WO2020149289A1 - Système de drone, drone, procédé de commande de système de drone, et programme de commande de système de drone - Google Patents

Système de drone, drone, procédé de commande de système de drone, et programme de commande de système de drone Download PDF

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Publication number
WO2020149289A1
WO2020149289A1 PCT/JP2020/001011 JP2020001011W WO2020149289A1 WO 2020149289 A1 WO2020149289 A1 WO 2020149289A1 JP 2020001011 W JP2020001011 W JP 2020001011W WO 2020149289 A1 WO2020149289 A1 WO 2020149289A1
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WO
WIPO (PCT)
Prior art keywords
drone
moving body
landing
area
land
Prior art date
Application number
PCT/JP2020/001011
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English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Original Assignee
株式会社ナイルワークス
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Publication date
Application filed by 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to JP2020566423A priority Critical patent/JP7217895B2/ja
Publication of WO2020149289A1 publication Critical patent/WO2020149289A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/19—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using infrared-radiation detection systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/86—Land vehicles

Definitions

  • the present invention relates to a drone system, a drone, a drone system control method, and a drone system control program.
  • a moving body When flying a drone in the field, a moving body is required to transport it to a predetermined position around the field. Further, there is a need for a drone system in which a drone and a moving body transmit and receive information when the drone is arriving and departing from a predetermined position, and operate in cooperation with each other.
  • the mobile body automatically travels at least on a road around the field, for example, a farm road, in order to carry the drone.
  • an intruder such as a person or a vehicle enters the area where the automatic traveling of the moving body is permitted, a collision accident or the like may occur. Therefore, there is a need for a system that detects the intrusion of an intruder and limits the movement of the moving body.
  • Patent Document 3 discloses an operation area regulation device that prevents a robot from entering a work area in which a worker intervenes.
  • the motion area restriction device divides the linear movement path of the industrial robot into a plurality of work areas, and restricts the operation of the robot so as not to enter the work area where the worker is working.
  • Patent Document 4 discloses a control method for an unmanned traveling robot that performs work in a predetermined area. According to this control method, the area is divided into a plurality of areas, each area is provided with a sensor for detecting whether or not there is a worker's intrusion, and when this sensor detects the worker's intrusion, Only the work of the unmanned traveling robot in the area is stopped.
  • Patent Document 5 discloses a collision accident avoidance system for an automatic carrier. This system divides an automated guided vehicle and the places where people pass through into multiple zones including a danger zone where a collision accident is likely to occur and a prediction zone close to the danger zone. Alternatively, the automated guided vehicle that has entered the danger zone includes an alarm device for issuing an alarm to a person and a control device for transmitting an alarm transmission signal to the alarm device based on the detection result from the detection means.
  • a drone and a movable body capable of carrying the drone and moving the drone can operate in cooperation with each other.
  • the automatic driving permission area of the mobile body, the mobile body is movable, the movement permission area where the drone can not land, and the mobile body is movable and on the mobile body It is subdivided into a landing permission area where the drone can land, and whether the position of the moving body belongs to the landing permission area where the drone can land on the moving body or the movement permission area.
  • An area determination unit that determines the landing position of the drone based on the type of area in which the moving body is stopped is provided.
  • the landing position determination unit determines the drone as a landing position at a place other than the moving body, and the moving body stops in the landing permission area. If the landing position is on the moving body, the landing may be performed to determine the landing position.
  • the landing position determination unit may determine the landing position of the drone at an exit point where the drone leaves the work area of the drone.
  • the drone system includes a plurality of the moving body, the landing position determination unit determines whether the stop position of the moving body scheduled to land the drone is within the range in which the drone can land. It may be done.
  • a drone is a drone capable of carrying a drone and moving, and emphasizing a moving body to which the drone can land and land, wherein the moving body is A movable permission area that is movable but cannot be landed by the drone, and a landing permission area where the moving body is movable and the drone can land on the moving body, and an automatic driving permission area defined in An area determination unit that determines, when the mobile body moves, whether the position of the mobile body belongs to the landing permission area where the drone can land on the mobile body or the movement permission area; A landing position determination unit that determines the landing position of the drone based on the type of area in which the body is stopped.
  • the landing position determination unit determines a place other than on the moving body as a landing position, and the moving body is stopped in the landing permission area.
  • the landing position may be determined on the moving body.
  • the landing position determination unit may determine the landing position of the drone at an exit point where the drone leaves the work area of the drone.
  • the landing position determination unit determines whether the stop position of the moving body scheduled to land on the drone is within a range where the drone can land. It may be determined whether or not.
  • a control method of a drone system is a drone and a movable body capable of carrying the drone and moving the drone, the cooperation being possible.
  • a method for controlling a drone system that operates in accordance with, wherein the movable body is movable in the automatic driving permission area of the moving body, but the movable body is movable but the drone is not allowed to land. And a landing permission area where the drone can land on the moving body, and a step of determining the landing position of the drone based on the stop position of the moving body.
  • a drone and a movable body capable of loading and unloading the drone, and moving the drone to and from the drone cooperate with each other.
  • the control program of the drone system that operates, the position of the moving body, the moving body is movable, the movement permission area where the landing of the drone is not possible, and the moving body is movable and the A command to determine which of the landing permission areas the drone can land on the moving body, and a command to determine the landing position of the drone based on the type of area in which the moving body is stopped.
  • the computer program can be provided by being downloaded through a network such as the Internet, or can be provided by being recorded in various computer-readable recording media such as a CD-ROM.
  • FIG. 1 is a plan view showing a first embodiment of a drone system according to the present invention. It is a front view of the drone which the drone system has. It is a right view of the said drone. It is a rear view of the said drone. It is a perspective view of the drone. It is the whole conceptual diagram of the medicine spraying system which the above-mentioned drone has. It is a whole conceptual diagram which shows 2nd Embodiment of the chemical spray system which the said drone has. It is the whole conceptual diagram showing a 3rd embodiment of the medicine spraying system which the drone has. It is a conceptual diagram which shows the mode of arrangement
  • the drone regardless of power means (electric power, prime mover, etc.), control system (whether wireless or wired, and whether it is an autonomous flight type or a manual control type), It refers to all aircraft that have multiple rotors.
  • power means electric power, prime mover, etc.
  • control system whether wireless or wired, and whether it is an autonomous flight type or a manual control type
  • It refers to all aircraft that have multiple rotors.
  • the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b are It is a means for flying the drone 100, and in consideration of the stability of flight, the size of the aircraft, and the balance of power consumption, eight aircraft (four sets of two-stage rotary blades) are provided.
  • Each rotor 101 is arranged on four sides of the main body 110 by an arm extending from the main body 110 of the drone 100.
  • the rotating blades 101-1a and 101-1b in the left rear in the traveling direction, the rotating blades 101-2a and 101-2b in the left front, the rotating blades 101-3a and 101-3b in the right rear, and the rotating blades 101-in the front right. 4a and 101-4b are arranged respectively.
  • the drone 100 has the traveling direction downward in the plane of FIG.
  • Rod-shaped legs 107-1, 107-2, 107-3, 107-4 extend downward from the rotation axis of the rotary blade 101.
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotor blades 101-1a, 101-1b, 101-2a, 101-. 2b, 101-3a, 101-3b, 101-4a, 101-4b is a means for rotating (typically an electric motor, but may be a motor, etc.), one for each rotor Has been.
  • the motor 102 is an example of a propeller.
  • the upper and lower rotor blades (eg 101-1a and 101-1b) and their corresponding motors (eg 102-1a and 102-1b) in one set are for drone flight stability etc.
  • the axes are collinear and rotate in opposite directions. As shown in FIGS.
  • the radial member for supporting the propeller guard which is provided so that the rotor does not interfere with foreign matter, is not horizontal but has a tower-like structure. This is for promoting the buckling of the member to the outside of the rotor blade at the time of collision and preventing the member from interfering with the rotor.
  • the drug nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the drug downward, and are equipped with four machines.
  • the term “medicine” generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.
  • the drug tank 104 is a tank for storing the drug to be sprayed, and is provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and each drug nozzle 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above-mentioned material and also have a role of supporting the medicine nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • FIG. 6 shows an overall conceptual diagram of a system using an example of drug application of the drone 100 according to the present invention.
  • This figure is a schematic diagram and the scale is not accurate.
  • the drone 100, the operation unit 401, the small portable terminal 401a, the base station 404, the moving body 406a, and the partition member 407 are connected to the farm cloud 405, respectively.
  • wireless communication may be performed by Wi-Fi, a mobile communication system, or the like, or a part or all of them may be wired.
  • the drone 100 and the mobile unit 406a transmit and receive information to and from each other, and operate in cooperation with each other.
  • the moving body 406a has a departure/arrival point 406.
  • the drone 100 has a flight control unit 21 that controls the flight of the drone 100 and a functional unit that transmits and receives information to and from the moving body 406a.
  • the operation unit 401 is a means for transmitting a command to the drone 100 by the operation of the user 402 and displaying information received from the drone 100 (for example, position, drug amount, battery level, camera image, etc.). Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although the drone 100 according to the present invention is controlled to perform autonomous flight, it may be configured so that it can be manually operated during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency operating device (not shown) having a function dedicated to emergency stop may be used. The emergency operating device may be a dedicated device having a large emergency stop button or the like so that an emergency response can be taken quickly.
  • a small mobile terminal 401a capable of displaying a part or all of the information displayed on the operation device 401, for example, a smartphone may be included in the system. Further, the operation of the drone 100 may be changed based on the information input from the small portable terminal 401a.
  • the small portable terminal 401a is connected to the base station 404, for example, and can receive information and the like from the farm cloud 405 via the base station 404.
  • the field 403 is a rice field, a field, etc. to which the drug is sprayed by the drone 100.
  • the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance or the topographic map and the situation at the site are inconsistent.
  • the farm field 403 may be adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, or the like. Further, there may be an intruder such as a building or an electric wire in the field 403.
  • the base station 404 is a device that provides a master device function of Wi-Fi communication and the like, and may also function as an RTK-GPS base station so as to provide an accurate position of the drone 100.
  • the base station 404 may be a device in which the master device function of Wi-Fi communication and the RTK-GPS base station are independent. Further, the base station 404 may be capable of communicating with the farm cloud 405 using a mobile communication system such as 3G, 4G, or LTE. In this embodiment, the base station 404 is loaded on the moving body 406a together with the departure point 406.
  • the farm cloud 405 is a group of computers typically operated on a cloud service and related software, and may be wirelessly connected to the operation unit 401 via a mobile phone line or the like.
  • the farm cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growth status of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the flight of the drone 100 and captured images may be accumulated and various analysis processes may be performed.
  • the partition member 407 is a member for partitioning a work area that is a field in the field 403 and its surroundings and that moves when the moving body 406a and the drone 100 work, and for example, a color cone, a triangular cone, a cone bar, and a barricade. , Field arches, fences, etc.
  • the partition member 407 may be physically partitioned or may be partitioned by light rays such as infrared rays.
  • the partition member 407 is used mainly for informing an intruder outside the work area that he/she is working and for restricting entry into the work area. Therefore, it is a member that an intruder can see from a distance.
  • partition member 407 since the partition member 407 is installed by the user 402 at the start of the work, it is preferable that the partition member 407 is easy to install and remove.
  • a plurality of partition members 407 may be included in the drone system 500.
  • the partition member 407 detects that an intruder has entered the work area, and transmits the intrusion information to the moving body 406a, the operation unit 401, the small portable terminal 401a, or the like.
  • the intruder includes a person, a car, and other moving bodies.
  • the small mobile terminal 401a is an example of a mobile terminal, such as a smartphone.
  • a mobile terminal such as a smartphone.
  • information on predicted motions regarding the operation of the drone 100, more specifically, the scheduled time when the drone 100 will return to the departure point 406, and the work that the user 402 should perform when returning Information such as contents is displayed as appropriate. Further, the operations of the drone 100 and the moving body 406a may be changed based on the input from the small mobile terminal 401a.
  • the mobile terminal can receive information from either the drone 100 or the moving body 406a. Further, the information from the drone 100 may be transmitted to the small mobile terminal 401a via the mobile body 406a.
  • the small portable terminal 401a has a configuration that receives information that an intruder has entered or left the work area, which is detected by the partition member 407, and issues a notification to the user 402.
  • the notification is, for example, a warning sound or a warning display. According to this configuration, the user 402 having the small portable terminal 401a can obtain information about the intruder even when the user is away from the field 403.
  • the drone 100 will take off from a departure/arrival point 406 outside the field 403, and will return to the departure/arrival point 406 after spraying a drug on the field 403 or when it becomes necessary to replenish or charge the drug.
  • the flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.
  • the drug spraying system of the drone 100 has a drone 100, a manipulator 401, a small portable terminal 401a, a farming cloud 405, and a partition member 407, each of which is a base. It may be connected to the station 404.
  • the drone 100, the operation unit 401, the small portable terminal 401a, and the partition member 407 are connected to the base station 404, respectively.
  • the operation unit 401 may be connected to the farm cloud 405.
  • the drone 100 flies over the fields 403a and 403b and performs the work in the fields.
  • the moving body 406a automatically travels in the automatic operation permission area 90 provided around the farm fields 403a and 403b.
  • the number of the drone 100 and the moving body 406a may be one or plural, respectively, and two drones 100a and 100b and two moving bodies 406A and 406B are shown in the figure.
  • the autonomous driving permission area 90 is, for example, a farm road.
  • the fields 403a and 403b and the automatic operation permission area 90 form a work area.
  • the moving body 406a is movable, but the movement permitting area 901 where the drone 100 cannot land and the moving body 406a are movable, and the drone 100 can land on the moving body 406a.
  • the landing permission area 902 is subdivided.
  • the reason why the drone 100 cannot land is that, for example, an obstacle 80 such as a guardrail, a power pole, an electric wire, a warehouse, or a grave is installed between the area and the field 403a.
  • the drone system 500 classifies the automatic driving permission area 90 of the moving body 406a into the movement permission area 901 and the landing permission area 902.
  • the drone system 500 may acquire the position of the obstacle 80 and classify the movement permission area 901 and the landing permission area 902 based on the position of the obstacle 80.
  • this classification process may be performed by the drone system 500 instead of the configuration performed by the drone system 500, by the classification result determined by an external system.
  • the drone 100 takes off from the moving body 406a and performs work in the fields 403a and 403b.
  • the drone 100 appropriately interrupts the work during the work in the fields 403a and 403b and returns to the moving body 406a to replenish the battery 502 and the medicine.
  • the drone 100 rides on the moving body 406a to move to the vicinity of another field and then takes off from the moving body 406a again to start the work on the different field.
  • the movement of the drone 100 in the automatic driving permission area 90 is basically carried on the moving body 406a, and the moving body 406a carries the drone 100 to the vicinity of the field where the work is performed.
  • the battery 502 of the drone 100 can be saved.
  • the moving body 406a stores the battery 502 and the medicine that can be replenished in the drone 100
  • the moving body 406a moves to the vicinity of the field where the drone 100 is working and waits. 100 can reduce the time required to replenish.
  • the area outside the automatic driving permission area 90 is an automatic driving non-permission area 91.
  • the automatic driving permission area 90 and the automatic driving non-permission area 91 are partitioned by partition members 407a, 407b, 407c.
  • the automatic driving permission area 90 and the automatic driving non-permission area 91 are separated by various obstacles and the like, and a road is continuously formed, and the partition members 407a, 407b, 407c are arranged on the road. It may have been done. In other words, the partition members 407a, 407b, 407c are arranged at the entrance to the automatic driving permission area 90.
  • FIG. 10 shows a block diagram showing the control function of the embodiment of the drug spraying drone according to the present invention.
  • the flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, memory, related software, and the like.
  • the flight controller 501 based on the input information received from the operation unit 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100.
  • ESC Electronic Speed Control
  • the actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation.
  • the configuration is such that it can be monitored.
  • the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 101 is fed back to the flight controller 501.
  • the software used by the flight controller 501 can be rewritten through storage media or the like for function expansion/change, problem correction, etc., or through communication means such as Wi-Fi communication or USB.
  • encryption, checksum, electronic signature, virus check software, etc. are used to protect the software from being rewritten by unauthorized software.
  • a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the operation unit 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.
  • the flight controller 501 communicates with the operation unit 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the operation unit 401, and outputs necessary information to the operation unit. Can be sent to 401. In this case, the communication may be encrypted to prevent illegal acts such as interception, spoofing, and hijacking of the device.
  • the base station 404 has a function of an RTK-GPS base station in addition to a communication function by Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the flight controller 501 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the flight controller 501 is of high importance, it may be duplicated/multiplexed, and in order to cope with the failure of a specific GPS satellite, each redundant flight controller 501 should use a different satellite. It may be controlled.
  • the 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone aircraft in three mutually orthogonal directions, and is also a means for calculating the speed by integrating the acceleration.
  • the 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone body in the three directions described above, that is, the angular velocity.
  • the geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism.
  • the atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of laser light, and may be an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves.
  • These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Further, these sensors may be duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, switch to an alternative sensor. Alternatively, a plurality of sensors may be used simultaneously, and if the measurement results do not match, it may be considered that a failure has occurred.
  • the flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is provided at a plurality of places on the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount.
  • the multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis.
  • the intruder detection camera 513 is a camera for detecting a drone intruder, and is a device different from the multispectral camera 512 because the image characteristics and the lens orientation are different from those of the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to make various settings.
  • the intruder contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has contacted an intruder such as an electric wire, a building, a human body, a tree, a bird, or another drone. ..
  • the intruder contact sensor 515 may be replaced with a 6-axis gyro sensor 505.
  • the cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the cover for internal maintenance are open.
  • the drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed.
  • a sensor may be provided in the base station 404 outside the drone 100, the operation device 401, or another place, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information regarding wind force/wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 sends a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge.
  • the current status of the pump 106 (for example, the number of rotations) is fed back to the flight controller 501.
  • the LED107 is a display means for informing the drone operator of the status of the drone.
  • Display means such as a liquid crystal display may be used instead of or in addition to the LEDs.
  • the buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal.
  • the Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for the transfer of software, for example, separately from the operation unit 401.
  • other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used.
  • the mobile communication systems such as 3G, 4G, and LTE may be able to communicate with each other.
  • the speaker 520 is an output means for notifying the drone state (particularly, the error state) by the recorded human voice, synthesized voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice.
  • the warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input/output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated/multiplexed.
  • the mobile object 406a shown in FIG. 11 and FIG. 12 receives the information that the drone 100 has and notifies the user 402 appropriately, or receives the input from the user 402 and transmits it to the drone 100. It is a device. Further, the moving body 406a can move by carrying the drone 100. The moving body 406a may be driven by the user 402 or may be autonomously movable. Although the moving body 406a in the present embodiment is assumed to be a vehicle such as an automobile, more specifically, a light truck, it may be an appropriate moving body capable of running on land such as an electric train, or a ship or a flight. It may be the body.
  • the drive source of the moving body 406a may be an appropriate source such as gasoline, electricity, a fuel cell, or the like.
  • the moving body 406a is a vehicle in which a passenger seat 81 is arranged in the front in the traveling direction and a luggage platform 82 is arranged in the rear. On the bottom surface side of the moving body 406a, four wheels 83, which are an example of moving means, are arranged so that they can be driven. A user 402 can get into the passenger seat 81.
  • the passenger seat 81 is provided with a display unit 65 that displays the state of the moving body 406a and the drone 100.
  • the display unit 65 may be a device having a screen, or may be realized by a mechanism that projects information on the windshield.
  • a rear display unit 65a may be installed on the rear side of the vehicle body 810 that covers the passenger seat 81.
  • the rear display unit 65a can change the angle with respect to the vehicle body 810 to the left and right, and the user 402 working behind and on the left and right sides of the cargo bed 82 can obtain information by looking at the screen.
  • a base station 404 having a shape in which a disk-shaped member is connected above a round bar extends above the passenger seat 81.
  • the shape and position of the base station 404 are arbitrary. According to the configuration in which the base station 404 is on the passenger seat 81 side of the luggage platform 82, the base station 404 is less likely to interfere with the takeoff and landing of the drone 100, as compared to the configuration behind the luggage platform 82.
  • the cargo bed 82 has a battery 502 of the drone 100 and a cargo room 821 for storing medicines to be replenished in the medicine tank 104 of the drone 100.
  • the luggage compartment 821 is a region surrounded by a vehicle body 810 that covers the passenger seat 81, a rear plate 822, a pair of side plates 823 and 823, and an upper plate 824.
  • the rear plate 822 and the side plate 823 are also referred to as “flaws”.
  • Rails 825 are provided on both upper ends of the rear plate 822 along the upper ends of the side plates 823 to the vehicle body 810 on the rear side of the passenger seat 81.
  • the upper surface plate 824 is a departure/arrival area which is a departure/arrival point 406 where the drone 100 is placed and can be taken off/landed, and is slidable along the rail 825 in the forward/backward direction.
  • the rail 825 is a rib that protrudes above the plane of the upper plate 824, and prevents the drone 100 on the upper plate 824 from slipping out from the left and right ends of the moving body 406a.
  • a rib 8241 is formed behind the upper surface plate 824 so as to project to the upper surface side to the same extent as the rail 825.
  • a warning light 830 that indicates that the drone system 500 is working may be arranged on the upper side of the vehicle body 810 and on the rear side of the rear plate 822 in the traveling direction.
  • the warning light 830 may be a display device that distinguishes between working and non-working by coloration or blinking, and may be capable of displaying characters or patterns.
  • the warning light 830 on the upper part of the vehicle body 810 may extend to above the vehicle body 810 and can be displayed on both sides. According to this configuration, the warning can be visually recognized from the rear even when the drone 100 is arranged on the loading platform 82. Further, the warning can be visually recognized from the front of the moving body 406a in the traveling direction. Since the warning light 830 can be seen from the front and the rear, part of the labor for installing the partition member 407 can be omitted.
  • the top plate 824 may be manually slidable, or may be slid automatically by using a rack and pinion mechanism or the like. By sliding the upper surface plate 824 rearward, articles can be stored in or taken out of the luggage compartment 821 from above the cargo bed 82. Further, in the form in which the upper plate 824 slides rearward, the upper plate 824 and the vehicle body 810 are sufficiently separated from each other, so that the drone 100 can take off and land at the landing point 406.
  • the foot receiving portion 826 is, for example, a disk-shaped member having an upper surface recessed in a truncated cone shape, which is installed one at a position corresponding to four feet 107-1, 107-2, 107-3, 107-4 of the drone 100. is there.
  • the bottom of the frustoconical recess of the foot receiving portion 826 and the tips of the feet 107-1, 107-2, 107-3, 107-4 may be shaped so that they can be fitted to each other.
  • the feet 107-1,107-2,107-3,107-4 of the drone 100 slide along the conical surface of the foot rest 826, and the feet 107-1,107-2,107 on the bottom of the truncated cone. -3,107-4 tip is guided.
  • the drone 100 can be automatically or manually fixed to the foot support 826 by an appropriate mechanism, and even when the moving body 406a moves with the drone 100 mounted thereon, the drone 100 does not vibrate excessively or fall, and the drone 100 does not fall. Can be safely transported. Further, the moving body 406a can detect whether or not the drone 100 is fixed to the foot receiving portion 826.
  • the circumferential lamp 850 displays a guide for the takeoff/landing position of the drone 100.
  • the circumferential lamp 850 is formed of a luminous body group arranged in a substantially circular shape, and the luminous body group can be individually blinked.
  • four large light emitters 850a are arranged at intervals of about 90 degrees on the circumference, and two small light emitters 850b are equally spaced between the large light emitters 850a. It is composed of a circular lamp 850.
  • the circumferential light 850 displays the flight direction of the drone 100 after takeoff or the direction of flight when landing, by lighting one or more of the light emitter groups 850a and 850b.
  • the circumferential lamp 850 may be composed of a single ring-shaped light-emitting body that can be partially blinked.
  • the pair of side plates 823 are hinged at the bottom sides to the loading platform 82, and the side plates 823 can be tilted outward.
  • FIG. 9 shows that the side plate 823 on the left side in the traveling direction is tilted outward.
  • the side plate 823 falls outward, it is possible to store and take out stored items from the side of the moving body 406a.
  • the side plate 823 is fixed substantially parallel to the bottom surface of the luggage compartment 821, and the side plate 823 can also be used as a workbench.
  • the pair of rails 825 form a form switching mechanism. Further, a hinge that connects the side plate 823 and the loading platform 82 may be included in the form switching mechanism.
  • the moving body 406a moves in a form in which the upper surface plate 824 is arranged so as to cover the upper side of the luggage compartment 821 and the side plate 823 stands up and covers the side surface of the luggage compartment 821.
  • the upper plate 824 is switched to the rearward sliding form or the side plate 823 is tilted so that the user 402 can approach the inside of the luggage compartment 821.
  • the drone 100 can replenish the battery 502 while landing on the departure point 406. Refilling the battery 502 includes charging the built-in battery 502 and replacing the battery 502.
  • a battery 502 charging device is stored in the luggage compartment 821, and the battery 502 stored in the luggage compartment 821 can be charged.
  • drone 100 may include an ultracapacitor mechanism instead of battery 502, and a charger for ultracapacitor may be stored in luggage compartment 821. In this configuration, when the drone 100 is fixed to the foot receiving portion 826, the battery 502 mounted on the drone 100 can be rapidly charged via the feet of the drone 100.
  • the drone 100 can replenish the medicine stored in the medicine tank 104 while landing at the departure point 406.
  • the luggage compartment 821 stores a diluting and mixing tank for diluting and mixing medicines, an agitation mechanism, and appropriate components for diluting and mixing such as a pump and a hose that suck up medicines from the dilution and mixing tank and inject them into the medicine tank 104. It may have been done. Further, a refilling hose that extends from the luggage compartment 821 above the upper surface plate 824 and can be connected to the inlet of the medicine tank 104 may be provided.
  • a waste liquid groove 840 and a waste liquid hole 841 for guiding the medicine discharged from the medicine tank 104 are formed on the upper surface side of the upper surface plate 824. Two waste liquid grooves 840 and two waste liquid holes 841 are arranged, so that the waste liquid groove 840 is positioned below the medicine nozzle 103 regardless of whether the drone 100 is landing facing the left or right of the moving body 406a. ing.
  • the waste liquid groove 840 is a groove having a predetermined width, which is formed substantially straight along the position of the medicine nozzle 103 and along the length direction of the moving body 406a, and slightly toward the passenger seat 81 side. It is inclined.
  • a waste liquid hole 841 is formed at an end of the waste liquid groove 840 on the passenger seat 81 side to penetrate the upper surface plate 824 and guide the chemical liquid into the inside of the luggage compartment 821.
  • the waste liquid hole 841 communicates with a waste liquid tank 842 installed in the luggage compartment 821 and directly below the waste liquid hole 841.
  • each functional block is not limited to the configuration illustrated below, and may be provided in another configuration included in the drone system 500.
  • the drone 100 may include the area determination unit 33 included in the moving body 406a.
  • the partition member 407 includes an intrusion detection unit 11, a movement detection unit 12, an alarm unit 13, an exit detection unit 14, and an entry/exit information transmission unit 15.
  • the intrusion detection unit 11 is a functional unit that detects that an intruder has invaded the fields 403a and 403b and the automatic operation permission area 90, that is, the work area.
  • the intrusion detection unit 11 is composed of, for example, a laser sensor such as an IR sensor.
  • the movement detection unit 12 is a functional unit that detects that the partition member 407 has been moved.
  • the movement detection unit 12 detects movement based on, for example, a 6-axis gyro sensor mounted on the partition member 407 or a measurement value of RTK-GPS. Further, the movement detection unit 12 may be configured by a sensor that detects a contact with the partition member 407.
  • the alarm unit 13 is a functional unit that issues an alarm based on the intrusion of an intruder detected by the intrusion detection unit 11 or the movement of the partition member 407 detected by the movement detection unit 12.
  • the alarm unit 13 informs the intruder of the information that he or she wants to leave the work area by means of a display unit, a sound generating unit, a light emitting unit, etc. provided on the partition member 407 itself. Since the intruder enters the work area beyond the partition member 407, there is a high possibility that the intruder will be near the partition member 407 at the time of the invasion. Therefore, the alarm can be transmitted to the intruder by issuing a warning from the partition member 407.
  • the exit detection unit 14 is a functional unit that detects that an intruder has exited the work area.
  • the intrusion detection unit 11 and the exit detection unit 14 may share the same laser sensor.
  • the partition member 407 may include a plurality of laser sensors facing the inside and the outside of the work area, and may determine whether the intruder has entered or exited based on the detection order of the intruder by the laser sensors.
  • the entry/exit information transmission unit 15 stores information (hereinafter, also referred to as “intrusion information”) indicating that there is a risk of intrusion into the work area, which is detected by the intrusion detection unit 11 and the movement detection unit 12, in the moving body 406a. Is a functional unit that transmits to an entrance/exit information receiving unit 31 described later. Further, the intrusion information may be received by the drone 100, the operation device 401 or the small portable terminal 401a. The entry/exit information transmitting unit 15 may transmit the intrusion information including the unique information of the partition member 407 that detected the intrusion.
  • the unique information of the partition member 407 includes at least one of the identification information for distinguishing the partition members 407 and the position coordinates of each of the partition members 407.
  • the moving body 406a may store the position coordinates where the partition member 407 is arranged and the identification information of each partition member 407 in association with each other. That is, according to the unique information of the partition member 407, it is possible to identify from which of the plurality of intrusion ports the intruder can intrude in the work area.
  • the entry/exit information transmission unit 15 transmits information indicating that the user has exited the work area, which is detected by the exit detection unit 14 (hereinafter, also referred to as “exit information”), to the entry/exit information reception unit 31 of the mobile unit 406a. To do. Further, the exit information may be received by the drone 100, the operation device 401 or the small mobile terminal 401a, and may be appropriately displayed on the display unit of the operation device 401 and the small mobile terminal 401a. The entrance/exit information transmitting unit 15 may transmit the exit information including the unique information of the partition member 407 that has detected the exit.
  • the mobile unit 406a includes a movement control unit 30, an entry/exit information receiving unit 31, a mobile unit position detection unit 32, an area determination unit 33, a stop position determination unit 34, a position transmission unit 35, and an alarm unit 36. , Is provided.
  • the movement control unit 30 is a functional unit that controls movement and stop of the moving body 406a.
  • the movement control unit 30 can autonomously move and stop the moving body 406a in the automatic driving permission area 90 based on the position coordinates of the moving body 406a, information on the surrounding environment, and the like.
  • the movement control unit 30 can acquire, for example, information regarding the movement route from the farm cloud 405, and move and stop the moving body 406a based on the information.
  • the movement control unit 30 may be autonomously controlled, or may be manually controlled from the driver's seat of the moving body 406a or from the outside.
  • the entry/exit information receiving unit 31 is a functional unit that receives the intrusion information and the exit information transmitted from the partition member 407.
  • the mobile unit position detection unit 32 is a functional unit that detects the current position coordinates of the mobile unit 406a.
  • the mobile body position detection unit 32 detects the position coordinates of the mobile body 406a at the time when the intrusion information is received from the partition member 407.
  • the moving body position detection unit 32 may detect the position coordinates of the moving body 406a continuously or periodically after detecting the intruder.
  • the area determination unit 33 is a functional unit that determines whether or not the position of the moving body 406a is within a range in which the drone 100 can land on the moving body 406a, that is, in the landing permission area 902.
  • the area determination unit 33 may determine the position of the moving body 406a at the time when the intruder is detected, or may determine the position of the moving body 406a continuously or periodically after detecting the intruder.
  • the area discrimination unit 33 discriminates the area to which the moving body 406a belongs by comparing the preset information of the landing permission area 902 with the position coordinates of the moving body 406a obtained by RTK-GPS or the like.
  • the area determination unit 33 determines whether the position of the moving body 406a belongs to the landing permission area 902 or the movement permission area 901. Further, when the stop position of the moving body 406a is determined, the area determination unit 33 may also determine the area to which the stop position belongs.
  • the stop position determination unit 34 is a functional unit that determines the stop position of the moving body 406a based on the reception of the intrusion information. When receiving the intrusion information, the stop position determination unit 34 stops the moving body 406a. The stop position determination unit 34 may immediately stop the operation of the moving body 406a when the intrusion information is received. According to this configuration, the operation can be stopped immediately when there is an intruder in the work area, so that high safety can be ensured.
  • the stop position determination unit 34 may determine the stop position based on the area to which the moving body 406a belongs at the time when the intrusion information determined by the area determination unit 33 is received. When the position of the moving body 406a is in the movement permission area 901, the stop position determination unit 34 may determine to move to the closest landing permission area 902 and stop. With this configuration, even when the drone 100 returns from the field 403, it is possible to reliably land on the moving body 406a.
  • the stop position determination unit 34 based on the unique information of the partition member 407 included in the intrusion information, when the distance between the current moving body 406a and the partition member 407 that has detected the intrusion of the intruder is a predetermined value or more. As long as it is determined that the moving body 406a is moved to the landing permission area 902 and then stopped. According to this configuration, it is possible to improve the probability that the drone 100 can land on the moving body 406a and also ensure the safety.
  • the position transmitting unit 35 is a functional unit that transmits the position at which the moving body 406a has stopped to the moving body stop position receiving unit 22 of the drone 100 based on the intrusion information.
  • the stopped position may be received by the operation unit 401 and the small mobile terminal 401a, and may be appropriately displayed on the display unit of the operation unit 401 and the small mobile terminal 401a.
  • the position transmission unit 35 provides information on whether or not the type of the area to which the stop position belongs, that is, the stop position of the moving body 406a, which is determined by the area determination unit 33, is a range in which the drone 100 can land. You may send together.
  • the alarm unit 36 is a functional unit that issues an alarm from the mobile unit 406a based on intrusion information.
  • the alarm unit 36 uses the warning light 830 to notify the vicinity of the moving body 406a that an intruder has entered the work area by, for example, a warning sound or a warning display. Since the user 402 approaches the luggage compartment 821 of the moving body 406a, there is a possibility that the user 402 is near the moving body 406a. Therefore, intrusion information can be transmitted to the user 402 by issuing an alarm with the mobile unit 406a.
  • the drone 100 includes a flight control unit 21, a moving body stop position reception unit 22, a landing position determination unit 23, and an evacuation action determination unit 24.
  • the flight control unit 21 is a functional unit that operates the motor 102 and controls the flight and takeoff/landing of the drone 100.
  • the mobile body stop position reception unit 22 is a functional unit that receives the stop position of the mobile body 406a transmitted from the position transmission unit 35. Further, the mobile body stop position receiving unit 22 determines whether or not the stop position of the mobile body 406a is within a landing range of the drone 100, that is, the stop position belongs to the movement permission area 901 or the landing permission area 902. That information is also received.
  • the moving body stop position receiving unit 22 identifies the positions of the moving bodies 406A and 406B together with identification information that can identify the moving bodies 406A and 406B. And the type of area to which the stop position belongs is received. Further, the moving body stop position receiving unit 22 may receive only the information on the position of the moving body 406A or 406B scheduled to land by the drone 100 and the type of area to which the drone 100 belongs.
  • the landing position determination unit 23 is a functional unit that determines the landing position of the drone 100 based on the stop position of the moving body 406a.
  • the landing position determination unit 23 refers to the position coordinates where the moving body 406a is stopped, and determines to land on the moving body 406a at the position coordinates.
  • the landing position determination unit 23 may determine the landing position based on the type of area in which the moving body 406a is stopped. When the moving body 406a is stopped in the landing permission area 902, the landing position determination unit 23 determines to land on the moving body 406a at the position coordinates. When the moving body 406a is stopped in the movement permitted area 901, it is determined to land near the moving body 406a other than on the moving body 406a. In addition, the landing position determination unit 23 may determine to land at the position where the drone 100 has taken off when the moving body 406a is stopped in the movement permission area 901.
  • the landing position determination unit 23 determines the landing position of the drone 100 at a work area of the drone 100, that is, at an exit point where the drone 100 exits the farm fields 403a and 403b. Alternatively, the landing position determination unit 23 may determine the landing position of the drone 100 during work in the fields 403a and 403b. Further, the landing position determination unit 23 may execute the process of determining the landing position based on the fact that the drone 100 is scheduled to land or leave the fields 403a, 403b within a predetermined time.
  • the landing position determining unit 23 stops the moving body 406A or 406B that is scheduled to land the drone 100 having the landing position determining unit 23.
  • the landing position of the drone 100 may be determined based on the position or the type of the stopped area. Further, if the landing position determination unit 23 cannot land on the moving body 406A or 406B scheduled to land, it may land on the other moving body 406B or 406A.
  • the evacuation action determination unit 24 is a functional unit that causes the flight control unit 21 to take an evacuation action of the drone 100 when an intruder exists in a predetermined range of the drone 100.
  • the drone 100 continues to fly and work in the work area even if the movement of the moving body 406a is stopped due to the intrusion of an intruder. This is because the work of the drone 100 is performed in the fields 403a and 403b, and thus the probability of contact with an intruder who enters the automatic operation permission area 90 is low. According to this configuration, the work in the fields 403a and 403b can be performed even when an intruder is invading. Therefore, the work efficiency can be maintained as compared with the configuration in which the moving body 406a itself performs the work.
  • the evacuation action includes at least one of hovering on the spot, flight away from the point where the intruder was invaded, return to the moving body 406a, and landing on the spot. Further, the evacuation action includes an operation of directly or indirectly notifying the operating device 401 or the small portable terminal 401a of information that the intruder is in the vicinity of the drone 100.
  • the evacuation behavior determination unit 24 includes a drone position detection unit 24a and an entrance/exit information reception unit 24b.
  • the drone position detection unit 24a is a functional unit that detects the current position coordinates of the drone 100.
  • the entry/exit information receiving unit 24b is a functional unit that receives the intrusion information and the exit information transmitted from the partition member 407.
  • the intrusion information and the exit information include unique information of the partition member 407 having an intrusion, that is, information capable of specifying the position coordinates of the point of invasion.
  • the evacuation action determination unit 24 is a functional unit that determines whether or not the drone 100 should take an evacuation action based on the current position of the drone 100 and the point of intrusion. If the distance between the current position of the drone 100 and the point of invasion is greater than or equal to a predetermined value, the evacuation action determination unit 24 does not cause the drone 100 to take the evacuation action, and the drone 100 continues the work. When the distance between the current position of the drone 100 and the point of invasion is less than the predetermined value, the evacuation action determination unit 24 causes the drone 100 to take the evacuation action. According to the configuration of the evacuation behavior determination unit 24, even when an intruder invades the work area, the drone 100 can take evacuation behavior when the intruder is close to the drone 100 while continuing the work as much as possible. Safety can also be guaranteed.
  • the evacuation behavior determination unit 24 is assumed to be mounted on the drone 100, but it has another configuration in the drone system 500, and a command to perform the evacuation behavior is issued by the drone 100. May be configured to send to.
  • the drone 100 can land on the moving body 406a when the moving body 406a is stopped in the landing permission area 902 even if an intruder has entered the work area. Further, the drone 100 may replenish the battery 502 and the medicine from the moving body 406a. Further, the drone 100 may take off from the moving body 406a. According to this configuration, since the battery 502 and the medicine can be replenished even when an intruder is invading, it is possible to maintain the work efficiency of the work in the fields 403a and 403b. That is, by adjusting the landing position of the drone according to the stop position of the moving body 406a, even if the moving body 406a is stopped due to intrusion, it returns to the moving body 406a to replenish the battery 502 and the medicine. be able to.
  • the intrusion detection unit 11 of the partition member 407 detects that an intruder has entered the automatic driving permission area 90 (S11). Further, instead of the intrusion detection unit 11, the movement detection unit 12 detects that the partition member 407 has been moved.
  • the partition member 407 issues an alarm based on the detection of an intruder. Further, the entry/exit information transmitting unit 15 of the partition member 407 transmits the intrusion information to the entry/exit information receiving unit 31 of the moving body 406a (S12).
  • the mobile unit 406a stops moving based on the reception of the intrusion information (S13).
  • the exit detection unit 14 of the partition member 407 determines whether the intruder has exited the work area (S14). When detecting that the intruder has exited the work area, the moving body 406a resumes moving (S15).
  • the landing position determination unit 23 of the drone 100 determines whether the drone 100 has reached the exit point (S16). When the drone 100 has not reached the exit point and is working in the fields 403a and 403b, the process returns to step S14, and the presence or absence of the intruder is continuously monitored. When the drone 100 has reached the exit point, the landing position determination unit 23 determines the landing position of the drone 100 based on the stop position of the moving body 406a (S17).
  • the drone system 500 classifies the automatic driving permission area 90 of the moving body 406a into a movement permission area 901 and a landing permission area 902 (S21).
  • the stop position of the moving body 406a is acquired (S22), and the landing position of the drone 100 is determined based on the stop position of the moving body 406a (S23).
  • steps S21 and S22 may be executed in reverse order, and the automatic driving permission area 90 may be classified after the stop position is acquired.
  • the drone system 500 may determine the landing position of the drone 100 based on the area to which the stop position of the moving body 406a belongs.
  • the agricultural chemical spray drone has been described as an example, but the technical idea of the present invention is not limited to this, and is applicable to drones for other purposes such as shooting and monitoring. .. In particular, it is applicable to a machine that operates autonomously. Further, the moving body is not limited to the vehicle and may have an appropriate configuration.
  • a drone system in a system having a drone that performs a predetermined work by automatic flight and a moving body that carries the drone, when an intruder is present in an area where automatic traveling of the moving body is permitted. Moreover, it is possible to minimize the suspension of work by the drone and improve the operating efficiency of the drone.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention a pour but de fournir un système qui comprend un drone destiné à exécuter une tâche prescrite par vol automatique, et un corps mobile pour transporter le drone, l'efficacité de fonctionnement du drone pouvant être améliorée et les arrêts de travail provoqués par le drone peuvent être maintenus à un minimum même lorsqu'un intrus pénètre dans une zone où le déplacement automatique du corps mobile est permis. La solution de l'invention porte sur un système de drone (500), lequel comprend un drone (100) et un corps mobile (406a) qui fonctionnent de manière coordonnée, ledit corps mobile pouvant se déplacer avec le drone chargé sur celui-ci, et permettant au drone de décoller de celui-ci et d'atterrir sur celui-ci. Une zone (90) où la conduite automatique du corps mobile est autorisée est subdivisée en une zone de déplacement autorisé (901) où le corps mobile peut se déplacer mais le drone ne peut pas atterrir, et une zone d'atterrissage autorisé (902) où le corps mobile peut se déplacer et le drone peut atterrir sur le corps mobile. Le système de drone comprend en outre : une unité de discrimination de zone (33) qui détermine si la position du corps mobile appartient à la zone d'atterrissage autorisé où le drone peut atterrir sur le corps mobile ou si elle appartient à la zone de déplacement autorisé ; et une unité de détermination de position d'atterrissage (23) qui détermine la position d'atterrissage du drone sur la base du type de zone dans lequel le corps mobile est arrêté.
PCT/JP2020/001011 2019-01-16 2020-01-15 Système de drone, drone, procédé de commande de système de drone, et programme de commande de système de drone WO2020149289A1 (fr)

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JP2017021755A (ja) * 2015-07-15 2017-01-26 三菱自動車工業株式会社 車両の運転支援装置
EP3444695A1 (fr) * 2017-08-16 2019-02-20 Ford Global Technologies, LLC Procédé et système d'atterrissage d'un véhicule aérien sans pilote

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JP2017021755A (ja) * 2015-07-15 2017-01-26 三菱自動車工業株式会社 車両の運転支援装置
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