WO2020085239A1 - Dispositif de génération d'itinéraire d'exploitation, procédé de génération d'itinéraire d'exploitation, programme de génération d'itinéraire d'exploitation, et drone - Google Patents

Dispositif de génération d'itinéraire d'exploitation, procédé de génération d'itinéraire d'exploitation, programme de génération d'itinéraire d'exploitation, et drone Download PDF

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Publication number
WO2020085239A1
WO2020085239A1 PCT/JP2019/041133 JP2019041133W WO2020085239A1 WO 2020085239 A1 WO2020085239 A1 WO 2020085239A1 JP 2019041133 W JP2019041133 W JP 2019041133W WO 2020085239 A1 WO2020085239 A1 WO 2020085239A1
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WIPO (PCT)
Prior art keywords
drone
area
field
path
route
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PCT/JP2019/041133
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English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
泰 村雲
Original Assignee
株式会社ナイルワークス
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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 CN201980069757.7A priority Critical patent/CN112911932B/zh
Priority to JP2020505300A priority patent/JP6982908B2/ja
Publication of WO2020085239A1 publication Critical patent/WO2020085239A1/fr

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    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • 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
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

Definitions

  • the present invention relates to a driving route generation device, a driving route generation method, a driving route generation program, and a drone.
  • a method is known in which a field is photographed from the sky by a drone (unmanned air vehicle, multicopter) or the like and the photographed image is analyzed in order to grasp the growth status of crops (for example, Patent Document 1).
  • a drone unmanned air vehicle, multicopter
  • the photographed image is analyzed in order to grasp the growth status of crops (for example, Patent Document 1).
  • the occurrence status of pests and the components accumulated in leaves are known.
  • pests of crops such as planthoppers often occur in the root part of the plant.
  • the amount of silicon accumulated can be grasped, and the growth rate of rice can be estimated based on this to optimize the fertilizer plan. Is possible.
  • a drug spraying drone that sprays a drug on a field, there is also a need for a technique for generating a driving route for spraying a drug all over the field even during autonomous driving.
  • the drone flies above the field at a certain altitude, but the downdraft generated by the drone's rotor blades may cause the crops growing in the field to fall.
  • the crops lie down in various directions in the turn-back region where the drone turns back. Therefore, it is difficult to perform the predetermined work performed by the drone in the turn-back area, that is, photographing and spraying the medicine as intended. Therefore, there is a need for a technology that allows a drone to perform a predetermined work even when it is autonomously driving, and generates a driving route for producing the effect of the work all over the field.
  • Patent Document 2 discloses a traveling route generation system that generates a reciprocating traveling route for traveling back and forth in a field and a traveling traveling route for traveling along an outer peripheral shape. This system is assumed to be a ground-running machine such as a seedling planting device.
  • Patent Document 3 discloses a travel route generation device that generates a route when the contour line of a field has a concave portion that locally enters inside.
  • Patent Document 4 discloses an autonomous traveling route generation system that generates a traveling route that bypasses an obstacle existing in the traveling region.
  • a driving route generation device that allows a drone to perform a predetermined work as intended even during autonomous driving, and generates a driving route to generate the effects of the work all over the field.
  • a driving route generation device is a driving route generation device that generates a driving route of a drone flying in a field, and the reciprocating movement while reciprocating in the field. Sequentially moving in a direction different from the direction, the main scanning path for scanning the field, and the folding area for returning from the forward path to the return path in the main scanning path, continuously in a direction different from the reciprocating direction of the main scanning path.
  • a path generation unit that generates at least a sub-scanning path for scanning is provided.
  • the sub-scanning paths may be generated along at least a pair of opposite edges.
  • the sub-scanning path may be generated as a circular path that circulates the inner circumference of the field.
  • the drone includes a camera, a rotary wing, and a flight control unit, and it is possible to monitor the growth of the crop by photographing the crop in the field with the camera, and the camera, when flying in the sub-scanning path, the The crops in the folding area may be photographed.
  • the drone includes a drug control unit that sprays a drug on the field, and a rotary wing, and the drug control unit stops the drug spraying in the turn-back region when the main scanning path is flown and performs the sub-scanning.
  • the medicine may be sprayed in the turn-back area when flying along the route.
  • a drone according to another aspect of the present invention is a drone capable of flying over the field, the first drone flying along a pair of opposite edges of the field. Flying along a flight path and a first flight path that scans the inside of the field while reciprocating between the pair of end sides, and a turn-back region for the reciprocating movement overlaps with the first flight path. .
  • the second flight path may be a flight path that goes around the inner circumference of the field.
  • a drug control unit for spraying a drug on the field and a rotary wing are provided, and the drug control unit stops the drug spraying in the turn-back region and flies the first flight route when flying the second flight route. During flight, the drug may be sprayed in the turn-back area.
  • a driving route generating method for generating a driving route of a drone flying in a field, and the reciprocating movement while reciprocating in the field.
  • the main scanning path that sequentially moves in a direction different from the moving direction and scans the field, and the turn-back area that returns from the forward path to the return path in the main scanning path are continuous in a direction different from the reciprocating movement direction of the main scanning path.
  • a sub-scanning path for scanning is a sub-scanning path for scanning.
  • a driving route generation program is a driving route generation program that generates a driving route of a drone flying in a field, and the reciprocating motion while reciprocating in the field.
  • the main scanning path that sequentially moves in a direction different from the moving direction and the main scanning path that scans the field, and the turn-back area that returns from the forward path to the return path in the main scanning path are continuous in a direction different from the reciprocating direction of the main scanning path.
  • causing the computer to execute an instruction that generates at least a sub-scanning path for scanning.
  • the computer program can be provided by being downloaded through a network such as the Internet, or can be provided by being recorded in various computer-readable recording media such as a CD-ROM.
  • FIG. 1 is an overall conceptual diagram showing a driving route generation device according to the present invention and states of a base station and a mobile station connected via a network.
  • FIG. 3 is a functional block diagram of the driving route generation device.
  • 6 is a schematic diagram showing an example of a farm field in which the driving route generation device generates a driving route, an entry prohibition area determined in the vicinity of the farm field, and a movable area generated in the farm field. It is a schematic diagram showing signs that the movable area is divided into an irregular area, an outer peripheral area, and an inner area.
  • the area division necessity determination unit included in the driving route generation device is an example of a moving area that performs a process of dividing the area, and (a) an example of a moving area having a concave portion with two sides, (b) three sides It is an example of a moving area having a concave portion composed of.
  • 6 is a flowchart showing a process in which the area division necessity determination unit divides a moving area.
  • the drone regardless of power means (electric power, prime mover, etc.), control method (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 drone is an example of a mobile device, and can appropriately receive information on a driving route generated by the driving route generation device according to the present invention and fly along the driving route.
  • 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 battery consumption, eight aircraft (four sets of two-stage rotary blades) are provided.
  • 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 an engine, 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.
  • 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 to promote the buckling of the member to the outside of the rotor blade at the time of collision and prevent 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 sprayed drug, 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. And may also serve to support the chemical nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • the drone 100 includes a drug control unit 1002 (see FIG. 8) as a software resource that adjusts the discharge amount of the drug by controlling the pump 106.
  • the drug control unit 1002 may be configured in the flight controller 501 described later.
  • FIG. 6 shows an overall conceptual diagram of a system using an example of drug spraying application of the drone 100 according to the present invention.
  • 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.
  • 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.
  • an emergency operating device (not shown) that has a function dedicated to emergency stop (the emergency operating device is a large emergency stop button, etc. so that you can respond quickly in an emergency). It may be a dedicated device with).
  • the operation unit 401 and the drone 100 perform wireless communication by Wi-Fi or the like.
  • 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, and the like.
  • 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).
  • the farm cloud 405 is typically a group of computers 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 processing for determining the flight route.
  • the drone 100 may be provided with the topographical information of the farm field 403 that has been saved.
  • the history of the flight of the drone 100 and captured images may be accumulated and various analysis processes may be performed.
  • the drone 100 takes off from a landing point 406 outside the field 403 and returns to the landing 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.
  • FIG. 7 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, a 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. It is configured so that it can be monitored. Alternatively, 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 flight controller 501 is an example of the flight controller 1001.
  • the software used by the flight controller 501 can be rewritten via a storage medium or the like for function expansion / change, problem correction, etc., or via communication means such as Wi-Fi communication or USB.
  • encryption, checksum, electronic signature, virus check software, etc. are used to prevent rewriting 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 device 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 battery 502 is a means for supplying electric power to the flight controller 501 and other components of the drone, and may be rechargeable.
  • the battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 may be a smart battery having a function of transmitting the internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to the power supply function.
  • the flight controller 501 interacts 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.
  • the communication may be encrypted so as 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.
  • the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is of high importance, it may be duplicated / multiplexed, and each redundant GPS module 504 should use a different satellite to cope with the failure of a specific GPS satellite. It may be controlled.
  • the 6-axis gyro sensor 505 is a means for measuring acceleration of the drone aircraft in three directions orthogonal to each other (further, a means for calculating speed by integrating 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 the 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 using 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.
  • the flight controller 501 may use only one of them, and when it fails, it may switch to another sensor and use it. Alternatively, a plurality of sensors may be used at the same time, 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 field shooting camera 512 is a means for shooting the field 403 and acquiring data for performing image analysis, and is, for example, a multispectral camera.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle and is a device different from the field shooting camera 512 because the image characteristics and the lens orientation are different from those of the field shooting camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to make various settings.
  • the obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • 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 drone's cost targets and performance requirements, and may be duplicated or multiplexed.
  • a sensor may be provided at 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 notifying the drone operator of the status of the drone.
  • a display means such as a liquid crystal display may be used instead of or in addition to the LED.
  • 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 503 is an optional component for communicating with an external computer or the like for the transfer of software, for example, separately from the controller 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 speaker 520 is an output means for notifying the drone state (particularly, the error state) by the recorded human voice, synthesized voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice.
  • the warning light 521 is a display means such as a strobe light for notifying the drone state (particularly an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, or may be duplicated / multiplexed.
  • Drone 100 needs an operation route to move efficiently in fields of various shapes. For example, the drone 100 needs to fly all over the field when monitoring the inside of a field or when spraying a drug on the field. At that time, it is possible to reduce battery consumption and flight time by avoiding the same route as much as possible. Therefore, the driving route generation device generates a driving route for the moving device such as the drone 100 to efficiently move based on the coordinate information of the field.
  • the driving route generation device 1 is connected to the drone 100, the base station 404, and the coordinate survey device 2 via the network (NW).
  • the function of the driving route generation device 1 may be on the farm cloud 405 or may be a separate device.
  • the farm field is an example of the target area.
  • Drone 100 is an example of a mobile device.
  • the coordinate surveying device 2 is a device having a function of a mobile station of RTK-GPS, and can measure coordinate information of a field.
  • the coordinate surveying device 2 is a small device that can be held and walked by a user, and is, for example, a rod-shaped device.
  • the coordinate surveying device 2 may be a device such as a cane having a length such that the user can stand upright and hold the upper end with the lower end attached to the ground.
  • the number of coordinate surveying devices 2 that can be used to read the coordinate information of a certain field may be one or more. According to the configuration in which the coordinate information about one farm field can be measured by the plurality of coordinate surveying devices 2, a plurality of users can hold the coordinate surveying device 2 and walk in the farm field. It can be completed in a short time.
  • the coordinate surveying device 2 can measure information on obstacles in the field.
  • the obstacles include walls and slopes at which the drone 100 may collide, utility poles, electric wires, and various objects that do not require drug spraying or monitoring.
  • the coordinate surveying device 2 includes an input unit 201, a coordinate detection unit 202, and a transmission unit 203.
  • the input unit 201 is provided at the upper end of the coordinate surveying device 2, and is, for example, a button that receives a user's press. The user presses the button of the input unit 201 when measuring the coordinates of the lower end of the coordinate surveying device 2.
  • the input unit 201 is configured to be able to input by distinguishing whether the input information is the coordinates relating to the outer circumference of the field or the coordinates of the outer circumference of the obstacle. Further, the input unit 201 can input the coordinates of the outer circumference of the obstacle in association with the type of the obstacle.
  • the coordinate detecting unit 202 is a functional unit capable of appropriately communicating with the base station 404 and detecting the three-dimensional coordinates of the lower end of the coordinate surveying device 2.
  • the transmission unit 203 is a functional unit that transmits the three-dimensional coordinates of the lower end of the coordinate surveying device 2 at the time of the input to the operation unit 401 or the driving route generation device 1 based on the input to the input unit 201 via the network NW. is there.
  • the transmission unit 203 transmits the three-dimensional coordinates together with the pointing order.
  • the user moves the field with the coordinate survey device 2.
  • the three-dimensional coordinates of the field are acquired.
  • the user performs pointing with the input unit 201 on the end point or the end side of the field.
  • the user performs pointing with the input unit 201 on the end point or the end side of the obstacle.
  • 3D coordinates on the endpoints or edges of the field that are pointed and transmitted are received by the driving route generation device 1 by distinguishing between the 3D coordinates of the field periphery and the 3D coordinates of obstacles.
  • the three-dimensional coordinates to be pointed may be received by the receiving unit 4011 of the operation device 401 and displayed by the display unit 4012.
  • the operation unit 401 determines whether the received three-dimensional coordinates are suitable as the three-dimensional coordinates of the field outer circumference or the obstacle, and if re-measurement is determined to be necessary, the operation unit 401 re-displays it to the user through the display unit 4012. You may encourage surveying.
  • the driving route generation device 1 includes a target area information acquisition unit 10, a movement permitted area generation unit 20, an area planning unit 30, a route generation unit 40, and a route selection unit 50.
  • the target area information acquisition unit 10 is a functional unit that acquires information on three-dimensional coordinates transmitted from the coordinate surveying device 2.
  • the movement-permitted area generation unit 20 specifies the movement-permitted area 80i in the field 80 where the drone 100 moves based on the three-dimensional coordinates acquired by the target area information acquisition unit 10.
  • the movement permission area generation unit 20 includes an entry prohibition area determination unit 21 and a movement permission area determination unit 22.
  • the prohibited area determining unit 21 determines the prohibited area 81b of the drone 100 based on the three-dimensional coordinates of the obstacles 81a, 82a, 83a, 84a, 85a acquired by the target area information acquisition unit 10 and the type of the obstacle.
  • 82b, 83b, 84b, 85b is a functional unit for determining.
  • the prohibited areas 81b, 82b, 83b, 84b, 85b are areas including obstacles 81a, 82a, 83a, 84a, 85a and areas around the obstacles.
  • the no-entry areas 81b, 82b, 83b, 84b, 85b are areas defined in the horizontal direction and the height direction and having a three-dimensional spread, for example, obstacles 81a, 82a, 83a, 84a, 85a It is a rectangular parallelepiped area drawn as.
  • the inaccessible area may be a spherical area drawn around an obstacle. Since the drone 100 flies in the air, it is possible to fly over the obstacle depending on the size of the obstacle in the height direction. Due to the size of the obstacle in the height direction, the structure above the obstacle is not considered as an inaccessible area, so that the obstacle can be efficiently bypassed without circumventing the obstacle.
  • the distance from the outer edge of the obstacle to the outer edge of the no-entry areas 81b, 82b, 83b, 84b, 85b is determined by the type of obstacle 81a, 82a, 83a, 84a, 85a.
  • the area of 50 cm from the outer edge of the house is set as the entry prohibited area, while the area of 80 cm from the outer edge of the electric wire is set as the entry prohibited area.
  • the no-entry area determination unit 21 stores in advance an obstacle table in which the type of obstacle and the size of the no-entry area are associated with each other, and determines the size of the no-entry area in accordance with the type of obstacle acquired. To do.
  • the movement permission area determination unit 22 is a functional unit that determines the movement permission area 80i. Regarding the plane direction of the movement permitted area 80i, it is assumed that the coordinates on the plane acquired by the target area information acquisition unit 10 of the field 80 are at the outer peripheral position of the field 80. Regarding the height direction of the movement-permitted area 80i, the movement-permitted area determination unit 22 ensures that the coordinates of the height direction acquired by the target area information acquisition unit 10 ensure the safety of the crop height and the flight control. The possible margins are totaled to determine the range in the height direction of the movement permitted area 80i. The movement-permitted area determining unit 22 determines the movement-permitted area 80i by removing the entry-prohibited areas 81b, 82b, 83b, 84b, and 85b from the inner area surrounded by the three-dimensional coordinates.
  • the area planning unit 30 is a functional unit that divides the migration-permitted area 80i determined by the migration-permitted area generation unit 20 into regions that fly in mutually different route patterns, and formulates them.
  • the area formulation unit 30 can formulate the movement permitted area 80i by dividing it into one or a plurality of shaping areas 81i and one or a plurality of irregular areas 82i and 83i each having a smaller area than the shaping area 81i.
  • route pattern is a rule for automatically generating a route according to the shape of a certain area in order to fly comprehensively.
  • the route patterns are roughly classified into a route pattern for the shaping area and a route pattern for the irregular area.
  • the route pattern for the shaping area 81i is an outer peripheral pattern that circulates the inner periphery of the shaping area 81i, and sequentially moves in a different direction from the reciprocating route while reciprocating inside the circling route, and Scanning substantially the entire area, that is, an inner pattern for scanning is included.
  • an area flying by the outer peripheral pattern is called an outer peripheral area 811i
  • an area flying by the inner pattern is called an inner area 812i.
  • the area planning unit 30 has an area division necessity determination unit 31, a shaping area generation unit 32, and a variant area generation unit 33.
  • the area division necessity determination unit 31 is a functional unit that determines the necessity of dividing the movement permission area into a plurality of shaping areas.
  • the area division necessity determination unit 31 divides the movement permission area particularly when the movement permission area has a concave polygonal shape when viewed from above.
  • a concave polygon is a polygon in which at least one of the internal angles of the polygon is an angle exceeding 180 °, in other words, a polygon having a concave shape.
  • the movement permission area 90i shown in FIG. 12 (a) has a recess 93i composed of two sides 91i and 92i when viewed from above. Therefore, as shown in FIG. 13, when the area division necessity determination unit 31 determines that there is a recess 93i composed of two sides (S11), the longer side 91i of the two sides 91i, 92i is the determination target side. As, the length is calculated (S12). The area division necessity determination unit 31 does not perform area division when a recess cannot be found in the movement permitted area 90i.
  • the area division necessity determination unit 31 determines that the area including the side 91i needs to be divided (S13), The movement permitted area 90i is divided into two areas 901i and 902i (S14). Next, it is determined whether or not there is a recess in the area after division (S15). When the concave portion is found, the process returns to step S12. If no recess is found, it is determined that no further division is necessary, and the process ends.
  • the dividing line 94i is a side that constitutes the edge of the smaller area after division, and is determined to be parallel to the edge 95i that faces the dividing line 94i. According to this configuration, when the drone 100 flies back and forth in the divided area, it is possible to fly more comprehensively within the area.
  • At least one shaping area can be generated for each of the plurality of areas generated by the area division determination unit 31.
  • the shaping area 81i has a shape and an area capable of generating an outer peripheral area 811i and an inner area 812i.
  • the outer peripheral area 811i is an annular area having the effective width of the drone 100, and the inner area 812i needs to have a width excluding the overlap allowable width from the effective width of the drone 100. Therefore, the area division necessity determination unit 31 divides the area when the length of the side (91i) is equal to or larger than three times the effective width of the drone 100 minus the allowable overlap width.
  • the effective width of the drone 100 is, for example, a drug spraying width in the case of a drug spraying drone. Further, the effective width of the drone 100 is a monitorable width in the case of a drone for monitoring.
  • the movement permission area 100i shown in FIG. 12 (b) has a recess 110i formed by adjoining three sides 111i, 112i, and 113i in this order when viewed from above. Therefore, as shown in FIG. 13, when the area division necessity determination unit 31 determines that there is a recess 110i composed of three sides 111i to 113i (S11), the longer side of the opposing sides 111i and 113i of the recess 110i is determined. The length is calculated by using the side 111i of (1) as a determination target side (S12).
  • the area division necessity determination unit 31 determines that the area including the side 111i needs to be divided (S13), The movement permitted area 100i is divided into two areas 1001i and 1002i by the dividing line (121i) (S14).
  • step S15 it is judged whether or not there is a recess in the area after division (S15).
  • the process returns to step S12.
  • the area division necessity determination unit 31 determines that the area after division needs to be further divided (S13), and the area 1001i is further divided into two areas 1003i and 1004i by the division line 122i. Divide (S14).
  • Dividing lines 121i, 122i are defined from both ends of the bottom edge 113i of the recess 110i toward the left and right edges 101i, 102i of the movement permitted area 100i.
  • the division lines 121i, 122i are sides that form the end sides of the smaller area after division, and are determined to be parallel to the opposite end sides 103i, 104i. According to this configuration, when the drone 100 flies back and forth in the divided area, it is possible to fly more comprehensively within the area.
  • the area division necessity determination unit 31 may be configured to determine whether or not the target area is divided instead of the movement permission area.
  • the shaping area generation unit 32 is a functional unit that generates a shaping area for each of one or a plurality of areas generated by the area division necessity determination unit 31.
  • the shaping area generation unit 32 generates, as the shaping area 81i, the convex polygon having the largest area inside the movement permission area 80i.
  • a convex polygon is a polygon whose interior angles are all less than 180 °.
  • the shaping area generating unit 32 has an outer peripheral area generating unit 321 and an inner area generating unit 322.
  • the outer peripheral area generation unit 321 sets the annular area having the effective width of the drone 100, which is the outer edge of the shaping area 81i, as the outer peripheral area 811i.
  • the inner area generation unit 322 sets the inner side of the outer peripheral area 811i as the inner area 812i.
  • the variant area generation unit 33 is a functional unit that generates a variant area for each of the one or more areas generated by the area division necessity determination unit 31.
  • the odd-shaped areas 82i and 83i are areas each having a smaller area than the shaping area 81i, and cannot define the outer peripheral area and the inner area. More specifically, in the odd-shaped areas 82i and 83i, the length of the shortest side of the area is less than three times the effective width of the drone 100 minus the allowable overlap width. In the example of FIG. 11, two variant areas 82i and 83i are defined.
  • the route generation target area determination unit 34 is a functional unit that determines whether or not each of the areas 811i, 812i, 82i, and 83i to be created is a route generation area, and determines the route generation target area. is there. This is because the shaping area 81i and the odd-shaped areas 82i and 83i may not be able to be driven due to their shapes.
  • the route generation target area determination unit 34 determines whether or not the route generation is possible based on a predetermined value determined based on the driving performance of the drone 100.
  • the driving performance of the drone 100 includes an approach distance required for the drone 100 to reach uniform speed operation and a stopping distance required for the drone 100 to stop. In addition, the driving performance of the drone 100 includes an effective width in drug spraying and monitoring.
  • the route generation target area determination unit 34 determines the outer periphery. It is decided not to generate a route in the area 811i. For example, when the long side of the outer peripheral area 811i is less than the sum of the approach distance and the stop distance, it is determined that the route is not generated. Further, when the shortest side of the outer peripheral area 811i is less than the predetermined value determined based on the effective width of the drone 100, the route is not generated. More specifically, when the shortest side of the outer peripheral area 811i is less than the effective width of the drone 100, the route is not generated. This is because a route that goes around the outer peripheral area 811i cannot be generated when the value is less than the predetermined value.
  • the route generation target area determination unit 34 determines that the long side of the inner area 812i is less than a predetermined value determined based on the approach distance required for the drone 100 to reach uniform speed operation and the stop distance required for stopping. , Decide not to generate a route. For example, when the long side of the inner area 812i is less than the sum of the approach distance and the stop distance, it is determined that the route is not generated. When the shortest side of the inner area 812i is less than the predetermined value determined based on the effective width of the drone 100, it is determined that the route is not generated. More specifically, when the shortest side of the inner area 812i is less than twice the effective width of the drone 100 minus the allowable overlap value, no route is generated.
  • the route generation target area determination unit 34 determines whether or not the drone 100 can be driven for each of the irregular areas 82i and 83i to be created.
  • the route pattern for the odd-shaped areas 82i and 83i is a route that flies to one side in the long-side direction or a route that makes one round trip. Therefore, when the shortest side of the variant areas 82i, 83i is less than the predetermined value determined based on the effective width of drone 100, route generation target area determination unit 34 does not allow drone 100 to drive in the variant area. Make a decision. More specifically, when the shortest sides of the irregular areas 82i and 83i are less than the overlap tolerance, it is determined that the operation is not performed.
  • the overlap tolerance may be 10% of the effective width of the drone 100, for example.
  • the drone 100 does not drive.
  • Make a decision For example, when the long sides of the irregular areas 82i and 83i are less than the sum of the approach distance and the stop distance, the driving is not performed.
  • the area planning unit 30 may send information on the area to be defined to the operation unit 401 and display it on the operation unit 401. Further, if there is an area in which driving is not possible, a warning may be displayed to that effect.
  • the outer peripheral area 811i, the inner area 812i, and the irregular area 83i are operable areas, and the irregular area 82i is an inoperable area.
  • the target area information acquisition unit 10 acquires coordinate information about the field (S21). Further, the target area information acquisition unit 10 acquires coordinate information regarding the obstacle (S22). Note that steps S21 to S22 may be performed in any order and may be performed simultaneously.
  • the movement permission area generation unit 20 generates the movement permission area based on the coordinate information on the farm field and the obstacle (S23).
  • the area division necessity determination unit 31 determines whether or not the movement permission area needs to be divided based on the shape and size of the movement permission area (S24). If division is necessary, the area division necessity determination unit 31 divides the movement permitted area into a plurality of areas (S25).
  • the shaping area generation unit 32 generates a shaping area in each of the movement permission area or the plurality of areas divided by the area division necessity determination unit 31, and further generates an outer peripheral area and an inside area in each shaping area (S26). ).
  • the variant area generation unit 33 sets the areas other than the shaping area in the movement permitted area as variant areas (S27).
  • the route generation target area determination unit 34 determines whether or not the drone 100 can be operated for each of the specified areas (S28). When it is determined that the drone 100 cannot be driven, the route generation target area determination unit 34 removes the area from the movement permitted area (S29). Finally, the route generation target area determination unit 34 determines a drivable area as the route generation target area (S30).
  • the route generation unit 40 shown in FIG. 9 is a functional unit that generates a driving route in the route generation target area based on the route pattern.
  • the route generation unit 40 includes a main scanning route generation unit 41, an outer peripheral route generation unit 42, a variant area route generation unit 43, and a route connection unit 44.
  • the main scanning path generation unit 41 is a functional unit that generates the main scanning path 812r.
  • the main scanning path 812r is a path that reciprocates and scans the inner area 812i.
  • the main scanning path 812r is continuously generated along the direction of the longest long side 813i among the sides of the inner area 812i, and the short side 814i and the short side 814i which are the shorter sides of the sides adjacent to the long side. Is generated to make a turn along a path along side 815i opposite to.
  • the forward path and the backward path in the main scanning route 812r are generated in the inner area 812i, and the folding area of the main scanning route 812r is generated in the outer peripheral area 811i.
  • the main scanning path 812r is an example of the second flight path.
  • the direction along the long side 813i in which the paths are continuously generated in the main scanning path 812r is also referred to as the main scanning direction, and the direction along the short side 814i is also referred to as the sub scanning direction.
  • the angle formed by the main direction and the sub-scanning direction is not limited to being orthogonal, but can be generated at various angles.
  • the driving route along the long side 813i direction may or may not be parallel to the long side 813i.
  • each of the driving routes along the long side 813i direction may or may not be parallel to each other. That is, in the description, the direction along the long side 813i is generally referred to as the main scanning direction, but the main scanning direction does not indicate only a specific direction, but is a concept having a certain range of less than 90 degrees. .
  • the outer peripheral route generation unit 42 is a functional unit that generates the circulating driving route 811r in the outer peripheral area 811i.
  • the orbiting operation route 811r is a route that makes one turn around the outer peripheral area 811i.
  • the orbiting driving route 811r is a counterclockwise direction in the present embodiment, but may be a clockwise direction.
  • the sub-scanning routes 814r and 815r are generated as the circulating paths that circulate the inner circumference of the field.
  • the sub-scanning paths 814r and 815r are operation paths that are continuously generated along at least a pair of end sides 814i and 815i facing each other.
  • the sub-scanning routes 814r and 815r are driving routes that fly in a direction different from the reciprocating direction of the main scanning route 812r, that is, in the sub-scanning direction, in the turn-back region of the main scanning route 812r that is folded back from the forward route.
  • the sub-scanning routes 814r and 815r are examples of the first flight route.
  • FIG. 17 shows the basic concept of the shooting mode according to the embodiment of the field shooting drone according to the present invention. It should be noted that this figure is a conceptual diagram and the scale is not accurate.
  • the air flow 601 by the rotor blades 101 flows backward in the traveling direction of the airframe.
  • the air flow from the rotor blades 101 has the effect of temporarily striking down the crops in the field.
  • the field shooting camera 512 may be installed at a position where shooting can be performed in this direction.
  • the drone moves at a very low speed to shoot the root and side of the leaf, or the procedure to shoot in the hovering state. Becomes necessary, and it becomes impossible to perform efficient shooting.
  • Fig. 17 (a) shows the stock shooting mode. Behind the advancing direction of the drone 100, the plant base part of the crop 602 caused by the downdraft and the region 604 where the side surface of the leaf is exposed to the sky are selectively photographed by the field photographing camera 512, or It is possible to acquire an image of the plant base of the crop and the side surface of the leaf by photographing a region wider than the region and extracting the region 604 obtained by image processing.
  • the image of the region 604 in which the side surface of the leaf is exposed to the sky has a great difference in lightness and saturation as compared with the other regions, and therefore extraction by image processing is easy.
  • the thickness and hardness of the leaves can be estimated from the curved shape of the leaves of the crop when exposed to the wind.
  • Figure 17 (b) shows the tip shooting mode.
  • the basic idea is the same as in the stock shooting mode, but by increasing the altitude of the drone 100 more than in the stock shooting mode and weakening the influence of the downdraft 601 toward the crop 602, the tip of the crop 602 is reduced. It is possible to create a region 605 whose portion is exposed to the sky, and it is possible to effectively acquire an image of only the tip portion, as in the stock image capturing mode.
  • Figure 17 (c) shows the normal movement mode. Since the normal movement mode is higher than the tip shooting mode, the effect of defeating the crop 602 is small. If you do not shoot the roots and tips, it is desirable to fly the drone 100 in normal movement mode to minimize lodging and damage to the rice ears due to downdrafts. In addition, it is desirable that the movement when suspending / restarting the flight due to replacement of the dead battery during shooting is similarly set to the normal movement mode. In this case, the program installed in the flight controller 501 can automatically switch to the normal movement mode and return to the stock-source shooting mode or the tip shooting mode.
  • Switching between stock-source shooting mode, tip shooting mode, and normal movement mode is performed by controlling the altitude of the drone 100, for example.
  • the height in the stock shooting mode is about 0.9 m from the ground, or 0.1 m from the tip
  • the altitude in the tip shooting mode is 1.1 m to 2.0 m from the ground, or 0.3 m to 1.2 m from the tip, usually
  • Experiments conducted by the inventor have revealed that the drone 100 should be controlled so that the altitude in the moving mode is 2 meters to 2.5 meters, or 1.2 meters to 1.7 meters from the tips.
  • This altitude control is automatically performed by a program installed in the flight controller 501.
  • the drone 100 shoots the stock source and the tip by generating a descending air flow 601 toward the crop 602 with the rotor blades 101. Therefore, in the region where the drone 100 turns the nose, the descending air flow 601 is generated in a radial arc shape centering on the drone 100 toward the rear in the traveling direction. Then, the crops in the area to be photographed are not destroyed as intended, and it is difficult to properly photograph. Therefore, in the turn-back area of the main scanning route 812r, sub-scanning routes 814r and 815r for performing constant-velocity linear flight are generated separately from the main scanning route 812r.
  • the field shooting camera 512 shoots the crop in the turn-back area when flying along the sub-scanning paths 814r and 815r.
  • the crop that is swept down by the downdraft 601 returns to a substantially upright state when the influence of the downdraft 601 disappears.
  • the intention is that You can lay down the crops on the street and obtain an image that allows you to grasp the growth situation.
  • the drug control unit 1002 stops the drug spray in the turn-back area when flying on the main scanning route 812r, and sprays the drug only on the outward and return routes. Further, the medicine control unit 1002 sprays the medicine in the turn-back area when flying on the sub-scanning paths 814r and 815r. If spraying is performed in the turn-back area during flight of the main scanning path 812r, it will overlap with spraying in the sub-scanning paths 814r and 815r, and the amount of chemical spray will be excessive.
  • the flight speed is not constant or very low because the vehicle makes turns such as acceleration / deceleration and yaw rotation in the turn-back area, and therefore the spraying is performed at a uniform and intended concentration. Is difficult.
  • the drug can be sprayed while flying at a constant speed, so that the drug can be uniformly sprayed at a predetermined concentration in the folding region. it can.
  • the sub-scanning paths 814r and 815r may be in the same direction or in opposite directions. Further, the sub-scanning paths 814r and 815r may be in the same direction as the direction in which the main scanning path 812r flies when returning from the outward path to the return path, or may be in the opposite direction.
  • the sub-scanning paths 814r and 815r may be generated as the orbiting operation path 811r that goes around the inner circumference of the shaping area 81i.
  • the variant area route generation unit 43 is a functional unit that generates the variant area driving route 83r in the variant area 83i.
  • the variant area driving route 83r is a route that flies to one side in the long side direction of the variant area 83i or a route that makes one round trip.
  • the route connecting unit 44 is a functional unit that connects the orbiting operation route 811r, the main scanning route 812r, and the variant area operation route 83r. According to this configuration, even when the route is divided into a plurality of areas and the route is generated, it is possible to minimize the overlapping of the routes and generate an efficient driving route.
  • the crop is knocked down by the downdraft generated by the rotor blades 101 of the drone 100, so that the crop root and the tip of the crop are At least one of them is exposed, and the altitude and speed that can be photographed by the field photographing camera 512 are specified. According to this configuration, it is possible to comprehensively capture the crops in the movement permitted area 80i and monitor the growth status.
  • the altitude and speed at which the medicine can reach are specified for all of the orbiting operation route 811r, the main scanning route 812r, and the irregular area operation route 83r.
  • the target to which the medicine reaches may be the plant origin or the tip of the crop, or the soil. According to this configuration, it is possible to spray the drug comprehensively on the movement permitted area 80i.
  • the outer peripheral route generation unit 42 generates an orbital driving route 811r that orbits the outer peripheral area 811i (S41).
  • the main scanning path generation unit 41 mainly generates the main scanning path 812r that reciprocates in the inner area 812i (S42).
  • the variant area route generation unit 43 generates a variant area driving route 83r that flies in one direction in the variant area 83i or makes one round trip (S43). Note that steps S41 to S43 are in no particular order and may be performed simultaneously.
  • the route connecting unit 44 connects the revolving operation route 811r, the main scanning route 812r, and the irregular area operation route 83r (S44).
  • the inner area can also be generated as a convex polygon similar to the outer periphery of the shaping area. Therefore, the reciprocating operation can be performed by minimizing the overlapping routes. Therefore, the target area can be comprehensively driven in a short time. In other words, it is possible to generate an efficient driving route in terms of working time, drone battery consumption, and drug consumption. Further, in the drug spraying drone, the risk of spraying the drug in duplicate is reduced, and high safety can be maintained.
  • the route generation unit 40 shown in FIG. 9 may be able to generate a plurality of types of driving routes in the route generation target area.
  • the route selection unit 50 can select which driving route to determine. The user may visually determine the driving routes to determine the driving routes.
  • the route selection unit 50 may be capable of inputting priority information by the user. For example, the user inputs into the operation device 401 which of the working time, the battery consumption of the drone 100, and the medicine consumption is to be given the highest priority. In addition, the operation unit 401 may be able to input the second priority index together. The route selection unit 50 selects the driving route that most closely matches the input priority order from the plurality of driving routes. With this configuration, it is possible to efficiently generate a route in accordance with the policy of the user.
  • an agricultural drone for the purpose of drug spraying or growth monitoring has been described as an example, but the technical idea of the present invention is not limited to this, and is applied to all machines that operate autonomously. It is possible. It can be applied to drones other than agricultural ones that fly autonomously. It can also be applied to a machine that operates autonomously and runs on the ground.

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

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de génération d'itinéraire d'exploitation qui génère des itinéraires d'exploitation qui amènent un drone à effectuer un travail prescrit comme prévu et qui produisent les résultats du travail dans la totalité d'un champ, même lorsque le drone est exploité de manière autonome. À cet effet, l'invention concerne un dispositif de génération d'itinéraire d'exploitation 1 qui : génère un itinéraire d'exploitation pour un drone 100 qui est de survoler un terrain 80 ; et comprend une partie de génération d'itinéraire 40 qui génère au moins un itinéraire de balayage principal 812r pour amener le drone à balayer le champ en se déplaçant en va-et-vient au-dessus du terrain tout en se déplaçant également de manière séquentielle dans une direction qui est différente de la direction de mouvement de va-et-vient et des itinéraires de balayage auxiliaires 814r, 815r pour amener le drone à continuer à balayer dans la direction qui est différente de la direction de mouvement de va-et-vient de l'itinéraire de balayage principal dans des zones de retournement de l'itinéraire de balayage principal dans lequel le drone bascule depuis depuis des itinéraires vers l'extérieur vers des itinéraires de retour.
PCT/JP2019/041133 2018-10-23 2019-10-18 Dispositif de génération d'itinéraire d'exploitation, procédé de génération d'itinéraire d'exploitation, programme de génération d'itinéraire d'exploitation, et drone WO2020085239A1 (fr)

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CN201980069757.7A CN112911932B (zh) 2018-10-23 2019-10-18 行驶路径生成装置、行驶路径生成方法和计算机可读取记录介质以及无人机
JP2020505300A JP6982908B2 (ja) 2018-10-23 2019-10-18 運転経路生成装置、運転経路生成方法、および運転経路生成プログラム、ならびにドローン

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JP2018154185A (ja) * 2017-03-16 2018-10-04 ヤンマー株式会社 情報収集用無人飛行装置

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CN111903648A (zh) * 2020-08-13 2020-11-10 姜玉成 一种转弯可自动控量的植保无人机及其使用方法
US20230222809A1 (en) * 2022-01-12 2023-07-13 Mazen A. Al-Sinan Autonomous low-altitude uav detection system
CN118032063A (zh) * 2024-04-12 2024-05-14 中国电建集团江西省水电工程局有限公司 基于无人机倾斜摄影的风电设备运输地形测量***及方法

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