KR20230040193A - Drone-based vegetation soil generating and discharging device and its system - Google Patents

Abstract

A vegetation soil generating and discharging device according to an embodiment of the present invention comprises: an accommodating part for embedding at least one material constituting vegetation soil; a discharge part that includes a plurality of nozzles providing a plurality of passages for distributing and accommodating the vegetation soil in the accommodating part, a plurality of discharge ports disposed at one end of each of the plurality of nozzles to discharge the vegetation soil to the outside, and a propeller part for blowing the vegetation soil discharged from the plurality of discharge ports; and a processor that rotates at least one of the plurality of nozzles and the propeller part by controlling a motor providing a predetermined rotational force. Therefore, the present invention can provide the drone-based vegetation soil generating and discharging device and system thereof for generating vegetation soil containing a plurality of materials using a drone and dispersing and discharging the generated vegetation soil.

Description

Drone-based vegetation soil generation and discharge device and its system {DRONE-BASED VEGETATION SOIL GENERATING AND DISCHARGING DEVICE AND ITS SYSTEM}

The present invention relates to a drone-based vegetation soil generating and discharging device and system thereof. More specifically, it relates to a drone-based vegetation soil generating and discharging device and system for generating vegetation soil containing a plurality of materials using a drone and dispersing and discharging the generated vegetation soil.

A drone is an airplane or helicopter-shaped flying vehicle that flies by induction of radio waves without a human being on board, and is gradually being developed and commercialized in accordance with the era of the Fourth Industrial Revolution.

Drones are being used in various fields that require this technology. For example, drones are used for a wide range of purposes, such as environmental monitoring, forest fire monitoring, broadcasting relay, sports relay, pesticide spraying, road monitoring, security, military, leisure, and sports.

It is known that these drones can load up to 10 kg of various types of materials, such as liquid, powder, tablet, and solid, and can spray the loaded material on an area of up to about 40,000 square meters per hour. This can replace dozens of labor, and due to this high efficiency, the demand for technology using drones in the agricultural sector is increasing.

Republic of Korea Patent Publication No. 10-2019-0151315 discloses a drone spraying device.

However, in the conventional drone spraying device as described above, the outlet formed to discharge the vegetation soil mixed inside the device is composed of a single unit, so that the vegetation soil can be discharged only within the limited discharge range allowed by one outlet. There is a problem.

In addition, the conventional drone spraying device as described above only discharges the mixture inside the device to the outside using a motor inside the device, and provides a driving force for dispersing the vegetation soil discharged to the outside of the device to spread the vegetation soil to the ground surface. It does not have a configuration capable of performing a functional operation of evenly distributing it on the ground, so there is a limit to widely distributing the vegetation soil on the ground. In addition, when various materials such as pesticides, fertilizers, and/or seeds are mounted on a drone and sprayed, it is inconvenient for a person to measure and input the amount of each material required for spraying.

On the other hand, in the field such as the greening of devastated forests, an operation of spraying vegetation soil to regenerate the vegetation of the devastated forest is being actively performed.

However, in the conventional method of spraying vegetation soil, a person has to carry a spraying device incorporating the vegetation soil and manually spray the vegetation soil, which is a problem in that considerable cost and time are required for spraying vegetation soil over a wide area there is

In addition, in the case where the terrain on which the vegetation soil is to be spread forms a significant slope, there is a problem in that a person directly travels around the area to perform the work, which is accompanied by a risk.

In addition, various substances mounted on the drone may not be accurately sprayed on the area to be sprayed according to the surrounding terrain of the drone (eg, forest terrain having a predetermined slope) or weather conditions (eg, temperature and / or humidity). There is a possibility that it is not possible, so it is necessary to develop technology to solve these problems.

10-2019-0151315

The present invention has been made to solve the above problems, and a drone-based vegetation soil generation and dispensing device for generating vegetation soil containing a plurality of materials using a drone and dispersing and discharging the generated vegetation soil. and to provide the system. In detail, the present invention is a drone that loads at least one material constituting vegetation soil, mixes the loaded material based on a drone to generate the vegetation soil, and disperses and discharges the generated vegetation soil over a wide area. It is intended to provide a plant based vegetation soil generation and discharge device and its system.

In addition, the present invention is to provide a drone-based vegetation soil generation and discharge device and system having a plurality of outlets for dispersing and discharging vegetation soil in the device to the outside.

In addition, the present invention is to provide a drone-based vegetation soil generation and discharge device and system having a configuration for providing a driving force to disperse the vegetation soil discharged to the outside of the device.

In addition, the present invention senses the surrounding environment of the tether drone, and mixes the at least one material in an optimal ratio according to the sensed surrounding environment to generate the vegetation soil, and a drone-based vegetation soil generating and discharging device, and We want to provide that system.

In addition, the present invention is to provide a drone-based vegetation soil generating and discharging device and system that includes a plurality of power devices and supports flexible power application between the power devices.

However, the technical problems to be achieved by the present invention and the embodiments of the present invention are not limited to the technical problems described above, and other technical problems may exist.

An apparatus for generating and discharging vegetation soil according to an embodiment of the present invention may include: a receiving unit embedding at least one material constituting vegetation soil; A plurality of nozzles providing a plurality of passages for distributing and accommodating the vegetation soil in the accommodating unit, a plurality of discharge ports disposed at one end of each of the plurality of nozzles and discharging the vegetation soil to the outside, and discharged from the plurality of discharge ports. A discharge unit including a propeller unit for blowing air to the vegetation soil; and a processor that rotates at least one of the plurality of nozzles and the propeller unit by controlling a motor providing a predetermined rotational force.

At this time, the vegetation soil generating and discharging device further includes a sensor unit that obtains sensing data for an internal and external environment of the accommodating unit, and the processor determines a direction in which the vegetation soil is discharged from the discharging unit based on the sensing data. Determine the discharge direction angle representing the angle.

Also, the processor controls an angle adjustment unit that adjusts a direction angle of the discharge unit based on the determined discharge direction angle.

In addition, the accommodating part has a detachable form of a capsule-type cartridge embedding the vegetation soil.

In addition, the processor controls the sensor unit to provide at least one of ground surface inclination data obtained by measuring the inclination angle of the ground and infrared reflective amount data obtained by measuring the infrared reflective amount based on the infrared reflective material included in the vegetation soil as the sensing data. Acquire

Also, the processor determines the discharge direction angle based on at least one of the ground surface inclination angle data and the infrared reflectance data.

In addition, the processor controls the sensor unit to obtain the infrared reflectance data for each of a plurality of sub-regions included in the ground, and determines the density of vegetation soil on the ground based on the obtained infrared reflectance data. and the discharge direction angle is determined based on the determined density.

In addition, the accommodating unit further includes a classification unit for classifying a plurality of seeds and selectively including the classified seeds in the vegetation soil.

In addition, the classification unit includes an alignment plate including a first hole for classifying the plurality of seeds, and a second hole for selectively including seeds passing through the first hole of the alignment plate into the vegetation soil. an opening/closing plate that performs a predetermined vibration on the alignment plate; and an opening/closing unit that adjusts a diameter of at least one of the first hole and the second hole, wherein the processor controls the vibration unit to A predetermined vibration is supplied to the alignment plate, and a diameter of at least one of the first hole and the second hole is adjusted by controlling the opening/closing part.

In addition, the vegetation soil generating and discharging system according to an embodiment of the present invention includes a plurality of passages for accommodating at least one material constituting the vegetation soil, and a plurality of passages for distributing and accommodating the vegetation soil in the accommodation unit. Seed spray including a nozzle, a discharge unit including a plurality of discharge ports disposed at one end of each of the plurality of nozzles and discharging the vegetation soil to the outside, and a propeller unit for blowing the vegetation soil discharged from the plurality of discharge ports; and a processor that rotates at least one of the plurality of nozzles and the propeller unit by controlling a motor providing a predetermined rotational force.

In the drone-based vegetation soil generating and discharging device and system thereof according to an embodiment of the present invention, the vegetation soil is generated by loading at least one material constituting the vegetation soil and mixing the loaded material based on the drone. By doing so, there is an effect of minimizing the difficulty of individually weighing and inputting the mixing amount of each material required to manufacture the vegetation soil.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention have a plurality of outlets for discharging the vegetation soil in the device to the outside, so that the discharge range of the vegetation soil is covered by a plurality of outlets. There is an effect that can be expanded to a wider range that is allowed.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention have a configuration capable of providing a driving force to disperse the vegetation soil discharged to the outside of the device, thereby distributing the vegetation soil on the ground. It has the effect of being more widely distributed.

In addition, the drone-based vegetation soil generating and discharging device and system thereof according to an embodiment of the present invention senses the surrounding environment of the drone and mixes the at least one material in an optimal ratio according to the sensed surrounding environment. By generating the vegetation soil, there is an effect of creating an environment in which the vegetation of the seed in the vegetation soil can be more smoothly performed on the vegetation soil spraying environment.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention include a plurality of power devices and support flexible power application between the power devices, so that the power of one power device is excessive. There is an effect that can easily cope with emergency situations such as shortage.

In addition, the drone-based vegetation soil generating and dispensing device and system according to an embodiment of the present invention self/automatically set the mixing amount for each material constituting the vegetation soil using a tether drone to manually measure each material. It is possible to improve the convenience of workers when mixing vegetation soil, such as not having to do it individually.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention can produce vegetation soil containing only seeds of a desired size and/or type even when seeds of different diameters are put into one receiving part. Since it can be manufactured, there is an effect of conveniently selecting only seeds suitable for the vegetation environment to be created and mixing them with the vegetation soil and spraying them.

In addition, the drone-based vegetation soil generation and discharge device and system according to an embodiment of the present invention can safely spray vegetation soil using a tether drone even if the area to discharge vegetation soil has a dangerous terrain such as a steep slope. By doing this, there is an effect of reducing the risk burden of workers during the discharge of vegetation soil.

In addition, in the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention, the mixing amount of each material constituting the vegetation soil is determined according to the surrounding environmental conditions such as the surrounding terrain and/or climate conditions of the tether drone. By adjusting, there is an effect of allowing the seeds in the vegetation soil to grow more smoothly in the corresponding environment.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention detects the density of vegetation soil spread on the ground surface and reduces the density deviation, so that the vegetation soil is evenly sprayed on the ground surface. It has the effect of creating vegetation.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention adjusts the discharge direction angle for discharging the vegetation soil according to the inclination angle of the ground surface around the tether drone, so that any inclination angle Even if it is the ground surface, it has the effect of improving the aesthetics of devastated forests and slopes by spraying seeds stably and uniformly on the surface.

The drone-based vegetation soil generating and discharging device and its system according to an embodiment of the present invention enable the use of a tethered drone that is connected to a power supply device on the ground and continuously supplied with power, so that it can be used in a wide range of areas. When trying to discharge vegetation soil on the bed, it is possible to spray vegetation soil for a long time without restrictions due to the limit of internal battery capacity, thereby improving work efficiency.

However, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood from the description below.

1 is a conceptual diagram of a drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention.
2 is an internal block diagram of a ground station and a tether drone in a drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention.
3 is an internal block diagram of a seed spray according to an embodiment of the present invention.
4 is examples of seed spray cross-sectional views according to an embodiment of the present invention.
5 is an example of a cross-sectional view of a classification unit according to an embodiment of the present invention.
6 is an example of a cross-sectional view of an alignment plate according to an embodiment of the present invention.
7 is an example of a diagram for explaining a method of classifying a seed in a classification unit according to an embodiment of the present invention.
8 is an example of a state showing a hurricane sprayer according to an embodiment of the present invention.
9 is a flowchart for explaining a drone-based vegetation soil generation and discharge method according to an embodiment of the present invention.
10 is an example of a diagram for explaining a method for a drone to measure an inclination angle of a ground surface according to an embodiment of the present invention.
11 is an example of a diagram for explaining a method of measuring an infrared reflection amount by a drone according to an embodiment of the present invention.
FIG. 12 is an example of an enlarged view of a land surface area where an infrared reflective material is sprayed to explain a method of measuring an amount of infrared reflection according to an embodiment of the present invention.
13 is an example of a diagram for explaining a method of controlling a discharge direction angle of a discharge unit based on sensing data by a drone according to an embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention, and methods for achieving them will become clear with reference to the embodiments described later in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used for the purpose of distinguishing one component from another component without limiting meaning. Also, expressions in the singular number include plural expressions unless the context clearly dictates otherwise. In addition, terms such as include or have mean that features or elements described in the specification exist, and do not preclude the possibility that one or more other features or elements may be added. In addition, in the drawings, the size of components may be exaggerated or reduced for convenience of description. For example, since the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, the present invention is not necessarily limited to the illustrated bar.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding components are assigned the same reference numerals, and overlapping descriptions thereof will be omitted. .

1 is a conceptual diagram of a drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention.

Referring to FIG. 1, a drone-based vegetation soil generating and discharging device and system (hereinafter referred to as a vegetation soil generating and discharging system) according to an embodiment of the present invention are wireless drones and/or tethered drones. ) can be used to provide vegetation soil generation and discharge services that generate and discharge vegetation soil.

In detail, in the drone-based vegetation soil generation and discharge device and system thereof, the drone 200 is a wireless drone and/or mobile drone as shown in (a) of FIG. It can be implemented in the form of a box as much as possible and implemented as a tethered-drone as shown in (b) of FIG. can In the embodiment of the present invention, the description is based on wireless drones, but is not limited thereto.

The vegetation soil generation and discharge system may include a terrestrial station (100), a drone (200), and/or a seed spray (300).

In addition, the seed spray 300 according to an embodiment of the present invention can accommodate the vegetation soil containing a plurality of materials, and the seed spray 300 is mixed with the vegetation soil accommodated in the seed spray 300. ) may be a structure made of a shape capable of being discharged to the outside.

In addition, the seed spray 300 may be included in the drone 200 or implemented as a separate device to be detachable from the drone 200. In the embodiment of the present invention, the description is based on the seed spray 300 included in the drone 200 and implemented integrally, but is not limited thereto.

Here, the ground station 100, the drone 200, and the seed spray 300 for providing vegetation soil generation and discharge services may be connected through a network.

At this time, the network means a connection structure capable of exchanging information between nodes such as the ground station 100, drone 200, and/or seed spray 300, and an example of such a network is 3GPP (3rd Generation Partnership Project) network, LTE (Long Term Evolution) network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide) Area Network), PAN (Personal Area Network), Bluetooth (Bluetooth) network, satellite broadcasting network, analog broadcasting network, DMB (Digital Multimedia Broadcasting) network, etc. are included, but are not limited thereto.

On the other hand, vegetation taro according to an embodiment of the present invention, a mixture produced for the purpose of implementing vegetation on a predetermined area (in an embodiment, a slope, etc.), in an embodiment, a seed for vegetation, soil, microorganisms and / Alternatively, it may be a mixture of water and the like.

Hereinafter, a ground station, a drone, and a seed spray implementing a system for generating and discharging vegetation will be described in detail with reference to the accompanying drawings.

- Terrestrial station (100: Terrestrial station)

First, only when the drone 200 is implemented as a tethered drone according to an embodiment of the present invention, the vegetation soil generation and discharge system may include the ground station 100.

The ground station 100 may control the drone 200 according to a pilot's input or a preset drone control process.

In detail, the ground station 100 may control flight and/or shooting of the drone 200 connected to the ground station 100 by a cable based on a pilot's input or a preset drone control process.

In addition, the ground station 100 may support unlimited flight by supplying power through a cable connected to the drone 200 . In addition, the ground station 100 may perform wired communication through a cable connected to the drone 200 to transmit and receive control-related signals or to receive information sensed by the drone 200 and a captured image.

The ground station 100 may be formed in a box shape that is easy to move, and may include various components necessary for driving the ground station 100 inside and outside.

In addition, the ground station 100 may be implemented by including a cap capable of opening and closing the box.

At this time, each component included in the ground station 100 can be implemented in a form that can be accommodated in a box and stored inside the ground station 100, and when the ground station 100 is used, the ground station 100 base It can be rearranged and operated in a form suitable for providing the drone 200 service of

2 is an internal block diagram of a ground station and a drone in a drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention.

Referring to FIG. 2 , the ground station 100 may include a power supply unit 110 , a tension control unit 120 , a monitoring unit 130 , a ground communication unit 140 and a control unit 150 .

First, the power supply unit 110 may receive external power and/or internal power under the control of the controller 150 to supply power required for operation to each component.

In detail, in the embodiment, the power supply unit 110 may be implemented by including a power supply unit.

The power supply unit of the power supply unit 110 may include an AC-DC converter and a power module.

Here, the AC-DC converter, when the power supplied from the outside and/or the inside is alternating current (AC) power, converts the alternating current (AC) power into direct current (DC) power so that the drone 200 and/or the drone 200 and/or It may be configured to be supplied as a seed spray 300. This is because it is more efficient to transmit power with direct current (DC) power, which is a higher voltage than alternating current (AC) power.

At this time, the power unit of the drone 200 and/or the battery of the seed spray 300 that has obtained the converted direct current (DC) power converts the supplied direct current (DC) into a voltage level that can be used by payloads in the fuselage. A DC/DC converter may be further included.

In addition, the power module may include a power meter such as a voltmeter or an ammeter, and the controller 150 of the ground station 100 including such a power module receives voltage, current, or power measured by the power meter at regular intervals. can receive

Here, reference data for adjusting the supply amount of power may be preset on the controller 150 of the ground station 100, and the controller 150 preset with the reference data may, after passing through the DC/DC converter, The amount of power supplied from the power supply unit 110 through the cable may be adjusted based on the voltage measured on the .

In an embodiment, the control unit 150, when the voltage is higher or lower than the range based on the predetermined reference data and / or when the current and power supplied from the cable is out of the electrical range, damage to the internal device, disconnection of the cable A power supply control signal may be generated to block the power supply through the connected cable after determining that it is a malfunction of the drone 200 and/or the seed spray 300 system.

Meanwhile, in the embodiment, when the drone 200 according to the embodiment of the present invention is implemented as a wireless drone, the controller 150 receives external power and/or internal power using the power supply 110 A wireless charging process for wirelessly supplying power necessary for the operation of the wireless drone may be provided.

Next, the tension control unit 120 may adjust the length of the cable so that the tension applied to the cable connecting the drone 200 and/or the seed spray 300 and the ground station 100 is maintained constant, Through this, stable flight of the drone 200 may be enabled.

In addition, the tension controller 120 may wind or unwind the cable to support horizontal or/and vertical movement of the drone 200.

At this time, the cable has one end connected to the power unit of the drone 200 and/or the battery of the seed spray 300 and the other end connected to the ground communication unit 140 of the ground station 100, so that the drone 200 and/or Alternatively, power output from the ground station 100 may be supplied to the seed spray 300 .

In detail, in the embodiment, since the cable may be connected to the power unit of the drone 200 and/or the battery of the seed spray 300, one end may be implemented in a Y-shaped shape. Alternatively, it may be implemented in various embodiments, such as being separately connected to the power unit of the drone 200 and/or the battery of the seed spray 300 with a plurality of cables. In the embodiment of the present invention, one end of the cable is formed in a Y shape and described based on the embodiment in which the power unit of the drone 200 and the battery of the seed spray 300 are connected, but is not limited thereto.

In addition, in the embodiment, the cable may provide a passage through which power is applied from the side with sufficient power to the side with insufficient power when the power of either one of the drone 200 and/or the seed spray 300 is insufficient. A detailed description of this will be described later.

In addition, in the embodiment, the length of the cable may be shortened or extended while being wound or unwound around the tension controller 120.

At this time, the control unit 150 may control the tension control unit 120 to wind or unwind the cable so that the cable maintains a predetermined tension, and at this time, the tension of the cable is measured by the tension sensor of the tension control unit 120. value can be used.

The tension sensor may sense the tension of a cable connecting the ground station 100 and the drone 200.

That is, the tension sensor may sense the tension of the cable unwound to the outside of the ground station 100 and assist the control unit 150 to control the cable based on the change in cable tension caused by the external environment.

Therefore, the controller 150 determines whether the drone 200 is entangled due to contact with a specific obstacle, whether the length of the cable is appropriate to support the flight of the drone 200, etc., based on the tension obtained through the tension sensor. can judge

In addition, the control unit 150 may set a minimum winding amount limit for maintaining the cable unwound from the ground station 100 to a predetermined length or more through the tension control unit 120 .

For example, the control unit 150 may prevent collision between the drone 200 and the cable by setting a limit on the maximum amount of winding so that the length of the cable unwound from the ground station 100 is 10 meters or more. Next, the monitoring unit 130 may include a display unit and a controller.

Here, the display unit can output various information related to the ground station 100 supporting the drone 200 and the seed spray 300 and the drone 200-based vegetation soil generation and discharge service including the ground station 100 as a graphic image. there is.

As an embodiment, the display unit may output and provide a video screen captured by the drone 200 and/or a video screen related to the amount of infrared reflection detected by the drone 200 .

Such a display unit includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. , a 3D display, and an e-ink display.

In addition, the controller may detect the ground station 100 supporting the drone 200-based vegetation soil generation and discharge service and a user's input related to the drone 200-based vegetation soil generation and discharge service including the same. there is.

In an embodiment, the controller includes an input for controlling the flight direction and/or speed of the drone 200, an input for controlling shooting of the drone 200, and an input for controlling the power status of the seed spray 300 by the drone 200. input can be detected.

Also, the display unit and the controller may be combined and implemented as a touch screen.

In addition, the display unit and the controller may be included in the ground station 100 or implemented as separate devices according to embodiments.

Next, the ground communication unit 140 is configured to provide the ground station 100 supporting the drone 200-based vegetation soil generation and discharge service and the drone 200-based vegetation soil generation and discharge service including the same. Various types of data and/or information can be transmitted and received.

In detail, the land communication unit 140 may include a wired communication unit 141 and a wireless communication unit 142 .

In this case, when the drone 200 according to the embodiment of the present invention is a tethered drone, the wired communication unit 141 is implemented based on a cable connecting the drone 200, the seed spray 300, and the ground station 100. and transmit/receive data, information, and/or power based on the cable.

In an embodiment, the wired communication unit 141 communicates with the wired communication unit of the interface unit of the drone 200 and the wired data transmission/reception unit 361 of the seed spray 300 to output power from the power supply unit 110 of the ground station 100. Power may be transmitted to the power unit of the drone 200 and the battery of the seed spray 300. In addition, the wireless communication unit 142, when the drone 200 according to the embodiment of the present invention is a wireless drone, technical standards or communication methods for mobile communication (eg, Global System for Mobile communication (GSM), Mobile built according to Code Division Multi Access (CDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc.) Wireless signals may be transmitted and received with at least one of the drone 200, the seed spray 300, a base station, an external terminal, and an arbitrary server on a communication network.

In an embodiment, the wireless communication unit 142 communicates with the wireless communication unit of the interface unit of the drone 200 and the wireless data transmission/reception unit of the seed spray 300 to control the flight of the drone 200, a flight control signal, and the drone 200. ) It is possible to transmit a shooting control signal for controlling the shooting and a power control signal for controlling the power of the seed spray 300.

Lastly, the control unit 150, in order to provide the ground station 100 supporting the drone 200-based vegetation soil generation and discharge service and the drone 200-based vegetation soil generation and discharge service including the ground station 100, You can control the overall operation of each component.

In an embodiment, when the drone 200 according to the embodiment of the present invention is a tethered drone, the control unit 150 controls the cable according to the current cable tension and/or the flight altitude of the drone 200 to control the ground station 100. ) and the tension of the cable connecting the seed spray 300 and the drone 200 can be adjusted. In addition, the controller 150 may control the minimum winding amount of the cable according to the height of the drone 200 .

In addition, the controller 150 may adjust the amount of power supplied from the ground station 100 to the drone 200 and the seed spray 300. In addition, the controller 150 may control the movement radius of the drone 200 based on the ground structure and flight altitude detected by the drone 200 .

In addition, the control unit 150 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and controllers. ), micro-controllers, microprocessors, and electrical units for performing other functions.

Various embodiments may be possible, such as that at least some of the functional operations performed by the ground station described above may be performed by a drone and/or a seed spray described later.

- Drone (200: Drone)

Meanwhile, in an embodiment of the present invention, the drone 200 is a wireless drone operating wirelessly by receiving power from a power supply inside the drone and/or a tether connected to the ground station 100 by wire and receiving power. Can be implemented with drones.

In detail, the drone 200 is controlled by a drone pilot's input using a predetermined external device capable of controlling a wireless drone and/or the ground station 100 capable of controlling a tethered drone or by a predetermined drone control process. and can perform flight and/or filming.

In detail, further referring to FIG. 2 , the drone 200 includes an interface unit 210, a power unit 220, a driving unit 230, a sensor unit 240, a camera 250, a processor 260, and a seed A spray detachable unit 270 may be included.

First, the interface unit 210 includes the processor 260 of the drone 200 and the ground station 100 supporting vegetation soil generation and discharge services based on the drone 200 and vegetation based on the drone 200 including the same. Peripheral devices for realizing the discharge generation and discharge service may be connected.

In detail, in the embodiment, the interface unit 210 may include a wired communication unit 211 and a wireless communication unit 212.

Here, when the drone 200 according to the embodiment of the present invention is a tethered drone, the wired communication unit 211 may be implemented based on a cable connecting the drone 200 and the ground station 100, and the cable It is possible to perform transmission and reception of data, information, and/or power based on .

In the embodiment, the wired communication unit 211 communicates with the wired communication unit 141 of the ground communication unit 140 of the ground station 100 and/or the wired data transmission/reception unit 361 of the seed spray 300 to communicate with the ground station ( Power output from the power supply unit 110 of 100 may be received by the power unit 220 and/or the battery 350 of the seed spray.

In addition, the wireless communication unit 212, when the drone 200 according to the embodiment of the present invention is a wireless drone, technical standards or communication methods for mobile communication (eg, Global System for Mobile communication (GSM)) , CDMA (Code Division Multi Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc.) A radio signal may be transmitted and received with at least one of the ground station 100, the seed spray 300, a base station, an external terminal, and an arbitrary server on a mobile communication network. In addition, the wireless communication unit 212 may include a short-distance wireless communication module such as Bluetooth or Wi-Fi.

In an embodiment, the wireless communication unit 212 may control the wireless communication unit 142 of the ground communication unit 140 of the ground station 100, the wireless data transmission/reception unit 362 of the seed spray 200, and/or the wireless drone. A flight control signal for controlling the flight of the drone 200 by communicating with a predetermined external device capable of controlling the shooting of the drone 200, a shooting control signal for controlling the shooting of the drone 200, and a power control signal for controlling the power of the seed spray 300, etc. can receive

In addition, the interface unit 210 includes an external charger port, a wired/wireless data port, a memory card port, a port connecting a device having an identification module, an audio I It may further include at least one of an input/output (/O) port, a video input/output (I/O) port, and an earphone port.

Next, the power unit 220 receives external power and/or internal power under the control of the processor 260 to supply power required for operation to each component.

As an example, the power unit 220 may apply the supplied power to the battery of the seed spray 300 when the power of the seed spray 300 is insufficient.

For example, the power unit 220 may include at least one or more of a power storage unit, a connection port, a power supply control unit 150, and a charge monitoring unit 130.

In addition, the power unit 220 may further include a DC/DC converter capable of converting power supplied from the ground station 100 into a voltage level usable by payloads on the body.

Next, the drive unit 230 may be implemented as a drive motor that drives a propeller that secures propulsion of the drone 200 . At this time, the driving unit 230 may include a plurality of driving motors that drive a plurality of propellers, and may operate under the control of the processor 260 .

Here, the driver 230 generally uses a direct current (DC) power of 25V to 33V, and may correspond to an energy sink that consumes the most power of the drone 200.

Next, the sensor unit 240 may acquire various data and/or information related to vegetation soil generation and discharge service through a sensor.

In an embodiment, the sensor unit 240, based on at least one sensor, various data on the surrounding environment of the drone 200 (eg, distance data between the drone 200 and ground structures, location data of the drone 200) , speed data of the drone 200, etc.) may be sensed.

In addition, in the embodiment, the sensor unit 240 includes infrared reflection amount data obtained based on infrared reflective materials around the drone 200 based on at least one sensor, ground surface inclination angle data with respect to the ground around the drone 200, vegetation Various temperature data and/or humidity data related to soil generation and discharge service may be sensed.

In detail, in an embodiment, the sensor unit 240 may include at least one of a distance sensor, a position sensor, a gyro sensor, an acceleration sensor, an infrared sensor, a temperature sensor, and a humidity sensor.

Specifically, the distance sensor may include a proximity sensor and/or a laser sensor.

At this time, in the embodiment, the distance sensor may implement a ground surface inclination angle measuring sensor that senses ground surface inclination angle data with respect to the ground around the drone 200 .

In detail, the ground surface inclination angle measuring sensor may obtain the ground surface inclination angle data by measuring an inclination angle of the ground surface, which may have a predetermined angle.

At this time, the processor 260 of the drone 200 according to the embodiment adjusts the discharge direction angle of the discharge unit 340 of the seed spray 300 based on the ground surface inclination angle data obtained as above and / or the seed spray ( 300), it is possible to set the mixing ratio of vegetation soil. A detailed description of this will be described later.

Also, in an embodiment, the infrared sensor may measure an infrared reflection amount based on a predetermined infrared reflective material on a predetermined sensing area around the drone 200 .

Here, the infrared reflective material according to the embodiment may be a predetermined material having a property of reflecting infrared rays incident to the infrared reflective material as it is.

In detail, in the embodiment, the infrared sensor may emit predetermined infrared rays to a predetermined sensing area around the drone 200 . In this case, the infrared sensor may measure an infrared reflection amount obtained by reflecting the emitted infrared rays by a predetermined infrared reflecting material present on the sensing area.

Thus, the infrared sensor may obtain infrared reflectance data based on the measured infrared reflectance.

At this time, the processor 260 of the drone 200 according to the embodiment may adjust the discharge direction angle of the discharge unit 340 of the seed spray 300 based on the infrared reflection amount data obtained as above. A detailed description of this will be described later.

In addition, in the embodiment, the temperature sensor may include a first temperature sensor that obtains temperature data of the internal environment and a second temperature sensor that obtains temperature data of the outside of the accommodation part 310 of the seed spray 300. .

At this time, in the embodiment, the first temperature sensor may be disposed on a predetermined position capable of measuring temperature data inside each accommodating unit corresponding to each of the plurality of accommodating units included in the seed spray.

For example, in the embodiment, the first temperature sensor may be installed on an inner surface of each accommodating part to obtain temperature data of the inside of each accommodating part.

In addition, the second temperature sensor may be disposed anywhere on the tethered drone as long as the temperature data of the surrounding environment of the drone 200 can be measured.

In addition, in the embodiment, the processor 260 of the drone 200 may set the mixing ratio of vegetation soil mixed in the seed spray 300 based on the temperature data obtained as above.

In addition, in the embodiment, the humidity sensor may include a first humidity sensor that acquires humidity data of the internal environment and a second humidity sensor that acquires humidity data of the outside of the accommodating part 310 of the seed spray 300. .

At this time, in the embodiment, the first humidity sensor may be disposed on a predetermined position capable of measuring humidity data inside each accommodating unit corresponding to each of the plurality of accommodating units included in the seed spray 300. there is.

For example, in the embodiment, the first humidity sensor may be installed on an inner surface of each accommodating unit to obtain humidity data inside each accommodating unit.

In addition, the second humidity sensor may be disposed anywhere on the tethered drone as long as the humidity data of the surrounding environment of the drone 200 can be measured.

In addition, in the embodiment, the processor 260 of the drone 200 may set the mixing ratio of the vegetation soil mixed in the seed spray 300 based on the humidity data obtained as above.

That is, in the embodiment, the sensor unit obtains and provides ground surface inclination angle data, infrared ray reflectance data, temperature data, and/or humidity data based on a ground surface inclination measuring sensor, an infrared sensor, a temperature sensor, and/or a humidity sensor, Through this, the processor of the tether drone may set the mixing ratio of vegetation soil mixed based on the seed spray using at least one or more data provided above.

Next, the camera 250 captures images related to the ground station 100 supporting the drone 200-based vegetation soil generation and discharge service and the drone 200-based vegetation soil generation and discharge service including the same. can be obtained

In detail, the camera 250 may be disposed on one side of the drone 200 and photograph the surrounding environment based on the direction in which it is disposed. In addition, the camera 250 according to an embodiment of the present invention may obtain an image obtained by applying an infrared filter to a photographed image.

In addition, such a camera 250 may include an image sensor and an image processing module.

In detail, the camera 250 may acquire a captured image including a still image and/or moving image through an image sensor (eg, CMOS or CCD), and process the acquired image based on an image processing module. can do.

For example, the camera 250 may process a still image or video obtained through an image sensor using an image processing module to extract necessary information, and transmit the extracted information to the processor 260 .

At this time, the processor 260 of the drone 200 may provide the captured image obtained through the camera 250 to external devices including the ground station 100 through the interface unit 210 .

Next, the processor 260 may control and drive the overall operation of each unit described above.

In detail, in the embodiment, the processor 260 enables interworking between the drone 200, the ground station 100, and the seed spray 300 by controlling and driving the overall operation of each unit, and through this, the drone ( 200) based vegetation soil creation and discharge service can be provided.

These processors 260 include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, It may be implemented using at least one of micro-controllers, microprocessors, and electrical units for performing other functions.

Next, when the seed spray 300 is implemented as a separate device according to the embodiment, the seed spray detachable unit 270 may allow the seed spray 300 to be coupled to or separated from the drone 200.

In detail, the seed spray detachable unit 270 is a fixing unit capable of fixing the seed spray 300 to the drone 200 and/or an interaction between the drone 200 and each component of the seed spray 300. It may include a connection unit that can implement.

In the embodiment, the seed spray detachable unit 270, when the seed spray 300 is fixed to and coupled to the drone 200, the processor 260 of the drone controls each component of the seed spray 300. interfaces can be provided.

In addition, the seed spray detachable unit 270 is an interface capable of exchanging power between the power unit 220 of the drone and the battery 350 of the seed spray when the seed spray 300 is fixed and coupled to the drone 200. It is possible to provide, through which mutual power supply / application operation can be made possible.

In this case, when the drone 200 is a tethered drone, the interface may be implemented based on a predetermined cable connecting the drone 200 and the seed spray 300.

- Seed spray (300: Seed spray)

3 is an internal block diagram of a seed spray 300 in a drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention, and FIG. 4 is an example of a seed spray cross-sectional view according to an embodiment of the present invention. .

3 and 4, in the embodiment of the present invention, the seed spray 300 includes a receiving part 310, a pressing part 320, a mixing part 330, a discharge part 340, and a battery 350 , a data transmission/reception unit 360 and a subprocessor 370 may be included.

First, the accommodating unit 310 may contain therein at least one material required for generating vegetation soil.

In an embodiment, the accommodating portion 310 may be implemented in a predetermined capsule shape accommodating the at least one or more materials.

Also, in an embodiment, the accommodating part 310 may be a single accommodating part capable of accommodating all of the at least one or more materials in one place.

At this time, in the case of the singular accommodating unit, the accommodating unit 310 may have a replaceable structure in the form of a cartridge.

For example, the single accommodating part may be formed based on a capsule-type cartridge forming an accommodating space in the accommodating part 310, and the capsule-type cartridge may be detachably implemented.

In detail, when the accommodating part 310 is implemented as the singular accommodating part, the singular accommodating part includes a first capsule-type cartridge that is a capsule-type cartridge in a state of being coupled with the singular accommodating part, and the accommodating part 310 ) can perform the function operation performed.

At this time, the single accommodating part includes a second capsule-type cartridge, which is a capsule-type cartridge that exists in a state separated from the singular accommodating part when the vegetation soil in the first capsule-type cartridge is exhausted beyond a predetermined standard; The functional operation of the accommodating part 310 may be performed by replacing the first capsule type cartridge.

To this end, a worker who wants to use the vegetation soil generation and discharge service may embed vegetation soil in which at least one or more materials necessary for vegetation soil generation are mixed based on an autonomous ratio in the second capsule-type cartridge. there is.

In addition, when the vegetation soil accommodated in the first capsule-type cartridge coupled to the accommodating part 310 is exhausted, the operator can resume work by simply replacing the first capsule-type cartridge and the second capsule-type cartridge. can

Also, in another embodiment, the accommodating unit 310 may include at least one accommodating unit proportional to the number of the materials to accommodate each of the at least one or more materials required for generating the vegetation soil.

In detail, in an embodiment, the accommodating unit 310 includes a first accommodating unit 310a accommodating a predetermined seed, a second accommodating unit 310b accommodating soil, and a third accommodating unit accommodating microorganisms ( 310c), a fourth accommodating part 310d accommodating a predetermined liquid (eg, water, etc.) and/or a fifth accommodating part 310e accommodating the aforementioned infrared reflective material.

In an embodiment, the processor 260 of the drone may mix and discharge the infrared reflective material of the fifth accommodating part 310e to the vegetation soil based on the seed spray 300, and through this, the sensor unit described above may be discharged. Infrared reflectance data based on this can be obtained.

Here, the seeds, soil, microorganisms, predetermined liquids, and/or infrared reflective materials included in the first to fifth receiving units are of vegetation soil, such as the viscosity or nutrients of the vegetation soil generated based on the seed spray 300. Since it affects the characteristics, the amount injected into the blending unit 330 may be flexibly changed according to the sensing data obtained from the drone 200.

In addition, in the embodiment, a first temperature sensor and/or a first humidity sensor matched to the single accommodating unit and/or at least one or more accommodating units (hereinafter referred to as a plurality of accommodating units) are provided in the accommodating unit 310. may be placed.

In this case, the first temperature sensor may measure temperature data inside each accommodating unit corresponding to each of the single accommodating unit and/or the plurality of accommodating units included in the seed spray 300 .

In addition, the first temperature sensor may maintain the temperature inside the single accommodating unit and/or the plurality of accommodating units at a preset temperature.

In an embodiment, the first temperature sensor maintains the internal temperature of the third accommodating part 310c at a predetermined temperature at which the microorganisms can survive according to a predetermined type of microorganism accommodated in the third accommodating part 310c. can make it

In addition, the first humidity sensor may measure humidity data inside each accommodating unit corresponding to a single accommodating unit and/or a plurality of accommodating units included in the seed spray.

In addition, the first humidity sensor may maintain the humidity inside the single accommodating unit and/or the plurality of accommodating units at a preset humidity.

In an embodiment, the first humidity sensor maintains the humidity inside the third accommodating part 310c at a predetermined humidity at which the microorganisms can survive according to a predetermined type of microorganism accommodated in the third accommodating part 310c. can make it Details of various embodiments related to the accommodating unit will be described in detail in the drone-based vegetation soil generation and discharge method to be described later.

Next, the pressing unit 320 may include a piston capable of moving up and down, and a pressurizing device capable of controlling the vertical movement of the piston.

At this time, when the piston moves in the downward direction, the pressurizing unit 320 applies pressure to the upper portion of the receiving unit 310 according to the control of the subprocessor 370 so that the material contained in the receiving unit is discharged to the outside of the receiving unit. can make it

Next, in the mixing unit 330, at least one material discharged from the receiving unit 310 under pressure by the pressing unit 320 may be input, and the input materials may be mixed and combined.

In the embodiment, the blending unit 330 may place at least one mixer blade therein to effectively mix a plurality of materials, and the mixer blade rotates under the control of the subprocessor 370 to mix the ingredients. A plurality of materials introduced into the unit 330 may be mixed and combined as one material.

In detail, the mixer blade can prevent clumping of the materials mixed in the mixing unit 330 due to high viscosity, so that the vegetation soil mixed in a certain ratio can be smoothly injected into the discharge unit 340, and the discharge unit From 340, the vegetation soil may be discharged to be evenly distributed on the ground surface.

Next, the discharge unit 340 may discharge the materials mixed into one through the mixing unit 330 onto the ground surface under the control of the subprocessor 370 .

In detail, the discharge unit 340 may perform a discharge operation of evenly and widely spreading the vegetation soil generated in the mixing unit 330 on the ground surface.

The discharge unit 340 may have one end connected to one end of the mixing unit 330 and the other end connected to a predetermined discharge port 342 .

In addition, an induction path 341 capable of inducing dispersion so that the vegetation soil according to the embodiment of the present invention is spread evenly and widely may be formed on the ground inside the discharge unit 340 .

In addition, the induction passage 341 may be formed in a form penetrating the inside so as to communicate with the discharge port 342 .

Here, the discharge unit 340 may include a hurricane spray unit 342 at one end of the induction path 341 in order to more evenly and widely spread the vegetation soil generated in the mixing unit 330 on the ground surface. Here, the hurricane injection unit 342 may be a predetermined device capable of more evenly distributing the vegetation soil in the seed spray 300 on the ground. A detailed description of this will be described later.

In addition, the discharge unit 340 may further include an angle adjustment unit 346 that adjusts a discharge direction and/or an angle (in the embodiment, a discharge direction angle) of the discharge unit 340 .

In the embodiment, the angle adjusting unit 346 of the discharge unit receives the control of the processor 260 and/or the sub-processor 370 and controls the discharge direction and/or the vegetation soil according to the discharge direction angle according to the embodiment of the present invention. angle can be adjusted.

Here, the discharge direction angle according to the embodiment may refer to a direction and/or an angle at which vegetation soil is discharged from the discharge unit 340 . In the embodiment, the discharge unit 340 is tilted by the angle adjusting unit 346 based on the inclination angle of the ground surface sensed by the sensor unit 240 of the drone 200 and/or the infrared reflection amount, thereby adjusting the discharge direction. Vegetation soil may be sprayed through the outlet 345 of the hurricane spraying unit 342 by adjusting the angle.

In addition, according to the embodiment, the discharge port 342 may include a predetermined fine net to further prevent the materials mixed in the vegetation soil from being discharged in an agglomerated state. The fine net performs a grid-type sieve function so that the vegetation soil is dispersed and discharged without clumping.

Next, the battery 350 may receive external and/or internal power under the control of the subprocessor 370 to supply power necessary for operation to each component of the seed spray 300.

The battery 350 may further include a DC/DC converter capable of converting the supplied power into a voltage level usable by the payloads of the seed spray 300.

Also, according to embodiments, the battery 350 may receive power from the power supply unit 110 of the ground station 100 and/or the power unit 220 of the drone 200.

Next, the data transceiver 360 transmits various data and/or data for providing vegetation soil generation and discharge services based on the ground station 100 supporting vegetation soil generation and discharge services and the drone 200 including the same. information can be transmitted and received.

In detail, the data transceiver 360 may include a wired data transceiver 361 and a wireless data transceiver 362 .

At this time, when the drone 200 according to the embodiment of the present invention is implemented as a tethered drone, the wired data transceiver 361 may be implemented based on a cable connected to the drone 200 and the ground station 100. and transmission/reception of data, information, and/or power based on a cable.

As an embodiment, the wired data transmission/reception unit 361 interworks with the wired communication unit of the ground communication unit of the ground station 100 and/or the wired communication unit of the drone 200 interface unit to receive power from the power supply unit 110 of the ground station 100. The output power can be supplied.

In addition, when the drone 200 according to the embodiment of the present invention is a wireless drone, the wireless data transmitting and receiving unit 362 complies with technical standards or communication methods for mobile communication (eg, Global System for Mobile communication (GSM)). ), Code Division Multi Access (CDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc.) A radio signal may be transmitted and received with at least one of the ground station 100, the drone 200, a base station, an external terminal, and an arbitrary server on a mobile communication network.

In addition, the wireless data transceiver 362 may include a short-distance wireless communication module such as Bluetooth or Wi-Fi.

In an embodiment, the data transmission/reception unit 362 communicates with the wireless communication unit of the ground communication unit of the ground station 100 and the wireless communication unit of the interface unit of the drone 200 to transmit a power control signal for controlling the power of the seed spray 300. can be sent

Lastly, the subprocessor 370 may control and drive the overall operation of each of the components described above.

In detail, in the embodiment, the sub-processor 370 controls and drives the overall operation of each component to enable interworking between the seed spray 300, the ground station 100, and the drone 200, and through this, Vegetation soil creation and discharge service based on the drone 200 can be provided.

In addition, these subprocessors 370 include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers ( It may be implemented using at least one of controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

In detail, further referring to FIG. 4, in the seed spray 300 according to an embodiment of the present invention, at least some of the materials accommodated in the receiving part 310 may be dropped toward the mixing part 330, and the mixing part ( 330) to mix at least some of the dropped materials, and to discharge the generated vegetation soil onto the surface of the earth through the hurricane injection unit 342 of the discharge unit 340. It can have a hierarchical structure.

At this time, (a) of FIG. 4 is an example showing a case where the receiving part 310 of the seed spray 300 according to an embodiment of the present invention is implemented as a single receiving part, and FIG. 4 (b) is an example of the present invention. This is an example showing a case in which the accommodating part 310 of the seed spray 300 according to the embodiment of is implemented as a plurality of accommodating parts.

Referring to (a) of FIG. 4 , the receiving unit 310 implemented in the form of a singular receiving unit may communicate with the outside by opening a predetermined area on one side. A plurality of materials (in the embodiment, seeds, soil, microorganisms, water, and/or infrared reflective material, etc.) required for generating vegetation soil are dropped through a predetermined open area on one side and accommodated in the receiving part 310. can

In the embodiment, the accommodating unit 310 may have a structure communicating with the mixing unit 330 so that the plurality of materials necessary for generating vegetation soil accommodated in the accommodating unit 310 are easily dropped into the mixing unit 330 .

At this time, when the material dropped into the receiving part 310 is directly connected to the inside of the mixing part 330 at once, there is a possibility that the inside of the mixing part 330 is damaged or mixing in the mixing part 330 is abnormal can exist

That is, a hole of a predetermined size is formed at the portion where the accommodation unit 310 and the mixing unit 330 come into contact so that the material dropped into the accommodation unit 310 is dropped into the mixing unit 330 by a predetermined amount. There may be.

In addition, when the accommodating part 310 is the singular accommodating part, in the embodiment, the accommodating part 310 may be replaced in a cartridge type.

In order to implement the cartridge type, in the embodiment, the receiving portion 310 may further include a structure (eg, a handle and/or a fixing groove, etc.) for smoothly performing cartridge replacement.

On the other hand, referring to (b) of FIG. 4 , the accommodating part 310, such as a predetermined hose, etc., in order to stably drop the material necessary for generating vegetation soil accommodated in each of the plurality of accommodating parts to the mixing part 330. It may be formed into a shape that is directly connected to the compounding unit 330 based on and/or easy to drop into the compounding unit 330.

In addition, in the embodiment, the seed spray 300 may further include a classification unit 380 capable of classifying seeds injected into vegetation soil by size.

In detail, in the embodiment, the seed spray 300 may classify the seeds injected into the vegetation soil by size through the classification unit 380 disposed in a part of the accommodating unit 310 .

Referring to (a) of FIG. 4 , the singular accommodating unit may contain therein a mixture in which the at least one material other than the seed is mixed. At this time, when the singular accommodating unit accommodates a seed mixture including various types of seeds into the singular accommodating unit, the seed mixture is transferred onto the mixture through the classification unit 380 included in the singular accommodating unit. Only seeds less than or equal to the diameter of .

At this time, the classification unit 380 included in the single accommodating unit is disposed at the upper end of the single accommodating unit and can pass only seeds having a desired diameter in the seed mixture to be put into the single accommodating unit.

On the other hand, referring to (b) of FIG. 4 , in the case of the accommodating part 310 implemented as a plurality of accommodating parts, the first accommodating part 310a accommodating a predetermined seed among the plurality of accommodating parts and the mixing part 330 ), only seeds having a predetermined diameter or less may be introduced into the blending unit 330 through the sorting unit 380 disposed on the area where ) is connected.

At this time, the seeds contained in the first accommodating part 310a may be in a state in which various types of seeds having different diameters are mixed.

Thus, in an embodiment of the present invention, the classification unit 380 may classify the seed mixture and/or the seeds in the first accommodating unit 310a based on their sizes.

In addition, the classification unit 380 may selectively drop the classified seeds to the mixing unit 330 .

5 is an example of a cross-sectional view of a classification unit 380 according to an embodiment of the present invention.

As shown in FIG. 5 , the classification unit 380 may include a vibration unit 381 , an opening/closing unit 382 , an alignment plate 383a and an opening/closing plate 383b.

In detail, the vibration unit 381 may apply a predetermined vibration to the alignment plate 383a, which is the bottom surface of the sorting unit 380, to which the seeds primarily come into contact when the seeds are input.

At this time, the alignment plate 383a may include holes having a predetermined interval, and the seed in the accommodating part 310 is determined based on the size of the hole through vibration by the vibration unit 381. can be classified.

Also, the opening/closing unit 382 may control the alignment plate 383a and the opening/closing plate 383b to be opened and closed.

Here, the opening/closing plate 383b may selectively drop the seed passing through the alignment plate 383a to the mixing unit 330 .

In detail, the opening/closing unit 382 may control the alignment plate 383a so that the alignment plate 383a has a hole having a predetermined diameter (eg, mm and/or cm).

6 is an example of a cross-sectional view of an alignment plate 383a according to an embodiment of the present invention.

As an example, the alignment plate 383a may include first to third wing parts S1 , S2 , and S3 as shown in (a) of FIG. 6 .

At this time, the first to third wing parts S1, S2, and S3 have a structure that can be opened and closed in a spiral manner, and as shown in (b) shown in FIG. 6, the first to third wing parts S1, S2, S3) may be driven in the form of forming a predetermined hole while unfolding.

In this case, the diameter D of the hole may be determined by the opening/closing unit 382 controlling the alignment plate 383a so that only seeds having a size smaller than a predetermined diameter pass through.

7 is an example of a diagram for explaining a method of classifying a seed in the classification unit 380 according to an embodiment of the present invention. Referring to FIG. 7 , among the seeds dropped into the receiving part 310 , only seeds smaller than the diameter D of the hole may be classified.

In detail, the seed SD1 having a smaller diameter than the diameter D of the hole may pass through the alignment plate 383a.

On the other hand, the seed SD2 having a larger diameter than the diameter D of the hole may not pass through the alignment plate 383a and may remain on the upper surface of the alignment plate 383a.

At this time, the seed SD1 passing through the alignment plate 383a may be accumulated on the upper surface of the opening and closing plate 383b.

In more detail, the seed SD1 passing through the alignment plate 383a may be positioned in a space between the alignment plate 383a and the opening/closing plate 383b.

Here, the opening/closing unit 382 may control the opening/closing plate 383b so that the seed SD1 passing through the alignment plate 383a is dropped to the mixing unit 330 .

That is, the opening and closing plate 383b is opened by the opening and closing part 382 so that the sorting part 380 communicates with the mixing part 330 so that only the seed SD1 passing through the alignment plate 383a is mixed. It can be dropped to the unit 330.

In this way, the drone 200-based drone-based vegetation soil generation and discharge device and system according to an embodiment of the present invention selects only seeds of a predetermined diameter or less from seeds of different diameters, and the mixing unit 330 ), and through this, there is an effect of producing vegetation soil containing only seeds of a desired size and / or type.

Returning again, the pressing part 320 of the seed spray 300 according to the embodiment is located on the upper part of the receiving part 310 so that the material embedded in the receiving part 310 is outside the receiving part 310 (actually In an example, it may be formed in a structure capable of applying pressure to the upper part of the accommodating part 310 so as to be discharged to the mixing part 330).

In addition, the mixing unit 330 may mix at least one or more materials dropped from the receiving unit 310 to produce vegetation soil according to the embodiment.

Depending on the embodiment, the mixing unit 330 may be implemented in a shape that gradually narrows as it approaches the discharge unit 340 in order to facilitate discharge of vegetation soil to the discharge unit 340 .

In more detail, the mixing unit 330 has a structure capable of communicating with the receiving unit 310 on the upper side, and may include a predetermined mixer blade for evenly mixing the material dropped from the receiving unit 310 therein.

At this time, the mixer blades may exist anywhere on the inner surface of the blending unit 330, and the shape and/or number thereof are not limited to those shown.

In addition, the discharge unit 340 may be formed in a structure that discharges the vegetation soil introduced from the mixing unit 330 onto the surface of the ground via an induction path 341 forming an internal space of the discharge unit 340. .

Referring back to FIG. 4 , the discharge unit 340 installs the hurricane spray unit 342 at one end of the induction path 341 to more evenly and widely spread the vegetation soil introduced from the mixing unit 330 onto the ground surface. can include

8 is an example of a cross-sectional view of a hurricane sprayer 342 according to an embodiment of the present invention.

Referring to FIG. 8 , the hurricane injection unit 342 is located at one end of the induction path 341 and may include a nozzle unit 343, a propeller unit 344, and/or a discharge port 345.

In detail, the hurricane injection unit 342 is located at one end of the induction road 341, divides the vegetation soil entering the induction road 341 into a plurality of nozzles, respectively, and injects them, and generates blowing by rotational force. When the vegetation soil is discharged from one end of each of the plurality of nozzles through a discharge port communicating with the outside, it may serve to expand the discharge range of the vegetation soil.

In an embodiment, the nozzle unit 343, as shown in FIG. 8 , distributes the vegetation soil entering the induction path 341 into a plurality of passages and discharges the vegetation soil through a discharge port 345 matched to each of the plurality of passages. can make it

In detail, the nozzle unit 343 may be implemented as a plurality of nozzles including a first nozzle 343a, a second nozzle 343b, and/or a third nozzle 343c. Hereinafter, for effective description, the nozzle unit 343 will be described as being implemented including the first to third nozzles 343a, 343b, and 343c, but is not limited thereto and is not limited to that shown in FIG. 8 . .

At this time, the plurality of nozzles 343a, 343b, and 343c included in the nozzle unit 343 may be radially arranged so that vegetation soil entering the induction path 341 may be dispersed.

Also, in the embodiment, the nozzle unit 343 may further include a first motor providing a predetermined rotational force.

Thus, the plurality of nozzles 343a, 343b, and 343c included in the nozzle unit 343 may rotate in a predetermined manner (eg, one-way rotation, etc.) by the rotational force generated by the first motor.

Through this, the nozzle unit 343 can more evenly distribute the vegetation soil discharged to the outside through the plurality of discharge ports via the plurality of nozzles 343a, 343b, and 343c.

In addition, in the embodiment, the propeller unit 344 disperses the vegetation soil discharged through the nozzle unit 343 to the discharge port 345 more widely when performing the discharge operation according to the embodiment of the present invention. It can be implemented in a form capable of providing ventilation to do.

In detail, in order to provide the blowing air, the propeller unit 344 may further include a second motor that provides a predetermined rotational force to the propeller unit 344 .

At this time, the second motor may rotate under the control of the processor 340 and/or the subprocessor 370 .

In addition, in the embodiment, the propeller unit 344 may perform rotation (eg, one-way rotation, etc.) according to a predetermined method based on rotational force by the second motor.

In addition, the propeller unit 344 may transfer the blowing air generated by the rotation to the vegetation soil discharged through the outlet 345 .

Thus, the propeller unit 344 can play a role of distributing the vegetation soil discharged through the outlet 345 more widely.

At this time, the propeller unit 344 provides blowing air for dispersing the vegetation soil in a direction extending from the guideway 341 to the discharge port 345, and at the same time, the vegetation soil discharged through the discharge port 345 In order to prevent a collision, it may be disposed at the beginning of a connection portion between the guideway 341 and the hurricane ejector 342.

That is, in the vegetation soil generation and discharge service according to an embodiment of the present invention, the vegetation soil in the above-described seed spray 300 is spread over a wider area on the ground by using the hurricane sprayer 342 including the above components. It is discharged into the area to expand the discharge range of the vegetation soil.

Also, in the embodiment, the outlet 345 may be an outlet located at one end of each of the plurality of nozzles 343a, 343b, and 343c to discharge the vegetation soil to the outside, as shown in FIG. 8 .

In detail, in the embodiment, the discharge port 345 includes a plurality of discharge ports proportional to the number of nozzles included in the nozzle part 343 (in the embodiment, the first discharge port 345a, the second discharge port 345b, and/or or a third outlet 345c, etc.). Hereinafter, for effective description, the outlet 345 will be described based on including the first to third outlets 345a, 345b, and 345c, but is not limited thereto.

In addition, the plurality of discharge ports 345a, 345b, and 345c may be tilted by the angle adjuster 346 for adjusting the discharge direction angle of the discharge portion 340 in the embodiment.

Thus, each of the plurality of discharge ports 345a, 345b, and 345c may perform a vegetation discharge operation in a tilted state according to the discharge direction angle.

In addition, according to the embodiment, the discharge part 340 has a structure in which the diameter of the guideway 341 of the discharge part 340 gradually narrows from one end connected to the mixing part 330 to the other end to the discharge port 345. may be implemented.

On the other hand, according to the embodiment, the discharge unit 340 may be implemented in the form of a rectangular rod-shaped pipe connecting the discharge port 342 from one end connected to the mixing unit 330 . In the embodiment of the present invention, the discharge part 340 may be implemented in any shape as long as it is capable of discharging the vegetation soil introduced into the discharge part 340 onto the ground surface. The shape itself is not limited or limited.

In addition, the discharge unit 340, according to the data obtained by the ground station 100, the drone 200 and/or the seed spray 300, the vegetation soil by the angle adjustment unit 346 of the discharge unit 340 The ejection direction and/or angle (in the embodiment, the ejection direction angle) can be adjusted.

In addition, the battery 350 may be disposed on any position as long as it can supply power to the seed spray 300, and is not limited to that shown in FIG. 4 .

- Drone-based vegetation soil creation and discharge method

Hereinafter, with reference to the accompanying drawings, a method in which the processor of the drone 200 according to an embodiment of the present invention provides vegetation soil generation and discharge service will be described in detail with reference to FIGS. 9 to 13 .

9 is a flowchart for explaining a method of generating and discharging vegetation soil based on a drone 200 according to an embodiment of the present invention.

In detail, referring to FIG. 9 , the processor 260 (hereinafter referred to as processor) of the drone 200 may activate a flight mode and perform flight. (S101)

In more detail, the processor 260 may activate the flight mode by receiving power from the power supply device inside the drone 200 and/or the ground station 100 .

Specifically, the processor 260 may receive power through a cable unwound from the power unit 220 of the drone and/or the ground station 100 .

In addition, the processor 260 may drive the payloads included in the drone 200 and the seed spray 300 to perform vegetation soil generation and discharge services using the power applied as described above.

In an embodiment, the processor 260 may control a predetermined external device capable of controlling a wireless drone and/or a drone pilot input obtained from the ground station 100 capable of controlling a tethered drone and/or preset drone control. Flight can be performed by process.

At this time, the flight altitude when the drone 200 is flying is preferably within a distance allowed by LoRa communication, and may be freely adjustable within 1 to 3 km in general.

In detail, the allowable distance of LoRa communication is 1 to 3Km in the city center, and may be up to 15Km in an area with a clear view.

Therefore, when the drone 200 is implemented as a tethered drone, the flight altitude of the drone 200 can be increased to a limit where the weight of the cable is allowed.

Here, in the embodiment of the present invention, when the flight of the drone 200 is within 1 to 3 km and the drone 200 can consider the weight of the cable, the seed spray 300, and the materials dropped on the seed spray 300 Preferably, but not limited to, when using WI-FI and / or Long-Term Evolution (LTE) communication, the distance and altitude of the ground station 100 and the drone 200 is 2 to 3 km It will be obvious that the flight altitude of the drone 200 can be increased as much as possible, up to the allowable weight limit.

Meanwhile, the processor 260 may operate the propeller of the driving unit 230 based on the power storage unit of the power unit 220 disposed in the body of the drone 200 and land on the ground according to a preset emergency landing process. there is.

Here, the processor 260 may control power supplied from the power storage unit to each component of the drone 200 in consideration of the capacity of the power storage unit.

And, even after the drone 200 lands, the processor 260 transmits data on the current landed point through the sensor unit 240 and the communication module until a separate control signal is input to a predetermined value capable of controlling the wireless drone. It can be transmitted to an external device and/or to the ground station 100 .

Next, the processor 260 according to an embodiment of the present invention may obtain data for sensing the surrounding environment of the drone 200 . (S103)

In detail, the processor 260 may control the sensor unit 240 to obtain sensing data for a surrounding environment that changes in real time according to the flight movement of the drone 200 .

Here, the surrounding environment sensing data may include ground surface inclination angle data, infrared reflectance data, temperature data, and/or humidity data obtained based on at least one sensor of the drone 200 .

In this case, the inclination angle data of the ground surface may be sensing data obtained by measuring the inclination angle of the ground surface around the drone 200 based on the distance sensor of the sensor unit 240 .

In addition, the infrared reflectance data may be sensing data obtained by measuring an infrared reflectance by detecting an infrared reflector included in vegetation soil discharged onto the ground surface based on the infrared sensor of the sensor unit 240 .

Also, the temperature data may be sensing data obtained by measuring a temperature related to vegetation soil generation and discharge service based on the temperature sensor of the sensor unit 240 .

In detail, the temperature data may include first temperature data obtained by measuring the temperature of the external environment of the drone 200 and second temperature data obtained by measuring the internal temperature of the receiving part 310 of the seed spray 300. .

Also, the humidity data may be sensing data obtained by measuring humidity related to vegetation soil generation and discharge service based on the humidity sensor of the sensor unit 240 .

In detail, the humidity data may include first humidity data obtained by measuring the humidity of the external environment of the drone 200 and second humidity data obtained by measuring the humidity inside the container 310 of the seed spray 300. .

10 is an example of a diagram for explaining a method of measuring the inclination angle of the ground surface by the drone 200 according to an embodiment of the present invention.

Referring to FIG. 10 , in an embodiment, the processor 260 may obtain ground surface inclination angle data using a distance sensor of the drone 200 .

In detail, the processor 260 may control the distance sensor of the drone 200 to obtain inclination angle data of the ground surface based on a value obtained by measuring the distance between the ground surface and the drone 200 (hereinafter referred to as a distance measurement value).

For example, the processor 260 may obtain a first ground surface having a preset angle (eg, plane angle, etc.) and a first distance measurement value h1 between the first ground surface and the drone 200 .

In addition, the processor 260 may obtain a second distance measurement value h2 between a predetermined second ground surface different from the first ground surface and the second ground surface and the drone 200 according to the movement of the drone 200. can

Also, the processor 260 may mutually compare the first distance measurement value h1 and the second distance measurement value h2.

Also, if the first distance measurement value h1 and the second distance measurement value h2 do not match through the comparison, the processor 260 may determine that a predetermined slope exists on the ground surface.

In addition, if it is determined that a predetermined inclination exists on the ground surface, the processor 260 may calculate inclination angle data of the ground surface with respect to the ground surface according to the predetermined inclination.

Specifically, the processor 260 performs a predetermined arithmetic operation based on the first distance measurement value h1 and the second distance measurement value h2 to determine the inclination angle and/or the inclination direction with respect to the ground surface (e.g., , an upward slope or a downward slope, etc.) can be calculated.

In addition, the processor 260 may obtain inclination angle data with respect to the ground surface based on the inclination angle and/or inclination direction calculated as above. However, the method of acquiring the inclination angle data of the ground surface is not limited to the above method, and various known methods for estimating the inclination angle of the ground surface may be applied.

11 is an example of a diagram for explaining a method of measuring an amount of infrared reflection by a drone 200 according to an embodiment of the present invention.

Referring to FIG. 11 , in an embodiment, the processor 260 may control the infrared sensor of the drone 200 to obtain infrared reflectance data based on an infrared reflector included in vegetation soil sprayed on the ground surface.

In detail, in an embodiment, the processor 260 may divide the first ground surface area A1 on which vegetation soil is sprinkled into a plurality of areas according to a predetermined criterion (eg, a predetermined size and/or number).

FIG. 12 is an example of an enlarged view of a ground surface area where an infrared reflective material is sprayed to explain a method of measuring an amount of infrared reflection according to an embodiment of the present invention.

As shown in FIG. 12 , the processor 260 may emit infrared rays to the first land surface area A1 including a plurality of areas divided as above.

In addition, the processor 260 may measure the reflected amount of the emitted infrared rays (in the embodiment, the reflected amount of infrared rays) based on the infrared reflective material included in the first ground surface area A1 using the infrared sensor. can

At this time, the processor 260 may measure the infrared reflection amount for each of a plurality of areas included in the first ground surface area A1 .

As an example, the processor 260 may divide the first ground surface area A1 into a plurality of sub areas (eg, a first sub area, a second sub area, ..., an n th sub area).

Also, the processor 260 may emit infrared rays onto the first ground surface area A1 including the plurality of sub-areas by using an infrared sensor.

In addition, the processor 260 may obtain different amounts of reflected infrared rays from each of the plurality of sub-regions according to the amount of infrared reflective material included in vegetation soil on the plurality of sub-regions where the infrared rays are incident.

Thus, the processor 260 may obtain infrared reflectance data for each of a plurality of areas classified according to a predetermined criterion in the first ground surface area A1 .

Through this, the processor 260 may later determine whether vegetation soil is evenly discharged on a predetermined ground surface based on the infrared reflectance data, and if the vegetation soil is dense or has a deviation in at least a part of the ground surface, this Vegetation soil can be evenly sprayed by adjusting the discharge direction angle of the seed spray according to an embodiment of the present invention.

Also, in an embodiment of the present invention, the processor 260 may control the first and second temperature sensors to detect temperature changes in the accommodation unit of the drone 200 and the surrounding environment of the drone 200.

In detail, the processor 260 may detect a change in internal temperature of the plurality of receptacles of the seed spray included in the drone 200 based on the first temperature sensor.

In addition, the processor 260 may control the first temperature sensor to maintain a predetermined internal temperature of the accommodating unit for the plurality of accommodating units.

For example, the processor 260 sets the internal temperature to 25 degrees when the internal temperature of the containing part exceeds 25 degrees, when it is preset that the optimum temperature for storing the microorganisms contained in the above-described containing part is 25 degrees. A predetermined functional operation (eg, cold/warm air supply, etc.) for maintenance may be performed. However, it is not limited to the aforementioned functional operation, and various embodiments for maintaining the internal temperature of the accommodating unit at a predetermined temperature may be possible.

Also, the processor 260 may detect a change in temperature of the surrounding environment of the drone 200 based on the second temperature sensor.

In addition, in the embodiment, the processor 260 mixes vegetation soil generated from the seed spray 300 based on the detected temperature data of the surrounding environment of the drone when the accommodating part 310 is implemented as a plurality of accommodating parts. Ratio can be set.

That is, the processor 260 may obtain ambient temperature data based on the second temperature sensor in order to set a vegetation soil mixture ratio optimized for the surrounding environment of the drone.

In addition, in an embodiment of the present invention, the processor 260 may control the first and second humidity sensors to detect changes in humidity in the accommodation unit of the drone 200 and the surrounding environment of the drone 200.

In detail, the processor 260 may detect a change in internal humidity of each of the plurality of receiving parts of the seed spray included in the drone 200 based on the first humidity sensor.

In addition, the processor 260 may control the first humidity sensor so that the humidity inside the accommodating unit preset for the plurality of accommodating units is maintained.

For example, the processor 260, when the optimum humidity for storing the microorganisms in the third accommodating unit 310c is preset to be 10% (%), the humidity inside the third accommodating unit 310c is When it deviates from 10%, a predetermined functional operation (eg, humidification and/or dehumidification, etc.) may be performed to maintain the internal humidity at 10%. However, it is not limited to the above-described functional operation, and various embodiments for maintaining the humidity inside the accommodating unit at a preset humidity may be possible.

Also, the processor 260 may detect a change in humidity of the surrounding environment of the drone 200 based on the second humidity sensor.

In addition, in the embodiment, the processor 260 mixes the vegetation soil generated from the seed spray 300 based on the detected humidity data of the surrounding environment of the drone when the accommodating unit 310 is implemented as a plurality of accommodating units. Ratio can be set.

That is, the processor 260 may obtain ambient humidity data based on the second humidity sensor in order to set a vegetation soil mixture ratio optimized for the surrounding environment of the drone.

Next, the processor 260 may generate vegetation soil based on the obtained sensing data. (S105)

In detail, in the embodiment, the processor 260, when the accommodating unit 310 is implemented as a plurality of accommodating units, based on the ground surface inclination angle data, temperature data, and/or humidity data included in the sensing data obtained as above, The mixing ratio of vegetation soil can be set.

In detail, the processor 260 may determine the mixing amount of the materials included in each of the plurality of receiving portions in the seed spray 300 based on the ground surface inclination data, temperature data, and/or humidity data included in the sensing data. there is.

In addition, the processor 260 may set the mixing ratio of the vegetation soil based on the determined mixing amount for each material, and generate vegetation soil obtained by mixing the materials in the plurality of accommodating units according to the set mixing ratio. .

In more detail, the processor 260 may 1) set a vegetation soil mixing ratio using ground surface inclination angle data.

In detail, the processor 260 may set the amount of seed to be included in the vegetation soil according to the inclination angle and/or direction of inclination with respect to the ground surface included in the inclination angle data.

In more detail, the processor 260 may set an angle reference value providing a reference amount of seeds to be blended with vegetation soil.

Here, the angle reference value according to the embodiment may include a predetermined inclination angle and/or inclination direction.

For example, the processor 260 may preset the angle reference value (eg, 45 degrees, etc.) according to a user input and/or a preset process.

Also, the processor 260 may determine the seed blending amount based on the obtained ground surface inclination angle data and the preset angle reference value.

In an embodiment, the processor 260 may mutually compare the ground surface inclination angle data and the angle reference value.

In detail, the processor 260 may compare the inclination angle of the ground surface inclination angle data with the inclination angle of the angle reference value, and increase or decrease the seed blending amount according to the result of the comparison.

More specifically, the processor 260, when the inclination angle of the ground surface inclination angle data (hereinafter referred to as the inclination angle of the ground surface) is greater than the inclination angle of the angle reference value (hereinafter referred to as reference inclination angle), the processor 260 may reduce the seed blending amount compared to a predetermined reference amount. there is.

On the other hand, when the inclination angle of the ground surface is smaller than the reference inclination angle, the processor 260 may increase the seed blending amount compared to a predetermined reference amount.

For example, the processor 260 may decrease or increase the seed blending amount compared to a predetermined reference amount in proportion to an angle difference between the ground surface inclination angle and the reference inclination angle.

In this way, the processor 260 adjusts the seed content in the vegetation soil discharged on the ground surface according to the inclination angle of the ground surface, so that in the case of a steep slope, the seeds discharged on the slope move downward along the slope and are concentrated. In order to prevent the problem, the seed content in the vegetation soil can be reduced, and when moving to a gentle slope again, the reduced seed content is increased again according to the inclination angle of the ground surface to discharge the vegetation soil. The seed content can be adjusted.

Also, in the embodiment, the processor 260 may 2) set the vegetation soil mixing ratio using the temperature data.

In detail, the processor 260 may set a predetermined amount of microorganisms included in the vegetation soil based on the second temperature data acquired based on the second temperature sensor.

In more detail, the processor 260 may set the mixing amount of the microorganisms based on a predetermined survival temperature value (eg, a predetermined value) for each predetermined microorganism included in the receiving part of the seed spray.

As an example, the processor 260 may determine a mixing amount for the first microorganism to be used for mixing the vegetation soil based on a predetermined first survival temperature value for the first microorganism.

In an embodiment, the processor 260, if the obtained second temperature data is within a first survival temperature value at which the first microorganism can survive, the existing blending amount of the first microorganism included in the receiving unit 310 may be maintained. there is.

On the other hand, in this example, if the second temperature data is other than the first survival temperature value at which the first microorganism can survive, the processor 260 may increase or decrease the mixing amount for the first microorganism included in the accommodation unit 310. .

In this way, the processor 260 adjusts the amount of microorganisms required according to the climatic state of the land surface (eg, degraded forest and / or agricultural land) where the vegetation soil is to be discharged by adjusting the amount of microorganisms according to the obtained temperature data, etc. There is an effect that action can be taken.

Meanwhile, in an embodiment, the processor 260 may set a predetermined amount of liquid (eg, water) included in the vegetation soil by using first temperature data obtained based on a first temperature sensor.

In detail, the processor 260 may set a predetermined temperature threshold for a predetermined liquid in the receiving part of the seed spray.

Also, the processor 260 may adjust the liquid mixing amount based on the set temperature threshold and the obtained first temperature data.

As an example, the processor 260 may maintain an existing mixing amount of a predetermined liquid included in the accommodating part 310 when the first temperature data is within the preset temperature threshold.

On the other hand, if the first temperature data is other than the predetermined temperature threshold, the existing mixing amount of the predetermined liquid included in the accommodating part 310 may be increased or decreased.

For example, the processor 260, when the temperature threshold is set to 25 degrees (°C) and the first temperature data is 30 degrees (°C), the predetermined liquid included in the container 310 (For example, water, etc.) can be increased. On the other hand, when the first temperature data is 20 degrees (°C) under the same conditions, the processor 260 may reduce the amount of the predetermined liquid included in the container 310 .

In this way, the processor 260 increases the mixing amount of a predetermined liquid injected into the mixing unit 330 when the obtained temperature data is higher than the temperature threshold value, or when the obtained temperature data is lower than the temperature threshold value, the mixing unit By adjusting the liquid blending amount, such as reducing the blending amount of a predetermined liquid injected into 330, there is an effect of generating vegetation soil optimized for the environment around the drone 200 in real time.

Also, in the embodiment, the processor 260 may set the vegetation soil mixing ratio using the 3) humidity data.

In detail, the processor 260 may set a predetermined amount of microorganisms included in the vegetation soil based on the second humidity data acquired based on the second humidity sensor.

In more detail, the processor 260 may set the mixing amount of the microorganisms based on a predetermined survival humidity value (eg, a predetermined value) for each predetermined microorganism included in the seed spray receiving unit 310 .

As an example, the processor 260 may determine a mixing amount for the first microorganism based on a first survival humidity value preset for the first microorganism used for mixing the vegetation soil.

In an embodiment, the processor 260, if the obtained second humidity data is within the first survival humidity value in which the first microorganism can survive, the existing blending amount of the first microorganism included in the receiving unit 310 may be maintained. there is.

On the other hand, in this example, if the second humidity data is other than the first survival humidity value in which the first microorganism can survive, the processor 260 may increase or decrease the mixing amount for the first microorganism included in the accommodation unit 310 .

In this way, the processor 260 adjusts the amount of microorganisms to be mixed with the vegetation soil according to the obtained humidity data, so that the microorganisms required according to the climatic conditions of the ground surface (eg, degraded forest and/or agricultural land) where the vegetation soil is to be discharged. It is possible to take measures such as adjusting the amount of, and through this, it is possible to provide an environment in which the seeds in the vegetation soil can grow more smoothly.

Meanwhile, in an embodiment, the processor 260 may set a mixing amount of a predetermined liquid (eg, water) included in the vegetation soil by using first humidity data acquired based on a first humidity sensor.

In detail, the processor 260 may set a preset humidity threshold for a predetermined liquid in the seed spray accommodating unit 310 .

Also, the processor 260 may adjust the liquid mixing amount based on the set humidity threshold and the obtained first humidity data.

As an example, the processor 260 may maintain an existing mixing amount of a predetermined liquid included in the accommodating unit 310 when the first humidity data is within the preset humidity threshold.

On the other hand, if the first humidity data is other than the predetermined humidity threshold, the existing mixing amount of the predetermined liquid included in the accommodating part 310 may be increased or decreased.

For example, when the humidity threshold is set to 25 percent (%) and the first humidity data is 20 percent (%), the processor 260 determines the liquid contained in the container 310. (For example, water, etc.) can be increased. Meanwhile, when the first humidity data is 30% (%) under the same conditions, the processor 260 may reduce the mixing amount of the predetermined liquid included in the accommodation unit 310 .

In this way, the processor 260 may reduce the mixing amount of the predetermined liquid injected into the accommodating unit 310 when the acquired humidity data is higher than the humidity threshold. On the other hand, when the obtained humidity data is lower than the humidity threshold value, the mixing amount of a predetermined liquid injected into the accommodating unit 310 may be increased.

In this way, the processor 260 adjusts the amount of a predetermined liquid (eg, water, etc.) injected into the vegetation soil according to the ambient humidity data that changes in real time, so that the humidity environment around the drone 200 is applied to the vegetation soil. There is an effect of allowing the mixed seeds to be more easily vegetated.

That is, the processor 260 matches a predetermined value (in an embodiment, an angle reference value, a survival temperature value, a temperature threshold value, and/or a humidity threshold value, etc.) matched to each material put into a plurality of accommodating units, and the obtained Based on the sensed data, it is possible to determine the mixing amount of each material to be mixed with vegetation soil.

In addition, in the embodiment, the processor 260 may set the mixing ratio of the vegetation soil based on the mixing amount for each material determined as above, and generate vegetation soil mixing the materials in the plurality of housings according to the set mixing ratio. can do.

In detail, in the embodiment, the processor 260 controls the pressurization part 320 of the seed spray based on the blending ratio (and/or blending amount) set as above, so that each material in the plurality of containing parts is removed from the containing part. It can be discharged to the mixing part of the seed spray.

Also, in the embodiment, the processor 260 may control the mixing unit 330 to mix at least one or more materials discharged from each of the plurality of receiving units.

In an embodiment, the processor 260 may blend at least one or more vegetation soil materials introduced into the mixing unit to be evenly mixed using a mixer blade included in the mixing unit.

Accordingly, in the embodiment, the processor 260 may generate mixed vegetation soil based on the mixing amount (mixing ratio) for each vegetation soil material determined according to internal/external environmental conditions according to a plurality of sensing data.

Therefore, the vegetation soil generation and discharge system according to an embodiment of the present invention uniformly designates the mixing amount of the materials constituting the vegetation soil and prevents the vegetation soil from being unstablely settled on the ground surface when discharged to the ground surface. There is an effect of manufacturing vegetation soil generated based on a mixing ratio optimized for the surrounding environment of the drone 200 having variability such as and/or climate.

Returning again, the processor 260 may then determine a discharge direction angle based on the acquired sensing data. (S107)

13 is an example of a diagram for explaining a method of controlling a discharge direction angle of the discharge unit 340 based on sensing data by the drone 200 according to an embodiment of the present invention.

Referring to FIG. 13 , the processor 260 may change the discharge direction angle based on the ground surface inclination angle data and/or infrared reflectance data of the obtained sensing data.

Here, the discharge direction angle may mean a discharge direction and/or a discharge angle formed by the discharge unit 340 according to an embodiment of the present invention to discharge vegetation soil.

In detail, in the discharge unit 340, the discharge direction angle can be changed by the angle adjustment unit 346 included in the discharge unit 340, and the hurricane jetting unit tilted according to the changed discharge direction angle ( The vegetation soil may be discharged to the outside through the discharge port 345 of 342).

That is, in the embodiment, the processor 260 controls the discharge direction angle of the discharge unit 340 by controlling the angle adjustment unit 346 included in the discharge unit 340 to discharge as much as the determined discharge direction angle. This may mean that vegetation soil can be discharged to the outside in a state in which the portion 340 is tilted and the discharge port 345 included in the discharge portion 340 is also tilted by the discharge direction angle.

In more detail, in an embodiment, the processor 260 may adjust the discharge direction angle based on ground surface inclination angle data.

In general, when the ground surface to which vegetation soil is to be discharged has a predetermined slope, when the vegetation soil is discharged in a state that is not parallel to the slope, the discharged vegetation soil moves downward of the corresponding slope due to the slope As a result, the discharged vegetation soil may be unevenly distributed.

Accordingly, in an embodiment of the present invention, the processor 260 may adjust the discharge unit 340 to form a discharge direction angle parallel to the corresponding inclination angle of the ground surface based on the ground surface inclination angle data obtained in real time.

For example, when the inclination angle data of the ground surface collected in real time is 45 degrees, the processor 260 may set the discharge direction angle of the discharge unit 340 to be the same as the ground surface inclination angle of 45 degrees. there is.

Also, the processor 260 may control the angle adjustment unit 346 of the discharge unit based on the discharge direction angle set as described above.

Thus, the processor 260 may have the vegetation soil discharged from the discharge unit 340 onto the ground surface with a discharge direction angle parallel to the inclination angle of the ground surface in real time to discharge the vegetation soil.

Therefore, the processor 260 can smoothly and stably settle the vegetation soil on the ground surface having a predetermined slope.

Also, in an embodiment, the processor 260 may adjust the discharge direction angle based on infrared reflection amount data.

In detail, the processor 260 may obtain infrared reflectance data based on an infrared reflective material included in vegetation soil discharged on the ground surface, and adjust the discharge direction angle based on the acquired infrared reflectance data. .

In more detail, the processor 260 may emit infrared rays onto vegetation soil on the ground surface using an infrared sensor.

In addition, the processor 260 may use the infrared sensor to measure an amount of infrared reflection obtained by reflecting the emitted infrared light from a predetermined infrared reflecting material included in the vegetation soil.

At this time, the processor 260 may determine that the vegetation soil is unevenly distributed on the ground surface when the infrared reflectance data measured as above is excessive and/or insufficient in a predetermined area on the ground surface.

In detail, further referring to FIG. 12 , in the embodiment, the processor 260 divides the first ground surface area A1 on which the vegetation soil is sprinkled into a plurality of areas according to a predetermined criterion (eg, a preset size and/or number). can be divided into areas.

As shown in FIG. 12 , the processor 260 may emit infrared rays to the first land surface area A1 including a plurality of areas divided as above.

In addition, the processor 260 may measure the reflected amount of the emitted infrared rays (in the embodiment, the reflected amount of infrared rays) based on the infrared reflective material included in the first ground surface area A1 using the infrared sensor. can

At this time, the processor 260 may measure the infrared reflection amount for each of a plurality of areas included in the first ground surface area A1 .

As an example, the processor 260 may divide the first ground surface area A1 into a plurality of sub areas (eg, a first sub area, a second sub area, ..., an n th sub area).

Also, the processor 260 may emit infrared rays onto the first ground surface area A1 including the plurality of sub-areas by using an infrared sensor.

In addition, the processor 260 may obtain different amounts of reflected infrared rays from each of the plurality of sub-regions according to the amount of infrared reflective material included in vegetation soil on the plurality of sub-regions where the infrared rays are incident.

Thus, the processor 260 may obtain infrared reflectance data for each of a plurality of areas classified according to a predetermined criterion in the first ground surface area A1 .

Also, in an embodiment, the processor 260 may determine the density of vegetation soil based on a plurality of infrared reflectance data obtained for each of the plurality of sub-regions.

In detail, the processor 260 determines total infrared reflectance data (hereinafter, total reflectance data) for the first ground surface area A1 based on the infrared reflectance data (hereinafter, sub-reflectance data) for each of the plurality of sub-regions. can be obtained.

For example, the processor 260 may obtain the total amount of reflection data based on the sum of the sub-reflection amount data.

Also, the processor 260 may estimate the density of each sub-area within the first ground surface area A1 based on the respective sub-reflectance data and the total reflectance data.

Specifically, the processor 260 compares the total reflectance data for the first ground surface area A1 to the first sub-reflectance data for the first sub-area SA1 (ie, 'first sub-reflectance data/total reflectance data'). ), the density of the first subarea SA1 may be calculated.

In the same way, the processor 260 calculates the total reflectance data for the first ground surface area A1 versus the n-th sub-reflectance data for the n-th sub-region (ie, 'n-th sub-reflectance data/total reflectance data'). Based on this, it is possible to calculate the density of the n-th sub-region.

For example, the processor 260 may calculate the density of the first sub area SA1 as 10% when the total reflection amount data is '100' and the first sub reflection amount data is '10'. there is.

As another example, the processor 260 may calculate the density of the second sub area SA2 as 30% when the total reflection amount data is '100' and the second sub reflection amount data is '30'. .

Also, in an embodiment, the processor 260 may set the discharge direction angle of the discharge unit 340 based on the density calculated for each sub-area as described above.

In detail, the processor 260 may set the corresponding sub-area as an area lacking vegetation when the density calculated for each sub-area satisfies a predetermined criterion (eg, less than or equal to a predetermined density).

Also, the processor 260 may adjust the discharge direction angle so that the vegetation soil is intensively discharged onto the insufficient area.

For example, the processor 260 determines that the predetermined criterion for the density is 'density of 20% or less' and the density of the first subarea SA1 included in the first land surface area A1 is '10%'. ', the first sub area SA1 may be set as an area lacking vegetation soil, and the discharge direction angle of the discharge unit 340 may be adjusted to face the first sub area SA1.

Meanwhile, the processor 260 may set the corresponding sub-area as an area with excessive vegetation when the density calculated for each sub-area as described above satisfies a predetermined criterion (eg, a predetermined density or more).

Also, the processor 260 may adjust the discharge direction angle so that the vegetation soil is discharged while avoiding the excessive area.

For example, the processor 260 determines that the predetermined criterion for the density is 'density of 20% or less' and the density of the second subarea SA2 included in the first surface area A1 is '30%'. ', the second sub area SA2 may be set as an area with excess vegetation soil, and the discharge direction angle of the discharge unit may be adjusted to face a sub area other than the second sub area SA2.

That is, in the embodiment, the processor 260 sets the discharge direction angle, which is information for setting the discharge direction and/or angle according to the real-time ground surface inclination angle and/or infrared reflection amount that changes according to the flight movement of the drone 200, as described above. It can be determined in the same way, and the discharge unit 340 can be controlled based on the discharge direction angle determined in this way.

Therefore, the drone 200-based drone-based vegetation soil generation and discharge device and system according to an embodiment of the present invention grasps the topography of the area where vegetation soil is to be discharged, and the discharge direction angle of the discharge unit 340. By determining , the vegetation soil can be stably settled on the corresponding ground surface.

In addition, the drone 200-based drone-based vegetation soil generation and discharge device and system according to an embodiment of the present invention, based on the insufficient and / or excessive amount of infrared ray reflection with respect to the area where the vegetation soil is discharged, It is possible to determine whether the vegetation soil is uniformly distributed on the ground surface, and if it is determined that the vegetation soil is non-uniformly distributed, the discharge direction angle of the discharge unit 340 is adjusted based on the amount of reflected infrared rays so that the vegetation soil is distributed on the ground surface. It can be evenly and widely distributed over the phase.

Returning again, the processor 260 may discharge vegetation soil based on the set discharge direction angle. (S109)

In detail, in the embodiment, the processor 260 includes the seed spray 300 of the drone 200 according to the set discharge direction angle based on the inclination angle data of the ground surface and/or the infrared reflectance data for the surroundings of the drone 200. Vegetation soil may be discharged by tilting the discharge unit 340 at a predetermined inclination.

In addition, when the discharge unit 340 is tilted at a predetermined inclination to discharge the vegetation soil, the processor 260 may control the hurricane injection unit 342 to spread the vegetation soil more evenly and widely on the ground surface. there is.

In more detail, the processor 260 passes through the induction path 341 of the discharge unit 340 to a plurality of nozzles (in the embodiment, the first nozzle included in the nozzle unit 343 of the hurricane spray unit 342). 343a, the second motor included in the propeller unit 344 of the hurricane spray unit 342 when discharging the vegetation soil introduced into the second nozzle 343b and/or the third nozzle 343c. can activate.

Also, the processor 260 may rotate the propeller unit 344 based on the rotational force generated by the second motor.

Thus, the processor 260 may generate air blowing according to rotation of the propeller unit 344 .

In addition, the processor 260 may transfer the generated blowing air to vegetation soil discharged from each of the plurality of outlets 345a, 345b, and 345c.

Therefore, the processor 260 can more widely disperse the vegetation soil discharged from each of the plurality of discharge ports 345a, 345b, and 345c, and through this, the area where the vegetation soil is discharged can be expanded to a vast area to The efficiency of the discharge operation can be improved.

In addition, in performing the method of generating and discharging vegetation soil according to the above-described embodiment of the present invention, the processor 260 according to the embodiment may monitor the power status of the seed spray 300 and supply power. . (S111)

In detail, in the embodiment, the processor 260 continuously checks the remaining amount of the battery 350 of the seed spray 300 (eg, in real time or at predetermined time intervals) to monitor the power status of the seed spray 300. can

At this time, the processor 260 controls the power unit 220 when the remaining amount of the battery 350 falls below a predetermined standard (eg, a predetermined value) while monitoring the power status of the seed spray 300. Thus, predetermined power can be supplied to the battery 350 of the seed spray 300.

For example, the processor 260 determines that the remaining power of the battery 350 of the seed spray 300 is insufficient when the collected battery remaining amount data meets a predetermined criterion (eg, 10 percent (%) or less). can detect

Further, the processor 260 may control the power unit 220 to supply predetermined power to the battery 350 of the seed spray 300 .

In another embodiment, the processor 260 may receive an alarm signal indicating insufficient remaining power of the battery 350 from the seed spray.

In detail, in the embodiment, the sub-processor 370 of the seed spray may continuously monitor the remaining amount of the battery 350 (eg, in real time or at predetermined time intervals).

In addition, the subprocessor 370 may detect that the remaining power of the battery 350 is insufficient when the remaining battery capacity meets a predetermined criterion (eg, 10 percent or less).

In addition, the sub-processor 370 may generate a remaining power shortage alarm signal informing of the remaining power shortage when the remaining power shortage of the battery 350 is detected.

In addition, the sub-processor 370 may transmit the generated alarm signal to the processor 260 of the tethered drone.

In addition, the processor 260 receiving the low battery level alarm signal from the sub-processor 370 controls the power unit 220 to supply a predetermined amount of power to the battery 350 of the seed spray 300. can do.

At this time, in the embodiment, the processor 260 transmits from the power unit 220 to the battery 350 of the seed spray 300 using the wireless data transceiver 362 and/or the wired data transceiver 361. power can be applied.

In this way, the processor 260, when it is difficult to smoothly apply the power necessary for driving the seed spray only with the power supply from the ground station, receives additional power supply from the tether drone to respond to emergencies such as power shortage. can be dealt with easily.

As described above, the drone-based vegetation soil generating and discharging device and system thereof according to the embodiment of the present invention load at least one material constituting vegetation soil, and mix the loaded material based on the drone to form the vegetation soil. By generating, there is an effect of minimizing the difficulty of individually weighing and inputting the mixing amount for each material required to manufacture the vegetation soil.

In addition, the drone-based vegetation soil generating and discharging device and system thereof according to an embodiment of the present invention have a plurality of outlets for discharging the vegetation soil mixed inside the device to the outside, so that the discharge range of the vegetation soil can be set to a plurality of There is an effect that can be expanded to a plurality of discharge ranges according to the discharge port.

In addition, the drone-based vegetation soil generating and dispensing device and system according to an embodiment of the present invention have a component capable of providing a driving force to disperse the vegetation soil discharged to the outside of the device, thereby distributing the vegetation soil on the ground. It has the effect of being widely dispersed.

In addition, the drone-based vegetation soil generating and discharging device and system thereof according to an embodiment of the present invention senses the surrounding environment of the drone and mixes the at least one material in an optimal ratio according to the sensed surrounding environment. By generating the vegetation soil, there is an effect of creating an environment in which the vegetation of the seed in the vegetation soil can be more smoothly performed on the vegetation soil spraying environment.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention include a plurality of power devices and support flexible power application between the power devices, so that the power of one power device is excessive. There is an effect that can easily cope with emergency situations such as shortage.

In addition, the drone-based vegetation soil generating and dispensing device and system according to an embodiment of the present invention self/automatically set the mixing amount for each material constituting the vegetation soil using a tether drone to manually measure each material. It is possible to improve the convenience of workers when mixing vegetation soil, such as not having to do it individually.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention can produce vegetation soil containing only seeds of a desired size and/or type even when seeds of different diameters are put into one receiving part. Since it can be manufactured, there is an effect of conveniently selecting only seeds suitable for the vegetation environment to be created and mixing them with the vegetation soil and spraying them.

In addition, the drone-based vegetation soil generation and discharge device and system according to an embodiment of the present invention can safely spray vegetation soil using a tether drone even if the area to discharge vegetation soil has a dangerous terrain such as a steep slope. By doing this, there is an effect of reducing the risk burden of workers during the discharge of vegetation soil.

In addition, in the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention, the mixing amount of each material constituting the vegetation soil is determined according to the surrounding environmental conditions such as the surrounding terrain and/or climate conditions of the tether drone. By adjusting, there is an effect of allowing the seeds in the vegetation soil to grow more smoothly in the corresponding environment.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention detects the density of vegetation soil spread on the ground surface and reduces the density deviation, so that the vegetation soil is evenly sprayed on the ground surface. It has the effect of creating vegetation.

In addition, the drone-based vegetation soil generating and discharging device and system according to an embodiment of the present invention adjusts the discharge direction angle for discharging the vegetation soil according to the inclination angle of the ground surface around the tether drone, so that any inclination angle Even if it is the ground surface, it has the effect of improving the aesthetics of devastated forests and slopes by spraying seeds stably and uniformly on the surface. In addition, the embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes generated by a compiler. A hardware device may be modified with one or more software modules to perform processing according to the present invention and vice versa.

Specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of the specification, description of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection of lines or connecting members between the components shown in the drawings are examples of functional connections and / or physical or circuit connections, which can be replaced in actual devices or additional various functional connections, physical connection, or circuit connections. In addition, if there is no specific reference such as “essential” or “important”, it may not be a component necessarily required for the application of the present invention.

In addition, the detailed description of the present invention described has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those having ordinary knowledge in the art will find the spirit of the present invention described in the claims to be described later. And it will be understood that the present invention can be variously modified and changed without departing from the technical scope. Therefore, the technical scope of the present invention is not limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Claims (10)

A receiving unit for embedding at least one material constituting vegetation soil;
A plurality of nozzles providing a plurality of passages for distributing and accommodating the vegetation soil in the accommodating unit, a plurality of discharge ports disposed at one end of each of the plurality of nozzles and discharging the vegetation soil to the outside, and discharged from the plurality of discharge ports. A discharge unit including a propeller unit for blowing air to the vegetation soil; and
A processor for controlling a motor providing a predetermined rotational force to rotate at least one of the plurality of nozzles and the propeller unit;
Vegetation soil creation and discharge device. According to claim 1,
It further includes; a sensor unit for obtaining sensing data for the internal and external environment of the accommodation unit,
the processor,
Determining a discharge direction angle indicating a direction angle at which the vegetation soil is discharged from the discharge unit based on the sensing data
Vegetation soil creation and discharge device. According to claim 2,
the processor,
Controlling an angle adjusting unit that adjusts the direction angle of the discharge unit based on the determined discharge direction angle
Vegetation soil creation and discharge device. According to claim 1,
The receiving part,
A detachable form of a capsule-type cartridge embedding the vegetation soil
Vegetation soil creation and discharge device. According to claim 2,
the processor,
Controlling the sensor unit to obtain at least one of ground surface inclination data obtained by measuring the inclination angle of the ground and infrared reflective amount data obtained by measuring the infrared reflective amount based on the infrared reflective material included in the vegetation soil as the sensing data.
Vegetation soil creation and discharge device. According to claim 5,
the processor,
Determining the discharge direction angle based on at least one data of the ground surface inclination angle data and the infrared reflection amount data
Vegetation soil creation and discharge device. According to claim 5,
the processor,
Controlling the sensor unit to obtain the infrared reflectance data for each of a plurality of sub-regions included in the ground;
Determining the density of vegetation soil on the ground based on the obtained infrared reflectance data,
Determining the discharge direction angle based on the determined density
Vegetation soil creation and discharge device. According to claim 1,
The receiving part,
Further comprising a classification unit for classifying a plurality of seeds and selectively including the classified seeds in the vegetation soil
Vegetation soil creation and discharge device. According to claim 8,
The classification unit,
An alignment plate including a first hole for sorting the plurality of seeds;
An opening and closing plate including a second hole for selectively including seeds passing through the first hole of the alignment plate into the vegetation soil;
a vibration unit for applying a predetermined vibration to the alignment plate;
Including an opening and closing portion for adjusting the diameter of at least one of the first hole and the second hole,
the processor,
Controlling the vibration unit to supply predetermined vibration to the alignment plate;
Controlling the opening and closing part to adjust the diameter of at least one of the first hole and the second hole
Vegetation soil creation and discharge device. An accommodating part containing at least one material constituting vegetation soil;
A plurality of nozzles providing a plurality of passages for distributing and accommodating the vegetation soil in the accommodating unit, a plurality of discharge ports disposed at one end of each of the plurality of nozzles and discharging the vegetation soil to the outside, and discharged from the plurality of discharge ports. Seed spray including a discharge unit including a propeller unit for blowing the vegetation soil to be; and
A drone including a processor that rotates at least one of the plurality of nozzles and the propeller by controlling a motor providing a predetermined rotational force
Vegetation soil creation and discharge system.

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