Weeding drone device

Abstract

To provide a weeding drone device.SOLUTION: A weeding drone device is equipped with an herbicide liquid application device 20 that can apply an herbicide liquid to a target location. The herbicide liquid application device 20 includes: an herbicide liquid supply part 21 that is equipped with a tank 22 for storing the herbicide liquid and a pump 23 connected to the tank 22 for discharging the herbicide liquid; a branch pipe 30 that is provided so as to extend left and right with respect to the front-back direction which is the normal flight direction of the drone 10 when applying the herbicide liquid, and is equipped with a plurality of liquid branch ports 35 provided at intervals in the left and right extending direction and connected to the herbicide liquid supply part 21 so as to receive and distribute the herbicide liquid; and a plurality of application thin tubes 50 that are connected to the liquid branch ports 35 of the branch pipe 30 and make the herbicide liquid flow down so as to apply the herbicide liquid to a target location.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a weed-killing drone device that is equipped with a herbicide liquid application device that can apply herbicide liquid to a target location on a drone flying in the air. [Background technology]

[0002] Conventionally, in a pesticide spraying device mounted on a radio-controlled helicopter, pesticides stored in a tank are guided through piping with a pump in between to an atomizer, which then atomizes the pesticide and sprays it into the air.A pesticide spraying device has been proposed that includes a radio-controlled stop valve between the pump and atomizer in the piping, which allows the stop valve to completely close the piping when spraying is not being performed, and opens the stop valve when spraying, thereby reducing the flow resistance of the piping (see Patent Document 1).

[0003] In addition, in a conventional chemical spraying device mounted on a radio-controlled helicopter, it has been proposed to divide the piping on the discharge side of the pump that supplies the chemical liquid into two systems, supplying the chemical liquid to two atomizer spraying devices each using two pumps, and configure the piping so that the chemical liquid is supplied to one atomizer spraying device through two pump orifices with different flow rates, and make it possible to adjust the amount of chemical liquid sprayed by operating one or both of the two pumps (see Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-94 (Page 1) [Patent Document 2] Japanese Patent Application Publication No. 11-57561 (Page 1) Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved with regard to the weed-killing drone device is that, although various improvements have been made to the conventional drone device equipped with a spraying device for spraying the pesticide liquid, even if the drone can fly accurately along a pre-set flight route, the atomized pesticide liquid is scattered by the airflow caused by the propeller drive and the wind (airflow) including the airflow caused by the flight, so it is not possible to spray only the target location. In addition, the conventional drone device equipped with a spraying device for spraying powdery or granular materials also has the problem that it is easily affected by the wind, just like the spraying of the above-mentioned pesticide liquid, and it is difficult to spray uniformly to the specified target location.

[0006] In other words, with any drone device equipped with a conventional spraying device, it is extremely difficult to spray herbicide liquid only on grass that grows naturally in a strip-like target area, such as the banks of a rice paddy, and a drone device that can spray herbicide liquid only in such a limited area has not yet been developed.

[0007] Therefore, an object of the present invention is to provide a weed-killing drone device that can spray herbicide liquid only on grass in a limited target area without being affected by wind. [Means for solving the problem]

[0008] In order to achieve the above object, the present invention has the following configuration. According to one embodiment of the weed killing drone device of the present invention, a weed killing drone device is provided with a herbicide liquid application device capable of applying herbicide liquid to a target location on a drone flying in the air, the herbicide liquid application device comprising: a herbicide liquid supply unit having a tank for storing herbicide liquid and a pump connected to the tank for discharging the herbicide liquid; a branch pipe extending left and right relative to the forward / backward direction which is the normal flight direction of the drone when applying herbicide liquid, and connected to the herbicide liquid supply unit and having a plurality of liquid branching ports spaced apart in the left and right extension direction to receive and distribute the herbicide liquid; and a plurality of application capillaries connected to the liquid branching ports of the branch pipe to flow the herbicide liquid down so as to apply the herbicide liquid to the target location.

[0009] In addition, according to one embodiment of the weeding drone device of the present invention, the liquid branching port and the application capillary tube are connected via a bendable connecting pipe portion.

[0010] In addition, according to one embodiment of the weeding drone device of the present invention, the connecting pipe portion is provided by a tube that is more flexible than the application capillary.

[0011] In addition, according to one embodiment of the weed-killing drone device of the present invention, the application capillary is guided to allow tilting in the forward and backward directions, but is characterized by being provided with a lateral sway control guide that is arranged to suppress tilting of the application capillary in the left-right direction.

[0012] In addition, according to one embodiment of the weeding drone device of the present invention, the device can be characterized in that it includes a spacing regulating member that is disposed between adjacent application capillaries midway along the length of the plurality of application capillaries and regulates the spacing between the application capillaries so that it does not expand beyond a certain width.

[0013] In addition, according to one embodiment of the weeding drone device of the present invention, the distance control member can be a string.

[0014] In addition, according to one embodiment of the weed killing drone device of the present invention, a lever rotation device is provided that includes a lever member that rotates in contact with the multiple application capillaries and a rotation drive unit that rotates the lever member so as to rotate the multiple application capillaries in the forward / backward direction, which is the normal flight direction when the drone applies herbicide liquid, into a folded state.

[0015] In addition, according to one embodiment of the weed-killing drone device of the present invention, the branch pipe is divided into two systems, left and right, and thus the multiple application capillaries are divided into two systems, left and right. In addition, according to one embodiment of the weeding drone device of the present invention, the drone is characterized in that it is equipped with two or more of satellite positioning, image processing, and a sensor that detects the inclination of the application capillary as a position detection system that can detect in real time the difference and direction of the center position of the aircraft relative to the center of a cross section perpendicular to the longitudinal direction of the ridge. In addition, according to one embodiment of the weed-killing drone device of the present invention, the application capillaries, which are divided into individual or multiple groups, can be turned on and off separately, and the position detection system can recognize deviations in the flight route in real time, and the device is characterized by being equipped with a control device that controls the nozzles so that only the nozzles passing over the ridges eject herbicide liquid. Effect of the Invention

[0016] The weed-killing drone device of the present invention has the particularly advantageous effect of being able to spray herbicide liquid only on grass in a limited target area without being affected by wind. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a perspective view showing an example of a weeding drone device according to the present invention. [Diagram 2] FIG. 2 is a perspective view of the embodiment of FIG. 1 as seen from the opposite side. [Diagram 3]FIG. 2 is a front view of the embodiment of FIG. 1. [Figure 4] FIG. 2 is a side view of the embodiment of FIG. 1. [Diagram 5] FIG. 2 is a perspective view showing a state in which the embodiment of FIG. 1 is used. [Figure 6] FIG. 6 is a side view of FIG. 5. [Figure 7] 2 is a perspective view showing a branch pipe and a plurality of coating capillaries in the embodiment shown in FIG. 1. FIG. [Figure 8] FIG. 8 is an enlarged perspective view of part A in FIG. 7. [Figure 9] FIG. 8 is an enlarged front view of part A in FIG. [Figure 10] FIG. 2 is a perspective view showing a state in which a plurality of application capillaries of the embodiment of FIG. 1 are folded for use. [Figure 11] 11 is a perspective view showing a branch pipe and a plurality of coating thin tubes in FIG. 10. FIG. [Figure 12] FIG. 12 is an enlarged perspective view of part B in FIG. [Figure 13] FIG. 11 is a side view of FIG. [Figure 14] FIG. 14 is an enlarged side view of part C in FIG. [Figure 15] 2 is a perspective view showing a state in which an example of a space regulating member is arranged in the embodiment of FIG. 1. FIG. [Figure 16] FIG. 2 is a front view illustrating a method for correcting the range of application of a pesticide in the embodiment of FIG. 1 and an improved method for operating the weed-killing drone device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, examples of the weeding drone device according to the present invention will be described in detail with reference to the attached drawings (Figs. 1 to 14). The weeding drone device is, for example, a drone (unmanned aerial vehicle) that can fly by radio control or automatic control using a GPS (Global Positioning System) or a wireless communication network, and a herbicide liquid application device 20 is incorporated in the drone.

[0019] The weed killing drone device according to the present invention is a drone 10 flying in the air, equipped with a herbicide liquid application device 20 capable of applying a herbicide liquid to a target location. As shown in FIG. 1 and other figures, the drone 10 of this embodiment has a general configuration including a main body 11, multiple propellers 12, legs 13, a control device 14, and an antenna 15. The drone 10 according to the present invention is not limited to this embodiment, and may be any flying object capable of precisely controlling the flight position with the required accuracy, and of course known forms may be appropriately and selectively used.

[0020] In the weed killing drone device according to the present invention, the herbicide liquid application device 20 includes a tank 22 for storing the herbicide liquid, a herbicide liquid supply unit 21 (see FIG. 3, etc.) including a pump 23 connected to the tank 22 and discharging the herbicide liquid, a branch pipe 30 (described later) fixed to the drone 10, and a plurality of application thin tubes 50 (described later) connected to the branch pipe 30. Note that 22a is a plug that blocks the spout (inlet) of the tank 22, and is closed after the herbicide liquid is poured into the tank 22.

[0021] The branch pipe 30 in this embodiment is provided extending left and right with respect to the forward and backward direction, which is the normal flight direction of the drone 10 when applying herbicide liquid, and is provided with a plurality of liquid branch ports 35 spaced apart in the left and right extension direction so as to be connected to the herbicide liquid supply unit 21 and receive and distribute the herbicide liquid. As shown in Figures 8 and 9, the branch pipe 30 in this embodiment is formed by alternately connecting a large number of ready-made pipe joints 32 and straight pipes 33 of an appropriate length in series, so as to be extended left and right, and is fixed to a rod-shaped long plate 31 fixed to the main body 11 of the drone 10 in a state of spanning left and right via the legs 13.

[0022] In addition, the multiple application capillaries 50 in this embodiment are connected to the liquid branching ports 35 of the branching pipes 30 to form a capillary flow path that allows the herbicide liquid to flow down so as to apply the herbicide liquid to the target location. The application capillaries 50 are connected to each of the liquid branching ports 35 of the branching pipes 30 in a one-to-one relationship, and the overall shape is such that the multiple application capillaries 50 hang down from the branching pipes 30 in a blind-like manner when applying the herbicide liquid to the target location. That is, in this embodiment, the multiple liquid branching ports 35 are arranged at equal intervals in the left-right direction, and the application capillaries 50 are arranged in parallel at equal intervals in the left-right direction, and each application capillary 50 is configured to hang down in a state of extending in the vertical direction by its own weight when the drone 10 is hovering in the air and no force is applied to the application capillaries 50.

[0023] The weeding drone device of the present invention has a special advantageous effect of being able to spray herbicide liquid only on grass in a limited target area without being affected by wind. That is, according to this, the herbicide liquid can be applied more uniformly without excess or deficiency along a strip of grass that continues in a straight or curved shape, such as the ridge 100 of a paddy field or the boundary of a property, as shown in Figure 5, and the work efficiency can be significantly improved and the weeding effect can be enhanced.

[0024] This technology enables more appropriate automatic control by utilizing the highly accurate satellite positioning system provided by the Quasi-Zenith Satellite System (Michibiki). By setting the flight route using map data and loading it into the flight controller, it is possible to automatically spray herbicide liquid along the flight route to the required width with greater precision and reliability.

[0025] In this embodiment, each liquid branching port 35 and the application capillary 50 are connected via a bendable connecting tube portion 40. The connecting tube portion 40 in this embodiment is provided by a tube having higher flexibility than the application capillary 50, and more specifically, a silicone tube is used, which is highly flexible and has good retention and airtightness when the application capillary 50 is inserted inside.

[0026] The connecting pipe section 40 is not limited to this, and may be any known pipe joint formed by connecting pipes in a bent manner. Furthermore, the flexible tube of this embodiment is not limited to a flexible material such as a silicone tube, and may be, for example, a flexible tube with high restorability that easily returns to its original shape when the bending force is released.

[0027] As a result, the connecting tube portion 40 in this embodiment can be bent, so that, as shown in Figure 5, it can come into contact with a target location where an object such as unevenness or grass is present on the paddy field ridge 100, and each application capillary 50 can be tilted appropriately to the opposite side to the flight direction (travel direction) so as not to create resistance to the drone's flight along the target location, and the herbicide liquid can be accurately and reliably applied along the extension of the ridge 100 with minimal influence from the wind.

[0028] In this embodiment, the application capillaries 50 are guided to allow tilting in the front-rear direction (the normal flight direction when applying herbicide liquid), but a lateral oscillation control guide 60 is provided to suppress tilting of the application capillaries 50 in the left-right direction. As shown in detail in Figures 8 and 12, the lateral oscillation control guides 60 in this embodiment are formed in a fan shape and arranged in pairs on both sides of each application capillary 50, with the fan-shaped surfaces arranged parallel to the front-rear direction and vertical direction with respect to the flight direction.

[0029] This makes it possible to prevent the multiple application capillaries 50 from tilting in the left-right direction and to prevent the herbicide liquid outlets at the tips (lower ends) of the application capillaries 50 from being positioned randomly in the left-right direction. As a result, the spacing between the herbicide liquid outlets at the tips can be maintained more evenly spaced in the left-right direction, and the herbicide liquid can be applied more uniformly to the target location.

[0030] In this embodiment, as shown in Fig. 15, a space regulating member 51 is provided between adjacent applicator capillaries 50 in the middle of the length of the applicator capillaries 50 to regulate the space between the applicator capillaries 50 so as not to exceed a certain width. This space regulating member 51 can prevent each of the applicator capillaries 50 from swinging randomly in various directions and angles and becoming unruly. In other words, this can suppress the swinging of each of the applicator capillaries 50, which cannot be regulated by the lateral swing regulating guide 60 alone, and can maintain the space between the applicator capillaries 50 at more equal intervals, thereby allowing the herbicide liquid to be applied more uniformly in the width direction in which it is sprayed.

[0031] In this embodiment shown in Fig. 15, the interval regulating member 51 is a string fixed to each application capillary 50 by tying or the like, and is arranged at a position slightly displaced from the middle part in the length direction to the upper side of the application capillary 50 in a hanging state, but the present invention is not limited to this, and a tape-like member or a connecting member with greater rigidity may be used depending on the conditions of use, etc. In this embodiment, a single string is arranged linearly parallel to the horizontal plane at substantially the same height, but two or more strings may be arranged linearly parallel to the horizontal plane, or may be arranged linearly not parallel to the horizontal plane, and it is of course possible to design appropriately and selectively depending on the conditions of use, etc. By configuring the interval regulating member 51 with a string as in this embodiment, there is an advantage that it is lightweight and does not cause wind resistance.

[0032] In this embodiment, the branch pipes 30 are provided separately in two systems, left and right, so that the multiple application thin tubes 50 are separated into two systems, left and right. That is, in this embodiment, first, two pumps 23 are connected downstream of one tank 22 that stores herbicide liquid by pipelines, and a solenoid valve 24, which is a controllable on-off valve, and a flow rate regulator are provided downstream of each of the left and right pumps 23, so that the herbicide liquid supply unit 21 is separated into two systems, left and right. Then, the branch pipes 30 of the two systems, left and right, are connected to the herbicide liquid supply unit 21 via connection pipes 25, respectively, so that the multiple application thin tubes 50 are separated into two systems, left and right.

[0033] According to this, for example, when weeding only half the width of a paddy field levee that is the boundary between two owners, the herbicide liquid can be appropriately applied by using only one of the multiple application thin tubes 50, which are divided into two systems, left and right. Similarly, when the area to be weeded is a narrow strip, such as when the width of the levee is narrow, only one system of the multiple application thin tubes 50 can be used.

[0034] In addition, in this embodiment, a lever rotation device 70 is provided which includes a lever member 71 that rotates in contact with the multiple application capillaries 50 and a rotation drive unit 72 that rotates the lever member 71 so that the multiple application capillaries 50 are rotated in the forward / backward direction, which is the normal flight direction when the drone 10 applies herbicide liquid, to a folded state.

[0035] This allows the multiple application capillaries 50 to be folded appropriately, even though it is a simple configuration, and allows the drone 10 to assume an appropriate posture for takeoff and landing. In addition, by being folded, the drone 10 can be stored appropriately.

[0036] In this embodiment, a pair of legs 13 are provided with rectangular frame portions 13c fixed horizontally, and the rectangular frame portions 13c, together with the crosspiece portions 13a provided on the legs 13, are configured to hold the branch pipe 30 via the rod-shaped long plate 31 and the multiple application capillaries 50 via the branch pipe 30. The lever rotation device 70 is configured by rotatably mounting both ends of a U-shaped lever member 71 to the left and right ends of the rectangular frame portion 13c, and one end of the lever member 71 is connected to a rotation drive portion 72 so that the lever member 71 is rotated. According to this, the structural strength is reinforced by the rectangular frame portions 13c, and the bridge portions 71a of the lever member 71 are rotated in contact with the multiple application capillaries 50, so that the multiple application capillaries 50 can be appropriately folded.

[0037] In addition, in this embodiment, a pair of grounding portions 13b of the legs 13 are provided in a shape extending in the normal flight direction (front-rear direction) described above so as to be parallel to the folding direction of the application capillary 50 so as not to interfere with the rotation of the application capillary 50. In addition, in the present invention, since the drone 10 flies at low altitude, the legs 13 are provided in a shape in which the length in the height direction is appropriately limited to be short, and in this embodiment, the grounding portions 13b of the legs 13 are provided so as to be located close to and below the branch pipe 30.

[0038] In addition, in the present invention, the drone 10 can fly stably while maintaining an appropriate distance in height from the ground, which is the surface of the target area to which the herbicide liquid is to be applied, and the target grass, so as to avoid crashing, and information processing technologies such as image processing technology and AI technology can be appropriately utilized to enable the drone to fly accurately along the required route.

[0039] Next, the embodiment of the weed-killing drone device shown in FIG. 1 and an improved method for operating the device, a method for correcting the pesticide application range, and its control system will be described with reference to FIG. 16.

[0040] In the control system relating to the method for correcting the drug application range according to the present invention, the drone 10 may be equipped with two or more position detection means such as satellite positioning, image processing, and various sensors (such as a sensor for detecting the inclination of the application capillary 50 (nozzle)) in combination as a position detection system capable of detecting in real time the difference and direction of the center position of the aircraft relative to the center of a cross section perpendicular to the longitudinal direction of the ridge 100. For example, in the ridge 100 shown in FIG. 16, the nozzle is inclined when the end of the nozzle comes into contact with the target location for drug application (the mounded area (convex area) where the liquid agent is to be applied), and by detecting the inclination of this nozzle with a sensor (a tilt detector, which is an example of a position detection means), the deviation of the flight position of the drone 10 can be detected and recognized in real time, and the flight route can be corrected based on the detection information.

[0041] According to this position detection system, in addition to using a highly accurate satellite positioning system using the quasi-zenith satellite system (Michibiki), it is possible to suitably correct the flight route of the herbicide application range based on image processing and detection information from at least one of various sensors. Therefore, it is possible to more accurately follow a desired flight route that has been set in advance, and it is possible to prevent the herbicide liquid from being applied to surrounding crops and other objects that do not require herbicide spraying (places where it would be problematic if the herbicide was sprayed or attached). It is needless to say that this position detection system can be applied not only to the ridge 100, but also to other places where herbicide spraying is required, and it is needless to say that it can be applied to the spraying or application of other herbicides, not limited to herbicide liquid.

[0042] It is also advisable to provide a control device that can turn on / off the opening and closing of each or multiple groups of application capillaries 50 (nozzles), and that uses the position detection system described above to recognize in real time the deviation between the flight route (aircraft reference point) and the ridges, etc., and controls so that only the nozzles passing over the ridges 100 eject the agent (such as herbicide liquid). As a means (automatic opening and closing means) for turning on / off the opening and closing of each or multiple groups of nozzles, respectively, solenoid valves, etc. can be used.

[0043] Note that the configuration that allows individual ON / OFF is not limited to, for example, connecting solenoid valves to nozzles one-to-one to open and close the flow paths to each nozzle, but may also be configured such that a plurality of nozzles are grouped together and each group is connected to a separate solenoid valve to discharge herbicide liquid on a group basis. For example, in the embodiment of Fig. 16, at least four nozzles on each side may be set as a nozzle group, and one solenoid valve may be connected to each nozzle group, so that discharge and stopping of herbicide liquid can be managed on a group basis.

[0044] This makes it possible to stop (prevent) the discharge of the herbicide (weed killer liquid) from some of the nozzles that are off the flight route, as shown in Fig. 16. This also makes it possible to prevent the herbicide liquid from being applied to surrounding crops and other objects that do not require the herbicide to be sprayed (areas where it would be problematic if the herbicide were sprayed or attached). Furthermore, this system having nozzles divided into individual or multiple groups for the herbicide spray range can of course be applied not only to the ridge 100, but also to other places where the herbicide needs to be sprayed, and can of course be applied to the spraying or application of other herbicides, not limited to herbicide liquid. [Industrial Applicability]

[0045] In the above embodiment, a weed-killing drone device used to apply a liquid herbicide (liquid herbicide) has been described, but this drone device can of course also be used as a device to apply other liquids (various aqueous solutions, chemical solutions, etc.) to a specific area (target area) instead of the liquid herbicide. In other words, the present invention can be used as a weed-killing drone device, but is not limited to this and can be applied to other uses as is.

[0046] Although the present invention has been described above in various preferred embodiments, the present invention is not limited to these embodiments, and it goes without saying that many modifications can be made without departing from the spirit of the invention. [Explanation of symbols]

[0047] 10. Drone 11 Main unit 12 Propeller 13 Legs 13a Cross section 13b Grounding part 13c Rectangular frame section 14 Control device 15 Antenna 20 Herbicide liquid application device 21 Herbicide liquid supply section 22 Tank 23 Pump 24 Solenoid valve 25 Connection piping 30 Branch piping 31 Long rod-shaped board 32 Pipe fittings 33 straight pipe 35 Liquid branch port 40 Connection pipe section 50 Coating tube 51 Spacing regulation member 60 Rolling Control Guide 70 Lever rotating device 71 Lever component 71a Bridge section 72 Rotating drive unit 100 ridge

Claims

1. A weeding drone device equipped with a herbicide liquid application device that can apply herbicide liquid to a target location on a drone flying in the air, The herbicide liquid application device is a herbicide liquid supply unit including a tank for storing herbicide liquid and a pump connected to the tank for discharging the herbicide liquid; a branch pipe that is provided extending left and right with respect to the forward and backward direction, which is the normal flight direction when the drone applies herbicide liquid, and that is connected to the herbicide liquid supply unit and has a plurality of liquid branch ports spaced apart in the left and right extension direction so as to receive and distribute the herbicide liquid; A weeding drone device characterized by comprising a plurality of application narrow tubes connected to the liquid branch port of the branch pipe and causing the herbicide liquid to flow down so as to apply the herbicide liquid to a target location.

2. The weeding drone device according to claim 1, characterized in that the liquid branching port and the application thin tube are connected via a bendable connecting pipe portion.

3. The weeding drone device according to claim 2, characterized in that the connecting pipe portion is made of a tube that is more flexible than the application capillary.

4. The weeding drone device according to claim 3, characterized in that it is provided with a lateral sway control guide that guides the application capillary tube to allow it to tilt in the forward and backward directions, but that prevents the application capillary tube from tilting in the left and right directions.

5. The weeding drone device according to claim 4, characterized in that it is provided with a spacing restriction member that is arranged between adjacent application capillaries midway in the longitudinal direction of the plurality of application capillaries and restricts the spacing between the application capillaries to not exceed a certain width.

6. The weeding drone device according to claim 5, characterized in that the spacing control member is a string.

7. 3. The weeding drone device according to claim 2, further comprising a lever rotation device including a lever member that rotates in contact with the plurality of application capillaries and a rotation drive unit that rotates the lever member so as to rotate the plurality of application capillaries in the forward / backward direction, which is the normal flight direction of the drone when applying herbicide liquid, into a folded state.

8. The weeding drone device according to claim 1, characterized in that the branch pipes are divided into two systems, left and right, so that the plurality of application capillaries are divided into two systems, left and right.

9. The weeding drone device described in claim 1, characterized in that the drone is equipped with two or more of satellite positioning, image processing, and a sensor that detects the inclination of the application capillary as a position detection system that can detect in real time the difference and direction of the center of the aircraft relative to the center of a cross section perpendicular to the longitudinal direction of the ridge.

10. The weeding drone device of claim 9, characterized in that the opening and closing of the application capillaries, which are divided into individual or multiple groups, can be turned on and off separately, and the device is equipped with a control device that uses the position detection system to recognize deviations in the flight route in real time and controls the device so that only the nozzles passing over the ridges eject herbicide liquid.

11. A drone device for applying liquid agents, which has the same configuration as the weed control drone device described in any one of claims 1 to 10, and is characterized in that it is a device for applying another liquid agent to a target location instead of the herbicide liquid.

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