Control device, control method and non-transitory computer-readable medium

Abstract

This invention provides a control device, a control method, and a non-transitory computer-readable medium to improve the technology of aerial spraying of pesticides using unmanned aerial vehicles (UAVs). The control device (10) includes a control unit (11) that obtains weather information, including wind speed, for the scheduled spraying date and time when the UAV (20) will spray pesticides onto the farm, determines the flight altitude of the UAV (20) based on the wind speed, and generates a spraying plan for the UAV (20) to spray pesticides, including the determined flight altitude.

Description

Technical Field

[0001] This invention relates to control devices, control methods, and procedures. Background Technology

[0002] Previously, technologies related to aerial seeding methods for agricultural granular compositions were known. For example, Patent Document 1 discloses an aerial seeding method that reduces drift of agricultural granular compositions after being dropped from the air, even if the granular compositions are blown away by wind, by using a powered seeder mounted on an aircraft such as a drone.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-058164 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The technology of using unmanned aerial vehicles for aerial spraying of pesticides is susceptible to weather conditions and has room for improvement.

[0008] The purpose of this disclosure, made in view of the above, is to improve the technology for aerial spraying of pesticides using unmanned aerial vehicles.

[0009] Methods for solving problems

[0010] One embodiment of the control device disclosed herein includes a control unit, wherein the control unit acquires weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm, determines the flight altitude of the UAV based on the wind speed, and generates a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0011] One embodiment of the control method disclosed herein is executed by a computer and includes the following steps: obtaining weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm; determining the flight altitude of the UAV based on the wind speed; and generating a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0012] One embodiment of the present disclosure provides a program that causes a computer to perform actions including: obtaining weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm; determining the flight altitude of the UAV based on the wind speed; and generating a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0013] Invention Effects

[0014] According to one embodiment of the present disclosure, the technology for aerial spraying of pesticides using unmanned aerial vehicles can be improved. Attached Figure Description

[0015] Figure 1 This is a block diagram illustrating the general structure of the system according to the first embodiment.

[0016] Figure 2 This is a diagram illustrating an example of an initial seeding plan.

[0017] Figure 3A This is a diagram showing an example of a farm area where unmanned aerial vehicles are spraying pesticides.

[0018] Figure 3B This is a diagram showing an example of a farm area where unmanned aerial vehicles are spraying pesticides.

[0019] Figure 4A This is a flowchart illustrating the operation of the control device according to the first embodiment.

[0020] Figure 4B This is a flowchart illustrating the operation of the control device according to the first embodiment.

[0021] Figure 5 This is a diagram illustrating an example of a dispersal plan generated by a control device.

[0022] Figure 6A This is a flowchart illustrating the operation of the control device according to the second embodiment.

[0023] Figure 6B This is a flowchart illustrating the operation of the control device according to the second embodiment. Detailed Implementation

[0024] (First Implementation)

[0025] The first embodiment of the present invention will be described below.

[0026] Reference Figure 1 The following is a summary description of System 1, an embodiment of the present disclosure. System 1 includes a control device 10 and an unmanned aerial vehicle (UAV) 20. The control device 10 and the UAV 20 are communicatively connected to a network 30, including, for example, the Internet. Figure 1 For simplicity, only one unmanned aerial vehicle 20 is shown in the image, but there can be multiple unmanned aerial vehicles 20.

[0027] The control device 10 is installed in facilities such as data centers. The control device 10 is, for example, a server belonging to a cloud computing system or other computing system.

[0028] Unmanned aerial vehicle 20 is any aircraft that does not require human passengers. For example, drones or multi-rotor helicopters can be used as unmanned aerial vehicle 20. Unmanned aerial vehicle 20 can be used, for example, by a user acting as an agent to spray pesticides, replacing the use of farm managers. Unmanned aerial vehicle 20 is equipped with a spraying device that sprays pesticides from above onto the ground, autonomously or in cooperation with control device 10, thereby enabling it to perform pesticide spraying on farms from above.

[0029] Network 30 includes the Internet, at least one WAN, at least one MAN, or a combination thereof. "WAN" is short for Wide Area Network. "MAN" is short for Metropolitan Area Network. Network 30 may also include at least one wireless network, at least one optical network, or a combination thereof. Wireless networks are, for example, ad hoc networks, cellular networks, wireless LANs, satellite communication networks, or terrestrial microwave networks. "LAN" is short for Local Area Network.

[0030] First, an overview of this embodiment will be given, with details to follow. The control device 10 acquires weather information, including wind speed, for the scheduled date and time when the unmanned aerial vehicle 20 will spray pesticides onto the farm. Based on the wind speed, it determines the flight altitude of the unmanned aerial vehicle 20 and generates a pesticide spraying plan for the unmanned aerial vehicle 20, including the determined flight altitude.

[0031] In this embodiment, in order to spray pesticides on a farm, the farm manager requests the use of the unmanned aerial vehicle (UAV) 20 by submitting a reservation request to the control device 10. Specifically, reservation information indicating the reservation details is sent from a user's terminal device or similar device to the control device 10. The reservation information may include any information such as the scheduled date and time of use, the target farm, the type of pesticide, and the desired type of UAV 20. The control device 10 generates a spraying plan for the UAV 20 based on the reservation information. The spraying plan, as described below, includes information such as the scheduled date and time of pesticide spraying, the target farm, the flight altitude of the UAV 20 during spraying, the particle size of the pesticide droplets, and the nozzle used by the UAV 20.

[0032] According to this embodiment, the control device 10 can generate an appropriate spraying plan for the unmanned aerial vehicle 20 by taking into account factors such as the weather on the day of spraying at the target farm. Following this spraying plan, efficient pesticide spraying by the unmanned aerial vehicle 20 can be performed. Therefore, the technology of aerial pesticide spraying using unmanned aerial vehicles can be improved.

[0033] Next, the structure of the control device 10 provided in System 1 will be described in detail.

[0034] (Structure of the control device)

[0035] like Figure 1 As shown, the control device 10 includes a control unit 11, a storage unit 12, a communication unit 13, an input unit 14, and an output unit 15.

[0036] The control unit 11 includes at least one processor, at least one dedicated circuit, or a combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor used in specific processing. "CPU" is short for Central Processing Unit. "GPU" is short for Graphics Processing Unit. The dedicated circuit is, for example, an FPGA or an ASIC. "FPGA" is short for Field-Programmable Gate Array. "ASIC" is short for Application-Specific Integrated Circuit. The control unit 11 controls the various parts of the control device 10 while simultaneously performing processing related to the operation of the control device 10.

[0037] The storage unit 12 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The semiconductor memory is, for example, RAM or ROM. "RAM" is short for random access memory. "ROM" is short for read-only memory. RAM is, for example, SRAM or DRAM. "SRAM" is short for static random access memory. "DRAM" is short for "Dynamic Random Access Memory". ROM is, for example, EEPROM. "EEPROM" is short for "Electrically Erasable Programmable Read-Only Memory". The storage unit 12 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 12 stores information used in the operation of the control device 10 and information obtained through the operation of the control device 10. For example, the storage unit 12 may also store system programs, application programs, databases, and map information. The information stored in the storage unit 12 can also be updated using information obtained from the network 30, for example, via the communication unit 13. The storage unit 12 may also store a reservation database that accumulates reservation information for the use of the unmanned aerial vehicle 20.

[0038] The communication unit 13 includes at least one communication interface. The communication interface is, for example, a LAN interface. The communication unit 13 receives information used in the operation of the control device 10 and transmits information obtained through the operation of the control device 10.

[0039] The input unit 14 includes at least one input interface. The input interface may be, for example, a physical key, a capacitive key, an indicator, a touchscreen integrated with the display, or a microphone. The input unit 14 accepts data input operations used in the operation of the control device 10. The input unit 14 may also replace the control device 10 as an external input device connected to the control device 10. As a connection method, any method such as USB, HDMI (registered trademark), or Bluetooth (registered trademark) can be used. "USB" is short for Universal Serial Bus. "HDMI (registered trademark)" is short for High-Definition Multimedia Interface.

[0040] The output unit 15 includes at least one output interface. The output interface is, for example, a display or a speaker. The display is, for example, an LCD or an organic EL display. "LCD" is short for liquid crystal display. "EL" is short for electroluminescence. The output unit 15 outputs data obtained through the operation of the control device 10. The output unit 15 may also replace the control device 10 and be connected to the control device 10 as an external output device. As a connection method, any method such as USB, HDMI (registered trademark), or Bluetooth (registered trademark) can be used.

[0041] The function of the control device 10 is implemented by executing the control program of this embodiment using a processor equivalent to the control unit 11. That is, the function of the control device 10 is implemented by software. The control program causes the computer to function as the control device 10 by executing the actions of the control device 10. In other words, the computer functions as the control device 10 by executing the actions of the control device 10 according to the control program.

[0042] The program can be pre-stored on a non-transitory computer-readable medium. Non-transitory computer-readable media include, for example, magnetic recording devices, optical discs, magneto-optical recording media, or ROMs. Program distribution can occur, for example, through the sale, transfer, or lending of portable media such as DVDs or CD-ROMs containing the program. "DVD" is short for Digital Versatile Disc. "CD-ROM" is short for Compact Disc Read-Only Memory. Program distribution can also be achieved by pre-stored in a server's memory and then transferring the program from the server to other computers. The program can also be provided as a program product.

[0043] Computers may temporarily store programs stored on portable media or transferred from servers in main storage. The computer then uses its processor to read the programs stored in main storage and executes the processes that comply with the read programs. Alternatively, the computer may directly read programs from portable media and execute the processes that comply with the programs. The computer may also execute the processes that comply with the received programs sequentially each time a program is transferred from a server to the computer. Alternatively, the transfer of programs from the server to the computer may be omitted, and processing may be performed using so-called ASP-type services that only utilize execution instructions and result retrieval. "ASP" is short for Application Service Provider. Programs contain information provided for computer-based processing and are program-standardized information. For example, data that, while not direct instructions to the computer, has the nature of specifying computer processing is equivalent to "program-standardized information."

[0044] Some or all of the functions of the control device 10 can also be implemented by a programmable circuit or a dedicated circuit that serves as the control unit 11. That is, some or all of the functions of the control device 10 can also be implemented by hardware.

[0045] Next, the structure of the unmanned aerial vehicle 20 in System 1 will be described in detail.

[0046] (Structure of an unmanned aerial vehicle)

[0047] like Figure 1 As shown, the unmanned aerial vehicle 20 includes a control unit 21, a storage unit 22, a communication unit 23, sensors 24, a flight unit 25, and a dispersal unit 26.

[0048] The control unit 21 includes at least one processor, at least one dedicated circuit, or a combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor for specific processing. The dedicated circuit is, for example, an FPGA or an ASIC. The control unit 21 controls various parts of the unmanned aerial vehicle 20 while performing processing related to the actions of the unmanned aerial vehicle 20.

[0049] The storage unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The semiconductor memory is, for example, RAM or ROM. The RAM is, for example, SRAM or DRAM. The ROM is, for example, EEPROM. The storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores data used in the operation of the unmanned aerial vehicle 20 and data acquired through the operation of the unmanned aerial vehicle 20.

[0050] The communication unit 23 includes at least one communication interface. The communication interface is, for example, an interface corresponding to mobile communication standards such as LTE, 4G, or 5G. The communication unit 23 receives data used in the operation of the unmanned aerial vehicle 20 and transmits data obtained through the operation of the unmanned aerial vehicle 20.

[0051] Sensor 24 includes a variety of sensors. Sensor 24 may include a position sensor, a range sensor, an azimuth sensor, an acceleration sensor, an angular velocity sensor, a ground altitude sensor, an obstacle sensor, etc. The position sensor determines the position of the unmanned aerial vehicle 20. The position sensor can detect the absolute position expressed in latitude and longitude. The position sensor includes at least one GNSS receiver. GNSS may be, for example, GPS, QZSS, BeiDou, GLONASS, or Galileo. The range sensor measures the distance to an object. The azimuth sensor determines the azimuth by detecting the magnetic force of the Earth's magnetic field. For example, a gyroscope sensor may be used as an acceleration sensor and an angular velocity sensor. For example, an ultrasonic sensor or an infrared sensor may be used as a ground altitude sensor and an obstacle sensor. Sensor 24 may also include a barometric pressure sensor.

[0052] The flight unit 25 includes multiple rotating blades and a drive mechanism. The number of rotating blades can be, for example, four or six, but is not limited to these. As an example, multiple rotating blades are arranged radially from the center of the fuselage of the unmanned aerial vehicle 20. Under the control of the control unit 21, the flight unit 25 adjusts the rotational speed of each rotating blade, thereby enabling the unmanned aerial vehicle 20 to perform various maneuvers such as standing still, ascending, descending, moving forward, reversing, and turning.

[0053] The spraying unit 26 includes a first nozzle 261, a second nozzle 262, and a pesticide tank 263. The spraying unit 26 functions as a spraying device for spraying pesticides onto the unmanned aerial vehicle 20. The first nozzle 261 sprays the pesticide into droplets with a first particle size. The second nozzle 262 sprays the pesticide into droplets with a second particle size larger than the first particle size. Multiple spraying holes are provided on the spraying surfaces of the first nozzle 261 and the second nozzle 262, through which the pesticide is sprayed into droplets with a predetermined particle size.

[0054] The pesticide tank 263 stores pesticides to be applied to the farm. In this embodiment, the pesticide is liquid, but it is not limited to this and can also be a solid such as powder or granules. When the pesticide is solid, pesticides with a first particle size and pesticides with a second particle size are stored in separate pesticide tanks 263. Pesticides with the first particle size can be sprayed from the first nozzle 261, and pesticides with the second particle size can be sprayed from the second nozzle 262. The pesticide can be sprayed by controlling any drive mechanism provided in the first nozzle 261 and the second nozzle 262 through the control unit 21. Thus, when the pesticide is a solid such as powder or granules, nozzles with a structure for powder or granules can also be used as the first nozzle 261 and the second nozzle 262.

[0055] In this embodiment, the first nozzle 261, the second nozzle 262, and the pesticide tank 263 are connected via a water supply path. A valve that can be opened and closed is provided inside the water supply path. This valve is driven by electricity or the like, and the control unit 11 can control the opening and closing state of the valve. By controlling the valve in the control unit 11, pesticide is supplied from the pesticide tank 263 to the first nozzle 261 or the second nozzle 262 via the water supply path, and pesticide is sprayed from the first nozzle 261 or the second nozzle 262 respectively. Alternatively, the water supply path may branch towards the first nozzle 261 and the second nozzle 262, and the pesticide can be spread from the first nozzle 261 or the second nozzle 262 via the valve. Not limited to this, for example, the spray surfaces of the first nozzle 261 and the second nozzle 262 may be overlapped, as in the construction of a shower head, and the other nozzle may be rotated relative to one of the first nozzle 261 and the second nozzle 262, allowing the sprayed pesticide particles to have different sizes.

[0056] Reference Figures 2-5 The operation of the control device 10 in this embodiment will be explained. This operation is equivalent to the control method of this embodiment. Figure 2 This is a diagram illustrating an example of an initial seeding plan. Figure 3A and Figure 3B This is an example of a farm area where an unmanned aerial vehicle (UAV) 20 is spraying pesticides. Figure 4A and Figure 4B This is a flowchart illustrating the operation of the control device 10. Figure 5 This diagram illustrates an example of a dissemination plan generated by the control device 10. Hereinafter, the control device 10 transmits and receives information with external devices via the communication unit 13 and the network 30.

[0057] exist Figure 4A In step S1, the control unit 11 accepts the reservation for using the unmanned aerial vehicle 20. The reservation can be accepted using any method. For example, the control unit 10 can accept the reservation by communicating with a terminal device used by the farm manager and receiving reservation information indicating the reservation details.

[0058] The reservation information includes the date and time the farm manager wishes to use the drone 20, the farm to be sprayed with pesticides, and the type of pesticide. However, it is not limited to this; the reservation information may also include any information, such as the type of drone 20 specified by the farm manager.

[0059] In step S2, the control unit 11 obtains the initial seeding plan. The initial seeding plan can be obtained by any method. For example, the control unit 11 can obtain the initial seeding plan by generating it based on various information such as reservation information and the pre-set flight altitude of the unmanned aerial vehicle 20.

[0060] Figure 2 This is a diagram illustrating an example of an initial seeding plan. According to... Figure 2 The spraying plan shows that on [Date] at 10:00 AM, unmanned aerial vehicle 20 moves over farm A at an altitude of Z2, and uses the first nozzle 261 to spray pesticide P at a particle size of S1. The spraying plan may also include the flight path of unmanned aerial vehicle 20 within farm A for spraying pesticides. For example, Figure 3A The diagram shows unmanned aerial vehicle 20 moving within area D1 in the direction of the arrow on farm A. The initial spraying plan includes information beyond this. For example, the initial spraying plan may also include any information related to the actions of unmanned aerial vehicle 20 during pesticide spraying, such as its speed.

[0061] In step S3, the control unit 11 acquires weather information indicating the date and time of pesticide application by the unmanned aerial vehicle 20. The weather information can be acquired using any method. For example, the control unit 11 can acquire the weather information by communicating with and receiving it from an external device such as a database of a meteorological observation center that forecasts the weather in the area including the target farm.

[0062] In this embodiment, weather information includes wind speed, wind direction, and predicted rainfall time. However, it is not limited to these; weather information may also include any information such as temperature and humidity.

[0063] In step S4, the control unit 11 determines whether the wind speed shown in the weather information is above a first predetermined value, and determines the flight altitude of the unmanned aerial vehicle 20 based on the result of this determination. This first predetermined value can be freely set. The first predetermined value can be a value different from or the same as the second and third predetermined values ​​described below.

[0064] When the wind speed indicated by the weather information is above a first predetermined value, the control unit 11 determines a flight altitude lower than when the wind speed is below the first predetermined value. This is to prevent the pesticide application site from deviating from the intended location due to wind, and the flight altitude can be freely set taking into account the deviation of the application site. The control unit 11 updates the flight altitude of the application plan to the determined flight altitude. It should be noted that the control unit 11 can input the determined flight altitude when no value has been entered into the initial application plan, and the same applies when updating subsequent application plans.

[0065] In this embodiment, if the wind speed indicated by the weather information is above a first predetermined value, the control unit 11 determines the flight altitude of the unmanned aerial vehicle 20 as Z1 and updates the flight altitude of the seeding plan from Z2 to Z1. Then, the processing of the control unit 11 proceeds to step S5.

[0066] As shown in steps S3 and S4, the control unit 11 obtains weather information, including wind speed, for the scheduled date and time when the unmanned aerial vehicle 20 will spray pesticides on the farm, and determines the flight altitude of the unmanned aerial vehicle 20 based on the wind speed.

[0067] In step S5, the control unit 11 determines whether the wind speed indicated by the weather information is above a second predetermined value, and determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle 20 based on the result of this determination. This second predetermined value can be freely set. If the wind speed indicated by the weather information is above the second predetermined value, the control unit 11 determines a particle size larger than if the wind speed is below the second predetermined value. This is to suppress pesticide drift due to wind, and the particle size can also be freely set taking into account the influence of wind. The control unit 11 updates the particle size of the pesticide droplets included in the spraying plan to the determined particle size.

[0068] In this embodiment, if the wind speed indicated by the weather information is above a second predetermined value, the control unit 11 determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle 20 as S2, and updates the particle size of the spraying plan from S1 to S2. Then, the processing of the control unit 11 proceeds to step S6.

[0069] As shown in step S5, the control unit 11 determines the particle size of the pesticide droplets to be sprayed by the unmanned aerial vehicle 20 as part of the spraying plan based on the wind speed indicated by the weather information. The higher the wind speed, the larger the particle size of the pesticide droplets determined by the control unit 11.

[0070] In step S6, the control unit 11 determines whether the wind speed indicated by the weather information is above a third predetermined value. Based on this determination, it determines the upwind area of ​​the farm targeted by the drone 20 for pesticide spraying as the area where the drone 20 will move to spray pesticides. This third predetermined value can be freely set. If the wind speed indicated by the weather information is above the third predetermined value, the control unit 11 determines the upwind area of ​​the farm as the area where the drone 20 will move. If the wind speed is below the third predetermined value, the entire farm can be determined as the area where the drone 20 will move.

[0071] In this embodiment, the wind speed shown in the weather information is set to be at least a third predetermined value. (This is in the context of farm A.) Figure 3B In the weather information, the wind direction is indicated by a blank arrow. In this case, the control unit 11 will... Figure 3B The upwind region D2, indicated by a dashed line, is designated as the area where the unmanned aerial vehicle 20 moves to perform seeding. When the wind speed is above a third predetermined value, the area and shape of the "upwind region" can be freely set. For example, the control unit 11 can also... Figure 3A As shown, the area with a predetermined size in the upwind region of farm A where the drone 20 will be spraying pesticides is determined as the area that the drone 20 will move to for spraying. The predetermined area can be, for example, half, three-quarters, or any other area of ​​the target farm.

[0072] The control unit 11 updates the area where the unmanned aerial vehicle 20 will move in the farm for pesticide application, as included in the application plan, to the determined area. In this embodiment, the control unit 11 updates the area where the unmanned aerial vehicle 20 will move for pesticide application from... Figure 3A D1 updated to Figure 3B The D2. Unmanned aerial vehicle 20 in Figure 3B No pesticides are sprayed in the area indicated by the diagonal line, thus the same applies to the area that also includes the diagonal line. Figure 3A Compared to the case where pesticides are sprayed in area D1, the likelihood of pesticides drifting downwind from farm A is reduced. Furthermore, the area indicated by the diagonal line is sprayed with pesticides to a certain extent from upwind. Then, the control unit 11 proceeds to step S7.

[0073] As shown in step S6, the weather information includes wind direction, and the control unit 11 determines the upwind area of ​​the farm where the drone 20 is to be sprayed with pesticides as the area where the drone 20 will move for spraying pesticides, as part of the spraying plan.

[0074] exist Figure 4BIn step S7, the control unit 11 determines whether the predicted rainfall time shown in the weather information is later than the scheduled sowing date. If the predicted rainfall time is later than the scheduled sowing date, the control unit 11 proceeds to step S8; if the predicted rainfall time is earlier than the scheduled sowing date, the control unit 11 proceeds to step S9.

[0075] In step S8, the control unit 11 determines whether the time difference between the predicted rainfall time and the scheduled application date is less than a fourth predetermined value, and decides the extent to which the scheduled application date of the pesticide on the unmanned aerial vehicle 20 is advanced based on the result of this determination. This fourth predetermined value can be freely set.

[0076] If the time difference is less than a fourth predetermined value, the control unit 11 determines the degree to which the scheduled application date should be advanced if the time difference is greater than or equal to the fourth predetermined value. This degree can be freely set. For example, if the time difference is greater than or equal to the fourth predetermined value, the control unit 11 may decide to advance the scheduled application date by 30 minutes; if the time difference is less than the fourth predetermined value, it may decide to advance the scheduled application date by 1 hour. In this case, the control unit 11 can refer to the reservation database stored in the storage unit 12 to determine whether the advanced application date overlaps with other reservations. If there is a overlap, the control unit 11 may leave the scheduled application date unchanged and output an inquiry to the user regarding whether to apply pesticides.

[0077] Next, the case where the control unit 11 determines in step S7 that the predicted rainfall time is earlier than the scheduled application date and time will be explained. In step S9, the control unit 11 outputs a query to the user regarding whether to change the scheduled application date and time. In this case, the control unit 11 can refer to the reservation database stored in the storage unit 12 to detect a date and time earlier than the predicted rainfall time that can be reserved, and propose that date and time as a candidate. Then, the operation of the control unit 11 returns to step S1.

[0078] In this embodiment, if the predicted rainfall time shown in the weather information is later than the scheduled application date and time, and the time difference between the predicted rainfall time and the scheduled application date and time is less than a fourth predetermined value, the control unit 11 determines the degree to which the start time of pesticide application should be advanced by 1 hour, and updates the scheduled application date and time of the application plan from 10:00 on [Date] to 9:00 on [Date]. Then, the processing of the control unit 11 proceeds to step S10.

[0079] As shown in steps S7 to S9, the weather information includes the predicted rainfall time, and the control unit 11 determines the extent to which the scheduled seeding date and time will be advanced based on the predicted rainfall time.

[0080] In step S10, the control unit 11 determines the nozzle used by the unmanned aerial vehicle 20 for pesticide application as either a first nozzle 261 or a second nozzle 262, based on the droplet size of the pesticide determined in step S5. In this embodiment, the unmanned aerial vehicle 20 includes a first nozzle 261 that sprays pesticide into droplets with a first particle size and a second nozzle 262 that sprays pesticide into droplets with a second particle size larger than the first particle size.

[0081] For example, the control unit 11 determines whether a particle size that is the same as or within a predetermined difference of the particle size determined in step S5 is either the first particle size or the second particle size. If the control unit 11 determines that the particle size determined in step S5 is the same as or within a predetermined difference of the first particle size, it determines the first nozzle 261 as the nozzle used by the unmanned aerial vehicle 20 in pesticide application. If the control unit 11 determines that the particle size determined in step S5 is the same as or within a predetermined difference of the second particle size, it determines the second nozzle 262 as the nozzle used by the unmanned aerial vehicle 20 in pesticide application. The control unit 11 updates the nozzles used by the unmanned aerial vehicle 20 included in the application plan to the determined nozzles.

[0082] In this embodiment, the control unit 11 determines the nozzle used by the unmanned aerial vehicle 20 in pesticide application as the second nozzle 262, and updates the nozzle used in the application plan from the first nozzle 261 to the second nozzle 262. Then, the operation of the control unit 11 proceeds to step S11.

[0083] In step S11, the control unit 11 outputs the dissemination plan. Figure 5 An example of a dispersal plan generated by control unit 11 is shown. (Refer to...) Figure 5 This reflects the decisions made by the control unit 11 in steps S4, S5, S6, S8, and S10, and updates the... Figure 2 The initial dissemination plan. Output can be done using any method.

[0084] For example, the control unit 11 can display the spraying plan to the user via the output unit 15, or it can send it to the user's terminal device via the communication unit 13. Alternatively, the control unit 11 can send the spraying plan directly to the unmanned aerial vehicle 20 via the communication unit 13. In this case, the control unit 21 of the unmanned aerial vehicle 20 can receive the spraying plan and control the flight unit 25 and the spraying unit 26 based on the plan, moving them within the area of ​​the farm shown in the plan and using the determined nozzles to spray pesticides. Then, the operation of the control unit 11 ends.

[0085] As described above, the control device 10 includes a control unit 11, which obtains weather information, including wind speed, for the scheduled date and time when the unmanned aerial vehicle 20 will spray pesticides on the farm, determines the flight altitude of the unmanned aerial vehicle 20 based on the wind speed, and generates a pesticide spraying plan for the unmanned aerial vehicle 20 including the determined flight altitude.

[0086] According to this embodiment, when the wind speed is high on the scheduled date and time for pesticide application, lowering the flight altitude of the unmanned aerial vehicle 20 can reduce the possibility of pesticides being blown away by the wind. This reduces the amount of pesticide that cannot be applied to unintended locations, thus improving the technology of aerial pesticide application using unmanned aerial vehicles.

[0087] As described above, in the control device 10 of this embodiment, the control unit 11 determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle 20 as a spraying plan based on the wind speed. The higher the wind speed, the larger the particle size of the pesticide droplets determined by the control unit 11.

[0088] According to this embodiment, the control unit 11 can determine to increase the particle size of pesticide droplets used in situations with high wind speeds. That is, when strong winds are predicted, it can automatically determine that the pesticide droplet size is one that is less likely to be blown away by the wind. Because the particle size of the pesticide droplets can be flexibly determined based on wind speed, efficient utilization of the unmanned aerial vehicle 20 is possible. Therefore, the technology for aerial pesticide dispersal using unmanned aerial vehicles can be improved.

[0089] As described above, the unmanned aerial vehicle 20 of this embodiment includes a first nozzle 261 that sprays pesticide into droplets having a first particle size and a second nozzle 262 that sprays pesticide into droplets having a second particle size larger than the first particle size. The control unit 11 of the control device 10 determines the nozzle used by the unmanned aerial vehicle 20 in pesticide application as the first nozzle 261 or the second nozzle 262 based on the determined particle size.

[0090] According to this embodiment, the nozzle used by the unmanned aerial vehicle 20 can be automatically selected based on the weather conditions on the day of pesticide application, enabling efficient pesticide application. Therefore, the technology for aerial pesticide application using unmanned aerial vehicles can be improved.

[0091] As described above, in the control device 10 of this embodiment, the weather information includes the predicted rainfall time, and the control unit 11 determines the extent to which the scheduled seeding date and time will be advanced based on the predicted rainfall time.

[0092] According to this embodiment, the closer the predicted rainfall time is to the scheduled spraying date, the earlier the pesticide spraying can begin, allowing the sprayed pesticides to dry before the rain. Even in bad weather, spraying plans can be flexibly created, thus improving the technology of aerial pesticide spraying using unmanned aerial vehicles.

[0093] As described above, in the control device 10 of this embodiment, the weather information includes wind direction, and the control unit 11 determines the upwind area of ​​the farm where the drone 20 is to spray pesticides as the area where the drone 20 will move for spraying pesticides.

[0094] According to this embodiment, the area within the farm that the unmanned aerial vehicle 20 will move to for spraying can be planned in advance, reducing the possibility of spraying pesticides downwind of the farm. Therefore, the technology of aerial spraying of pesticides using unmanned aerial vehicles can be improved.

[0095] (Second Implementation)

[0096] The second embodiment of the present invention will now be described. In this embodiment, the structure of system 1 and each device is the same as that of the first embodiment, therefore, the description is omitted.

[0097] Reference Figure 6A and Figure 6B The operation of the control unit 11 of the control device 10 in the second embodiment will be described. This operation is equivalent to the control method of this embodiment.

[0098] Figure 6A Steps S201 to S204 are the same as those in the first embodiment. Figure 4A Steps S1 to S4 are the same, so the explanation is omitted.

[0099] In step S205, the control unit 11 determines whether the predicted rainfall time shown in the weather information is later than the scheduled sowing date. If the predicted rainfall time is later than the scheduled sowing date, the control unit 11 proceeds to step S206; if the predicted rainfall time is earlier than the scheduled sowing date, the control unit 11 proceeds to step S207.

[0100] In step S206, the control unit 11 determines whether the time difference between the predicted rainfall time and the scheduled spraying date and time is less than a fifth predetermined value, and determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle 20 based on the result of this determination. This fifth predetermined value can be freely set.

[0101] If the time difference is less than a fifth predetermined value, the control unit 11 determines a particle size smaller than if the time difference is greater than or equal to the fifth predetermined value. This is to ensure that the pesticide being applied dries before the predicted rainfall time, and the particle size can be freely set taking into account the drying speed of the pesticide. The control unit 11 updates the particle size of the pesticide droplets included in the application plan to the determined particle size.

[0102] Next, the case where the control unit 11 determines in step S205 that the predicted rainfall time is earlier than the scheduled application date will be explained. In step S207, the control unit 11 outputs a query to the user regarding whether to change the scheduled application date. In this case, the control unit 11 can refer to the reservation database stored in the storage unit 12 to detect a scheduled application date earlier than the predicted rainfall time that is still available for reservation, and propose that date as a candidate. Then, the operation of the control unit 11 returns to step S201.

[0103] As shown in steps S205 to S207, the weather information includes the predicted rainfall time, and the control unit 11 determines the particle size of the pesticide droplets to be sprayed by the unmanned aerial vehicle 20 as part of the spraying plan based on the predicted rainfall time. The smaller the time difference between the scheduled spraying date and time and the predicted rainfall time, the smaller the pesticide particle size determined by the control unit 11.

[0104] The control unit 11 can also combine the first embodiment with this embodiment to determine the particle size of the pesticide droplets. In this case, the user can freely set which of the particle size determined based on wind speed and the particle size determined based on the predicted rainfall time to take priority.

[0105] Figure 6B Steps S208 to S213 are the same as those in the first embodiment. Figure 4A Step S6~ Figure 4B Step S11 is the same, so the explanation is omitted.

[0106] As described above, in the control device 10 of this embodiment, the weather information includes the predicted rainfall time, and the control unit 11 determines the particle size of the pesticide droplets to be sprayed by the unmanned aerial vehicle 20 as part of the spraying plan based on the predicted rainfall time. The smaller the time difference between the scheduled spraying date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets determined by the control unit 11.

[0107] According to this embodiment, the control unit 11 can determine that the closer the predicted rainfall time is, the smaller the pesticide droplet size should be. When rain is predicted in the near future, the control unit can automatically determine to reduce the pesticide droplet size in order to ensure the pesticide dries quickly after application before the rain. Because the pesticide droplet size can be flexibly determined based on the predicted rainfall time, the technology of aerial pesticide application using unmanned aerial vehicles can be improved.

[0108] This disclosure has been described based on the accompanying drawings and embodiments; however, it should be noted that those skilled in the art can make various modifications and alterations based on this disclosure. Therefore, it should be understood that these modifications and alterations are included within the scope of this disclosure. For example, the functions contained in each structural component or step can theoretically be reconfigured in a non-contradictory manner, and multiple structural components or steps can be combined into one or separated. For example, in the above embodiments, it is also possible to distribute the configuration and operation of the control device 10 among multiple computers capable of communicating with each other.

[0109] Not limited to the above, the control unit 11 can also determine the particle size of the pesticide droplets based on information included in the weather information, such as how easily the sprayed pesticide dries. For example, if the weather information includes temperature, the control unit 11 can determine a larger particle size for the sprayed pesticide droplets if the temperature is higher. Similarly, if the weather information includes humidity, the control unit 11 can determine a smaller particle size for the sprayed pesticide droplets if the humidity is higher.

[0110] The following are some examples of embodiments of this disclosure. However, it should be noted that the embodiments of this disclosure are not limited to these.

[0111] [Postscript 1]

[0112] A control device includes a control unit, wherein the control unit acquires weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm, determines the flight altitude of the UAV based on the wind speed, and generates a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0113] [Postscript 2]

[0114] According to the control device described in Appendix 1, the control unit determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the wind speed.

[0115] [Postscript 3]

[0116] According to the control device described in Appendix 1 or 2, the greater the wind speed, the larger the particle size of the pesticide droplets determined by the control unit.

[0117] [Postscript 4]

[0118] According to any one of Appendices 1 to 3, the control device wherein the weather information includes a predicted rainfall time, and the control unit determines the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the predicted rainfall time.

[0119] [Postscript 5]

[0120] According to any one of the appendices 1 to 4, in the control device, the smaller the time difference between the predetermined application date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets determined by the control unit.

[0121] [Postscript 6]

[0122] According to any one of Appendices 1 to 5, the control device comprises a first nozzle that sprays the pesticide into droplets having a first particle size and a second nozzle that sprays the pesticide into droplets having a second particle size larger than the first particle size, wherein the control unit determines the nozzle used by the unmanned aerial vehicle to spray the pesticide as the first nozzle or the second nozzle based on the determined particle size.

[0123] [Postscript 7]

[0124] According to any one of Appendices 1 to 6, the control device includes a forecast of rainfall time, and the control unit determines the extent to which the predetermined sowing date and time are advanced based on the forecast of rainfall time.

[0125] [Postscript 8]

[0126] According to any one of Appendices 1 to 7, the control device wherein the weather information includes wind direction, and the control unit determines the upwind area of ​​the wind direction in the farm to which the unmanned aerial vehicle (UAV) is to be sprayed with the pesticide as the area in which the UAV moves to spray the pesticide.

[0127] [Postscript 9]

[0128] A control method, executed by a computer, includes the following steps: obtaining weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm; determining the flight altitude of the UAV based on the wind speed; and generating a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0129] [Postscript 10]

[0130] According to the control method described in Appendix 9, the control method further includes the step of: determining the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the wind speed.

[0131] [Postscript 11]

[0132] According to the control method described in Appendix 9 or 10, the control method further includes the following step: the greater the wind speed, the larger the particle size of the pesticide droplets is determined.

[0133] [Postscript 12]

[0134] According to any one of Appendices 9 to 11, the control method, wherein the weather information includes a predicted rainfall time, further includes the step of: determining the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the predicted rainfall time.

[0135] [Postscript 13]

[0136] According to any one of Appendices 9 to 12, the control method further includes the step of: the smaller the time difference between the predetermined application date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets is determined.

[0137] [Postscript 14]

[0138] According to any one of Appendices 9 to 13, the control method wherein the unmanned aerial vehicle has a first nozzle for spraying the pesticide into droplets having a first particle size and a second nozzle for spraying the pesticide into droplets having a second particle size larger than the first particle size, the control method further includes the step of: determining the nozzle used by the unmanned aerial vehicle to spray the pesticide as the first nozzle or the second nozzle based on the determined particle size.

[0139] [Postscript 15]

[0140] According to any one of Appendices 9 to 14, in the control method, wherein,

[0141] The weather information includes the predicted rainfall time, and the control method further includes the following step: determining the extent to which the scheduled sowing date and time are advanced based on the predicted rainfall time.

[0142] [Postscript 16]

[0143] A program that causes a computer to perform actions including: obtaining weather information, including wind speed, for a predetermined date and time for an unmanned aerial vehicle (UAV) to spray pesticides onto a farm; determining the flight altitude of the UAV based on the wind speed; and generating a spraying plan for the UAV to spray the pesticides, including the determined flight altitude.

[0144] [Postscript 17]

[0145] According to the procedure described in Appendix 16, the procedure causes the computer to perform an action that further includes determining the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the wind speed.

[0146] [Postscript 18]

[0147] According to the procedure described in Appendix 16 or 17, the procedure causes the computer to perform an action that further includes determining the particle size of the pesticide droplets as the wind speed increases.

[0148] [Postscript 19]

[0149] According to any one of Appendices 16 to 18, the weather information includes a predicted rainfall time, and the program causes the computer to perform an action that further includes determining the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle as part of the spraying plan based on the predicted rainfall time.

[0150] [Postscript 20]

[0151] According to any one of Appendices 16 to 19, the procedure causes the computer to perform an action that further includes determining the particle size of the pesticide droplets to be smaller the smaller the time difference between the predetermined application date and time and the predicted rainfall time.

[0152] Explanation of reference numerals in the attached figures

[0153] 1 system

[0154] 10 Control Devices

[0155] 11 Control Department

[0156] 12 Storage Units

[0157] 13Ministry of Communications

[0158] 14 Input Section

[0159] 15 Output Section

[0160] 20 unmanned aerial vehicles

[0161] 21 Control Department

[0162] 22 Storage Department

[0163] 23 Ministry of Communications

[0164] 24 sensors

[0165] 25 flight units

[0166] 26 Spreading Units

[0167] 261 First Nozzle

[0168] 262 Second Nozzle

[0169] 263 pesticide tank

[0170] 30 Network

Claims

1. A control device comprising a control unit, wherein, The control unit obtains weather information, including wind speed, for the scheduled date and time for the unmanned aerial vehicle (UAV) to spray pesticides on the farm. Based on the wind speed, it determines the flight altitude of the UAV and generates a spraying plan for the UAV to spray pesticides, including the determined flight altitude. The weather information includes the predicted time of rainfall, and the control unit determines the particle size of the pesticide droplets to be sprayed by the unmanned aerial vehicle based on the predicted time of rainfall as the spraying plan.

2. The control device according to claim 1, wherein, The smaller the time difference between the predetermined application date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets determined by the control unit.

3. The control device according to claim 1 or 2, wherein, The unmanned aerial vehicle is equipped with a first nozzle that sprays the pesticide into droplets with a first particle size and a second nozzle that sprays the pesticide into droplets with a second particle size larger than the first particle size. The control unit determines the nozzle used by the unmanned aerial vehicle to spray the pesticide, either the first nozzle or the second nozzle, based on the determined particle size.

4. The control device according to claim 1 or 2, wherein, The weather information includes the predicted rainfall time, and the control unit determines the extent to which the scheduled seeding date and time will be advanced based on the predicted rainfall time.

5. The control device according to claim 1 or 2, wherein, The weather information includes wind direction, and the control unit determines the area upwind of the wind direction in the farm where the unmanned aerial vehicle (UAV) is to be sprayed with the pesticide as the area where the UAV will move to spray the pesticide.

6. A control method executed by a computer, the control method comprising the following steps: Obtain weather information, including wind speed, for the scheduled date and time when unmanned aerial vehicles will spray pesticides on farms; The flight altitude of the unmanned aerial vehicle is determined based on the wind speed; and Generate a spraying plan for the unmanned aerial vehicle to spray the pesticide, including the determined flight altitude. The weather information includes the predicted rainfall time, and the control method further includes the following steps: determining the particle size of the pesticide droplets sprayed by the unmanned aerial vehicle based on the predicted rainfall time as the spraying plan.

7. The control method according to claim 6, wherein, The control method further includes the following step: the smaller the time difference between the predetermined application date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets will be.

8. The control method according to claim 6 or 7, wherein, The unmanned aerial vehicle is equipped with a first nozzle that sprays the pesticide into droplets with a first particle size and a second nozzle that sprays the pesticide into droplets with a second particle size larger than the first particle size. The control method further includes the following step: determining the nozzle used by the unmanned aerial vehicle to spray the pesticide as either the first nozzle or the second nozzle based on the determined particle size.

9. The control method according to claim 6 or 7, wherein, The weather information includes the predicted rainfall time, and the control method further includes the following step: determining the extent to which the scheduled sowing date and time are advanced based on the predicted rainfall time.

10. A non-transitory computer-readable medium storing a program that causes a computer to perform actions, said actions including: Obtain weather information, including wind speed, for the scheduled date and time when unmanned aerial vehicles will spray pesticides on farms; The flight altitude of the unmanned aerial vehicle is determined based on the wind speed; and Generate a spraying plan for the unmanned aerial vehicle to spray the pesticide, including the determined flight altitude. The weather information includes predicted rainfall times, and the actions the computer performs, as instructed by the program, further include: determining the particle size of the pesticide droplets to be sprayed by the unmanned aerial vehicle based on the predicted rainfall times, as part of the spraying plan.

11. The non-transitory computer-readable medium according to claim 10, wherein, The program causes the computer to perform the following actions: the smaller the time difference between the predetermined application date and time and the predicted rainfall time, the smaller the particle size of the pesticide droplets will be.

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