WO2018012129A1 - 散布処理装置および該方法ならびに散布システム - Google Patents
散布処理装置および該方法ならびに散布システム Download PDFInfo
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- WO2018012129A1 WO2018012129A1 PCT/JP2017/020023 JP2017020023W WO2018012129A1 WO 2018012129 A1 WO2018012129 A1 WO 2018012129A1 JP 2017020023 W JP2017020023 W JP 2017020023W WO 2018012129 A1 WO2018012129 A1 WO 2018012129A1
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- 238000012545 processing Methods 0.000 title claims abstract description 177
- 238000005507 spraying Methods 0.000 title claims abstract description 152
- 239000007921 spray Substances 0.000 title claims abstract description 122
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- 238000010130 dispersion processing Methods 0.000 claims description 12
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/001—Sludge spreaders, e.g. liquid manure spreaders
- A01C23/003—Distributing devices, e.g. for rotating, throwing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/17—Helicopters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M9/00—Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
- A01M9/0092—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
Definitions
- the present invention relates to a spraying processing apparatus and a spraying processing method for processing the sprayed amount of the sprayed material when spraying a predetermined sprayed material such as fertilizer or agricultural chemical from the air.
- the present invention relates to a spraying system using such a spraying processing apparatus.
- Patent Literature 1 and Patent Literature 2 disclose techniques relating to such aerial spraying.
- the aerial spray device disclosed in Patent Document 1 is an aerial spray device mounted on an unmanned helicopter, and includes a speed sensor that detects the speed of the unmanned helicopter, a pump that discharges a spray agent, and a discharge from the pump.
- a flow rate sensor for detecting the flow rate of the sprayed powder and a control means for driving and controlling the pump.
- the control means When the control means is turned on, the speed obtained from the speed sensor is not less than a predetermined value.
- the pump is driven and the flow rate obtained from the flow rate sensor is controlled to be an amount proportional to the speed.
- the spray amount is determined in proportion to the speed of the helicopter, so that spray unevenness hardly occurs.
- the spray control device disclosed in Patent Document 2 is mounted on an unmanned helicopter, receives an unmanned helicopter control signal and a spray control signal for a spray agent received via a radio wave from a ground control device, A pump for discharging the spraying agent contained in the tank from the tank to the flow path, a motor for driving the pump, and opening and closing the flow path for the spraying agent discharged from the tank to control and adjust the spraying amount.
- the rudder steering signal included in the steering signal is received, and the ladder steering signal is steered when the spraying lane of the spraying target area is changed.
- this spray control device controls the opening / closing of the valve based on the level of the steering amount of the ladder steering signal. Without spraying outside the area), spraying of the spraying agent to the area to be sprayed can always be carried out normally.
- the aerial spraying device disclosed in Patent Document 1 can reduce spraying unevenness, and can therefore spray substantially uniformly over the entire spray target region. For this reason, the aerial spraying device disclosed in Patent Literature 1 cannot spray the sprayed material in a desired spraying amount in a desired region.
- the spraying control apparatus disclosed in Patent Document 2 can always normally spray the spraying agent on the spraying target region without spraying the spraying agent unnecessarily.
- these aerial spraying devices disclosed in Patent Document 2 only turn on / off the spraying itself when the direction is changed (for example, paragraph [0022] in Patent Document 2), and the amount of spraying cannot be controlled. . For this reason, the aerial spraying device disclosed in Patent Document 2 cannot spray the sprayed material in a desired area with a desired spraying amount.
- the present invention is an invention made in view of the above circumstances, and its purpose is to enable spraying of a sprinkled material with a desired spraying amount in a desired region (zone, position, place) in a spraying target region. It is providing the dispersion processing apparatus, the dispersion processing method, and the dispersion system which perform.
- the scatter processing apparatus, the scatter processing method, and the scatter system according to the present invention store scatter amount map information in which each area in the scatter target region and each scatter amount are associated with each other, and flight state information acquired by the acquisition unit And based on the said spreading amount map information, the spreading amount of the scattered material spread with the spreader mounted in the aircraft is calculated
- the flight state information includes aircraft position information representing the position of the aircraft. Therefore, in the spraying processing apparatus, the spraying processing method, and the spraying system according to the present invention, the sprayed material can be sprayed at a desired spraying amount in a desired area in the spraying target region.
- the spraying system in the embodiment includes an aircraft equipped with a sprayer that sprays a predetermined sprayed material, and a spraying processing device that determines the spraying amount of the sprayed material sprayed by the sprayer.
- the scatter processing apparatus includes: area position information representing a position of the area in a predetermined scatter target area divided into a plurality of areas; and scatter amount information representing a scatter amount in the area at the position represented by the area position information.
- a map information storage unit for storing the spread amount map information associated with each other, an acquisition unit for acquiring flight state information representing a flight state of an aircraft equipped with a spreader for spraying a predetermined scattered matter, and the acquisition unit
- a flight amount processing unit for obtaining a spray amount of the sprayed material to be sprayed by the spreader based on the acquired flight state information and the spray amount map information stored in the map information storage unit, the flight state information Includes aircraft position information representing the position of the aircraft.
- the aircraft and the spraying processing device may be integrated or separate.
- FIG. 1 is a diagram showing a configuration of a spraying system in the first embodiment.
- FIG. 2 is a diagram showing an appearance of the spraying system in the first embodiment.
- FIG. 3 is a diagram for explaining the application amount map information in the embodiment.
- FIG. 3A shows an example of an application amount map
- FIG. 3B is a diagram for explaining an application target region and an area.
- FIG. 4 is a diagram for explaining the fall distance information in the embodiment.
- FIG. 4A shows an example of a drop distance table
- FIG. 4B shows an example of a sample.
- the horizontal axis of FIG. 4B is the drop position, and the vertical axis is the fall amount of the scattered material normalized by the target fall amount.
- the spraying system DSa in the first embodiment includes an aircraft 1, a spreader 2, and a spray processing device 3a.
- the spreader 2 and the processing device 3a are mounted on the aircraft 1.
- the aircraft 1 is a device that flies in the atmosphere, such as a balloon, an airship, an airplane, a helicopter, and a multicopter.
- the aircraft 1 may be a manned aircraft, but is preferably an unmanned aircraft (drone) by radio controlled flight (guided flight) or autonomous flight.
- FIG. 2 shows an example in which the aircraft 1 is an unmanned helicopter.
- Control of the aircraft 1 for flying in the atmosphere may be executed by a control processing unit 32a of a spray processing device 3a described later according to a program stored in the storage unit 33a, and the control processing of the spray processing device 3a
- a microcomputer and its peripheral circuits may be provided in the aircraft 1 and executed by these.
- the spreader 2 is a device that is connected to the control processing unit 32a of the spray processing device 3a and sprays a predetermined sprayed material according to the control of the control processing unit 32a.
- the predetermined spray is preferably related to the production of agricultural products such as fertilizers and agricultural chemicals.
- the spreader 2 includes, for example, a storage unit (hopper) that stores the scattered material, a spraying outflow unit that sprays the sprayed material outside with a predetermined spraying width, the storage unit, and the spraying outflow. And a connecting part that spreads the sprayed material in the storage part to the spraying width and leads to the spraying outflow part.
- the spraying outflow part has an inclined part having a slope inclined with respect to a horizontal plane, and is opened (formed) at a lower end of the slope in the inclined part, and has a width corresponding to the spreading width and is elongated along one direction. And a slit-shaped spraying opening.
- the storage portion has a conical inner shape such as a conical shape or a quadrangular pyramid shape so that the spatter can flow out efficiently, and an opening is formed at the tip of the conical shape. It is connected to the upper end of the slope in the spraying outflow part.
- the connecting portion spreads the spatter that has flowed out of the opening of the storage portion from one end to the other end of the slit-shaped spray opening with a spray amount DV according to the control of the control processing unit 32a.
- such a spreader 2 has a center line of the unmanned helicopter and a longitudinal direction at the slit-shaped spray opening at the lower part of the unmanned helicopter as the aircraft 1. They are attached so as to be orthogonal to each other. Accordingly, the spreading width is set to be orthogonal to the traveling direction of the unmanned helicopter.
- the sprayed material when the sprayed material is sprayed at a predetermined spraying amount DV, the sprayed material extends from one end to the other end of the slit-shaped spraying opening by the connecting portion from the storage portion. It flows down from the spraying opening down the slope of the inclined portion so as to expand. Accordingly, the spatter is sprayed from the spreader 2 at a speed having a speed component in a direction along the slope of the inclined portion, a speed component in a direction corresponding to the speed Vap of the aircraft 1, and a speed component due to free fall. Is done.
- the predetermined sprayed material may be in a liquid state, but is preferably a solid material.
- the predetermined sprayed material is a solid material
- the predetermined sprayed amount is obtained with a plurality of sprayed materials, and the plurality of sprayed materials extend from one end to the other end of the slit-shaped spraying opening as a whole. It spreads and each sprinkle is sprayed from the spreader 2 at a speed having the respective speed components.
- the spreading treatment device 3a is a device for obtaining the spreading amount DV of the spread material spread by the spreader 2, and includes, for example, a detection unit 31a, a control processing unit 32a, and a storage unit 33a.
- the detection unit 31a is connected to the control processing unit 32a, detects the flight state of the aircraft 1 according to the control of the control processing unit 32a, acquires flight state information representing the flight state of the aircraft 1, and outputs the flight state information to the control processing unit 32a It is a device to do.
- the flight state information includes aircraft position information representing the position of the aircraft 1.
- the flight state information is information representing the flight state of the own aircraft, and the aircraft position information represents the position of the own aircraft. Information.
- the horizontal fall position in the scattered matter is determined in consideration of not only the speed Vap of the aircraft 1 but also its altitude Hap, so the flight state information includes the position Pap of the aircraft 1.
- the detection unit 2 includes, for example, a GPS 311, a speedometer 312, and an altimeter 313.
- a GPS (Global Positioning System) 311 is connected to the control processing unit 32a, and is a device that measures the position Pap of the aircraft 1 by a satellite positioning system for measuring the current position on the earth according to the control of the control processing unit 32a. Yes, the positioning result (position Pap (latitude Xap, longitude Yap, altitude Zap)) is output to the control processing unit 32a.
- the GPS 311 may be a GPS having a correction function for correcting an error such as DGSP (Differential GSP).
- the traveling direction (azimuth) Dap of the aircraft 1 is obtained by the control processing unit 32a from the current positioning result (position Pap (t)) and the previous positioning result (position Pap (t-1)). If each position before and after the unit time ⁇ t is A (x1, y1) and position B (x2, y2), (x1, x2 are the longitude x of the positioning result of GPS 311 and y1, y2 are GPS 311
- the detection unit 31a may further include an azimuth meter (compass) that is connected to the control processing unit 32a and measures an azimuth based on geomagnetism or the like under the control of the control processing unit 32a.
- the speedometer 312 is connected to the control processing unit 32a and is a device that measures the ground speed Vap of the aircraft 1 by the gyro according to the control of the control processing unit 32a.
- the measurement result (ground speed Vap) is sent to the control processing unit 32a. Output.
- the ground speed Vap of the aircraft 1 may be obtained from the amount of change in the latitude x and longitude y of the unit time based on the positioning result of the GPS 311. According to this, the information processing amount increases, but the speedometer 312 Can be omitted.
- the altimeter 313 is connected to the control processing unit 32a and is a device that measures the altitude Hap of the aircraft 1 by measuring atmospheric pressure or measuring the distance to the ground surface, for example, under the control of the control processing unit 32a.
- the measurement result (altitude Hap) is output to the control processing unit 32a.
- Such a detection unit 31a corresponds to an example of an acquisition unit that acquires flight state information representing a flight state of an aircraft equipped with a spreader that sprays predetermined scattered matter in the spraying system DSa in the first embodiment.
- the storage unit 33a is a circuit that is connected to the control processing unit 32a and stores various predetermined programs and various predetermined data under the control of the control processing unit 32a.
- the various predetermined programs include, for example, a control program that controls each part of the spray processing device 3a according to the function of each part, and controls the aircraft 1 and the spreader 2 according to the function, and a detection part 31a.
- Control processing such as a spraying amount processing program for determining the spraying amount DV of the sprayed material to be sprayed by the spreader 2 based on the flight state information acquired in step 1 and the spraying amount map information stored in the map information storage unit 331 described later.
- a program is included.
- the spray amount processing program obtains the spray amount DV of the sprayed material sprayed by the spreader 2 based further on the drop distance information stored in the drop distance information storage unit 332 described later. It has become.
- the various kinds of predetermined data include data necessary for processing the spread amount of the spread material, such as spread amount map information and drop distance information.
- the storage unit 33a includes, for example, a ROM (Read Only Memory) that is a nonvolatile storage element, an EEPROM (Electrically Erasable Programmable Read Only Memory) that is a rewritable nonvolatile storage element, and the like.
- the storage unit 33a includes a RAM (Random Access Memory) serving as a working memory of a so-called control processing unit 32a that stores data generated during execution of the predetermined program.
- the storage unit 33a functionally includes a map information storage unit 331 and a fall distance information storage unit 332 in order to store application amount map information and drop distance information.
- the map information storage unit 331 stores application amount map information in advance.
- the application amount map information includes the area position information indicating the position of the area SA and the application amount DV in the area SA at the position represented by the area position information in a predetermined application area TA divided into a plurality of areas SA. This is information that associates the distribution amount information to be expressed with each other.
- the spread amount information may be the amount of the spread DV itself that directly represents the spread amount DV, or the size of the spread opening of the spreader 2 that indirectly represents the spread amount DV (for example, shutter opening). Degree, etc.), the amount of fertilizer components in the spread, the amount of agrochemical components in the spread, and the like. For example, as shown in FIG.
- a predetermined distribution target area TA such as an agricultural field is divided at a predetermined first interval in the longitude direction and at a predetermined second interval in the latitude direction.
- Each of the first and second intervals is an arbitrary length that is at least shorter than the spreading width. In one example, as shown in FIG. 6 described later, the first and second intervals are each such a length that seven areas SA enter within the spreading width.
- the position of the area SA may be represented by any position in the area SA, for example, the apex position at the upper left of the area SA, for example, the center position of the area SA, for example, It may be an intersection position of diagonal lines of the area SA.
- the center position of the area SA and the intersection position of the diagonal lines of the area SA coincide with each other.
- the position of the area SA is .
- the application amount DV of the area SA is the total amount of the application material applied to the area SA.
- the shape of the area SA is a rectangular shape (or a square shape) in the above description, but is not limited to this, and may be another shape.
- it may be a polygonal shape such as a regular triangle or a regular hexagon that can be divided without any gaps.
- such application amount map information is stored in advance in the map information storage unit 331 in a table format (lookup table). More specifically, for each application amount DV (DV11 to DVmn) of each area SA, for example, as shown in FIG. 3A, the horizontal direction is longitude X (X1 to Xm) at the position of the area SA, and the vertical direction is the area. Registered in each column of a two-dimensional matrix table VT (dispersion amount map VT) having latitude Y (Y1 to Yn) at the position of SA. In the example illustrated in FIG.
- the area position information (X1, Y1) is associated with the application amount DV11 in the area SA of the position (X1, Y1) represented by the area position information (X1, Y1).
- the area position information (X3, Y2) is associated with the application amount DV32 in the area SA of the position (X3, Y2) represented by the area position information (X3, Y2).
- the spread amount map information includes NDVI (Normalized Difference Vegetation Index, Normalized Vegetation Index), RVI (Ratio Vegetation Index), and specific vegetation index in the application area. ), TVI (Transformed Vegetation Index), field survey using a leaf color meter, a color scale, or the like.
- the fall distance information storage unit 332 stores drop distance information in advance.
- the fall distance information is information in which the speed Vap of the aircraft 1 and the fall distance d in the horizontal direction of the scattered matter are associated with each other. Furthermore, in this embodiment, when calculating the spray amount DV of the spatter, not only the speed Vap of the aircraft 1 but also the altitude Hap of the aircraft 1 is taken into account, so that the fall distance information is further associated with the altitude Hap of the aircraft 1. It has been. That is, in the present embodiment, the fall distance information is information in which the speed Vap and altitude Hap of the aircraft 1 and the fall distance d in the horizontal direction of the scattered matter are associated with each other.
- such drop distance information is stored in advance in the drop distance information storage unit 332 in a table format (lookup table). More specifically, the speed Vap of the aircraft 1 is divided at a predetermined third interval (in the example shown in FIG. 4A, 5 km / h), and the altitude Hap of the aircraft 1 is divided at a predetermined fourth interval.
- each drop distance is 1 m.
- each drop distance d is the speed Vap (km / h) of the aircraft 1 in the horizontal direction and the altitude Hap (m ) Is registered in each column of a two-dimensional matrix table DT (drop distance information table DT).
- DT drop distance information table
- the fall distance 2m is associated, and for example, the speed Vap of the aircraft 1 Is 10 km / h and 15 km / h or less, and the altitude Hap is more than 3 m and 4 m or less, a fall distance of 8 m is associated.
- the horizontal drop distance d in the spatter corresponding to each speed Vap and each altitude Hap of the aircraft 1 is created in advance by an experiment using a plurality of samples.
- An example is shown in FIG. 4B.
- the spatter is sprayed at a target spray amount ⁇ and 10 m ahead from the position Pap of the aircraft 1. This is the result when sprayed as a position.
- the horizontal axis is the distance from the aircraft 1 (spreader 2) when 10 m ahead is the reference 0 m, and the vertical axis is the total amount of spatter that has fallen to each position normalized by the target spray amount ⁇ . is there. The experiment was performed three times under the same conditions.
- the control processing unit 32a controls each part of the spraying processing device 3a according to the function of each part, obtains the spraying amount of the spatter, and controls the aircraft 1 and the sprayer 2 according to the function, It is a circuit for spraying a sprinkle with the calculated spraying amount.
- the control processing unit 32a includes, for example, a CPU (Central Processing Unit) and its peripheral circuits. In the control processing unit 32a, a control processing program is executed, so that a control unit 321a and an application amount processing unit 322a are functionally configured.
- the control part 321a controls each part of the said dispersion
- the sprayed material is sprayed at the spraying amount obtained in step 1.
- the spray amount processing unit 322a Based on the flight state information acquired by the detector 31a and the spray amount map information stored in the map information storage unit 331, the spray amount processing unit 322a obtains the spray amount DV of the sprayed material sprayed by the spreader 2. Is. In the present embodiment, the speed Vap of the aircraft 1 is taken into account when determining the spray amount DV of the spatter. Furthermore, in the present embodiment, the altitude Hap of the aircraft 1 is taken into account when determining the spray amount DV of the spatter. More specifically, the application amount processing unit 322a stores the flight state information acquired by the detection unit 31a, the application amount map information stored in the map information storage unit 331, and the fall distance information storage unit 332.
- the spray amount DV of the sprayed material sprayed by the spreader 2 is obtained. More specifically, the spread amount processing unit 322a acquires the position Pap (Xap, Yap), the speed Vap, and the altitude Hap of the aircraft 1 from the GPS 311, the speedometer 312 and the altimeter 313 in the detection unit 31a, and the acquired speed Vap and The fall distance d corresponding to the altitude Hap is obtained from the fall distance information table DT stored in the fall distance information storage unit 332, the previous position Pap (t ⁇ 1) acquired from the previous GPS 311 and the current position acquired from the current GPS 311.
- the traveling direction (azimuth) Dap of the aircraft 1 is obtained from the position Pap (t), and is separated from the current position Pap (t) acquired from the GPS 311 by the fall distance d along the traveling direction Dap of the aircraft 1 thus obtained.
- the position is determined as the spray position (estimated position) Pe (dx, dy) where the spatter actually falls.
- Obtained spraying position Pe (dx, dy) calculated from sprayed amount map VT stored a spray volume DV corresponding to the map information storage unit 321.
- the obtained spray amount DV is the spray amount of the sprayed material sprayed from the spreader 2 this time.
- FIG. 5 is a flowchart illustrating the calculation process of the application amount in the embodiment.
- FIG. 6 is a diagram for explaining the calculation process of the application amount in the embodiment.
- the control processing unit 32a when a power switch (not shown) is turned on by the user, the control processing unit 32a performs initialization of each necessary unit, and by executing the control processing program, the control processing unit 32a The control unit 321a and the spread amount processing unit 322a are functionally configured. Then, when the aircraft 1 equipped with the spreader 2 and the spray processing device 3a is flying by the user and spraying is started, the spray processing device 3a relates to the calculation processing of the spray amount at predetermined time intervals. Repeat the operation shown in.
- the predetermined time interval is preferably a time required for the movement of the aircraft 1 (spreader 2) as a distance between centers in two adjacent areas.
- the scatter processing apparatus 3a acquires the flight state of the aircraft 1 from the detection unit 31a by the scatter amount processing unit 322a of the control processing unit 32a (S1). More specifically, the application amount processing unit 322a acquires the position Pap (Xap, Yap), the speed Vap, and the altitude Hap of the aircraft 1 from the GPS 311, the speedometer 312 and the altimeter 313 in the detection unit 31a.
- the spray processing device 3a uses the spray amount processing unit 322a to obtain the fall distance d corresponding to the acquired speed Vap and altitude Hap from the fall distance information table DT stored in the fall distance information storage unit 332 ( S2).
- the spreading processing device 3a uses the spreading amount processing unit 322a to move the aircraft 1 from the previous position Pap (t ⁇ 1) acquired from the previous GPS 311 and the current position Pap (t) acquired from the current GPS 311 ( (Direction) Dap is obtained (S3).
- the spreading processing device 3 a uses the spreading amount processing unit 322 a to calculate the traveling direction of the aircraft 1 from the current position Pap (t) (Xap, Yap) acquired from the current GPS 311. A position separated by a drop distance d along Dap is obtained as a spray position (estimated position) Pe (dx, dy) at which the sprayed material actually falls (S4).
- the scatter processing apparatus 3a uses the scatter amount processing unit 322a to store the scatter amount DV corresponding to the calculated scatter position (estimated position) Pe (dx, dy) in the map information storage unit 321. Obtained from the map VT (S5).
- the obtained spray amount DV is the spray amount of the sprayed material sprayed from the spreader 2 this time.
- indicates to the spreader 2 to scatter a spreading material by the calculated
- the spraying system DSa in this embodiment, the spraying processing apparatus 3a used therein, and the spraying processing method implemented therein store the spraying amount map information and are acquired by the detection unit 31a. Based on the flight state information and the spread amount map information, the spread amount of the spread material to be spread by the spreader 2 is obtained. Therefore, a desired area (region, position, place) SA in the spread target area TA is desired. It becomes possible to disperse the spatter with the application amount DV. For this reason, since it can spread to the target place, scattering (drift) of a scattered matter can be reduced.
- the spatter falls with a component corresponding to the speed Vap of the aircraft 1 added.
- the component can be ignored when the speed Vap of the aircraft 1 is relatively low, but cannot be ignored as the speed Vap of the aircraft 1 increases.
- the spraying system, the spraying processing apparatus 3a, and the spraying processing method further store the fall distance information, and are sprayed by the spreader 2 based on the flight state information, the spray amount map information, and the drop distance information. Therefore, the spatter can be sprayed in the desired area SA with the desired spatter DV in consideration of the speed Vap of the aircraft 1.
- FIG. 7 is a diagram illustrating a configuration of a spraying system in the second embodiment.
- the spraying system DSb in the second embodiment includes an aircraft 1, a spreader 2, and a spray processing device 3b.
- the spreader 2 is mounted on the aircraft 1, and the aircraft 1 and the spray processing device 3b can communicate with each other. Connected to.
- the aircraft 1 and the spreader 2 in the spraying system DSb of the second embodiment are respectively controlled by a control processing unit 42 described later instead of the control processing unit 32a described above, respectively, the spraying system DSb of the second embodiment.
- the explanation is omitted because it is similar to the aircraft 1 and the spreader 2 in FIG.
- the aircraft 1 is further equipped with a detection communication device 4 for detecting the flight state and communicating flight state information representing the detected flight state of the aircraft 1 to the scatter processing device 3b.
- Such a detection communication device 4 includes, for example, a detection unit 41, a control processing unit 42, a storage unit 43, and a communication interface unit (communication IF unit) 44 as shown in FIG.
- the detection unit 41 includes a GPS 411, a speedometer 412, and an altimeter 413.
- the detection unit 41 is the same as the detection unit 31a of the first embodiment, and the GPS 411, the speedometer 412 and the altimeter 413 are also the same as the GPS 311, the speedometer 312 and the altimeter 413 of the first embodiment, respectively. Is omitted.
- the storage unit 43 is a circuit that is connected to the control processing unit 42 and stores various predetermined programs and various predetermined data under the control of the control processing unit 42.
- the various predetermined programs include, for example, control such as a control program for controlling each part of the detection communication device 4 according to the function of each part and controlling the aircraft 1 and the spreader 2 according to the function.
- a processing program is included.
- the various kinds of predetermined data include data necessary for spreading the spread material, such as the communication address of the spread processing device 3b.
- the storage unit 43 includes, for example, a ROM, an EEPROM, a RAM, and the like.
- the communication IF unit 44 is a communication circuit that is connected to the control processing unit 42 and performs wireless communication under the control of the control processing unit 42.
- the communication IF unit 44 generates a communication signal containing the data to be transferred input from the control processing unit 42 according to the communication protocol used between the detection communication device 4 and the scattering processing device 3b.
- a communication signal is transmitted to the dispersion processing device 3b.
- the communication IF unit 44 receives a communication signal from the distribution processing device 3b, extracts data from the received communication signal, converts the extracted data into data in a format that can be processed by the control processing unit 42, and controls the control processing unit Output to 42.
- the control processing unit 42 is a circuit that is connected to each of the detection unit 41, the storage unit 43, and the communication IF unit 44, and controls each unit of the detection communication device 4 according to the function of each unit.
- the control processing unit 42 uses the communication IF unit 44 to transmit a communication signal (flight state notification communication signal) containing flight state information representing the flight state of the aircraft 1 detected and acquired by the detection unit 41. It transmits to the spreading
- the control processing unit 42 is connected to each of the aircraft 1 and the spreader 2, controls the aircraft 1 and the spreader 2 according to the function thereof, and spreads the scattered matter with the spread amount received from the spreader 3b. It is also a circuit.
- the control processing unit 42 includes, for example, a CPU and its peripheral circuits.
- the dispersion processing device 3b includes a communication IF unit 31b, a control processing unit 32b, a storage unit 33b, an input unit 34, and an output unit 35.
- the communication IF unit 31b is a communication circuit that is connected to the control processing unit 32b and performs wireless communication in accordance with the control of the control processing unit 32b, similarly to the communication IF unit 44.
- the communication IF unit 31b acquires the flight state information from the detection communication device 4 by the flight state notification communication signal, and thus the communication IF unit 31b is equipped with a spreader that sprays a predetermined sprayed matter.
- the input unit 34 is connected to the control processing unit 32b and is a device for inputting various commands, various data, and the like, for example, a keyboard and a mouse.
- the output unit 35 is connected to the control processing unit 32b, and in accordance with the control of the control processing unit 32b, the various commands input by the input unit 34, various data, and the spread amount DV of the scattered matter obtained by the spread amount processing unit 322b.
- the storage unit 33b is a circuit that is connected to the control processing unit 32b and stores various predetermined programs and various predetermined data under the control of the control processing unit 32b.
- the various predetermined programs include, for example, a control program for controlling and controlling each part of the dispersion processing device 3b according to the function of each part, flight state information acquired by the communication IF part 31b, and map information storage described later
- a control processing program such as a spraying amount processing program for determining the spraying amount DV of the sprayed material sprayed by the spreader 2 based on the spraying amount map information stored in the unit 331 is included.
- the various kinds of predetermined data include data necessary for processing the spread amount of the spread material, such as spread amount map information and drop distance information.
- the storage unit 33b functionally includes a map information storage unit 331 and a fall distance information storage unit 332 similar to the storage unit 33a.
- the storage unit 33b includes, for example, a ROM, an EEPROM, a RAM, and the like.
- the control processing unit 32b controls each part of the scattering processing device 3b according to the function of each unit, and displays the flight state information contained in the flight state notification communication signal received from the detection communication device 4 mounted on the aircraft 1. It is a circuit for obtaining the spread amount DV of the spread matter by using it, storing the obtained spread amount DV of the spread matter in the spread amount notification communication signal, and transmitting the spread amount notification communication signal to the detection communication device 4.
- the control processing unit 32b includes, for example, a CPU and its peripheral circuits. In the control processing unit 32b, a control processing program is executed, so that a control unit 321b and a spread amount processing unit 322b are functionally configured.
- the control unit 321b controls each part of the scattering processing device 3b according to the function of each part, and the flying state information contained in the flight state notification communication signal received from the detection communication device 4 by the communication IF unit 31b
- the processing unit 322b is notified, the spray amount DV of the sprinkle obtained by the spray amount processing unit 322b is accommodated in the spray amount notification communication signal, and the spray amount notification communication signal is transmitted to the detection communication device 4 by the communication IF unit 31b. To do.
- the spray amount processing unit 322b Based on the flight state information notified from the control unit 321b and the spray amount map information stored in the map information storage unit 331, the spray amount processing unit 322b obtains the spray amount DV of the sprayed material sprayed by the spreader 2. Is. Also in the present embodiment, the speed Vap of the aircraft 1 is taken into account when determining the spray amount DV of the spatter. Further, the altitude Hap of the aircraft 1 is taken into account when determining the spray amount DV of the spatter. The spread amount processing unit 322b notifies the control unit 321b of the obtained spread amount DV of the spread matter.
- the spread amount processing unit 322b instructs the spreader 2 by using the flight state information notified from the control unit 321b instead of the flight state information acquired by the detection unit 31a, and using the obtained spray amount DV of the scattered matter. Instead of this, it is the same as the spray amount processing unit 322a except that the control unit 321b is notified of the determined spray amount DV of the spatter.
- Such a dispersion processing apparatus 3b can be configured by, for example, a computer with a communication function, for example, a notebook personal computer with a communication function.
- the detection communication device 4 when spraying is started, the detection communication device 4 repeats at predetermined time intervals, detects the flight state of the aircraft 1 by the detection unit 41, and acquires flight state information.
- the flight state information is accommodated in the flight state notification communication signal, and this flight state notification communication signal is transmitted to the scattering processing device 3b.
- the scatter processing device 3b is similar to the first embodiment by the scatter amount processing unit 322b of the control processing unit 32b each time the flight state notification communication signal is received. , That is, by executing each of the above-described processes S2 to S5, the spread amount DV of the spread material is obtained, and the obtained spread amount DV of the spread matter is accommodated in the spread amount notification communication signal. Then, the communication amount notification communication signal is transmitted to the detection communication device 4 by the communication IF unit 31b.
- the detection communication device 4 applies the distribution amount DV of the scattered material accommodated in the distribution amount notification communication signal each time the reception is received.
- the spreader 2 is instructed to spread the spread material.
- the spraying system DSb, the spraying processing device 3b used in the system, and the spraying processing method mounted thereon have the same effects as the first embodiment.
- the scatter processing devices 3a and 3b are arranged in the scatter position (estimated position) Pe (dx, dy) separated by the fall distance d along the traveling direction Dap of the aircraft 1.
- the application amount DV corresponding to SA is obtained from the application amount map VT, and the obtained application amount DV is used as the application amount of the application material to be applied from the spreader 2 this time, but the application position (estimated position) Pe (dx, dy ),
- the amount of sprayed material to be sprayed from the spreader 2 this time may be obtained in consideration of the amount of spraying associated with the zone SA adjacent to the zone SA.
- the spread amount processing units 322a and 322b are configured to apply the spread positions (estimated positions) Pe ( dx, dy) is set as the fourth area SAk4 of the seven first to seventh areas SAk1 to SAk7, and the application amount DV (SAk4) associated with the fourth area SAk4,
- AK6 based on the DV (SAk7), determine the application rate of this spraying material is sprayed from the sprayer 2.
- the application amount processing units 322a and 322b simply calculate the application amounts DV (SAk1) to DV (SAk7) corresponding to the seven first to seventh sections SAk1 to SAk7, respectively.
- the application amount processing units 322a and 322b the weighted average values DVw ⁇ ave of the application amounts DV (SAk1) to DV (SAk7) respectively associated with the seven first to seventh sections SAk1 to SAk7. Is calculated as the amount of the sprayed material sprayed from the spreader 2 this time.
- the weight the weight for the area SA of the scattering position (estimated position) Pe (dx, dy) is increased (increased), and the weight is reduced as the distance from the area SA of the scattering position (estimated position) Pe (dx, dy) increases. (Small).
- the weight of the fourth zone SAk4 corresponding to the scattering position (estimated position) Pe (dx, dy) is ⁇ k4
- the weights of the third and fifth zones SAk3 and SAk5 are ⁇ k3, and the second and sixth zones
- the weighted average value DVw ⁇ ave ( ⁇ k1 ⁇ DV (SAk1) + ⁇ k2 ⁇ DV (SAk2) + ⁇ k3 ⁇ DV (SAk3) + ⁇ k4 ⁇ DV (SAk4) + ⁇ k3 ⁇ DV (SAk5) + ⁇ k2 ⁇ DV (SAk6) + ⁇ k1 ⁇ DV (SAk7)) / ( ⁇ k1 + ⁇ k2 + ⁇ k + ⁇ 3 + ⁇ 3 + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k + ⁇ k +
- the map information storage unit 331 stores a plurality of different application amount map information
- the application amount processing units 322a and 322b are stored in the map information storage unit 331.
- One piece of spread amount map information is selected from a plurality of pieces of spread amount map information.
- the spread material to be spread by the spreader 2 is selected.
- the spreading amount DV may be obtained. According to this, since a plurality of application amount map information is stored, it is possible to select and use appropriate application amount map information from the plurality of application amount map information, so that a desired application amount DV in a desired area SA. It becomes possible to disperse the spatter.
- the map information storage unit 331 stores a plurality of different spray amount map information in association with a plurality of different flight states in the aircraft 1,
- the application amount processing units 322a and 322b select one application amount map information based on the acquired flight state information from the plurality of application amount map information stored in the map information storage unit 331, and Based on the acquired flight state information and the selected spread amount map information, the spread amount DV of the spread material to be spread by the spreader 2 is obtained.
- the plurality of different flight states in the aircraft 1 include forward (forward tilt) and reverse (backward tilt).
- the spatter when the spatter is sprayed at a predetermined spray amount DV, the spatter is a speed component in a direction along the slope of the inclined portion, and a speed component in a direction corresponding to the speed Vap of the aircraft 1. It is sprayed from the spreader 2 at a speed having a speed component due to free fall.
- the speed component in the direction corresponding to the speed Vap of the aircraft 1 is different between when the aircraft 1 moves forward and when the aircraft 1 moves backward. Therefore, the forward spread amount map information and the reverse spread amount map information. are prepared in advance so that the application amount DV appropriately corresponding to the case where the aircraft 1 moves forward and the case where the aircraft 1 moves backward is obtained.
- the aircraft 1 When the aircraft 1 is a helicopter, the aircraft tilts forward when moving forward, and the aircraft tilts backward when moving backward. For this reason, the velocity component in the direction along the slope of the inclined portion is different between when the aircraft 1 moves forward and moves forward and when the aircraft 1 moves backward and moves backward.
- the spread amount map information for forward travel and the spread amount map information for backward tilt (for backward travel) are prepared in advance, the aircraft 1 moves forward and the aircraft 1 moves backward and moves backward.
- the application amount DV appropriately corresponding to the above is obtained.
- the map information storage unit 331 stores a plurality of different spraying amount map information in association with a plurality of different specific gravities (types) in the sprayed material, and a spraying amount processing unit 322a and 322b select one piece of spread amount map information based on the specific gravity (type) of the spread matter to be spread by the spreader 2 from the plurality of spread amount map information stored in the map information storage unit 331. Then, based on the acquired flight state information and the selected application amount map information, an application amount DV of the application material to be applied by the application machine 2 is obtained.
- the speed of the spatter varies depending on the specific gravity (kind) of the sprinkler sprinkled by the spreader 2. Therefore, by preparing a plurality of spread amount map information in advance according to the specific gravity (kind) of the sprinkler, An appropriate application amount DV is determined according to the specific gravity (type) of the object.
- the fall distance information storage unit 332 stores a plurality of different fall distance information
- the spray amount processing units 322a and 322b are stored in the fall distance information storage unit 332.
- One drop distance information is selected from the plurality of fall distance information, and the amount of sprayed matter to be spread by the spreader 2 based on the acquired flight state information and the selected drop distance information DV may be obtained.
- the type of spatter changes and the air resistance changes
- a scatter processing apparatus that includes, in a predetermined scatter target area divided into a plurality of areas, scatter information indicating area position information indicating a position of the area and an application amount in the area indicated by the area position information.
- a map information storage unit that stores application amount map information that associates the amount information with each other, an acquisition unit that acquires flight state information representing a flight state of an aircraft equipped with a spreader that disperses a predetermined distribution object, and Based on the flight state information acquired by the acquisition unit and the spray amount map information stored in the map information storage unit, and a spray amount processing unit for determining the spray amount of the sprayed material to be sprayed by the spreader,
- the flight state information includes aircraft position information representing the position of the aircraft.
- Such a scatter processing device stores the scatter amount map information, and based on the flight state information and the scatter amount map information acquired by the acquisition unit, determines the scatter amount of the scatter that is dispersed by the spreader. Therefore, it is possible to disperse the sprinkled material in a desired area (region, position, place) in the application target area with a desired application amount.
- the spraying processing apparatus further includes a fall distance information storage unit that stores fall distance information in which the speed of the aircraft and the fall distance in the horizontal direction of the scattered matter are associated with each other.
- the amount processing unit obtains a spray amount of the sprayed material sprayed by the spreader based on the fall distance information stored in the drop distance information storage unit.
- the scattering processing device further stores the fall distance information, and stores the flight state information acquired by the acquisition unit, the spray amount map information stored in the map information storage unit, and the fall distance information storage unit. Based on the fall distance information thus obtained, the amount of sprayed material sprayed by the spreader is obtained, so that the sprayed material can be sprayed in a desired area in a desired area in consideration of the speed of the aircraft. .
- the fall distance information is further associated with the altitude of the aircraft.
- the fall distance information is further associated with the speed of the aircraft.
- the map information storage unit stores a plurality of different spray amount map information
- the spray amount processing unit includes a plurality of map information storage units stored in the map information storage unit.
- One piece of spray amount map information is selected from among the pieces of spread amount map information, and the spread is spread by the spreader based on the flight state information acquired by the acquisition unit and the selected spread amount map information. Find the amount of material spread.
- the map information storage unit stores a plurality of different scatter amount map information in association with a plurality of different flight states in the aircraft
- the scatter amount processing unit includes: Flight information acquired by the acquisition unit selected from the plurality of distribution amount map information stored in the map information storage unit based on the flight state information acquired by the acquisition unit. Based on the state information and the selected spread rate map information, the spread rate of the spread material spread by the spreader is obtained.
- the plurality of different flight states in the aircraft include forward (forward tilt) and reverse (backward tilt).
- the map information storage unit stores a plurality of different spray amount map information in association with a plurality of different specific gravities (types) in the sprayed matter
- the spray amount processing unit Selects one spread amount map information from a plurality of spread amount map information stored in the map information storage unit based on the specific gravity (type) of the spread matter to be spread by the spreader, Based on the flight state information acquired by the acquisition unit and the selected spray amount map information, the spray amount of the sprayed material sprayed by the spreader is obtained.
- Such a scatter processing apparatus stores a plurality of scatter amount map information, it is possible to select and use appropriate scatter amount map information from the plurality of scatter amount map information. It becomes possible to disperse the spatter by the amount.
- the drop distance information storage unit stores a plurality of different drop distance information
- the spray amount processing unit is stored in the drop distance information storage unit.
- One drop distance information is selected from a plurality of fall distance information, and based on the flight state information acquired by the acquisition unit and the selected drop distance information, the spread material to be sprayed by the spreader is selected. Find the spread rate.
- Such a scattering processing apparatus stores a plurality of pieces of fall distance information, it is possible to select and use appropriate drop distance information from the plurality of pieces of drop distance information. It is possible to spread things.
- the dispersion processing method includes an acquisition step of acquiring flight state information representing a flight state of an aircraft equipped with a spreader that disperses a predetermined spray, and flight state information acquired in the acquisition step, In addition, in a predetermined distribution target area divided into a plurality of areas, the area position information indicating the position of the area and the application amount information indicating the application amount in the area at the position represented by the area position information are associated with each other.
- a flying amount processing step for obtaining a spreading amount of the spread matter to be spread by the spreader based on the spread amount map information, and an output step for outputting the spreading amount obtained in the spreading amount processing step.
- the state information includes aircraft position information representing the position of the aircraft.
- a spraying system includes an aircraft equipped with a sprayer that sprays a predetermined sprayed material, and a spraying processing device that determines a spraying amount of the sprayed material sprayed by the sprayer, the spraying process
- the apparatus is any one of the above-described spraying processing apparatuses.
- the spraying processing device is mounted on the aircraft.
- the aircraft further includes a first communication unit that performs communication
- the acquisition unit is a second communication unit that performs communication
- the aircraft and the spraying processing device include: The first communication unit and the second communication unit are communicably connected.
- Such a spraying system includes any of the above-described spraying processing apparatuses, it is possible to spray the sprayed material in a desired area (area, position, place) in the spraying target area with a desired spraying amount. .
- diffusion processing apparatus the spreading
- region can be provided.
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Abstract
Description
図1は、第1実施形態における散布システムの構成を示す図である。図2は、第1実施形態における散布システムの外観を示す図である。図3は、実施形態における散布量マップ情報を説明するための図である。図3Aは、散布量マップの一例を示し、図3Bは、散布対象領域と区域とを説明するための図である。図4は、実施形態における落下距離情報を説明するための図である。図4Aは、落下距離テーブルの一例を示し、図4Bは、サンプルの一例を示す。図4Bの横軸は、落下位置であり、その縦軸は、目標の落下量で規格化した散布物の落下量である。
図7は、第2実施形態における散布システムの構成を示す図である。第2実施形態における散布システムDSbは、航空機1と、散布機2と、散布処理装置3bとを備え、散布機2は、航空機1に搭載され、航空機1と散布処理装置3bとは、通信可能に接続される。これら第2実施形態の散布システムDSbにおける航空機1および散布機2は、前述の制御処理部32aに代え後述の制御処理部42で制御される点を除き、それぞれ、第2実施形態の散布システムDSbにおける航空機1および散布機2と同様であるので、その説明を省略する。そして、航空機1には、その飛行状態を検出し、この検出した航空機1の飛行状態を表す飛行状態情報を散布処理装置3bへ通信するために、検出通信装置4がさらに搭載される。
Claims (8)
- 複数の区域に分割された所定の散布対象領域において、区域の位置を表す区域位置情報と、前記区域位置情報で表された位置の区域における散布量を表す散布量情報とを互いに対応付けた散布量マップ情報を記憶するマップ情報記憶部と、
所定の散布物を散布する散布機を搭載した航空機の飛行状態を表す飛行状態情報を取得する取得部と、
前記取得部で取得された飛行状態情報および前記マップ情報記憶部に記憶された散布量マップ情報に基づいて、前記散布機で散布される散布物の散布量を求める散布量処理部とを備え、
前記飛行状態情報は、前記航空機の位置を表す航空機位置情報を含む、
散布処理装置。 - 前記航空機の速度と前記散布物の水平方向の落下距離とを互いに対応付けた落下距離情報を記憶する落下距離情報記憶部をさらに備え、
前記散布量処理部は、前記落下距離情報記憶部に記憶された落下距離情報にさらに基づいて、前記散布機で散布される散布物の散布量を求める、
請求項1に記載の散布処理装置。 - 前記落下距離情報は、前記航空機の高度とさらに対応付けられている、
請求項2に記載の散布処理装置。 - 前記落下距離情報は、前記航空機の速度とさらに対応付けられている、
請求項2に記載の散布処理装置。 - 前記マップ情報記憶部は、互いに異なる複数の散布量マップ情報を記憶し、
前記散布量処理部は、前記マップ情報記憶部に記憶された複数の散布量マップ情報の中から1個の散布量マップ情報を選択し、前記取得部で取得された飛行状態情報および前記選択された散布量マップ情報に基づいて、前記散布機で散布される散布物の散布量を求める、
請求項1ないし請求項4のいずれか1項に記載の散布処理装置。 - 前記落下距離情報記憶部は、互いに異なる複数の落下距離情報を記憶し、
前記散布量処理部は、前記落下距離情報記憶部に記憶された複数の落下距離情報の中から1個の落下距離情報を選択し、前記取得部で取得された飛行状態情報および前記選択された落下距離情報に基づいて、前記散布機で散布される散布物の散布量を求める、
請求項1ないし請求項5のいずれか1項に記載の散布処理装置。 - 所定の散布物を散布する散布機を搭載した航空機の飛行状態を表す飛行状態情報を取得する取得工程と、
前記取得工程で取得された飛行状態情報、および、複数の区域に分割された所定の散布対象領域において、区域の位置を表す区域位置情報と、前記区域位置情報で表された位置の区域における散布量を表す散布量情報とを互いに対応付けた散布量マップ情報に基づいて、前記散布機で散布される散布物の散布量を求める散布量処理工程と、
前記散布量処理工程で求めた散布量を出力する出力工程とを備え、
前記飛行状態情報は、前記航空機の位置を表す航空機位置情報を含む、
散布処理方法。 - 所定の散布物を散布する散布機を搭載した航空機と、前記散布機で散布される前記散布物の散布量を求める散布処理装置とを備え、
前記散布処理装置は、請求項1ないし請求項6のいずれか1項に記載の散布処理装置である、
散布システム。
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IT201800003790A1 (it) * | 2018-03-20 | 2019-09-20 | Skyx Ltd | Gestione di una flotta di veicoli aerei di spruzzatura |
EP3932199A4 (en) * | 2019-03-06 | 2022-04-27 | Guangzhou Xaircraft Technology Co., Ltd | METHOD, APPARATUS, AND DEVICE FOR CONTROLLING PESTICIDE SPRAY AND STORAGE MEDIUM |
WO2022120529A1 (zh) * | 2020-12-07 | 2022-06-16 | 深圳市大疆创新科技有限公司 | 基于飞行器的喷洒处理方法、飞行器、控制装置及介质 |
DE102021001701A1 (de) | 2021-04-01 | 2022-10-06 | Airial Robotics GmbH | Unbemanntes Fluggerät für landwirtschaftliche Sprüh-Einsätze mit hohem Nutzlast-Eigengewicht-Verhältnis |
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CN111746787B (zh) * | 2020-03-11 | 2022-02-18 | 广州极飞科技股份有限公司 | 播撒匀度确定方法及相关装置 |
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EP3932199A4 (en) * | 2019-03-06 | 2022-04-27 | Guangzhou Xaircraft Technology Co., Ltd | METHOD, APPARATUS, AND DEVICE FOR CONTROLLING PESTICIDE SPRAY AND STORAGE MEDIUM |
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DE102021001701A1 (de) | 2021-04-01 | 2022-10-06 | Airial Robotics GmbH | Unbemanntes Fluggerät für landwirtschaftliche Sprüh-Einsätze mit hohem Nutzlast-Eigengewicht-Verhältnis |
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JP6657402B2 (ja) | 2020-03-04 |
JPWO2018012129A1 (ja) | 2019-04-25 |
JP6808860B2 (ja) | 2021-01-06 |
KR20190005207A (ko) | 2019-01-15 |
JP2020073386A (ja) | 2020-05-14 |
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