KR102256506B1 - Distributing system using agricultural drones - Google Patents

Abstract

A control server for controlling an agricultural spraying system according to an embodiment of the present invention, comprising: a memory storing a program for controlling the agricultural spraying system; And a processor that executes a program stored in the memory, wherein the processor includes at least one of a type of a target crop to be sprayed with a target object to be sprayed, a purpose of spraying the target object, an area of a spray location of the target object, and a spray location according to the execution of the program. On the basis of the spreading information of the target, the mixture information including the raw material, mixing ratio, and weight of the target is set, and the target is selected based on the set target mixing information by controlling the target mixing module. The first blended object is prepared by mixing, and the weight set based on drone information including the remaining battery amount received from the drone is adjusted to the first blended object manufactured from the object to be sprayed by controlling the packaging module of the object to be sprayed. The first cartridge is stored in the first cartridge so as to have it, and the first cartridge is placed in a first area on a predetermined station, and when a request for providing the first cartridge is received from the drone, the station is controlled and the first area where the first cartridge is placed is It is intended to provide an agricultural spraying system control server that allows drones to be placed in a loading area waiting to load compounded target cartridges.

Description

Spraying system using agricultural drones{DISTRIBUTING SYSTEM USING AGRICULTURAL DRONES}

The present invention relates to a spraying system using a drone, and specifically relates to an automatic spraying system including a control server that controls a system for spraying targets such as fertilizers, pesticides, and seeds, and a drone to spray the targets.

Agricultural technology in Korea has been steadily developed, and now agriculture is about to reach its second heyday as a promising industrial field in the future. However, since they still do not have technological competitiveness compared to advanced countries in detailed areas, securing technological competitiveness that can cope with the next-generation agricultural industry is pointed out as an urgent need.

Currently, automation is much advanced for crop cultivation, but the importance of automation is more emphasized as the labor force in rural areas is aging. In particular, in the case of control and fertilizer spraying operations, which occupy a large proportion in agriculture, there are factors that threaten not only the difficulty of the operation but also the health of workers, so research and development on automation is urgently required.

Typically, control and fertilizer spraying work is required at least 10 times a year depending on the crop, which is a great burden on workers. In particular, labor-intensive control and fertilizer spraying work using a power sprayer by a worker makes it difficult to reduce production costs, loss due to scattering of fine particles generated from high-pressure nozzles, as well as poisoning accidents of nearby workers. Spraying can lead to reduced effectiveness of control and fertilizer application.

As such, in addition to excessive labor force, the prevention of the above-described problems and the avoidance of fertilizer spraying are intensifying, so it is time to introduce a new work system.

In order to solve this problem, research is being conducted on a technology for spraying pesticides and fertilizers while remotely controlling a drone. As a conventional technique, an invention such as Korean Utility Model Publication No. 20-0343358 (name of the invention: unmanned aerial pesticide sprayer) has been proposed.

However, even in the case of the above invention, there is a problem in that the manpower to control the drone is consumed, and the complete automation of the control and fertilizer spraying operation cannot be achieved.

In addition, when the drone's battery is discharged, the task is stopped, and there is a problem that the battery replacement and charging must be performed manually.

In the spraying system using a drone according to the present invention, the spraying system control server sets the weight of the compounded object to be sprayed in advance based on the battery remaining amount information of the agricultural spraying drone and provides it to the agricultural spraying drone, so that the agricultural spraying drone discharges during the spraying operation. I want to solve the problem that becomes.

A control server for controlling an agricultural spraying system according to an embodiment of the present invention, comprising: a memory storing a program for controlling the agricultural spraying system; And a processor that executes a program stored in the memory, wherein the processor includes at least one of a type of a target crop to be sprayed with a target object to be sprayed, a purpose of spraying the target object, an area of a spray location of the target object, and a spray location according to the execution of the program. On the basis of the spreading information of the target, the mixture information including the raw material, mixing ratio, and weight of the target is set, and the target is selected based on the set target mixing information by controlling the target mixing module. The first blended object is prepared by mixing, and the weight set based on drone information including the remaining battery amount received from the drone is adjusted to the first blended object manufactured from the object to be sprayed by controlling the packaging module of the object to be sprayed. The first cartridge is stored in the first cartridge so as to have it, and the first cartridge is placed in a first area on a predetermined station, and when a request for providing the first cartridge is received from the drone, the station is controlled and the first area where the first cartridge is placed is It is intended to provide an agricultural spraying system control server that allows drones to be placed in a loading area waiting to load compounded target cartridges.

In this embodiment, the station includes a conveyor that orbits a first area on the station and places it in a mounting area, which is a virtual area on the track, and the first area is based on a plurality of pre-stored compounded object type information. Thus, it is possible to provide an agricultural spraying system control server that is partitioned and set based on the number of types of compounded targets on the conveyor.

In the method of controlling an agricultural spraying system according to an embodiment of the present invention, the type of target crop to which the target to be sprayed is sprayed, the purpose of spraying the target, the area of the spraying place, and Setting the target object formulation information including the raw material, the blending ratio and the weight of the object to be sprayed based on the information on the object to be sprayed including at least one of the positions of the object to be sprayed; Preparing a first compound to be sprayed by mixing the target to be sprayed on the basis of the set target formulation information; By controlling the object packaging module to be sprayed, the first blended object manufactured from the object blending module is stored in the first cartridge to have a preset weight based on drone information including the remaining battery amount received from the drone, and the first Placing one cartridge in a first area on a predetermined station; And upon receiving a request for providing the first cartridge from the drone, controlling the station so that the first area in which the first cartridge is placed is placed in the mounting area in which the drone waits to mount the compounded target cartridge, It is intended to provide a control method for agricultural spraying systems.

In this embodiment, the station includes a conveyor that orbits a first area on the station and is placed in the mounting area, and the first area is on the conveyor based on a plurality of compounded object type information previously stored in the database. It is possible to provide a method for controlling an agricultural spraying system that is partitioned and set based on the number of types of compounded targets.

In the agricultural spraying drone constituting the agricultural spraying system according to another embodiment of the present invention, the drone body; battery; A memory in which a program for performing spraying of the target object is stored; And a processor that executes a program stored in the memory, wherein the processor transmits drone information including the remaining battery capacity to the agricultural spraying system control server according to the execution of the program, and based on the drone information from the agricultural spraying system control server Receives information on the first cartridge in which the compounded target with a set weight is stored, transfers the main body to a predetermined mounting area to mount the first cartridge, and requests to provide the first cartridge to the agricultural spraying system control server. We want to provide drones.

In the present embodiment, the mounting area is a virtual area located on the track of the conveyor that orbits the first position on the station where the first cartridge is located. It is possible to provide an agricultural spraying drone that moves to the spray spray position and sprays the target spray stored in the first cartridge.

In the control method of an agricultural spraying drone according to another embodiment of the present invention, the method comprising the steps of: transmitting drone information including the remaining amount of the battery to the agricultural spraying system control server; Receiving first cartridge information in which a compounded target object having a weight set based on the drone information is stored from the agricultural spraying system control server; Transferring the body of the drone to a predetermined mounting position to mount the first cartridge; And it is intended to provide an agricultural spraying drone control method comprising the step of requesting to provide a first cartridge to the agricultural spraying system control server.

In the present embodiment, the mounting area is a virtual area located on the track of the conveyor that orbits the first area on the station where the first cartridge is located. It is possible to provide an agricultural spraying drone control method comprising the step of moving to the spraying position and spraying the object to be sprayed stored in the first cartridge.

In the agricultural spraying system according to the present invention, since the agricultural spraying system control server provides the compounded target of a set weight based on the battery remaining amount information of the agricultural spraying drone, the battery of the agricultural spraying drone is discharged during the spraying of the target to be sprayed. It is possible to solve the problem of stopping the spraying operation.

In addition, the agricultural spraying system stores the compounded targets in the cartridge from the step of manufacturing the compounded targets required by the worker in the targeting targets mixing module based on the compounding information provided by the worker, and uses a drone to spray the targets. There is an effect that it can be automatically carried out to the step of transporting and spraying the object to be sprayed.

1 is a block diagram showing an agricultural spraying system using a drone according to the present invention.
Figure 2 is a schematic plan view showing a station of the agricultural spraying system using a drone according to the present invention.
3 is a block diagram showing the agricultural spraying system control server according to an embodiment of the present invention.
Figure 4 is a data processing flow diagram of the agricultural spraying system using a drone according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" with another part, this includes not only "directly connected" but also "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary.

Hereinafter, an agricultural spraying system 1 using a drone according to the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing an agricultural spraying system 1 using a drone according to the present invention, Figure 2 is a schematic plan view showing a station of the agricultural spraying system using a drone according to the present invention, Figure 3 is one of the present invention It is a block diagram showing the agricultural spraying system control server according to an embodiment.

Referring to FIG. 1, the agricultural spraying system 1 using a drone according to the present invention performs compounding and packaging of targets to be sprayed under the control of a control server 400 to create a compounded targets cartridge C, and a drone 500 It relates to a system that transfers it to and performs spraying of targets. The agricultural spraying system 1 may include a target spray compounding module 100, a target spray packaging module 200, a station 300, an agricultural spraying system control server 400, and an agricultural spraying drone 500.

The target object mixing module 100 may be a module for generating and providing a compounded object by mixing a plurality of raw materials to be sprayed according to the control of the object mixing and packaging control server 400 to be described later. The target object mixing module 100 may include a target object raw material receiving unit 110, a target object compounding unit 120, and a compound target object discharging unit 130.

On the other hand, the raw material to be sprayed herein may be a spray object composed of particles that can be sprayed on a large area such as fertilizer, pesticide, and seeds. For example, fertilizers such as naphtha, phosphate ore, can be said to be representative. In addition to killed parabolic raw material and maintain or enhance the productivity of the soil, the nutrients to inject into the soil or plants in order to better grow the crop and directly is, even if not a nutrient for crop improvement and the like of physical chemical resistance of the soil, useful microorganisms It includes any substance that indirectly helps the growth of crops, such as converting nutrients in a form that cannot be used by plants in the soil into a usable form, or reducing the toxicity of toxic substances. can do. In addition, pesticides are drugs that remove insects, germs, and weeds that are harmful to crops, and may include fungicides, insecticides, and the like.

Again, in the target material mixing module 100, the target material raw material receiving unit 110 is formed by being divided into a plurality of spaces on the upper part of the target material mixing module 100, and different raw materials for the target material are accommodated in each space. It may be a receiving member. In addition, the object to be sprayed mixing unit 120 is provided below the object to be sprayed raw material receiving unit 110, and when a plurality of targets to be sprayed flows in from the raw material to be sprayed receiving unit 110, it is stirred to produce a homogeneous compounded object to be sprayed. It can be part. In addition, the compounded object discharging unit 130 is provided below the object to be sprayed mixing unit 120 and to accommodate the compounded object generated by the object to be sprayed unit 120 in the compounded object cartridge (C) to be described later. It may be a part that discharges downward. The configuration of the target object mixing module 100 as described above is described for example, and is not limited thereto, and may include various configurations capable of mixing and discharging the object to be sprayed, or may have a modified configuration.

The target object packaging module 200 may be a module that transfers the compounded object cartridge C provided from the object compounding module 100 and puts it into the station 300 to be described later. For example, the object packaging module 200 may have a configuration of a robot arm. Through this, the cartridge to be sprayed (C) is fixed and transported and placed under the ejection portion of the object to be sprayed, and the compound to be sprayed discharged from the ejection portion of the object to be sprayed is stored in the cartridge (C), and transferred to the station 300. can do.

The station 300 may be for transporting it in order to provide a compounded spray product cartridge C to an agricultural spraying drone 500 to be described later. Station 300 may include a conveyor 310. For example, the conveyor 310 forms a circular orbit and may reciprocate orbit the compounded object cartridge C that is put on the transfer belt thereof.

The agricultural spraying system control server 400 according to an embodiment of the present invention controls the target object mixing module 100, the target object packaging module 200, and the station 300 to provide a compounded object cartridge (C), and It may be a server that controls the transport and spraying of the compounded object cartridge (C) of the agricultural spraying drone 500. The agricultural spraying system control server 400 may include a communication module 410, a memory 420, a processor 430, and a database (DB, 440).

The communication module 410 provides a communication interface to the agricultural spraying system control server 400 in connection with the communication network. It may serve to transmit and receive data to the spray drone 500. Here, the communication module 410 may be a device including hardware and software necessary for transmitting and receiving a signal such as a control signal or a data signal through a wired or wireless connection with another network device.

In the memory 420, a program for controlling the agricultural spraying system 1 may be recorded. In addition, the memory 420 may perform a function of temporarily or permanently storing data processed by the processor 430. Here, the memory 420 may include a volatile storage medium or a non-volatile storage medium, but the scope of the present invention is not limited thereto.

The processor 430 may control the entire process provided by the agricultural spraying system 1, such as mixing targets, packaging targets, transporting targets, moving drones, and spraying targets. Each step performed by the processor 430 will be described later with reference to FIG. 4.

Here, the processor 430 may include all types of devices capable of processing data, such as a processor. Here, the'processor' may refer to a data processing device embedded in hardware having a circuit physically structured to perform a function represented by, for example, a code included in a program or an instruction. As an example of a data processing device built into the hardware as described above, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, and an application-specific integrated (ASIC) circuit), a field programmable gate array (FPGA), and the like, but the scope of the present invention is not limited thereto.

The agricultural spraying drone 500 according to another embodiment of the present invention may be a drone that transfers the compounded object cartridge C to spray the object to be sprayed at a target location. The agricultural spraying drone 500 may include a body, a battery, a camera, a communication module, a memory, and a processor as main components.

The drone body may be a part for mounting components such as a battery and a camera described above, and may include all other components for checking the flight and location of the drone.

The communication module may be a module that provides a communication interface for the agricultural spraying drone to communicate with the agricultural spraying system control server 400 and the worker terminal P in connection with a communication network. The memory may be stored in a program that performs spraying of the object to be sprayed. The processor may be for executing a program stored in a memory.

Hereinafter, a method of controlling the agricultural spraying system according to the present invention will be described in detail.

4 is a data processing flow diagram of the agricultural spraying system 1 using a drone according to the present invention.

Referring to FIG. 4, the agricultural spraying system control server 400 includes at least one of a pre-set target crop for spraying a target crop, a target for spraying a target, an area of a target spraying site, and a location for spraying the target. On the basis of the spreading information of the spray, it is possible to set the formulation information of the target object including the raw material, the mixing ratio and weight of the object to be sprayed (S110). The information on the spraying of the target can be provided to the spraying system control server 400 for agriculture by inputting the information to the spraying target through the worker terminal P (S100).

For example, if the target crop is corn and the purpose of spraying the target is control, the appropriate raw material and mixing ratio of the target can be set. In addition, the weight of the object to be transferred and sprayed may be set based on the area of the area where the object to be sprayed and the target position of the object to be sprayed are spaced apart from the place where the station 300 is located. In some cases, it is possible to set the raw material and mixing ratio of the object to be sprayed by additionally considering climate information such as temperature, humidity, and wind direction at the time of application of the object to be sprayed, or the moisture permeability of soil and soil.

The agricultural spraying system control server 400 may control the target object mixing module 100 based on the set target object formulation information to mix the object to be sprayed to produce a first blend object to be sprayed (S120). Here, the first blended object may be one type of blended object among various types of blended object stored in the database 440.

On the other hand, the agricultural spraying drone 500 may transmit drone information including the remaining battery capacity to the agricultural spraying system control server 400 (S130). Here, the drone information may include information such as the remaining battery capacity of the drone, the total capacity of the battery, the maximum loading load, and the current loadable load.

The agricultural spraying system control server 400 controls the object to be sprayed packaging module 200 to store the first blended object to be sprayed manufactured from the object to be sprayed module 100 in the first cartridge C1 (S140). . In this case, the target object of an appropriate weight is stored in the first cartridge C1 based on the drone information including the remaining battery capacity received from the drone (S140). Here, the first cartridge C1 may be a cartridge C in which the first compound to be sprayed is stored among the plurality of compounded targets.

Specifically, the agricultural spraying system control server 400 can increase the weight of the first compound to be sprayed, which is accommodated in the first cartridge C1 when the remaining battery capacity of the drone is large, and when the remaining battery capacity of the drone is small, the first It is possible to reduce the weight of the compound to be sprayed.

Next, the agricultural spraying system control server 400 may place the first cartridge C1 in the first zone X on the predetermined station 300 (S150).

On the other hand, the station 300 specifically orbits the first zone X on the station 300 so that the drone is placed in a pre-set mounting zone S to mount the target cartridge C. It may include. Here, the first zone (X) may be a zone partitioned and set based on the number of types of the compounded targets on the conveyor 310 based on information on a plurality of types of compounded targets previously stored in the database 440. have.

For example, referring to FIG. 2, if there are four types of compounded targets stored in the database 440, each type of compounded target is divided into four parts on the conveyor 310 for each first zone (X), A second zone (Y), a third zone (Z), and a fourth zone (W) may be set.

In addition, the mounting area S may be a position for the drone to mount when the drone is disposed on the conveyor 310 at a predetermined interval and the target cartridge C is disposed below it. For example, the mounting area S may be a virtual area located on the track of the conveyor 310 moving in a circular orbit.

Again, the agricultural spraying drone 500 receives information from the agricultural spraying system control server 400 from the first cartridge (C1) in which the compounded target object having a weight set based on the drone information is stored, and the drone body is a first cartridge. In order to mount (C1), it is possible to transfer (S160) to a predetermined mounting area (S), and request (S170) to provide the first cartridge C1 to the agricultural spraying system control server 400 (S170).

And, when the agricultural spraying system control server 400 receives a request to provide a first cartridge (C1) from the agricultural spraying drone 500, it controls the station 300 to the station 300 where the first cartridge (C1) is located. The first area X on the top may be arranged (S180) in a pre-set mounting area S for mounting the target cartridge C for the drone. Then, the agricultural spraying system control server 400 may transmit a first cartridge (C1) mounting request (S190) to the agricultural spraying drone 500.

Next, the drone may mount the first cartridge C1 in the mounting area S, and transfer the first cartridge C1 to a preset spraying position for the target to be sprayed (S200). Further, by transmitting the spraying image of the target object photographed by the camera to the operator's terminal (S210), the operator can check the progress and process of spraying the target object in real time.

Since the agricultural spraying system 1 according to the present invention described above provides the blended target of the set weight based on the battery remaining amount information of the agricultural spraying system control server 400 of the agricultural spraying drone 500, the agricultural spraying system 1 The drone 500 may solve the problem that the battery is discharged while the battery is spraying the object to be sprayed.

In addition, the agricultural spraying system (1) from the step of manufacturing the compound to be sprayed required by the operator in the object to be sprayed in the module 100 to be sprayed based on the compounding information provided by the operator, the compound to be sprayed to the cartridge (C). There is an effect that it can be automatically carried out to the step of spraying the target by storing it and transferring it through a spraying target to be sprayed drone.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

1: Agricultural spraying system
100: target object mixing module
110: raw material receiving part to be sprayed
120: mixture part to be sprayed
130: compound to be sprayed discharge part
200: target object packaging module
300: station
310: conveyor
400: Agricultural spraying system control server
500: agricultural spraying drone

Claims (8)

In the control server for controlling the agricultural spraying system,
A memory in which a program for controlling an agricultural spraying system is stored; And
A processor that executes a program stored in the memory,
The processor according to the execution of the program,
The raw material of the target to be sprayed, based on the information on the spraying target including at least one of the type of the target crop to be sprayed, the purpose of spraying the target, the area of the target spraying place, and the spray location inputted from the operator's terminal, Set the compounding information of the object to be sprayed including the mixing ratio and weight,
The first blended object is prepared by blending the object to be sprayed on the basis of the set target object blending information by the target object mixing module,
By the object packaging module to be sprayed, the first blended object manufactured from the object blending module is stored in the first cartridge to have a weight set based on drone information including the remaining amount of battery received from the drone, and the first object to be sprayed is stored in the first cartridge. 1 The cartridge is placed in the first area on the predetermined station,
Upon receiving the request to provide the first cartridge from the drone, the station allows the first area in which the first cartridge is placed to be placed in a mounting area in which the drone waits to mount the compounded target cartridge,
The station includes a conveyor that orbits the first area on the station and places it in a mounting area, which is a virtual area on the track,
The first zone is partitioned and set based on the number of types of compounded targets on the conveyor based on a plurality of types of compounded targets previously stored in a database,
The agricultural spraying system includes the target object mixing module, the target object packaging module, a station, an agricultural spray system control server, and a drone,
The target object mixing module is divided into a plurality of spaces at the top, and is provided in a raw material receiving unit in which different raw materials for the target object are accommodated in each space, and provided under the raw material receiving unit. It includes a target object mixing unit for producing a compounded object and a target object discharging unit provided below the target object compounding unit for discharging the generated compound to be sprayed downward,
The target object packaging module includes a robot arm that fixes and transports the first cartridge, and uses the robot arm to place the first cartridge under the target object discharge unit. delete In the method of controlling an agricultural spraying system,
An agricultural spraying system based on information on spraying targets inputted from the operator's terminal, including at least one of the type of target crop to be sprayed, the purpose of spraying the target, the area of the target spraying site, and the location of the target spraying target. A step of setting, by the control server, information on mixing targets including raw materials, mixing ratios and weights of the targets;
Preparing a first blended object by mixing, by the target object mixing module, the object to be sprayed based on the set information on the set object to be sprayed;
The object packaging module stores the first blended object manufactured from the object mixing module in a first cartridge to have a preset weight based on drone information including the remaining amount of battery received from the drone, and the first object to be sprayed is stored in the first cartridge. Placing one cartridge in a first area on a predetermined station; And
Upon receiving the request for providing the first cartridge from the drone, the station causing the first area in which the first cartridge is disposed to be placed in a mounting area in which the drone waits to mount the compounded target cartridge, ,
The station includes a conveyor that orbits the first area on the station and places it in a mounting area, which is a virtual area on the track,
The first zone is partitioned and set based on the number of types of compounded targets on the conveyor based on a plurality of types of compounded targets previously stored in a database,
The agricultural spraying system includes the spraying material mixing module, the spraying material packaging module, a station, an agricultural spraying system control server and a drone,
The target object mixing module is divided into a plurality of spaces at the top, and is provided in a raw material receiving unit in which different raw materials for the target object are accommodated in each space, and is provided under the raw material receiving unit. It includes a target object mixing unit for producing a compounded object and a target object discharging unit provided below the target object compounding unit for discharging the generated compound to be sprayed downward,
The target object packaging module includes a robot arm for fixing and transporting the first cartridge, and using the robot arm to place the first cartridge under the target object discharging unit, the agricultural spraying system control method. delete In the agricultural spraying drone constituting the agricultural spraying system,
Drone body;
battery;
A memory in which a program for performing spraying of the object to be sprayed is stored; And
A processor that executes a program stored in the memory,
The processor according to the execution of the program,
It transmits drone information including the remaining battery power to the agricultural spraying system control server,
Receives first cartridge information in which a compounded target object having a weight set based on the drone information is stored from the agricultural spraying system control server,
Transfer the drone body to a predetermined mounting area to mount the first cartridge,
Requesting the agricultural spraying system control server to provide the first cartridge,
The agricultural spraying system control server
Stored in the first cartridge to have a weight set based on drone information including the remaining amount of battery received from the drone body by the target object packaging module, the first compound to be sprayed manufactured from the target object mixing module, Arranging the first cartridge in a first area on a predetermined station,
Upon receiving the request for providing the first cartridge from the drone main body, the first area in which the first cartridge is placed is arranged in the mounting area in which the drone main body is waiting to mount the compounded target cartridge. Will,
The station includes a conveyor that orbits the first area on the station and places it in a mounting area, which is a virtual area on the track,
The first zone is partitioned and set based on the number of types of compounded targets on the conveyor based on a plurality of types of compounded targets previously stored in a database,
The agricultural spraying system includes the spraying material mixing module, the spraying material packaging module, a station, an agricultural spraying system control server and a drone,
The target object mixing module is divided into a plurality of spaces at the top, and is provided in a raw material receiving unit in which different raw materials for the target object are accommodated in each space, and provided under the raw material receiving unit. It includes a target object mixing unit for producing a compounded object and a target object discharging unit provided below the target object compounding unit for discharging the generated compound to be sprayed downward,
The target object packaging module includes a robot arm that fixes and transports the first cartridge, and uses the robot arm to place the first cartridge under the target object discharge unit. The method of claim 5,
An agricultural spraying drone that mounts the first cartridge in the mounting area, moves to a preset spraying position of the target to be sprayed, and sprays the target to be sprayed stored in the first cartridge. In the control method of an agricultural spraying drone,
Transmitting drone information including the remaining amount of the battery to the agricultural spraying system control server;
Receiving from the agricultural spraying system control server first cartridge information in which a compounded target object having a weight set based on the drone information is stored;
Transferring the body of the drone to a predetermined mounting area to mount the first cartridge; And
Including the step of requesting the provision of the first cartridge to the agricultural spraying system control server,
The agricultural spraying system control server
By the object packaging module to be sprayed, the first blended object manufactured from the object blending module is stored in the first cartridge to have a weight set based on drone information including the remaining battery amount received from the drone, and the Place the first cartridge in the first area on the predetermined station,
Upon receiving the request to provide the first cartridge from the drone, the station causes the first area in which the first cartridge is placed to be placed in the mounting area in which the drone waits to mount the compounded target cartridge,
The station includes a conveyor that orbits the first area on the station and places it in a mounting area, which is a virtual area on the track,
The first zone is partitioned and set based on the number of types of compounded targets on the conveyor based on a plurality of types of compounded targets previously stored in a database,
The agricultural spraying system includes the target object mixing module, the target object packaging module, a station, an agricultural spray system control server, and a drone,
The target object mixing module is divided into a plurality of spaces at the top, and is provided in a raw material receiving unit in which different raw materials for the target object are accommodated in each space, and provided under the raw material receiving unit. It includes a target object mixing unit for producing a compounded object and a target object discharging unit provided below the target object compounding unit for discharging the generated compound to be sprayed downward,
The target object packaging module includes a robot arm for fixing and transporting the first cartridge, and using the robot arm to place the first cartridge under the target object discharging unit, the agricultural spray drone control method. The method of claim 7,
And mounting the first cartridge in the mounting area, moving to a preset target spraying position, and spraying the target object stored in the first cartridge.

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