JP6828666B2 - Aircraft - Google Patents

Description

The present invention relates to an air vehicle.

Conventionally, there is known a technique of creating crop growth data based on field image information acquired using a flying object such as a drone, and proposing, for example, a travel route of a combine harvester based on the created growth data (). For example, see Patent Document 1).

JP-A-2017-68533

According to the above technique, the efficiency of the harvesting operation can be improved by cutting the grain culm with a combine harvester.

However, there is room for further improvement in terms of improving the efficiency of harvesting operations. When cutting the culm in the field with a combine harvester, if water droplets adhere to the crop, the load during threshing may increase and the efficiency of the harvesting operation may decrease.

The present invention has been made in view of the above, and an object of the present invention is to provide an air vehicle that improves the efficiency of harvesting work by a combine harvester.

In order to solve the above-mentioned problems and achieve the object, the invention according to claim 1 is a crop in a flying object (20) for agricultural work support that flies in a field before cutting a grain by a combine (2). Based on the measurement results of the distance measuring unit (23) and the distance measuring unit (23), the driving unit (30) so that the flying object (20) flies above the crop by a predetermined distance. ), And a removal unit (24) that removes water droplets adhering to the crop by wind pressure. The flight adjustment unit (26B) is based on the degree of wetness of the crop. The flying object (20) is characterized in that the flight speed of the flying object (20) is adjusted .

In the invention according to claim 2 , the removing portion (24) is the flying object (20) according to claim 1, which is a rotary wing (24) for flight.

According to the third aspect of the present invention, the flight adjusting unit (26B) is required to land on the charging equipment (7) after the flight of the preset flight path (R) is completed. The flying object (20) according to claim 1 or 2 , which controls the above.

According to the fourth aspect of the present invention, the flight adjusting unit (26B) lands on the charging facility (7) when the remaining amount of the battery (29) provided in the flying object (20) becomes equal to or less than a predetermined value. The flying object (20) according to any one of claims 1 to 3 that controls the driving unit (30).

In the invention according to claim 5 , the flight adjusting unit (26B) causes the flying object (20) to fly to the charging facility (7) with the remaining amount of the battery (29) provided in the flying object (20). The flying object (20) according to any one of claims 1 to 3 , which controls the driving unit (30) so as to land on the charging facility (7) when the amount of power reaches the lower limit that can be achieved. And.

In the invention according to claim 6 , the flight adjusting unit (26B) causes the flying object (20) to fly to the charging facility (7) with the remaining amount of the battery (29) provided in the flying object (20). The flying object (20) according to any one of claims 1 to 5 , which controls the driving unit (30) so as to land on the field when the amount of power becomes less than the lower limit of power that can be achieved. ).

The invention according to claim 7 is the flying object (20) according to claim 6, which includes a notification unit (26C) for notifying the landing point when the flying object (20) lands in the field.

According to the eighth aspect of the present invention, the flight adjusting unit (26B) makes the driving unit (30) fly along the flight path (R) along the working path (C) of the combine (2). The flying object (20) according to any one of claims 1 to 7 to be controlled.

The invention according to claim 9, wherein the flight adjuster (26B) so as to fly while oscillating the aircraft (20), claims 1 to 8 for controlling the drive unit (30) The flying object (20) according to any one of the above items.

According to the invention of claim 1, water droplets adhering to the crop can be removed, and the harvesting operation can be efficiently performed. For example, the threshing load on the combine harvester can be reduced, and the damage to the grains can be reduced.

Further, according to the invention described in claim 1, to adjust the flight speed of the aircraft based on the wet degree of the crop, for example, in the case of high wetness degree, reduce the flight speed. As a result, even when there are many water droplets adhering to the crop, the water droplets can be removed.

According to the invention of claim 2 , in addition to the effect of the invention of claim 1 , a flight having a simple configuration is performed by removing water droplets adhering to the crop due to the wind pressure generated by the rotary blade for flight. The body can remove water droplets attached to crops.

According to the invention of claim 3 , in addition to the effect of the invention of claim 1 or 2 , the flying object will land on the charging facility after completing the flight of the flight path. Work becomes easier.

According to the invention of claim 4 , in addition to the effect of the invention of any one of claims 1 to 3 , when the remaining amount of the battery provided in the flying object becomes a predetermined value or less, the flight Since the body lands on the charging facility, it is possible to prevent the aircraft from crashing due to lack of power.

According to the invention according to claim 5 , in addition to the effect of the invention according to any one of claims 1 to 3 , the remaining amount of the battery provided in the flying object flies the flying object to the charging facility. When the lower limit of electric energy that can be caused is reached, the air vehicle lands on the charging facility, so that it is possible to prevent the air vehicle from crashing due to lack of power.

According to the invention of claim 6 , in addition to the effect of the invention of any one of claims 1 to 5 , the remaining amount of the battery provided in the flying object flies the flying object to the charging facility. When the amount of electric power is less than the lower limit of the amount of electric power that can be generated, the flying object lands in the field, so that it is possible to prevent the flying object from crashing due to lack of electric power.

According to the invention of claim 7 , in addition to the effect of the invention of claim 6 , when landing in a field, the landing point is notified, so that the operator can easily find the flying object. it can.

According to the invention of claim 8 , in addition to the effect of the invention of any one of claims 1 to 7 , the flying object flies in a flight path along the working path of the combine. , Water droplets adhering to the crop can be removed by the flying object while cutting with the combine harvester.

According to the invention of claim 9 , in addition to the effect of the invention of any one of claims 1 to 8 , the flying object flies while swinging, so that water droplets adhering to the crop. Can be removed efficiently.

FIG. 1 is a schematic side view of the combine. FIG. 2 is a schematic plan view of the combine. FIG. 3 is a schematic perspective view of the flying object. FIG. 4 is a schematic block diagram of the flying object. FIG. 5 is a diagram showing an example of a flight path. FIG. 6 is a flowchart illustrating flight control of the flying object. FIG. 7 is a schematic block diagram of the flying object according to the modified example. FIG. 8 is a diagram showing a modified example of the flight path (No. 1). FIG. 9 is a diagram showing a modified example of the flight path (No. 2). FIG. 10 is a diagram showing a modified example of the flight path (No. 3). FIG. 11 is a diagram showing a modified example of the flight path (No. 4). FIG. 12 is a diagram showing a modified example of the flight path (No. 5). FIG. 13 is a schematic view showing a flight state of the flying object according to the modified example.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The components in the embodiment include those that can be easily assumed by those skilled in the art, or those that are substantially the same, that is, those having a so-called equal range. The present invention is not limited to the following embodiments.

The flying object 20 according to the embodiment relates to the flying object 20 for agricultural support that flies in the field before cutting the culm of the crop by the combine 2. The flying object 20 may fly in the field before starting the cutting work of the grain culm by the combine 2, or may fly in the field while cutting the culm by the combine 2. That is, the state before cutting the grain culm includes a state before starting the cutting work by the combine 2 and a state after starting the cutting work by the combine 2 and the grain culm is not cut.

First, the combine 2 will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic side view of the combine 2. FIG. 2 is a schematic plan view of the combine 2. In the following description, the front-rear direction, the left-right direction, and the up-down direction in the normal usage mode of the combine 2 will be described as the front-back direction, the left-right direction, and the up-down direction of each part.

The combine 2 includes a traveling device 3 and a working device 4. Further, the combine 2 is provided with a cabin 5 that covers the control portion 5a provided with the driver's seat 5b and the like above the front portion, and a receiving antenna 6 is provided above the cabin 5. Further, above the cabin 5, a charging facility 7 is provided on which the flying object 20 can land and charges the battery 29 (see FIG. 4) of the landing flying object 20. The installation location of the charging equipment 7 is not limited to the upper part of the cabin 5.

The control unit 5a is provided with various operation levers, instruments, a display unit (monitor) for displaying various information, and the like. Further, the control unit 5a may be provided with an information processing terminal.

The receiving antenna 6 is provided, for example, on the upper part of the cabin 5. The receiving antenna 6 is a GPS (Global Positioning System) antenna, a GNSS (Global Navigation Satellite System) antenna, or the like. That is, the combine 2 can receive a signal regarding the position (latitude and longitude) of the combine 2 via the receiving antenna 6 and recognize the position.

The charging equipment 7 charges the battery 29 of the flying object 20 by non-contact charging such as an electromagnetic induction method or a magnetic field resonance method.

The traveling device 3 includes a pair of left and right crawler belts 3A that circulate by transmitting power from an engine (not shown) installed on the fuselage frame. The traveling device 3 travels the combine 2 by orbiting the crawler belt 3A. The crawler belt 3A is formed in an endless shape by an elastic body such as rubber.

The working device 4 includes, for example, a cutting device 4A provided at the front part of the machine frame, a threshing device 4B provided on one left and right side (left side) at the upper part of the machine frame, and the other left and right sides at the upper part of the machine frame. A discharge device having a storage device (glen tank) 4C provided on the (right side), a vertical auger standing upright behind the storage device 4C, and a horizontal auger lying above the threshing device 4B and the storage device 4C in the standby state. It is equipped with a grain discharge auger) 4D.

The cutting device 4A includes a weeding culm for weeding the grain culm in the field, a raising device for causing the weeded culm, a cutting blade for cutting the root of the raised culm, and the like. The cutting device 4A weeds the grain culms planted in the field with a weeding culm, raises the weeded grain culms with a raising device, and cuts the raised grain culms with a cutting blade. Behind the cutting device 4A, a grain culm transporting device for transporting the cut grain culms toward the threshing device 4B is provided.

After threshing the crop, the threshing device 4B sends the grains sorted by the sorting unit to the storage device 4C by the threshing device. The storage device 4C sends the stored grains to the lower part of the vertical auger of the discharge device 4D. The discharge device 4D sends the grains sent to the vertical auger from the upper part of the vertical auger to the horizontal auger, and the grains sent to the horizontal auger are sent from the discharge cylinder provided at the tip of the horizontal auger to a carrier or the like. And discharge.

The combine 2 may be driven by an operator, and a part or all of the driving may be performed by automatic driving.

Next, the flying object 20 will be described with reference to FIGS. 3 and 4. FIG. 3 is a schematic perspective view of the flying object 20. FIG. 4 is a schematic block diagram of the flying object 20.

The aircraft body 20 is a so-called drone and flies along a set flight path R (see FIG. 5). The flying object 20 is provided with rotor blades 24 at the tips of four arm portions 20b extending radially from the main body portion 20a, for example. The rotary blade 24 rotates by transmitting the drive of the motor 30 provided on each arm portion 20b. The rotor 24 blows off water droplets adhering to the crop by the wind pressure generated by the rotation, and removes the water droplets. The rotor 24 constitutes a removal portion.

A camera 22 and a distance sensor 23 are provided below the main body 20a. The camera 22 is attached so that its posture can be freely changed by, for example, two-point support.

The distance sensor 23 is provided as a device capable of measuring the distance to the crops (including culms and grains) in the field. For example, the distance sensor 23 measures the distance to the upper end of the crop by ultrasonic waves, a laser, a millimeter wave radar, or the like. The distance sensor 23 may be a stereo camera, for example, as long as it can measure the distance to the crop. The distance sensor 23 constitutes a distance measuring unit.

A receiving antenna 25 is provided on the upper portion of the main body 20a. The receiving antenna 25 is a GPS antenna, a GNSS antenna, or the like. Similar to the combine 2, the aircraft 20 can receive a signal regarding the position (latitude and longitude) of the aircraft 20 via the receiving antenna 25 and recognize the position.

Inside the main body 20a, a control unit 26, a communication unit 27, a storage unit 28, a battery 29, and the like for performing flight control are provided.

A distance sensor 23, a receiving antenna 25, a camera 22, a motor 30, a communication unit 27, a storage unit 28, a battery 29, and the like are connected to the control unit 26. The motor 30 constitutes a drive unit.

The communication unit 27 transmits and receives signals and the like between the flying object 20 and, for example, a control device (not shown) and the combine 2.

The storage unit 28 is composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The storage unit 28 stores map information, flight path R, and the like.

The flight path R is stored in the storage unit 28 based on the signal transmitted via the communication unit 27. The flight path R is set along the work path C by the combine 2, for example, as shown in FIG. FIG. 5 is a diagram showing an example of the flight path R. When the work path C by the combine 2 is a field (referred to as "F" in FIG. 5; hereinafter, may also be referred to as field F) counterclockwise, that is, a counterclockwise swirl path, flight. The path R is set to a counterclockwise spiral path. The flight path R contains information about the position (latitude and longitude).

The battery 29 is, for example, a secondary battery such as a lithium ion battery, a nickel hydrogen battery, a metal air battery, or an all-solid-state battery, but may be a fuel cell. For example, when the flying object 20 lands on the combine 2, the battery 29 can be charged by the charging equipment 7 provided in the combine 2. The battery 29 can also be charged by, for example, a charging facility provided outside the combine 2.

The control unit 26 includes, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM, an input / output port, and various circuits. The control unit 26 may be partially or wholly composed of hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

The control unit 26 includes a plurality of processing units that function by executing a program (not shown) recorded in the ROM by using the RAM as a work area. Specifically, the control unit 26 includes a battery remaining amount detecting unit 26A and a flight adjusting unit 26B.

The battery remaining amount detecting unit 26A detects the remaining amount of the battery 29, that is, the SOC (State of Charge). The battery remaining amount detection unit 26A determines whether or not the SOC of the battery 29 is a predetermined value, for example, 30% or less.

When the SOC of the battery 29 is equal to or less than a predetermined value, the flight adjustment unit 26B determines that the flight body 20 is in the cabin 5 of the combine 2 (see FIG. 2) based on the position of the combine 2 and the position of the flight body 20. It lands on top and generates a control signal to charge the battery 29 by the charging facility 7 (see FIG. 2).

When the SOC of the battery 29 is larger than the predetermined value, the flight adjustment unit 26B makes the flight body 20 fly along the flight path R based on the set flight path R and the position of the flight body 20. Generates a control signal.

When the flight of the flight path R by the flight body 20 is completed, the flight adjustment unit 26B determines that the flight body 20 is the cabin 5 of the combine 2 based on the position of the combine 2 and the position of the flight body 20 (see FIG. 2). ) Generates a control signal to land on top of.

When the flight of the flight path R by the flight body 20 is completed, the flight adjustment unit 26B is a landing point different from the cabin 5 of the combine 2, and is a control signal to land at a preset landing point. May be generated.

Further, when the SOC of the battery 29 is larger than a predetermined value, the flight adjusting unit 26B generates a control signal so that the distance between the flying object 20 and the upper end of the crop becomes a predetermined distance. That is, the flight adjusting unit 26B generates a control signal so that the flying object 20 flies above the crop by a predetermined distance. The predetermined distance is a preset value, and is a distance at which water droplets adhering to the crop can be blown off by the wind pressure generated by the rotation of the rotary blade 24.

The control signal generated by the flight adjustment unit 26B is transmitted to each motor 30, the rotation speed of the rotation axis of each motor 30 is controlled, the rotation speed of each rotation blade 24 is controlled, and the flight of the flying object 20 is controlled. Will be done. That is, the flight adjustment unit 26B controls the flight of the flying object 20.

Next, the flight control of the flying object 20 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating flight control of the flying object 20.

The control unit 26 flies the flying object 20 along the set flight path R (S10). The distance sensor 23 measures the distance from the upper end of the crop (S11).

The control unit 26 adjusts the flight height of the flying object 20 so that the distance from the upper end of the crop is a predetermined distance based on the measurement result (S12). As a result, the distance between the upper end of the crop and the flying object 20 is maintained at a predetermined distance, and the water droplets adhering to the crop are blown off and removed by the wind pressure generated by the rotation of the rotor 24.

The control unit 26 determines whether or not the SOC of the battery 29 is equal to or less than a predetermined value (S13). When the SOC of the battery 29 is equal to or less than a predetermined value (S13; Yes), the control unit 26 flies the flying object 20 toward the charging facility 7 of the combine 2 and makes the flying object 20 land on the charging facility 7. (S15).

When the SOC of the battery 29 is larger than the predetermined value (S13; No), the control unit 26 determines whether or not the flight of the flight path R is completed (S14).

When the flight of the flight path R is completed (S14; Yes), the control unit 26 flies the flying object 20 toward the charging facility 7 of the combine 2 and lands the flying object 20 on the charging facility 7 (S15). ).

When the flight of the flight path R is not completed (S14; No), the control unit 26 continues the flight along the flight path R (S10).

The flying object 20 flies along the flight path R while maintaining a predetermined distance from the upper end of the crop in the field before the crop culm is cut by the combine 2. As a result, the wind pressure generated by the rotation of the rotary blade 24 blows off the water droplets adhering to the crop and removes the water droplets. Therefore, when cutting the grain culm with the combine 2, the grain culm of the crop having less adhesion of water droplets can be cut, and the harvesting operation can be efficiently performed. By removing the water droplets adhering to the crop, for example, the threshing load in the threshing device 4B can be reduced. Further, by reducing the threshing load, damage to the grains can be reduced.

In addition, the flying object 20 removes water droplets adhering to the crop by the wind pressure generated by the rotary blade 24. As a result, the water droplets adhering to the crop can be removed by the flying object 20 having a simple structure.

Further, when the flight of the flight path R is completed, the aircraft body 20 automatically flies toward the charging facility 7 of the combine 2 and lands on the charging facility 7. As a result, the operation of the operator after the flight of the flight path R is completed becomes unnecessary, and the work by the flying object 20 becomes easy.

Further, when the SOC of the battery 29 becomes equal to or less than a predetermined value, the flying object 20 flies toward the charging equipment 7 of the combine 2 and lands on the charging equipment 7 to charge the battery. As a result, it is possible to prevent the flying object 20 from becoming incapable of flying due to the power shortage of the battery 29, and to prevent the flying object 20 from crashing.

Further, the flight body 20 flies based on the flight path R set along the work path C of the combine 2. As a result, the combine 2 can perform the cutting work while removing the water droplets adhering to the crop by the flying object 20.

In addition to the above-described embodiment, a modification described below may be applied.

The flying object 20 according to the modified example may be capable of adjusting the flight speed based on the wetness of the crop, that is, the degree of wetness. The flying object 20 according to the modified example may be provided with a humidity sensor (not shown) to detect the degree of wetness of the crop, and the flight speed may be adjusted based on the detected degree of wetness. For example, the flight adjustment unit 26B generates a control signal so as to reduce the flight speed when the degree of wetness is high. As a result, when the degree of dampness is high, the wind generated by the rotary blade 24 can be applied to the crop for a long time to remove water droplets adhering to the crop due to the wind pressure. Therefore, even when there are many water droplets adhering to the crop, the water droplets can be removed and the harvesting operation can be efficiently performed.

The flight speed of the flying object 20 according to the modified example may be adjustable by an operator's operation (for example, switch operation) based on the degree of wetness.

The flying object 20 according to the modified example may fly toward the charging facility 7 of the combine 2 based on the operation of the operator and may be charged by the charging facility 7.

The vehicle body 20 according to the modified example is combined when the SOC of the battery 29 reaches a predetermined lower limit value that can reliably fly the vehicle body 20 to the charging facility 7 of the combine 2, that is, the lower limit electric energy (lower limit SOC). You may fly toward the charging facility 7 of 2 and charge the battery by the charging facility 7. For example, the flight adjustment unit 26B compares the lower limit SOC of the battery 29 required to fly the distance to the charging facility 7 with the SOC of the current battery 29, and when the SOC of the current battery 29 becomes the lower limit SOC. , Flying toward the charging facility 7 of the combine 2, and generating a control signal so that the charging facility 7 charges the battery. The predetermined lower limit value may include a margin allowance. As a result, it is possible to prevent the flying object 20 from crashing due to insufficient power.

The predetermined lower limit value may be a preset value, for example, a value at which the SOC of the battery 29 is 5%.

The flying object 20 according to the modified example may stop the flight and land on the field when the SOC of the battery 29 becomes less than the predetermined lower limit value. Specifically, the flight adjustment unit 26B generates a control signal so as to land on the field. As a result, it is possible to prevent the flying object 20 from crashing due to insufficient power.

Further, the flying object 20 according to the modified example may include the notification unit 26C as shown in FIG. 7. FIG. 7 is a schematic block diagram of the flying object 20 according to the modified example. When the flying object 20 lands in the field, the notification unit 26C transmits the position information of the point where the flying object 20 has landed to, for example, a control device owned by the operator or an information processing terminal via the communication unit 27. .. Further, the notification unit 26C may turn on (blink) a lamp (not shown). As a result, the operator can be notified of the flying object 20 landing in the field, and the operator can easily find the flying object 20.

Further, the flying object 20 according to the modified example is a device different from the rotary wing 24, and a blower device for removing water droplets adhering to the crop may be provided.

The above-mentioned flying object 20 flew based on the flight path R along the working path C of the combine 2, but is not limited to this. The flying object 20 may fly along the flight path R shown in FIGS. 8 to 12 and the like.

FIG. 8 is a diagram showing a modified example (No. 1) of the flight path R. In the flight path R of the modified example (No. 1), for example, the flying object 20 reciprocates in the longitudinal direction of the field F, then moves in the lateral direction of the field F, and further repeats the flight reciprocating in the longitudinal direction of the field F. It is a route.

FIG. 9 is a diagram showing a modified example (No. 2) of the flight path R. The flight path R of the modified example (No. 2) is, for example, a path in which the flying object 20 flies in the longitudinal direction of the field F while turning.

FIG. 10 is a diagram showing a modified example (No. 3) of the flight path R. The flight path R of the modified example (No. 3) is, for example, a path in which the flying object 20 flies in a zigzag manner along the longitudinal direction of the field F.

FIG. 11 is a diagram showing a modified example (No. 4) of the flight path R. The flight path R of the modified example (No. 4) is, for example, a path in which the flying object 20 flies along the longitudinal direction while drawing a figure 8 in the lateral direction of the field F.

FIG. 12 is a diagram showing a modified example (No. 5) of the flight path R. The flight path R of the modified example (No. 5) is a path in which the flying object 20 flies, for example, the first route shown by the solid line in FIG. 12 and then the second route shown by the broken line in FIG.

In the first path, after the flying object 20 flies from one end in the longitudinal direction of the field F toward the other end, the flying object 20 moves a predetermined moving distance along the short side direction of the field F, and the field F is used. It is a route that repeats meandering flight from the other end in the longitudinal direction of F toward one end.

In the second route, after the flying object 20 flies from one end of the field F in the lateral direction toward the other end, the flying object 20 moves a predetermined moving distance along the longitudinal direction of the field F, and the field F is moved. It is a route that repeats a meandering flight that flies from the other end in the short direction to one end. That is, the first path and the second path are paths having different meandering directions.

By flying along the flight path R of the above-described modification, the flying object 20 can blow wind on the crop from various directions, efficiently blow off the water droplets adhering to the crop, and remove the water droplets. Can be done.

As shown in FIG. 13, the flying object 20 according to the modified example may fly while swinging the flying object 20. FIG. 13 is a schematic view showing a flight state of the flying object 20 according to the modified example. As a result, the crop in the field F (referred to as “S” in FIG. 13) can be blown with wind from various directions, and the water droplets adhering to the crop S can be efficiently blown off and the water droplets can be removed. it can.

The flying object 20 according to the modified example may be provided with a roller (not shown) capable of collecting a protective net (not shown) at the lower part. The flying object 20 according to the modified example can wind up a protective net installed in the field for preventing harmful birds and for preventing harmful animals by a roller.

For example, when collecting the protective net installed above the crop, a roller that can rotate around an axis provided in the horizontal direction is provided. Further, when collecting the protective net installed so as to surround the outer periphery of the field, a roller that can rotate around an axis provided in the vertical direction is provided. As a result, the flying object 20 according to the modified example can be easily recovered in a short time without bringing the protective net into contact with the crop. Especially in a large field, the protective net can be easily recovered. Further, by winding the protective net with a roller, the protective net can be easily reused.

Further, the flying object 20 according to the modified example may be used when installing a protective net in the field. As a result, the protective net can be easily installed.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Thus, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

2 Combine 7 Charging equipment 20 Aircraft 23 Distance sensor (distance measurement unit)
24 Rotor blade (removal part)
26 Control unit 26A Battery level detection unit 26B Flight adjustment unit 26C Notification unit 28 Storage unit 29 Battery 30 Motor (drive unit)

Claims (9)

In a flying object for agricultural work support that flies in the field before harvesting the grain with a combine harvester
A distance measuring unit that measures the distance to the crop,
Based on the measurement result by the distance measuring unit, the flight adjusting unit that controls the driving unit so that the flying object flies above the crop by a predetermined distance, and
It is provided with a removing part that removes water droplets adhering to the crop by wind pressure .
The flight adjustment unit
Adjust the flight speed of the flying object based on the degree of wetness of the crop
Flying object which is characterized a call. The removal part
The flying object according to claim 1, which is a rotary wing for flight. The flight adjustment unit
The flying object according to claim 1 or 2 , wherein the driving unit is controlled so as to land on the charging equipment after the flight of the preset flight path is completed. The flight adjustment unit
The flying object according to any one of claims 1 to 3 , which controls the driving unit so as to land on the charging equipment when the remaining amount of the battery provided in the flying object becomes equal to or less than a predetermined value. The flight adjustment unit
Claims 1 to claim 1 to control the drive unit so as to land on the charging facility when the remaining amount of the battery provided in the flying body reaches the lower limit electric energy capable of flying the flying body to the charging facility. The flying object according to any one of 3 . The flight adjustment unit
A claim that controls the drive unit so as to land in the field when the remaining amount of the battery provided in the air vehicle becomes less than the lower limit electric energy capable of flying the air vehicle to the charging facility. The flying object according to any one of claims 1 to 5 . The flying object according to claim 6 , further comprising a notification unit that notifies the landing point when the flying object lands on the field. The flight adjustment unit
The flying object according to any one of claims 1 to 7 , which controls the drive unit so as to fly in a flight path along the working path of the combine. The flight adjustment unit
The flying object according to any one of claims 1 to 8 , wherein the driving unit is controlled so as to fly while swinging the flying object.

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