JP6898410B2 - Injection device, program, system and injection method - Google Patents

Description

The present invention relates to injection devices, programs, systems and injection methods.

A technique for spraying a drug on an object by providing a drug supply unit on an unmanned aircraft has been known. (See, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2017-104063

For example, it is desirable to provide a technique capable of improving the accuracy of injecting an injection such as a drug onto an object.

According to the first aspect of the present invention, an injection device is provided. The injection device may include a base. The injection device may include a first gimbal installed relative to the base. The ejection device may include an imaging unit that is rotatably supported by a first gimbal. The injection device may include a second gimbal installed relative to the first gimbal. The injection device may include an injection unit that ejects an ejector or energy that is rotatably supported by a second gimbal. The injection device ejects an ejector or energy to the object based on the captured image of the object captured by the imaging unit and the distance to the object measured by the image pickup unit. A control unit for controlling the above may be provided.

The injection unit may inject an ejected material. The imaging unit may include an imaging camera that captures the captured image and a ToF camera that measures the distance to the object. A wireless communication unit may be provided that transmits the captured image of the object captured by the imaging unit and the distance to the object measured by the imaging unit to the management system by wireless communication. The wireless communication unit may receive an instruction transmitted by the management system based on the captured image and the distance to the object, and the control unit may control the injection unit according to the instruction. The wireless communication unit may transmit information regarding the remaining amount of the ejected material held by the ejection unit to the management system. The control unit may control at least one of the injection intensity of the injection object by the injection unit and the posture of the injection unit by the second gimbal.

The projectile may be a liquid. The control unit may control the strength of injection of the liquid by the injection unit based on the distance to the object. The imaging unit may image the liquid that is ejected onto the object and applied to the object, and the control unit analyzes the application state of the liquid to the object and based on the analysis result, The injection of the liquid by the injection unit may be controlled. The base may be placed on a movable object. The base may be installed on an unmanned aerial vehicle.

According to the second aspect of the present invention, a program for operating the computer as the injection device is provided.

According to a third aspect of the present invention, there is provided a system including the injection device and a moving body equipped with the injection device.

According to a fourth aspect of the present invention, an injection method performed by an injection device is provided. The injection device may have a base. The injection device may have a first gimbal installed relative to the base. The ejection device may have an imaging unit that is rotatably supported by a first gimbal. The injection device may have a second gimbal installed relative to the first gimbal. The injection device may have an injection section that ejects an ejector, which is rotatably supported by a second gimbal. In the ejection method, the ejection unit is controlled so as to eject the ejected object to the object based on the captured image of the object captured by the imaging unit and the distance to the object measured by the imaging unit. It may be provided with a control step to be performed.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the injection device 100 is shown schematically. An example of the gimbal 130 is shown schematically. An example of the gimbal 140 is shown schematically. An example of injection by the injection device 100 is shown schematically. The relationship between the ToF camera 210 and the ejection unit 300 is schematically shown. An example of injection by the injection device 100 is shown schematically. An example of the system 10 is shown schematically. An example of the hardware configuration of the computer 1200 that functions as the control unit 112 and the wireless communication unit 114 of the injection device 100 is schematically shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions that fall within the scope of the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 schematically shows an example of the injection device 100. The injection device 100 illustrated in FIG. 1 includes a base 110, an arm 120, a gimbal 130, a gimbal 140, an imaging unit 200, and an injection unit 300.

The base 110 is installed, for example, on a movable object. The movable object may be, for example, a moving body having a function of moving. Examples of moving bodies include unmanned aerial vehicles such as drones, vehicles such as automobiles, and underwater moving bodies that move underwater. Also, the base 110 may be held by a person. The base 110 may be installed on a rod-shaped member or the like held by a person.

The base 110 has a control unit 112 that controls each unit of the injection device 100. The base 110 supports the arm 120.

The arm 120 includes a member 121, a member 122, a Y-axis rotation mechanism 123, a member 124, a Y-axis rotation mechanism 125, and a Y-axis rotation mechanism 126. The member 121 is fixedly installed on the base 110. The member 122 is rotatably installed around the Y-axis by the Y-axis rotation mechanism 123 with respect to the member 121. In the present embodiment, the pan will be described as the X-axis, the tilt as the Y-axis, and the roll as the Z-axis.

The member 124 is rotatably installed around the Y-axis by the Y-axis rotation mechanism 125 with respect to the member 122. The Y-axis rotation mechanism 126 rotatably supports the gimbal 130 around the Y-axis.

The gimbal 130 is installed with respect to the base 110 via the arm 120. The gimbal 130 may be installed on the base 110 without using the arm 120. In this case, the injection device 100 does not have to include the arm 120.

The imaging unit 200 is rotatably supported by the gimbal 130. The gimbal 130 may be an example of the first gimbal. The gimbal 130 rotatably supports the imaging unit 200 around the X-axis, the Y-axis, and the Z-axis. The imaging unit 200 includes a ToF (Time of Flight) camera 210 and an imaging camera 220.

The gimbal 140 is installed relative to the gimbal 130. The gimbal 140 may be an example of a second gimbal. The injection portion 300 is rotatably supported by the gimbal 140. The gimbal 140 rotatably supports the injection portion 300 around the X-axis, the Y-axis, and the Z-axis.

The injection unit 300 ejects an ejected object. The injection unit 300 ejects, for example, a liquid. The injection unit 300 may spray the liquid. Examples of the liquid ejected by the injection unit 300 include, but are not limited to, ink, paint, chemicals such as pesticides and waterproofing agents, water and the like, and the injection unit 300 may inject any liquid. In the present embodiment, the case where the ejection unit 300 ejects ink will be described mainly by taking as an example. The injection unit 300 includes a conduit 302 for supplying a liquid from the base 110 to the injection unit 300.

The injection unit 300 may inject a solid. Examples of the solid ejected by the injection unit 300 include a spear and a harpoon for capturing prey in water or the like, but the injection unit 300 may inject any solid. The injection unit 300 may inject any gas.

The injection unit 300 may inject energy. The injection unit 300 emits a laser, for example. The type of laser may be any type.

FIG. 2 schematically shows an example of the gimbal 130. The gimbal 130 illustrated in FIG. 2 has a member 131, a Y-axis rotation mechanism 132, a member 133, an X-axis rotation mechanism 134, a member 135, a Z-axis rotation mechanism 136, a member 137, and a Y-axis rotation mechanism 138.

The member 131 is rotatably supported around the Y-axis with respect to the arm 120 by the Y-axis rotation mechanism 132. The member 133 is rotatably supported around the X-axis with respect to the member 131 by the X-axis rotation mechanism 134.

The member 135 is rotatably supported around the Z-axis with respect to the member 133 by the Z-axis rotation mechanism 136. The member 137 is rotatably supported around the Y-axis with respect to the member 135 by the Y-axis rotation mechanism 138.

An imaging unit 200 is installed on the member 137. The imaging unit 200 is rotatably supported around the X-axis, around the Y-axis, and around the Z-axis by the Y-axis rotation mechanism 132, the X-axis rotation mechanism 134, and the Z-axis rotation mechanism 136.

FIG. 3 schematically shows an example of the gimbal 140. The gimbal 140 illustrated in FIG. 3 has a member 141, a Y-axis rotation mechanism 142, a member 143, an X-axis rotation mechanism 144, a member 145, a Z-axis rotation mechanism 146, a member 147, and a Y-axis rotation mechanism 148.

The member 141 is rotatably supported around the Y-axis with respect to the member 137 by the Y-axis rotation mechanism 142. The member 143 is rotatably supported around the X-axis with respect to the member 141 by the X-axis rotation mechanism 144.

The member 145 is rotatably supported around the Z-axis with respect to the member 143 by the Z-axis rotation mechanism 146. The member 147 is rotatably supported around the Y-axis with respect to the member 145 by the Y-axis rotation mechanism 148.

An injection unit 300 is installed on the member 147. The injection unit 300 is rotatably supported around the X-axis, around the Y-axis, and around the Z-axis by the Y-axis rotation mechanism 142, the X-axis rotation mechanism 144, and the Z-axis rotation mechanism 146.

FIG. 4 schematically shows an example of injection by the injection device 100. Here, a case where the injection device 100 prints an image, a pattern, or the like on the object 410 by injecting ink onto the object 410 will be described as an example.

The object 410 may have a flat surface or may have an uneven surface. The ToF camera 210 measures the distance to the object 410. The imaging camera 220 images the object 410.

The control unit 112 controls the ejection unit 300 so as to eject ink to the object 410 based on the captured image of the object 410 and the distance to the object 410. For example, the control unit 112 first determines the coating range to which the ink is first applied in the object 410, and determines the position of the imaging unit 200 with reference to the coating range.

The control unit 112 may determine the position of the image pickup unit 200 based on the coating range and the range that can be ejected by the injection unit 300. The control unit 112 may determine the position of the imaging unit 200 so that the entire coating range is within the injection range by the injection unit 300.

After determining the position of the imaging unit 200, the control unit 112 may control the gimbal 130 so that the position and orientation of the imaging unit 200 do not change. The control unit 112 may control the gimbal 130 so that the position and orientation of the imaging unit 200 do not change even if the position of the base 110 changes.

The control unit 112 controls the gimbal 130 so that the position and orientation of the imaging unit 200 do not change, and changes the position and orientation of the injection unit 300 by the gimbal 140 while applying ink to the coating range of the object 410. The gimbal 140 and the injection unit 300 are controlled so as to inject. When the imaging unit 200 and the ejection unit 300 are mounted on the same gimbal, the imaging unit 200 also moves when the ejection unit 300 is moved. Therefore, while capturing the entire image with the camera, the target point in the overall image is reached. Although it is not possible to eject an ejected object, according to the injection apparatus 100 according to the present embodiment, this is possible by instructing the imaging unit 200 by the gimbal 130 and instructing the injection unit 300 by the gimbal 140. be able to.

The control unit 112 may control the injection intensity of the ink by the injection unit 300 according to the distance from the object 410. The control unit 112 may control the position and orientation of the injection unit 300 by the gimbal 140 according to the distance from the object 410. The control unit 112 may control both the injection intensity of the ink by the injection unit 300 and the position and orientation of the injection unit 300 according to the distance from the object 410.

In this way, the position of the imaging unit 200 is determined based on the image captured by the imaging unit 200 and the distance measurement result, and the gimbal 140 controls the gimbal 130 so that the position and orientation of the imaging unit 200 do not change. By controlling the ejected object to be ejected while changing the position and the posture of the 300, the ejected object can be ejected to the object 410 with high accuracy. Since the injection device 100 can inject any liquid and can be installed on any moving body, it is similar to an inkjet printer for painting and decontaminating high places, forming a protective film, and places where humans cannot work. Accurate pattern and image drawing, pest control, and pesticide spraying are possible.

The control unit 112 may grasp the ink application state by analyzing the captured image of the object 410 captured by the imaging camera 220. Then, the control unit 112 controls the gimbal 140 and the injection unit 300 according to the ink application status to form a target image or pattern in the application range. In this way, by controlling the gimbal 140 and the ejection unit 300 while grasping the application state of the ink to the object 410, it is possible to eject the ejected object to the object 410 with higher accuracy.

The control unit 112 may change the positions of the image pickup unit 200, the gimbal 140, and the injection unit 300 by the gimbal 130, if necessary. For example, if there is unevenness in the coating range and there is a part where ink cannot be applied only by moving the injection part 300 by the gimbal 140, the position of the gimbal 140 and the injection part 300 can be changed by the gimbal 130 to change the position. Allows ink to be applied to.

When the surface of the object 410 is wide, the control unit 112 may determine a plurality of coating ranges and inject ink into the plurality of coating ranges in order. For example, the control unit 112 moves the image pickup unit 200, the gimbal 140, and the injection unit 300 by the gimbal 130 after the ink is ejected to the first coating range, so that the ink is injected into the next coating range. Ink. By changing the overall position of the injection device 100, ink may be injected into different coating ranges.

FIG. 5 schematically shows the relationship between the ToF camera 210 and the ejection unit 300. The positional relationship between the ToF camera 210 and the injection unit 300 changes depending on the control of the injection unit 300 by the gimbal 140, but the relationship between the reference position of the ToF camera 210 and the reference position of the injection unit 300 is specified at the time of hardware design. Will be done.

The control unit 112 stores the relationship between the reference position of the ToF camera 210 and the reference position of the injection unit 300 in advance, and grasps the amount of change in the position and posture of the injection unit 300 by the gimbal 140 to obtain the ToF camera 210. The positional relationship between the and the injection unit 300 is always grasped. Then, the control unit 112 derives the landing point of the ejected object by the injection unit 300 by applying a trigonometric function to the positional relationship between the ToF camera 210 and the injection unit 300.

FIG. 6 schematically shows an example of injection by the injection device 100. FIG. 6 illustrates a case where the injection device 100 prints an image, a pattern, or the like on the ceiling 420 by injecting ink onto the ceiling 420.

The ejection device 100 can eject ink to the ceiling 420 by rotating the gimbal 130 around the Y axis by the arm 120. Further, the injection device 100 may inject ink onto the ground by rotating the gimbal 130 around the Y axis by the arm 120.

As described above, according to the injection device 100 according to the present embodiment, it is possible to inject the ejected material with high accuracy on any surface including horizontal and vertical.

FIG. 7 schematically shows an example of the system 10. The system 10 includes an unmanned aerial vehicle 500 and an injection device 100 installed in the unmanned aerial vehicle 500. The base 110 of the injection device 100 illustrated in FIG. 7 has a control unit 112 and a wireless communication unit 114.

The injection device 100 is managed by the management system 40. The injection device 100 communicates with the management system 40 by the wireless communication unit 114. The wireless communication unit 114 may communicate with the management system 40 via the mobile communication network. In the example shown in FIG. 7, the wireless communication unit 114 communicates with the management system 40 via the wireless base station 30 and the network 20.

The network 20 includes a mobile communication network. The mobile communication network complies with any of 3G (3rd Generation) communication method, LTE (Long Term Evolution) communication method, 5G (5th Generation) communication method, and 6G (6th Generation) communication method or later. Good. The wireless communication unit 114 may access the network 20 via a WiFi (registered trademark) access point or the like.

The unmanned aerial vehicle 500 may also be managed by the management system 40. The unmanned aerial vehicle 500 may communicate with the management system 40 via the radio base station 30 and the network 20. Further, the unmanned aerial vehicle 500 may access the network 20 via a WiFi access point or the like.

The wireless communication unit 114 may continuously transmit the captured image of the object captured by the image pickup camera 220 and the distance to the object measured by the ToF camera 210 to the management system 40. The management system 40 may generate a control instruction of the injection unit 300 based on the received captured image of the object and the distance of the object, and transmit the control instruction to the injection device 100. The control unit 112 may control the injection unit 300 according to the received control instruction.

The management system 40 may transmit a control instruction to the injection device 100 and a movement instruction to the unmanned aerial vehicle 500. That is, the management system 40 may control the injection of the ejected material by the injection device 100 and the unmanned aerial vehicle 500 by transmitting instructions to both the injection device 100 and the unmanned aerial vehicle 500.

The control unit 112 may manage the remaining amount of the ejected material held by the base 110. The wireless communication unit 114 may transmit information regarding the remaining amount of the ejected material managed by the control unit 112 to the management system 40. For example, the wireless communication unit 114 replenishes the notification data for notifying that the remaining amount of the ejected material is low in response to the remaining amount of the ejected material becoming less than the predetermined remaining amount, and the replenishment of the ejected material. The requested request data or the like may be transmitted to the management system 40.

The injection device 100 may communicate with the management system 40 via the unmanned aerial vehicle 500. In this case, the injection device 100 does not have to have the wireless communication unit 114.

FIG. 8 schematically shows an example of the hardware configuration of the computer 1200 that functions as the control unit 112 and the wireless communication unit 114 of the injection device 100. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or causes the computer 1200 to perform an operation associated with the device according to the present embodiment or the one or more. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the present embodiment or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212 and a RAM 1214, which are interconnected by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a ROM 1230 and an I / O unit, which are connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. Communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as an IC card. The program is read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information in accordance with the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the recording medium such as the RAM 1214, the storage device 1224, or the IC card, and sends the read transmission data to the network. The received data transmitted or received from the network is written in the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 allows the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a storage device 1224 or an IC card, and performs various types of processing on the data on the RAM 1214. May be executed. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute that satisfies the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer-readable storage medium near the computer 1200. Also, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, thereby allowing the program to be transferred to the computer 1200 via the network. provide.

The blocks in the flowchart and block diagram of this embodiment may represent a stage of the process in which the operation is performed or a "part" of the device responsible for performing the operation. Specific stages and "parts" are supplied with dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable storage media, and / or computer-readable instructions stored on computer-readable storage media. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical products, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable storage medium having the instructions stored therein is in a flow chart or block diagram. It will be equipped with a product that contains instructions that can be executed to create means for performing the specified operation. Examples of the computer-readable storage medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit cards and the like may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Contains either source code or object code written in any combination of one or more programming languages, including languages and traditional procedural programming languages such as the "C" programming language or similar programming languages. Good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute the computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

10 systems, 20 networks, 30 radio base stations, 40 management systems, 100 injection devices, 110 bases, 112 controls, 114 radio communications, 120 arms, 121 members, 122 members, 123 Y-axis rotation mechanisms, 124 members, 125 Y-axis rotation mechanism, 126 Y-axis rotation mechanism, 130 gimbal, 131 member, 132 Y-axis rotation mechanism, 133 member, 134 X-axis rotation mechanism, 135 member, 136 Z-axis rotation mechanism, 137 member, 138 Y-axis rotation mechanism, 140 gimbal, 141 member, 142 Y-axis rotation mechanism, 143 member, 144 X-axis rotation mechanism, 145 member, 146 Z-axis rotation mechanism, 147 member, 148 Y-axis rotation mechanism, 200 imaging unit, 210 ToF camera, 220 imaging camera , 300 Ejection, 302 Conduit, 410 Object, 420 Ceiling, 500 Unmanned Aircraft, 1200 Computer, 1210 Host Controller, 1212 CPU, 1214 RAM, 1220 I / O Controller, 1222 Communication Interface, 1224 Storage Device, 1230 ROM, 1240 Included Output chip

Claims (14)

At the base,
A first gimbal installed against the base and
An imaging unit rotatably supported by the first gimbal,
With the second gimbal installed for the first gimbal,
An injection section that ejects an ejector or energy that is rotatably supported by the second gimbal.
Based on the captured image of the object captured by the imaging unit and the distance to the object measured by the imaging unit, the ejector or the energy is emitted to the object. A control unit that controls the injection unit is provided .
The base is an injection device installed on a movable object. The injection device according to claim 1, wherein the injection unit ejects the ejected material. The injection device according to claim 1 or 2, wherein the imaging unit includes an imaging camera that captures the captured image and a ToF camera that measures the distance to the object. Claims 1 to 3 include a wireless communication unit that transmits the captured image of the object captured by the imaging unit and the distance to the object measured by the imaging unit to the management system by wireless communication. The injection device according to any one item. The wireless communication unit receives a control instruction transmitted by the management system based on the captured image and the distance to the object.
The injection device according to claim 4, wherein the control unit controls the injection unit according to the control instruction. The injection device according to claim 4 or 5, wherein the wireless communication unit transmits information regarding the remaining amount of the injection to the management system. Any one of claims 1 to 6, wherein the control unit controls at least one of the injection intensity of the ejected object or the energy by the injection unit and the posture of the injection unit by the second gimbal. The injection device described in. The injection device according to any one of claims 1 to 7, wherein the ejected material is a liquid. The injection device according to claim 8, wherein the control unit controls the strength of injection of the liquid by the injection unit based on the distance to the object. The image pickup unit captures a liquid that is ejected onto the object and is applied to the object.
The injection device according to claim 8 or 9, wherein the control unit analyzes the application state of the liquid to the object and controls the injection of the liquid by the injection unit based on the analysis result. The injection device according to any one of claims 1 to 10, wherein the base is installed in an unmanned aerial vehicle. A program for operating a computer as an injection device according to any one of claims 1 to 11. A base, a first gimbal installed on the base, an imaging unit rotatably supported by the first gimbal, and a second gimbal installed on the first gimbal. To the ejection unit that ejects an ejector or energy rotatably supported by the second gimbal, the captured image of the object captured by the imaging unit, and the object measured by the imaging unit. An injection device having a control unit that controls the injection unit so as to emit the injection object or the energy to the object based on the distance between the two.
A system including a moving body equipped with the injection device. A base installed on a movable object, a first gimbal installed on the base, an imaging unit rotatably supported by the first gimbal, and an imager installed on the first gimbal. A method of injection performed by an injection device comprising a second gimbal that has been made and an injection unit that is rotatably supported by the second gimbal and that injects an ejector or energy.
Based on the captured image of the object captured by the imaging unit and the distance to the object measured by the imaging unit, the ejector or the energy is emitted to the object. An injection method including a control step for controlling the injection unit.

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