Information processing device, method, and non-transitory computer-readable medium

Abstract

The present invention provides an information processing device, method, and non-transitory computer-readable medium for improving technologies related to pest control on farms using unmanned aerial vehicles. The information processing device (30) includes a control unit (33), wherein the control unit (33) predicts the dispersion range of a pesticide sprayed on a farm by a first unmanned aerial vehicle (10). If the control unit (33) determines that the pesticide will disperse around the farm based on the dispersion range, the control unit (33) controls the three-dimensional position or movement path of the second unmanned aerial vehicle (20) in such a way that the downwash of the second unmanned aerial vehicle (20) prevents the pesticide from dispersing around the farm.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, method, and non-transitory computer-readable medium. Background Art

[0002] Technologies related to farmland control using unmanned aerial vehicles (UAVs) such as drones are known. For example, Patent Document 1 discloses a technology related to a drone system that controls the flight altitude of a drone on a farm's edge routes so that it is lower than that on a central route.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2021 / 140657 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] Previous technologies controlled the unmanned aerial vehicles themselves that spread pesticides from the air, and were unable to sufficiently reduce the risk of adverse effects from the sprayed pesticides flying outside the farm (so-called drift) spreading to the surrounding areas of the farm, so there is room for improvement.

[0008] The present disclosure has been made in view of the above circumstances and aims to improve technology related to farmland control using unmanned aerial vehicles.

[0009] Means for solving problems

[0010] An information processing device according to one embodiment of the present disclosure includes a control unit, wherein the control unit predicts the dispersion range of a pesticide sprayed on a farm by a first unmanned aerial vehicle, and when it is determined based on the dispersion range that the pesticide will disperse to the periphery of the farm, the control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle in such a manner as to prevent the pesticide from dispersing to the periphery of the farm through the downwash of the second unmanned aerial vehicle.

[0011] A method according to one embodiment of the present disclosure is a method for execution by an information processing device, comprising the following steps: predicting the dispersion range of a pesticide sprayed onto a farm by a first unmanned aerial vehicle; and controlling the three-dimensional position or movement path of the second unmanned aerial vehicle by using a downwash flow of the second unmanned aerial vehicle to prevent the pesticide from being dispersed toward the periphery of the farm when it is determined based on the dispersion range that the pesticide will be dispersed toward the periphery of the farm.

[0012] A non-transitory computer-readable medium of one embodiment of the present disclosure stores a program that causes an information processing device to perform actions, the actions including: predicting the dispersion range of a pesticide sprayed onto a farm by a first unmanned aerial vehicle; and controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that prevents the pesticide from being dispersed to the periphery of the farm by using a downwash flow of the second unmanned aerial vehicle when it is determined that the pesticide will be dispersed to the periphery of the farm based on the dispersion range.

[0013] Effects of the Invention

[0014] According to one embodiment of the present disclosure, technology related to farm control using unmanned aerial vehicles is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a block diagram showing a schematic configuration of a system according to one embodiment of the present disclosure.

[0016] Figure 2 This is a block diagram showing a schematic configuration of a first unmanned aerial vehicle.

[0017] Figure 3 This is a block diagram showing a schematic structure of a second unmanned aerial vehicle.

[0018] Figure 4 This is a block diagram showing a schematic configuration of an information processing device.

[0019] Figure 5 This is a flowchart showing the operation of the information processing device.

[0020] Figure 6 This is a flowchart showing a specific example of the processing procedure for scattering range prediction.

[0021] Figure 7 1 is a diagram showing an example of arrangement of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the present embodiment, as viewed from the Z-axis direction.

[0022] Figure 8 1 is a diagram showing an example of arrangement of the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the present embodiment, as viewed from the X-axis direction.

[0023] Figure 9 This is a diagram showing an example of the arrangement of a first unmanned aerial vehicle group and a second unmanned aerial vehicle group according to a modified example of the present embodiment, as viewed from the Z-axis direction. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present disclosure will be described.

[0025] <Overview of Embodiment>

[0026] Reference Figure 1 The following describes an overview of a system 1 according to an embodiment of the present disclosure. The system 1 includes a first unmanned aerial vehicle 10, a second unmanned aerial vehicle 20, and an information processing device 30. The first unmanned aerial vehicle 10, the second unmanned aerial vehicle 20, and the information processing device 30 are communicatively connected to a network 40, such as the Internet or a mobile communication network.

[0027] The first unmanned aerial vehicle 10 is any aircraft that is not operated by a human. For example, an aircraft such as a drone or a multi-rotor helicopter can be used as the first unmanned aerial vehicle 10. The first unmanned aerial vehicle 10 can travel or remain stationary (e.g., hover) along a predetermined movement path over the farm or its surrounding area by autonomous flight or by cooperating with at least one of the second unmanned aerial vehicle 20 and the information processing device 30. Furthermore, the first unmanned aerial vehicle 10 can also be manually operated by the user of the first unmanned aerial vehicle 10 (e.g., a farm worker) along at least a portion of the movement path. In this embodiment, the first unmanned aerial vehicle 10 is used for pest control operations on the farm. Pest control operations on the farm are carried out by aerially spraying (hereinafter referred to as "spreading") pesticides from the first unmanned aerial vehicle 10 to the spraying area on the farm. However, the first unmanned aerial vehicle 10 is not limited to pest control operations and can also be used for any operation such as fertilizer spreading or sowing. The number of first unmanned aerial vehicles 10 included in the system 1 is one in this embodiment, but this is not limited to this and can be determined arbitrarily.

[0028] The second unmanned aerial vehicle 20 is any aircraft that is not ridden by humans. For example, aircraft such as drones or multi-rotor helicopters can be used as the second unmanned aerial vehicle 20. The second unmanned aerial vehicle 20 can move or remain stationary (e.g., hover) along a predetermined movement path over the farm or over the periphery of the farm by autonomous flight or by cooperating with at least one of the first unmanned aerial vehicle 10 and the information processing device 30. In addition, the second unmanned aerial vehicle 20 can also be manually operated by the user of the second unmanned aerial vehicle 20 (e.g., a farm worker) on at least a portion of the movement path. In this case, the user of the second unmanned aerial vehicle 20 may be the same as or different from the user of the first unmanned aerial vehicle 10. In this embodiment, the second unmanned aerial vehicle 20 is used to prevent the pesticide spread by the first unmanned aerial vehicle 10 from flying outside the farm. The role of the first unmanned aerial vehicle 10 is to control the farm itself. In contrast, the role of the second unmanned aerial vehicle 20 is to protect the surrounding areas of the farm (such as other farms, residential areas or public facilities, etc.) from the adverse effects caused by the pesticides sprayed to the farm by the first unmanned aerial vehicle 10 flying outside the farm (hereinafter also referred to as "drift"). Hereinafter, the areas in the surrounding areas of the farm where the pesticides should be prevented from flying (i.e., the areas that should be protected by the second unmanned aerial vehicle 20) are referred to as "protection areas", and the remaining areas are referred to as "non-protection areas". The number of second unmanned aerial vehicles 20 possessed by the system 1 is one in this embodiment, but it is not limited to this and can be determined arbitrarily.

[0029] The information processing device 30 is, for example, a computer such as a server device, and can communicate with the first unmanned aerial vehicle 10 and the second unmanned aerial vehicle 20 via the network 40 .

[0030] First, an overview of this embodiment will be described, with details provided later. The information processing device 30 predicts the dispersion range of a pesticide sprayed on a farm by a first unmanned aerial vehicle 10. If the information processing device 30 determines, based on the dispersion range, that the pesticide is dispersing around the farm, the second unmanned aerial vehicle 20's downwash is controlled to prevent the pesticide from dispersing around the farm.

[0031] Thus, according to this embodiment, the second unmanned aerial vehicle 20 is arranged at a three-dimensional position or on a moving path that prevents the pesticide from flying around the farm. By utilizing the downwash of the second unmanned aerial vehicle 20 arranged in this way, it is easy to reduce the risk of the pesticide sprayed on the farm by the first unmanned aerial vehicle 10 flying around the farm. In addition, the first unmanned aerial vehicle 10 that is performing the control operation is less likely to have interruptions in the spraying of the pesticide due to the presence of the second unmanned aerial vehicle 20, and it is easy to focus on the control operation. Therefore, the technology related to the control of the farm using unmanned aerial vehicles is improved in terms of reducing the risk of the adverse effects caused by drift spreading to the surrounding areas of the farm and easily improving the efficiency of the control operation on the farm.

[0032] Next, each component of the system 1 will be described in detail.

[0033] <Structure of the First Unmanned Aerial Vehicle>

[0034] like Figure 2 As shown, the first unmanned aerial vehicle 10 includes a communication unit 11 , a positioning unit 12 , an imaging unit 13 , a detection unit 14 , a storage unit 15 , a control unit 16 , a driving mechanism 17 , and a drug spreading mechanism 18 .

[0035] The communication unit 11 includes one or more communication interfaces connected to the network 40. These communication interfaces correspond to mobile communication standards such as 4G (fourth generation) or 5G (fifth generation), but are not limited to these. For example, an interface corresponding to a short-range wireless communication standard such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) may also be included. In this embodiment, the first unmanned aerial vehicle 10 communicates with the second unmanned aerial vehicle 20 and the information processing device 30 via the communication unit 11 and the network 40. Furthermore, the first unmanned aerial vehicle 10 can communicate directly with the second unmanned aerial vehicle 20 via the communication unit 11 and short-range wireless communication.

[0036] The positioning unit 12 includes one or more devices for obtaining position information of the first unmanned aerial vehicle 10. Specifically, the positioning unit 12 includes a receiver corresponding to, for example, the GPS (Global Positioning System), but is not limited thereto and may also include a receiver corresponding to any satellite positioning system. The first unmanned aerial vehicle 10 can use the positioning unit 12 to obtain its own position information (hereinafter also referred to as "first position information"). The first position information can include absolute position information such as three-dimensional coordinate data including the latitude, longitude, and altitude of the first unmanned aerial vehicle 10, relative position information indicating the positional relationship between the first unmanned aerial vehicle 10 and the second unmanned aerial vehicle 20 using distance or azimuth, or both.

[0037] The imaging unit 13 includes one or more cameras. Each camera included in the imaging unit 13 is a so-called digital camera having an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging unit 13 captures an object at a predetermined frame rate and outputs image data of the captured image obtained by the capture. The image data obtained by the imaging unit 13 can constitute a dynamic image as a frame image. In an embodiment, the imaging unit 13 can capture images of the surroundings of the first unmanned aerial vehicle 10. In addition, the imaging unit 13 is also used to detect obstacles existing around the first unmanned aerial vehicle 10. For example, a camera with a constant field of view or an omnidirectional camera can be used as the imaging unit 13.

[0038] The detection unit 14 includes various sensors, such as a gyro sensor, a geomagnetic sensor, an acceleration sensor, an angular velocity sensor, a ground altitude sensor, a wind direction and speed sensor, an air pressure sensor, and a drug sensor. In this embodiment, the first unmanned aerial vehicle 10 can use the detection unit 14 to obtain information indicating its orientation, its inclination, its altitude, the direction and speed of the surrounding wind, the surrounding air pressure, and the presence or absence of drug adhering to the first unmanned aerial vehicle (hereinafter referred to as "first detection information").

[0039] The storage unit 15 includes one or more memories. The memories may be, but are not limited to, semiconductor memories, magnetic memories, or optical memories. Each memory included in the storage unit 15 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 15 stores arbitrary information used in the operation of the first unmanned aerial vehicle 10. For example, the storage unit 15 may store system programs, application programs, embedded software, map information, and the like. The information stored in the storage unit 15 may also be updated using information obtained from the network 40 via the communication unit 11, for example.

[0040] The control unit 16 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. Processors may be general-purpose processors such as CPUs (Central Processing Units) or GPUs (Graphics Processing Units), or dedicated processors specifically designed for specific processing, but are not limited to these. Programmable circuits may be, for example, FPGAs (Field-Programmable Gate Arrays), but are not limited to these. Dedicated circuits may be, for example, ASICs (Application Specific Integrated Circuits), but are not limited to these. The control unit 16 controls the overall operation of the first unmanned aerial vehicle 10.

[0041] In this embodiment, the control unit 16 receives a pest control operation plan from the information processing device 30 via the communication unit 11 and the network 40. The "pest control operation plan" is information that details the pest control operation, including the location information of the farm being controlled, the pesticide application area, the start time of the operation, the movement path of the first unmanned aerial vehicle 10, and related location information. In this embodiment, the farm location information includes two-dimensional coordinate data containing latitude and longitude, but it can also include three-dimensional coordinate data containing altitude in addition to latitude and longitude. However, the pest control operation plan is not limited to these examples and can include any data. The control unit 16 can also store the received pest control operation plan in the storage unit 15. The control unit 16 moves the first unmanned aerial vehicle 10 according to the movement path indicated in the pest control operation plan. The control unit 16 controls the drive mechanism 17, which will be described later, to autonomously maintain the flight status of the first unmanned aerial vehicle 10. For example, the control unit 16 maintains the distance from the ground at a predetermined distance. If the first unmanned aerial vehicle 10 deviates from its stationary position or path due to external factors such as wind, the control unit 16 controls the drive mechanism 17 to return it to its path. Furthermore, if an unexpected obstacle is detected, the control unit 16 can control the drive mechanism 17 to avoid the obstacle. In this embodiment, the control unit 16 can implement at least a portion of the control of the drive mechanism 17 based on instructions from the information processing device 30.

[0042] The driving mechanism 17 is a mechanism for moving the first unmanned aerial vehicle 10, and includes a plurality of rotating blades and a driving device for each rotating blade. The number of rotating blades is four in the present embodiment, but is not limited thereto, and may also be, for example, 6 or 8. As an example, a plurality of rotating blades are arranged radially from the center of the fuselage of the first unmanned aerial vehicle 10 in a horizontal plane. The driving mechanism 17 adjusts the rotation speed of each rotating blade under the control of the control unit 16, thereby enabling the first unmanned aerial vehicle 10 to perform various actions such as stationary, ascending, descending, moving forward, moving backward, and turning. The first unmanned aerial vehicle 10 is configured to form a downwash (hereinafter also referred to as the "first downwash") by the rotation of the rotating blades of the driving mechanism 17. For example, the first unmanned aerial vehicle 10 can be configured to form Figure 8 The vertically downward (here, downward in the Z direction) air flow shown is the first downwash flow W1 . In this embodiment, the control of the drive mechanism 17 can be performed by the control unit 16 alone or in accordance with instructions from the information processing device 30 .

[0043] The pesticide spreading mechanism 18 includes a tank filled with pesticide and multiple nozzles for dispensing the pesticide. Each nozzle is positioned directly below its corresponding rotating blade, so that the first downwash generated by the rotating blades of the drive mechanism 17 blows the pesticide sprayed from the nozzle downward. In this way, the first unmanned aerial vehicle 10 utilizes the first downwash generated by the rotating blades of the drive mechanism 17 to blow the pesticide sprayed from the pesticide spreading mechanism 18 to the spreading area on the farm, thereby carrying out pest control operations.

[0044] <Structure of the Second Unmanned Aerial Vehicle>

[0045] like Figure 3 As shown, the second unmanned aerial vehicle 20 includes a communication unit 21 , a positioning unit 22 , an imaging unit 23 , a detection unit 24 , a storage unit 25 , a control unit 26 , and a driving mechanism 27 .

[0046] The communication unit 21 includes one or more communication interfaces connected to the network 40. These communication interfaces support mobile communication standards such as 4G or 5G, but are not limited to these. For example, an interface supporting a short-range wireless communication standard such as Bluetooth (registered trademark) or Wi-Fi (registered trademark) may also be included. In this embodiment, the second unmanned aerial vehicle 20 communicates with the first unmanned aerial vehicle 10 and the information processing device 30 via the communication unit 21 and the network 40. Furthermore, the second unmanned aerial vehicle 20 can communicate directly with the first unmanned aerial vehicle 10 via the communication unit 21 and short-range wireless communication.

[0047] The positioning unit 22 includes one or more devices for obtaining position information of the second unmanned aerial vehicle 20. Specifically, the positioning unit 22 includes a receiver compatible with, for example, GPS, but is not limited thereto and may also include a receiver compatible with any satellite positioning system. The second unmanned aerial vehicle 20 can use the positioning unit 22 to obtain its own position information (hereinafter also referred to as "second position information"). The second position information can include absolute position information such as three-dimensional coordinate data including the latitude, longitude, and altitude of the second unmanned aerial vehicle 20, relative position information indicating the positional relationship between the second unmanned aerial vehicle 20 and the first unmanned aerial vehicle 10 using distance or azimuth, or both.

[0048] The imaging unit 23 includes one or more cameras. Each camera included in the imaging unit 23 is a so-called digital camera having an imaging element such as a CCD or CMOS image sensor. The imaging unit 23 captures an image of a subject at a predetermined frame rate and outputs image data of the captured image obtained by the capture. The image data obtained by the imaging unit 23 can be used as a frame image to form a dynamic image. In an embodiment, the imaging unit 23 can capture images of the surroundings of the second unmanned aerial vehicle 20. In addition, the imaging unit 23 is also used to detect obstacles around the second unmanned aerial vehicle 20. For example, a camera with a constant field of view or an omnidirectional camera can be used as the imaging unit 23.

[0049] The detection unit 24 includes various sensors, such as a gyro sensor, a geomagnetic sensor, an acceleration sensor, an angular velocity sensor, a wind direction and speed sensor, an altitude sensor, an air pressure sensor, and a reagent sensor. In this embodiment, the second unmanned aerial vehicle 20 can use the detection unit 24 to obtain information indicating its orientation, its inclination, its altitude, the direction and speed of the surrounding wind, the surrounding air pressure, and the presence or absence of reagent adhering to the second unmanned aerial vehicle (hereinafter referred to as "second detection information").

[0050] The storage unit 25 includes one or more memories. The memories may be, but are not limited to, semiconductor memories, magnetic memories, or optical memories. Each memory included in the storage unit 25 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 25 stores arbitrary information used in the operation of the second unmanned aerial vehicle 20. For example, the storage unit 25 may store system programs, application programs, embedded software, map information, and the like. The information stored in the storage unit 25 may also be updated using information obtained from the network 40 via the communication unit 21, for example.

[0051] The control unit 26 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof. The processor may be, for example, a general-purpose processor such as a CPU or GPU, or a dedicated processor dedicated to a specific process, but is not limited to these. The programmable circuit may be, for example, an FPGA, but is not limited to these. The dedicated circuit may be, for example, an ASIC, but is not limited to these. The control unit 26 controls the overall operation of the second unmanned aerial vehicle 20.

[0052] In this embodiment, the control unit 26 receives a control operation plan from the information processing device 30 via the communication unit 21 and the network 40. The content of the control operation plan is identical to that received by the first unmanned aerial vehicle 10. That is, the second unmanned aerial vehicle 20 shares detailed control operation information with the first unmanned aerial vehicle 10. The control unit 26 may also store the received control operation plan in the storage unit 25. The control unit 26 controls the drive mechanism 27 (described below) to autonomously maintain the flight state of the second unmanned aerial vehicle 20. For example, the control unit 26 maintains a predetermined distance from the ground. If the position of the second unmanned aerial vehicle 20 deviates from its stationary position or path due to external factors such as wind, the control unit 26 controls the drive mechanism 27 (described below) to return it to its path. Furthermore, if an unexpected obstacle is detected, the control unit 26 may control the drive mechanism 27 to avoid the obstacle. In this embodiment, the control unit 26 can implement at least a portion of the control of the drive mechanism 27 in accordance with instructions from the information processing device 30.

[0053] The driving mechanism 27 is a mechanism for moving the second unmanned aerial vehicle 20, and includes a plurality of rotating blades and a driving device for each rotating blade. The number of rotating blades is four in the present embodiment, but is not limited thereto, and may be, for example, 6 or 8. As an example, a plurality of rotating blades are arranged radially from the center of the fuselage of the second unmanned aerial vehicle 20 in a horizontal plane. The driving mechanism 27 adjusts the rotation speed of each rotating blade under the control of the control unit 26, thereby enabling the second unmanned aerial vehicle 20 to perform various actions such as stationary, ascending, descending, moving forward, moving backward, and turning. The second unmanned aerial vehicle 20 is configured to form a downwash (hereinafter also referred to as "second downwash") by the rotation of the rotating blades of the driving mechanism 27. For example, the second unmanned aerial vehicle 20 can be configured to form Figure 8 The vertically downward (here, downward in the Z direction) air flow shown is the second downwash flow W2. In this embodiment, the control of the drive mechanism 27 can be performed by the control unit 26 alone or in accordance with instructions from the information processing device 30.

[0054] <Structure of Information Processing Device>

[0055] like Figure 4As shown, the information processing device 30 includes a communication unit 31 , a storage unit 32 , and a control unit 33 .

[0056] The communication unit 31 includes one or more communication interfaces connected to the network 40. These communication interfaces may comply with, for example, mobile communication standards, wired LAN (Local Area Network) standards, or wireless LAN standards, but are not limited to these and may comply with any communication standard. In this embodiment, the information processing device 30 communicates with the first unmanned aerial vehicle 10 and the second unmanned aerial vehicle 20 via the communication unit 31 and the network 40.

[0057] The storage unit 32 includes one or more memories. Each memory included in the storage unit 32 can function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores arbitrary information used in the operation of the information processing device 30. For example, the storage unit 32 may also store system programs, application programs, databases, map information, and information indicating weather conditions. In this embodiment, the storage unit 32 stores, as meteorological data, data indicating the wind direction, wind speed, air pressure, rainfall, and precipitation probability of the farm, representing the weather conditions of the farm where the first unmanned aerial vehicle 10 is performing pest control operations. In particular, the meteorological data includes meteorological data provided by the Japan Meteorological Agency or a meteorological station, but is not limited to this and may include meteorological data provided by any source in any region. Furthermore, the meteorological data may include not only current information but also historical information. The information stored in the storage unit 32 may also be updated using information obtained from the network 40, for example, via the communication unit 31.

[0058] The control unit 33 includes one or more processors, one or more programmable circuits, one or more dedicated circuits, or a combination thereof, and controls the overall operation of the information processing device 30 .

[0059] In this embodiment, the control unit 33 generates the aforementioned control operation plan and transmits it to the first UAV 10 and the second UAV 20 via the communication unit 31 and the network 40. This allows the first UAV 10 and the second UAV 20 to share a control operation plan. It should be noted that the first UAV 10 and the second UAV 20 may not share a control operation plan, but may each be instructed to operate its own flight plan.

[0060] Furthermore, the control unit 33 obtains and stores work environment information in the storage unit 32. "Work environment information" includes information about the farm where the first unmanned aerial vehicle 10 is performing pest control operations (hereinafter referred to as "farm information") and information about the surrounding areas of the farm (hereinafter referred to as "surrounding area information"). Farm information includes, for example, information indicating the farm's location, area, and agricultural products. Surrounding area information includes information indicating the location, area, distance to the farm (for example, the distance between boundaries), and the impact of pesticide dispersion (hereinafter referred to as "drift severity") of each area surrounding the farm. Drift severity can also be expressed, for example, as a score used as an evaluation criterion. The score can be a numerical value (for example, an integer between 0 and 100) or a level (for example, "low," "medium," or "high"). In this case, the score can be calculated based on the pest control work environment, such as the geographical conditions of each area (whether it is a residential area, a public facility, or a tap water source, etc.) or the farming conditions (whether it is a farm with crops with a close harvest period or a farm that practices organic farming, etc.). For example, the score can be calculated so that the more severe the impact of the drug scattering is (for example, the greater the adverse impact on humans or agricultural products), the higher the value.

[0061] Any method can be used to obtain the work environment information. For example, the information processing device 30 may include an internal or external database storing farm information and surrounding area information, and the control unit 33 may retrieve the necessary information from this database to obtain the work environment information. Alternatively, the control unit 33 may obtain the work environment information by receiving information indicating the location of the farm and surrounding area, etc., specified by the user of the first unmanned aerial vehicle 10.

[0062] <Operation Flow of Information Processing Device>

[0063] Reference Figure 5 , the operation of the information processing device 30 of this embodiment is described. Figure 5 The action is equivalent to the method of this embodiment. Figure 5 In this embodiment, the action is started at the operation start time shown in the prevention and control operation plan, but it is not limited to this. For example, Figure 5 The operation may also be started at an arbitrary time specified by the user of the first unmanned aerial vehicle 10 or the second unmanned aerial vehicle 20 .

[0064] Below, the movement path shown in the prevention and control work plan is set as Figure 7The three-dimensional positions P1, ..., P10 shown are described below. The first unmanned aerial vehicle 10 flies along the movement path while spraying the pesticide on the first and second spraying areas A1 and A2 of the farm F, thereby carrying out the pest control operation. Specifically, the first unmanned aerial vehicle 10 moves to the three-dimensional position P1 before the operation start time shown in the pest control operation plan. At the operation start time, the pesticide at the three-dimensional position P1 is sprayed by the first unmanned aerial vehicle 10, thereby starting the pest control operation on the farm F. The first unmanned aerial vehicle 10 sprays the pesticide on the entire first spraying area A1 while moving in the order of the three-dimensional positions P2, ..., P5 along the X direction. After the spraying of the pesticide at the three-dimensional position P5 is completed, the first unmanned aerial vehicle 10 turns in the Y direction and moves to the three-dimensional position P6, starting the pest control operation on the second spraying area A2. The first unmanned aerial vehicle 10 sprays the pesticide on the entire second spraying area A2 while moving in the order of the three-dimensional positions P6, ..., P10 along the X direction. The control work on the farm F is completed when the spraying of the pesticide at the three-dimensional position P10 is completed.

[0065] Furthermore, in the following description, a database that accumulates farm information of the farm F and surrounding area information of each area existing around the farm F is stored in the storage unit 32 of the information processing device 30 as working environment information. The drift severity contained in the surrounding area information is expressed as a score as described above, and the score is calculated so that the more severe the impact in the case of drug scattering, the higher the value. The control unit 33 sets the protection area based on the calculated score. The setting of the protection area can adopt any method. For example, the control unit 33 can extract an area with a score above a predetermined threshold from a plurality of areas existing around the farm F, and set it as a protection area by assigning a mark to the extracted area. Thus (here, according to the presence or absence of the mark), the areas existing around the farm F are classified into protection areas and non-protection areas. In Figure 7 In the example shown, a single area G adjacent to farm F in the Y direction (e.g., south) is set as a protection zone. However, the number of protection zones is not limited to this. For example, four areas in the east, south, west, and north of farm F can also be set as protection zones. Furthermore, the protection zones are not limited to areas adjacent to farm F; any adjacent area within a predetermined distance from the boundary of farm F can also be set as a protection zone.

[0066] Step S100: The control unit 33 of the information processing device 30 executes dispersion range prediction. Dispersion range prediction is a process for predicting the dispersion range of the agent sprayed from the agent dispersing mechanism 18 of the first unmanned aerial vehicle 10. The dispersion range determined by dispersion range prediction is hereinafter referred to as the "predicted dispersion range." Based on the predicted dispersion range, the control unit 33 can predict whether the agent will disperse into the protected area and, if so, where within the protected area the agent will disperse.

[0067] Specifically, the control unit 33 executes Figure 6 The following refers to the action shown in the following. Figure 6 A specific example of dispersion range prediction is described.

[0068] Step S200 : The control unit 33 of the information processing device 30 obtains work environment information.

[0069] Specifically, the control unit 33 acquires the working environment information by reading the working environment information from the database stored in the storage unit 32. As described above, the working environment information includes farm information of the farm F and surrounding area information of each area existing around the farm F.

[0070] Step S201: The control unit 33 obtains first position information.

[0071] Specifically, the control unit 33 repeatedly receives the position information of the first unmanned aerial vehicle 10 obtained by the positioning unit 12 of the first unmanned aerial vehicle 10 from the communication unit 11 of the first unmanned aerial vehicle 10 via the network 40 and the communication unit 31, thereby obtaining the first position information. This allows the control unit 33 to monitor the position information of the first unmanned aerial vehicle 10 while it is flying along the movement path.

[0072] Step S202: The control unit 33 obtains first detection information.

[0073] Specifically, the control unit 33 repeatedly receives information indicating the wind direction and wind speed around the first unmanned aerial vehicle 10, obtained by the detection unit 14, from the communication unit 11 of the first unmanned aerial vehicle 10 via the network 40 and the communication unit 31, thereby obtaining first detection information. This allows the control unit 33 to monitor the status of the first unmanned aerial vehicle 10 and the surrounding conditions of the first unmanned aerial vehicle 10.

[0074] Step S203: The control unit 33 calculates the scattering probability based on the information acquired in steps S200 to S202.

[0075] Specifically, the control unit 33 refers to the farm information (the location information and area of the farm F, etc.) and the surrounding area information (the location information, area and distance to the farm F of the protection area, etc.) included in the working environment information obtained in step S200. In addition, the control unit 33 refers to the state of the first unmanned aerial vehicle 10 (three-dimensional position, etc.) represented by the first position information obtained in step S201. In addition, the control unit 33 refers to the conditions around the first unmanned aerial vehicle 10 (wind direction and wind speed, etc.) represented by the first detection information obtained in step S202. Based on this information, the control unit 33 calculates the probability of the pesticide flying at each location in the farm F, the protection area and the non-protection area.

[0076] The scattering probability is data indicating where the medicine sprayed from the first unmanned aerial vehicle 10 floats or lands and to what extent during a predetermined period. The scattering probability can be associated with, for example, each position (such as a three-dimensional coordinate or a two-dimensional coordinate) and represented by a continuous value of 0 to 1 or 0% to 100%. The scattering probability can be calculated using any method, but it can also be calculated based on the positional relationship between the first unmanned aerial vehicle 10 and the protection area at each spraying moment and external factors such as wind. For example, at a certain moment, when the wind direction is such that the medicine is observed from the first unmanned aerial vehicle 10 to flow in a direction close to the boundary line of the protection area, the scattering probability can be calculated in such a way that the greater the wind speed, the wider the range of the protection area and the value is greater than 0. Figure 7 In the example shown, when the X direction, or the direction of travel of the first unmanned aerial vehicle 10, is east, and the wind direction is from the north (wind blowing from the top of the page to the bottom), the wind direction is such that the agent flows in a direction approaching the boundary of area G as viewed from the first unmanned aerial vehicle 10. In this case, the probability of dispersion can be calculated such that the value becomes greater than 0 as the wind speed increases, extending from the three-dimensional position of the first unmanned aerial vehicle 10 beyond the boundary of area G and over a wider range of area G. In other words, the predicted dispersion range, described later, becomes wider.

[0077] It should be noted that the wind speed can be any value, such as at least one of the following: the 10-minute average wind speed, the maximum wind speed (the maximum value of the 10-minute average wind speed), the instantaneous wind speed (the 3-second average of the values measured at 0.25-second intervals), or the maximum instantaneous wind speed (the maximum value of the instantaneous wind speed). Furthermore, the wind direction can be any azimuth, such as 16 or 36 azimuths, with the entire circumference divided into 16 or 36 parts based on north.

[0078] Furthermore, the control unit 33 may also calculate the scattering probability based on the dosage form of the medicine, such as a liquid or powder. For example, a powdered medicine is more susceptible to external factors such as wind and scatters than a liquid, and tends to scatter over a wider range. Therefore, the control unit 33 may calculate the scattering probability so that the powdered medicine has a wider range than the liquid medicine and a value greater than 0.

[0079] The scatter probability is calculated at each three-dimensional position of the first unmanned aerial vehicle 10 in real time or at predetermined time intervals, and can be updated for each three-dimensional position of the first unmanned aerial vehicle 10 .

[0080] Based on the thus calculated probability of scattering, the control unit 33 determines a position (e.g., a three-dimensional coordinate or a two-dimensional coordinate) where the probability of scattering is greater than 0, and determines whether the agent is scattered into the protection area at each three-dimensional position of the first unmanned aerial vehicle 10. In the case where it is determined that the agent is to be scattered into the protection area, the control unit 33 can estimate where in the protection area the agent will be scattered (e.g., a three-dimensional coordinate or a two-dimensional coordinate). The control unit 33 can predict the scattering range based on the estimated position. The prediction of the scattering range can be carried out using any method. For example, the control unit 33 can estimate the state of the agent sprayed from the nozzle of the agent spreading mechanism 18 of the first unmanned aerial vehicle 10 based on physical laws or observation data, thereby predicting the scattering range. Alternatively, the control unit 33 can also use machine learning such as deep learning to construct a prediction model for the scattering range, analyze the state of the agent sprayed from the nozzle of the agent spreading mechanism 18 of the first unmanned aerial vehicle 10 based on the constructed model, and predict the scattering range based on the analysis results.

[0081] Next, return to Figure 5 Flow chart and explanation.

[0082] Step S101: The control unit 33 determines whether the pesticide sprayed on the farm F by the first unmanned aerial vehicle 10 will disperse around the farm F based on the dispersion range predicted in step S100 (predicted dispersion range). If it is determined that the pesticide will disperse around the farm F (step S101 - Yes), the process proceeds to step S102. On the other hand, if it is determined that the pesticide will not disperse around the farm F (step S101 - No), the process ends.

[0083] Specifically, the control unit 33 determines whether the predicted dispersion range at each three-dimensional position of the first unmanned aerial vehicle 10 exceeds the boundary line of the farm F and whether the predicted dispersion range covers the protection area. Based on the determination results, the control unit 33 can determine whether the pesticide sprayed from the first unmanned aerial vehicle 10 at each three-dimensional position is dispersed around the farm F. For example, Figure 7 An example of visualizing the predicted scattering range (dotted line) is shown in FIG. Figure 7In the example shown, the predicted dispersion range at the three-dimensional position P2 of the first unmanned aerial vehicle 10 exceeds the boundary of the farm F and extends to the protected area, namely, area G. In this case, the control unit 33 determines that the pesticide sprayed from the first unmanned aerial vehicle 10 will disperse around the farm F.

[0084] Step S102: If it is determined that the pesticide will spread around the farm F (step S101 -Yes), the control unit 33 controls the three-dimensional position or movement path of the second UAV 20 so that the downwash of the second UAV 20 prevents the pesticide from spreading around the farm F, thereby positioning the second UAV 20 at the optimal position. The process then ends.

[0085] The three-dimensional position or movement path of the second unmanned aerial vehicle 20 can be controlled by any method, and first to third examples are described below as specific examples.

[0086] In the first example, the control unit 33 controls the three-dimensional position or movement path of the second UAV 20 based on the three-dimensional position of the first UAV 10. Specifically, the control unit 33 controls the three-dimensional position or movement path of the second UAV 20 so that the second UAV 20 is located within the predicted dispersion range and between the first UAV 10 and the protected area, thereby generating a downwash from the second UAV 20 at a desired location. For example, the control unit 33 may control the three-dimensional position or movement path of the second UAV 20 so that the second UAV 20 is positioned at a predetermined distance from the first UAV 10 and moves parallel to the protected area, which is the area surrounding the farm F where pesticide dispersion is to be prevented. This makes it easier for the second UAV 20 to immediately respond to changes in the dispersion probability that may be updated in real time at each three-dimensional position of the first UAV 10, and to utilize the downwash (second downwash) of the second UAV 20, described later, to prevent the pesticide from entering the protected area.

[0087] In the second example, the control unit 33 controls the three-dimensional position or movement path of the second unmanned aerial vehicle 20 based on the weather conditions at farm F. Specifically, before the start of the pest control operation, the control unit 33 creates a flight plan for the second unmanned aerial vehicle 20 based on the pest control operation plan (such as the movement path of the first unmanned aerial vehicle 10) and the weather conditions at farm F on the day of the pest control operation (such as the wind direction and wind speed at farm F) predicted based on the weather data read from the storage unit 32. In this example, the flight plan of the second unmanned aerial vehicle 20 shows the three-dimensional position or movement path of the second unmanned aerial vehicle 20, but this is not limited to this and can include any information. The control unit 33 transmits the created flight plan to the communication unit 21 of the second unmanned aerial vehicle 20 via the network 40 and the communication unit 31. The control unit 26 of the second unmanned aerial vehicle 20 controls the drive mechanism 27 of the second unmanned aerial vehicle 20 to move the second unmanned aerial vehicle 20 to the three-dimensional position or fly along the movement path indicated in the received flight plan.

[0088] It should be noted that, while the second unmanned aerial vehicle 20 is stationary at the three-dimensional position shown in the flight plan or flying on the moving path, the control unit 33 can also make micro-modifications to the flight plan based on changes in external factors such as the actual wind speed in the farm F. For example, the control unit 33 can also obtain information indicating the wind direction and wind speed around the first unmanned aerial vehicle 10 obtained by the detection unit 14 of the first unmanned aerial vehicle 10 from the communication unit 11 of the first unmanned aerial vehicle 10 via the network 40 and the communication unit 31. The control unit 33 analyzes the meteorological conditions shown in the obtained information as the meteorological conditions of the farm F, thereby being able to modify the flight plan of the second unmanned aerial vehicle 20. For example, at a certain moment, the wind speed increases sharply, and the difference between the scattering range predicted at time T1 when the first unmanned aerial vehicle 10 moves from the three-dimensional position P1 to P2 and the scattering range predicted at time T2 when the first unmanned aerial vehicle 10 reaches the three-dimensional position P2 is greater than a predetermined threshold. Figure 6In the example shown, the predicted dispersion range is predicted to expand toward the rear (offset to three-dimensional position Q1) in the direction of travel (here, the X direction) of the first unmanned aerial vehicle 10 compared to the predicted dispersion range (dash-dotted line). In this case, the control unit 33 modifies the predicted dispersion range and, based on the modified predicted dispersion range, controls the second unmanned aerial vehicle 20 to a three-dimensional position that changes the three-dimensional position Q2 of the second unmanned aerial vehicle 20 toward a position offset from Q1, thereby enabling the downwash of the second unmanned aerial vehicle 20 to be generated at the desired position. Furthermore, the control unit 33 repeats this process for each three-dimensional position of the first unmanned aerial vehicle 10, thereby enabling the flight plan of the second unmanned aerial vehicle 20 to be modified according to the weather conditions of the farm F. In this way, the control unit 33 can control the three-dimensional position or movement path of the second unmanned aerial vehicle 20 based on the weather conditions of the farm F. This makes it easier to prevent the agent from entering the protected area by utilizing the downwash of the second unmanned aerial vehicle 20, which will be described later.

[0089] In the third example, the control unit 33 controls the three-dimensional position or movement path of the second unmanned aerial vehicle 20 based on environmental information representing the surrounding environment of the farm F. Specifically, the control unit 33 obtains an image (or video) of the surroundings of the first unmanned aerial vehicle 10, captured by the camera unit 13 of the first unmanned aerial vehicle 10, from the communication unit 11 of the first unmanned aerial vehicle 10 via the network 40 and the communication unit 31 as environmental information. This environmental information can include the conditions downwind of the first unmanned aerial vehicle 10 (hereinafter also referred to as "downwind information"). For example, the downwind information can include information indicating a protected area downwind of the first unmanned aerial vehicle 10, and the presence or absence of living beings (such as humans or animals) or obstacles (such as utility poles or flying objects). The presence or absence of a protected area downwind of the first unmanned aerial vehicle 10 can be determined by the control unit 33 by analyzing the position information and map information of the first unmanned aerial vehicle 10 stored in the storage unit 32 of the information processing device 30. The presence of organisms or obstacles downwind of the first unmanned aerial vehicle 10 can be determined by the control unit 33 by analyzing images (or videos) acquired, for example, via the network 40, of the downwind area of the first unmanned aerial vehicle 10 by the camera unit 13 of the first unmanned aerial vehicle 10, the camera unit 23 of the second unmanned aerial vehicle 20, or both. Obstacle detection can be performed by the first unmanned aerial vehicle 10 or the second unmanned aerial vehicle 20 independently, or by the information processing device 30 that acquires images (or videos) from the first unmanned aerial vehicle 10 or the second unmanned aerial vehicle 20 via the network 40. Obstacle detection can employ any image recognition method, such as template matching or machine learning. The control unit 33 controls the three-dimensional position or movement path of the second unmanned aerial vehicle 20 to circumvent the detected obstacle, thereby generating a downwash for the second unmanned aerial vehicle 20 at a desired location. In this way, the control unit 33 can control the three-dimensional position or movement path of the second unmanned aerial vehicle 20 based on environmental information. This makes it easier to prevent the medicine from entering the protected area by utilizing the downwash of the second unmanned aerial vehicle 20 described later.

[0090] exist Figure 7 In the example shown, based on the predicted dispersion range at three-dimensional position P2, three-dimensional position Q2 is determined to be the optimal three-dimensional position for preventing the drug from entering area G. In this case, the control unit 33 transmits an instruction to move to three-dimensional position Q2 along with a movement path to, for example, the second unmanned aerial vehicle 20 at three-dimensional position Q1 via the network 40. The second unmanned aerial vehicle 20 moves from three-dimensional position Q1 to Q2 in accordance with the received instruction and movement path.

[0091] In this embodiment, the control unit 33 can also control the driving mechanism 27 of the second unmanned aerial vehicle 20 to control the three-dimensional position or movement path of the second unmanned aerial vehicle 20 in a manner that it is spaced a predetermined distance apart from the first unmanned aerial vehicle 10 on the side of the protection area and moves in parallel with the first unmanned aerial vehicle 10. In this way, the second unmanned aerial vehicle 20 can respond immediately to changes in external factors such as wind, making it easier to prevent the pesticide from flying into the protection area. However, the configuration of the second unmanned aerial vehicle 20 is not limited to this. For example, when it is determined based on the analysis results of meteorological data that the pesticide cannot be scattered into the protection area under the meteorological conditions of the farm F on the day of the prevention and control operation (for example, below a predetermined threshold), the second unmanned aerial vehicle 20 can be placed on standby at the three-dimensional position Q1 during the flight of the first unmanned aerial vehicle 10. In this case, it is easy to reduce the power consumption of the second unmanned aerial vehicle 20.

[0092] As described above, the control unit 33 can prevent the pesticide from being scattered around the farm F by generating the downwash flow of the second unmanned aerial vehicle 20, whose three-dimensional position or movement path is controlled in step S102 so as to prevent the pesticide from being scattered around the farm F, at a desired position. For example, the control unit 33 controls the driving mechanism 27 of the second unmanned aerial vehicle 20 to form Figure 8 The second downwash W2 shown. The control unit 33 can adjust the intensity or direction of the second downwash W2 by controlling the drive mechanism 27. For example, the control unit 33 can adjust the intensity of the second downwash W2 relative to the ground by changing the height (hovering height, etc.) of the second unmanned aerial vehicle 20. And, for example, the agent sensor serving as the detection unit 24 is provided on the upper surface of the second unmanned aerial vehicle 20. When the attachment of the agent to the second unmanned aerial vehicle 20 is detected, the control unit 33 can increase the height of the second unmanned aerial vehicle 20 by controlling the drive mechanism 27. And, for example, the control unit 33 can adjust the direction of the second downwash W2 from the vertical direction to a predetermined angle range by changing the flight speed of the second unmanned aerial vehicle 20. The agent sown by the first unmanned aerial vehicle 10 and scattered from the farm F toward the protection area is vertically downward (in the direction of the second downwash W2) due to the second downwash W2 generated by the second unmanned aerial vehicle 20. Figure 7 In the example, the force is in the Z direction downward and the agent is blown downward toward the ground. As a result, the range of the agent's scattering can be limited to the boundary line of the farm F. For example, the range of the agent's scattering is Figure 7 The predicted scattering range at the three-dimensional position P2 determined in is limited compared to that in Figure 8 As shown, the range of the scattered medicine can be limited to the boundary line of the farm F. Therefore, it is easy to prevent the medicine from scattering around the farm F, and the risk of the adverse effects caused by drift affecting the surrounding area of the farm F is reduced.

[0093] As described above, the information processing device 30 of this embodiment predicts the dispersion range of the pesticide sprayed on the farm by the first unmanned aerial vehicle 10. If the information processing device 30 determines that the pesticide is likely to be dispersed around the farm based on the dispersion range, the information processing device 30 controls the three-dimensional position or movement path of the second unmanned aerial vehicle 20 so that the downwash of the second unmanned aerial vehicle 20 prevents the pesticide from being dispersed around the farm.

[0094] According to the structure, the second unmanned aerial vehicle 20 is arranged at a three-dimensional position or on a moving path that prevents the pesticide from flying around the farm. By utilizing the downwash flow of the second unmanned aerial vehicle 20 arranged in this way, it is easy to reduce the risk of the pesticide sprayed on the farm by the first unmanned aerial vehicle 10 flying around the farm. In addition, the first unmanned aerial vehicle 10 that performs the control operation is less likely to interrupt the spraying of the pesticide due to the presence of the second unmanned aerial vehicle 20, and it is easy to focus on the control operation. Therefore, the technology related to the control of the farm using unmanned aerial vehicles is improved in terms of reducing the risk of the adverse effects caused by drift spreading to the surrounding areas of the farm and easily improving the efficiency of the control operation on the farm.

[0095] While the present disclosure has been described based on the various figures and embodiments, it should be noted that those skilled in the art may make various modifications and variations based on the present disclosure. Therefore, it should be noted that such modifications and variations are within the scope of the present disclosure. For example, the functions included in each component or step can theoretically be rearranged in a consistent manner, and multiple components or steps can be combined into one or separated.

[0096] For example, in a variation of this embodiment, the second UAV 20 may be a plurality of second UAVs 20. The control unit 33 may arrange the plurality of second UAVs 20 in a formation, spaced a predetermined distance apart from the first UAV 10 on the side of the protected area, along a three-dimensional position or movement path that prevents the escape of the agent into the protected area. In this case, the control unit 33 may control the second downwash while the plurality of second UAVs 20 arranged in formation remain stationary (e.g., hovering), thereby forming a barrier to the second downwash and preventing the escape of the agent into the protected area.

[0097] In this modification, a plurality of second unmanned aerial vehicles 20 are spaced apart from the first unmanned aerial vehicle 10 at a predetermined distance on the protection area side, and can be arranged at a three-dimensional position or a movement path to prevent the drug from scattering into the protection area. Figure 9The three-dimensional positions Q1, ..., Qn shown. The number n of the three-dimensional positions Q of the second unmanned aerial vehicles 20 is an integer greater than 2. In the case where the pesticide will fly to the periphery of the farm F (step S101-yes), the control unit 33 in step S102 forms a so-called wall by forming the downwash flow of the plurality of second unmanned aerial vehicles 20 so that the plurality of second unmanned aerial vehicles 20 are spaced apart from the first unmanned aerial vehicle 10 on the side of the protection area by a predetermined distance, and are arranged in a line on the three-dimensional position or moving path to prevent the pesticide from flying to the protection area. Figure 9 In the illustrated example, multiple second UAVs 20 form a second UAV group 50. If the second UAV 20 deviates from its stationary position or path due to external factors such as wind, the control unit 26 of each second UAV 20 controls the drive mechanism 27 to return it to its stationary position or path. Furthermore, the control unit 33 of the information processing device 30 utilizes the downwash (second downwash) of the multiple second UAVs 20 to prevent the pesticide from scattering around the farm.

[0098] Thus, according to this modification, the second unmanned aerial vehicle group 50 is arranged at a three-dimensional position between the first unmanned aerial vehicle 10 and the protection area. For example, under the meteorological conditions of the farm F on the day of the control operation, when the risk of the spread of the agent to the protection area and a wide range is high (for example, exceeding a predetermined threshold), during the movement of the first unmanned aerial vehicle 10, one second unmanned aerial vehicle 20 may not be able to cope with the spread of the agent over a wide range. According to this modification, even in this case, by utilizing the second downwash (the wall of the second downwash) of multiple second unmanned aerial vehicles 20, it is possible to more reliably prevent the spread of the agent to the protection area. Therefore, the risk of the adverse effects caused by drift spreading to the surrounding areas of the farm is further reduced, and it is easy to further improve the efficiency of the farm's control operations.

[0099] Furthermore, for example, in the above-described embodiment, the second unmanned aerial vehicle 20 does not have a pesticide spreading mechanism. However, in another variation of this embodiment, it may also be equipped with a pesticide spreading mechanism similar to the pesticide spreading mechanism 18 of the first unmanned aerial vehicle 10. In this case, the control unit 33 controls the drive mechanism 27 and the pesticide spreading mechanism of the second unmanned aerial vehicle 20, utilizing the second downwash formed by the drive mechanism 27 to blow the pesticide sprayed from the pesticide spreading mechanism to the target spreading area of the farm F, thereby enabling a portion of the pest control operation to be performed. For example, if the meteorological conditions at the farm F on the day of the pest control operation determine that the pesticide cannot be dispersed into the protected area, the necessity for the second unmanned aerial vehicle 20 to protect the perimeter of the farm is low. In this situation, having the second unmanned aerial vehicle 20 assist the pest control operation of the first unmanned aerial vehicle 10 makes it easier to shorten the pest control operation time.

[0100] Furthermore, for example, in the above-described embodiment, an embodiment in which the configuration and operation of the information processing device 30 are distributed across multiple computers capable of communicating with each other is also possible. Furthermore, for example, an embodiment in which some or all of the components of the information processing device 30 are installed in the first unmanned aerial vehicle 10 or the second unmanned aerial vehicle 20 is also possible.

[0101] Furthermore, for example, a general-purpose computer can function as the information processing device 30 of the above-described embodiment. Specifically, a program describing the processing details for implementing the various functions of the information processing device 30 of the above-described embodiment is stored in a memory of the general-purpose computer, and the program is read and executed by a processor. Therefore, the present disclosure can also be implemented as a program executable by a processor or as a non-transitory computer-readable medium storing the program.

[0102] Hereinafter, some embodiments of the present disclosure will be exemplified. However, it should be noted that the embodiments of the present disclosure are not limited to these.

[0103] [Note 1]

[0104] An information processing device comprises a control unit, wherein the control unit predicts the dispersion range of a pesticide sprayed on a farm by a first unmanned aerial vehicle, and when it is determined based on the dispersion range that the pesticide will disperse to the periphery of the farm, the control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle in such a manner as to prevent the pesticide from dispersing to the periphery of the farm through the downwash of the second unmanned aerial vehicle.

[0105] [Note 2]

[0106] The information processing device according to Supplementary Note 1, wherein the control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

[0107] [Note 3]

[0108] An information processing device according to Note 2, wherein the control unit controls the three-dimensional position or moving path of the second unmanned aerial vehicle in a manner that is spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area and moves parallel to the first unmanned aerial vehicle, and the protection area is an area in the surrounding area of the farm where the agent should be prevented from scattering.

[0109] [Note 4]

[0110] The information processing device according to any one of Supplementary Notes 1 to 3, wherein the control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on weather conditions of the farm.

[0111] [Note 5]

[0112] The information processing device according to any one of Supplementary Notes 1 to 4, wherein the control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on environmental information indicating the surrounding environment of the farm.

[0113] [Note 6]

[0114] The information processing device according to Supplementary Note 5, wherein the environmental information includes conditions downwind of the first unmanned aerial vehicle.

[0115] [Note 7]

[0116] An information processing device according to Note 1 or 2, wherein the second unmanned aerial vehicle is a plurality of second unmanned aerial vehicles, and the control unit causes the plurality of second unmanned aerial vehicles to be spaced apart from the first unmanned aerial vehicle at a predetermined interval on the side of a protection area, and to be arranged in a line on a three-dimensional position or a moving path for preventing the agent from flying to the periphery of the farm, and the protection area is an area in the periphery of the farm where the agent should be prevented from flying.

[0117] [Note 8]

[0118] A method is a method for execution by an information processing device, comprising the following steps: predicting the dispersion range of a pesticide sprayed on a farm by a first unmanned aerial vehicle; and when it is determined that the pesticide will disperse to the periphery of the farm based on the dispersion range, controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that prevents the pesticide from dispersing to the periphery of the farm by using a downwash flow of the second unmanned aerial vehicle.

[0119] [Note 9]

[0120] The method according to Note 8, wherein the method includes the following steps: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

[0121] [Note 10]

[0122] A method according to Note 9, wherein the method includes the following steps: controlling the three-dimensional position or moving path of the second unmanned aerial vehicle in a manner that is spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area and moves parallel to the first unmanned aerial vehicle, wherein the protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

[0123] [Note 11]

[0124] The method according to any one of Supplementary Notes 8 to 10, wherein the method includes the following steps: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the weather conditions of the farm.

[0125] [Note 12]

[0126] The method according to any one of Supplementary Notes 8 to 11, further comprising the step of controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on environmental information representing an environment surrounding the farm.

[0127] [Note 13]

[0128] The method according to Supplement 12, wherein the environmental information includes conditions downwind of the first unmanned aerial vehicle.

[0129] [Note 14]

[0130] According to the method described in Note 8 or 9, wherein the second unmanned aerial vehicle is a plurality of second unmanned aerial vehicles, the method includes the following steps: placing the plurality of second unmanned aerial vehicles at a predetermined interval from the first unmanned aerial vehicle on the side of a protection area, and arranging them in a line at a three-dimensional position or moving path that prevents the agent from flying to the periphery of the farm, and the protection area is an area in the periphery of the farm where the agent should be prevented from flying.

[0131] [Note 15]

[0132] A non-transitory computer-readable medium stores a program that causes an information processing device to perform actions, the actions including: predicting the dispersion range of a pesticide sprayed onto a farm by a first unmanned aerial vehicle; and controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that prevents the pesticide from being dispersed toward the periphery of the farm by using a downwash flow of the second unmanned aerial vehicle when it is determined that the pesticide will be dispersed toward the periphery of the farm based on the dispersion range.

[0133] [Note 16]

[0134] According to the non-transitory computer-readable medium of Note 15, the action also includes: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

[0135] [Note 17]

[0136] According to the non-transitory computer-readable medium described in Note 16, the action also includes: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that is spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area and moves parallel to the first unmanned aerial vehicle, and the protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

[0137] [Note 18]

[0138] The non-transitory computer-readable medium according to any one of Notes 15 to 17, wherein the action further includes: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the weather conditions of the farm.

[0139] [Note 19]

[0140] The non-transitory computer-readable medium according to any one of Supplementary Notes 15 to 18, wherein the action further includes: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on environmental information representing the surrounding environment of the farm.

[0141] [Note 20]

[0142] The non-transitory computer-readable medium according to Supplement 19, wherein the environmental information includes conditions downwind of the first unmanned aerial vehicle.

[0143] Description of Reference Numerals

[0144] 1 System

[0145] 10. The first unmanned aerial vehicle

[0146] 11 Ministry of Communications

[0147] 12 Positioning unit

[0148] 13 Camera Department

[0149] 14. Testing Department

[0150] 15 Storage

[0151] 16 Control Unit

[0152] 17 Drive mechanism

[0153] 18. Pesticide spreading mechanism

[0154] 20 Second Unmanned Aerial Vehicle

[0155] 21 Ministry of Communications

[0156] 22 Positioning Unit

[0157] 23 Camera Department

[0158] 24 Testing Department

[0159] 25 Storage

[0160] 26 Control Department

[0161] 27 Drive mechanism

[0162] 30 Information processing device

[0163] 31 Ministry of Communications

[0164] 32 Storage

[0165] 33 Control Department

[0166] 40 Network

[0167] 50 Second Unmanned Aerial Vehicle Group

[0168] P1, P2, ..., P10 3D position of the first UAV

[0169] Q1, Q2, ..., Qn The three-dimensional position of the second UAV

Claims

1. An information processing device comprising a control unit, wherein: The control unit predicts the dispersion range of the agent sprayed on the farm by the first unmanned aerial vehicle. When it is determined that the agent will disperse to the periphery of the farm based on the dispersion range, the three-dimensional position or movement path of the second unmanned aerial vehicle is controlled in such a way as to prevent the agent from dispersing to the periphery of the farm through the downwash of the second unmanned aerial vehicle.

2. The information processing device according to claim 1, wherein The control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

3. The information processing device according to claim 2, wherein: The control unit controls the three-dimensional position or moving path of the second unmanned aerial vehicle in a manner that the second unmanned aerial vehicle is kept at a predetermined distance from the first unmanned aerial vehicle on the side of a protection area, and moves in parallel with the first unmanned aerial vehicle. The protection area is an area in the surrounding area of the farm where the agent should be prevented from scattering.

4. The information processing device according to any one of claims 1 to 3, wherein: The control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on weather conditions of the farm.

5. The information processing device according to any one of claims 1 to 3, wherein The control unit controls the three-dimensional position or movement path of the second unmanned aerial vehicle based on environmental information indicating the surrounding environment of the farm. The information processing apparatus according to claim 5 , wherein: The environmental information includes conditions downwind of the first unmanned aerial vehicle.

7. The information processing device according to claim 1 or 2, wherein: The second unmanned aerial vehicle is a plurality of second unmanned aerial vehicles, The control unit causes the multiple second unmanned aerial vehicles to be spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area, and to be arranged in a line at a three-dimensional position or a moving path that prevents the agent from flying around the farm. The protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

8. A method, for execution by an information processing device, comprising the following steps: Predicting the spread of the pesticide sprayed on the farm by the first unmanned aerial vehicle; and When it is determined based on the scattering range that the agent will scatter around the farm, the three-dimensional position or movement path of the second unmanned aerial vehicle is controlled in such a way as to prevent the agent from scattering around the farm through the downwash of the second unmanned aerial vehicle.

9. The method according to claim 8, wherein The method includes controlling a three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

10. The method according to claim 9, wherein: The method includes the following steps: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that is spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area and moves in parallel with the first unmanned aerial vehicle, wherein the protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

11. The method according to any one of claims 8 to 10, wherein The method includes the following steps: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the weather conditions of the farm.

12. The method according to any one of claims 8 to 10, wherein: The method includes the step of controlling the three-dimensional position or movement path of the second UAV based on environmental information representing the surrounding environment of the farm.

13. The method according to claim 12, wherein: The environmental information includes conditions downwind of the first unmanned aerial vehicle.

14. The method according to claim 8 or 9, wherein The second unmanned aerial vehicle is a plurality of second unmanned aerial vehicles, The method includes the following steps: placing the multiple second unmanned aerial vehicles at a predetermined interval from the first unmanned aerial vehicle on the side of a protection area, and arranging them in a line at a three-dimensional position or moving path to prevent the agent from flying around the farm. The protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

15. A non-transitory computer-readable medium storing a program for causing an information processing device to perform actions, the actions comprising: Predicting the spread of the pesticide sprayed on the farm by the first unmanned aerial vehicle; and When it is determined based on the scattering range that the agent will scatter around the farm, the three-dimensional position or movement path of the second unmanned aerial vehicle is controlled in such a way as to prevent the agent from scattering around the farm through the downwash of the second unmanned aerial vehicle.

16. The non-transitory computer-readable medium of claim 15, wherein: The actions also include controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the three-dimensional position of the first unmanned aerial vehicle.

17. The non-transitory computer-readable medium of claim 16, wherein: The action also includes: controlling the three-dimensional position or movement path of the second unmanned aerial vehicle in a manner that is spaced a predetermined distance apart from the first unmanned aerial vehicle on the side of a protection area and moves in parallel with the first unmanned aerial vehicle, wherein the protection area is an area in the surrounding area of the farm where the agent should be prevented from flying.

18. The non-transitory computer-readable medium according to any one of claims 15 to 17, wherein: The actions also include controlling the three-dimensional position or movement path of the second unmanned aerial vehicle based on the weather conditions of the farm.

19. The non-transitory computer-readable medium according to any one of claims 15 to 17, wherein: The actions also include controlling a three-dimensional position or a movement path of the second unmanned aerial vehicle based on environmental information representing the surrounding environment of the farm.

20. The non-transitory computer-readable medium of claim 19, wherein: The environmental information includes conditions downwind of the first unmanned aerial vehicle.

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