WO2020137242A1 - Aircraft assistance device and aircraft assistance system - Google Patents

Abstract

An aircraft assistance device capable of ascertaining the results of previous operations and easily managing operations.　The assistance device (30) for an aircraft (1) comprises: a location information-acquiring unit (31a) for acquiring the location of the aircraft; a dispersion information-acquiring unit (31b) for acquiring information relating to dispersion of a dispersion material from a dispersion device (10) provided on the aircraft (1); and a display unit (34) for displaying areas of a field and the surroundings of the field. The display unit (34) displays a movement path of the aircraft (1) on the basis of the location of the aircraft (1) acquired by the location information-acquiring unit (31a) and displays a dispersion area (E) for the dispersion material dispersed by the dispersion device (10) on the basis of the information acquired by the dispersion information-acquiring unit (31b). The assistance device (30) for the aircraft (1) also comprises an altitude information-acquiring unit (31d) for acquiring altitude information for the aircraft and the display unit (34) displays the altitude of the aircraft (1) on the basis of the altitude (H1) of the aircraft acquired by the altitude information-acquiring unit (31d).

Description

Flight support device and flight support system

The present invention relates to an aircraft support device and an aircraft support system.

BACKGROUND ART Conventionally, the display unit disclosed in Patent Document 1 displays a route map that is a two-dimensional map including a start point of an aircraft and a target arrival point of the aircraft, and the route map is a start point of the aircraft. Is indicated by a black circle, the target point of the aircraft is indicated by a white star, the current position of the aircraft is indicated by a black triangle, and the route of the aircraft is indicated.

Japanese Patent Publication “2018-110352”

In the support device of Patent Document 1, the display unit displays the route map so that the operator can start the aircraft (that is, the position where the operator exists), the current position of the aircraft, and the arrival of the aircraft. It is possible to understand the relationship with the target point.
However, with the support device of Patent Document 1, although the route of the flying object can be displayed, the work result of the flying object cannot be displayed, and the work result of the flying object is confirmed and reflected in the work management. I couldn't.

The present invention has been made to solve the above-mentioned problems of the prior art, and provides a support device for an air vehicle that can easily perform work management by checking the results of previous work. To aim.

A support device for an air vehicle according to an aspect of the present invention includes a position information acquisition unit that acquires the position of the air vehicle, and a spray information acquisition unit that acquires information about the spraying of sprayed material by a spraying device provided on the air vehicle. And a display unit that displays a field region and the periphery of the field, and the display unit displays a movement trajectory of the flight object based on the position of the flight object acquired by the position information acquisition unit. Then, based on the information acquired by the spraying information acquisition unit, the spraying range of the sprayed material sprayed by the spraying device is displayed.

Further, the aircraft support device includes an altitude information acquisition unit that acquires information on the altitude of the aircraft, and the display unit is based on the altitude of the aircraft acquired by the altitude information acquisition unit. Display the altitude of the body.
In addition, the flying device support apparatus includes an altitude information acquisition unit that acquires information about the altitude of the flying object, and the display unit displays the movement trajectory when the altitude of the flying object is within a predetermined range. And, the movement trajectory when the altitude of the flying object is out of a predetermined range is hidden, the scattering range is displayed when the altitude of the flying object is in a predetermined range, and the flight is performed. Hide the spray range when the altitude of the body is outside the predetermined range.

In addition, the support device of the air vehicle, the wind information acquisition unit that acquires information including the wind direction and wind speed of the field, the information acquired by the spraying information acquisition unit, and the wind direction and the wind information acquired by the wind information acquisition unit. A computing unit for computing the spraying range based on the wind speed, and the display unit displays the spraying range computed by the computing unit.
In addition, the support device for an air vehicle includes a mesh setting unit that sets a predetermined mesh in the spraying range, and the display unit displays the sprayed material sprayed by the spraying device for each mesh set by the mesh setting unit. The display form of the mesh is displayed differently according to the spray amount of.

Further, the aircraft support device includes a correction unit that corrects the variation in the position of the aircraft acquired by the position information acquisition unit, and the display unit is based on the position of the aircraft corrected by the correction unit. Then, the trajectory of the flying body is displayed.
In addition, the support device for the flying object includes an operation information acquisition unit that acquires operation information of an operation device that can operate the flying object, and the display unit is based on the operation information acquired by the operation information acquisition unit, The operation of the operating device is displayed.

Further, the support system for a flying body includes a flying body support device and the flying body.
In addition, the flying body, a detection unit that detects whether the flying body is located in the region of the field, or outside the region of the field, the detection unit, the flying body of the field When it is detected that it is located in the area, the application of the sprayed material by the spraying device is permitted, and when it is detected that the flying body is located outside the area of the field, the application of the spraying device is performed. And a control unit that prohibits the spraying of objects.

According to the above-mentioned support device for the air vehicle, it is possible to confirm the result of the previous work and easily manage the work.

FIG. 1 is an overall view of a support system for an air vehicle in the first embodiment. It is a figure explaining the spraying range of the spraying apparatus in 1st Embodiment. It is a figure explaining the spraying range of the spraying device when considering the wind direction and the wind speed of the farm field in 1st Embodiment. It is a 1st figure which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is a 2nd figure which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is a 3rd figure which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is FIG. 4 which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is FIG. 5 which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is FIG. 6 which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is FIG. 7 which shows an example of the screen which the display part of the support apparatus in 1st Embodiment displays. It is a whole figure of the support system of the flying body in a 2nd embodiment. It is a 1st figure which shows an example of the screen which the display part of the support apparatus in 2nd Embodiment displays. It is a 2nd figure which shows an example of the screen which the display part of the support apparatus in 2nd Embodiment displays. It is FIG. 3 which shows an example of the screen which the display part of the support apparatus in 2nd Embodiment displays. It is FIG. 4 which shows an example of the screen which the display part of the support apparatus in 2nd Embodiment displays. FIG. 3 is an overall side view of the flying body. 1 is an overall plan view of an air vehicle.

An embodiment of the present invention will be described below with reference to the drawings.
[First Embodiment]
FIG. 1 is an overall view of a support system 80 for the air vehicle 1. The support system 80 for the flying vehicle 1 includes the flying vehicle 1, the supporting device 30 for the flying vehicle 1, and the server 40. In the support system 80 of the flying vehicle 1, the server 40 manages the information about the flying vehicle 1 and the information on the farm field, and the display unit 34 of the supporting apparatus 30 displays the information transmitted from the server, so that It is a system that reflects the work result in the work management of the flying vehicle 1. In the present embodiment, the support device 30 will be described by taking a mobile terminal such as a smartphone or a tablet terminal having a relatively high processing capability as an example.

First, I will explain the multi-copter, which is one of the aircraft 1. As shown in FIGS. 6A and 6B, the aircraft 1 has a main body 2, an arm 3, a rotary wing 4, a skid 8, and a spraying device 10. A plurality of arms 3 are attached to the main body 2. In the case of this embodiment, six arms 3 are attached to the main body 2. The six arms 3 extend radially from the center of the main body 2 in a horizontal plane (a plane parallel to the ground in the landing state). However, the number of arms 3 is not limited to 6, and may be 7 or more, or 5 or less. Further, the arm 3 may have a structure that can be folded toward the main body side. The base end side of the arm 3 is attached to the main body 2. Rotor blades 4 are attached to the tip ends of the plurality of arms 3, respectively.

The rotor 4 generates lift for the flying body 1. The rotary blade 4 is composed of a rotor 5 and a blade (propeller) 6. The rotor 5 is composed of an electric motor (DC motor or the like). The rotor 5 is driven by electric power supplied from a battery (not shown) provided in the main body 2. The blade 6 is attached to the upper part of the rotation shaft of the rotor 5. Adjacent rotor blades 4 rotate in opposite directions.

The number of rotary blades 4 is not particularly limited, and can be changed according to the required lift force and the like. For example, the air vehicle 1 may be a tricopter having three rotor blades 4, a quadcopter having four rotor blades 4, or a hexacopter having six rotor blades 4. It may be an octocopter having eight rotors 4.
The skid 8 is installed when the aircraft 1 lands and supports the main body 2 on the ground. Specifically, the skid 8 extends downward from the main body 2 and spreads toward the end.

The spraying device 10 is a device that is provided on the flying body 1 and sprays the sprayed material. As shown in FIG. 6A, the spraying device 10 includes a tank 11 that stores the sprayed product, and a pump 12 that sprays the sprayed product. The tank 11 is mounted on the mounting portion 9 provided in the middle of the skid 8. The tank 11 can be attached to and detached from the attachment portion 9. The tank 11 forms an internal space in which the sprayed material to be sprayed on the farm is stored. The sprayed material is, for example, fertilizer, water, pesticide, or the like.

The pump 12 sprays the sprayed material stored inside the tank 11. The pump 12 is communicably connected to the control unit 21, and sprays the sprayed material based on an instruction from the control unit 21. The suction port of the pump 12 is connected to the inside of the tank 11 via a hose (not shown). The discharge port of the pump 12 is connected to the nozzle 13 via a hose. The pump 12 sprays the sprayed material from the nozzle 13. The nozzle 13 can make the size of the spray particles relatively uniform and spray the sprayed material in a predetermined spray amount.

As shown in FIG. 6A, the nozzle 13 is provided, for example, below the rotor 5, and the ejection port of the nozzle 13 faces downward. The nozzle 13 can spray the sprayed material stored in the tank 11 from the nozzle 13 toward the field by driving the pump 12. That is, when the pump 12 is driven, the nozzle 13 sprays the sprayed material, and when the pump 12 is not driven, the nozzle 13 stops the spraying of the sprayed material. Further, as shown in FIG. 2A, since the nozzle 13 sprays the sprayed material at a predetermined spraying angle θ, the spraying is performed according to the altitude (distance between the lower end of the nozzle 13 and the ground of the field) H1 of the flying body 1. The range (effective spreading width) E varies. That is, the spray range E can be calculated based on the spray angle θ and the altitude H1 of the flying object 1. Further, as shown in FIG. 2B, in the case where wind is generated in the field, the spraying range E moves from the windward side to the leeward side as compared with the case where the wind is not generated in the field.

It should be noted that the nozzle 13 only needs to be able to spray the sprayed material toward the field, and the mounting position of the nozzle 13 is not limited to below the rotor 5 and may be provided on the skid 8 or is not limited to the position described above. .. Further, the spray amount, the spray angle θ, and the spray range E of the sprayed products sprayed from the nozzles 13 may be switchable, and the configuration of the spray device 10 is not limited to the above configuration.

As shown in FIG. 1, the flying body 1 flies based on information (operation information) about the operation of an operation device 15 including a joystick 16 that can be rocked, a push button switch 17 that can be pressed, and the like. , Do the spraying work. More specifically, the flying vehicle 1 includes a first control device 20, a first communication unit 24, a position detection device 25, and an altitude detection device 26. The first control device 20 includes a CPU, an electronic circuit, and the like, and performs various controls on the flying vehicle 1 in accordance with the operation of the operation device 15. The first control device 20 has a control unit 21 and a first storage unit 22. The control unit 21 is composed of a CPU, programs stored in the first storage unit 22, and the like, and performs various controls regarding the flying vehicle 1. The control unit 21 controls the rotor 4 and the spraying device 10 (pump 12) based on the operation information of the operation device 15 received by the first communication unit 24, for example. The first storage unit 22 is a non-volatile memory or the like, and stores various information including information on the flying vehicle 1.

The first communication unit 24 is a device that performs wireless communication with the operation device 15 and the third communication unit 43 of the server 40. The first communication unit 24 wirelessly communicates with the operation device 15 and the third communication unit 43 by, for example, Wi-Fi (Wireless Fidelity, registered trademark). The first communication unit 24 may perform wireless communication with the operation device 15 and the third communication unit 43 via a data communication network, a mobile phone communication network, or the like.

The position detection device 25 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 25 receives a satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the flying body 1 (for example, latitude and longitude). ) Is detected. In the present embodiment, for example, the position detection device 25 is provided in the main body 2 of the flying body 1. The position information of the flying object 1 detected by the position detecting device 25 is associated with the time when the position of the flying object 1 is detected, and is transmitted to the server 40 via the first communication unit 24. It should be noted that the position detection device 25 only needs to be able to detect the position of the flying body 1, and its mounting position and configuration are not limited to the above configuration.

The altitude detection device 26 is a device that detects the altitude H1 of the self (aircraft 1). The altitude detection device 26 is an atmospheric pressure sensor 26 such as a static pressure sensor that measures atmospheric pressure. The value detected by the atmospheric pressure sensor 26 is associated with the time when the atmospheric pressure is detected, and is transmitted to the server 40 via the first communication unit 24.
In the present embodiment, the operation device 15 is a controller including the joystick 16 and the push button switch 17, but the operation device 15 may be operable as long as the operation device 15 can be operated. It may be a terminal such as a connected personal computer (PC), a smartphone (multifunctional mobile phone), a computer such as a tablet terminal, or the like. Further, the first control device 20 controls the flying body 1 based on the operation information of the operating device 15, but based on a signal output from a sensor provided in the flying body 1 or a preset flight route. Therefore, it may be autonomously controlled to be able to fly. The scheduled flight route is a route along which the flying body 1 moves, and includes control information of the spraying device 10 (spraying of sprayed materials and stop of spraying). In such a case, the planned flight route is stored in the first storage unit 22, and the first control device 20 acquires it from the outside (for example, the server 40) via the first communication unit 24.

The support device 30 is a terminal that can display the result of the work (scattering work) performed by the air vehicle 1. It is a mobile terminal such as a tablet terminal, a personal computer (PC), a smartphone (multifunctional mobile phone), etc. which is communicatively connected to the aircraft 1 or the server 40. In the following description, a tablet terminal will be described as an example of the support device 30. The support device 30 may communicate with the server 40 and can display various information on the screen (display unit). When the operation device 15 has the screen (display unit), the support device 30 can be used. As the unit 30, the operation device 15 may be used instead of the mobile terminal such as the tablet terminal.

As shown in FIG. 1, the support device 30 includes a second control device 31, a second communication unit 33, and a display unit 34. The second control device 31 includes a CPU, an electronic circuit, and the like, and performs various controls regarding the support device 30. The second control device 31 has a second storage unit 32. The second storage unit 32 is a non-volatile memory or the like, and stores information and the like received by the second communication unit 33.

The second communication unit 33 is a device that wirelessly communicates with the third communication unit 43 of the server 40. The second communication unit 33 performs wireless communication with the third communication unit 43 by, for example, Wi-Fi (Wireless Fidelity, registered trademark). The second communication unit 33 receives, for example, information on the field area and the field surroundings from the server 40. The second communication unit 33 may perform wireless communication with the third communication unit 43 via a data communication network, a mobile phone communication network, or the like.

The display unit 34 can display various information stored in the second storage unit 32, information received by the second communication unit 33, and information stored in the second storage unit 32. The display unit 34 displays the field area and the periphery of the field. The display unit 34 is a touch panel or the like that can be operated by the operator's fingertip or the like, and the support device 30 can be operated by operating the display unit 34. If the display unit 34 is not a touch panel that can be operated with a fingertip or the like, the support device 30 may include an operation tool such as an operable push button switch.

As shown in FIG. 1, the server 40 receives information from the outside such as the air vehicle 1, performs a predetermined process on the information, and transmits the processed information to the support device 30. The server 40 includes a third control device 41 and a third communication unit 43. The third control device 41 includes a CPU, an electronic circuit, and the like, and performs various arithmetic processing. For example, the third control device 41 performs a predetermined process on the information received by the third communication unit 43 as the information displayed on the display unit 34 of the support device 30. In the present embodiment, the third control device 41 has a third storage unit 42. The third storage unit 42 is a non-volatile memory or the like, and stores various information received by the third communication unit 43, various programs, and the like. For example, the third storage unit 42 stores map data including position information of a field on which the air vehicle 1 works.

The third communication unit 43 uses, for example, the IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark), which is a communication standard, and the like, and the first communication unit 24 of the aircraft 1 and the second communication unit of the support device 30. It is for wireless communication with 33 or the like. For example, the third communication unit 43 receives information about the flying vehicle 1 from the first communication unit 24. The third communication unit 43 also transmits the information and the like received from the first communication unit 24 to the second communication unit 33. The third communication unit 43 may be a unit that performs wireless communication with the first communication unit 24, the second communication unit 33, and the like through a mobile phone communication network, a data communication network, or the like.

The support system 80 of the flying body 1 displays the moving locus of the flying body 1 and the work range of the flying body 1 by the display unit 34 of the supporting apparatus 30 displaying the moving locus of the flying body 1 and the spraying range E of the scattered matter scattered by the spreading device 10. This is a system that reflects the relationship of the results (scattering results) in the work management of the air vehicle 1. Further, the support system 80 of the flying vehicle 1 can display the spraying range E of the sprayed material more accurately by acquiring the information on the flying vehicle 1 and the information on the wind in the field. In the support system 80 of the air vehicle 1, the server 40 acquires, for example, field information from the field server 50 and transmits the information to the support device 30.

The field server 50 detects information about the wind in the field and sends the information to the server 40. The field server 50 is a device that collects information about wind in the field. The field server 50 is installed in a field and has a fourth control device 51, a fourth communication unit 53, and an information collecting unit 54, as shown in FIG.
The fourth control device 51 includes a CPU, an electronic circuit, and the like, and processes the information (data) acquired by the information collecting unit 54. The fourth control device 51 also has a fourth storage unit 52. The fourth storage unit 52 is a non-volatile memory or the like, and stores various information including information processed by the fourth control device 51.

The fourth communication unit 53 wirelessly communicates with the third communication unit 43 of the server 40 by, for example, IEEE 802.11 series Wi-Fi (Wireless Fidelity, a registered trademark) which is a communication standard. The fourth communication unit 53 transmits information about the wind in the field to the third communication unit 43. The fourth communication unit 53 may perform wireless communication with the third communication unit 43, for example, via a mobile phone communication network or a data communication network.

The information collecting unit 54 collects information on the environment in the field, particularly information on wind in the field. As shown in FIG. 1, the information collecting unit 54 includes, for example, sensors such as a wind speed sensor 54a and a wind direction sensor 54b. The wind speed sensor 54a is a sensor that measures the wind speed in the field. The wind direction sensor 54b is a sensor that measures the wind direction in the field. The information collected by the information collecting unit 54 is associated with the time when the information was collected, and is transmitted to the second communication unit 33 via the fourth communication unit 53 and the third communication unit 43.

Hereinafter, the support device 30 will be described in detail. The support device 30 acquires various information such as information about the air vehicle 1 and information about wind in the field via the server 40, and displays the information on the display unit 34 of the support device 30. As shown in FIG. 1, the second control device 31 of the support device 30 includes a position information acquisition unit 31a, a spray information acquisition unit 31b, an altitude calculation unit 31c, an altitude information acquisition unit 31d, and a wind information acquisition unit 31e. And have. In other words, the support device 30 of the air vehicle 1 includes a position information acquisition unit 31a, a spray information acquisition unit 31b, an altitude calculation unit 31c, an altitude information acquisition unit 31d, and a wind information acquisition unit 31e.

The position information acquisition unit 31a, the spray information acquisition unit 31b, the altitude calculation unit 31c, the altitude information acquisition unit 31d, and the wind information acquisition unit 31e are configured by a CPU, an electronic circuit, a program stored in the second storage unit 32, and the like. ing. The position information acquisition unit 31a acquires the position of the air vehicle 1. Specifically, the position information acquisition unit 31a acquires the position information of the aircraft 1 that the second communication unit 33 has received via the first communication unit 24 and the third communication unit 43.

The spraying information acquisition unit 31b acquires information on the spraying of the sprayed material by the spraying device 10 provided in the air vehicle 1. The spraying information acquisition unit 31b acquires the information on the spraying of the sprayed material of the spraying device 10 received by the second communication unit 33 via the first communication unit 24 and the third communication unit 43. For example, the spraying information acquisition unit 31b acquires information on the spraying amount of the sprayed product and the spraying angle θ associated with time, and information on spraying or spraying stop of the spraying device 10.

Based on the value of the atmospheric pressure sensor 26 that the second communication unit 33 has received via the first communication unit 24 and the third communication unit 43, the altitude calculation unit 31c determines that The atmospheric pressure during flight is calculated, and the altitude H1 of the flying object 1 is calculated.
The altitude information acquisition unit 31d acquires information on the altitude H1 of the flying vehicle 1. Specifically, the altitude information acquisition unit 31d acquires the calculation result of the altitude H1 of the aircraft 1 calculated by the altitude calculation unit 31c. In the present embodiment, the altitude information acquisition unit 31d acquires the calculation result of the altitude H1 of the flying object 1 calculated by the altitude calculation unit 31c, but the altitude information acquisition unit 31d uses the information about the altitude H1 of the flying object 1. It is sufficient that the server 40 calculates the altitude H1 of the air vehicle 1 based on the value detected by the atmospheric pressure sensor 26, and the altitude information acquisition unit 31d causes the second communication unit 33 to operate the third communication unit of the server 40. The calculation result of the altitude H1 of the flying object 1 received from 43 may be acquired, and the acquisition source of the information regarding the altitude H1 of the flying object 1 is not limited to the above-described altitude calculation unit 31c.

The wind information acquisition unit 31e acquires information including the wind direction and wind speed in the field. Specifically, the wind information acquisition unit 31e acquires information about the wind in the field received by the second communication unit 33 via the first communication unit 24 and the third communication unit 43. In addition, in the present embodiment, the field server 50 detects the information on the wind in the field and transmits it to the server 40. However, the wind information acquisition unit 31e only needs to be able to acquire the information on the wind in the field, and the field server 50. Instead of, the server 40 connects to a server or the like of the Meteorological Agency via an external network such as the Internet, acquires the meteorological information (information including at least wind direction and wind speed) provided by the Meteorological Agency, and acquires the wind information acquisition unit 31e. May acquire the weather information via the third communication unit 43 and the second communication unit 33. Alternatively, the server 40 accesses the server of a weather information providing company or the like that provides the weather information to obtain the weather information or the weather information provided by another information providing company to obtain wind information. The acquisition unit 31e may acquire the weather information via the third communication unit 43 and the second communication unit 33.

Further, as shown in FIG. 1, the second control device 31 of the support device 30 includes a trajectory generation unit 31f, a calculation unit 31g, a mesh setting unit 31h, and a correspondence unit 31i. In other words, the support device 30 of the flying vehicle 1 includes the trajectory generation unit 31f, the calculation unit 31g, the mesh setting unit 31h, and the association unit 31i. The trajectory generation unit 31f, the calculation unit 31g, the mesh setting unit 31h, and the associating unit 31i are configured by a CPU, a program stored in the second storage unit 32, and the like.

The trajectory generation unit 31f generates a movement trajectory of the flight vehicle 1 based on the position information of the flight vehicle 1 acquired by the location information acquisition unit 31a. Specifically, the trajectory generation unit 31f generates a movement trajectory by connecting the position coordinates of the flying vehicle 1 with a line. For example, the trajectory generation unit 31f connects the position coordinates of the position (n) of the flying object 1 at a predetermined time point and the position coordinates of the position (n-1) of the flying object 1 at the previous time point with a line. Generate a trajectory. The trajectory generation unit 31f also has a correction unit 31f1. The correction unit 31f1 corrects the variation in the position of the aircraft 1 acquired by the position information acquisition unit 31a. Specifically, for example, the correction unit 31f1 corrects the variation in the position of the flying body 1 by averaging the positions of the flying body 1 acquired by the position information acquisition unit 31a. Note that the correction unit 31f1 only needs to be able to average the positions of the aircraft 1 acquired by the position information acquisition unit 31a, and the method of correcting variations is not limited to averaging.

The calculation unit 31g calculates the spray range E based on the spray information acquired by the spray information acquisition unit 31b. More specifically, the calculation unit 31g has the spray information (spraying amount of sprayed material, information of spraying angle θ, information on spraying or stopping spraying of the spraying device 10), position information of the flying body 1, and flying body 1 at a predetermined time point. The spraying range E is calculated on the basis of the moving speed, the altitude H1, and the like. Specifically, the calculation unit 31g calculates the spray range E from the range calculated by the spray angle θ of the nozzle 13 and the altitude H1 of the flying vehicle 1 and the position of the flying vehicle 1.

In addition, as shown in FIG. 2B, when the wind speed in the field is equal to or higher than a predetermined value (for example, wind speed is 1 m/s or higher), the calculation unit 31g adds the spray information, the position information, the moving speed of the flying body 1, and the altitude H1. Then, the spray range E can be calculated based on the wind direction and the wind speed acquired by the wind information acquisition unit 31e. More specifically, the calculation unit 31g has the spray information (spraying amount of sprayed material, information of spraying angle θ, information on spraying or stopping spraying of the spraying device 10), position information of the flying body 1, and flying body 1 at a predetermined time point. The spraying range E is calculated based on the moving speed, the altitude H1, the wind direction, the wind speed, and the like. Specifically, the calculation unit 31g calculates the spraying range E by combining the wind speed and the moving speed of the flying vehicle 1 with the range calculated by the spraying angle θ of the nozzle 13 and the altitude H1 of the flying vehicle 1.

Note that the calculation unit 31g only needs to be able to calculate the spray range E based on the spray information acquired by the spray information acquisition unit 31b and the wind direction and wind speed acquired by the wind information acquisition unit 31e. The calculation method is the above-described calculation method. Not limited to. For example, in the present embodiment, the spraying range E is calculated by combining the wind speed and the moving speed of the flying object 1 in the range calculated by the spraying angle θ of the nozzle 13 and the altitude H1 of the flying object 1. 2A, instead of the altitude H1 of 1, the distance H3 obtained by subtracting the plant height H2 of the crop R in the field from the altitude H1 of the air vehicle 1 is used, and the spray angle θ of the nozzle 13 and the nozzle 13 and the crop The scattering range E may be calculated by combining the wind speed and the moving speed of the flying object 1 in the range calculated by the distance H3 with R. In such a case, the information collecting unit 54 of the field server 50 includes, for example, an image capturing unit such as a camera, and the field server 50 detects the plant height H2 of the crop R based on the image captured by the image capturing unit. I do.

The mesh setting unit 31h performs a process of allocating information on the amount of spray (dispersion amount data) included in the spray information acquired by the spray information acquisition unit 31b for each spray range E calculated by the calculator 31g. For example, when the mesh size is 1 m, the mesh setting unit 31h sets the width (vertical width, horizontal width) of one side of the area Qn to 1 m, divides the spray range E into a plurality of areas Qn every 1 m, The spread amount data is divided as data that enters the area Qn formed by dividing the spread amount data by the mesh size. Here, when there are a plurality of data in the area Qn, the mesh setting unit 31h averages the data values and assigns the average value as the divided data Dn corresponding to the area Qn. In addition, the mesh setting unit 31h assigns the data as divided data Dn corresponding to the area Qn when the number of data in the area Qn is one. The mesh size may be set by inputting a numerical value of “mesh size” shown in the basic display section 59 of the display section 34 described later. Further, the method of assigning the field data to the divided data Dn corresponding to the area Qn is not limited to the above example. In addition, the mesh setting unit 31h sets the amount of scattered matter for each area Qn based on the divided data Dn for each area Qn.

The associating unit 31i associates the information about the moving trajectory of the flying object 1 generated by the trajectory generating unit 31f, the information about the altitude H1 of the flying object 1, and the information processed by the mesh setting unit 31h. Specifically, the associating unit 31i, based on the time, the information of the movement trajectory of the flying body 1 at the same time, the information about the altitude H1 of the flying body 1, and the information processed by the mesh setting unit 31h. Correspond.

The second control device 31 of the support device 30 also includes an operation information acquisition unit 31j and an operation trajectory generation unit 31k. In other words, the support device 30 of the flying vehicle 1 includes the operation information acquisition unit 31j and the operation trajectory generation unit 31k. The operation information acquisition unit 31j and the operation trajectory generation unit 31k are configured by a CPU, a program stored in the second storage unit 32, and the like. The operation information acquisition unit 31j acquires the operation information of the operation device 15. Specifically, the operation information acquisition unit 31j acquires the operation information of the operation device 15 via the first communication unit 24, the third communication unit 43, and the second communication unit 33. In addition, in the present embodiment, the operation information acquisition unit 31j acquires the operation information via the first communication unit 24, the third communication unit 43, and the second communication unit 33, but the operation information acquisition unit 31j operates The operation information of the device 15 may be acquired, and the operation information may be transmitted from the operation device 15 to the second communication unit 33. The acquisition source of the operation information is not limited to the above configuration.

The operation trajectory generation unit 31k generates a movement trajectory of the flying vehicle 1 based on the operation information acquired by the operation information acquisition unit 31j. The movement locus of the flying body 1 based on the operation information generated by the operation locus generation unit 31k is an ideal movement locus that does not consider resistance such as wind and rain in the field and obstacles.
Hereinafter, the screen displayed on the display unit 34 will be described in detail. As shown in FIGS. 3A to 3G, the display unit 34 can display a spraying screen M1 that shows the result of the spraying work of the aircraft 1. The spraying screen M1 displays the field area, the periphery of the field, the actual movement trajectory of the flying vehicle 1, the moving trajectory of the flying vehicle 1 based on the operation information, the altitude H1 of the flying vehicle 1, and the scattering range E of the scattered matter. As a result, the display unit 34 displays the result of the spraying work of the flying object 1, so that the result of the spraying work can be easily confirmed without manually inputting the result. Further, by displaying not only the distribution range E of the scattered matter but also the movement locus at the same time as the scattering range E, the relationship between the movement locus and the scattering range E can be confirmed and can be utilized for work planning.

Specifically, the scatter screen M1 has a basic display unit 59, a peripheral image 60, a movement track image 61, an operation track image 62, an altitude display image 65, and a scatter range image 66. The basic display unit 59 displays various information regarding the work of the flying vehicle 1. Specifically, for example, the basic display unit 59 displays the field name on which the aircraft 1 has worked, the size of the field, the start date and time of the work, the working time, the end date and time of the work, the model number of the aircraft 1, and the mesh size. , Displays the wind direction, wind speed, etc. in the field.

As shown in FIGS. 3A to 3G, the peripheral image 60 is an image that displays a field region and the periphery of the field. The peripheral image 60 displays, for example, the area of the farm field and the periphery of the farm field in a bird's-eye view.
As illustrated in FIG. 3A, FIG. 3C, and the like, the movement trajectory image 61 is an image that displays the actual movement trajectory of the flying object 1, and is an image based on the trajectory generated by the trajectory generation unit 31f. In other words, the display unit 34 displays the movement trajectory of the flying body 1 based on the position of the flying body 1 acquired by the position information obtaining unit 31a and the position of the flying body 1 corrected by the correction unit 31f1. The display unit 34 displays the movement trajectory image 61 in different display forms inside the field area and outside the field area. Specifically, the display unit 34 displays the movement trajectory image 61 within the field area with a solid line 61b, and displays the movement trajectory image 61 outside the field area with a broken line 61c. In addition, the display unit 34 displays the movement start point of the flying body 1 and the final point of the flying body 1 in the movement locus image 61 in a predetermined figure. In the present embodiment, the display unit 34 displays the movement start point of the flying body 1 by the substantially circular graphic 61a and the final point of the flying body 1 by the simplified graphic 61d of the flying body 1.

As shown in FIG. 3B, the operation trajectory image 62 is an image that displays the movement trajectory of the flying vehicle 1 based on the operation information of the operation device 15, and is an image that is based on the trajectory generated by the operation trajectory generation unit 31k. The operation trajectory image 62 is displayed in a display form different from at least the movement trajectory image 61. The operation trajectory image 62 is displayed by, for example, a two-dot chain line. The operation trajectory image 62 can be switched between display and non-display by operating the switching button 63 displayed on the scatter screen M1. The display unit 34 hides the movement trajectory image 61 when the operation trajectory image 62 is displayed. In other words, the display unit 34 displays either the movement trajectory image 61 or the operation trajectory image 62. In the present embodiment, the display unit 34 displays either the movement trajectory image 61 or the operation trajectory image 62. However, if the image displayed by the display unit 34 is not complicated, the display unit 34 displays Both the movement track image 61 and the operation track image 62 may be displayed simultaneously. As a result, the operation of the flying vehicle 1 and the actual movement trajectory can be confirmed, so that the characteristics of the movement of the flying vehicle 1 with respect to the operation of the operating device 15 can be understood. Therefore, the operator of the flying vehicle 1 can understand the operability of the flying vehicle 1 in a more appropriate manner, so that the operating skill of the flying vehicle 1 can be improved at an early stage.

In the present embodiment, the operation trajectory generation unit 31k generates the movement trajectory of the flying vehicle 1 based on the operation information, and the display unit 34 displays the operation trajectory image 62 based on the movement trajectory, and the operation device 15 is displayed. However, the display unit 34 only needs to be able to display the operation information of the operation device 15, and instead of the operation trajectory image 62, an icon 64 that simplifies the operation device 15 as shown in FIG. 3C. May be displayed to display the operation state of the operation device 15 at each point, and the display image is not limited to the above-mentioned image. As shown in FIG. 3C, when the simplified icon 64 of the operating device 15 is displayed, the operating state of the operating device 15 may be displayed using an arrow or the like.

As shown in FIG. 3D, the altitude display image 65 is an image that displays the altitude H1 of the aircraft 1, and is an image based on the information regarding the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31d. In other words, the display unit 34 displays the altitude H1 of the aircraft 1 based on the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31d. The altitude display image 65 numerically displays the altitude H1 of the flying vehicle 1 at each point (each time point). Accordingly, by displaying the altitude information at the same time as the spray range E, the relationship between the altitude H1 of the flying object 1 and the spray range E can be confirmed and can be utilized for work planning. Specifically, when the assisting device 30 is operated to select a part of the movement trajectory image 61, the display unit 34 displays the altitude display image 65 at the selected point, and the altitude display image at another point. 65 is hidden. In addition, in the present embodiment, the display unit 34 displays the altitude H1 at the selected point as a value, but the display unit 34 may display the altitude H1 of the flying object 1, and the color or the like according to the altitude H1. The altitude H1 of the aircraft 1 may be displayed in different display forms, and the display format of the altitude H1 of the aircraft 1 is not limited to the display format described above.

As shown in FIGS. 3A to 3G, the dispersion range image 66 is an image displaying the dispersion range E calculated by the calculation unit 31g and the divided data Dn for each area Qn allocated by the mesh setting unit 31h. .. In other words, the display unit 34 displays the spraying range E of the sprayed material sprayed by the spraying device 10, based on the spraying information acquired by the spraying information acquiring unit 31b and the spraying range E calculated by the calculation unit 31g. The spray range image 66 is displayed for each mesh generated by the mesh setting unit 31h in a different display form of the mesh according to the spray amount of the sprayed material sprayed by the spraying device 10. In other words, the display unit 34 displays the meshes for each mesh generated by the mesh setting unit 31h while changing the display form of the meshes in accordance with the amount of the sprayed material sprayed by the spraying device 10. The display unit 34 changes the display density of the mesh for each mesh generated by the mesh setting unit 31h in accordance with the amount of sprayed material. Specifically, the display unit 34 displays the mesh so that the display density is increased in proportion to the amount of sprayed material. That is, the display unit 34 displays the display density of the mesh lighter as the amount of the sprayed material becomes lower. On the other hand, as the amount of sprayed material increases, the display unit 34 displays the display density of the mesh darker. As a result, it is possible to intuitively grasp a location where the amount of the sprayed material actually sprayed is small or a location where the sprayed quantity of the scattered material is large. For this reason, it is possible to grasp the places where the spraying is unnecessary or necessary and to perform the appropriate spraying work according to the result of the previous work. Note that the display unit 34 may display a legend 67 that indicates the amount of scattered matter corresponding to the display density of the mesh.

As shown in FIG. 3E, the display unit 34 can switch the display of the movement trajectory of the flying body 1 and the dispersion range E according to the altitude H1 of the flying body 1. Specifically, as shown in FIGS. 3A to 3G, the spray screen M1 has an altitude selection unit 69 for selecting the altitude H1 of the flying vehicle 1. The altitude selection unit 69 has a slider 69a that can be slid. The altitude selection unit 69 can select the range of the altitude H1 of the flying object 1 by operating the slider 69a to select the upper limit value and the lower limit value of the altitude H1 of the flying object 1. The display unit 34 displays the movement trajectory of the flying vehicle 1 at the altitude H1 within the range of the altitude H1 selected by the altitude selecting unit 69, and the spray range E of the scattered matter scattered by the flying object 1. Specifically, the display unit 34 displays the movement trajectory image 61 and the scatter range image 66 at the altitude H1 within the range of the altitude H1 selected by the altitude selection unit 69.

Further, as shown in FIG. 3E, the display unit 34 displays the movement locus of the flying body 1 at the altitude H1 outside the range of the altitude H1 selected by the altitude selecting unit 69 and the spread range E of the scattered matter scattered by the flying body 1. To hide. Specifically, the display unit 34 does not display the movement trajectory image 61 and the scatter range image 66 at the altitude H1 outside the range of the altitude H1 selected by the altitude selection unit 69. As a result, the result of the spraying work of the flying body 1 can be confirmed for each altitude H1 of the flying body 1. Therefore, the relationship between the altitude H1 of the flying object 1 and the spray range E can be more easily confirmed and can be utilized for work planning. In the present embodiment, the display unit 34 hides the spraying range E of the scattered matter scattered by the aircraft 1 at the altitude H1 outside the range of the altitude H1 selected by the altitude selecting unit 69. It suffices that the section 34 can switch the display of the spraying range E in accordance with the altitude H1 of the flying object 1. The flying object 1 is sprayed by the flying object 1 at an altitude H1 outside the range of the altitude H1 selected by the altitude selecting section 69. The spraying range E may be grayed out. In addition, in FIGS. 3A to 3E, the display unit 34 displays the result of one spraying operation of one flying body 1. However, as shown in FIG. 3F, the display unit 34 displays a plurality of flights. The results of the spraying work of the body 1 may be displayed, or the results of a plurality of spraying works of one flying body 1 may be displayed simultaneously. In such a case, the mesh setting unit 31h averages the data values of the respective work results and assigns the average value as the divided data Dn corresponding to the area Qn. Further, the display unit 34 displays a movement trajectory image 61, an operation trajectory image 62, a switch button 63, an altitude display image 65, and a spray range image 66 for each spraying work.

Further, as shown in FIG. 3G, when the wind speed in the field is a predetermined speed or higher (for example, a wind speed of 1 m/s or higher), the display unit 34 operates the change button 70 to switch the display of the spray range image 66, It is possible to display the spraying range E of the sprayed material in consideration of the wind direction and the wind speed acquired by the wind information acquisition unit 31e. In such a case, the spraying range image 66 includes the spraying range E calculated based on the wind direction and the wind speed acquired by the wind information acquiring unit 31e in addition to the spraying information acquired by the spraying information acquiring unit 31b, and the mesh setting unit 31h. It is an image for displaying the divided data Dn for each assigned area Qn. That is, when the change button 70 is operated, the application range image 66 is applied from the application range E calculated by the operation unit 31g based on the application information, the position information, the moving speed of the flying body 1, the altitude H1, and the like. The display is switched to the spray range E calculated based on the information, the position information, the moving speed of the flying object 1, the altitude H1, and the wind direction and wind speed acquired by the wind information acquisition unit 31e.

When the air vehicle 1 moves outside the field area, it is possible to automatically end the spraying of the sprayed material by the spraying device 10. As shown in FIG. 1, the first control device 20 of the aircraft 1 has a detection unit 23. In other words, the flying body 1 has the detection unit 23. The detection unit 23 includes a CPU, a program stored in the first storage unit 22, and the like. The detection unit 23 detects, based on the position information detected by the position detection device 25 and the position information of the farm field, whether the flying body 1 is positioned inside the field region or outside the farm region. To do. The position information of the field is stored in, for example, the first storage unit 22. Specifically, the position information of the field is acquired from the server 40 via the third communication unit 43 and the first communication unit 24, and is stored in the first storage unit 22 in advance. The detection unit 23 outputs the detection result to the control unit 21. In the present embodiment, the detection unit 23 determines whether the flying body 1 is in the field area or outside the field area based on the position information detected by the position detection device 25 and the field position information. Although it is detected whether or not it is located, the detection unit 23 only needs to be able to detect whether the flying body 1 is located in the area of the field or outside the area of the field, such as a camera provided in the flying body 1. By detecting the boundary of the field based on the image captured by the image capturing unit, it is possible to detect whether the flying body 1 is located inside the field area or outside the field area, The detection method is not limited to the above configuration.

The control unit 21 controls the spraying device 10 according to the detection result of the detection unit 23. Specifically, when the detection unit 23 detects that the flying body 1 is located within the field area, the control unit 21 controls the spraying device 10 based on the operation of the operation device 15. On the other hand, when the detection unit 23 detects that the flying body 1 is located outside the area of the field, the control unit 21 stops the driving of the pump 12 separately from the operation of the operation device 15, and the spraying device 10 is operated. Stop spraying. That is, the control unit 21 permits the spraying of the sprayed material by the spraying device 10 when the flying body 1 is located in the area of the field, and the flying device 1 when the flying body 1 is located outside the area of the field. Prohibit the spraying of 10 items.

The above-described support device 30 for the flying vehicle 1 includes a position information obtaining unit 31a that obtains the position of the flying vehicle 1 and a spraying information obtaining unit that obtains information on the spraying of the sprayed material by the spraying device 10 provided on the flying vehicle 1. 31b and a display unit 34 that displays the area of the farm field and the periphery of the farm field. The display unit 34 displays the movement trajectory of the flight vehicle 1 based on the position of the flight vehicle 1 acquired by the position information acquisition unit 31a. Then, based on the spraying information acquired by the spraying information acquiring unit 31b, the spraying range E of the sprayed material sprayed by the spraying device 10 is displayed.

According to the above configuration, the result of the spraying work of the flying object 1 can be displayed on the display unit 34. Therefore, an operator who manages the work of the flying object 1 can easily confirm the result of the spraying work without manually inputting the result. Further, since the display unit 34 displays not only the distribution range E of the scattered matter but also the movement locus at the same time as the distribution range E, the operator can confirm the relationship between the movement locus and the dispersion range E.

In addition, the support device 30 of the aircraft 1 includes an altitude information acquisition unit 31d that acquires information on the altitude H1 of the aircraft 1, and the display unit 34 displays the altitude H1 of the aircraft 1 acquired by the altitude information acquisition unit 31d. Based on this, the altitude H1 of the aircraft 1 is displayed.
According to the above configuration, since the display unit 34 simultaneously displays the altitude information and the dispersion range E, the operator can confirm the relationship between the altitude H1 of the aircraft 1 and the dispersion range E, and utilize it in the work plan. You can

In addition, the support device 30 of the aircraft 1 includes an altitude information acquisition unit 31d that acquires information on the altitude H1 of the aircraft 1, and the display unit 34 displays the altitude H1 of the aircraft 1 within a predetermined range. The movement locus is displayed, and the movement locus when the altitude H1 of the flying object 1 is outside the predetermined range is hidden, and the spray range E when the altitude H1 of the flying object 1 is within the predetermined range is displayed. In addition, the spray range E when the altitude H1 of the aircraft 1 is outside the predetermined range is hidden.

According to the above configuration, it is possible to confirm the result of the spraying work of the flying body 1 for each altitude H1 of the flying body 1. Therefore, the operator can confirm the spray range E for each altitude H1 of the aircraft 1, and can utilize the relationship between the altitude H1 and the spray range E in the work plan.
In addition, the support device 30 of the aircraft 1 includes the wind information acquisition unit 31e that acquires information including the wind direction and wind speed of the field, the spray information acquired by the spray information acquisition unit 31b, and the wind direction acquired by the wind information acquisition unit 31e. And a calculator 31g that calculates the spray range E based on the wind speed, and the display unit 34 displays the spray range E calculated by the calculator 31g.

According to the above configuration, the display unit 34 can display the spray range E close to the actual spray range sprayed by the spraying operation of the air vehicle 1 when wind is generated in the field. Therefore, it is possible to confirm the relationship between the movement trajectory when the wind is generated and the spray range E, and to use it for work planning such as adjusting the flight path of the flying body 1 according to the wind condition in the field. can do.
In addition, the support device 30 of the flying object 1 includes a mesh setting unit 31h that sets a predetermined mesh in the spray range E, and the display unit 34 sprays the spray device 10 for each mesh set by the mesh setting unit 31h. The display form of the mesh is displayed differently according to the amount of the sprayed material.

According to the above configuration, it is possible to intuitively grasp a location where the amount of the sprayed material actually sprayed is small or a location where the sprayed amount of the sprayed material is large. Therefore, it is possible to make an appropriate work plan according to the work result by grasping the places where the spraying is unnecessary or necessary and adjusting the spraying amount.
In addition, the support device 30 of the aircraft 1 includes a correction unit 31f1 that corrects the variation in the position of the aircraft 1 acquired by the position information acquisition unit 31a, and the display unit 34 displays the aircraft 1 corrected by the correction unit 31f1. The movement trajectory of the flying body 1 is displayed based on the position.

According to the above configuration, the display unit 34 can smoothly display the movement trajectory of the flight vehicle 1 even when the position information of the flight vehicle 1 is acquired relatively infrequently, and the movement trajectory can be displayed. It can be grasped easily.
In addition, the support device 30 of the aircraft 1 includes an operation information acquisition unit 31j that acquires operation information of the operation device 15 that can operate the aircraft 1, and the display unit 34 includes the operation information acquired by the operation information acquisition unit 31j. The operation of the operation device 15 is displayed based on the.

According to the above configuration, since the operation of the flying object 1 and the actual movement trajectory can be confirmed, the characteristics of the movement of the flying object 1 with respect to the operation of the operating device 15 can be grasped. As a result, the operator of the flying vehicle 1 can more appropriately understand the operability of the flying vehicle 1, and thus the operating skill of the flying vehicle 1 can be improved at an early stage.
Further, the support system 80 for the flying vehicle 1 includes the supporting device 30 for the flying vehicle 1 and the flying vehicle 1.

According to the above configuration, it is possible to realize the support system 80 of the aircraft 1 that exhibits the excellent effects of the above-described assistance device 30 of the aircraft 1.
In addition, the flying body 1 includes a detection unit 23 that detects whether the flying body 1 is located inside the field area or outside the field area. When it is detected that the flying object 1 is located inside the field, when it is detected that the flying body 1 is located outside the area of the field, when the flying object 1 is located outside the field, And a control unit 21 that prohibits spraying.

According to the above configuration, it is possible to prevent the flying body 1 from spraying the scattered matter outside the field area. For this reason, it is possible to prevent the spraying device 10 from spraying the sprayed material on a field that is not a spraying target. Further, since the spraying device 10 does not spray the sprayed material on the roads around the field and can prevent wasteful consumption of the sprayed material, the aircraft 1 loads the minimum sprayed material and sprays it. You can do the work. As a result, the operating time of the aircraft 1 can be secured.
[Second Embodiment]
FIG. 4 shows another embodiment (second embodiment) of the support system 80 for the air vehicle 1. The support device 30 for the aircraft 1 of the first embodiment displays the result of the work (scattering work) performed by the aircraft 1, but the support device 30 for the aircraft 1 of the second embodiment shows that It is possible to display the movement trajectory and the dispersion range (effective dispersion width) E in the previous work, and to create a work plan for the air vehicle 1. Hereinafter, the support system 80 for the air vehicle 1 of the second embodiment will be described focusing on the configuration different from the above-described embodiment (first embodiment), and the same reference numerals will be given to configurations common to the first embodiment. Detailed description is omitted.

As shown in FIG. 4, the third control device 41 of the server 40 has a work plan setting unit 44. The work plan setting unit 44 includes a CPU, a program stored in the third storage unit 42, and the like. The work plan setting unit 44 sets the work to be performed in the field, the period of the work (work period), the aircraft 1 to perform the work, the movement route of the aircraft 1, and the like as a work plan. A work plan is a plan of how and within what period (work period) a work is to be performed in a given field, that is, "work" to be performed in the field, "work period" to perform the work, and "aircraft". 1” and the “movement path” of the aircraft 1 are associated with each other. For example, an operator or a manager performs the work before actually performing the work.

The third storage unit 42 of the server 40 stores the default values of the work and the work period that are the reference when setting the work plan, and the work and the work period defaults stored in the third storage unit 42. The value is set by past work or the like.
Next, the setting of the work plan by the work plan setting unit 44 will be described in detail. The setting of the work plan by the work plan setting unit 44 can be performed by operating the support device 30 communicatively connected to the server 40. Specifically, when the support device 30 requests the server 40 to create a work plan, the operation of the work plan setting unit 44 of the server 40 causes the work plan to be created in each field as shown in FIGS. 5A to 5D. The work plan screen M2 to be created is displayed on the display unit 34.

Hereinafter, the screen displayed on the display unit 34 will be described in detail. As shown in FIGS. 5A to 5D, the work plan screen M2 displays a portion for inputting the contents of the work plan, a field area, and the periphery of the field. Specifically, the work plan screen M2 has a work input unit 156, a peripheral image 160, and a calling unit 157.
The work input unit 156 can input information such as a work date, a field to perform the work, a worker to perform the work, and an air vehicle 1 to perform the work. The work plan setting unit 44 stores the information input to the work input unit 156 in the third storage unit 42 as a work plan. As shown in FIGS. 5A to 5D, the work input unit 156 includes a date input unit 156a, a field input unit 156b, a worker input unit 156c, an aircraft input unit 156d, a route creation unit 156e, and a confirm button. And 156f. The date input part 156a is a part for inputting a date for performing work. The farm field input unit 156b is a part for inputting a farm field on which work is to be performed. The worker input unit 156c is a part for inputting a worker who performs a work. The flight body input unit 156d is a portion for inputting the flight vehicle 1 to be operated. The route creation unit 156e is selectable, and draws the route of the air vehicle 1 on the peripheral image 160 by selecting the route creation unit 156e and performing an operation such as tracing the display unit 34 with a fingertip. You can The confirm button 156f is a button for confirming the information input to the date input unit 156a, the field input unit 156b, the worker input unit 156c, the flight body input unit 156d, and the route creation unit 156e as a work plan. When the confirm button 156f is operated, the work plan setting unit 44 stores the information input to the work input unit 156 in the third storage unit 42 as a work plan.

The peripheral image 160 is an image that displays the field area and the periphery of the field. The peripheral image 160 displays, for example, the area of the farm field and the periphery of the farm field in a bird's-eye view. The peripheral image 160 displays the farm field called by the calling unit 157.
The calling unit 157 can input information such as the date of past work, the field where the work was performed, the worker who performed the work, and the flying vehicle 1 that performed the work. The work plan setting unit 44 acquires the past work from the third storage unit 42 based on the information input to the calling unit 157. As shown in FIGS. 5A to 5D, the calling unit 157 includes a date input unit 157a, a field input unit 157b, a worker input unit 157c, an aircraft input unit 157d, and a search button 157e. There is. The date input part 157a is a part for inputting dates of past work. The farm field input unit 157b is a part for inputting a farm field on which work has been performed in the past. The worker input unit 157c is a part for inputting a worker who has worked in the past. The flight body input unit 157d is a portion for inputting the flight vehicle 1 that has performed work in the past. The search button 157e is a button for confirming that the past work is searched based on the information input to the date input unit 157a, the field input unit 157b, the worker input unit 157c, and the flight body input unit 157d. When the search button 157e is operated, as shown in FIG. 5B, the display unit 34 displays the list display unit 158 on the work plan screen M2. Note that it is not necessary to input information to all of the date input unit 157a, the field input unit 157b, the operator input unit 157c, and the aircraft input unit 157d, and at least one or more information items are input to the calling unit 157. If you have.

As shown in FIG. 5B, the list display unit 158 displays a list of works obtained from the third storage unit 42 as past works based on the information input to the calling unit 157 by the work plan setting unit 44. Specifically, for example, the list display unit 158 lists information such as the date of the work acquired by the work plan setting unit 44, the field where the work was performed, the worker who performed the work, and the flying vehicle 1 that performed the work. Display as. The past work displayed on the list display unit 158 can be selected. When one past work is selected from the past works displayed on the list display unit 158, the display unit 34 displays information on the one past work on the work plan screen M2 as shown in FIG. 5C. The trajectory of the flying body 1 in the past work, the altitude H1 of the flying body 1, and the spread range (effective spread width) E of the scattered matter are displayed. Specifically, the work plan screen M2 has a basic display unit 159, a movement trajectory image 161, and a scatter range image 166. The basic display unit 159 displays various information regarding past work. Specifically, for example, the basic display unit 159 displays past work start date/time, work end date/time, work time, worker's name, model number of the air vehicle 1, wind direction and wind speed in the field, and the like.

As shown in FIG. 5C, the movement trajectory image 161 is an image that displays the actual movement trajectory of the flying vehicle 1 in the past work, and is an image based on the trajectory generated by the trajectory generation unit 31f. In other words, the display unit 34 displays the movement trajectory of the flying body 1 based on the position of the flying body 1 acquired by the position information obtaining unit 31a and the position of the flying body 1 corrected by the correction unit 31f1. The display unit 34 displays the movement trajectory image 161 in different display forms inside the field area and outside the field area. As shown in FIG. 5C, the display unit 34 displays the movement trajectory image 161 in the field area by a solid line 161b, and displays the movement trajectory image 161 outside the field area by a broken line 161c. In addition, the display unit 34 displays the movement start point of the flying body 1 and the final point of the flying body 1 in the movement locus image 161 in a predetermined figure. In the present embodiment, the display unit 34 displays the movement start point of the flying body 1 by the substantially circular graphic 161a and the final point of the flying body 1 by the simplified graphic 161d of the flying body 1.

As shown in FIG. 5C, the scatter range image 166 is an image displaying the altitude H1 of the aircraft 1 and the scatter range E calculated by the calculation unit 31g. The scatter range image 166 is displayed in different display forms according to the altitude H1 of the flying object 1. The display unit 34 changes the display density of the spray range image 166 according to the altitude H1 of the flying object 1. Specifically, the display unit 34 displays the dispersion range image 166 such that the display density of the dispersion range image 166 becomes darker in proportion to the altitude H1 of the aircraft 1. That is, as the altitude H1 of the flying object 1 becomes lower, the display unit 34 displays the display density of the dispersion range image 166 lighter. On the other hand, as the altitude H1 of the flying object 1 increases, the display unit 34 displays the display density of the spray range image 166 darker. The display unit 34 may display a legend 167 indicating the altitude H1 of the flying object 1 corresponding to the display density of the dispersion range image 166.

Further, as shown in FIG. 5D, when the wind speed in the field is equal to or higher than a predetermined value (eg, wind speed of 1 m/s or higher), the display unit 34 operates the change button 170 to switch the display of the spray range image 166, It is possible to display the spraying range E of the sprayed material in consideration of the wind direction and the wind speed acquired by the wind information acquisition unit 31e. In such a case, the scatter range image 166 is the scatter range calculated based on the wind direction and the wind speed acquired by the wind information acquisition unit 31e in addition to the altitude H1 of the air vehicle 1 and the spray information acquired by the spray information acquisition unit 31b. It is an image displaying E and. That is, when the change button 70 is operated, the dispersion range image 166 is distributed from the dispersion range E calculated by the calculation unit 31g based on the dispersion information, the position information, the moving speed of the flying body 1, the altitude H1, and the like. The display is switched to the spray range E calculated based on the information, the position information, the moving speed of the flying object 1, the altitude H1, and the wind direction and wind speed acquired by the wind information acquisition unit 31e.

The present invention has been described above, but it should be considered that the embodiments disclosed this time are exemplifications in all points and not restrictive. The scope of the present invention is shown not by the above description but by the scope of the claims, and is intended to include meanings equivalent to the scope of the claims and all modifications within the scope.

1 Aircraft (multicopter)
10 spraying device 15 operating device 23 detection unit 30 support device 31a position information acquisition unit 31b spraying information acquisition unit 31c altitude calculation unit 31d altitude information acquisition unit 31e wind information acquisition unit 31f1 correction unit 31g calculation unit 31h mesh setting unit 31j operation information acquisition Part 34 Display part 80 Support system E Spread range H1 Aircraft altitude

Claims (9)

1. A position information acquisition unit that acquires the position of the air vehicle,
   A spraying information acquisition unit for acquiring information on the spraying of the sprayed material of the spraying device provided on the aircraft,
   A display unit for displaying a field region and the periphery of the field;
   Equipped with
   The display unit is
   Based on the position of the aircraft acquired by the position information acquisition unit, displaying the movement trajectory of the aircraft,
   A support device for a flying object, which displays a spraying range of the sprayed material sprayed by the spraying device, based on the information acquired by the spraying information acquisition unit.
2. An altitude information acquisition unit for acquiring information on the altitude of the flying object,
   The support device for an aircraft according to claim 1, wherein the display unit displays the altitude of the aircraft based on the altitude of the aircraft acquired by the altitude information acquisition unit.
3. An altitude information acquisition unit for acquiring information on the altitude of the flying object,
   The display unit displays the movement trajectory when the altitude of the flying object is within a predetermined range, and hides the movement trajectory when the altitude of the flying object is outside a predetermined range,
   3. The dispersion range when the altitude of the aircraft is within a predetermined range is displayed, and the dispersion range is hidden when the altitude of the aircraft is outside the predetermined range. The device for supporting an air vehicle according to.
4. A wind information acquisition unit that acquires information including the wind direction and wind speed of the field,
   A calculation unit that calculates the spray range based on the information acquired by the spray information acquisition unit, and the wind direction and the wind speed acquired by the wind information acquisition unit;
   Equipped with
   The aircraft support device according to any one of claims 1 to 3, wherein the display unit displays the dispersion range calculated by the calculation unit.
5. A mesh setting unit for setting a predetermined mesh in the spray range,
   5. The display unit displays the mesh for each mesh set by the mesh setting unit in a different display form of the mesh according to the amount of the sprayed material sprayed by the spraying device. The support device for an air vehicle according to item 1.
6. A correction unit that corrects the variation in the position of the aircraft acquired by the position information acquisition unit;
   The aircraft support device according to any one of claims 1 to 5, wherein the display unit displays the movement trajectory of the aircraft based on the position of the aircraft corrected by the correction unit.
7. An operation information acquisition unit for acquiring operation information of an operation device capable of operating the flying object,
   The aircraft support device according to any one of claims 1 to 6, wherein the display unit displays an operation of the operation device based on the operation information acquired by the operation information acquisition unit.
8. An air vehicle support system comprising the air vehicle support device according to any one of claims 1 to 7 and the air vehicle.
9. The aircraft is
   A detection unit that detects whether the aircraft is located in the area of the farm field or outside the area of the farm field,
   When the detection unit detects that the flying body is located in the area of the field, it permits the spraying of the scattered matter of the spreading device, and the flying body is located outside the area of the field. When it is detected that there is a control unit for prohibiting the spraying of the sprayed material of the spraying device,
   The aircraft support system according to claim 8, further comprising:

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