Drone system, drone, method for controlling drone system, and drone system control program

Abstract

[Problem] Provided is a drone system which uses a plurality of drones and performs work by operating drones using automated flight in accordance with flight paths assigned to each drone for respective work areas, wherein work is made efficient and working times are reduced. [Solution] A drone system of the present invention which has: a plurality of drones 100a, 100b, and 100c; at least one takeoff and landing port 406 from and onto which the plurality of drones can take off and land, either individually or two or more simultaneously; and a flight control unit which carries out flight control for each drone in accordance with flight paths assigned to the respective drones, the drone system carrying out work inside a prescribed area by sharing said work among the plurality of drones, wherein: the plurality of drones each carry at least one decreasing factor consumed during operation; and, when the at least one drone 100c returns to the takeoff and landing port under conditions requiring return to the takeoff and landing port for replenishing and refreshing said factor, a time tA required by the drone to take off again after replenishing and refreshing the decreasing factor and a time tB required for all work remaining at that moment to be allocated to and carried out by the drones which have not returned are calculated and compared, and if, as a result, it is determined that tA > tB and that the factor of the drones which have not returned is sufficient for the drones which have not returned to handle all the remaining work, then all the remaining work is allocated and redistributed to the drones which have not returned and the flight path of each of the drones is modified.

Description

technical field [0001] The present invention relates to an unmanned aerial vehicle system, an unmanned aerial vehicle, a control method of the unmanned aerial vehicle system and a control program of the unmanned aerial vehicle system. Background technique [0002] The application of small helicopters (multi-rotor helicopters) commonly referred to as unmanned aerial vehicles is advancing. As one of the important application fields thereof, the spreading of chemicals such as agricultural chemicals and liquid fertilizers on farmland (farm) can be mentioned (for example, Patent Document 1). In relatively small farmland, there are more situations where drones are suitable rather than manned planes or helicopters. [0003] Through technologies such as the quasi-zenith satellite system or RTK-GPS (Real Time Kinematic-Global Positioning System), the UAV can accurately know the absolute position of the aircraft in centimeter units during flight. As a result, in Japan, even in In a ...

AI Technical Summary

Problems solved by technology

In addition, in the case of rechargeable drones, the amount of battery consumption cannot be accurately predicted due to the influence of temperature or wind, so the flight time can fluctuate to some extent. Necessity to return to port of departure

For this reason, even if the work is equally distributed among multiple drones in advance, the progress of the work of each drone will differ. As a result, the operation of the slowest drone becomes the speed limit. , thus hoping to improve

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