WO2020153369A1 - Système de drone, procédé de commande de système de drone et dispositif de détermination d'opération - Google Patents

Système de drone, procédé de commande de système de drone et dispositif de détermination d'opération Download PDF

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Publication number
WO2020153369A1
WO2020153369A1 PCT/JP2020/001975 JP2020001975W WO2020153369A1 WO 2020153369 A1 WO2020153369 A1 WO 2020153369A1 JP 2020001975 W JP2020001975 W JP 2020001975W WO 2020153369 A1 WO2020153369 A1 WO 2020153369A1
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WO
WIPO (PCT)
Prior art keywords
drone
work
drones
unit
mobile
Prior art date
Application number
PCT/JP2020/001975
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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 JP2020568166A priority Critical patent/JP7198446B2/ja
Publication of WO2020153369A1 publication Critical patent/WO2020153369A1/fr

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Classifications

    • 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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • 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
    • B64U30/26—Ducted or shrouded 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
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/39—Battery swapping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
    • 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

Definitions

  • the present invention relates to a drone system, a drone system control method, and an operation determination device.
  • a plurality of drones perform work by flying a driving route that is planned in advance for each drone.
  • the work planning time for each drone is approximately the same and that many drones are operating for a long time.
  • the number of times of replenishment of batteries and medicines held by each drone and the time required for replenishment may be different from the work plan, and it is difficult to make the time required for operation plan equal to each other. Therefore, there is a need for a system that allows many drones to operate for a long period of time and efficiently perform work even if an error occurs with the work plan.
  • Patent Document 3 is a system for performing agricultural activity on cultivated land, which is a host vehicle, two or more autonomous agricultural machines configured to perform agricultural activity, and each autonomous agricultural machine for the host vehicle. And a control subsystem for planning routes and controlling movement. The control subsystem is described to reschedule the movement of other autonomous agricultural machines in response to a malfunction detected in one autonomous agricultural machine.
  • Patent Document 3 does not describe the error between the work plan planned for each drone and the actual work, and does not disclose that many drones are operated for a long time.
  • a drone system a plurality of drones that perform work in a work area, an operation determination device that grasps the positions and states of the plurality of drones, and determines the operation of the plurality of drones,
  • a drone system comprising: each of the plurality of drones capable of landing at least one aircraft; and a plurality of mobile bodies capable of replenishing resources to the drone, wherein the drone is landed on any one of the plurality of mobile bodies.
  • the landing vehicle determining unit determines whether or not the vehicle is based on the position or state information of the vehicle.
  • the landing mobile unit determining unit determines to land the drone on the mobile unit that is stopped at a position closest to the exit point where the drone exits the work area among the plurality of mobile units. May be
  • the plurality of mobile units includes a resource metering unit that measures the amount of the resources that the mobile units own, and the landing mobile unit determination unit determines the amount of resources that the drone needs to replenish among the plurality of mobile units. It may be decided to land the drone on the possession of the moving body.
  • the landing mobile unit deciding unit may decide to land the drone on one of the plurality of mobile units to which the other drone has not landed.
  • the plurality of mobile units includes a resource metering unit that measures the amount of the resource that the mobile unit holds, and the landing mobile unit determination unit determines that the mobile unit that has the resource amount necessary to replenish the drone.
  • the drone may also decide to land the drone on the mobile body that is stopped at a position closest to the exit point where the drone exits from the work area. Good.
  • the landing mobile unit determination unit if there is a plurality of the mobile units that the other drone has not landed or other landing of the drone is not determined, among the plurality of mobile units, the drone is It may be determined to land the drone on the moving body that is stopped at a position closest to an exit point that exits from the work area.
  • the plurality of mobile units include a resource metering unit that measures the amount of the resource that the mobile unit owns, and the landing mobile unit determination unit holds the resource amount that the drone needs to replenish, and the other drone. If there is a plurality of moving bodies that have not landed or other landing of the drone has not been decided, the position closest to the exit point where the drone leaves the work area among the plurality of moving bodies. It may be determined to land the drone on the moving vehicle that is parked at.
  • a control method of a drone system is to determine a plurality of drones that perform work in a work area and positions and states of the plurality of drones, and determine a motion of the plurality of drones.
  • a method for controlling a drone system comprising: a device; and a plurality of mobile bodies capable of landing at least one of the plurality of drones and replenishing resources to the drone, wherein the position or state of the mobile body A step of acquiring information, and a step of deciding on which of the plurality of moving bodies the drone should land based on the acquisition result based on position or state information of the moving body.
  • An operation determining apparatus is an operation determining apparatus that grasps positions and states of a plurality of drones performing work in a work area and determines an operation of the plurality of drones. Landing movement for determining at least one of the plurality of drones capable of landing the drone and determining which of the plurality of moving bodies capable of replenishing the drone with the drone based on the position or state information of the moving body. A body determining unit is provided.
  • FIG. 1 is a plan view of a drone included in 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 distribution system which the 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
  • FIG. 3 is a schematic view showing a state at the time when one of the above has completed the originally planned work, and (c) a schematic view showing a state in which the next work is redistributed to the one drone.
  • FIG. 7 is a flow chart for determining that one of the drones is to work in an area shared by another drone. It is a schematic diagram which shows a mode that the some said moving body is stopping in the vicinity of the farm field where the said drone works. It is a functional block diagram which the 4th Embodiment of the drone system which concerns on this invention has regarding the function which several drones share and fly in a field. The functional blocks other than the operation determining device are omitted.
  • 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 device 401, the small portable terminal 401a, the base station 404, and the moving body 406a 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 operation 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 is 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 to provide an accurate position of the drone 100 (Wi- The base unit function of Fi communication and RTK-GPS base station may be independent devices). 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 small mobile terminal 401a is, for example, a smartphone or the like. On the display unit of the small mobile terminal 401a, 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 small portable terminal 401a can receive information from both the drone 100 and the mobile body 406a. Further, the information from the drone 100 may be transmitted to the small mobile terminal 401a via the mobile body 406a.
  • 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 drone 100, the operation device 401, the small portable terminal 401a, and the farming cloud 405 are connected to the base station 404, respectively. It may be configured.
  • the drug spraying system of the drone 100 according to the present invention is such that the drone 100, the operation unit 401, and the small portable terminal 401a are connected to the base station 404, respectively, and operated. Only the device 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 automatic 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.
  • a plurality of drones 100a and 100b simultaneously fly to one field 403a (an example of a work area) and perform their respective works.
  • the work performed by the first drone 100a is an example of the first work
  • the work performed by the second drone 100b is an example of the second work.
  • the first work includes an operation of flying the first operation route 51 comprehensively set in the first work area 403c which is a part of the farm field 403a.
  • the second work includes an operation of flying the second operation route 52, which is comprehensively set, in the second work area 403d which is a region other than the first work area 403c in the farm field 403a.
  • the drones 100a and 100b fly along the first and second driving routes 51 and 52, spray chemicals, and photograph the inside of the field 403a.
  • the first driving route 51 includes a start point 51s, a worked route 51a, an unworked route 51b, and an end point 51e.
  • the first drone 100a starts flying from the starting point 51s and flies to the ending point 51e.
  • the route which the drone 100a has already flown is referred to as a worked route 51a, and the route which is planned to fly from now on is referred to as an unworked route 51b.
  • the second driving route 52 includes a start point 52s, a worked route 52a, an unworked route 52b, and an end point 52e.
  • the second drone 100b starts flying from the starting point 52s and flies to the ending point 52e.
  • the route which the drone 100b has already flown is referred to as a worked route 52a, and the route which is planned to fly from now on is referred to as an unworked route 52b.
  • a plurality of moving bodies 406A and 406b (hereinafter, also referred to as first moving body 406A and second moving body 406B) run in the automatic driving permission area 90.
  • the plurality of drones 100a and 100b and the plurality of mobile bodies 406A and 406B included in the drone system 500 are connected to each other via a network, and are centrally managed by an operation determination device 40 described later in FIG.
  • the number of drones and the number of mobile units are the same, but they do not have to be the same.
  • the number of drones and the number of moving bodies are the same, one drone can be installed for each moving body, so all the drones can be loaded on the moving body and the drone can be carried in from outside the work area.
  • the drone system 500 includes the same number of drones and mobile units, so that all drones can be replenished at the same time.
  • the motion determining device 40 may be an independent device, or may be installed in any of the configurations included in the drone system 500, such as the plurality of drones 100a, 100b, the plurality of mobile bodies 406A, 406B, or the farming cloud 405. May be.
  • 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.
  • the resource can be replenished to 100 efficiently.
  • 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, 407d, 407e.
  • the automatic driving permission area 90 and the automatic driving non-permission area 91 are separated by various obstacles and the like, and the road is continuously formed, and the partition members 407a, 407b, 407c, 407d, 407e are concerned. It may be arranged on the road. In other words, the partition members 407a, 407b, 407c, 407d, 407e are arranged at the entrance to the automatic driving permission area 90.
  • the partition member 407 is a member for partitioning a work area that is a field in the field 403 and its periphery and that moves when the moving body 406a and the drone 100 work, and includes, 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 may detect that an intruder has entered the work area and may transmit 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.
  • 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 that informs the drone state (particularly 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. 12 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.
  • the drone system 500 includes a first drone 100a, a second drone 100b, a first moving body 406A, and a second moving body 406B.
  • the operation determining device 40 is configured to be connected to each other via the network NW.
  • the network NW may be all wireless, or part or all may be wired. Further, the specific connection relationship is not limited to that shown in the figure, and each configuration may be connected directly or indirectly.
  • the number of drones and the number of mobile units are two, respectively, but the number may be three or more. Further, the number of drones and the number of moving bodies may be the same or different.
  • the plurality of drones 100a and 100b can take off and land by any of the plurality of moving bodies 406A and 406B, and resources can be replenished. Note that the replenishment of resources is a concept including replenishment of the battery 502 and replenishment of medicines.
  • the first drone 100a includes a flight control unit 21a, a work plan acquisition unit 22a, and a work completion transmission unit 23a.
  • the second drone 100b includes a flight control unit 21b, a work plan acquisition unit 22b, and a work completion transmission unit 23b.
  • the configurations of the first drone 100a and the second drone 100b are substantially the same.
  • Flight control units 21a and 21b are functional units that operate the motors 102 of the drones 100a and 100b to control the flight and takeoff/landing of the drones 100a and 100b.
  • the flight control units 21a and 21b are realized by the function of the flight controller 501, for example.
  • the work plan acquisition units 22a and 22b acquire information (hereinafter, also referred to as “work plan”) regarding work scheduled to fly in the fields 403a and 403b where the drones 100a and 100b work, and the drones 100a and This is a functional unit set to 100b.
  • the work plan includes, in addition to the planned driving route to fly in the farm fields 403a and 403b, information on the flight speed and the flight acceleration in each part of the planned driving route, and information on the position and time of turning and hovering.
  • the work plan includes a planned point at which the drone 100a, 100b suspends the work in the fields 403a, 403b and returns to the moving body 406A or 406B, or a scheduled elapsed time from a certain point.
  • the work of the drone 100 is substantially synonymous with comprehensively flying the fields 403a and 403b without duplication, and setting a work plan for the drone 100 means that the first drone 100a and the second drone 100b do the work. This is equivalent to partitioning the first work area 403c and the second work area 403d to be performed. That is, the work plan may include the position coordinates of the work areas 403c and 403d in which the drones 100a and 100b work.
  • the work plan is received, for example, from the operation determining device 40 via the network NW, but even a configuration in which the work plan acquisition units 22a and 22b generate the work plan is included in the technical scope of the present invention.
  • a configuration in which the work plan acquisition units 22a and 22b generate the work plan is included in the technical scope of the present invention.
  • many drones can be operated for a long time and high work efficiency can be achieved without managing the work time of each drone substantially equally. That is, high work efficiency can be ensured even if the work plans of the drones are not centrally managed and the drones independently generate the work plans.
  • the motion determining apparatus 40 equally distributes the work time to each drone to some extent. Further, since the planned driving routes of each drone must not overlap, one work plan acquisition unit 22a, 22b determines the route by referring to the planned driving route generated by the other planned work plan acquisition units 22b, 22a. It is good to have a configuration that does.
  • the work completion transmitting units 23a and 23b transmit information (hereinafter, also referred to as “work completion information”) indicating that the work of the planned driving route in which the drones 100a and 100b are set, to the motion determining apparatus 40. It is a functional part.
  • the work completion transmission unit 23a, 23b acquires the position coordinates of the drone 100a, 100b by RTK-GPS, based on whether the end point 51e, 52e of the driving route has been reached, the work is completed. Detect.
  • the motion determination device 40 may include the work completion transmission units 23a and 23b.
  • the first mobile unit 406A includes a mobile unit position acquisition unit 31a, a resource measurement unit 32a, and a landing detection unit 33a.
  • the second mobile unit 406B includes a mobile unit position acquisition unit 31b, a resource measurement unit 32b, and a landing detection unit 33b.
  • the configurations of the first moving body 406A and the second moving body 406B are substantially the same.
  • the mobile unit position acquisition units 31a and 31b are functional units that acquire the current position coordinates of the mobile units 406A and 406B.
  • the mobile body position acquisition units 31a and 31b acquire position coordinates using RTK-GPS, for example.
  • the mobile unit position acquisition unit 31a, 31b other than the configuration in which the mobile unit of the RTK-GPS is mounted on the mobile unit 406A, 406B, the position is specified using the RTK-GPS mounted on the operation unit 401,
  • the position may be acquired as the position coordinates of the moving bodies 406A and 406B. This is because the operation unit 401 is installed and used in the driver's seat of the moving bodies 406A and 406B during work. According to this configuration, since it is not necessary to mount the RTK-GPS mobile station on the mobile unit 406a, the configuration can be simple and inexpensive.
  • the resource measuring units 32a and 32b are functional units that measure the amount of resources held by the mobile bodies 406A and 406B.
  • the amount of resources includes the number of charged batteries 502 and the amount of medicine. Further, the amount of resources may be the remaining charging capacity of the facility that charges the battery 502.
  • the amount of fuel gas that can be stored in the drones 100a and 100b for example, hydrogen gas may be used.
  • the amount of resources prepared in the moving bodies 406A and 406B may be manually input by the user 402 or may be automatically acquired. As an example of the configuration that is automatically acquired, a configuration may be adopted in which the weight of a predetermined range of the luggage compartment 821 is measured in order to acquire the drug amount.
  • the capacity of the batteries 502 may be measured in addition to the weight of a predetermined range of the luggage compartment 821.
  • the resource measuring units 32a and 32b are configured to, when the amount of resources possessed by the moving bodies 406A and 406B is equal to or less than a predetermined value, the operation determining device 40 and various configurations in the drone system 500, for example, the operating unit 401 or a small portable device. This is notified to the terminal 401a. Further, with reference to the work plan, when the amount of resources expected to be replenished in the work plan in the future is larger than the current amount of resources, it may be notified.
  • the operation unit 401 or the small portable terminal 401a that has received the notification notifies the user 402 and prompts to replenish the inventory of the mobile bodies 406A and 406B.
  • the operation unit 401 and the small mobile terminal 401a may display the resource amount to be replenished for each of the mobile bodies 406A and 406B by referring to the work plan.
  • the operation unit 401 and the small portable terminal 401a referring to the work plan, the expected time when the drone 100a, 100b will return for replenishment, or calculate the time required to return based on the current time, resources You may also display by when the replenishment of is needed.
  • the drones 100a and 100b and the moving bodies 406A and 406B automatically operate, so that the work by the user 402 is almost limited to restocking the moving bodies 406A and 406B. Therefore, by making it possible to notify the remote user 402 of the information of inventory replenishment, the user 402 does not need to be always in the fields 403a and 403b.
  • the inventory may be replenished from another mobile unit that has sufficient resources, or from a separate warehouse.
  • the operation device 401 or the small portable terminal 401a may display from which the resource is replenished.
  • the landing detection units 33a and 33b are functional units that detect whether or not the drones 100a and 100b are landing on the moving bodies 406A and 406B.
  • the landing detection units 33a and 33b are configured to detect the feet 107-1 to 107-4 of the drone 100, such as a touch switch or a capacitance sensor mounted on the foot receiving unit 826, so that the drone 100a or 100b moves. It detects whether or not it is landing on the bodies 406A and 406B.
  • the landing detection units 33a and 33b may be able to identify which drone 100 is landing by acquiring the unique information of the drone 100 from the feet 107-1 to 107-4.
  • the landing detection units 33a and 33b may identify the drone 100 that is landing by acquiring the position information of each drone 100 using RTK-GPS or the like.
  • the motion determining apparatus 40 includes a work plan transmission unit 41, a work completion detection unit 42, a remaining work acquisition unit 43, a re-allocation unit 44, and a route transmission unit 45 as a configuration for sharing work among a plurality of drones 100a and 100b.
  • the operation determining apparatus 40 includes a landing moving body determination unit 46 and a moving body position determination unit 47 as a configuration for the drone 100 to take off and land on and replenish a plurality of moving bodies 406a.
  • the drone that has completed the set initial work plan first will be the first drone 100a
  • the drone having uncompleted work when the first drone 100a has completed the work will be the second drone 100b. As described below.
  • the work plan transmitting unit 41 is a functional unit that generates a work plan for each of the drones 100a and 100b and transmits the work plans to the drones 100a and 100b.
  • the work plan transmission unit 41 generates different work plans for each drone 100a, 100b.
  • the work plans of the drones 100a and 100b are configured so that the planned driving routes do not overlap.
  • the expected time required for the work of each drone 100a, 100b may be generated to be substantially equal. However, the actual work time may be delayed due to strong winds, magnetic disturbances, disturbances such as bird strikes, delayed work related to resource replenishment, or the battery 502 is depleted earlier than expected, and may be used multiple times or for a long time. The time required may differ from the expected time due to the need to supplement resources.
  • the work completion detection unit 42 is a functional unit that receives work completion information transmitted from the drones 100a and 100b. Further, instead of this configuration, the work completion detection unit 42 itself may be configured to detect that the work on the planned driving route of the first drone 100a has been completed. In this case, the work completion detection unit 42 detects that the work of the drones 100a and 100b is completed based on, for example, the position coordinates of the drones 100a and 100b being within a predetermined range from the end point of the driving route.
  • the remaining work acquisition unit 43 at the time when the first drone 100a completes the work on the first driving route 51, the information about the unfinished work owned by another drone, that is, the second drone 100b (hereinafter, “unfinished work”). That is) is a functional unit that acquires.
  • the unfinished work includes unworked routes 51b and 52b that fly in the fields 403a and 403b, flight speed and flight acceleration information at each location of the unworked routes 51b and 52b, and information on the position and time of turning and hovering. Be done.
  • the uncompleted work includes a planned return time to the moving body 406A or 406B or a planned required time from the time when the drone 100b interrupts the work in the fields 403a and 403b and returns.
  • the remaining work acquisition unit 43 has a planned work plan acquisition unit 431 and a drone position acquisition unit 432.
  • the planned work plan acquisition unit 431 is a functional unit that acquires the second operation route 52 currently set for the second drone 100b that has not completed the work.
  • the planned work plan acquisition unit 431 acquires the second operation route 52 by referring to the work plan generated by the motion determination device 40 or the drones 100a and 100b.
  • the drone position acquisition unit 432 is a functional unit that acquires the position coordinates of the second drone 100b that has not completed the work.
  • the position coordinates of the second drone 100b are position coordinates at the time when the uncompleted work of the second drone 100b is redistributed to the first drone 100a that has completed the work, and may be an expected value.
  • the remaining work acquisition unit 43 calculates the unfinished work of the second driving route 52 based on the position coordinates of the second driving route 52 and the second drone 100b.
  • the remaining work acquisition unit 43 may calculate the unworked area where the work is scheduled for the unfinished work. Further, the remaining work acquisition unit 43 may calculate the driving route in which the work is scheduled for the incomplete work.
  • the re-allocation unit 44 is a functional unit that determines at least a part of the uncompleted work as the next work of the first drone 100a, that is, re-allocates the uncompleted work.
  • the re-allocation unit 44 equally divides the uncompleted work in the required time, and determines each of the equally divided works as the next work of the first drone 100a and the second drone 100b. According to this configuration, the first drone 100a and the second drone 100b can complete the work after the re-allocation at substantially the same time, so that the work can be efficiently completed.
  • the re-allocation unit 44 determines a continuous route including the end point 52e among the unworked routes 52b included in the uncompleted work as the next work route of the first drone 100a, and determines the end point 52e as the start point of the next work route. According to this configuration, the first drone 100a starts the next work from the position farthest from the second drone 100b on the driving route, so the second drone 100b does not interfere with the first drone 100a and the driving route, Work can be continued from the flying position when re-allocation.
  • the distance between the end point 51e of the first driving route 51 and the end point 52e of the second driving route 52 is shorter than the distance between the starting point 51s of the first driving route 51 and the starting point 52s of the second driving route 52. That is, the end points 51e and 52e of the two driving routes 51 and 52 are configured to be close to each other. According to this configuration, after the first drone 100a reaches the end point 51e, it can reach the end point 52e in a short time, and the work after the re-allocation can be efficiently started.
  • the route transmission unit 45 is a functional unit that transmits the next work of the first drone 100a and the second drone 100b, which is determined by the re-allocation unit 44, to the first drone 100a and the second drone 100b, respectively.
  • the next work may be newly transmitted, or the process of updating the current work plan may be performed.
  • FIGS. 14 and 15 A concrete example of how work is redistributed and processes will be described using FIGS. 14 and 15.
  • the first drone 100a starts flying along the first driving route 51 from the starting point 51s and performs work in the first work area 403c in the farm field 403a.
  • the second drone 100b starts flying along the second driving route 52 from the starting point 52s and performs work in the second work area 403d.
  • FIG. 14(b) is a schematic diagram showing a state after a predetermined time from FIG. 14(a).
  • the first drone 100a has reached the end point 51e. That is, the first drone 100a has completed the initial work plan.
  • the second drone 100b is flying on the second driving route 52, and the working direction route 52a is on the traveling direction rear side and the unworking route 52b is on the traveling direction front side.
  • the work completion detecting unit 42 detects that the work of the first drone 100a is completed (S11). Further, the work completion detection unit 42 may predict the completion of the work before the predetermined time when the first drone 100a arrives at the end point 51e.
  • the planned work plan acquisition unit 431 acquires the second operation route 52 of the second drone 100b (S12). Further, the drone position acquisition unit 432 acquires the position coordinates of the second drone 100b (S13). Steps S12 and S13 are in no particular order and may be executed simultaneously.
  • the remaining work acquisition unit 43 acquires the unfinished work based on the position coordinates of the second driving route 52 and the second drone 100b (S14).
  • the unfinished work is, in other words, a position coordinate of the unworked route 52b and an operation plan for performing work on the unworked route 52b.
  • the re-allocation unit 44 divides the incomplete work and re-allocates it to the first drone 100a (S15).
  • the route transmission unit 45 transmits the next work plan generated by being re-allocated to the first drone 100a and the second drone 100b (S17) Finally, the first drone 100a and the second drone 100b receive the next work plan. Next work is started based on the work plan (S17).
  • FIG. 14(c) is a schematic diagram showing a state in which the unfinished work is re-allocated to the first drone 100a through the state of FIG. 14(b).
  • the unworked route 52b is divided into a third operating route 53 and a fourth operating route 54.
  • the planned required time for the third driving route 53 and the planned required time for the fourth driving route 54 are substantially the same. That is, the third driving route 53 and the fourth driving route have substantially the same length.
  • the starting point 53s of the third driving route 53 is the position of the second drone 100b at the time of starting work after re-allocation.
  • the start point 54s of the fourth driving route 54 is at the same position as the end point 52e of the second driving route 52.
  • the end point 53e of the third driving route 53 and the end point 54e of the fourth driving route 54 are arranged adjacent to each other in the middle of the unworked route 52b.
  • the first drone 100a moves from the end point 51e to the start point 54s and works along the unworked route 54b of the fourth driving route 54.
  • the second drone 100b works from the starting point 53s along the unworked route 53b of the third driving route 53.
  • the landing mobile unit determination unit 46 is a functional unit that determines which of the plurality of mobile units 406A and 406B the plurality of drones 100a and 100b should land on, based on the position or state information of the mobile units 406A and 406B.
  • the drone system 500 the step of acquiring the position or state information of the moving body 406A, 406B, and the step of determining which of the plurality of moving bodies land the drone 100a, 100b based on the result of the acquisition.
  • the plurality of moving bodies 406A and 406B exist around the fields 403a and 403b.
  • the landing mobile unit determination unit 46 it is not necessary to land on the mobile units 406A and 406B where the plurality of drones 100a and 100b have respectively taken off, and it is possible to determine the mobile units 406A and 406B that match the conditions and land. it can.
  • the status information includes, for example, the positions of the mobile units 406A and 406B, the amount of resources held by the mobile units 406A and 406B, and whether or not the landing of the drones 100a and 100b on the mobile units 406A and 406B is determined.
  • the information includes information such as the distances between the moving bodies 406A and 406B and the exit points 403e at which the drones 100a and 100b to be landed leave the field.
  • Landing mobile unit determination unit 46 among the plurality of mobile units 406A, 406B, landing the drones 100a, 100b on the mobile units 406A, 406B stopped at the closest position from the exit point from the fields 403a, 403b. You may decide. As shown in FIG. 16, for example, when the drone 100b flies outside the field 403a through the exit point 403e and returns to the moving body 406A or 406B, the landing moving body determination unit 46 is the position coordinates of the moving bodies 406A, 406B. Is acquired, and it is decided to land on the moving body 406B located closer to the exit point 403e.
  • the distance and time for the drones 100a and 100b to fly outside the fields 403a and 403b can be shortened, so that the total work time can be shortened.
  • the amount of electricity stored in the batteries 502 of the drones 100a and 100b can be saved.
  • the anxiety of the user 402 due to the drones 100a and 100b flying outside the fields 403a and 403b can be reduced.
  • the landing mobile unit determination unit 46 determines to land the drones 100a and 100b on the mobile units 406A and 406B having the resource amount required to be replenished to the drone 100 among the plurality of mobile units 406A and 406B. Good.
  • Landing mobile unit determination unit 46 if there are a plurality of mobile units 406A, 406B that have a required resource amount to be replenished in the drone 100b, the drone 100b of the plurality of mobile units from the work area 403a. It may be decided to land the drone 100b on the moving body 406B stopped at the closest position from the exit point 403e to leave.
  • the landing mobile unit determination unit 46 causes the drone 100a, 100b to land on the mobile unit with the smallest holding amount among the mobile units 406A, 406B that have the resource amounts necessary for the drones 100a, 100b. May be determined.
  • the resource may be the holding amount of the battery 502 or the holding amount of the medicine.
  • it may be possible to determine which of the battery 502 and the medicine to be used to select the moving bodies 406A and 406B. According to this configuration, it is sufficient to replenish the resources only to a specific moving body, and thus the number of times the inventory of the moving bodies 406A and 406B is replenished can be reduced.
  • the landing mobile unit determination unit 46 makes the drone 100b land on the mobile unit 406A, 406B in which the other drone 100a has not landed or the other drone 100a has not been landed among the plurality of mobile units 406A, 406B. You may decide that. The other drone 100b cannot be landed on the moving bodies 406A and 406B on which one of the drones 100a is landing or the landing of the drone 100a is determined. Therefore, according to this configuration, the plurality of drones 100a and 100b can simultaneously land on the moving bodies 406A and 406B without interference. That is, since it is possible to replenish resources for a plurality of drones 100a and 100b at the same time, it is possible to shorten the total work time and perform work efficiently.
  • the landing mobile unit determination unit 46 if there is a plurality of mobile units 406A, 406B in which the other drone 100a has not landed or the landing of the other drone 100a has not been determined, among the plurality of mobile units.
  • the drone 100 may leave the work area 403a and may decide to land the drone 100b on the moving body 406B that is stopped at the closest position from the exit point 403e.
  • the landing mobile unit determination unit 46 has a resource amount that needs to be replenished in the drone 100b, and there is a plurality of mobile units in which other drones 100a have not landed or other drones 100a have not been determined to land.
  • the mobile unit position determination unit 47 is a functional unit that determines the stop positions of the mobile units 406A and 406B when the drones 100a and 100b land.
  • the mobile body position determination unit 47 may determine to move the mobile bodies 406A and 406B to the vicinity of the exit point of the drones 100a and 100b, for example.
  • the distance and time that the drones 100a and 100b fly outside the fields 403a and 403b can be further shortened, so that the total work time can be shortened.
  • the amount of electricity stored in the batteries 502 of the drones 100a and 100b can be saved.
  • the anxiety of the user 402 due to the drones 100a and 100b flying outside the fields 403a and 403b can be reduced.
  • the moving body position determination unit 47 may determine to stop the second moving body 406B at a position closer to the end point 51e of the first driving route 51 than the end point 52e of the second driving route 52. That is, the drones 100a and 100b may be configured to land on the moving bodies 406B and 406A different from the taken-off moving bodies 406A and 406B. According to this configuration, the moving distance and the moving time of the moving bodies 406A and 406B can be shortened, and the work can be performed more efficiently.
  • a drone system 500b includes three drones 100a, 100b, 100c, three moving bodies 406A, 406B, 406C, and a motion determining device 40b.
  • the same components as those in the first embodiment are designated by the same reference numerals.
  • the re-allocation unit 44b included in the motion determining apparatus 40b re-allocates either the unfinished work of the second drone 100b or the unfinished work of the third drone 100c. It has a function to decide whether to do.
  • the re-allocation unit 44b may decide to re-allocate the uncompleted work of the second drone 100b and the uncompleted work of the third drone 100c, whichever has the longer expected time required to complete. .. According to this configuration, the number of re-allocations can be minimized and the uncompleted work can be shared.
  • the re-allocation unit 44b finishes the work of the first drone among the end point of the second driving route originally planned for the second drone 100b and the end point of the third driving route initially planned for the third drone 100c.
  • a point closer to the end point of the first driving route thus set may be determined, and it may be determined to re-share the work on the driving route where the end point is closer. According to this configuration, the time until the next work is started can be shortened, so that the total work time can be shortened.
  • 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.

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  • Engineering & Computer Science (AREA)
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  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Business, Economics & Management (AREA)
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  • General Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Human Resources & Organizations (AREA)
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  • Wood Science & Technology (AREA)
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  • Catching Or Destruction (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention a pour but de permettre à de nombreux drones de fonctionner pendant une longue période et de réaliser efficacement des tâches en cas de variation du plan de travail. La solution de l'invention porte sur un système de drone (500) dans lequel une pluralité de drones (100a, 100b) qui exécutent une tâche dans une zone de travail sont connectés à un dispositif de détermination d'opération (40) qui acquiert la position et l'état de la pluralité de drones et détermine les opérations de la pluralité de drones, la pluralité de drones comprenant un premier drone (100a) effectuant une première tâche et un second drone (100b) effectuant une seconde tâche, et le dispositif de détermination d'opération est équipé d'une unité de détection d'achèvement de tâche (42) qui détecte le moment où le premier drone achève la première tâche, et d'une unité de réattribution (44) qui, sur la base de la détection par l'unité de détection d'achèvement de tâche, détermine au moins une partie de la seconde tâche qui sera la tâche suivante pour le premier drone.
PCT/JP2020/001975 2019-01-21 2020-01-21 Système de drone, procédé de commande de système de drone et dispositif de détermination d'opération WO2020153369A1 (fr)

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JP2019-007918 2019-04-10
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Cited By (1)

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WO2023276341A1 (fr) * 2021-06-29 2023-01-05 株式会社クボタ Système de commande de machine agricole et système de gestion d'agriculture

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CN115903898B (zh) * 2022-11-17 2023-12-29 新疆送变电有限公司 无人机飞行控制方法、装置、电子设备及存储介质

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WO2016129671A1 (fr) * 2015-02-13 2016-08-18 ヤンマー株式会社 Système de commande pour véhicule de travail à déplacement autonome
WO2017061589A1 (fr) * 2015-10-07 2017-04-13 ブルーイノベーション株式会社 Système de gestion de vol pour objets volants
US20170129603A1 (en) * 2015-11-10 2017-05-11 Matternet, Inc. Methods and systems for transportation using unmanned aerial vehicles

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WO2016129671A1 (fr) * 2015-02-13 2016-08-18 ヤンマー株式会社 Système de commande pour véhicule de travail à déplacement autonome
WO2017061589A1 (fr) * 2015-10-07 2017-04-13 ブルーイノベーション株式会社 Système de gestion de vol pour objets volants
US20170129603A1 (en) * 2015-11-10 2017-05-11 Matternet, Inc. Methods and systems for transportation using unmanned aerial vehicles

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WO2023276341A1 (fr) * 2021-06-29 2023-01-05 株式会社クボタ Système de commande de machine agricole et système de gestion d'agriculture

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