JP6822790B2 - Automatic anti-frost system using drone - Google Patents

Description

The present invention relates to an automatic frost protection system using a drone.

Conventionally, in order to prevent frost on crops such as tea fields, it is necessary to stir the air (atmosphere) above the crops to eliminate the temperature difference between the ground and several meters above the crop fields. For example, Patent Document 1 discloses a system for efficiently preventing frost in a field. Further, in recent years, unmanned aerial vehicles such as unmanned helicopters have been used for agriculture for spraying pesticides and observing the growth of agricultural products (see, for example, Patent Document 2).

JP 2015-221003 Japanese Unexamined Patent Publication No. 2009-269493

However, in the frost-proof system shown in Patent Document 1, when the place where the frost-proof device is installed is in a mountainous area, it is difficult to secure the place where the frost-proof device, the power cable, or the like is installed. In addition, the frost prevention device prevents frost by eliminating the temperature difference between the ground and a few meters above the field. Therefore, since it is installed at the edge of the field, the air does not reach a place far from the device such as the center of the field, the air is not agitated uniformly, and there is a risk that the frost-proof effect cannot be obtained. ..

Further, the unmanned helicopter shown in Patent Document 2 currently used in agriculture is used for spraying pesticides, etc., and is not used for frost prevention, and is a flight that can be applied for frost prevention. Control is also not disclosed. As an unmanned aerial vehicle, not only an unmanned helicopter but also a drone has been used in recent years, and it is used for spraying pesticides and observing the growth of agricultural products using a camera mounted on the drone. However, flight control for frost prevention is not performed.

In view of the above problems, an object of the present invention is to provide a frost-proof system that efficiently frost-proofs an entire crop using an unmanned aerial vehicle such as a drone.

In order to solve the above problems, frost system of the present invention, use and unmanned aircraft, via the network seen including a management server for controlling the flight of the unmanned aerial vehicle, the airflow when allowed to fly the unmanned aircraft The management server is a frost-proof system that prevents frost, and the management server acquires the first weather information and map information managed on the network, the position information specified by the user, and the unmanned aerial vehicle. A receiving means for receiving the second weather information, a calculating means for calculating the flight path of the unmanned aerial vehicle based on the map information received by the receiving means, and the position information, and the receiving means. Based on the first weather information, the determination means for determining whether or not the flight start condition of the unmanned aerial vehicle is satisfied based on the second weather information, and the determination result of the determination means, the unmanned aerial vehicle is the calculation means. The unmanned aerial vehicle includes a first control means for transmitting a signal for controlling the flight path calculated in the above, and the unmanned aerial vehicle has the acquisition means for acquiring the second weather information and the acquisition means. A transmission means for transmitting the second weather information to the management server and a second control means for controlling the flight of the unmanned aerial vehicle according to the signal transmitted from the first control means are provided , and the first weather The information includes the weather, the wind speed, and the expected temperature managed on the network, and the second weather information includes the temperature and humidity acquired by the acquisition means .

According to the present invention, it is possible to provide a frost-proof system that efficiently frost-proofs an entire crop using an unmanned aerial vehicle such as a drone.

It is a figure which shows the whole structure of the frost prevention system using an unmanned aerial vehicle (drone). It is a block diagram which shows the structure of an unmanned aerial vehicle (drone). It is a block diagram which shows the structure of management server. It is a figure which shows the route calculation for frost prevention from the whole field. It is a figure which shows the flight altitude for frost prevention of an unmanned aerial vehicle (drone). It is a flowchart which shows the process of calculating a flight path. It is a flowchart which shows the process of calculating a flight path. It is a flowchart which shows the flight start processing of an unmanned aerial vehicle (drone). It is a flowchart which shows the flight processing of an unmanned aerial vehicle (drone). It is a flowchart when another unmanned aerial vehicle (drone) takes over the flight on the way.

(First Embodiment)
First, the configuration of the frost-proof system using the unmanned aerial vehicle according to the present embodiment will be described with reference to FIG. The frost-proof system shown in FIG. 1 communicates with each other via a network to control the flight of an unmanned aerial vehicle (hereinafter referred to as a drone) 1 that executes frost-proof flight of agricultural products such as tea fields and a drone 1. Includes management server 2. In this embodiment, a system for preventing frost on agricultural products, particularly in a tea plantation, will be described by utilizing the air flow when the drone is operated. Further, in the present embodiment, the drone 1 and the management server 2 are connected by a local network, and the management server 2 controls the drone 1.

Next, the configuration of the drone 1 according to the present embodiment will be described with reference to FIG. The drone 1 includes a control unit 11 that controls the whole, a camera 12, a sensor 13, a communication unit 14, a drive unit 15 for driving the propeller 16, and a GPS 17 that acquires position information. The control unit 11 controls the camera 12, the sensor 13, and the GPS 17 to acquire images and data (for example, weather information such as temperature and humidity, and position information), and the communication unit (transmission) is based on the acquired images and data. Means) Data and the like are transmitted to the management server 2 via 14. Further, the drive of the propeller 16 is controlled via the drive unit 15 according to the control signal transmitted from the management server 2.

The camera 12 is used for photographing the flight range for calculating the flight path, observing the growing state of the crop, and acquiring an image for confirming the harvest time of the crop. The sensor 13 may be a sensor such as an infrared sensor for acquiring weather information (second weather information) such as temperature and humidity. Further, in the present embodiment, the sensor 13 is a single sensor for measuring temperature and humidity, but the present invention is not limited to this, and a plurality of various types may be provided according to the application. The communication unit 14 communicates with the management server 2 and transmits / receives various data and signals. The drive unit 15 controls the drive of the propeller 16 according to the control signal transmitted from the management server 2. The GPS 17 is a GPS receiver and is used to fly according to the flight path according to the flight control signal transmitted from the management server 2. Further, the control unit 11 acquires the flight position information of the drone 1 by GPS 17. For example, the current position information of the drone 1 and the information of the position where the drone flew according to the flight path transmitted from the management server 2 (flight position information) are acquired. The camera 12 and the sensor 13 function as acquisition means.

In the present embodiment, the drone 1 is described as one drone, but the drone 1 is not limited to this, and a plurality of drones may be used when the range requiring frost prevention is wider than a predetermined range. When using a plurality of drones, by calculating the optimum flight path in the working range, air can be agitated more efficiently, so that the frost prevention efficiency is improved. Further, by using a plurality of drones, even if a certain drone has a failure (for example, a dead battery, an abnormality of the aircraft, etc.), another drone can fly as an alternative to prevent frost. In this case, for example, a signal notifying an abnormality such as a failure may be transmitted from the drone 1 to the management server 2, the management server 2 may calculate the required alternative number and flight route, and the alternative drone may start the flight. ..

Next, the configuration of the management server 2 will be described with reference to FIG. The management server 2 includes an application unit 20, a control unit (first control means) 25 that controls the entire management server 2 including each component, a drone 1, another server on a network (not shown), or an external device. The communication unit (reception means) 26 that communicates with the device and transmits and receives various data, and the flight information of the drone 1 transmitted from the drone 1 (for example, the number of flights, the flight path actually flew, and the camera 12). Includes a DB 27 that stores (saves) captured images, temperature, humidity, etc. acquired by the sensor 13. The application unit 20 includes a route calculation unit 21 that calculates the flight path of the drone 1, an operation condition determination unit (first determination means) 22 that determines the operating conditions of the drone 1, and a blower that determines the ventilation conditions of the drone 1. It includes a condition determination unit (second determination means) 23 and a number calculation unit 24 for calculating the number of drones.

The operation condition determination unit 22 and the ventilation condition determination unit 23 function as determination means, and the route calculation unit 21 and the number calculation unit 24 function as calculation means. The route calculation unit 21 uses a network such as the Internet to capture an image of the flight range for frost-proofing agricultural products acquired by the camera 12 of the drone 1 or GPS 17, the position information specified by the user, and another server (cloud). ) Etc., the optimum flight route for frost prevention is calculated using the map information obtained from). The operation condition determination unit 22 determines the condition (flight start condition) for starting the operation (flight) of the drone 1, and if a predetermined condition is satisfied, the operation start (flight start) signal is communicated from the control unit 25. It is transmitted to the drone 1 via the unit 26. The blowing condition determination unit 23 determines the blowing conditions for the drone 1 to perform air agitation for frost prevention. The number calculation unit 24 calculates the number of drones based on the route calculated by the route calculation unit 21.

Next, with reference to FIG. 4, a method in which the route calculation unit 21 calculates the flight route of the drone 1 will be described. First, as shown in FIG. 4A, the route of the management server 2 is based on the position information input (designated) by the user by an input means (not shown) for the position where the drone 1 performs the flight work for frost prevention. The calculation unit 21 acquires map information on a network such as the Internet (so-called cloud) via the communication unit 26. Next, the work range (flight range) for calculating the flight path for frost prevention is calculated based on the acquired map information shown in the thick frame of FIG. 4 (B). Then, as shown in FIG. 4C, a flight path for frost prevention (for example, the shortest route within the range) is calculated from the calculated work range. When performing frost prevention work using a plurality of drones, the optimum flight route that each drone can fly efficiently is calculated.

In the present embodiment, the management server 2 acquires map information on the network by designating the position information of the position where the frost prevention work is performed by the user, and calculates the flight route from the acquired map information. However, without being limited to this, for example, the management server 2 may acquire the map information on the network from the position information received by the GPS 17 of the drone 1 and calculate the flight route. Further, the drone 1 may fly over the work range calculated based on the acquired map information, and the flight path for frost prevention may be calculated by image analysis from the image of the work range taken during the flight.

Next, with reference to FIG. 5, a method of calculating the altitude at which the drone 1 will fly in the route calculated in FIG. 4 will be described. In the present embodiment, the altitude at which the drone 1 is operated is set at three locations of αm, βm, and γm from the ground. Therefore, the drone 1 flies the route calculated in FIG. 4 at each altitude (αm, βm, γm) shown in FIG. 5 to agitate the air and prevent the crops from being frosted. In the present embodiment, the altitude is set to three places, but the altitude is not limited to this, and may be changed as needed, for example, two places or four or more places. In this embodiment, αm, βm, and γm are set to 7m, 5m, and 3m, respectively, but the present invention is not limited to this, and may be appropriately changed according to the height of the crop stock and the like.

Next, the flight path calculation will be described with reference to FIG. First, in step S601, the route calculation unit 21 acquires map information managed on the network (on the cloud) based on the position information input (designated) by the user by an input means (not shown), and drives the drone 1. Select the work range to fly. Next, in step S602, the number calculation unit 24 calculates the required number of drones according to the work range selected in step S601. Next, in step S603, the route calculation unit 21 calculates the flight path (including the flight altitude shown in FIG. 5) of the drone 1 in the work range selected in step S601.

Next, with reference to FIG. 7, the processing in the case of calculating the flight path in step S603 of FIG. 6 by performing image analysis obtained by acquiring an image with the camera 12 will be described. First, in step S701, the control unit of the management server 2 transmits a control signal to the drone 1 to fly on the flight route for image acquisition calculated by the route calculation unit 21 from the work range selected in step S601, and the drone. The control unit 11 of 1 starts driving with respect to the drive unit 15, flies the work range, and acquires an image of the work range using the camera 12. Then, as shown in FIG. 4B, the route calculation unit 21 identifies the position of the crop from the image acquired by the camera 12 transmitted from the drone 1. At this time, the specified position may be a plurality of positions such as the end of the working range. Next, in step S702, the route calculation unit 21 identifies the start point and the end point of the flight of the drone 1 from the position specified in step S701, and as shown in FIG. 4C, sets the start point. Calculate the shortest route connecting to the end point. Next, in step S703, the route calculation unit 21 calculates the altitude (αm, βm, γm) at which the drone 1 is flown, as shown in FIG.

The processing shown in FIGS. 6 and 7 is performed once when the drone 1 is operated for the first time or when the field of the crop to be frost-proof is changed, and in the second and subsequent operations, the following FIG. 8 , The operation of FIG. 9 is performed. In addition, normally, the flight path may be calculated only by the process shown in FIG. If necessary, the flight path may be calculated using the process shown in FIG.

Next, the flight start process of the drone 1 will be described with reference to FIG. First, in step S801, the operating condition determination unit 22 receives weather information (including weather, wind speed, and expected temperature) such as weather forecast information (including weather, wind speed, and expected temperature) from a predetermined server (for example, on the cloud) on the network via the communication unit 26. First weather information) is acquired. Next, in step S802, the operating condition determination unit 22 determines from the acquired weather information whether or not the frost fall condition (first flight start condition) is satisfied. Here, the frost conditions in this treatment are weather, wind speed, and air temperature, for example, it is assumed that the weather is fine, no wind (wind speed is less than 1 m / s), and the expected minimum temperature is less than 5 ° C. It may be another value without doing so.

If the frost condition is not satisfied in step S802 (No), the process ends without flying the drone 1 for air agitation. On the other hand, if the frost frost condition is satisfied in step S802 (Yes), the process proceeds to step S803, and the operating condition determination unit 22 determines whether or not the current time is two hours before the sunrise time. In this embodiment, for example, it is determined whether or not the current time is two hours before the sunrise time based on the sunrise time of each place by the National Astronomical Observatory of Japan.

If it is not 2 hours before the sunrise time (No), the process is repeated until 2 hours before the sunrise time. Then, when two hours before the sunrise time (Yes), the process proceeds to step S804, and the control signal (first) from the control unit 25 of the management server 2 for the flight for measuring the temperature and humidity with the drone 1. Signal) is transmitted to the drone 1. At this time, the flight path of the drone 1 may be another flight path different from the flight path calculated by the route calculation unit 21 in step S603, and the flight altitude included in the other flight path may be, for example, the flight altitude of the agricultural product. It may be the stock surface altitude (for example, about 1.5 m from the ground) and the maximum value of the altitude calculated in step S603 (α = 7 m in this embodiment). Then, when flying at each altitude in the other flight path, the drone 1 detects the temperature and humidity by using the sensor 13, and transmits the information to the management server 2. In the present embodiment, the height of the stock surface of the tea plantation is about 1.5 m above the ground as the field of the crop, but the stock surface altitude of the crop is not limited to this. It may be changed as appropriate according to the height of.

Next, in step S805, the ventilation condition determination unit 23 determines whether or not the ventilation condition (second flight start condition) is satisfied with respect to the temperature acquired by the sensor 13 of the drone 1 in step S804. Specifically, the temperature around 1.5 m from the ground where the drone 1 flew is less than a predetermined temperature (for example, 4 ° C.), and the temperature difference between 1.5 m and 7 m from the ground is a predetermined temperature (for example,). It is determined whether or not the temperature is 1 ° C. or higher.

If the ventilation condition is not satisfied in step S805 (No), the process ends without flying the drone for air agitation. On the other hand, if the ventilation condition is satisfied in step S805 (Yes), the process proceeds to step S806, and the control unit 25 of the management server 2 blows air (air agitation) by the flight of the drone 1 to the drone 1 until the sunrise time. Therefore, a control signal (second signal) is transmitted. Next, in step S807, the ventilation condition determination unit 23 determines the stock surface altitude of the agricultural product (in the present embodiment, about 1.5 m from the ground) at a predetermined timing after the start of ventilation by the flight of the drone 1 in step S806. The sensor 13 of the drone 1 acquires the temperature of the entire flight range of the drone 1 and determines whether or not the temperature transmitted to the management server 2 is equal to or higher than a predetermined temperature (for example, 4 ° C.).

When the temperature acquired at the predetermined timing is higher than the predetermined temperature (Yes), it is judged that there is no risk of frost, and the control signal is sent from the management server 2 in order to end the flight of the drone for air agitation. Send to 1. On the other hand, when the temperature acquired at the predetermined timing is not equal to or higher than the predetermined temperature (No), the process proceeds to step S808, and the route calculation unit 21 is below the predetermined temperature based on the temperature distribution acquired by the sensor 13 of the received drone 1. The flight path for blowing (flying) only the location is calculated, and the management server 2 transmits to the drone 1 a control signal for causing the drone 1 to re-flight for air agitation. Then, at a predetermined timing again, it is determined whether or not the temperature acquired by the sensor 13 of the drone 1 with respect to the entire temperature of the altitude flight range of the crop is equal to or higher than the predetermined temperature (for example, 4 ° C.). After the start of ventilation, the management server 2 receives and analyzes the information (temperature, etc.) acquired by the sensor 13 in real time, so that the range where ventilation (air agitation) is required is focused and more efficiently. It can be flown to Drone 1. Further, in the present embodiment, the blowing conditions are determined based on the temperature acquired by the sensor 13 of the drone 1, but the blowing conditions are not limited to this, and for example, both the temperature and the humidity are analyzed to determine the blowing conditions. You may. In the present embodiment, the flight start of the drone 1 is determined based on the frost condition (first flight start condition) and the ventilation condition (second flight start condition), but the flight start is not limited to this. Other conditions may be added as long as the conditions corresponding to the frost conditions and the ventilation conditions are included.

Next, with reference to FIG. 9, the blowing (flying) process of the drone 1 in step 806 will be described. In the present embodiment, the processing of steps S901 to S905 is performed by the sensor 13 of the drone 1 at a stock surface altitude (in this embodiment, about 1.5 m from the ground) after the sunrise time and within a predetermined flight range. This is carried out until the acquired temperature reaches a predetermined temperature (4 ° C. in this embodiment) or higher. This process may be predetermined or may be changed according to predetermined conditions. First, in step S902, according to the control signal (second signal) transmitted from the management server 2, the drone 1 raises the flight altitude to αm (the distance from the stock surface is about α-1m) and agitates the air. Start the flight for. In this embodiment, it is assumed that α = 7 m (distance from the stock surface is about 6 m). Next, in step S903, the drone 1 flies at the altitude of step S902 along the flight path calculated in step S603. At this time, the flight altitude keeps the distance from the stock surface constant.

Next, in step S904, according to the control signal (second signal) transmitted from the management server 2, the drone 1 lowers the flight altitude to βm (the distance to the stock surface is about β-1m) and air. Start the flight for agitation. In this embodiment, β = 5 m (distance from the stock surface is about 4 m). Also at this time, the flight is performed along the flight path calculated in step S603, and the flight altitude is maintained while keeping the distance from the stock surface constant. Next, in step S905, according to the control signal (second signal) transmitted from the management server 2, the drone 1 lowers the flight altitude to γm (the distance to the stock surface is about γ-1m) and air. Start the flight for agitation. In this embodiment, it is assumed that γ = 3 m (distance from the stock surface is about 2 m). Also at this time, the flight is performed along the flight path calculated in step S603, and the flight altitude is maintained while keeping the distance from the stock surface constant. The above processing is carried out until the sunrise time has passed and the temperature of the stock surface altitude within the predetermined flight range becomes the predetermined temperature or higher.

Next, referring to FIG. 10, when an abnormality (malfunction, dead battery, etc.) occurs in the drone during work and it becomes difficult to fly (blower), another drone flies in the middle. The ventilation process when taking over will be described. First, in step S1001, an abnormality signal notifying that an abnormality has occurred is transmitted from the drone being worked on to the management server 2, and flight information of the drone 1 is registered (stored) in the DB 27 of the management server 2. At this time, along with a signal notifying that an abnormality has occurred, as flight information, the flight path that has already been flown (worked) from the flight position information acquired by GPS 17, the temperature / humidity information acquired by the sensor 13, and the temperature / humidity information acquired by the camera 12 are acquired by the camera 12. Information acquired before an abnormality occurs, such as an image, is transmitted to the management server 2 and registered in the DB 27. Next, in step S1002, the route calculation unit 21 calculates a flight route based on the flight information registered in the DB 27 in step S1001 based on the flight route (working range) that has not been executed, and starts the calculated flight route. A control signal for starting the flight of the drone 1 to the point is transmitted from the management server 2 to another drone that takes over the work. Next, in step S1003, the other drone that takes over the work starts the flight in the unexecuted range from the starting point according to the transmitted control signal. This flight is performed according to the flowchart shown in FIG.

As described above, according to the present embodiment, it is possible to provide a frost-proof system capable of efficiently frost-proofing the entire crop using an unmanned aerial vehicle such as a drone. When the user controls the flight of the drone with a remote control device (controller) such as a remote controller, a display unit is provided on the controller to display the flight path, flight altitude, temperature detected by the drone, and the like. May be received from the management server 2 and displayed on the display unit as appropriate.

Further, in the present embodiment, the air is agitated and frost-proofed by changing the flight altitude, but the present invention is not limited to this, and for example, the drone is equipped with a propeller for air agitation for the air agitation. The air may be agitated by flying the drone at a constant altitude while changing the number of rotations of the propeller. Furthermore, by providing a heat source in the drone, the temperature can be raised more quickly, and frost prevention can be performed more effectively.

Further, in the present embodiment, after determining whether the frost condition (first flight start condition) is satisfied, the drone 1 is flown, and the ventilation condition (second flight condition) is further based on the temperature acquired by the drone 1 during the flight. It is judged whether the flight start condition) is satisfied. However, without limitation, for example, the drone 1 is flown before determining whether the frost condition is satisfied, and the condition including both the frost condition and the ventilation condition based on the temperature acquired during the flight (flight start). It may be determined whether or not the condition) is satisfied. In this case, in the process of FIG. 8, the process of step S804 is performed after step S801, and then the process of step S802 and subsequent steps is performed.

(Second Embodiment)
In the first embodiment, the management server 2 controls the flight of the drone 1 based on the information acquired from the drone 1 and the network (on the cloud), but in the present embodiment, the control unit 11 of the drone 1 is shown in the figure. By having each of the components shown in 3, the drone 1 alone can fly for frost prevention. Therefore, in the first embodiment, the processes shown in FIGS. 6 to 9 are performed by the management server 2, but in the present embodiment, the control unit 11 of the drone 1 executes the processes by controlling each component.

Specifically, for the process of FIG. 6, the drone 1 acquires the map information managed on the network (on the cloud) from the location information specified by the user (step S601), and calculates the required number of units (step S602). ), Calculate the flight path. Regarding the processing of FIG. 7, if necessary, the drone 1 flies over the working range (flight range) and calculates the flight path by image analysis. Regarding the processing of FIG. 8, whether or not the drone 1 satisfies the frost condition (first flight start condition) based on the temperature and the like (first weather information) managed on the network (on the cloud). It is determined (steps S801 to S802), and it is determined whether or not it is two hours before the sunrise time (step S803), and if they are satisfied, the flight is started and the temperature is acquired (step S804). Next, it is determined whether or not the blowing condition (second flight start condition) is satisfied (step S805), and if the blowing condition is satisfied, the drone 1 starts the flight for frost prevention (blower) (step S806). Then, the temperature is acquired at a predetermined timing during flight, and the drone 1 analyzes a range below the predetermined temperature based on the acquired temperature (step S807), and blows (flys) the range intensively (step). S808).

Regarding the calculation of the number of units in step S602 of FIG. 6, for example, one main unit may be used for calculation, or the management server 2 may be used instead of the drone body. In addition, when frost prevention is performed using a plurality of drones, each drone transmits information to the management server 2 in real time (or at a predetermined timing) regarding the processing performed by each drone, so that the management server 2 sends each drone. It is possible to manage the operation of. Further, by communicating with each other, the drones can fly for frost prevention more efficiently depending on the flight position of each other, the temperature acquired by the sensor 13, and the like. In other words, if there is a part of the work range where the temperature acquired by the drone is lower than the specified temperature, that information is transmitted from one drone to another drone so that it will be above the specified temperature together with the other drones. Can work on. In addition, even if an abnormality (malfunction, dead battery, etc.) occurs in the drone during work and flight (blower) becomes difficult, the abnormality signal and flight information can be transmitted to other drones to send an abnormality signal. The other drone that received it takes over the work. As described above, according to the present embodiment, it is possible to efficiently prevent frost on the entire crop with a single unmanned aerial vehicle such as a drone without going through a management server.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and modifications can be made within the scope of the gist thereof.

1 Drone 2 Management server 11 Control unit 13 Sensor 14 Communication unit 21 Route calculation unit 22 Operating condition judgment unit 23 Blower condition judgment unit 25 Control unit 26 Communication unit

Claims (13)

And unmanned aircraft, via the network seen including a management server for controlling the flight of the unmanned aerial vehicle, a frost system for the frost by using a stream of time of not fly the unmanned aircraft,
The management server
A receiving means for receiving the first weather information and map information managed on the network, the position information specified by the user, and the second weather information acquired by the unmanned aerial vehicle.
A calculation means for calculating the flight path of the unmanned aerial vehicle based on the map information received by the receiving means and the position information.
A determination means for determining whether or not the flight start condition of the unmanned aerial vehicle is satisfied based on the first weather information received by the receiving means and the second weather information.
A first control means for transmitting a signal for controlling the unmanned aerial vehicle to fly the flight path calculated by the calculation means according to the determination result of the determination means.
With
The unmanned aerial vehicle
The acquisition means for acquiring the second weather information and
Transmitting means for transmitting the second weather information acquired by the acquisition unit to the management server,
And second control means for controlling the flight of the unmanned aerial vehicle according to the signal transmitted from the first control means,
Equipped with a,
The first meteorological information includes the weather, wind speed, and expected air temperature managed on the network, and the second meteorological information includes the temperature and humidity acquired by the acquisition means. Anti-frost system. The flight start condition includes a first flight start condition for determining whether or not frost will occur in the flight range of the unmanned aerial vehicle based on the first weather information, and ventilation based on the second weather information. Includes a second flight start condition for determining whether to start
The determination means includes a first determination means for determining whether or not the first flight start condition is satisfied, and a second determination means for determining whether or not the second flight start condition is satisfied. The frost-proof system according to claim 1. The calculation means further calculates another flight path different from the flight path.
When the first control means determines that the first flight start condition is satisfied, the first control means transmits a first signal for flying in the other flight path.
When the second determination means satisfies the second flight start condition based on the second weather information when the second control means flies in the other flight path according to the first signal. The frost-proof system according to claim 2, wherein the first control means transmits a second signal for flying in the flight path when determined. The first determination means further determines whether or not the current time is two hours before the sunrise time.
When the first control means determines that the first flight start condition satisfies the first flight start condition and is two hours before the sunrise time, the first control means transmits the first signal. The frost-proof system according to claim 3. The first determination means determines whether or not the first flight start condition is satisfied based on the weather, the wind speed, and the expected temperature.
The second determination means is characterized in that it determines whether or not the second flight start condition is satisfied based on the temperature difference between the temperature acquired by the acquisition means and the flight altitude of the other flight path. The frost-proof system according to claim 3 . When the temperature acquired by the acquisition means during flight in the flight path is less than a predetermined temperature, the calculation means further calculates the flight path in the range below the predetermined temperature.
The frost-proof system according to any one of claims 1 to 5, wherein the first control means transmits a signal for controlling the flight path in a range below a predetermined temperature. .. When calculating the flight path, the calculation means further calculates the flight range for flying the unmanned aerial vehicle from the map information and the position information, and determines the flight range according to a signal transmitted by the first control means. The frost-proof system according to any one of claims 1 to 6, wherein the flight path is calculated based on an image of the flight range acquired by the acquisition means during flight. The calculation means is any one of claims 1 to 7 , wherein when there are a plurality of the unmanned aerial vehicles, the required number of the unmanned aerial vehicles is calculated based on the map information and the position information. Anti-frost system described in. When an abnormality occurs in the unmanned aerial vehicle, the transmission means transmits an abnormality signal to the management server.
When the receiving means receives the abnormality signal, the calculation means determines a flight path for another unmanned aerial vehicle to fly based on the flight information that was flying until the abnormality occurred in the unmanned aerial vehicle. Calculate and
The frost-proof according to any one of claims 1 to 8, wherein the first control means transmits a signal for controlling the other unmanned aerial vehicle to fly in the flight path. system. There rows communicate with the management server via a network, a frost unmanned aircraft to perform frost utilizing airflow during flight,
An acquisition means for acquiring a second weather information different from the first weather information managed on the network, which is used in determining the flight start condition by the determination means of the management server.
A transmission means for transmitting the second weather information acquired by the acquisition means to the management server, and
The sent from the first control unit of the management server, the following signals for controlling to fly flight Make path in accordance with the determination result of the determining means, the second to control the flight of the unmanned aircraft the frost Control means and
Equipped with a,
The first meteorological information includes the weather, wind speed, and expected air temperature managed on the network, and the second meteorological information includes the temperature and humidity acquired by the acquisition means. Unmanned aerial vehicle for frost prevention. It is an unmanned aerial vehicle for frost prevention that uses the airflow during flight to prevent frost.
The first weather information and map information managed on the network, the receiving means for receiving the location information specified by the user, and the receiving means.
The acquisition method for acquiring the second weather information,
The map information received by the receiving means, the calculation means for calculating the flight path based on the position information, and the calculation means.
A determination means for determining whether or not the flight start condition is satisfied based on the first weather information received by the receiving means and the second weather information acquired by the acquisition means.
A control means for controlling the flight path calculated by the calculation means according to the determination result of the determination means, and
Equipped with a,
The first meteorological information includes the weather, wind speed, and expected air temperature managed on the network, and the second meteorological information includes the temperature and humidity acquired by the acquisition means. Unmanned aerial vehicle for frost prevention. A management server that controls the flight of unmanned aerial vehicles that use the airflow during flight to prevent frost via a network.
A receiving means for receiving the first weather information and map information managed on the network, the position information specified by the user, and the second weather information acquired by the unmanned aerial vehicle.
A calculation means for calculating the flight path of the unmanned aerial vehicle based on the map information received by the receiving means and the position information.
A determination means for determining whether or not the flight start condition of the unmanned aerial vehicle is satisfied based on the first weather information received by the receiving means and the second weather information.
A first control means for transmitting a signal for controlling the unmanned aerial vehicle to fly the flight path calculated by the calculation means according to the determination result of the determination means.
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The first weather information includes the weather, wind speed, and expected temperature managed on the network, and the second weather information includes the temperature and humidity acquired by the unmanned aerial vehicle. Management server. It is a frost-proofing method in which a management server controls the flight of an unmanned aerial vehicle via a network to prevent frost by utilizing the airflow during the flight of the unmanned aerial vehicle .
A receiving process for receiving the first weather information and map information managed on the network, the position information specified by the user, and the second weather information acquired by the unmanned aerial vehicle and transmitted from the unmanned aerial vehicle. When,
A calculation step of calculating the flight path of the unmanned aerial vehicle based on the map information received in the reception step and the position information.
A determination step of determining whether or not the flight start condition of the unmanned aerial vehicle is satisfied based on the first weather information received in the reception step and the second weather information.
A control step of transmitting a signal for controlling the unmanned aerial vehicle to fly the flight path calculated in the calculation step to the unmanned aerial vehicle according to the determination result of the determination step.
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The first weather information includes the weather, wind speed, and expected temperature managed on the network, and the second weather information includes the temperature and humidity acquired by the unmanned aerial vehicle. Anti-frost method.

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