KR20240047719A - Method for Preventing from Disaster Spray Automatic Control using Drone and Drone therefor - Google Patents

Abstract

In the method of automatically controlling pest control spray using a pest control drone of the present invention, one of the chemical input amount, nozzle type, and pump injection amount of the drone equipment is set in the controller (11) according to the control area (S10), and the control spraying area (100) is In the drone flight path moving from the outermost to the innermost along the outer boundary 101 and the inner boundary 102, the drone movement speed and drone flight height are set (S20) in the controller 11, thereby controlling the drug of the drone 1. Spraying can overlap at least twice in the control area 100, and in particular, by using the nozzle conditions as a variable, the spray amount per unit area of the control area 100 can be adjusted to the user's preference, while providing an overall even chemical agent without overlapping sprays or missing sprays. It has the characteristic of being able to control the appropriate amount of spray for a given area by spraying.

Description

{Method for Preventing from Disaster Spray Automatic Control using Drone and Drone therefor}

The present invention relates to pest control using a drone, and in particular, to a method of automatically controlling pest control spray using a drone, which allows accurate spraying per unit area without missing or overspraying by adjusting the spray amount per unit area as desired by the user, and to a pest control drone.

Recently, pest control drones have been used, and their use in agriculture is increasing, especially by spraying chemicals on crops grown in certain farmland.

That is, the pest control drone is equipped with a chemical tank and pump on the drone itself, and sprays the chemical downward while flying over farmland, thereby protecting workers from chemicals, especially pesticides.

For example, in performing the drone pest control work, the path spacing (i.e. spraying interval) of the drone in the shaped pest control area is set based on the maximum spray width, and the drone flies from one side of the pest control area to the other side along the path spacing of the maximum spray width. As the chemical is sprayed while doing so, an approximately “L” shaped flight path is formed.

Japanese Patent Application JP 2017-206066 A2 (2017.11.24)

However, the drone pest control work is causing the following problems by applying logic that sets only the path interval (i.e., spray interval) as a chemical spray variable.

For example, the drone flight path forms an “ㄹ” shape based on the maximum spray width, resulting in overlapping sprays and missed sections. In particular, very little spray can be sprayed in diagonal areas such as the outskirts of farmland, while in curved areas, the chemical is sprayed at all. There are bound to be many cases where this does not happen.

In addition, in the drone pest control work, the speed of the pest control is determined arbitrarily by the user, so the amount of chemical spray is carried out independently according to the speed set by each user. This irregularity makes it difficult to spray accurately per unit area and causes many missed sprays and oversprays. It is becoming a cause.

Accordingly, taking the above into consideration, the present invention automatically sprays chemicals by applying a control logic to the drone's controller that allows spraying to overlap at least twice between the outer effective spray width, the inner effective spray width, and the maximum spray width. In particular, by using the nozzle conditions as a variable, the spray amount per unit area of the pest control area is adjusted to the user's preference, but it is a pesticide using a drone that can control the appropriate spray amount for a given area by spraying the chemical evenly and without overlapping or missing sprays. The purpose is to provide an automatic spray control method and a pest control drone.

The method of automatically controlling pest control spraying using a drone of the present invention to achieve the above objective includes the chemical input amount, spraying angle, nozzle spraying interval, spraying height, nozzle quantity, pump spraying amount, and moving speed in a controller that adjusts the driving part of the drone. One of the following is given as the chemical spraying condition of the drone equipment, and the spraying interval and spraying path for the control area dividing the inner space of the outer boundary as the inner boundary are given as the drone flight path, and the drone is set to the above by the controller. It is characterized in that it automatically flies over the control area, completing drug spraying with the drug input amount, or completing drug spraying through drug replenishment.

In a preferred embodiment, the drone equipment is composed of a nozzle from which the nozzle type is selected, a medicine container from which the medicine input amount is detected, and a pump from which the pump injection quantity is set.

In a preferred embodiment, the spray angle is set to the outer effective spray width of the outer boundary, and the nozzle spray interval and the nozzle quantity are set to the maximum spray width including the inner effective spray width of the inner boundary.

In a preferred embodiment, the spray angle forms a double overlap section in the outer effective spray width of the outer boundary and the inner effective spray width of the inner boundary, and the nozzle quantity is set to the plurality of nozzles at the nozzle spray interval. Forms a partial overlap section of the spray angle, and the spray interval is set to one of the spray angle, the nozzle spray interval, the spray height set in consideration of the wind strength blowing in the control area, and the nozzle quantity, The injection path is formed by rotating from the outermost edge of the outer boundary to the inside of the inner boundary.

In a preferred embodiment, the medication is sprayed based on the effective spray width of the outer shell at the outer shell boundary. It is made based on the internal effective injection width at the internal boundary.

In addition, the method of automatically controlling pest control spraying using a drone of the present invention to achieve the above object includes the spray amount of the drug in the drug container consumed per unit area of the control area, the nozzle type of the nozzle that sprays the drug, and the pump that pumps the drug. A drone equipment setting step in which one of the pump injection amounts is written into the controller; A drone flight path in which an inner boundary is defined with respect to the outer boundary of the control area, and the spray height and movement speed of the drone having a drone flight path that returns from the outermost edge of the outer boundary to the inside of the inner boundary are set in the controller. In the setting step, the automatic flight of the drone by the controller causes spraying of the drug along the drone flight path, and the remaining amount of the drug is confirmed by predicting the remaining amount of the drug according to the drug injection time, and then the spraying of the drug for the remaining amount of the drug spraying area is completed. After moving to the flight start point and completing the flight, performing drone drug injection, and moving from the spray stop point to the flight start point when the remaining amount of drug is insufficient, and entering the amount of drug replenished in the drug container into the controller, It is characterized in that it includes a drone drug replenishment step in which the drone is moved to the injection stopping point and performs the drug injection again.

In a preferred embodiment, the nozzle type includes a maximum injection angle that forms a double-overlapping section in the outer effective injection width of the outer boundary and the inner effective injection width of the inner boundary, and the inner effective injection width of the inner boundary. Any one of a nozzle spraying interval adjusted to the width and a nozzle quantity forming the maximum spraying width are included.

In a preferred embodiment, the setting of the spray height takes into account the wind strength blowing in the control area, the chemical spray time is automatically set to the pump injection amount, and when the remaining amount of the drug spray area is confirmed, the remaining amount of the drug spray area is checked. Perform the above chemical injection again.

And the control drone of the present invention for achieving the above object is a control device consisting of a drone, a drug container filled with a drug, a nozzle for spraying the drug, and a pump for pumping the drug, and the drug input amount, spray angle, and nozzle injection. Any one of the interval, injection height, nozzle quantity, pump injection amount, and moving speed is set as a chemical injection condition, and the injection interval is set to one of the injection angle, the nozzle injection interval, the injection height, and the nozzle quantity, It is characterized in that it includes a controller that generates a spray path that returns from the outermost edge of the outer boundary to the inside of the inner boundary as a drone flight path of the drone.

In a preferred embodiment, the controller is linked to a logic loading means, and the logic loading means is comprised of one of an input window provided in the controller, a terminal connected to the controller, and a logic card inserted into the controller, Any one of the drug injection amount, the nozzle type, the pump injection amount, the injection height, the moving speed, and the drone flight path is provided to the controller.

The automatic control of pest control spray using the pest control drone of the present invention implements the following actions and effects.

First, the drone's chemical spraying operation can be automatically controlled by applying a controller with programmed pest control logic to the drone. Second, the drone's automatic flight control enables automatic return of the drone depending on the remaining amount of medication, movement to the final spraying position, and automatic return to the flight start point after spraying is completed. In particular, the spraying width of the effective spraying width outside/inside the area during automatic drone flight is possible. Spray speed/height control is also possible according to classification and spray amount. Third, the nozzle spray angle is programmed so that the spray can overlap at least twice between the outer effective spray width, inner effective spray width, and maximum spray width, so that when automatically controlling the chemical spray, the spray amount per unit area is adjusted to the user's preference, while overlapping spray is possible. And, the medicine can be sprayed evenly throughout the spray area without missing sprays, so that an appropriate amount of spray can be sprayed in a given area. Fourth, it is more effective in agriculture, where the spray amount of chemical spray per unit area must be accurate by accurately controlling the spray amount according to the unit area of the control area at a low cost. Fifth, the drone's movement speed can be controlled automatically when the user's frequent requirements change due to the drone's movement speed adjustment based on automatic spraying area calculation, thereby realizing user convenience and simplicity of operation.

Figure 1 is a flow chart of a method for automatically controlling pest control spraying using a drone according to the present invention, Figure 2 is an example of a pest control drone on which automatic control of pest control spray is performed according to the present invention, and Figure 3 is a spraying method of a pest control drone according to the present invention. This is an example of nozzle layout setting, and Figure 4 is an example of a pest control drone flight path in a chemical injection area according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached illustration drawings. These embodiments are examples and may be implemented in various different forms by those skilled in the art to which the present invention pertains, so they are described herein. It is not limited to the embodiment.

Referring to FIG. 1, the method of automatically controlling pest control spraying using a drone is performed in the following steps: a drone equipment setting step in S10, a drone flight path setting step in S20, a drone chemical spraying performance step in S30, and a drone chemical replenishment step in S40.

In particular, in the drone equipment setting (S10), a plurality of nozzle layouts are set to spray chemicals at overlapping spray angles according to the spray angle, nozzle spray interval, and nozzle quantity according to the type of nozzle, and the drone flight path setting (S20) The nozzle spray angle applies the outer effective spray width, inner effective spray width, and maximum spray width to the drone flight path moving from the outermost outer path of the control area (e.g., farmland 100 in FIG. 4) to the inner inner path. By doing so, the chemical injection is characterized by forming an overlapping injection section between neighboring flight paths.

Referring to Figure 2, the pest control drone includes a drone (1), drone equipment (5, 6, 7), and control devices (10, 20).

In particular, the drone 1 is configured to have a plurality of nozzle layouts in which the nozzles 5 spray chemicals at overlapping spray angles, and the logic loading means 20 implements the control spray automatic control logic for the control unit 10 ( It is characterized by inputting or loading (S10~S40).

Specifically, the drone (1) consists of a frame (2) and a driving unit (3), and the frame (2) includes a drone skeleton frame to which a nozzle rail (5a) is coupled and a plurality of driving units (3) each installed. It is formed as a radial arm, and the driving part 3 consists of a motor and a propeller for drone flight. In this case, the motor is driven under the control of the controller 11.

Therefore, the drone 1 is the same as a general drone.

Specifically, the drone equipment (5, 6, 7) consists of a nozzle (5), a medicine container (6), and a pump (7), and the nozzle (5) is coupled to the frame (2) of the drone (1). It is composed of a plurality of nozzles using a nozzle rail (5a), and through the layout of each of the plurality of nozzles, the effective spray width outside the farmland and the effective spray width inside the farmland (see FIG. 3) overlap, allowing the spraying of the chemical to be at least double. They can overlap, and the medicine container (6) is a container for holding medicine and is detachable from the frame (2) of the drone (1) with a belt or clamp, and the pump (7) is attached to the frame (2) of the drone (1). In a state where it is demounted using bolts or clamps, the chemical in the chemical container (6) is pumped and sent to the nozzle rail (5a). In this case, the nozzle rail 5a has a hollow structure through which the medicine flows.

In particular, the nozzles 5 are composed of at least three or four or more pairs, and each of the plurality of nozzles 5 moves along the nozzle rail 5a to change the path spacing (i.e., spray spacing) of the control area. ), and the spray angle, nozzle spray interval, number of nozzles, etc. are applied differently depending on the nozzle type.

Therefore, the nozzle 5 and the nozzle rail 5a form a nozzle movement and nozzle replacement structure with a concavo-convex structure or a clamp structure of the nozzle 5 with respect to the nozzle rail 5a.

In addition, the medicine container 6 may be equipped with a medicine level sensor, and the medicine level sensor detects the capacity in the pump and provides it to the controller 11, so that it is unnecessary to enter the medicine input amount to the controller 11, so that the initial medicine Entering the input amount (S13) (see Figure 1) can be omitted.

Specifically, the control devices 10 and 20 are composed of a control unit 10 and a logic loading means 20.

For example, the control unit 10 includes a controller 11 and a battery 12, and the controller 11 performs automatic control logic for pest control spraying using a drone to control spraying of a chemical from the nozzle 5. The battery 12, together with the controller 11, supplies power to the driving unit 3 (i.e., motor) and the pest control devices 5, 6, and 7 (i.e., pump 7) of the drone 1. In this case, the controller 11 is equipped with a memory for storing logic data and operates as a central processing unit, and the battery 12 is mounted on the frame 2 of the drone 1 and operates the driving unit 3, the pump 7, and It is connected to the controller 11 by electrical wiring.

For example, the logic loading means 20 provides each condition for drone equipment setting (S10)/drone flight path setting (S20)/drone chemical injection performance (S30)/drone chemical replenishment (S40) to the controller (11). It allows programming or setting, and any one of the input window 21, terminal 22, and logic card 23 can be used.

In particular, the input window 21 is made of a touch screen and is integrated into the controller 11, and the terminal 22 is made of a mobile device such as a laptop with a program, a note pad with an executable app, and a smart phone, and the terminal 22 is made of a touch screen and is integrated into the controller 11. ) is connected with a cable, and the logic card 23 is a memory card with a program set and is inserted into the controller 11, and each of these allows the operator to directly send chemical spray conditions and drone flight path conditions to the controller 11. It is used as a means of setting.

Hereinafter, the method of automatically controlling pest control spraying using the drone of FIG. 1 will be described in detail with reference to FIGS. 2 to 4. In this case, drone equipment setting (S10) and drone movement path setting (S20) are performed using any one of the input window 21, terminal 22, and logic card 23, and the pest control area is exemplified as farmland where chemical spraying occurs. , The farmland is only an example and can be applied to various areas.

Specifically, the drone equipment setting (S10) is performed in the steps of entering the drug injection amount per unit area in S11, entering the nozzle type and pump injection amount in S12, and entering the initial drug injection amount in S13. In this case, the unit area is the area per pyeong, and if the medicine container 6 is equipped with a medicine level sensor, it is unnecessary to enter the medicine input amount to the controller 11, so the initial medicine input amount entry step of S13 can be omitted.

For example, the entry of the chemical spray amount per unit area (S11) applies a setting value tailored to the size of the farmland, and the entry of the nozzle type and pump injection amount (S12) includes the spray angle, nozzle spray interval, and In addition to the number of nozzles, the injection amount (Liter/sec) of the pump (7) is entered, and the initial drug input amount (S13) is the initial drug input amount to the drug container (6), which is used to check the remaining amount by determining the drug consumption over time. It is used.

Referring to FIG. 3, the nozzle 5 is an example in which at least three pairs of first, second, and third nozzles are mounted in the longitudinal direction of the nozzle rail 5a. Enter the nozzle type and pump injection amount (S12). ) indicates the spray angle, nozzle spray interval, and nozzle number setting status. In this case, the spray angle is set to the outer effective spray width of the outer boundary 101 of the farmland 100, and the nozzle spray interval is set to the area included in the maximum spray width of the first, second, and third nozzles 5. It is set to the inner effective injection width of the inner boundary 102.

For example, in the layout of the first, second, and third spray nozzles of the nozzle 5, the first nozzle is mounted on the central part of the nozzle rail 5a and sprays the medicine in the middle part of the drone 1, and the second nozzle is mounted on the central part of the nozzle rail 5a. It is mounted on the left end of the nozzle rail (5a) and sprays the medicine from the left side of the drone (1), and the third nozzle is mounted on the right end of the nozzle rail (5a) and sprays the medicine from the left side of the drone (1). arranged to do so.

And the spray angle of each of the first, second, and third nozzles is set to have a spray area equal to the maximum width of the nozzle, which is the entire length of the nozzle rail 5a, so that the spray height according to the flight altitude of the drone 1 is the first spray angle. ,2,3 Each of the injection angles forms an overlap area that overlaps each other. In this case, the maximum width of the nozzle is equal to the effective spray width inside the farmland, and the spray angle can be set to about 90°.

Therefore, the first, second, and third nozzles form the maximum spray width with the second nozzle on the left and the third nozzle on the right (e.g., right section) with respect to the first nozzle in the center position, and the maximum spray width is Forms a nozzle spray area that exceeds the effective spray width inside the farmland.

From this, when the left drone (1) and the right drone (1) are arranged based on the path interval (spray interval), the primary path of the left drone (1) and the right drone (1) The secondary paths of form a drone overlapping section. In this case, the drone overlap section is formed with a width that exceeds the width of the area internal boundary 102.

Therefore, the drone 1 has a first injection overlap area when flying on the outer path (i.e., primary path) through the spray angles of each of the first, second, and third nozzles, and the first spray overlap area when flying on the inner path (i.e., secondary path). 1 By forming a spray overlap area, overlapping sprays and omissions do not occur, spraying can be done evenly throughout the farmland, and an appropriate amount of spray can be sprayed in a given area.

Specifically, the drone flight path setting (S20) is performed in the flight start and area setting step of S21, the drone movement path setting step of S22, and the drone movement speed and height setting step of S23. In this case, the movement path and the movement speed can be automatically generated when setting (i.e., mapping) the drug injection area of the drone 1 according to the controller 11's entry of the injection amount per pyeong for each drug.

For example, the flight start and area setting (S21) are determined for the outermost position (or point) of the farmland that demarcates the sky above the spraying area of the farmland where the drone 1 flies, and the drone movement path setting (S22) is determined. The drone path setting that moves from the outermost part of the farmland to the inside is determined through the selected injection interval, and the drone movement speed and height setting (S23) is set to the movement speed of the drone (1) according to the pump injection amount (S12). Together, the spray height (see FIG. 3) is determined according to the spray angle taking into account the wind strength blowing in the farmland. In this case, the controller 11 can automatically set the drone path according to the outermost position (or point), and can also automatically set the spray height according to the spray amount, movement speed, wind strength, and spray angle.

Referring to FIG. 4, the overall shape and size of the farmland 100 is set as the outer boundary 101, the inner area of the farmland is divided into the inner boundary 102, and the outer boundary 101 of the area is The bent portion is set as the diagonal outer boundary 103, and the portion where the inner boundary 102 of the region is bent is set as the diagonal inner boundary 104. In this case, the outer effective spray width of the area outer boundary 101 corresponds to the spray angle of the nozzle 5, and the inner effective spray width of the area inner border 102 corresponds to the spray angle of the nozzle 5. ) is included in the maximum spray width of the first, second, and third nozzles 5 according to the nozzle spray interval each has.

From this, the flight path of the drone (1) forms an approximately “rhombic spiral” flight path with the drone starting point at the outermost point and the drone ending point at the innermost point, and among the “diamond spiral” flight path, the farmland (10) It is divided into a straight path section of the area outer/inner boundary (101, 102), which is a flat part, and a diagonal path section of the diagonal outer/interior boundary (103, 104), which is a corner of the farmland (10). In this case, the flight path of the diagonal path section may be characterized as a diagonal flight path tailored to the inclination of the diagonal outer/inner boundary boundaries 103 and 104.

Therefore, when the drone 1 moves the drone flight path to an injection path formed by rotating from the outermost edge of the outer boundary of the region 101 to the inside of the inner boundary of the region 102, the first, second, and third nozzles ( 50), the first nozzle sprays the drug at the central position of the width of the straight path section and the diagonal path section, while the second and third nozzles each spray the drug at positions on the left and right sides of the width.

Also, referring to Figures 3 and 4, the spraying interval (path spacing) is set by applying the spraying height, the maximum nozzle width, the nozzle quantity and the spraying angle, the effective spraying width outside the farmland, the effective spraying width inside the farmland, and the maximum Based on the relationship between the spray widths, a section where the chemical spray from the nozzle 5 overlaps at least twice is set based on the area inner boundary 102. In this case, the effective spraying width outside the farmland < the effective spraying width inside the farmland < the maximum spraying width, and “<” indicates the size relationship between the two values.

From this, the spray path creation is set to form a spray path from the outermost edge 101 of the farmland 100 to the inside 102 so that spraying can be completed inside, especially the outer boundary of the farmland 100. The outermost spraying interval for (101) is adjusted so that spraying is performed based on the effective spraying width outside the farmland, and the inner spraying interval of the farmland for the inner boundary 102 of the farmland 100 is based on the effective spraying width inside the farmland. It is adjusted so that the injection is performed, and the settings for the outermost injection interval and the inner injection interval prevent missing or excessive injection of the drug on the injection path.

Specifically, the drone drug injection performance (S30) includes the drug injection start step of S31, the remaining drug amount prediction step according to the injection time in S32, the remaining amount prediction step in the spray area of S33, the movement to the flight start point step of S34, and the flight step of S35. It is performed as a termination step. In this case, the drug injection is performed in an injection path formed by rotating from the outermost edge of the region's outer border 101 to the inside of the region's inner border 102, based on the outer effective injection width from the region's outer border 101. It comes true. It is made based on the internal effective injection width at the area internal boundary 102.

For example, the drug injection start (S31) is performed by the controller 11 driving the pump 7, and the remaining drug amount prediction according to the injection time (S32) is performed by pumping the drug dose put into the drug container 6. The remaining amount of medicine in the medicine container (6) is predicted by calculating the injection consumption according to the injection speed per minute from the injection amount (L/S) of the pump (7). In this case, if the medicine container 6 has a medicine level sensor, the controller 11 predicts the remaining medicine amount using the medicine level sensor signal.

As a result, when the controller 11 confirms the remaining amount of chemical in the chemical container 6 before completing the chemical spraying on the farmland 100, it enters the spraying area remaining amount prediction step of S33, while when the remaining chemical amount is insufficient (i.e., unconfirmed), S40 Switch to the drug replenishment phase.

For example, the spraying area remaining amount prediction (S33) predicts the spraying area remaining amount (i.e., non-spraying area) that can be covered by the confirmed remaining amount of chemical (S32) among the allocated spraying areas of farmland 100 on the flight path. do. In this case, the remaining amount prediction can be made automatically from the initial chemical amount input value according to the injection amount.

As a result, if there is a remaining amount of the spray area (i.e., an area where the drug is not sprayed), the controller 11 returns to the drug injection start step of S31 and continues spraying the drug.

On the other hand, if the controller 11 has no remaining amount of spraying area (i.e., area where the chemical is not sprayed), the drone 1 moves to the flight start point (see FIG. 4) (S34) and ends the flight (S35), thereby leaving the farmland ( 100) Control work is completed.

Meanwhile, specifically, the drone drug replenishment (S40) is performed in the following steps: returning to the flight start point in S41, replenishing the drug and re-entering the drug input amount in S42, and moving to the injection stop point in S43 and starting drug injection.

Referring to FIG. 4, the return to the flight start point (S41) means returning to the drone departure point, which is the flight start point, and the replenishment of the drug and re-performance of entering the drug input amount (42) refers to the return of the drug refilled in the liquid container (6). It means that the input amount is re-written in the controller 11, and moving to the injection stop point where the drug injection starts (S43) means a certain section between the drone starting point and the drone ending point.

As described above, in the method of automatically controlling pest control spray using a pest control drone according to this embodiment, one of the chemical input amount, nozzle type, and pump injection amount of the drone equipment is set in the controller 11 according to the control area (S10), In the drone flight path moving from the outermost part to the inner part along the outer border 101 and the inner border 102 of the control area 100, the drone movement speed and drone flight height are set in the controller 11 (S20) As a result, the chemical spray of the drone (1) can be overlapped at least twice in the control area (100), and in particular, by using the nozzle condition as a variable, the spray amount per unit area of the control area (100) can be adjusted as desired by the user, while overlapping spraying and It is possible to control the appropriate spray amount for a given area by spraying the chemical evenly throughout the entire area without missing sprays.

1: Drone 2: Frame
3: Drive part 5: Nozzle
5a: nozzle rail 6: medicine container
7: pump 10: control unit
11: Controller 12: Battery
20: Logic loading means 21: Input window
22: terminal 23: logic card
100: Farmland 101: Area outer boundary
102: Area inner boundary 103: Diagonal outer boundary
104: diagonal internal boundary

Claims (17)

A controller that adjusts the driving part of the drone,
Any one of the chemical injection amount, spray angle, nozzle spray interval, spray height, nozzle quantity, pump spray amount, and movement speed is given as the chemical spray condition of the drone equipment, and the inner space of the outer boundary is divided into the inner boundary. The spray interval and spray path are given by the drone flight path,
The drone automatically flies the control area by the controller, completing drug injection with the drug input amount or completing drug injection through drug replenishment.
An automatic control method for pest control spraying using a drone, characterized in that:
The method of claim 1, wherein the drone equipment
A method of automatically controlling pest control spraying using a drone, characterized by a nozzle from which the nozzle type is selected, a drug container from which the drug input amount is detected, and a pump from which the pump injection amount is set.
The method of claim 1, wherein the injection angle is adjusted to the outer effective injection width of the outer boundary,
The nozzle spray interval and the nozzle quantity are adjusted to the maximum spray width including the inner effective spray width of the inner boundary.
The method of claim 3, wherein the injection angle is
An automatic control spraying method using a drone, characterized in that a double overlap section is formed in the outer effective spraying width of the outer boundary and the inner effective spraying width of the inner boundary.
The method of claim 3, wherein the number of nozzles is plural,
A method of automatically controlling pest control spraying using a drone, characterized in that the plurality of nozzles (5) form a partial overlap section of the spraying angle in the nozzle spraying interval.
The method of claim 1, wherein the injection interval is
A pest control spray automatic control method using a drone, characterized in that set to one of the spray angle, the nozzle spray interval, the spray height, and the nozzle quantity.
The method of claim 6, wherein the injection height is
An automatic control method for pest control spraying using a drone, characterized in that it is set in consideration of the wind strength blowing in the control area.
The method of claim 1, wherein the injection path is
An automatic control method for pest control spraying using a drone, characterized in that it is formed by rotating from the outermost edge of the outer boundary to the inside of the inner boundary.
The method of claim 1, wherein the drug spray is
It is made based on the outer effective injection width at the outer boundary.
A method of automatically controlling pest control spraying using a drone, characterized in that it is based on the internal effective spraying width at the inner boundary.
A drone equipment setting step in which any one of the chemical injection amount of the chemical container consumed per unit area of the control area, the nozzle type of the nozzle spraying the chemical, and the pump injection amount of the pump pumping the chemical is recorded in the controller;
A drone flight path in which an inner boundary is defined with respect to the outer boundary of the control area, and the spray height and movement speed of the drone having a drone flight path that returns from the outermost edge of the outer boundary to the inside of the inner boundary are set in the controller. setup steps,
Due to the automatic flight of the drone by the controller, chemical injection is performed on the drone flight path, the remaining chemical amount is confirmed by predicting the remaining chemical amount according to the chemical injection time, and then the chemical injection for the remaining amount of the chemical injection area is completed, and the flight is completed. A drone chemical spraying performance step in which the flight ends by moving to the starting point, and
When the remaining amount of medicine is insufficient, the drone moves from the injection stop point to the flight start point, enters the amount of medicine replenished in the medicine container into the controller, and then moves the drone to the spray stop point and performs the medicine injection again. Supplementary steps
An automatic control method for pest control spraying using a drone, characterized in that it includes.
The method of claim 10, wherein the nozzle type includes
An injection angle forming a double overlap section in the outer effective injection width of the outer boundary and the inner effective injection width of the inner boundary,
a nozzle injection interval adjusted to the maximum injection width including the internal effective injection width of the inner boundary, and
A method for automatically controlling pest control spraying using a drone, characterized in that any one of the nozzle quantities forming the maximum spray width is included.
The method of claim 10, wherein setting the injection height includes
An automatic control method for pest control spraying using a drone, characterized in that the wind strength blowing in the control area is taken into account.
The method of claim 10, wherein the drug injection time is
A method of automatically controlling pest control spraying using a drone, characterized in that it is automatically set to the pump spraying amount.
The method of claim 10, when checking the remaining amount of the drug spray area
A method for automatically controlling pest control spraying using a drone, characterized in that the chemical spray is re-performed for the remaining amount of the chemical spray area.
drone,
A control device consisting of a medicine container filled with a medicine, a nozzle for spraying the medicine, and a pump for pumping the medicine, and
Any one of the chemical injection amount, injection angle, nozzle injection interval, injection height, nozzle quantity, pump injection amount, and moving speed is set as the chemical injection condition, and any one of the injection angle, the nozzle injection interval, the injection height, and the nozzle quantity is set as the chemical injection condition. A controller that sets the injection interval to one and creates a spray path from the outermost edge of the outer boundary to the inside of the inner boundary as the drone flight path of the drone.
A pest control drone characterized in that it includes.
The method of claim 15, wherein the controller is associated with logic loading means,
The logic loading means is a pest control drone, characterized in that it provides any one of the chemical injection amount, the nozzle type, the pump injection amount, the injection height, the moving speed, and the drone flight path to the controller.
The method of claim 16, wherein the logic loading means
A pest control drone, characterized in that it is one of an input window provided in the controller, a terminal connected to the controller, and a logic card inserted into the controller.

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