WO2017094842A1

WO2017094842A1 - Chemical-agent spraying device using unmanned flying bodies

Info

Publication number: WO2017094842A1
Application number: PCT/JP2016/085748
Authority: WO
Inventors: 洋柳下
Original assignee: 株式会社ナイルワークス
Priority date: 2015-12-04
Filing date: 2016-12-01
Publication date: 2017-06-08
Also published as: JPWO2017094842A1

Abstract

[Problem] To provide a chemical-agent spraying device that makes use of drones (unmanned flying bodies) and that can be operated for a long period of time. [Solution] According to the present invention, a plurality of drones, the mutual positions of which are controlled in cooperation, support a power supplying cable, a chemical agent pipe, a control cable, etc., and another drone dedicated to chemical-agent spraying performs chemical-agent spraying. Thus, a problem of routing a cable, etc., is solved, and efficient and stable chemical-agent spraying for a long period of time is enabled without being restricted by the capacity of the battery on a drone or by the volume of a chemical agent tank on the drone.

Description

Drug spraying device with unmanned air vehicle

The present invention relates to a chemical spraying device such as agricultural chemicals using a plurality of unmanned air vehicles (drone).

The application of a remote control type small unmanned helicopter generally called drone is progressing. As one of its application fields, spraying of chemicals such as agricultural chemicals and liquid fertilizers onto farmland can be cited (for example, Patent Document 1).

Drone spraying has the advantage of being able to spray medicine efficiently and homogeneously even on agricultural land that is narrow, unshaped, and high and low, which is typical in Japan.

In general, in the industrial use of drones such as drug spraying, the duration of the battery of the aircraft is an important issue. In order to avoid the limitation of the battery duration, power supply by wire may be performed. However, there is a problem that the flying range of the drone is almost limited to the up and down movement due to the restriction on the handling of the power supply line. It was impossible to spread medicines over a wide area while flying horizontally on the farm ground by a wired power supply drone.

In addition, due to restrictions on the weight of the drone, there is a problem that a large amount of medicine cannot be carried in the drone tank, and the efficiency for supplying the medicine is lowered.

Furthermore, as a general problem of drones, there was a risk that drones would fall outside the assumed area and could cause a serious accident when wireless operation became impossible due to failure or the like. As long as a radio controlled drone was used, it was impossible to completely avoid this risk.

Japanese Patent Application Publication No. 10-181095

Provided is a drug spraying device having high efficiency by a drone (unmanned air vehicle).

The present invention is a drug distribution device including a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source, wherein the power supply line includes the first unmanned air vehicle and the second unmanned flight. Connected to the body and the power source, the first unmanned air vehicle is provided with a medicine spraying means, and the power source is provided outside the first unmanned air vehicle and the second unmanned air vehicle. The above-mentioned problem is solved by providing a medicine spraying device that is installed and supplies electric power to the first unmanned air vehicle and the second unmanned air vehicle via the feeder line.

The present invention is a drug spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and The second unmanned air vehicle, the drug tank, and the pump are connected to each other, the first unmanned air vehicle includes drug spraying means, and the drug tank includes the first unmanned air vehicle and Provided is a medicine spraying device which is installed outside the second unmanned air vehicle, and the pump supplies the medicine in the medicine tank to the first unmanned air vehicle via the medicine hose. To solve the above problem.

The invention of the present application is a medicine spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the first unmanned air vehicle. A second unmanned air vehicle and the pilot, the first unmanned air vehicle is provided with a medicine spraying means, and the pilot is connected to the first unmanned air vehicle via the control cable. The above problem is solved by providing a medicine spraying device that controls a flying object and the second unmanned flying object.

The present invention further provides the medicine spraying device according to paragraph 0009, paragraph 0010, or paragraph 0011, wherein the position of the second unmanned air vehicle is controlled in accordance with the position of the first unmanned air vehicle. The above-mentioned problem is solved by providing

In addition, the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source, and the power supply line includes the first unmanned air vehicle, the second unmanned air vehicle, and the power source. The first unmanned aerial vehicle is provided with a medicine spraying means, and the power source is connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle via the feeder line. An unmanned air vehicle control method executed by a medicine spraying device that supplies electric power, the step of obtaining the position of the first unmanned air vehicle, and the second according to the position of the first unmanned air vehicle The above-mentioned problem is provided by providing a method for controlling an unmanned air vehicle, comprising: calculating a predetermined position of the unmanned air vehicle; and giving a command to the second unmanned air vehicle to fly the predetermined position. To solve.

The present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and the second unmanned flight. Connected to the body, the drug tank, and the pump, the first unmanned air vehicle includes drug spraying means, and the pump is connected to the first unmanned air vehicle and the pump via the drug hose. An unmanned air vehicle control method executed by a medicine spraying device that supplies medicine to a second unmanned air vehicle, the method comprising: obtaining a position of the first unmanned air vehicle; and Unmanned air vehicle control, comprising: calculating a predetermined position of the second unmanned air vehicle according to the position; and giving a command to the second unmanned air vehicle to fly the predetermined position. Solving the above problem by providing a method

The present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the second unmanned air vehicle. The first unmanned air vehicle is connected to the pilot, and the first unmanned air vehicle includes a medicine spraying means. The first unmanned air vehicle and the second unmanned air vehicle are connected via the control cable. An unmanned air vehicle control method executed by a medicine spraying device for controlling an air vehicle, the step of obtaining the position of the first unmanned air vehicle, and depending on the position of the first unmanned air vehicle By providing a method for controlling an unmanned air vehicle, comprising: calculating a predetermined position of a second unmanned air vehicle; and giving a command to the second unmanned air vehicle to fly the predetermined position. Solve the above problems.

In addition, the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source, and the power supply line includes the first unmanned air vehicle, the second unmanned air vehicle, and the power source. The first unmanned aerial vehicle is provided with a medicine spraying means, and the power source is connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle via the feeder line. An unmanned air vehicle control program that is executed by a medicine distribution device that supplies electric power, the procedure for obtaining the position of the first unmanned air vehicle, and the second according to the position of the first unmanned air vehicle An unmanned air vehicle control program for causing a computer to execute a procedure for calculating a predetermined position of the unmanned air vehicle and a procedure for giving a command to the second unmanned air vehicle to fly the predetermined position is provided. To solve the above problem.

The present invention also includes a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and the second unmanned air vehicle. The flying object, the drug tank and the pump are connected to each other, the first unmanned flying object is provided with a drug spraying means, and the pump is connected to the first unmanned flying object and the pump via the drug hose. An unmanned air vehicle control program that is executed by a medicine spraying device that supplies medicine to a second unmanned air vehicle, the procedure for obtaining the position of the first unmanned air vehicle, and the first unmanned air vehicle An unmanned computer causing a computer to execute a procedure for calculating a predetermined position of the second unmanned air vehicle according to the position and a command for instructing the second unmanned air vehicle to fly the predetermined position. Providing an aircraft control program In to solve the above-mentioned problems.

The present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the second unmanned air vehicle. The first unmanned air vehicle is connected to the pilot, and the first unmanned air vehicle includes a medicine spraying means. The first unmanned air vehicle and the second unmanned air vehicle are connected via the control cable. An unmanned air vehicle control program executed by a medicine spraying device for controlling an air vehicle, the procedure for obtaining the position of the first unmanned air vehicle, and the position of the first unmanned air vehicle according to the position Provided is an unmanned air vehicle control program for causing a computer to execute a procedure for calculating a predetermined position of a second unmanned air vehicle and a procedure for instructing the second unmanned air vehicle to fly the predetermined position. This solves the above problem.

A drug spraying device using a drone (unmanned aerial vehicle) that can be powered by a wired system, can supply a drug by a wired system, or can be controlled by a wired system is provided, which enables efficient and long-time drug spraying.

1 is an overall view of a first embodiment according to the present invention. It is a general view of the second embodiment according to the present invention. It is a whole figure of the 3rd Example concerning this invention. It is an example of the mechanism of the connection part of the drone which concerns on this invention, and a hose or a feeder. It is an example of the operation screen of the controller which concerns on this invention. It is the figure explaining the example of the altitude adjustment logic of the some drone concerning this invention. It is a figure explaining the 1st example of the route control method at the time of the flight start of the several drone concerning this invention. It is the figure explaining the 2nd example of the route control method at the time of the flight start of the several drone which concerns on this invention.

Embodiments of the present invention will be described below with reference to the drawings. In the present specification, the term “drone” is not limited to a radio-operated small unmanned helicopter (multi-copter) having a plurality of rotor blades, but is used as a general term for an unmanned air vehicle. In other words, unmanned regardless of the size of the aircraft, the number of rotor blades, the flight method (propeller or jet engine), autonomous or remote control, wired control or wireless control The name of the drone will be used for the flying vehicle (unmanned aircraft, also called UAV (Unmanned Aerial Vehicle)). Moreover, the chemical | medical agent used as application | coating object may be arbitrary liquids or powders, such as an agrochemical and liquid fertilizer.

In the medicine spraying device according to the present invention, a drone for distributing medicine supplied by wire (hereinafter referred to as a main drone) and another one or more drones (hereinafter referred to as sub drones) for supporting a power supply cable or the like. By the combination, it is possible to spread the medicine in a wide range without being restricted by the handling of the power supply cable or the like. The conceptual diagram of the 1st Example of the chemical | medical agent spraying apparatus which concerns on FIG. 1 at this invention is shown.

The main drone (102) located at the end of the power supply cable (101) is a drone for spraying medicine, and includes a medicine spraying mechanism including a tank, a nozzle, a pump, and the like. One or more sub-drone (103) located in the middle position of the feeding cable (101) is a drone that supports the feeding cable (101) in the air. The number of secondary drones (103) is determined according to the length and rigidity of the power supply cable (101), the flight range of the main drone (102), the complexity of the flight route, etc. according to the farmland to which the medicine is to be sprayed. This is a design matter. Moreover, as will be described later, it is desirable that the sub-drone (103) plays an individual role.

The main drone (102) and the sub drone (103) are provided with instruments such as a GPS and an altimeter, and are preferably remotely controlled by the wireless controller (105) to maintain a predetermined height and position. It is desirable that the main drone (102) has a function capable of flying by autonomous control in addition to remote control. For example, by matching the GPS built in the main drone (102) with the map information of the farmland stored in advance, the optimum route for spraying the medicine of the main drone (102) can be determined. The sub drone (103) preferably determines the position automatically according to the route of the main drone (102) and plays a role of supporting the power supply cable (101) and the like so as not to get in the way (sub drone (103) (The method for determining the position will be described later).

The ground power source (104) is a power source for supplying power to the main drone (102) and one or more sub drones (103) via the power supply cable (101), and is a battery, a commercial power source, or a power generator. Machine. The ground power source (105) is preferably installed on the ground.

The main drone (102) and the sub drone (103) are prepared in case of an unexpected situation such as a failure of the ground power source (105) (for example, a power failure when a commercial power source is used) or disconnection of the power supply cable (101). May have a spare battery. An automatic control function may be provided that can return to the storage location of the drone without power supply from the ground power source (105) in the event of a failure by the power supply of the spare battery.

The wireless controller (104) instructs the position and altitude of the main drone (102) and the sub drone (103), and monitors the position, altitude, and operating status of the main drone (102) and the sub drone (103). It is a device that provides functions such as instructing the main drone (102) to spray the medicine and monitoring the state of the medicine spraying. The wireless controller (104) is preferably realized by a smartphone or tablet terminal having a wireless communication function.

FIG. 2 shows an overall view of a second embodiment of the medicine spraying device according to the present invention. The difference from the first embodiment is that a medicine hose (201) for supplying medicine to the main drone (101) and a ground medicine tank (202) are further provided. The drug hose (201) is preferably integrated with the power supply cable (101). The ground drug tank (202) is desirably installed on the ground. By providing the medicine hose (201), the medicine spraying can be continued for a long time without being restricted by the tank capacity of the main drone (101). Even if the medicine in the medicine tank (202) is supplied to the main drone (101) by a pump installed on the ground, the medicine in the ground medicine tank (207) is sucked up by the pump provided in the main drone (101). It is good.

FIG. 3 shows an overall view of a third embodiment of the medicine spraying device according to the present invention. The difference from the first embodiment is that a control cable (301) for performing flight control of the main drone (102) and one or more sub-drones (103) with a wired pilot (302) is provided. (Thus, the radio pilot (105) is unnecessary). The control cable (301) is preferably integrated with the feeding cable (101). By performing wired operation, stable control can be performed compared to wireless operation. In addition, there is an advantage that there is no restriction specific to radio control such as the Radio Law. Although the wired controller (302) can also be realized by a smartphone or a tablet terminal, it is desirable to realize it by searching a personal computer having a wireless communication function from a smartphone or tablet terminal also having the wireless communication function.

Naturally, a fourth embodiment in which the second embodiment and the third embodiment are combined, that is, a form in which power supply, medicine supply from the ground, and remote control of the drone are all performed by wire is also possible. Further, it is possible to combine only the medicine supply from the ground, each drone operating with a battery, or only remote control via a cable.

FIG. 4 shows the sub-drone (103) and the cables (401) (here, the power cable (101), the drug pipe (201), the control cable (301), or any combination thereof). The structure of the mechanism of a connection part is shown. In order to prevent the cables (401) from being kinked when the secondary drone (103) takes a complicated flight route, or the flight of the secondary drone (103) is not hindered by the rigidity of the cables (401), It is desirable to be able to rotate freely in at least two directions (vertical axis direction, axial direction of the cables (103)). Further, it is desirable that the sub drone (103) includes two connector portions (402) of the cables (401) and can provide a relay function of the cables (401). By adopting such a configuration, the number of sub drones (103) and the length of cables (401) between the sub drones (103) can be flexibly selected according to the use conditions. For example, by preparing a short cable (401) for a narrow farmland and a long cable (401) for a wide farmland, the same sub drone (103) can be easily diverted to a narrow farmland and a wide farmland. become able to.

FIG. 5 shows a screen example of the wireless controller (105) or the wired controller (302) according to the present invention. On the screen of the controller, at least the horizontal and vertical positions of the main drone (102), the horizontal and vertical positions of each sub-drone (103), the battery remaining amount, and the remaining amount of the chemical solution are displayed. It is desirable. In addition, the flight path of the drug spraying by the main drone (101) and the flight path of the secondary drone (103) associated therewith can be performed by an algorithm of a computer program running on the pilot (105 or 302) or the like. It is desirable to be automated as long as possible, but it is desirable that manual override can be performed. In addition, the video of the camera provided in the main drone (102) or the sub drone (103) may be displayed on the screen, and it may be possible to visually confirm whether or not the medicine is properly sprayed.

FIG. 6 shows an example of cable (401) handling by the main drone (102) and the sub drone (103) according to the present invention. Simply supporting the cables (401) with a plurality of secondary drones (103) can cause the hanging cables to hang down near the ground and damage crops on the farmland, or the tension and weight of the cables can interfere with the main drone ( 102) is obstructed. In the present invention, the role of the sub-drone (103) is divided, and the altitude and the horizontal position are controlled according to the role, so that the main drone ( Efficient drug distribution can be achieved without hindering the movement of 102). Although this example is based on the first embodiment described above, the same concept can naturally be applied to the second embodiment, the third embodiment, the fourth embodiment, and the like.

In this example, a main drone (102) and five sub drones (103a, 103b, 103c, 103d, 103e) are used. The main drone (102) flies on the farm ground at an altitude suitable for drug spraying and sprays drugs. The first secondary drone (103a) closest to the main drone (102) functions as a tracking drone and is controlled to fly directly above the main drone (102). Thereby, the main drone (102) can fly the path | route for optimal chemical | medical agent dispersion | distribution, without being disturbed by the tension | tensile_strength and gravity of cables (401). The second sub-drone (103b) and the third sub-drone (103c) function as cable slack adjustment drones. By applying appropriate tension to the cables (401), slack is eliminated and other drones can be freely used. Controlled so that you can fly. The fourth sub-drone (103d) and the fifth sub-drone (103e) function as an altitude maintenance drone, flying near the ground battery (104), and other drones without a heavy burden of cable weight. It is controlled to play a role that allows it to fly. The configuration in FIG. 6 is an example, and it is desirable that the number of sub-drones (103) and the division of roles to each sub-drone (103) can be determined freely according to the shape and size of the farmland. It is desirable that the altitude of each sub drone (103) is automatically determined based on a predetermined algorithm. For example, if the length of the cables between the main drone (102) and the sub drone (103a) is 2 meters, the sub drone (103a) is placed 1.5 meters above the main drone (102) to 1. Control can be performed at an altitude of 8 meters and within a circle of 0.2 meters radius from the horizontal main drone (102). In addition, the altitude and horizontal position of each secondary drone (103) may be determined from the altitude and horizontal position of the main drone (102) based on arbitrary calculation logic. The tension applied to the drone by the cables (401) may be measured by a sensor, and the altitude may be adjusted when the tension falls outside the range of the threshold value. In addition, an anemometer may be provided for each drone, and the altitude may be adjusted according to the strength of the wind.

FIG. 7 shows an example of the route control of the horizontal position at the start of the flight of the drone according to the present invention. FIG. 7 is a view from above. Although FIG. 7 is based on the first embodiment, the concept can be applied to the second embodiment, the third embodiment, the fourth embodiment, and the like. The role of each drone in FIG. 7 is the same as that in FIG. FIG. 7A shows a state immediately after the start of spraying of the drug, and each drone is flying near the drug tank (104) on the farmland (701). The fourth sub drone (103d) and the fifth sub drone (103e) functioning as the altitude maintenance drone maintain a sufficient altitude on the ground battery (104). The other secondary drones (103a, 103b, 103c) are controlled to maintain a position where the cable does not loosen. FIG. 7B shows a state in which the medicine is being sprayed. The main drone (102) sprays the medicine on the farm ground, and the sub drones (103a, 103b, 103c, 103d, 103e) are wasted on the cables (401). The horizontal and vertical positions are controlled so that no tension is applied and the cables (401) are not loosened more than necessary. This is because the horizontal / vertical position of the main drone (102) is read by GPS or an altimeter, and the horizontal / vertical position where other drones should fly is calculated by a predetermined algorithm based on the position information. This can be achieved by controlling the location of the drone. At the end of the drone flight, the cables (401) can be stored smoothly by controlling the drone in the reverse order of the flight start.

FIG. 8 shows another example of route control at the start of flight of the drone according to the present invention. FIG. 8 is a view from above. The battery (104) and the secondary drone (103a) as a tracking drone are connected by a straight line, and the straight line is divided according to the number of secondary drones. As shown in the drawing, position control is performed so that another sub drone is arranged at a position on a straight line that intersects the straight line perpendicularly on the divided points (positions corresponding to A, B, C, and D in FIG. 8). As a result, the slack of the cables can be minimized. In this case, it is desirable that the secondary drone (103d, 103e), which is the altitude maintenance drone, be controlled to maintain the horizontal position adjusted for altitude maintenance.

(Technologically significant effect of the present invention)
According to the present invention, compared to the case of spraying medicine with a conventional single drone, it is not restricted by the tank capacity on the drone by long time operation not restricted by battery power supply by wired power supply, medicine supply through medicine pipe Technically significant effects such as long-time operation and stable drone flight control by control via a control cable can be obtained. In addition, simply connecting a cable to the drone may cause problems such as the drone's movement being restricted by its own weight, or the hanging cable damaging the crop. Such a problem does not occur in the supporting system of the present invention. Further, since the drone is connected to the ground by a feeder line or the like, a secondary advantage that the drone does not fly beyond the cable length can be obtained. In the case of drones operated by radio, there is a risk of malfunction or inability to operate due to deterioration of radio wave conditions or equipment failure, and as a result, accidents caused by flying drones outside the assumed flight area have become a social problem. Such an accident cannot occur in the configuration according to the present invention.

Claims

A drug spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a feeder and a power source,
The power supply line is connected to the first unmanned air vehicle, the second unmanned air vehicle and the power source,
The first unmanned air vehicle includes a medicine spraying means,
The power source is installed outside the first unmanned air vehicle and the second unmanned air vehicle, and is connected to the first unmanned air vehicle and the second unmanned air vehicle via the feeder line. Supplying power,
Drug spraying device.
A drug spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump,
The drug hose is connected to the first unmanned air vehicle, the second unmanned air vehicle, the drug tank, and the pump.
The first unmanned air vehicle includes a medicine spraying means,
The drug tank is installed outside the first unmanned air vehicle and the second unmanned air vehicle,
The pump supplies the medicine in the medicine tank to the first unmanned air vehicle via the medicine hose.
Drug spraying device.
A drug spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a pilot,
The control cable is connected to the first unmanned air vehicle, the second unmanned air vehicle and the pilot;
The first unmanned air vehicle includes a medicine spraying means,
The pilot controls the first unmanned air vehicle and the second unmanned air vehicle via the control cable.
Drug spraying device.
Further, the position of the second unmanned air vehicle is controlled in accordance with the position of the first unmanned air vehicle,
The medicine spraying device according to claim 1, claim 2, or claim 3.
Including a first unmanned air vehicle, a second unmanned air vehicle, a feeder and a power source;
The feeder is connected to the first unmanned air vehicle, the second unmanned air vehicle and the power source;
The first unmanned air vehicle is provided with a medicine spraying means,
The power source is an unmanned air vehicle control method that is executed by a medicine spraying device that supplies power to the first unmanned air vehicle and the second unmanned air vehicle via the feeder line,
Obtaining a position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Instructing the second unmanned air vehicle to fly at the predetermined position,
Unmanned air vehicle control method.
Including a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump;
The drug hose is connected to the first unmanned air vehicle, the second unmanned air vehicle, and the drug tank the pump.
The first unmanned air vehicle includes a medicine spraying means,
The pump is an unmanned air vehicle control method that is executed by a medicine spraying device that supplies medicine to the first unmanned air vehicle and the second unmanned air vehicle via the medicine hose,
Obtaining a position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Instructing the second unmanned air vehicle to fly at the predetermined position,
Unmanned air vehicle control method.
Including a first unmanned air vehicle, a second unmanned air vehicle, a control cable and a pilot;
The control cable is connected to the first unmanned air vehicle, the second unmanned air vehicle and the pilot;
The first unmanned air vehicle is provided with a medicine spraying means,
The pilot is an unmanned air vehicle control method that is executed by a medicine spraying device that controls the first unmanned air vehicle and the second unmanned air vehicle via the control cable,
Obtaining a position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Instructing the second unmanned air vehicle to fly at the predetermined position,
Unmanned air vehicle control method.
Including a first unmanned air vehicle, a second unmanned air vehicle, a feeder and a power source;
The feeder is connected to the first unmanned air vehicle, the second unmanned air vehicle and the power source;
The first unmanned air vehicle is provided with a medicine spraying means,
The power source is an unmanned air vehicle control program that is executed by a medicine spraying device that supplies power to the first unmanned air vehicle and the second unmanned air vehicle via the feeder line,
Obtaining the position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Causing the computer to execute a procedure for instructing the second unmanned air vehicle to fly the predetermined position;
Unmanned air vehicle control program.
Including a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump;
The drug hose is connected to the first unmanned air vehicle, the second unmanned air vehicle, the drug tank, and the pump.
The first unmanned air vehicle is provided with a medicine spraying means,
The pump is an unmanned air vehicle control program that is executed by a medicine spraying device that supplies medicine to the first unmanned air vehicle and the second unmanned air vehicle via the medicine hose,
Obtaining the position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Causing the computer to execute a procedure for instructing the second unmanned air vehicle to fly the predetermined position;
Unmanned air vehicle control program.
Including a first unmanned air vehicle, a second unmanned air vehicle, a control cable and a pilot;
The control cable is connected to the first unmanned air vehicle, the second unmanned air vehicle and the pilot;
The first unmanned air vehicle is provided with a medicine spraying means,
The pilot is an unmanned air vehicle control program that is executed by a medicine spraying device that controls the first unmanned air vehicle and the second unmanned air vehicle via the control cable,
Obtaining the position of the first unmanned air vehicle;
Calculating a predetermined position of the second unmanned air vehicle according to the position of the first unmanned air vehicle;
Causing the computer to execute a procedure for instructing the second unmanned air vehicle to fly the predetermined position;
Unmanned air vehicle control program.