotor 19) will be described in detail with reference to FIG. FIG. 7 is a schematic diagram showing a state in which the liquid 51 is sprayed by the downwash of the forward rotor 17 (reverse rotor 19). The liquid 51 discharged from the first nozzle 9 (second nozzle 13) is pushed downward by the urging force of the downwash of the forward-side rotor 17 (reverse-side rotor 19) and sprayed evenly on the crop.

  As shown in FIG. 7, during the flight of the unmanned air vehicle 1, since the lift is obtained by rotating the forward rotor 17 (reverse rotor 19), downwash is always generated below the direction Z. . Moreover, since the 1st nozzle 9 (2nd nozzle 13) is arrange | positioned under the forward side rotor drive part 31 (reverse drive side rotor drive part 33) as above-mentioned, the liquid 51 discharged to the outside is The effect of being pushed downward by the urging force of the downwash is obtained.

  The downwash is preferably allowed to reach the range of 4 to 6 m downward from the forward-side rotor drive unit 31 (reverse-side rotor drive unit 33), and further, the urging force reach range below the liquid 51 by this downwash. H is preferably 2 m. Thereby, the unmanned aerial vehicle 1 can be made to fly stably, and the liquid 51 can be reliably sprayed onto the agricultural product while suitably securing the distance between the direction Z between the agricultural product and the unmanned air vehicle 1.

  Downwash not only urges the liquid 51 downward in the direction Z, but also allows the liquid 51 to be sprayed to the back of the leaves and the vicinity of the root of the stem, which cannot be normally reached, by irregularly shaking the crops. .

<Dispersion of the liquid 51 according to the flight status of the unmanned air vehicle 1>
Next, the spraying of the liquid 51 according to the flight status of the unmanned air vehicle 1 will be described in detail with reference to FIG. FIG. 8 is a schematic diagram showing a state of spraying of the liquid 51 by the unmanned air vehicle 1. As described above, the unmanned air vehicle 1 of the present embodiment sprays the liquid 51 by switching and operating the forward-side spray system 5 and the reverse-side spray system 7 of the liquid spray mechanism 4.

  As shown in FIG. 8, at the time of forward movement, the pump switching device operates the first pump 11 to spray the liquid 51 to the outside through the forward-side spraying system 5 (the reverse-side spraying system 7 is in a water stop state). .) At this time, the liquid 51 changes in a substantially mist shape according to the adjustment of the nozzle so as to be sprayed on a wider range of crops.

  The liquid 51 discharged from the first nozzle 9 is urged by the downwash of the forward rotor 17 and pushed downward in the direction Z. However, as the unmanned air vehicle 1 moves, the downwash of the forward rotor 17 gradually increases. Since it is out of the range and loses the influence of the urging force, it does not reach the crops and is temporarily retained. However, due to the downwash of the reverse rotor 19 following the movement of the unmanned air vehicle 1, a downward urging force can be applied again to the staying liquid 51, and the crop can be reliably reached.

Moreover, at the time of reverse drive, the pump switching device operates the second pump 15 to spray the liquid 51 to the outside through the reverse drive side spray system 7 (the forward side spray system 5 is in a water stop state). The liquid 51 discharged from the second nozzle 13 is urged by the downwash of the reverse rotor 19 and pushed downward in the direction Z, but gradually the downwash of the reverse rotor 19 is accompanied by the movement of the unmanned air vehicle 1. Since it is out of the range and loses the influence of the urging force, it does not reach the crops and is temporarily retained. However, due to the downwash of the forward rotor 17 following the movement of the unmanned air vehicle 1, a downward urging force can be applied again to the staying liquid 51, and the crop can be reliably reached.

  Since the liquid 51 that has flowed out can be reliably reached to the crops, the waste of the liquid 51 is reduced while ensuring the dispersibility of the liquid 51 at a high level, and the liquid 51 flows to an undesired place. Therefore, it is possible to prevent various problems from occurring. In addition, by using the unmanned air vehicle 1 of the present embodiment, the liquid 51 can be evenly distributed over the crops in the entire sprayed region, and the most densely sprayed place and the thinnest sprayed place The difference in spraying can be suppressed to 15% to 20% in terms of coefficient of variation (30% or less as defined by the Agriculture, Forestry and Fisheries Aviation Association), and the quality of dispersion (dispersibility, dispersion uniformity) itself can be improved.

  Although the control method is not explicitly described in the present embodiment, various control methods including manual control and automatic control (including program control) used in airplanes such as general drones can be used. Needless to say.

  The exemplary embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to these embodiments, and does not depart from the spirit and teaching of the claims. There are other improvements and variations in scope. All such improvements and modifications are included in the technical scope of the present invention.

  The unmanned aerial vehicle according to the present invention can reliably spread the sprayed medicine (liquid) to the farm products while suppressing wasteful spraying of the medicine (liquid).

DESCRIPTION OF SYMBOLS 1 Unmanned air vehicle 2 Aircraft body 3 Liquid storage container 4 Liquid spray mechanism 5 Forward side spray system 7 Reverse side spray system 9 1st nozzle 11 1st pump 13 2nd nozzle 15 2nd pump 17 Forward side rotor 19 Reverse side rotor 21A Union pipe 21B Union pipe 21C Union pipe 21D Union pipe 23 Exhaust pressure regulating valve 25 Tube pipe 27 Body 29 Arm 31 Advance side rotor drive part 33 Reverse side rotor drive part 35 Leg part 37 First opening 39 Second opening 51 Liquid H Force reach range

Claims (2)

A liquid storage container;
A forward spreading system communicating from the liquid reservoir to the forward exterior; and
A reverse side spraying system communicating with the outside of the reverse side from the liquid storage container;
Two forward rotors located on the forward side;
Two reverse rotors located on the reverse side,
Comprising
The two nozzles of the forward side spraying system are respectively disposed below the two forward side rotors,
Two nozzles of the reverse side spraying system are respectively disposed below the two reverse side rotors,
Wherein the liquid in the liquid storage container, Ri sprayable der either hand or found outside switched according to the said forward side scatter grid the reverse side scatter grid in the traveling direction of the unmanned air vehicle, during forward Is sprayed outside from the forward side spraying system, and when traveling backward, sprayed outside from the reverse side spraying system,
A quadcopter type unmanned aerial vehicle having a liquid spraying mechanism. The forward-side spraying system and the reverse-side spraying system each include two nozzles and one pump;
The unmanned aerial vehicle according to claim 1 .