JP7163179B2 - Aircraft support device and aircraft support system - Google Patents

Description

The present invention relates to an aircraft support device and an aircraft support system.

Conventionally, the display unit disclosed in Patent Document 1 displays a route map, which is a two-dimensional map including the starting point of the flying object and the destination point of the flying object. is indicated by a black circle, the destination of the flying object is indicated by a white star, the current position of the flying object is indicated by a black triangle, and the route of the flying object is indicated.

JP 2018-110352 A

In the support device of Patent Literature 1, the display unit displays the route map so that the worker can see the starting point of the flying object (that is, the point where the worker is present), the current position of the flying object, and the arrival of the flying object. It is possible to grasp the relationship with the target point.
However, although the support device of Patent Document 1 can display the route of the flying object, it cannot display the work result of the flying object. I couldn't.

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the prior art, and is to provide a support device for an aircraft that enables easy work management by checking the results of previous work. aim.

A support device for a flying object according to an aspect of the present invention includes a position information acquisition unit that acquires the position of the flying object, and a spread information acquisition unit that acquires information about the spread of the spread material of the spreading device provided on the flying object. a display unit for displaying an area of a farm field and the periphery of the farm field; a trajectory generator for generating a movement trajectory of the flying object based on the position of the flying object acquired by the position information acquisition unit; Based on the information acquired by the information acquisition unit, a calculation unit for calculating a spread range of the material spread by the spraying device and an altitude information acquisition unit for acquiring altitude information of the flying object are operable, and an altitude selection unit capable of arbitrarily selecting an altitude range of the aircraft, wherein the altitude selection unit is capable of selecting an upper limit value and a lower limit value as the altitude range of the aircraft, and the display The unit, in accordance with the operation of the altitude selection unit, selects the movement trajectory and the spraying range of the flying object within the altitude range of the flying object selected by the altitude selection unit, the area of the agricultural field and the surrounding area of the agricultural field. , switch to hide the movement trajectory of the flying object outside the altitude range of the flying object selected by the altitude selection unit and the dispersion range, and display the trajectory of the flying object outside the altitude range selected by the altitude selection unit Even when the movement trajectory and the dispersion range image of the flying object are displayed, if the altitude selection unit is operated and the range selected by the altitude selection unit is exceeded, the movement trajectory image and the dispersion range Hide images .

Further, the flying object support device includes a mesh setting unit for setting a predetermined mesh in the spraying range, and the display unit displays the material scattered by the spraying device for each of the meshes set by the mesh setting unit. The display form of the mesh is changed and displayed according to the amount of spraying.

Further, the aircraft support system includes an aircraft support device and the aircraft.

Further, the flying object has a detection unit for detecting whether the flying object is positioned inside the agricultural field or outside the agricultural field, and When it is detected that the flying object is positioned within the area, the spraying device is allowed to spray the material to be sprayed, and when it is detected that the flying object is positioned outside the area of the field, the spraying device is allowed to spray. and a control unit for prohibiting the scattering of objects.

According to the aircraft support device, it is possible to check the result of the previous work and easily manage the work.

1 is an overall view of an aircraft support system according to a first embodiment; FIG. It is a figure explaining the dispersion|spreading range of the dispersion|spreading apparatus in 1st Embodiment. It is a figure explaining the dispersion|spreading range of the dispersion|spreading apparatus at the time of considering the wind direction and wind speed of a field in 1st Embodiment. FIG. 1 is a first diagram showing an example of a screen displayed by a display unit of a support device according to the first embodiment; FIG. 2 is a second diagram showing an example of a screen displayed by a display unit of the support device according to the first embodiment; FIG. 3 is a third diagram showing an example of a screen displayed by a display unit of the support device according to the first embodiment; FIG. 4 shows an example of a screen displayed by the display unit of the support device in the first embodiment; FIG. 5 shows an example of a screen displayed by the display unit of the support device in the first embodiment; FIG. 6 shows an example of a screen displayed by the display unit of the support device in the first embodiment; FIG. 7 shows an example of a screen displayed by the display unit of the support device in the first embodiment; It is an overall view of the support system of the aircraft in the second embodiment. Fig. 1 shows an example of a screen displayed by a display unit of a support device according to a second embodiment; Fig. 2 is a second diagram showing an example of a screen displayed by a display unit of a support device according to the second embodiment; FIG. 3 is a third diagram showing an example of a screen displayed by a display unit of a support device according to the second embodiment; FIG. 4 shows an example of a screen displayed by a display unit of a support device according to the second embodiment; 1 is a general side view of an aircraft; FIG. 1 is an overall plan view of an aircraft; FIG.

An embodiment of the present invention will be described below with reference to the drawings.
[First embodiment]
FIG. 1 is an overall view of a support system 80 for an aircraft 1. As shown in FIG. A support system 80 for an aircraft 1 includes an aircraft 1 , a support device 30 for the aircraft 1 , and a server 40 . In the support system 80 for the flying object 1, the server 40 manages information about the flying object 1 and information on fields, and the display unit 34 of the supporting device 30 displays the information transmitted from the server. It is a system that reflects work results in the work management of the aircraft 1 . In the present embodiment, the support device 30 will be described as an example of a mobile terminal such as a smartphone or a tablet terminal having relatively high processing power.

First, a multicopter, which is one of the flying objects 1, will be described. As shown in FIGS. 6A and 6B, the aircraft 1 has a main body 2, an arm 3, rotors 4, a skid 8, and a spray device 10. FIG. A plurality of arms 3 are attached to the main body 2 . In the case of this embodiment, six arms 3 are attached to the body 2 . Six arms 3 radially extend from the center of the main body 2 within a horizontal plane (a plane parallel to the ground when the robot is on the ground). However, the number of arms 3 is not limited to six, and may be seven or more, or may be five or less. In addition, the arm 3 may have a structure that can be folded toward the main body. A base end side of the arm 3 is attached to the main body 2 . Rotor blades 4 are attached to the distal end sides of the plurality of arms 3, respectively.

The rotor blades 4 generate lift for the aircraft 1 to fly. The rotor blade 4 is composed of a rotor 5 and blades (propeller) 6 . The rotor 5 is composed of an electric motor (such as a DC motor). The rotor 5 is driven by power supplied from a battery (not shown) provided in the main body 2 . A blade 6 is attached to the upper portion of the rotating shaft of the rotor 5 . Adjacent rotor blades 4 rotate in directions opposite to each other.

The number of rotor blades 4 is not particularly limited, and can be changed according to the required lift and the like. For example, the aircraft 1 may be a tricopter having three rotors 4, a quadcopter having four rotors 4, or a hexacopter having six rotors 4. , or an octocopter with eight rotor blades 4 .
The skid 8 is installed when the flying object 1 lands and supports the main body 2 on the ground. Specifically, the skid 8 extends downward and widens from the main body 2 .

The spraying device 10 is a device that is provided on the aircraft 1 and that sprays a sprayed material. As shown in FIG. 6A, the sprinkling device 10 has a tank 11 that stores the spread material and a pump 12 that spreads the spread material. The tank 11 is attached to an attachment portion 9 provided in the middle of the skid 8 . The tank 11 is detachable from the mounting portion 9 . The tank 11 forms an internal space in which the material to be sprayed on the farm is accommodated. The sprayed material is, for example, fertilizer, water, agricultural chemicals, and the like.

The pump 12 spreads the spread material contained inside the tank 11 . The pump 12 is communicably connected to the controller 21 and spreads the material to be sprayed based on instructions from the controller 21 . A suction port of the pump 12 is connected to the inside of the tank 11 via a hose (not shown). Also, the discharge port of the pump 12 is connected to the nozzle 13 via a hose. A pump 12 sprays the spray from nozzles 13 . The nozzle 13 can make the size of the particles to be sprayed relatively uniform and spray the material to be sprayed at a predetermined spray amount.

As shown in FIG. 6A, the nozzle 13 is provided, for example, below the rotor 5, and the ejection port of the nozzle 13 faces downward. The nozzle 13 can spray the material contained in the tank 11 toward the field by driving the pump 12 . That is, when the pump 12 is driven, the nozzles 13 spray the material to be sprayed, and when the pump 12 is not driven, the nozzles 13 stop spraying the material to be sprayed. Further, as shown in FIG. 2A, the nozzle 13 scatters the material to be dispersed at a predetermined angle θ, so that the spraying is performed according to the altitude of the aircraft 1 (the distance between the lower end of the nozzle 13 and the ground of the field) H1. The range (effective spread width) E fluctuates. In other words, the spray range E can be calculated based on the spray angle θ and the altitude H1 of the flying object 1 . In addition, as shown in FIG. 2B, when there is wind in the field, the spray range E moves from upwind to leeward compared to when there is no wind in the field.

In addition, the nozzle 13 only needs to be able to spray the sprayed material toward the field, and the mounting position of the nozzle 13 is not limited to below the rotor 5, and may be provided on the skid 8, and is not limited to the above-described position. . Further, the spray amount, spray angle θ, and spray range E of the material to be sprayed from the nozzle 13 may be switchable, and the structure of the spray device 10 is not limited to the above structure.

As shown in FIG. 1, the flying object 1 flies based on the information (operation information) regarding the operation of the operation device 15, which is composed of a joystick 16 capable of swinging operation, a push button switch 17 capable of pressing operation, and the like. , to carry out spraying work. Specifically, the aircraft 1 has a first control device 20 , a first communication section 24 , a position detection device 25 and an altitude detection device 26 . The first control device 20 is composed of a CPU, an electronic circuit, and the like, and performs various controls related to the aircraft 1 according to the operation of the operation device 15 . The first control device 20 has a control section 21 and a first storage section 22 . The control unit 21 includes a CPU, programs stored in the first storage unit 22 , and the like, and performs various controls related to the flying object 1 . The control unit 21 controls the rotary blades 4 and the spraying device 10 (pump 12) based on the operation information of the operation device 15 received by the first communication unit 24, for example. The first storage unit 22 is a non-volatile memory or the like, and stores various information including information on the aircraft 1 .

The first communication unit 24 is a device that performs wireless communication with the operation device 15 and the third communication unit 43 of the server 40 . The first communication unit 24 wirelessly communicates with the operation device 15 and the third communication unit 43 by, for example, Wi-Fi (Wireless Fidelity, registered trademark). Note that the first communication unit 24 may perform wireless communication with the operation device 15 and the third communication unit 43 through a data communication network, a mobile phone communication network, or the like.

The position detection device 25 can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 25 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, determines the position (for example, latitude, longitude) of the aircraft 1. ). In this embodiment, for example, the position detection device 25 is provided on the main body 2 of the aircraft 1 . The position information of the flying object 1 detected by the position detection device 25 is associated with the time when the position of the flying object 1 was detected, and is transmitted to the server 40 via the first communication unit 24 . It should be noted that the position detection device 25 only needs to be able to detect the position of the flying object 1, and its installation position and configuration are not limited to the above configuration.

The altitude detection device 26 is a device that detects the altitude H1 of itself (aircraft 1). The altitude detection device 26 is an air pressure sensor 26 such as a static pressure sensor that measures air pressure. The value detected by the atmospheric pressure sensor 26 is associated with the time when the atmospheric pressure was detected, and is transmitted to the server 40 via the first communication unit 24 .
In the present embodiment, the operation device 15 is a controller composed of a joystick 16, a push button switch 17, and the like. A terminal such as a computer such as a connected personal computer (PC), smart phone (multifunctional mobile phone), tablet terminal, or the like may be used. In addition, the first control device 20 controls the flying object 1 based on the operation information of the operating device 15, but based on the signal output from the sensor provided on the flying object 1 and the preset flight route. It may be controlled so that it can fly autonomously. The scheduled flight route is a route along which the flying object 1 moves, and includes control information of the spraying device 10 (spreading and stopping spraying). In such a case, the scheduled flight route is stored in the first storage unit 22, and the first controller 20 acquires it from the outside (for example, the server 40) via the first communication unit 24.

The support device 30 is a terminal that can display the results of work (spraying work) by the flying object 1 . It is a portable terminal such as a tablet terminal, a personal computer (PC), a smart phone (multifunctional mobile phone), etc., which is communicably connected to the aircraft 1 and the server 40 . In the following description, a tablet terminal is taken as an example of the support device 30 . Note that the support device 30 only needs to be able to communicate with the server 40 and display various information on its screen (display unit). As 30, the operation device 15 may be used instead of a portable terminal such as a tablet terminal.

As shown in FIG. 1 , the support device 30 has a second control device 31 , a second communication section 33 and a display section 34 . The second control device 31 is composed of a CPU, an electronic circuit, etc., and performs various controls related to the support device 30 . The second control device 31 has a second storage section 32 . The second storage unit 32 is a non-volatile memory or the like, and stores information or the like received by the second communication unit 33 .

The second communication unit 33 is a device that performs wireless communication with the third communication unit 43 of the server 40 . The second communication unit 33 performs wireless communication with the third communication unit 43 by, for example, Wi-Fi (Wireless Fidelity, registered trademark). The second communication unit 33 receives, for example, the area of the farm field and the information around the farm field from the server 40 . The second communication section 33 may perform wireless communication with the third communication section 43 through a data communication network, a mobile phone communication network, or the like.

The display unit 34 can display various information stored in the second storage unit 32 , information received by the second communication unit 33 , and information stored in the second storage unit 32 . The display unit 34 displays the area of the farm field and the surroundings of the farm field. The display unit 34 is a touch panel or the like that can be operated by the operator's fingertip or the like, and the support device 30 can be operated by operating the display unit 34 . Note that if the display unit 34 is not a touch panel that can be operated with a fingertip or the like, the support device 30 may include an operation tool such as an operable push button switch.

As shown in FIG. 1 , the server 40 receives information from the outside of the aircraft 1 or the like, performs predetermined processing on the information, and transmits the processed information to the support device 30 . The server 40 has a third control device 41 and a third communication section 43 . The third control device 41 is composed of a CPU, an electronic circuit, etc., and performs various arithmetic processing. For example, the third control device 41 performs predetermined processing on information received by the third communication unit 43 as information to be displayed on the display unit 34 of the support device 30 . In this embodiment, the third control device 41 has a third storage section 42 . The third storage unit 42 is a non-volatile memory or the like, and stores various information received by the third communication unit 43, various programs, and the like. For example, the third storage unit 42 stores map data including positional information of fields where the aircraft 1 works.

For example, the third communication unit 43 communicates with the first communication unit 24 of the aircraft 1 and the second communication unit of the support device 30 by Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. 33, etc., for wireless communication. For example, the third communication unit 43 receives information about the aircraft 1 from the first communication unit 24 and the like. Also, the third communication unit 43 transmits information received from the first communication unit 24 and the like to the second communication unit 33 . Note that the third communication unit 43 may perform wireless communication with the first communication unit 24 and the second communication unit 33 through, for example, a mobile phone communication network, a data communication network, or the like.

The support system 80 for the flying object 1 displays the movement trajectory of the flying object 1 and the spraying range E of the material sprayed by the spraying device 10 on the display unit 34 of the support device 30, so that the movement trajectory of the flying object 1 and the work can be performed. This is a system that reflects the relationship between the results (dispersion results) in the work management of the aircraft 1 . Further, the support system 80 of the flying object 1 acquires information about the flying object 1 and information about the wind in the field, so that the spray range E of the material to be sprayed can be displayed more accurately. In the support system 80 of the aircraft 1 , the server 40 acquires field information from, for example, the field server 50 and transmits the information to the support device 30 .

The field server 50 detects information about the wind in the field and transmits the information to the server 40 . The field server 50 is a device that collects information about the wind in a field. The field server 50 is installed in a field, and has a fourth control device 51, a fourth communication section 53, and an information collection section 54, as shown in FIG.
The fourth control device 51 is composed of a CPU, an electronic circuit, and the like, and processes information (data) acquired by the information collection unit 54 . The fourth control device 51 also has a fourth storage section 52 . The fourth storage unit 52 is a non-volatile memory or the like, and stores various information including information processed by the fourth control device 51 .

The fourth communication unit 53 performs wireless communication with the third communication unit 43 of the server 40 by, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard. The fourth communication unit 53 transmits information about the wind in the field to the third communication unit 43 . Note that the fourth communication unit 53 may perform wireless communication with the third communication unit 43 through, for example, a mobile phone communication network, a data communication network, or the like.

The information collecting unit 54 collects information about the environment in the field, particularly information about the wind in the field. As shown in FIG. 1, the information collecting unit 54 includes, for example, a wind speed sensor 54a and a wind direction sensor 54b. The wind speed sensor 54a is a sensor that measures the wind speed in the field. The wind direction sensor 54b is a sensor that measures the wind direction in the field. The information collected by the information collection unit 54 is associated with the time when the information was collected, and is transmitted to the second communication unit 33 via the fourth communication unit 53 and the third communication unit 43 .

The support device 30 will be described in detail below. The support device 30 acquires various information such as information about the flying object 1 and information about the wind in the field via the server 40 and displays the information on the display unit 34 of the support device 30 . As shown in FIG. 1, the second control device 31 of the support device 30 includes a position information acquisition unit 31a, a dispersion information acquisition unit 31b, an altitude calculation unit 31c, an altitude information acquisition unit 31d, and a wind information acquisition unit 31e. and have In other words, the support device 30 for the aircraft 1 includes a position information acquisition section 31a, a dispersion information acquisition section 31b, an altitude calculation section 31c, an altitude information acquisition section 31d, and a wind information acquisition section 31e.

The position information acquisition unit 31a, the dispersion information acquisition unit 31b, the altitude calculation unit 31c, the altitude information acquisition unit 31d, and the wind information acquisition unit 31e are composed of a CPU, electronic circuits, programs stored in the second storage unit 32, and the like. ing. The position information acquisition unit 31 a acquires the position of the flying object 1 . Specifically, the position information acquisition unit 31 a acquires the position information of the aircraft 1 received by the second communication unit 33 via the first communication unit 24 and the third communication unit 43 .

The spread information acquisition unit 31 b acquires information about the spread of the spread material by the spray device 10 provided in the aircraft 1 . The spread information acquisition unit 31 b acquires information about the spread material of the spray device 10 received by the second communication unit 33 via the first communication unit 24 and the third communication unit 43 . For example, the spraying information acquisition unit 31b acquires information on the amount of sprayed material to be sprayed and the spraying angle θ associated with time, and information on spraying or stoppage of spraying by the spraying device 10 .

The altitude calculation unit 31c calculates the air pressure on the ground of the aircraft 1 and the The air pressure during flight is calculated, and the altitude H1 of the aircraft 1 is calculated.
The altitude information acquisition unit 31d acquires information about the altitude H1 of the aircraft 1 . Specifically, the altitude information acquisition unit 31d acquires the calculation result of the altitude H1 of the flying object 1 calculated by the altitude calculation unit 31c. In this embodiment, the altitude information acquisition unit 31d acquires the calculation result of the altitude H1 of the aircraft 1 calculated by the altitude calculation unit 31c. , the server 40 calculates the altitude H1 of the flying object 1 based on the value detected by the atmospheric pressure sensor 26, and the altitude information acquisition unit 31d is obtained by The calculation result of the altitude H1 of the flying object 1 received from 43 may be obtained, and the source of obtaining the information on the altitude H1 of the flying object 1 is not limited to the altitude calculation unit 31c described above.

The wind information acquisition unit 31e acquires information including wind direction and wind speed in the field. Specifically, the wind information acquisition unit 31 e acquires information about the wind in the farm field received by the second communication unit 33 via the first communication unit 24 and the third communication unit 43 . In this embodiment, the field server 50 detects information about the wind in the field and transmits it to the server 40, but the wind information acquisition unit 31e only needs to be able to acquire information about the wind in the field. Instead, the server 40 connects to a server of the Meteorological Agency or the like via an external network such as the Internet, acquires weather information provided by the Meteorological Agency (at least information including wind direction and wind speed), and wind information acquisition section 31e may acquire the weather information via the third communication unit 43 and the second communication unit 33 . Alternatively, the server 40 acquires weather information by accessing a server of a weather information provider or the like that provides weather information, or obtains weather information provided by other information providers, and obtains wind information. The acquisition unit 31 e may acquire the weather information via the third communication unit 43 and the second communication unit 33 .

Further, as shown in FIG. 1, the second control device 31 of the support device 30 has a trajectory generation unit 31f, a calculation unit 31g, a mesh setting unit 31h, and an association unit 31i. In other words, the support device 30 for the flying object 1 includes a trajectory generator 31f, a calculator 31g, a mesh setter 31h, and an associator 31i. The trajectory generation unit 31f, the calculation unit 31g, the mesh setting unit 31h, and the association unit 31i are configured by the CPU, programs stored in the second storage unit 32, and the like.

The trajectory generation unit 31f generates a movement trajectory of the flying object 1 based on the position information of the flying object 1 acquired by the position information acquiring unit 31a. Specifically, the trajectory generation unit 31f generates a movement trajectory by connecting the position coordinates of the flying object 1 with a line. For example, the trajectory generation unit 31f connects the position coordinates of the position (n) of the flying object 1 at a predetermined point in time with the position coordinates of the position (n−1) of the flying object 1 at the previous point in time by connecting a line. Generate a movement trajectory. Further, the trajectory generation unit 31f has a correction unit 31f1. The correction unit 31f1 corrects variations in the position of the flying object 1 acquired by the position information acquisition unit 31a. Specifically, for example, the correction unit 31f1 corrects variations in the position of the flying object 1 by averaging the positions of the flying object 1 acquired by the position information acquiring unit 31a. Note that the correction unit 31f1 only needs to average the positions of the flying object 1 acquired by the position information acquisition unit 31a, and the method of correcting variations is not limited to averaging.

The computing unit 31g computes the scattering range E based on the scattering information acquired by the scattering information acquiring unit 31b. Specifically, the calculation unit 31g collects the spraying information at a predetermined point in time (the amount of sprayed material, information on the spraying angle θ, information on spraying or stoppage of spraying by the spraying device 10), position information of the flying object 1, flying object 1 and the altitude H1, etc., the scattering range E is calculated. Specifically, the calculation unit 31g calculates the spray range E from the position of the aircraft 1 and the range calculated from the spray angle θ of the nozzle 13 and the altitude H1 of the aircraft 1 .

Further, as shown in FIG. 2B, when the wind speed in the field is a predetermined value or more (for example, the wind speed is 1 m/s or more), the calculation unit 31g adds Then, the spraying range E can be calculated based on the wind direction and wind speed acquired by the wind information acquisition unit 31e. Specifically, the calculation unit 31g collects the spraying information at a predetermined point in time (the amount of sprayed material, information on the spraying angle θ, information on spraying or stoppage of spraying by the spraying device 10), position information of the flying object 1, flying object 1 , the altitude H1, wind direction, wind speed, etc., the scattering range E is calculated. Specifically, the calculation unit 31g calculates the spray range E by combining the wind speed and the moving speed of the aircraft 1 with the range calculated from the spray angle θ of the nozzle 13 and the altitude H1 of the aircraft 1 .

The calculation unit 31g only needs to be able to calculate the dispersion range E based on the dispersion information acquired by the dispersion information acquisition unit 31b and the wind direction and wind speed acquired by the wind information acquisition unit 31e. is not limited to For example, in the present embodiment, the spray range E is calculated by synthesizing the wind speed and the moving speed of the flying object 1 within the range calculated from the spraying angle θ of the nozzle 13 and the altitude H1 of the flying object 1. 2A, a distance H3 obtained by subtracting the plant height H2 of the crop R in the field from the altitude H1 of the flying object 1 is used instead of the altitude H1 of 1, as shown in FIG. The spraying range E may be calculated by combining the wind speed and the moving speed of the flying object 1 with the range calculated by the distance H3 from R. In such a case, the information collecting unit 54 of the field server 50 includes, for example, an imaging unit such as a camera, and the field server 50 detects the plant height H2 of the crop R based on the image captured by the imaging unit. I do.

The mesh setting unit 31h performs a process of allocating the spread amount information (spread amount data) included in the spread information acquired by the spread information acquisition unit 31b to each spread range E calculated by the calculation unit 31g. For example, when the mesh size is 1 m, the mesh setting unit 31h sets the width (vertical width, horizontal width) of one side of the area Qn to 1 m, divides the scattering range E into a plurality of areas Qn every 1 m, The application amount data is divided as data to fall into areas Qn formed by partitioning with the mesh size. Here, when there is a plurality of data to be included in the area Qn, the mesh setting unit 31h, for example, averages the values of the data and assigns the average value as the divided data Dn corresponding to the area Qn. In addition, when the number of data entering the area Qn is one, the mesh setting unit 31h assigns the data as the divided data Dn corresponding to the area Qn. Note that the mesh size may be set by inputting the numerical value of "mesh size" displayed on the basic display section 59 of the display section 34, which will be described later. Also, the method of allocating the field data to the divided data Dn corresponding to the area Qn is not limited to the above example. In addition, the mesh setting unit 31h sets the amount of sprayed material for each area Qn based on the divided data Dn for each area Qn.

The associating unit 31i associates the information on the movement trajectory of the flying object 1 generated by the trajectory generating unit 31f, the information on the altitude H1 of the flying object 1, and the information processed by the mesh setting unit 31h. Specifically, the associating unit 31i associates, based on time, information on the movement trajectory of the flying object 1 at the same time, information on the altitude H1 of the flying object 1, and information processed by the mesh setting unit 31h. Associate.

Further, the second control device 31 of the support device 30 has an operation information acquisition section 31j and an operation trajectory generation section 31k. In other words, the support device 30 of the flying object 1 includes an operation information acquisition section 31j and an operation trajectory generation section 31k. The operation information acquisition unit 31j and the operation trajectory generation unit 31k are configured by the CPU, programs stored in the second storage unit 32, and the like. The operation information acquisition unit 31 j acquires operation information of the operation device 15 . Specifically, the operation information acquisition unit 31 j acquires the operation information of the operation device 15 via the first communication unit 24 , the third communication unit 43 and the second communication unit 33 . Note that in the present embodiment, the operation information acquisition unit 31j acquires operation information via the first communication unit 24, the third communication unit 43, and the second communication unit 33, but the operation information acquisition unit 31j As long as the operation information of the device 15 can be acquired, the operation information may be transmitted from the operation device 15 to the second communication unit 33, and the acquisition source of the operation information is not limited to the above configuration.

The operation trajectory generation unit 31k generates a movement trajectory of the flying object 1 based on the operation information acquired by the operation information acquisition unit 31j. The movement trajectory of the flying object 1 based on the operation information generated by the operation trajectory generation unit 31k is an ideal movement trajectory that does not consider resistance such as wind and rain in a field and obstacles.
Screens displayed on the display unit 34 will be described in detail below. As shown in FIGS. 3A to 3G, the display unit 34 can display a spraying screen M1 showing the results of the spraying operation of the flying object 1. FIG. The spraying screen M1 displays the area of the field, the perimeter of the field, the actual trajectory of the flying object 1, the trajectory of the flying object 1 based on the operation information, the altitude H1 of the flying object 1, and the spraying range E of the material to be sprayed. As a result, the display unit 34 displays the results of the spraying work of the flying object 1, so that the results of the spraying work can be easily confirmed without manual input. In addition, by displaying not only the spraying range E of the scattered material but also the movement trajectory together with the spraying range E, the relationship between the movement trajectory and the spraying range E can be confirmed and utilized for work planning.

Specifically, the scatter screen M1 has a basic display portion 59, a peripheral image 60, a movement trajectory image 61, an operation trajectory image 62, an altitude display image 65, and a scatter range image 66. The basic display section 59 displays various information regarding the work of the aircraft 1 . Specifically, for example, the basic display unit 59 displays the name of the field where the flying object 1 worked, the size of the field, the start date and time of the work, the working time, the end date and time of the work, the model number of the flying object 1, and the mesh size. , to display the wind direction and wind speed in the field.

As shown in FIGS. 3A to 3G, the peripheral image 60 is an image that displays the area of the farm field and the surroundings of the farm field. The peripheral image 60 displays, for example, the area of the farm field and the surroundings of the farm field in a bird's-eye view.
As shown in FIGS. 3A, 3C, and the like, the movement trajectory image 61 is an image displaying the actual movement trajectory of the flying object 1, and is an image based on the trajectory generated by the trajectory generator 31f. In other words, the display unit 34 displays the movement trajectory of the flying object 1 based on the position of the flying object 1 acquired by the position information acquiring unit 31a and the position of the flying object 1 corrected by the correcting unit 31f1. The display unit 34 displays the movement trajectory image 61 in different display modes inside the field area and outside the field area. Specifically, the display unit 34 displays the movement locus image 61 within the field area with a solid line 61b, and displays the movement locus image 61 outside the field area with a dashed line 61c. In addition, the display unit 34 displays the movement start point of the flying object 1 and the final point of the flying object 1 in the movement trajectory image 61 in a predetermined graphic form. In this embodiment, the display unit 34 displays the movement start point of the flying object 1 with a substantially circular graphic 61a, and displays the final point of the flying object 1 with a simplified graphic 61d of the flying object 1. FIG.

As shown in FIG. 3B, the operation trajectory image 62 is an image displaying the movement trajectory of the flying object 1 based on the operation information of the operation device 15, and is an image based on the trajectory generated by the operation trajectory generation unit 31k. The operation trajectory image 62 is displayed in at least a display form different from that of the movement trajectory image 61 . The operation trajectory image 62 is displayed, for example, with a two-dot chain line. The operation trajectory image 62 can be switched between display and non-display by operating a switch button 63 displayed on the scattering screen M1. Note that the display unit 34 hides the movement trajectory image 61 when the operation trajectory image 62 is being displayed. In other words, the display unit 34 displays either the movement trajectory image 61 or the operation trajectory image 62 . In this embodiment, the display unit 34 displays either the movement trajectory image 61 or the operation trajectory image 62. However, if the images displayed by the display unit 34 are not complicated, the display unit 34 Both the movement trajectory image 61 and the operation trajectory image 62 may be displayed simultaneously. As a result, the operation of the flying object 1 and the actual movement trajectory can be confirmed, so the characteristics of the movement of the flying object 1 with respect to the operation of the operation device 15 can be grasped. Therefore, the operator of the flying object 1 can grasp the operability of the flying object 1 more properly, so that the operating skill of the flying object 1 can be improved early.

In this embodiment, the operation trajectory generation unit 31k generates the movement trajectory of the flying object 1 based on the operation information, and the display unit 34 displays the operation trajectory image 62 based on the movement trajectory. However, the display unit 34 only needs to be able to display the operation information of the operation device 15, and instead of the operation trajectory image 62, an icon 64 that is a simplified representation of the operation device 15 as shown in FIG. 3C may be displayed to display the operation state of the operation device 15 at each point, and the display image is not limited to the image described above. Note that, as shown in FIG. 3C, when displaying an icon 64 that is a simplified version of the operation device 15, the operation state of the operation device 15 may be displayed using an arrow or the like.

As shown in FIG. 3D, the altitude display image 65 is an image displaying the altitude H1 of the flying object 1, and is an image based on the information about the altitude H1 of the flying object 1 acquired by the altitude information acquiring section 31d. In other words, the display unit 34 displays the altitude H1 of the flying object 1 based on the altitude H1 of the flying object 1 acquired by the altitude information acquiring unit 31d. The altitude display image 65 numerically displays the altitude H1 of the flying object 1 at each point (each point in time). Thus, by displaying the altitude information together with the spray range E, the relationship between the altitude H1 of the aircraft 1 and the spray range E can be confirmed, which can be utilized for work planning. More specifically, when the support device 30 is operated to select a portion of the movement trajectory image 61, the display unit 34 displays the altitude display image 65 at the selected point, and displays the altitude display images at other points. 65 is hidden. In this embodiment, the display unit 34 displays the altitude H1 at the selected point as a value. The altitude H1 of the flying object 1 may be displayed in a different display form, and the display form of the altitude H1 of the flying object 1 is not limited to the display form described above.

As shown in FIGS. 3A to 3G, the scatter range image 66 is an image displaying the scatter range E calculated by the calculation unit 31g and the divided data Dn for each area Qn assigned by the mesh setting unit 31h. . In other words, the display unit 34 displays the spread range E of the material spread by the spraying device 10 based on the spread information acquired by the spread information acquisition unit 31b and the spread range E calculated by the calculation unit 31g. The spraying range image 66 is displayed by changing the display form of the mesh according to the spraying amount of the sprayed material sprayed by the spraying device 10 for each mesh generated by the mesh setting unit 31h. In other words, the display unit 34 displays the meshes generated by the mesh setting unit 31h in different display modes according to the amount of the material spread by the spraying device 10 for each mesh. The display unit 34 changes the display density of each mesh generated by the mesh setting unit 31h according to the spread amount of the spread material. More specifically, the display unit 34 displays the mesh so that the display density increases in proportion to the amount of sprayed material. That is, the display unit 34 displays the display density of the mesh lightly as the amount of the sprayed material decreases. On the other hand, the display unit 34 displays the display density of the mesh darker as the amount of sprayed material increases. As a result, it is possible to intuitively grasp the location where the amount of the material actually spread is small and the area where the amount of the material actually spread is large. Therefore, it is possible to grasp the locations where spraying is unnecessary or necessary, and perform appropriate spraying work according to the previous work results. Note that the display unit 34 may display a legend 67 indicating the amount of sprayed material corresponding to the display density of the mesh.

As shown in FIG. 3E , the display unit 34 can switch the display of the movement trajectory of the flying object 1 and the spraying range E according to the altitude H1 of the flying object 1 . Specifically, as shown in FIGS. 3A to 3G, the spray screen M1 has an altitude selection section 69 for selecting the altitude H1 of the flying object 1. FIG. The altitude selection section 69 has a slidable slider 69a. The altitude selection unit 69 can select the range of the altitude H1 of the flying object 1 by operating the slider 69a to select the upper limit value and the lower limit value of the altitude H1 of the flying object 1 . The display unit 34 displays the movement trajectory of the flying object 1 at altitudes H1 within the range of altitudes H1 selected by the altitude selecting unit 69 and the spraying range E of the material scattered by the flying object 1 . Specifically, the display unit 34 displays the movement locus image 61 and the dispersion range image 66 at the altitude H1 within the range of altitudes H1 selected by the altitude selection unit 69 .

In addition, as shown in FIG. 3E, the display unit 34 displays the movement trajectory of the flying object 1 at an altitude H1 outside the range of the altitude H1 selected by the altitude selecting unit 69, and the dispersion range E of the sprayed material dispersed by the flying object 1. to hide. Specifically, the display unit 34 hides the movement locus image 61 and the scatter range image 66 at altitudes H1 outside the range of altitudes H1 selected by the altitude selection unit 69 . As a result, the result of the spraying operation of the flying object 1 can be confirmed for each altitude H1 of the flying object 1. FIG. Therefore, the relationship between the altitude H1 of the flying object 1 and the spray range E can be confirmed more easily, and can be utilized for work planning. In the present embodiment, the display unit 34 does not display the dispersion range E of the scattering material dispersed by the flying object 1 at an altitude H1 outside the range of the altitude H1 selected by the altitude selection unit 69. The unit 34 only needs to be able to switch the display of the spray range E according to the altitude H1 of the flying object 1. It may be such that the scatter range E is grayed out. In addition, in FIGS. 3A to 3E, the display unit 34 displays the result of one spraying operation of one flying object 1, but as shown in FIG. The result of the spraying operation of the object 1 may be displayed, or the results of a plurality of spraying operations of one flying object 1 may be displayed at the same time. In such a case, the mesh setting unit 31h averages the data values of the respective work results, and assigns the average value as the divided data Dn corresponding to the area Qn. The display unit 34 also displays a movement locus image 61, an operation locus image 62, a switching button 63, an altitude display image 65, and a spray range image 66 for each spraying operation.

Further, as shown in FIG. 3G, when the wind speed in the field is a predetermined value or more (for example, the wind speed is 1 m/s or more), the display unit 34 operates the change button 70 to switch the display of the spray range image 66, It is possible to display the spraying range E of the sprayed material in consideration of the wind direction and wind speed acquired by the wind information acquisition unit 31e. In such a case, the scatter range image 66 is calculated based on the scatter information acquired by the scatter information acquisition unit 31b, the wind direction and wind speed acquired by the wind information acquisition unit 31e, and the scatter range E calculated by the mesh setting unit 31h. This is an image displaying divided data Dn for each allocated area Qn. That is, when the change button 70 is operated, the spread range image 66 is changed from the spread range E calculated by the calculation unit 31g based on the spread information, the position information, the moving speed of the aircraft 1, the altitude H1, and the like. The display is switched to the spray range E calculated based on the information, the position information, the moving speed of the aircraft 1, the altitude H1, and the wind direction and wind speed acquired by the wind information acquisition unit 31e.

When the flying object 1 moves out of the area of the field, the spraying device 10 can automatically stop spraying the spread material. As shown in FIG. 1 , the first controller 20 of the flying object 1 has a detector 23 . In other words, the flying object 1 has the detector 23 . The detection unit 23 is composed of a CPU, a program stored in the first storage unit 22, and the like. Based on the position information detected by the position detection device 25 and the position information of the field, the detection unit 23 detects whether the flying object 1 is positioned inside the field or outside the field. do. The position information of the field is stored in the first storage unit 22, for example. Specifically, the position information of the field is acquired from the server 40 via the third communication unit 43 and the first communication unit 24 and stored in the first storage unit 22 in advance. The detector 23 outputs the detection result to the controller 21 . In the present embodiment, the detection unit 23 determines whether the flying object 1 is inside the field area or outside the field area based on the position information detected by the position detection device 25 and the position information of the field. It is sufficient for the detection unit 23 to detect whether the flying object 1 is positioned within the field area or outside the field area. By detecting the boundary of the field based on the image captured by the imaging unit of , it may be detected whether the flying object 1 is positioned inside the field or outside the field, The detection method is not limited to the above configuration.

The controller 21 controls the spraying device 10 according to the detection result of the detector 23 . Specifically, when the detection unit 23 detects that the flying object 1 is positioned within the field area, the control unit 21 controls the spraying device 10 based on the operation of the operation device 15 . On the other hand, when the detection unit 23 detects that the flying object 1 is positioned outside the field area, the control unit 21 stops the driving of the pump 12 separately from the operation of the operation device 15, and the spraying device 10 to stop the spread of That is, the control unit 21 permits the spraying device 10 to spray the material to be spread when the flying object 1 is positioned within the field, and allows the spraying device 10 to disperse the material to be sprayed when the flying object 1 is positioned outside the field. Prohibits the spraying of 10 sprays.

The support device 30 for the flying object 1 described above includes a position information acquiring unit 31a that acquires the position of the flying object 1, and a spread information acquiring unit that acquires information regarding the spread of the spread material of the spreading device 10 provided on the flying object 1. 31b, and a display unit 34 for displaying the area of the farm field and the surroundings of the farm field. , and based on the spread information acquired by the spread information acquisition unit 31b, the spread range E of the material spread by the spreading device 10 is displayed.

According to the above configuration, it is possible to display the result of the spraying operation of the aircraft 1 on the display section 34 . Therefore, the operator who manages the operation of the aircraft 1 can easily check the result of the spraying operation without manually inputting the result. In addition, since the display unit 34 displays not only the spraying range E of the material to be sprayed, but also the movement trajectory at the same time as the spraying range E, the operator can confirm the relationship between the movement trajectory and the spraying range E. FIG.

Further, the support device 30 for the aircraft 1 includes an altitude information acquisition unit 31d that acquires information on the altitude H1 of the aircraft 1, and the display unit 34 displays the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31d. Based on this, the altitude H1 of the flying object 1 is displayed.
According to the above configuration, since the display unit 34 simultaneously displays the altitude information and the spray range E, the operator can confirm the relationship between the altitude H1 of the aircraft 1 and the spray range E, which can be used for work planning. can be done.

Further, the support device 30 for the flying object 1 includes an altitude information acquisition unit 31d that acquires information on the altitude H1 of the flying object 1, and the display unit 34 displays information when the altitude H1 of the flying object 1 is within a predetermined range. The movement trajectory is displayed, the movement trajectory is hidden when the altitude H1 of the flying object 1 is outside the predetermined range, and the spraying range E is displayed when the altitude H1 of the flying object 1 is within the predetermined range. In addition, the spray range E when the altitude H1 of the flying object 1 is outside the predetermined range is hidden.

According to the above configuration, it is possible to check the result of the spraying operation of the flying object 1 for each altitude H1 of the flying object 1 . Therefore, the operator can confirm the spraying range E for each altitude H1 of the aircraft 1, and can utilize the relationship between the altitude H1 and the spraying range E for work planning.
Further, the support device 30 of the flying object 1 includes a wind information acquisition unit 31e that acquires information including the wind direction and wind speed of the field, the spray information acquired by the spray information acquisition unit 31b, and the wind direction acquired by the wind information acquisition unit 31e. and a calculation unit 31g for calculating the dispersion range E based on the wind velocity, and the display unit 34 displays the distribution range E calculated by the calculation unit 31g.

According to the above configuration, the display unit 34 can display the spraying range E that is close to the actual spraying range of the flying object 1 sprayed by the spraying operation when the wind is blowing in the field. Therefore, it is possible to check the relationship between the movement trajectory and the spray range E when the wind is blowing, and use it for work planning, such as adjusting the flight path of the aircraft 1 according to the wind conditions in the field. can do.
Further, the support device 30 of the flying object 1 includes a mesh setting unit 31h for setting a predetermined mesh in the spraying range E, and the display unit 34 displays the spraying device 10 for each mesh set by the mesh setting unit 31h. The display form of the mesh is changed and displayed according to the amount of sprayed material.

According to the above configuration, it is possible to intuitively grasp the location where the amount of the material actually spread is small and the area where the amount of the material actually spread is large. For this reason, it is possible to make an appropriate work plan according to the work results by grasping the locations where spraying is unnecessary or necessary and by adjusting the spraying amount.
Further, the support device 30 for the flying object 1 includes a correcting unit 31f1 that corrects variations in the position of the flying object 1 acquired by the position information acquiring unit 31a. Based on the position, the movement trajectory of the flying object 1 is displayed.

According to the above configuration, even when the frequency of acquiring the position information of the flying object 1 is relatively low, the display unit 34 can smoothly display the movement trajectory of the flying object 1, and the movement trajectory can be displayed. can be easily grasped.
Further, the support device 30 of the aircraft 1 includes an operation information acquisition unit 31j for acquiring operation information of the operation device 15 capable of operating the aircraft 1, and the display unit 34 displays the operation information acquired by the operation information acquisition unit 31j. Based on, the operation of the operation device 15 is displayed.

According to the above configuration, since the operation of the flying object 1 and the actual movement trajectory can be confirmed, the characteristics of the movement of the flying object 1 with respect to the operation of the operation device 15 can be grasped. As a result, the operator of the flying object 1 can grasp the operability of the flying object 1 more properly, so that the operating skill of the flying object 1 can be improved at an early stage.
Further, the support system 80 for the aircraft 1 includes the support device 30 for the aircraft 1 and the aircraft 1 .

According to the above configuration, it is possible to realize the support system 80 for the flying object 1 that exhibits the excellent effects of the support device 30 for the flying object 1 described above.
Further, the flying object 1 has a detecting unit 23 for detecting whether the flying object 1 is positioned within the field area or outside the agricultural field area, and the detecting unit 23 detects whether the flying object 1 is positioned within the agricultural field area. When it is detected that the flying object 1 is positioned inside the field, the spraying device 10 is allowed to spread the sprayed material, and when it is detected that the flying object 1 is positioned outside the field area, the spraying device 10 sprays the sprayed material. and a control unit 21 for prohibiting spraying.

According to the above configuration, it is possible to prevent the flying object 1 from spraying the material to be spread outside the area of the field. Therefore, it is possible to prevent the spraying device 10 from spraying the sprayed material on a field that is not the spraying target. In addition, since the spraying device 10 does not spray the spread material on the road around the field and wasteful consumption of the spread material can be suppressed, the flying object 1 can carry the minimum amount of the spread material and spread it. work can be done. As a result, the operating time of the aircraft 1 can be ensured.
[Second embodiment]
FIG. 4 shows another embodiment (second embodiment) of the support system 80 for the aircraft 1 . The support device 30 for the flying object 1 of the first embodiment displays the result of work (spraying work) by the flying object 1, but the support device 30 for the flying object 1 of the second embodiment displays The movement trajectory and the spraying range (effective spraying width) E in the previous work can be displayed, and the work plan for the aircraft 1 can be created. In the following, the support system 80 for the aircraft 1 of the second embodiment will be described with a focus on the configuration different from that of the above-described embodiment (first embodiment). detailed description is omitted.

As shown in FIG. 4 , the third control device 41 of the server 40 has a work plan setting section 44 . The work plan setting unit 44 is composed of a CPU, a program stored in the third storage unit 42, and the like. The work plan setting unit 44 sets the work to be performed in the field, the period of the work (work period), the aircraft 1 to perform the work, the movement route of the aircraft 1, and the like as a work plan. A work plan is a plan of how work is to be done within a given period (work period) in a given field. 1” and the “moving route” of the flying object 1, and is performed by, for example, an operator or a manager before actually performing the work.

The third storage unit 42 of the server 40 stores default values of standard work and work periods when setting work plans. The value is set by past work or the like.
Next, the setting of the work plan by the work plan setting unit 44 will be described in detail. The work plan setting by the work plan setting unit 44 can be performed by operating the support device 30 communicably connected to the server 40 . Specifically, when the support device 30 requests the server 40 to create a work plan, the work plan setting unit 44 of the server 40 operates to create a work plan for each field as shown in FIGS. 5A to 5D. The work plan screen M2 to be created is displayed on the display unit 34. FIG.

Screens displayed on the display unit 34 will be described in detail below. As shown in FIGS. 5A to 5D, the work plan screen M2 displays a portion for inputting the details of the work plan, the area of the field, and the surroundings of the field. Specifically, the work plan screen M2 has a work input section 156, a peripheral image 160, and a calling section 157. FIG.
The work input unit 156 can input information such as the date of work, the field where work is performed, the worker who performs the work, the aircraft 1 which performs the work, and the like. The work plan setting unit 44 stores the information input to the work input unit 156 as a work plan in the third storage unit 42 . As shown in FIGS. 5A to 5D, the work input unit 156 includes a date input unit 156a, a field input unit 156b, a worker input unit 156c, an aircraft input unit 156d, a route creation unit 156e, and an OK button. 156f and . The date input section 156a is a section for inputting the date of work. The field input section 156b is a part for inputting the field on which work is to be performed. The worker input section 156c is a section for inputting the worker who performs the work. The flying object input unit 156d is a part for inputting the flying object 1 to be operated. The route creation unit 156e can be selected and operated, and the route of the aircraft 1 can be drawn on the peripheral image 160 by selecting the route creation unit 156e and performing an operation such as tracing the display unit 34 with a fingertip. can be done. The confirm button 156f is a button for confirming the information input to the date input unit 156a, field input unit 156b, operator input unit 156c, flying object input unit 156d, and route creation unit 156e as a work plan. When the confirm button 156f is operated, the work plan setting unit 44 stores the information input to the work input unit 156 as a work plan in the third storage unit 42. FIG.

The peripheral image 160 is an image that displays the area of the farm field and the surroundings of the farm field. The peripheral image 160 displays, for example, the area of the farm field and the surroundings of the farm field in a bird's-eye view. The peripheral image 160 displays the field called by the calling unit 157 .
The calling unit 157 can input information such as the date of past work, the field where the work was performed, the worker who performed the work, the aircraft 1 which performed the work, and the like. The work plan setting unit 44 acquires past work from the third storage unit 42 based on the information input to the calling unit 157 . As shown in FIGS. 5A to 5D, the calling unit 157 has a date input unit 157a, a field input unit 157b, a worker input unit 157c, an aircraft input unit 157d, and a search button 157e. there is The date input section 157a is a section for inputting the date of past work. The field input section 157b is a part for inputting the field in which work has been performed in the past. The worker input section 157c is a section for inputting the worker who performed the work in the past. The flying object input section 157d is a part for inputting the flying object 1 that has worked in the past. The search button 157e is a button for confirming to search for past work based on the information input to the date input section 157a, field input section 157b, operator input section 157c, and aircraft input section 157d. When the search button 157e is operated, the display section 34 displays the list display section 158 on the work plan screen M2 as shown in FIG. 5B. It is not necessary to input information into all of the date input section 157a, the field input section 157b, the operator input section 157c, and the aircraft input section 157d. It is good if there is

As shown in FIG. 5B , the list display unit 158 displays a list of past works obtained from the third storage unit 42 based on the information input by the work plan setting unit 44 to the calling unit 157 . Specifically, for example, the list display unit 158 displays a list of information such as the work date acquired by the work plan setting unit 44, the field in which the work was performed, the worker who performed the work, the aircraft 1 in which the work was performed, and the like. display as The past work displayed in the list display section 158 can be selected. When one past work is selected from among the past works displayed on the list display unit 158, the display unit 34 displays information on the one past work on the work plan screen M2, as shown in FIG. The movement trajectory of the flying object 1 in the past work, the altitude H1 of the flying object 1, and the spraying range (effective spraying width) E of the sprayed material are displayed. Specifically, the work plan screen M2 has a basic display portion 159, a movement locus image 161, and a spray range image 166. FIG. The basic display section 159 displays various information regarding past work. Specifically, for example, the basic display unit 159 displays the start date and time of the past work, the end date and time of the work, the work time, the name of the worker, the model number of the aircraft 1, the wind direction and wind speed in the field, and the like.

As shown in FIG. 5C, the movement trajectory image 161 is an image displaying the actual movement trajectory of the aircraft 1 in the past work, and is an image based on the trajectory generated by the trajectory generator 31f. In other words, the display unit 34 displays the movement trajectory of the flying object 1 based on the position of the flying object 1 acquired by the position information acquiring unit 31a and the position of the flying object 1 corrected by the correcting unit 31f1. The display unit 34 displays the moving trajectory image 161 in different display modes inside the field area and outside the field area. As shown in FIG. 5C, the display unit 34 displays the movement trajectory image 161 within the field region with a solid line 161b, and displays the movement trajectory image 161 outside the field region with a dashed line 161c. In addition, the display unit 34 displays the movement start point of the flying object 1 and the final point of the flying object 1 in the movement trajectory image 161 in a predetermined graphic form. In this embodiment, the display unit 34 displays the movement start point of the flying object 1 with a substantially circular graphic 161a, and displays the final point of the flying object 1 with a simplified graphic 161d of the flying object 1. FIG.

As shown in FIG. 5C, the dispersion range image 166 is an image displaying the altitude H1 of the flying object 1 and the dispersion range E calculated by the calculation unit 31g. The dispersion range image 166 is displayed in different display forms according to the altitude H1 of the flying object 1. FIG. The display unit 34 changes the display density of the dispersion range image 166 in accordance with the altitude H1 of the flying object 1 . Specifically, the display unit 34 displays the display density of the dispersion range image 166 so as to increase in proportion to the altitude H1 of the flying object 1 . That is, as the altitude H1 of the flying object 1 decreases, the display unit 34 displays the display density of the dispersion range image 166 lighter. On the other hand, as the altitude H1 of the flying object 1 increases, the display unit 34 displays the display density of the dispersion range image 166 darker. Note that the display unit 34 may display a legend 167 indicating the altitude H1 of the flying object 1 corresponding to the display density of the spray range image 166. FIG.

Further, as shown in FIG. 5D, when the wind speed in the field is a predetermined value or more (for example, the wind speed is 1 m/s or more), the display unit 34 operates the change button 170 to switch the display of the spray range image 166, It is possible to display the spraying range E of the sprayed material in consideration of the wind direction and wind speed acquired by the wind information acquisition unit 31e. In such a case, the spray range image 166 is the spray range calculated based on the altitude H1 of the flying object 1, the spray information obtained by the spray information obtaining section 31b, and the wind direction and wind speed obtained by the wind information obtaining section 31e. It is an image displaying E and. That is, when the change button 70 is operated, the spread range image 166 is changed from the spread range E calculated by the calculation unit 31g based on the spread information, the position information, the moving speed of the aircraft 1, the altitude H1, and the like. The display is switched to the spray range E calculated based on the information, the position information, the moving speed of the aircraft 1, the altitude H1, and the wind direction and wind speed acquired by the wind information acquisition unit 31e.

Although the present invention has been described above, it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 flying object (multicopter)
10 spraying device 15 operation device 23 detection unit 30 support device 31a position information acquisition unit 31b dispersion information acquisition unit 31c altitude calculation unit 31d altitude information acquisition unit 31e wind information acquisition unit 31f1 correction unit 31g calculation unit 31h mesh setting unit 31j operation information acquisition Part 34 Display part 80 Support system E Spray range H1 Altitude of flying object

Claims (4)

a position information acquisition unit that acquires the position of the flying object;
a spread information acquisition unit that acquires information about the spread of the spread material of the spreader provided in the flying vehicle;
a display unit that displays an area of a farm field and a periphery of the farm field;
a trajectory generating unit that generates a movement trajectory of the flying object based on the position of the flying object acquired by the position information acquiring unit;
a computing unit that computes a spread range of the material spread by the spreading device based on the information acquired by the spread information acquisition unit;
an altitude information acquisition unit that acquires altitude information of the flying object;
an altitude selection unit operable and capable of arbitrarily selecting an altitude range of the flying object;
with
The altitude selection unit can select an upper limit value and a lower limit value as the altitude range of the flying object,
The display unit displays the movement trajectory and the spraying range of the flying object within the altitude range of the flying object selected by the altitude selecting unit in accordance with the operation of the altitude selecting unit. display at corresponding positions around , and hide the movement trajectory and the spray range of the flying object outside the altitude range of the flying object selected by the altitude selection unit ,
Even when the movement trajectory of the flying object and the dispersion range image within the range selected by the altitude selection unit are displayed, the altitude selection unit is operated and outside the range selected by the altitude selection unit Then, the flying object support device hides the movement trajectory image and the dispersion range image . A mesh setting unit that sets a predetermined mesh in the spraying range,
2. The flight according to claim 1 , wherein the display unit displays the meshes in different display forms according to the amount of the material spread by the spraying device for each of the meshes set by the mesh setting unit. Body support device. 3. An aircraft support system comprising the aircraft support device according to claim 1 or 2 and the aircraft. The aircraft is
a detection unit that detects whether the flying object is positioned within the area of the farm field or outside the area of the farm field;
When the detection unit detects that the flying object is positioned within the area of the field, the spraying device is allowed to spread the material to be spread, and the flying object is positioned outside the area of the field. a control unit that prohibits the spraying device from spraying the sprayed material when it is detected that the
4. The aircraft support system according to claim 3 , comprising:

Images