JP6733949B2 - Unmanned multi-copter for drug spraying, and control method and control program therefor - Google Patents

Description

The present invention relates to an unmanned aerial vehicle (drone) that sprays chemicals such as pesticides, and more particularly to an unmanned aerial vehicle that can minimize the scattering of the chemicals outside the field even in a field having a complicated and narrow shape.

The application of small helicopters (multicopters) generally called drones is progressing. One of its important fields of application is spraying chemicals such as pesticides and liquid fertilizers on farmland (field) (for example, Patent Document 1). In Japan, where farmland is smaller than in Europe and the United States, it is often the case that drones are more suitable than manned airplanes and helicopters.

With technologies such as the quasi-zenith satellite system and RTK-GPS (Real Time Kinematic-Global Positioning System), it became possible for a drone to accurately know its absolute position in centimeters during flight. Even in a farmland with a narrow and complicated terrain typical of the above, it is possible to autonomously fly with minimal manual operation, and to perform chemical spraying efficiently and accurately.

However, even if the drone were able to fly over the field accurately, there still remains the problem that the drug would be scattered outside the field due to the influence of wind and the like. In particular, it is necessary to avoid cases where pesticides are scattered on crops cultivated without pesticides outside the field, or cases where herbicides sprayed on ridges or the like outside the field are scattered on cultivation plants in the field. , Traditional drones have not adequately addressed this problem. A technique of providing a wind force/wind direction sensor on a helicopter and finely adjusting the route according to the wind direction and the wind force has been publicly known (for example, Patent Document 2). However, when applied to a narrow field, the precision of control and the mechanism are complicated. There was a problem in terms of sex.

Japanese Patent Laid-Open No. 2001-120151 Japanese Patent Laid-Open Publication No. 2006-176073

(EN) A drug spray drone (unmanned air vehicle) that minimizes drug scattering outside the field.

The present invention is a drug spraying unmanned aerial vehicle comprising a plurality of drug spray nozzles, a plurality of rotor blades, and a body control means, wherein at least one of the plurality of drug spray nozzles is at least one of the plurality of rotor blades. The unmanned air vehicle for chemical spraying, which is disposed below, adjusts the flight speed or altitude of the airframe according to the number of revolutions of at least one of the plurality of rotor blades. Solve the problem.

Further, the present invention is an unmanned drug spraying vehicle comprising a plurality of drug spraying nozzles, a plurality of rotors, and a drug discharge amount adjusting means, wherein at least one of the plurality of drug spraying nozzles is the plurality of rotors. By providing an unmanned air vehicle for drug spraying, wherein the drug discharge amount adjusting means adjusts the drug discharge amount according to the number of rotations of at least one of the plurality of rotary blades. The above problems are solved.

Further, the present invention is a drug spraying unmanned air vehicle comprising a plurality of drug spray nozzles, a plurality of rotary blades, and a drug spray nozzle position adjusting means, wherein at least one of the plurality of drug spray nozzles is the plurality of rotations. An unmanned agent for drug spraying, which is disposed below at least one of the blades, and in which the drug spraying nozzle position adjusting means adjusts the position or orientation of the drug spraying nozzle in accordance with the number of rotations of at least one of the plurality of rotary blades. The above problem is solved by providing an air vehicle.

Further, the present invention is an unmanned aerial vehicle for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotor blades, a machine weight measuring means, and a machine body control means, wherein at least one of the plurality of drug spray nozzles is the plurality of The unmanned air vehicle for chemical spraying, which is disposed below at least one of the rotor blades, adjusts the flight speed or the altitude of the airframe according to the airframe weight measured by the airframe weight measuring means by the airframe control means. The above problem is solved by providing

Further, the present invention is a drug spraying unmanned air vehicle comprising a plurality of drug spraying nozzles, a plurality of rotor blades, a machine body weight measuring means, and a drug discharge amount adjusting means, at least one of the plurality of drug spraying nozzles. An unmanned air vehicle for drug spraying, which is disposed below at least one of the plurality of rotor blades, wherein the medicine discharge amount adjusting means adjusts the medicine discharge amount according to the machine weight measured by the machine body weight measuring means. The above problems can be solved by providing them.

Further, the present invention is an unmanned air vehicle for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotor blades, a machine weight measuring means, and a drug spray nozzle position adjusting means, wherein at least one of the plurality of drug spray nozzles. Is disposed below at least one of the plurality of rotary blades, and the medicine spray nozzle position adjusting means adjusts the position or direction of the medicine spray nozzle according to the machine weight measured by the machine weight measuring means. The above problem is solved by providing an unmanned aerial vehicle for drug spraying.

Further, the present invention is a drug spraying unmanned air vehicle comprising a plurality of drug spraying nozzles, a plurality of rotor blades, a machine speed measuring means, and a drug discharge amount adjusting means, wherein at least one of the plurality of drug spraying nozzles is A drug spraying unmanned air vehicle, which is disposed below at least one of the plurality of rotor blades, wherein the drug discharge amount adjusting means adjusts the drug discharge amount according to the machine speed measured by the machine speed measuring means. The above problems can be solved by providing them.

Further, the present invention is an unmanned aerial vehicle for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotary wings, and a drug discharge amount adjusting means, wherein the plurality of rotary wings are located above and below and opposite to each other. A set of rotating blades that rotate in a direction constitutes a counter rotating blade, and at least one of the plurality of chemical spray nozzles is arranged below the counter rotating blade, and a rotor above the counter rotating blade. The above problem is solved by providing a drug spraying unmanned air vehicle in which the drug discharge amount adjusting means stops the drug spraying when the difference between the rotation speed of the above and the rotation speed of the lower rotary blade exceeds a predetermined value. To do.

Further, the invention of the present application, paragraph 0007, paragraph 0008, paragraph 0009, paragraph 0010 provided with a propeller guard composed of a peripheral portion provided with a member having rigidity and an upper and lower portion provided with a mesh-shaped member made of fiber or wire. The above problem is solved by providing an unmanned air vehicle for drug spraying according to any one of paragraphs 0011, 0012, 0012, 0013, or 0014.

Further, the invention of the present application, paragraph 0007, paragraph 0008, paragraph 0009, paragraph 0010, paragraph 0011, paragraph 0012 provided with a propeller guard connected to the machine body by a thin plate-shaped member whose longitudinal direction of the cross section is arranged substantially vertical. The above problem is solved by providing an unmanned air vehicle for drug spraying according to any one of paragraphs 0013 and 0014.

Further, the present invention comprises a plurality of chemical spray nozzles, a plurality of rotary blades, and a machine body control means, and at least one of the plurality of chemical spray nozzles is disposed below at least one of the plurality of rotary blades. A method for controlling an unmanned aerial vehicle for spraying, which comprises the step of acquiring at least one rotation speed of the plurality of rotor blades, and the flight speed of the airframe, the flight altitude of the airframe, and the discharge of the drug according to the acquired rotation speed. The problem is solved by providing a method comprising adjusting the amount or the position or orientation of the drug nozzle.

Further, the present invention is an unmanned aerial vehicle for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotary wings, and a drug discharge amount adjusting means, wherein the plurality of rotary wings are located above and below and opposite to each other. A method for controlling an unmanned aerial vehicle for drug dispersal, wherein a set of rotary vanes rotating in a direction constitutes a counter-rotating vane, wherein at least one of the plurality of drug dispersal nozzles is disposed below the counter-displacement vane. When the difference between the rotation speed of the upper rotary blade and the rotation speed of the lower rotary blade of the counter-rotating blade exceeds a predetermined value, the medicine discharge amount adjusting means stops the medicine spraying. The above problem is solved by providing a method including the above.

Further, the present invention comprises a plurality of chemical spray nozzles, a plurality of rotary blades, and a machine body control means, and among the plurality of rotary blades, at least one of the plurality of chemical spray nozzles is at least one of the plurality of rotary blades. A program for controlling an unmanned aerial vehicle for drug spraying disposed below two, wherein a command for acquiring at least one rotation speed of the plurality of rotor blades and a flight speed of the airframe according to the acquired rotation speed are provided. The above problem is solved by providing a program that causes a computer to execute an aircraft flight altitude, a discharge amount of a medicine, or a command for adjusting the position or orientation of a medicine nozzle.

Further, the present invention is provided with a plurality of medicine spray nozzles, a plurality of rotary blades, and a medicine discharge amount adjusting means, and among the plurality of rotary blades, a set of rotary blades that are located above and below and rotate in mutually opposite directions is provided. A program for controlling a drug spraying unmanned air vehicle, which constitutes a counter-rotating wing, wherein at least one of the plurality of drug spraying nozzles is arranged below the counter-rotating wing, the program comprising: To provide a program for causing a computer to execute an instruction to stop the medicine spraying by the medicine discharge amount adjusting means when the difference between the rotation speed of the upper rotor and the rotation speed of the lower rotor exceeds a predetermined value. Solves the above problem.

Even in fields with complicated shapes that are typical in Japan, it is possible to realize accurate chemical spraying with minimal scattering outside the fields.

It is a top view of the example of the agricultural drone concerning the present invention. 1 is a front view of an embodiment of an agricultural drone according to the present invention. It is a right side view of the example of the agricultural drone concerning the present invention. It is an example of an overall conceptual diagram of a drug spraying system using an embodiment of an agricultural drone according to the present invention. It is a schematic diagram showing the control function of the Example of the agricultural drone which concerns on this invention. It is an experimental view showing the principle of the drift reduction effect by the agricultural drone according to the present invention. It is a schematic diagram showing the principle of the drift reduction effect by the drone for agriculture which concerns on this invention. 1 is a schematic diagram of a first embodiment of a propeller guard suitable for reducing drift by an agricultural drone according to the present invention. It is a schematic diagram of the 2nd Example of the propeller guard suitable for reduction of the drift by the agricultural drone which concerns on this invention.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The figures are all examples.

FIG. 1 is a plan view of an embodiment of a drone (100) according to the present invention, FIG. 2 is a front view (viewed from the traveling direction side), and FIG. 3 is a right side view thereof. In the specification of the present application, the drone means any power means (electric power, prime mover, etc.), control method (whether wireless or wired, and whether it is an autonomous flight type or a manual control type). Instead, it refers to all flying bodies having multiple rotors or flight means.

Rotors (101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b) (also called rotors) are used to fly the drone (100). Considering the balance of flight stability, airframe size, and battery consumption, it is desirable that eight aircraft (four sets of two-stage rotary blades) be provided.

The motors (102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b) are rotor blades (101-1a, 101-1b, 101-2a). , 101-2b, 101-3a, 101-3b, 101-4a, 101-4b) is a means for rotating (typically an electric motor, but may be an engine, etc.) It is desirable that one unit be installed. The upper and lower rotor blades (eg 101-1a and 101-1b) and their corresponding motors (eg 102-1a and 102-1b) in one set are for drone flight stability etc. It is desirable that the axes be collinear and rotate in opposite directions. Although some of the rotor blades (101-3b) and the motor (102-3b) are not shown, their positions are self-explanatory, and if there is a left side view, they are at the positions shown. As shown in FIG. 2 and FIG. 3, it is desirable that the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a structure in which the propeller guard is not horizontal but is in the shape of a tower. This is to prevent the member from buckling toward the rotor at the time of collision and interfering with the rotor.

The drug nozzles (103-1, 103-2, 103-3, 103-4) are means for spraying the drug downward, and are preferably provided with four machines. In the specification of the present application, the term "medicine" generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.

The chemical|medical agent tank (104) is a tank for storing the chemical|medical agent to be sprayed, and it is desirable to be provided in the position near the gravity center of a drone (100), and a position lower than the gravity center from a viewpoint of a weight balance. The drug hose (105-1, 105-2, 105-3, 105-4) connects the drug tank (104) with each drug nozzle (103-1, 103-2, 103-3, 103-4). It may be made of a hard material and may also serve to support the medicine nozzle. The pump (106) is a means for discharging the medicine from the nozzle.

FIG. 4 shows an overall conceptual diagram of a system using an embodiment of the drug spraying application of the drone (100) according to the present invention. This figure is a schematic diagram and the scale is not accurate. The pilot (401) sends a command to the drone (100) by the operation of the user (402), and information received from the drone (100) (for example, position, drug amount, battery level, camera image, etc.). ) Is displayed, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although it is desirable that the drone (100) according to the present invention be controlled to perform autonomous flight, it is desirable that the drone (100) can be manually operated during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, you may use an emergency operating device (not shown) that has a function dedicated to emergency stop (a large emergency stop button, etc., that allows the emergency operating device to respond quickly in an emergency). It is desirable that it is a dedicated device equipped with). It is desirable that the pilot (401) and the drone (100) perform wireless communication by Wi-Fi or the like.

The farm field (403) is a rice field, a field, or the like targeted for drug spraying by the drone (100). In reality, the topography of the field (403) is complicated, and there are cases where the topographic map cannot be obtained in advance, or the topographic map and the situation at the site are inconsistent. Normally, the field (403) is adjacent to a house, a hospital, a school, a field for other crops, a road, a railroad, or the like. In addition, there may be obstacles such as buildings and electric wires in the field (403).

The base station (404) is a device that provides a master device function of Wi-Fi communication, etc. It is desirable that it also functions as an RTK-GPS base station and can provide an accurate position of the drone (100). (Wi-Fi communication base unit function and RTK-GPS base station may be independent devices). The farm cloud (405) is typically a group of computers operated on a cloud service and related software, and it is desirable that the farm cloud (405) be wirelessly connected to the control unit (401) via a mobile phone line or the like. The farming cloud (405) may analyze the image of the field (403) captured by the drone (100), grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the drone (100) may be provided with the topographical information of the field (403) that has been saved. In addition, the history of the drone (100) flight and captured images may be accumulated and various analysis processes may be performed.

Usually, the drone (100) takes off from the landing point (406) outside the field (403) and sprays the drug on the field (403), or when the drug replenishment or charging becomes necessary. Return to (406). The flight route (intrusion route) from the landing point (406) to the target field (403) may be saved in advance in the farm cloud (405), etc., or before the user (402) starts taking off. You may enter in.

FIG. 5 is a schematic diagram showing the control function of the embodiment of the drug spraying drone according to the present invention. The flight controller (501) is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, memory, related software, and the like. The flight controller (501), based on the input information received from the flight controller (401) and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor (102- 1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b) controls the flight speed of the drone (100). The actual rotation speed of the motor (102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b) is fed back to the flight controller (501) and is normal. It is desirable to have a structure that can monitor whether or not various rotations are performed. Alternatively, the rotary blade (101) may be provided with an optical sensor or the like so that the rotation of the rotary blade (101) is fed back to the flight controller (501).

The software used by the flight controller (501) is preferably rewritable through a storage medium or the like for function expansion/change, problem correction, or the like, or through a communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by unauthorized software is not performed. In addition, a part of the calculation process used by the flight controller (501) for control may be executed by another computer existing on the flight controller (401), the farm cloud (405), or elsewhere. .. Since the flight controller (501) is highly important, some or all of its constituent elements may be duplicated.

The battery (502) is a means of supplying power to the flight controller (501) and other components of the drone and is preferably rechargeable. The battery (502) is preferably connected to the flight controller (501) via a fuse or a power supply unit including a circuit breaker or the like. The battery (502) is preferably a smart battery having a function of transmitting its internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller (501) in addition to a power supply function.

The flight controller (501) communicates with the pilot (401) via the Wi-Fi slave unit function (503) and further via the base station (404), and sends necessary commands from the pilot (401). It is desirable to be able to receive and send the required information to the pilot (401). In this case, it is desirable to encrypt the communication so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment. It is desirable that the base station (404) has an RTK-GPS base station function in addition to the communication function by Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module (504) can measure the absolute position of the drone (100) with an accuracy of a few centimeters. Since the GPS module (504) is very important, it is desirable to duplicate and multiplex it. Also, in order to cope with the failure of a specific GPS satellite, each redundant GPS module (504) has a different satellite. It is desirable to control to use.

The acceleration sensor (505) is a means for measuring the acceleration of the drone body (further, a means for calculating the speed by integrating the acceleration), and is preferably a 6-axis sensor. The geomagnetic sensor (506) is a means for measuring the direction of the drone body by measuring the geomagnetism. The barometric pressure sensor (507) is a means for measuring the barometric pressure, and can indirectly measure the altitude of the drone. The laser sensor (508) is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and it is preferable to use an IR (infrared) laser. The sonar (509) is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Moreover, it is desirable that these sensors be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller (501) may use only one of them and, if it fails, switch to another sensor .. Alternatively, a plurality of sensors may be used simultaneously, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor (510) is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of places in the path from the medicine tank (104) to the medicine nozzle (103). The liquid shortage sensor (511) is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount. The multi-spectral camera (512) is a means for photographing the field (403) and acquiring data for image analysis. The obstacle detection camera (513) is a camera for detecting drone obstacles, and because the image characteristics and lens orientation are different from the multispectral camera (512), it is a device different from the multispectral camera (512). Is desirable. The switch (514) is a means for the user (402) of the drone (100) to make various settings. The obstacle contact sensor (515) is for detecting that the drone (100), in particular its rotor and propeller guard parts, has come into contact with obstacles such as electric wires, buildings, human bodies, trees, birds or other drones. Sensor. The cover sensor (516) is a sensor that detects that the operation panel of the drone (100) and the cover for internal maintenance are open. The drug injection port sensor (517) is a sensor that detects that the injection port of the drug tank (104) is open. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. In addition, a sensor may be provided at a base station (404) outside the drone (100), a control device (401), or other location, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station (404) and information regarding wind and wind direction may be transmitted to the drone (100) via Wi-Fi communication.

The flight controller (501) transmits a control signal to the pump (106) to adjust the medicine ejection amount and stop the medicine ejection. It is desirable that the current status of the pump (106) (for example, the number of revolutions) is fed back to the flight controller (501).

The LED (517) is a display means for informing the drone operator of the status of the drone. Display means such as a liquid crystal display may be used instead of or in addition to the LEDs. The buzzer (518) is an output means for notifying the drone state (especially error state) by a voice signal. The Wi-Fi slave device function (519) is an optional component for communicating with an external computer or the like for the transfer of software, for example, separately from the controller (401). In addition to or in addition to the Wi-Fi cordless handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used. The speaker (520) is an output means for notifying the drone state (especially error state) by the recorded human voice, synthesized voice or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone (100) in flight. In such a case, it is effective to communicate the situation by voice. The warning light (521) is a display means such as a strobe light for informing the state of the drone (in particular, an error state). These input/output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated/multiplexed.

FIG. 6 shows a diagram of experimental results showing the principle of the drift reduction effect by the agricultural drone according to the present invention. As shown in FIG. 6-a, according to the experiment by the inventor, under the rotor with the two-stage rotor configuration, about 90% from the position at a distance of about 50% of the radius from the center of the rotor viewed from above. It has been clarified that there is a cylindrical region where the velocity of the airflow is particularly high before reaching the position. 6-b is a schematic view of FIG. 6-a, and the rotary blade (601) is a schematic view of the rotary blades described in FIGS. 1, 2 and 3. As a typical design value, if the rotor diameter is 70 cm, the rotor rotation speed is 2,000 rpm, and the airframe weight is 20 kg, the wind speed in this cylindrical area (602) will be 10 meters or more per second. is there. Experiments conducted by the inventor have revealed that by placing a drug nozzle in this cylindrical region and spraying the drug, this cylindrical region serves as a so-called protective wall, and undesired drug scattering to the outside can be minimized. It has become. Although FIG. 6-c shows a similar experiment result (reference diagram) using a drone having a one-stage rotor configuration, the cylindrical region where the airflow velocity is high is not clear as compared with the two-stage rotor configuration. In addition, experiments by the inventor have revealed that in the case of a one-stage rotor configuration, undesired scattering of the drug outside the field is increased due to the influence of the swirling flow of the rotor. Therefore, in order to maximize the effect of the present invention, it is desirable to use a drone having a two-stage rotor structure. Further, by using the two-stage rotor configuration, the turbulence of the air flow can be reduced and the wind speed can be maintained, so that a side effect of being able to effectively spray the drug to the plant base of the crop in the field is also obtained. In order to positively utilize the airflow created by the rotor of the drone according to the present application, the airflow reaching the crop is about 7 meters per second (typically about 75 cm from the top of the crop in the field). It is desirable to fly in meters.

FIG. 7 shows the principle that the scattering of the medicine can be minimized by the position of the medicine nozzle of the drone according to the present invention, which is clarified by the experiment by the inventor. FIG. 7 is a schematic view (cross-sectional view taken along a plane passing through the central axis of the rotor (701)) of the drone shown in FIGS. 1, 2 and 3. When the drone moves, the high velocity region of the cylindrical airflow shown in FIG. 6 tilts backward in the direction of travel. It is desirable to place the medicine nozzle (702) inside this inclined cylindrical region and on the front side as viewed in the traveling direction. In this way, the drug is efficiently disseminated (while minimizing unwanted splashes) in the downward direction of the drone by entraining the first downward airflow (703-1). Some of the drug flows backwards, but it is effectively sprayed downward in the drone by riding the second airflow (703-2) downward in the drone. Similarly, by using the third air flow (703-3) and the fourth air flow (703-4), it is possible to spray the drug directly under the drone while minimizing undesired scattering. ..

It is desirable that the flight controller (501) controls the pump (106) based on the flow rate sensor (510) to maintain a constant drug discharge amount. In this case, the medicine ejection amount may be adjusted based on the temperature measured by the temperature sensor or the atmospheric pressure measured by the atmospheric pressure sensor (507).

(Adjustment based on rotor speed)
A typical drug spray drone weighs about 10 kilograms of drug to be sprayed. Since the weight of the machine body is about 20 kilograms, there is a large difference in the weight of the machine body between the beginning and the end of drug spraying. Since the drone (100) will support the entire aircraft with the downward airflow created by the rotor (101), the rotation speed of the rotor will be low when the weight is light, and the speed of the downward airflow will also be reduced accordingly. However, the effect of preventing the chemicals from scattering is also reduced. Therefore, the flight controller (501) includes the rotor blades (101-2a, 101-2b, 101-4a, in particular, the rotational speed of the rotor blades (101), in particular, the rotor blades (101-2a, 101-2b, 101-4a It is desirable that the rotational speed of 101-4b) be constantly measured, and that the amount of drug ejected from the pump (106) be reduced, the flight speed be reduced, or both in accordance with the decrease in the rotational speed. When the rotation speed of the rotor (101) cannot be directly measured, the flight controller (501) indicates it by a control signal transmitted to the motor (102) via a control means such as ESC (Electronic Speed Control). The rotation speed may be regarded as the rotation speed of the rotary blade (101) corresponding to the motor (102).

The drone (100) tilts the airframe forward and moves forward by increasing the rotational speed of the rotary blade (101) behind the traveling direction more than the rotational speed of the rotary blade (101) forward in the traveling direction. Therefore, the flight speed can be reduced by reducing the difference between the rotational speed of the rotary blade (101) rearward in the traveling direction and the rotational speed of the rotary blade (101) forward in the traveling direction. The flight controller (501) controls the pump (106) in order to keep the drug spray amount per unit area of the field (403) constant when the flight speed of the drone (100) is reduced. It is desirable to reduce In this case, when the flight speed is lower than a predetermined lower limit speed (for example, 5 km/h), stable drug application becomes difficult, and therefore drug application may be stopped. The flight speed can be measured by calculating the differential of the aircraft horizontal coordinates using GPS (504).

(Spray position variable)
The flight controller (501) may perform control for reducing the flight altitude of the drone (100) instead of or in addition to the control for reducing the flight speed of the drone (100) in the above description. This is because if the flight altitude is low, the influence of the chemical scattering can be reduced and the influence of the reduction in the airflow velocity of the rotor (101) can be offset. In addition, the flight controller (501) lowers the position of the drug nozzle (103), or turns the direction downward, or has a structure in which the position and direction of the drug nozzle (103) can be changed by, for example, a stepping motor or the like. You may perform the control which does both. This is because if the position of the medicine nozzle (103) is low, the influence of the scattering can be similarly reduced. It should be noted that lowering the position of the drug nozzle (103) from the beginning increases air resistance during flight, makes stable landing difficult, and increases the risk of drone contact with obstacles. Since it is not preferable, it is desirable to lower the position of the medicine nozzle (103) when necessary during flight.

(Adjustment based on weight)
Instead of or in addition to the control based on the rotational speed of the rotary blades described above, the discharge amount, the machine speed, the machine altitude, and the position and the direction of the spray nozzle based on the weight of the entire machine may be adjusted. .. When the weight is reduced, as in the case where the rotation speed of the rotor blades is reduced, any of the measures to reduce the discharge amount of the medicine, reduce the aircraft speed, lower the aircraft altitude, or lower the jet nozzle position. It is preferred to do one or more.

Airframe weight may be estimated using the acceleration measured by the accelerometer (505) or the acceleration as a derivative of the speed measured by means such as GPS Doppler (504-3) or GPS (504). .. When the vehicle is climbing, if the thrust of the motor (102) is T, the gravitational acceleration is g, and the measured acceleration of the machine is α, the weight M of the entire machine is obtained as M=T/(α+g). The thrust T of the motor (102) is determined by the rotation speed of the motor, and the flight controller (501) can measure the rotation speed of the motor, so that the weight of the airframe can be estimated. When the motor rotation speed cannot be directly measured, the target rotation speed commanded by the flight controller (501) to the motor (102) may be regarded as the motor rotation speed, and the thrust may be estimated from the target rotation speed.

Further, the body weight may be estimated by measuring the inclination of the body of the drone (100) during a uniform horizontal flight. The tilt of the machine body may be directly measured by providing a gyro sensor, or may be estimated by differentiating the measurement value of the 6-axis type acceleration sensor (505) twice. During constant-level horizontal flight, the air resistance of the aircraft, gravity, and thrust by rotor blades are balanced. Air resistance is a function of aircraft flight speed, thrust by rotor blades is a function of motor speed, and gravity is a function of airframe weight, so weight is the tilt of the airframe, motor speed, airframe If the flight speed of is known, it can be estimated. A wind force sensor may be provided to correct the air resistance coefficient according to the wind force and the wind direction.

In addition, since the largest factor that changes weight during flight is the amount of drug, the level sensor in the drug tank measures the height of the liquid surface of the drug to measure the remaining amount of drug, and then The weight of the entire aircraft may be estimated. In this case, a water pressure sensor may be provided in the medicine tank, and the weight of the medicine in the medicine tank may be estimated to estimate the weight of the entire machine body.

(Fault detection)
As described above, in order for the anti-scattering effect of the present invention to be effective, the upper rotor blade and the lower rotor blade of the two-stage rotor rotate at substantially the same number of revolutions (in opposite directions). Need to be present. In the flight controller (501), the difference in rotational speed between the upper rotor blade and the lower rotor blade (particularly, the rotational speed difference in the rotor blade set above the nozzle (103)) exceeded a predetermined reference value. When this is detected, it is desirable to control the pump (106) and stop the drug application even if continuous flight is possible. This is because there is a possibility that the sufficient scattering prevention effect cannot be exerted. In this case, it is desirable that the flight controller (501) displays an error message on the control device (401) and controls the flight controller (401) to quickly return to the departure point (406).

(Propeller guard structure)
The drone (100) according to the present invention is preferably equipped with a propeller guard. It is desirable that the propeller guard has the safety and strength necessary to prevent finger insertion accidents. FIG. 8 shows a schematic diagram of the first embodiment of the propeller guard used in the drone (100) according to the present invention. This figure is a schematic diagram and the scale is not accurate. Further, the propeller guard shown in this figure is not shown in FIGS. 1, 2 and 3. Although the rotary blade (801) is shown in only one stage in FIG. 8, it is preferable that it is actually configured in two stages as described above. Further, members for fixing the motor and the propeller guard to the machine body are not shown. In order to prevent finger insertion accidents and foreign matter entrapment accidents and to protect important parts such as rotor blades in the event of a collision or crash, the propeller guard, especially the area that the hand may touch when holding the aircraft The part needs to have a sufficiently fine lattice structure (mesh structure) that maintains the required strength, but on the other hand, it is desirable that the part does not hinder the above-mentioned scattering prevention effect. For this reason, the upper and lower parts (803) of the rotor (801) are made of a mesh-like member made of fiber or wire while securing the strength at the time of collision by using the outer peripheral portion (802) of the propeller guard as a member made of a rigid member. The structure may be Although the lower member of the rotor (801) is not shown in FIG. 8, it is desirable to actually have a mesh-like member made of fiber or wire like the upper member. In order to prevent finger insertion accidents, it is desirable that the gaps of all members should be wide enough to prevent fingers from entering (approximately 15 mm or less). Especially, the outer circumference and the upper and lower parts close to the outer circumference are the positions where the drone (100) can be gripped by hand when it is transported. Is desirable.

Instead of or in addition to the configuration of FIG. 8, as shown in FIG. 9, a propeller guard member on the upper surface, in particular, a member (901) that connects the entire propeller guard and the airframe (typically, the rotor blade (902) The radial support member (903) that connects with the member existing on the central axis of) is not a round wire or a square bar, but a strip (flat plate) shape that maintains the strength and flows downward. May be arranged so that the longitudinal direction is oriented vertically so that Although only a part of the support member (903) is shown in FIG. 9, it is preferable that the support member (903) is actually provided on the front side of the drawing and below the rotary blade (902). Further, in FIG. 9, members on the outer peripheral portion of the propeller guard are not shown. Although it is preferable that two rotors (902) are actually provided, only one rotor is shown. The gap between the support members (903) may be protected by a mesh member as shown in FIG. Further, like the radial support member, a flat plate-shaped member may be arranged such that the longitudinal direction thereof is oriented in the vertical direction.

(Technically remarkable effect of the present invention)
With the drone according to the present invention, while maximally utilizing the airflow of the rotor blade, without providing a special additional device for minimizing the scattering, undesired scattering of the drug is minimized, and the efficiency of the drug spray drone is improved. The effect can be improved.

Claims (10)

An unmanned multi-copter for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotor blades, and an airframe control means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The airframe control means adjusts the flight speed of the airframe or the altitude according to at least one rotation speed of the plurality of rotor blades,
The machine body control means, when the rotational speed along with the discharge of the drug is decreased, the flight speed is low, or altitude control the aircraft so as to be lower chemical spraying unmanned multirotor.
An unmanned multi-copter for spraying medicine, comprising a plurality of medicine spraying nozzles, a plurality of rotary blades, and a medicine discharge amount adjusting means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The medicine ejection amount adjusting means is for adjusting the medicine ejection amount according to at least one rotation speed of the plurality of rotary blades,
The medicine ejection amount adjusting unit, when the rotational speed along with the discharge of the drug is decreased, unattended multirotor for chemical spraying the medicine ejection quantity control the drug discharge amount to decrease.
An unmanned multi-copter for drug distribution, comprising a plurality of drug spray nozzles, a plurality of rotary blades, and a drug spray nozzle position adjusting means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The chemical spray nozzle position adjusting means is for adjusting the position or orientation of the chemical spray nozzle according to at least one rotation speed of the plurality of rotary blades,
An unmanned multi-copter for drug spraying, wherein the drug spray nozzle position adjusting means controls the position of the drug spray nozzle so that the position of the drug spray nozzle is lowered when the number of revolutions is lowered due to the discharge of the drug.
An unmanned multi-copter for drug spraying, comprising: a plurality of drug spray nozzles, a plurality of rotor blades, an airframe weight measuring means, and an airframe control means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The body control means adjusts the flight speed of the body according to the body weight measured by the body weight measuring means, or the altitude,
The unmanned multi-copter for chemical spraying, wherein the machine body control means controls the machine body such that the flight speed becomes low or the altitude becomes low when the weight of the machine body decreases.
An unmanned multi-copter for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotor blades, an airframe weight measuring means, and a drug discharge amount adjusting means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The medicine ejection amount adjusting means is for adjusting the medicine ejection amount according to the machine weight measured by the machine body weight measuring means,
An unmanned multi-copter for spraying medicine, wherein the medicine discharge amount adjusting means controls the medicine discharge amount so as to decrease the medicine discharge amount when the machine weight decreases.
An unmanned multi-copter for drug spraying, comprising a plurality of drug spray nozzles, a plurality of rotor blades, a fuselage weight measuring means, and a drug spray nozzle position adjusting means,
At least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotors,
The chemical spray nozzle position adjusting means is for adjusting the position or orientation of the chemical spray nozzle according to the machine weight measured by the machine weight measuring means,
The drug spray nozzle position adjusting means controls the drug spray nozzle position so that the position of the drug spray nozzle is lowered when the weight of the machine body is reduced.
The unmanned multi-copter for drug spraying according to any one of claims 1 to 6 , further comprising a propeller guard including a peripheral portion including a member having rigidity and an upper and lower portions including a mesh-shaped member made of fiber or wire. ..
The unmanned multi-copter for drug spraying according to any one of claims 1 to 7 , further comprising a propeller guard connected to the main body of the machine by a thin plate-shaped member whose longitudinal direction is substantially vertical.
A plurality of chemical spray nozzles, a plurality of rotary blades, and a body control means are provided, and at least one of the plurality of chemical spray nozzles controls an unmanned multi-copter for chemical spray disposed in at least one of the rotary blades. Method,
A first step of obtaining at least one rotational speed of the plurality of rotor blades;
A second step of adjusting the flight speed of the aircraft, the flight altitude of the aircraft, the ejection amount of the medicine, or the position of the medicine nozzle according to the acquired number of revolutions,
The second step is a method of lowering the flight speed, lowering the flight altitude of the aircraft, lowering the ejection amount of the medicine, or lowering the position of the medicine nozzle when the rotation speed decreases with the ejection of the medicine. ..
An unmanned multi-copter for drug spraying, comprising: a plurality of drug spray nozzles, a plurality of rotary blades, and a machine body control means, wherein at least one of the plurality of drug spray nozzles is disposed below at least one of the plurality of rotary blades. The controlling program,
An instruction to obtain at least one rotation speed of the plurality of rotor blades,
When the obtained number of rotations is reduced due to the discharge of the medicine, the flight speed of the airframe is decreased, the flight altitude of the airframe is decreased, the discharge amount of the medicine is reduced, or the position of the medicine nozzle is lowered. A program that causes a computer to execute.

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