WO2017094842A1 - Dispositif de pulvérisation d'agent chimique utilisant des objets volants sans pilote - Google Patents

Dispositif de pulvérisation d'agent chimique utilisant des objets volants sans pilote Download PDF

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Publication number
WO2017094842A1
WO2017094842A1 PCT/JP2016/085748 JP2016085748W WO2017094842A1 WO 2017094842 A1 WO2017094842 A1 WO 2017094842A1 JP 2016085748 W JP2016085748 W JP 2016085748W WO 2017094842 A1 WO2017094842 A1 WO 2017094842A1
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WIPO (PCT)
Prior art keywords
air vehicle
unmanned air
drone
unmanned
medicine
Prior art date
Application number
PCT/JP2016/085748
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English (en)
Japanese (ja)
Inventor
洋 柳下
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株式会社ナイルワークス
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Priority to JP2017554177A priority Critical patent/JPWO2017094842A1/ja
Publication of WO2017094842A1 publication Critical patent/WO2017094842A1/fr

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    • 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
    • B64U50/34—In-flight charging
    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • 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

Definitions

  • the present invention relates to a chemical spraying device such as agricultural chemicals using a plurality of unmanned air vehicles (drone).
  • Drone spraying has the advantage of being able to spray medicine efficiently and homogeneously even on agricultural land that is narrow, unshaped, and high and low, which is typical in Japan.
  • the duration of the battery of the aircraft is an important issue.
  • power supply by wire may be performed.
  • the flying range of the drone is almost limited to the up and down movement due to the restriction on the handling of the power supply line. It was impossible to spread medicines over a wide area while flying horizontally on the farm ground by a wired power supply drone.
  • a drug spraying device having high efficiency by a drone (unmanned air vehicle).
  • the present invention is a drug distribution device including a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source, wherein the power supply line includes the first unmanned air vehicle and the second unmanned flight.
  • the first unmanned air vehicle is provided with a medicine spraying means
  • the power source is provided outside the first unmanned air vehicle and the second unmanned air vehicle.
  • the present invention is a drug spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and The second unmanned air vehicle, the drug tank, and the pump are connected to each other, the first unmanned air vehicle includes drug spraying means, and the drug tank includes the first unmanned air vehicle and Provided is a medicine spraying device which is installed outside the second unmanned air vehicle, and the pump supplies the medicine in the medicine tank to the first unmanned air vehicle via the medicine hose.
  • the invention of the present application is a medicine spraying device including a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the first unmanned air vehicle.
  • a second unmanned air vehicle and the pilot, the first unmanned air vehicle is provided with a medicine spraying means, and the pilot is connected to the first unmanned air vehicle via the control cable.
  • the present invention further provides the medicine spraying device according to paragraph 0009, paragraph 0010, or paragraph 0011, wherein the position of the second unmanned air vehicle is controlled in accordance with the position of the first unmanned air vehicle.
  • the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source
  • the power supply line includes the first unmanned air vehicle, the second unmanned air vehicle, and the power source.
  • the first unmanned aerial vehicle is provided with a medicine spraying means
  • the power source is connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle via the feeder line.
  • An unmanned air vehicle control method executed by a medicine spraying device that supplies electric power, the step of obtaining the position of the first unmanned air vehicle, and the second according to the position of the first unmanned air vehicle The above-mentioned problem is provided by providing a method for controlling an unmanned air vehicle, comprising: calculating a predetermined position of the unmanned air vehicle; and giving a command to the second unmanned air vehicle to fly the predetermined position.
  • the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and the second unmanned flight.
  • the first unmanned air vehicle includes drug spraying means
  • the pump is connected to the first unmanned air vehicle and the pump via the drug hose.
  • An unmanned air vehicle control method executed by a medicine spraying device that supplies medicine to a second unmanned air vehicle comprising: obtaining a position of the first unmanned air vehicle; and Unmanned air vehicle control, comprising: calculating a predetermined position of the second unmanned air vehicle according to the position; and giving a command to the second unmanned air vehicle to fly the predetermined position.
  • the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the second unmanned air vehicle.
  • the first unmanned air vehicle is connected to the pilot, and the first unmanned air vehicle includes a medicine spraying means.
  • the first unmanned air vehicle and the second unmanned air vehicle are connected via the control cable.
  • An unmanned air vehicle control method executed by a medicine spraying device for controlling an air vehicle, the step of obtaining the position of the first unmanned air vehicle, and depending on the position of the first unmanned air vehicle By providing a method for controlling an unmanned air vehicle, comprising: calculating a predetermined position of a second unmanned air vehicle; and giving a command to the second unmanned air vehicle to fly the predetermined position.
  • the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a power supply line, and a power source
  • the power supply line includes the first unmanned air vehicle, the second unmanned air vehicle, and the power source.
  • the first unmanned aerial vehicle is provided with a medicine spraying means
  • the power source is connected to the first unmanned aerial vehicle and the second unmanned aerial vehicle via the feeder line.
  • An unmanned air vehicle control program that is executed by a medicine distribution device that supplies electric power, the procedure for obtaining the position of the first unmanned air vehicle, and the second according to the position of the first unmanned air vehicle
  • An unmanned air vehicle control program for causing a computer to execute a procedure for calculating a predetermined position of the unmanned air vehicle and a procedure for giving a command to the second unmanned air vehicle to fly the predetermined position is provided.
  • the present invention also includes a first unmanned air vehicle, a second unmanned air vehicle, a drug hose, a drug tank, and a pump, wherein the drug hose includes the first unmanned air vehicle and the second unmanned air vehicle.
  • the flying object, the drug tank and the pump are connected to each other, the first unmanned flying object is provided with a drug spraying means, and the pump is connected to the first unmanned flying object and the pump via the drug hose.
  • An unmanned air vehicle control program that is executed by a medicine spraying device that supplies medicine to a second unmanned air vehicle, the procedure for obtaining the position of the first unmanned air vehicle, and the first unmanned air vehicle
  • An unmanned computer causing a computer to execute a procedure for calculating a predetermined position of the second unmanned air vehicle according to the position and a command for instructing the second unmanned air vehicle to fly the predetermined position.
  • the present invention includes a first unmanned air vehicle, a second unmanned air vehicle, a control cable, and a controller, wherein the control cable includes the first unmanned air vehicle and the second unmanned air vehicle.
  • the first unmanned air vehicle is connected to the pilot, and the first unmanned air vehicle includes a medicine spraying means.
  • the first unmanned air vehicle and the second unmanned air vehicle are connected via the control cable.
  • An unmanned air vehicle control program executed by a medicine spraying device for controlling an air vehicle, the procedure for obtaining the position of the first unmanned air vehicle, and the position of the first unmanned air vehicle according to the position Provided is an unmanned air vehicle control program for causing a computer to execute a procedure for calculating a predetermined position of a second unmanned air vehicle and a procedure for instructing the second unmanned air vehicle to fly the predetermined position.
  • a drug spraying device using a drone that can be powered by a wired system, can supply a drug by a wired system, or can be controlled by a wired system is provided, which enables efficient and long-time drug spraying.
  • 1 is an overall view of a first embodiment according to the present invention. It is a general view of the second embodiment according to the present invention. It is a whole figure of the 3rd Example concerning this invention. It is an example of the mechanism of the connection part of the drone which concerns on this invention, and a hose or a feeder. It is an example of the operation screen of the controller which concerns on this invention. It is the figure explaining the example of the altitude adjustment logic of the some drone concerning this invention. It is a figure explaining the 1st example of the route control method at the time of the flight start of the several drone concerning this invention. It is the figure explaining the 2nd example of the route control method at the time of the flight start of the several drone which concerns on this invention.
  • the term “drone” is not limited to a radio-operated small unmanned helicopter (multi-copter) having a plurality of rotor blades, but is used as a general term for an unmanned air vehicle.
  • unmanned regardless of the size of the aircraft, the number of rotor blades, the flight method (propeller or jet engine), autonomous or remote control, wired control or wireless control
  • the name of the drone will be used for the flying vehicle (unmanned aircraft, also called UAV (Unmanned Aerial Vehicle)).
  • coating object may be arbitrary liquids or powders, such as an agrochemical and liquid fertilizer.
  • a drone for distributing medicine supplied by wire hereinafter referred to as a main drone
  • another one or more drones hereinafter referred to as sub drones
  • the main drone (102) located at the end of the power supply cable (101) is a drone for spraying medicine, and includes a medicine spraying mechanism including a tank, a nozzle, a pump, and the like.
  • One or more sub-drone (103) located in the middle position of the feeding cable (101) is a drone that supports the feeding cable (101) in the air.
  • the number of secondary drones (103) is determined according to the length and rigidity of the power supply cable (101), the flight range of the main drone (102), the complexity of the flight route, etc. according to the farmland to which the medicine is to be sprayed. This is a design matter.
  • the main drone (102) and the sub drone (103) are provided with instruments such as a GPS and an altimeter, and are preferably remotely controlled by the wireless controller (105) to maintain a predetermined height and position. It is desirable that the main drone (102) has a function capable of flying by autonomous control in addition to remote control. For example, by matching the GPS built in the main drone (102) with the map information of the farmland stored in advance, the optimum route for spraying the medicine of the main drone (102) can be determined.
  • the sub drone (103) preferably determines the position automatically according to the route of the main drone (102) and plays a role of supporting the power supply cable (101) and the like so as not to get in the way (sub drone (103) (The method for determining the position will be described later).
  • the ground power source (104) is a power source for supplying power to the main drone (102) and one or more sub drones (103) via the power supply cable (101), and is a battery, a commercial power source, or a power generator. Machine.
  • the ground power source (105) is preferably installed on the ground.
  • the main drone (102) and the sub drone (103) are prepared in case of an unexpected situation such as a failure of the ground power source (105) (for example, a power failure when a commercial power source is used) or disconnection of the power supply cable (101). May have a spare battery.
  • An automatic control function may be provided that can return to the storage location of the drone without power supply from the ground power source (105) in the event of a failure by the power supply of the spare battery.
  • the wireless controller (104) instructs the position and altitude of the main drone (102) and the sub drone (103), and monitors the position, altitude, and operating status of the main drone (102) and the sub drone (103). It is a device that provides functions such as instructing the main drone (102) to spray the medicine and monitoring the state of the medicine spraying.
  • the wireless controller (104) is preferably realized by a smartphone or tablet terminal having a wireless communication function.
  • FIG. 2 shows an overall view of a second embodiment of the medicine spraying device according to the present invention.
  • a medicine hose (201) for supplying medicine to the main drone (101) and a ground medicine tank (202) are further provided.
  • the drug hose (201) is preferably integrated with the power supply cable (101).
  • the ground drug tank (202) is desirably installed on the ground.
  • the medicine spraying can be continued for a long time without being restricted by the tank capacity of the main drone (101). Even if the medicine in the medicine tank (202) is supplied to the main drone (101) by a pump installed on the ground, the medicine in the ground medicine tank (207) is sucked up by the pump provided in the main drone (101). It is good.
  • FIG. 3 shows an overall view of a third embodiment of the medicine spraying device according to the present invention.
  • a control cable (301) for performing flight control of the main drone (102) and one or more sub-drones (103) with a wired pilot (302) is provided. (Thus, the radio pilot (105) is unnecessary).
  • the control cable (301) is preferably integrated with the feeding cable (101).
  • the wired controller (302) can also be realized by a smartphone or a tablet terminal, it is desirable to realize it by searching a personal computer having a wireless communication function from a smartphone or tablet terminal also having the wireless communication function.
  • a fourth embodiment in which the second embodiment and the third embodiment are combined that is, a form in which power supply, medicine supply from the ground, and remote control of the drone are all performed by wire is also possible. Further, it is possible to combine only the medicine supply from the ground, each drone operating with a battery, or only remote control via a cable.
  • FIG. 4 shows the sub-drone (103) and the cables (401) (here, the power cable (101), the drug pipe (201), the control cable (301), or any combination thereof).
  • the structure of the mechanism of a connection part is shown.
  • the sub drone (103) includes two connector portions (402) of the cables (401) and can provide a relay function of the cables (401).
  • the number of sub drones (103) and the length of cables (401) between the sub drones (103) can be flexibly selected according to the use conditions. For example, by preparing a short cable (401) for a narrow farmland and a long cable (401) for a wide farmland, the same sub drone (103) can be easily diverted to a narrow farmland and a wide farmland. become able to.
  • FIG. 5 shows a screen example of the wireless controller (105) or the wired controller (302) according to the present invention.
  • the main drone (102), the horizontal and vertical positions of each sub-drone (103), the battery remaining amount, and the remaining amount of the chemical solution are displayed. It is desirable.
  • the flight path of the drug spraying by the main drone (101) and the flight path of the secondary drone (103) associated therewith can be performed by an algorithm of a computer program running on the pilot (105 or 302) or the like. It is desirable to be automated as long as possible, but it is desirable that manual override can be performed.
  • the video of the camera provided in the main drone (102) or the sub drone (103) may be displayed on the screen, and it may be possible to visually confirm whether or not the medicine is properly sprayed.
  • FIG. 6 shows an example of cable (401) handling by the main drone (102) and the sub drone (103) according to the present invention.
  • Simply supporting the cables (401) with a plurality of secondary drones (103) can cause the hanging cables to hang down near the ground and damage crops on the farmland, or the tension and weight of the cables can interfere with the main drone ( 102) is obstructed.
  • the role of the sub-drone (103) is divided, and the altitude and the horizontal position are controlled according to the role, so that the main drone ( Efficient drug distribution can be achieved without hindering the movement of 102).
  • a main drone (102) and five sub drones (103a, 103b, 103c, 103d, 103e) are used.
  • the main drone (102) flies on the farm ground at an altitude suitable for drug spraying and sprays drugs.
  • the first secondary drone (103a) closest to the main drone (102) functions as a tracking drone and is controlled to fly directly above the main drone (102). Thereby, the main drone (102) can fly the path
  • the second sub-drone (103b) and the third sub-drone (103c) function as cable slack adjustment drones.
  • the fourth sub-drone (103d) and the fifth sub-drone (103e) function as an altitude maintenance drone, flying near the ground battery (104), and other drones without a heavy burden of cable weight. It is controlled to play a role that allows it to fly.
  • the configuration in FIG. 6 is an example, and it is desirable that the number of sub-drones (103) and the division of roles to each sub-drone (103) can be determined freely according to the shape and size of the farmland. It is desirable that the altitude of each sub drone (103) is automatically determined based on a predetermined algorithm.
  • the sub drone (103a) is placed 1.5 meters above the main drone (102) to 1.
  • Control can be performed at an altitude of 8 meters and within a circle of 0.2 meters radius from the horizontal main drone (102).
  • the altitude and horizontal position of each secondary drone (103) may be determined from the altitude and horizontal position of the main drone (102) based on arbitrary calculation logic.
  • the tension applied to the drone by the cables (401) may be measured by a sensor, and the altitude may be adjusted when the tension falls outside the range of the threshold value.
  • an anemometer may be provided for each drone, and the altitude may be adjusted according to the strength of the wind.
  • FIG. 7 shows an example of the route control of the horizontal position at the start of the flight of the drone according to the present invention.
  • FIG. 7 is a view from above.
  • FIG. 7 is based on the first embodiment, the concept can be applied to the second embodiment, the third embodiment, the fourth embodiment, and the like.
  • the role of each drone in FIG. 7 is the same as that in FIG. FIG. 7A shows a state immediately after the start of spraying of the drug, and each drone is flying near the drug tank (104) on the farmland (701).
  • the fourth sub drone (103d) and the fifth sub drone (103e) functioning as the altitude maintenance drone maintain a sufficient altitude on the ground battery (104).
  • the other secondary drones (103a, 103b, 103c) are controlled to maintain a position where the cable does not loosen.
  • FIG. 7B shows a state in which the medicine is being sprayed.
  • the main drone (102) sprays the medicine on the farm ground, and the sub drones (103a, 103b, 103c, 103d, 103e) are wasted on the cables (401).
  • the horizontal and vertical positions are controlled so that no tension is applied and the cables (401) are not loosened more than necessary. This is because the horizontal / vertical position of the main drone (102) is read by GPS or an altimeter, and the horizontal / vertical position where other drones should fly is calculated by a predetermined algorithm based on the position information. This can be achieved by controlling the location of the drone. At the end of the drone flight, the cables (401) can be stored smoothly by controlling the drone in the reverse order of the flight start.
  • FIG. 8 shows another example of route control at the start of flight of the drone according to the present invention.
  • FIG. 8 is a view from above.
  • the battery (104) and the secondary drone (103a) as a tracking drone are connected by a straight line, and the straight line is divided according to the number of secondary drones.
  • position control is performed so that another sub drone is arranged at a position on a straight line that intersects the straight line perpendicularly on the divided points (positions corresponding to A, B, C, and D in FIG. 8).
  • the secondary drone (103d, 103e) which is the altitude maintenance drone, be controlled to maintain the horizontal position adjusted for altitude maintenance.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

[Problème] Fournir un dispositif de pulvérisation d'agent chimique qui utilise des drones (objets volants sans pilote) et qui peut être utilisé pendant une longue durée. [Solution] Selon la présente invention, une pluralité de drones, dont les positions mutuelles sont commandées en coopération, soutiennent un câble d'alimentation électrique, un tuyau d'agent chimique, un câble de commande, etc., et un autre drone dédié à la pulvérisation d'agent chimique effectue la pulvérisation d'agent chimique. Ainsi, un problème d'acheminement d'un câble, etc., est résolu, et une pulvérisation d'agent chimique efficace et stable pendant une longue durée est possible sans être limitée par la capacité de la batterie sur un drone ou par le volume d'un réservoir d'agent chimique sur le drone.
PCT/JP2016/085748 2015-12-04 2016-12-01 Dispositif de pulvérisation d'agent chimique utilisant des objets volants sans pilote WO2017094842A1 (fr)

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JP2017554177A JPWO2017094842A1 (ja) 2015-12-04 2016-12-01 無人飛行体による薬剤散布装置

Applications Claiming Priority (2)

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JP2015238104 2015-12-04
JP2015-238104 2015-12-04

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WO2017094842A1 true WO2017094842A1 (fr) 2017-06-08

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WO2020110378A1 (fr) * 2018-11-27 2020-06-04 三菱重工サーマルシステムズ株式会社 Climatiseur mobile
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JP2021059339A (ja) * 2021-01-22 2021-04-15 株式会社エアロネクスト 連結可能な複数の飛行体を備える飛行体システム
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