Feed supply system, method, and program to feeding machine

Abstract

To provide a supply system for supplying feed to a feeding machine automatically without manual operation.SOLUTION: A feeding machine feed supply system 1 according to the present invention uses an unmanned aircraft that comprises a cargo compartment loaded with feed and capable of discharging the feed by bringing a first open / close lid part into an open state and is capable of performing horizontal navigation, vertical navigation, and navigation using a combination thereof, to supply the feed to a feeding machine, which is installed at a fish preserve subjected to feeding and which comprises a storage part capable of receiving the feed by bringing a second open / close lid part into an open state. The feeding machine feed supply system comprises: relative position information acquisition means for acquiring relative position information between the unmanned aircraft and the feeding machine; positioning control means for performing positioning so that a position of the unmanned aircraft approximately corresponds with a position of the feeding machine, on the basis of the relative position information; and charging control means for controlling opening / closing of the first open / close lid part and the second open / close lid part.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a system, method and program for supplying feed to a feeder in a fish pen, and in particular to a technique for automatically supplying feed to a feeder without manual intervention. [Background technology]

[0002] When fish are cultivated offshore in fish tanks, it is necessary to periodically supply the tanks with the feed necessary for the fish to grow. Supplying a large amount of feed to the tanks at once can result in excess feed and cause deterioration of water quality, while supplying too little can lead to insufficient growth. Therefore, it is necessary to supply an appropriate amount of feed depending on the number of fish in the tank, their growth rate, and their appetite.

[0003] The simplest method for supplying feed to a fish pen is to approach the pen by boat and scatter the feed inside the pen from the boat. This method makes it possible to visually check the condition of the pen and then supply the required amount of feed in a timely manner. However, the method of scattering feed from the boat while visually checking the condition of the pen is highly dependent on manpower, and in today's world where there is a labor shortage in the primary industry, this method is becoming difficult, especially when cultivating a large number of fish in multiple pens.

[0004] Furthermore, when feed is scattered in the cage, the fish do not eat it well, resulting in excess feed.

[0005] Therefore, to simultaneously solve the problems of labor shortage and the problems associated with spreading feed, an unmanned feeder has been developed that is installed in the fish pens to supply feed into the pens (Patent Document 1).

[0006] The unmanned feeder described in Patent Document 1 includes a storage tank for storing feed, a detection means for detecting the conditions inside the fish pen, and a wireless communication means for communicating with a base station. The information about the conditions inside the fish pen detected by the detection means is transmitted to the base station, and an appropriate amount of feed is released into the fish pen at an appropriate time based on commands from the base station.

[0007] The feeder described in Patent Document 1 can detect the conditions inside the fish tank without human intervention, and can supply an appropriate amount of feed to the fish tank according to the detected conditions inside the fish tank.

[0008] However, even with the feeder disclosed in Patent Document 1, the replenishment of feed into the storage tank must be done manually. In other words, there is a problem in that manpower is required to transport the feed from a warehouse installed on land to the feeder on the sea and replenish it into the storage tank. Furthermore, in aquaculture farms with multiple fish pens, a feeder is installed for each pen, so feed must be replenished to each feeder, ultimately resulting in a problem of labor-intensive feed replenishment. Note that this problem applies not only to the unmanned feeder disclosed in Patent Document 1, but also to feeders that are manually operated. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Patent No. 7232471 Summary of the Invention [Problem to be solved by the invention]

[0010] The present invention has been made in view of the above-mentioned problems, and has an object to provide a feeding system for automatically replenishing feed to a feeder without manual intervention. [Means for solving the problem]

[0011] The inventors of the present invention focused on unmanned aerial vehicles capable of horizontal navigation, vertical navigation, and a combination of these, and discovered that unmanned aerial vehicles can transport a specified amount of feed to a destination, and can also reach the desired point and replenish feed in a feeder, thereby arriving at the present invention.

[0012] The present invention provides the following solutions.

[0013] The invention relating to the first feature is a feed supply system for a feeder that uses an unmanned aerial vehicle capable of horizontal navigation, vertical navigation, and a combination of these, and which has a cargo compartment that can load feed and release the feed by opening the first opening / closing lid, to supply feed to a feeder that is installed in a fish pen to be fed and has a storage section that can receive feed by opening the second opening / closing lid, and is equipped with a relative position information acquisition means that acquires relative position information between the unmanned aerial vehicle and the feeder, a positioning control means that aligns the position of the unmanned aerial vehicle based on the relative position information so that it approximately matches the position of the feeder, and an input control means that controls the opening and closing of the first opening / closing lid and the second opening / closing lid.

[0014] According to the first aspect of the invention, an unmanned aerial vehicle capable of horizontal navigation, vertical navigation, and a combination of these navigation modes is used, enabling accurate positioning toward a target. Furthermore, the system is equipped with a positioning control means that aligns the position of the unmanned aerial vehicle to approximately match the position of the feeder based on relative position information between the unmanned aerial vehicle and the feeder. Therefore, even when replenishing feed to a feeder installed in a fish pen whose position changes slightly due to tidal currents, accurate positioning can be achieved by detecting the relative positions of the two on the spot. Furthermore, the positioning means and feed supply control means each operate automatically based on the detected information, enabling feed to be replenished automatically without manual intervention. [Effects of the Invention]

[0015] According to the present invention, a supply system for supplying feed to a feeder without manual intervention can be provided. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a block diagram showing an example of the hardware configuration and software functions of a system 1 for supplying feed to a feeder 20 using an unmanned aerial vehicle 10 in this embodiment. [Figure 2] FIG. 2 is a flowchart showing an example of a method for supplying feed to the feeder 20 in this embodiment. [Figure 3] Fig. 3 is a schematic diagram showing an example of alignment control S12 according to embodiment 1. Fig. 3(a) is a schematic diagram showing the state of alignment control S12 according to embodiment 1, and Fig. 3(b) is a schematic diagram showing an example of the function of alignment module 161 used in alignment control S12 according to embodiment 1. [Figure 4] Fig. 4 is a schematic diagram showing an example of alignment control S12 according to embodiment 2. Fig. 4(a) is a schematic diagram showing the state of alignment control S12 according to embodiment 2, and Fig. 4(b) is a schematic diagram showing an example of the function of alignment module 161 used in alignment control S12 according to embodiment 2. [Figure 5] Fig. 5 is a schematic diagram showing an example of alignment control S12 according to embodiment 3. Fig. 5(a) is a schematic diagram showing the state of alignment control S12 according to embodiment 3, and Fig. 5(b) is a schematic diagram showing an example of the function of alignment module 161 used in alignment control S12 according to embodiment 3. [Figure 6] Fig. 6 is a schematic diagram showing an example of alignment control S12 according to embodiment 4. Fig. 6(a) is a schematic diagram showing the alignment control S12 according to embodiment 4, and Fig. 6(b) is an example of an alignment module 161 used in the alignment control S12 according to embodiment 4. [Figure 7] Fig. 7 is a schematic diagram showing an example of alignment control S12 according to embodiment 5. Fig. 7(a) is a schematic diagram showing the alignment control S12 according to embodiment 5, and Fig. 7(b) is an example of an alignment module 161 used in the alignment control S12 according to embodiment 5. [Figure 8] Fig. 8 is a schematic diagram showing an example of alignment control S12 according to embodiment 6. Fig. 8(a) is a schematic diagram showing the alignment control S12 according to embodiment 5, and Fig. 8(b) is an example of an alignment module 161 used in the alignment control S12 according to embodiment 6. [Figure 9] Fig. 9 is a schematic diagram showing an example of the closing control S13 according to the seventh embodiment. Fig. 9(a) is a schematic diagram showing the closing control S13 according to the seventh embodiment, and Fig. 9(b) is an example of the closing control module 162 used in the closing control S13 according to the seventh embodiment. [Figure 10] Fig. 10 is a schematic diagram showing an example of the closing control S13 according to the eighth embodiment. Fig. 10(a) is a schematic diagram showing the closing control S13 according to the eighth embodiment, and Fig. 10(b) is an example of the closing control module 162 used in the closing control S13 according to the eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following describes embodiments of the present invention with reference to the accompanying drawings. However, these are merely examples, and the technical scope of the present invention is not limited to these examples.

[0018] In the present invention, the term "position" refers to coordinates defined by latitude, longitude, altitude, etc., and the term "position information" refers to information relating to coordinates defined by latitude, longitude, altitude, etc.

[0019] <Configuration of feed supply system 1 to feeder> The overall configuration of a feed supply system 1 for a feed dispenser according to this embodiment will be described using Figure 1. Figure 1 is a block diagram illustrating the hardware configuration and software functions of the feed supply system 1 for a feed dispenser according to this embodiment. The feed supply system 1 includes an unmanned aerial vehicle 10, a feed dispenser 20, and a computer 30. Note that this embodiment enables automatic piloting of the unmanned aerial vehicle 10.

[0020] [Unmanned aerial vehicle 10] The unmanned aerial vehicle 10 is not particularly limited as long as it is capable of horizontal navigation, vertical navigation, or a combination thereof, and has a cargo bay capable of transporting feed. The cargo bay does not need to be installed in the unmanned aerial vehicle 10 in advance; a cargo bay separate from the unmanned aerial vehicle 10 may be prepared, and the feed may be loaded into the cargo bay before being loaded onto the unmanned aerial vehicle 10.

[0021] The unmanned aerial vehicle 10 comprises a propulsion device 11 that allows the unmanned aerial vehicle 10 to navigate horizontally, vertically, or a combination thereof, a detection unit 12 that acquires various information such as the position and attitude of the unmanned aerial vehicle 10, a positioning signal receiving unit 13 that receives positioning signals from artificial satellites, a cargo hold 14 in which feed can be loaded, a wireless communication unit 15 that communicates wirelessly with the feeder 20 and the computer 30, and a control unit 16 that controls the operation of the unmanned aerial vehicle 10.

[0022] [Propulsion device 11] The propulsion device 11 comprises a power source 111 such as a battery, an engine unit 112 such as a motor that operates with power supplied from the power source 111 to generate rotational motion, four to six rotors 113 that rotate in response to the operation of the engine unit 112 and cause the unmanned aircraft 10 to lift and fly, and a driver circuit 114 that drives the engine unit 112 in accordance with control signals from the control unit 16.

[0023] An example battery used as power source 111 is a primary or secondary battery that provides power to each component within unmanned aerial vehicle 10. The battery may be fixed to unmanned aerial vehicle 10 or may be removable.

[0024] The engine unit 112 functions as a drive source for rotating the rotors 113 with power supplied from the power source 111, and a motor is used, for example. A motor may be installed on each of the multiple rotors 113. The rotation of the multiple rotors 113 by the engine unit 112 allows the unmanned aerial vehicle 10 to take off and fly. Furthermore, by independently controlling the rotation speed of the multiple rotors 113, it is possible to perform horizontal navigation, in which the unmanned aerial vehicle navigates in a specific direction while maintaining altitude, vertical navigation, in which only the altitude is changed without changing latitude or longitude, or a combination of these navigation methods, and hovering, in which the unmanned aerial vehicle maintains its altitude without changing its position.

[0025] [Detection unit 12] The detection unit 12 includes a position information acquisition unit 121 that acquires position information of the aircraft, an angular velocity information acquisition unit 122 that acquires angular velocity information of the aircraft, an acceleration information acquisition unit 123 that acquires acceleration information of the aircraft, a rotation speed acquisition unit 124 that acquires the rotation speed of the rotor 113, and a camera 125 that photographs the area around the unmanned aircraft 10.

[0026] The position information acquisition unit 121 acquires position information relating to the latitude, longitude, altitude, etc. of the aircraft based on the positioning signal received by the positioning signal receiving unit 13, which will be described later. The position information acquisition unit 121 provided in the unmanned aircraft 10 functions as the first position information acquisition means in the present invention.

[0027] The angular velocity information acquisition unit 122 includes a gyro sensor and acquires information relating to the tilt and orientation of the aircraft based on the amount of change in the angle of the aircraft detected by the gyro sensor.

[0028] The acceleration information acquisition unit 123 includes an acceleration sensor and acquires information relating to the tilt and movement of the aircraft based on the amount of change in the aircraft speed detected by the acceleration sensor.

[0029] The rotation speed acquisition unit 124 acquires the rotation speed of each rotor 113 .

[0030] Camera 125 captures the surroundings, for example, below unmanned aerial vehicle 10.

[0031] [Positioning signal receiver 13] The positioning signal receiving unit 13 includes an antenna for receiving positioning signals transmitted from artificial satellites used in GNSS (Global Navigation Satellite Systems) such as GPS (Global Positioning System).

[0032] [Cargo compartment 14] Cargo room 14 is used to load feed to be replenished to feed dispenser 20, and has a predetermined volume. Cargo room 14 also has a first opening / closing lid 141 that opens and closes an opening (not shown) through which the loaded feed is released. In this embodiment, first opening / closing lid 141 is disposed on the underside of cargo room 14, but first opening / closing lid 151 may be disposed on a side surface, rather than on the underside.

[0033] [Wireless Communication Section 15] The wireless communication unit 15 includes a device that enables wireless communication with the feed dispenser 20 and the computer 30, such as a Wi-Fi (Wireless Fidelity) compatible device that complies with IEEE802.11, and receives remote control signals from the computer 30. The wireless communication unit 15 also transmits information such as the location and altitude of the unmanned aerial vehicle 10 to the feed dispenser 20 and the computer 30.

[0034] [Control Unit 16] The control unit 16 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.

[0035] The control unit 16 controls the engine 112 to perform flight control (control of ascent, descent, horizontal movement, and movement resulting from a combination thereof) of the unmanned aerial vehicle 10. The control unit 16 also controls the engine 112 to perform attitude control of the unmanned aerial vehicle 10 in accordance with the state of the aircraft detected by a gyro sensor and acceleration sensor (not shown) mounted on the unmanned aerial vehicle 10.

[0036] Furthermore, the control unit 16 implements a positioning module 161, a feed control module 162, and a feedback control module 163, which will be described later, by reading a predetermined program.

[0037] [Feeder 20] The feeder 20 is installed, for example, in an offshore fish pen and supplies feed to fish cultivated in the pen. In this embodiment, the feeder 20 includes a power supply unit 21, such as a solar panel, that supplies power to the feeder 20 itself; a detection unit 22 that detects various states of the feeder 20; a positioning signal receiving unit 23 that receives positioning signals from a satellite; a storage unit 24 that can store feed; a wireless communication unit 25 that wirelessly communicates with the unmanned aerial vehicle 10 and the computer 30; and a control unit 26 that controls the release of feed into the fish pen. While the fish pen is installed offshore in this embodiment, this is not a limitation and it may be installed on a lake, for example. While the power supply unit 21, detection unit 22, positioning signal receiving unit 23, wireless communication unit 25, and control unit 26 are provided in the feeder 20, they may also be installed in the fish pen as independent units separate from the feeder 20.

[0038] [Power supply section 21] The power supply unit 21 is a device for supplying power when the device includes an electrically operated device such as the detection unit 22. The power supply unit 21 is configured by, for example, a solar power generation system or a storage battery.

[0039] [Detection unit 22] The detection unit 22 is composed of, for example, a sensor for detecting the remaining amount of feed stored in the storage unit 24, a position information acquisition unit for acquiring position information regarding the latitude, longitude, altitude, etc. of the feeder 20 based on the positioning signal received by the positioning signal receiving unit 23, and various sensors for grasping the situation inside the fish pen. The position information acquisition unit included in the feeder 20 functions as the second position information acquisition means in the present invention.

[0040] [Positioning signal receiving unit 23] Similar to the positioning signal receiving unit 13 provided in the unmanned aerial vehicle 10, the positioning signal receiving unit 23 includes an antenna for receiving positioning signals transmitted from artificial satellites used in the satellite positioning system. Note that the positioning signal receiving unit 23 is not necessarily required and may not be provided.

[0041] [Storage section 24] The storage section 24 is provided with an opening / closing lid section 241 (second opening / closing lid section in the present invention) that opens and closes an opening (not shown) that can receive feed. In this embodiment, the opening / closing lid section 241 is disposed on the top surface of the storage section 24, but the position at which the opening / closing lid section 241 is disposed is not limited to the top surface and may be disposed on the side surface, for example.

[0042] [Wireless Communication Section 25] Wireless communication unit 25 includes a device for enabling wireless communication with unmanned aerial vehicle 10 and computer 30, such as a Wi-Fi (Wireless Fidelity) compatible device conforming to IEEE802.11, and receives remote control signals from computer 30. It also transmits to unmanned aerial vehicle 10 and computer 30, for example, location information of feed dispenser 20, whether or not feed has been dispensed from storage unit 24, information regarding the amount of feed remaining in storage unit 22, and ordering information regarding the ordering of feed.

[0043] [Control Unit 26] The control unit 26 generates, for example, a signal for opening and closing the opening / closing cover in the supply control described below.

[0044] [Computer 30] The computer 30 sends and receives signals with the unmanned aerial vehicle 10 and the feeder 20, and transmits various information and performs calculations.It is composed of an input unit 31, an output unit 32, a display unit 33, a memory unit 34, a wireless communication unit 35, and a control unit 36.

[0045] <Flowchart showing a method for replenishing feed to a feeder using the feed replenishing system 1> 2 is a flowchart showing an image providing method using the image providing system 1. The processes executed by the above-mentioned hardware and software modules will be described.

[0046] [Step S11: Loading feed into the unmanned aerial vehicle 10] In a warehouse or the like, the feed is loaded into the cargo hold 15 of the unmanned aerial vehicle 10. Alternatively, a cargo hold separate from the unmanned aerial vehicle 10 may be prepared, and the feed may be loaded into the separate cargo hold before being loaded onto the unmanned aerial vehicle 10. Note that loading the feed into the cargo hold 15 may be performed automatically or manually.

[0047] [Step S12: Aligning the unmanned aerial vehicle 10 with the feed dispenser 20] When the loading of the feed is completed in step S11, positioning control is performed to position unmanned aerial vehicle 10 at a position where it can be dropped in (step S12).

[0048] The alignment control in step S12 may include the following sub-steps.

[0049] First, the unmanned aerial vehicle 10 is lifted and moved toward the feed dispenser 20. The location of the feed dispenser 20, which is the destination and to be replenished, is known in advance, and the flight route is also set in advance. Therefore, a command is sent to the driver circuit 114 to rotate each rotor 113 and move the aircraft along the predetermined flight route. Upon receiving the command, the driver circuit 114 drives the engine unit 112 to rotate each rotor 113, and moves the aircraft toward the destination, the feed dispenser 20, by horizontal navigation, vertical navigation, or a combination of these. In this case, the movement of the unmanned aerial vehicle 10 is limited to a general position within a predetermined distance (e.g., several meters to 10 meters) from the previously known location of the feed dispenser 20. At this time, the location of the unmanned aerial vehicle 10 is constantly acquired by the location information acquisition unit 121 (first location information acquisition means), and the current location of the unmanned aerial vehicle 10 is acquired based on the location information acquired by the location information acquisition unit 121. Then, at predetermined time intervals, a determination unit determines whether the unmanned aerial vehicle 10 has reached a predetermined distance from the feeder 20, and continues control until the unmanned aerial vehicle 10 reaches a predetermined distance from the feeder 20.

[0050] When the unmanned aerial vehicle 10 approaches the feed dispenser 20 to be supplied within a predetermined distance (for example, several meters to 10 meters) as a result of the above movement, it performs detailed positioning to the position where feed can be dispensed. In other words, although the unmanned aerial vehicle 10 has approached within a predetermined distance from the feed dispenser 20, in order to automatically replenish feed from the unmanned aerial vehicle 10, it is necessary to execute positioning control to precisely align the position of the unmanned aerial vehicle 10 so that the position of the unmanned aerial vehicle 10 ultimately approximately coincides with the position where feed can be dispensed.

[0051] This positioning control is performed by executing the positioning module 161 included in the control unit 16 of the unmanned aerial vehicle 10. The positioning module 161 slows the speed of the unmanned aerial vehicle 10 and controls each rotor 113 via the driver circuit 114 based on the relative position information between the unmanned aerial vehicle 10 and the feeder 20 acquired by the relative position information acquisition means, thereby performing horizontal navigation, vertical navigation, and a combination of these navigation to perform positioning control. Specifically, detailed positioning is performed so that the relative positions of the unmanned aerial vehicle 10 and the feeder 20 are substantially zero or a specified distance apart, or so that the positions of the unmanned aerial vehicle and the feeder 20 approximately match within a predetermined error range, and the unmanned aerial vehicle 10 is positioned at a drop-in position. The position of the unmanned aerial vehicle 10 and the position of the feeder 20 approximately match, and the determination unit determines at predetermined time intervals whether the position of the unmanned aerial vehicle 10 has reached the drop-in position. If the result is Y, proceed to the next drop-in control step. If the result is N, perform positioning control in step S12 until the positions of the unmanned aerial vehicle 10 and the feeder 20 approximately match.

[0052] [Step S13: Feed is fed from the unmanned aerial vehicle 10 to the feeder 20] Once the alignment control is complete, a feed control is performed to feed the feeder 20 from the unmanned aerial vehicle 10 (step S13). The feed control is performed by executing the feed control module 162 provided in the control unit 16 of the unmanned aerial vehicle 10. In the feed control of step S13, the openable / closeable lid 141 provided in the cargo hold 14 of the unmanned aerial vehicle 10 is opened to release the feed from the cargo hold 14, and at the same time, the openable / closeable lid provided in the storage unit 24 of the feeder 20 is opened to receive the feed, thereby transferring the feed from the cargo hold 14 to the storage unit 24. Then, a determination unit determines whether the feed is complete, for example, using a remaining amount sensor (not shown) provided in the cargo hold 14. If the result is Y, the process proceeds to the next ascent step. If the result is N, the feed from the unmanned aerial vehicle 10 to the feeder 20 continues until the feed is complete. Note that the determination of whether the feed is complete is not limited to the determination using the detection result of the remaining amount sensor, and may also be made, for example, using the elapsed time after the openable / closeable lid 141 is opened.

[0053] [Step S14: Returning the unmanned aerial vehicle 10 to the starting point] Once the feed has been dispensed from the cargo hold 14 to the storage section 24, return control is performed to return the unmanned aerial vehicle 10 to the starting point (step S14). The return control is performed by executing the return control module 163 provided in the control section 16 of the unmanned aerial vehicle 10. In the return control of step S14, first, the open / close lid section 141 of the cargo hold 14 and the open / close lid section of the storage section 24 are closed, and then each rotor 113 is rotated to perform horizontal navigation, vertical navigation, or a combination thereof based on the position information of the unmanned aerial vehicle 10 acquired by the position information acquisition section 121 of the unmanned aerial vehicle 10 and the position information of the starting point previously obtained, and land at the starting point. The step ends when landing is complete. The starting point may be the base of the unmanned aerial vehicle 10 or may be the warehouse where the feed was loaded in step S11. Note that the unmanned aerial vehicle may return to the starting point immediately after the dispense control of step S13 is completed, but this is not limited to this. The unmanned aerial vehicle may also return after replenishing one or more other feed dispensers with feed. In this case, after the replenishment is completed, the steps from the positioning control in step S12 to the supply control in step S13 are repeated as necessary, and finally the feedback control in step S14 is performed.

[0054] Next, specific embodiments of each control step will be described using Figures 3 to 10. Note that Figures 3 to 10 show only the minimum components of the unmanned aerial vehicle 10 and feeder 20, and components such as the rotor 113 are not shown. Furthermore, F in the figures indicates the fish pen in which the feeder 20 is installed, and S in the figures indicates the positioning satellite that transmits the positioning signal.

[0055] <Embodiment 1: Alignment control S12 using marker M> The alignment control S12 according to the first embodiment will be described with reference to Fig. 3. Fig. 3(a) is a schematic diagram showing the alignment control S12 according to the first embodiment, and Fig. 3(b) is a schematic diagram showing an example of the function of the alignment module 161 used in the alignment control S12 according to the first embodiment.

[0056] In embodiment 1, the alignment control S12 by the alignment control module 161 uses a target marker M installed on or near the feeder 20, and a camera 125 for detecting the marker M. That is, the target marker M is detected by the camera 125 installed on the unmanned aerial vehicle 10 (FIG. 3(a)(A)), the relative position between the position of the marker M and the position of the unmanned aerial vehicle 10 is identified, and then each rotor 113 is controlled to align the unmanned aerial vehicle 10 with the feeder 20 so that the relative position is zero or a predetermined value (FIG. 3(a)(B)).

[0057] The relative position between the unmanned aerial vehicle 10 and the feeder 20 is determined by constantly analyzing images including the marker M captured by the camera 125 to calculate the distance and angle to the target marker M. In this case, the camera 125 and the image analysis device function as the relative position information acquisition means of the present invention.

[0058] Then, the judgment unit provided in the alignment control module 161 judges at any time whether the relative positions of the unmanned aerial vehicle 10 and the feeder 20 are approximately aligned, and outputs a signal regarding the rotation speed to each rotor 113 until the relative position becomes zero or a predetermined value, thereby performing attitude control and propulsion control.

[0059] <Embodiment 2: Positioning control S12 by stand-alone positioning> The alignment control S12 according to the second embodiment will be described with reference to Fig. 4. Fig. 4(a) is a schematic diagram showing the alignment control S12 according to the second embodiment, and Fig. 4(b) is an example of an alignment module 161 used in the alignment control S12 according to the second embodiment.

[0060] In the second embodiment, the positioning control module 161 performs positioning control S12 based on independent positioning using signals from positioning satellites. That is, in the second embodiment, the unmanned aerial vehicle 10 and the feeder 20 each have positioning signal receivers 13, 23, and each control unit independently determines their current location based on the received signals from the positioning satellites by executing the position information acquisition unit. Then, based on the results of each independent positioning, the relative position between the unmanned aerial vehicle 10 and the feeder 20 is determined, and each rotor 113 is controlled to align the unmanned aerial vehicle 10 with the feeder 20 so that the relative position is zero or a predetermined value ((a) in FIG. 4(a)).

[0061] Specifically, as shown in Figure 4(b), in unmanned aerial vehicle 10, position information of unmanned aerial vehicle 10 is determined by position information acquisition unit 121 (first position information acquisition means) shown in Figure 1 based on the positioning signal received by positioning signal receiver 13. Similarly, in feed dispenser 20, position information is determined by a position information acquisition unit (second position information acquisition means) (not shown) based on the signal received by positioning signal receiver 23, and the determined position information of feed dispenser 20 is transmitted to computer 30 via wireless communication unit 25. Computer 30 transmits the position information of feed dispenser 20 to unmanned aerial vehicle 10 via wireless communication unit 35, and unmanned aerial vehicle 10's positioning module 161 determines the relative positions of the unmanned aerial vehicle 10 and feed dispenser 20 based on the positions of the unmanned aerial vehicle 10 and feed dispenser 20, and generates signals for controlling each rotor 113 based on the determined relative positions. In this case, the positioning signal receiving units 13, 23 of the unmanned aerial vehicle 10 and the feeder 20, and the position information acquisition units (first position information acquisition means and second position information acquisition means) of the unmanned aerial vehicle 10 and the feeder 20 function as the relative position information acquisition means of the present invention. The determination unit provided in the alignment control module 161 determines at any time whether the relative positions of the unmanned aerial vehicle 10 and the feeder 20 have approximately matched, and outputs a signal related to the rotation speed to each rotor 113 until the relative position becomes zero or a predetermined value, thereby performing attitude control and propulsion control, as in embodiment 1.

[0062] The determination of the relative position based on the results of each individual positioning may be performed by the positioning module 161 of the unmanned aerial vehicle 10, or by transmitting data relating to each position information to the computer 30 and having the control unit 36 ​​of the computer 30 perform the determination. In this case, the control unit 36 ​​of the computer 30 also functions as a relative position information acquisition means.

[0063] <Embodiment 3: Alignment control S12 using relative positioning> The alignment control S12 according to the third embodiment will be described with reference to Fig. 5. Fig. 5(a) is a schematic diagram showing the alignment control S12 according to the third embodiment, and Fig. 5(b) is an example of an alignment module 161 used in the alignment control S12 according to the third embodiment.

[0064] In the third embodiment, the positioning control S12 by the positioning control module 161 not only performs positioning control based on standalone positioning using signals from the positioning satellite S used in the second embodiment, but also directly exchanges position information between the unmanned aerial vehicle 10 and the feeder 20 to improve accuracy. That is, in the third embodiment, the unmanned aerial vehicle 10 and the feeder 20 have wireless communication units 15 and 25 in addition to positioning signal receiving units 13 and 23. As in the second embodiment, the relative positions of the unmanned aerial vehicle 10 and the feeder 20 are determined based on their respective current locations determined by standalone positioning based on the positioning signals received by the positioning signal receiving units 13 and 23. Furthermore, in the third embodiment, the feeder 20 is regarded as a fixed station and the unmanned aerial vehicle 10 as a mobile station, and position information is directly exchanged between the unmanned aerial vehicle 10 and the feeder 20 via the wireless communication units 15 and 25 to correct errors. An example of such relative positioning is a technology called RTK (Real Time Kinematic) method. By using such a technology, the error of several meters in the single positioning of embodiment 2 can be reduced to an error of several centimeters, making it possible to perform more accurate positioning.

[0065] In this case, the positioning signal receiving units 13, 23 of the unmanned aerial vehicle 10 and the feeder 20, the position information acquisition units (first position information acquisition means and second position information acquisition means) of the unmanned aerial vehicle 10 and the feeder 20, and the wireless communication units 15, 25 that directly exchange information function as the relative position information acquisition means of the present invention. The determination unit included in the alignment control module 161 determines at any time whether the relative positions of the unmanned aerial vehicle 10 and the feeder 20 have approximately matched, and outputs a signal related to the rotation speed to each rotor 113 until the relative position becomes zero or a predetermined value, thereby performing attitude control and propulsion control, as in the first and second embodiments.

[0066] <Embodiment 4: Positioning control S12 for landing on landing pad> The alignment control S12 according to the fourth embodiment will be described with reference to Fig. 6. Fig. 6(a) is a schematic diagram showing the alignment control S12 according to the fourth embodiment, and Fig. 6(b) is an example of the alignment control module 161 used in the lowering control S12 according to the fourth embodiment.

[0067] In embodiment 4, the unmanned aerial vehicle 10 is equipped with landing legs L1, and the feeder 20 is equipped with a landing pad P on or near it, and alignment control is performed so that the landing legs L1 of the unmanned aerial vehicle 10 land on the landing pad P. That is, in the alignment control S12 of embodiment 4, by detecting that the landing legs L1 have touched down on the landing pad P, it is determined that the position of the unmanned aerial vehicle 10 approximately matches the position of the feeder 20, and the alignment control is completed.

[0068] In FIG. 6, detection of whether or not the unmanned aerial vehicle 10 has touched the ground is performed based on the position information of the unmanned aerial vehicle 10 acquired by the position information acquisition unit 121.

[0069] As shown in (i) of Figure 6(a), by landing so that the landing leg L1 touches the landing pad P, the opening / closing lid portion 141 of the cargo hold 14 of the unmanned aircraft 10 and the opening / closing lid portion 241 of the storage section 24 of the feeder 20 are set to align in position.

[0070] <Embodiment 5: Positioning control S12 for landing with deployable landing gear> The alignment control S12 according to the fifth embodiment will be described with reference to Fig. 7. Fig. 7(a) is a schematic diagram showing the alignment control S12 according to the fifth embodiment, and Fig. 7(b) is an example of an alignment control module 161 used in the alignment control S12 according to the fifth embodiment.

[0071] In the fifth embodiment, the unmanned aerial vehicle 10 is provided with folding legs L2 for landing, and lands on the fish pen F using the folding legs L2. That is, in the positioning control S12 of the fifth embodiment, when the unmanned aerial vehicle 10 approaches the feeder 20 within a predetermined distance, the stored folding legs L2 are unfolded (FIG. 7(a)(B)), and then the unmanned aerial vehicle 10 descends while performing the positioning of the first to third embodiments, and the completion of the descent control is determined when it is detected that the folding legs L2 have landed on the fish pen F (FIG. 7(a)(C)).

[0072] In FIG. 7, detection of whether or not the unmanned aerial vehicle 10 has touched the ground is performed based on the position information of the unmanned aerial vehicle 10 acquired by the position information acquisition unit 121.

[0073] <Embodiment 6: Hovering proximity alignment control S12> The alignment control S12 according to the sixth embodiment will be described with reference to Fig. 8. Fig. 8(a) is a schematic diagram showing the alignment control S12 according to the sixth embodiment, and Fig. 8(b) is an example of the alignment control module 161 used in the alignment control S12 according to the sixth embodiment.

[0074] In the sixth embodiment, the unmanned aerial vehicle 10 does not land on the feeder 20 or the fish cage F, but descends until the distance to the feeder 20 is a predetermined distance, and then hovers in place.

[0075] That is, in the positioning control S12 of embodiment 6, after the unmanned aerial vehicle 10 approaches the feeder 20 within a predetermined distance, it descends toward the feeder 20 while performing positioning according to embodiments 1 to 3. Then, the positioning control is determined to be complete when it is detected that the relative positions other than the altitude are approximately the same and that the difference in altitude from the feeder 20 has reached a predetermined value.

[0076] In FIG. 8, the difference in altitude between unmanned aerial vehicle 10 and feeder 20 is detected based on the position information of unmanned aerial vehicle 10 acquired by position information acquisition unit 121.

[0077] <Embodiment 7: Turn-on control S13 for controlling the opening / closing cover unit with a motor> The closing control S13 according to the seventh embodiment will be described with reference to Fig. 9. Fig. 9(a) is a schematic diagram showing the closing control S13 according to the seventh embodiment, and Fig. 9(b) is an example of a closing control module 162 used in the closing control S13 according to the seventh embodiment.

[0078] In the seventh embodiment, the cargo hold 14 of the unmanned aerial vehicle 10 is equipped with an open-close lid 141 (a first open-close lid according to the present invention) that can be opened and closed by an open-close motor M1, and the storage compartment 24 of the feed dispenser 20 is also equipped with an open-close lid 241 (a second open-close lid according to the present invention) that can be opened and closed by an open-close motor M2. In the loading control S13 of the seventh embodiment, after the alignment control S12 is completed, the open-close motors M1 and M2 of the unmanned aerial vehicle 10 and the feed dispenser 20 are controlled to open the open-close lids 141 and 241. At this time, the control unit 16 of the unmanned aerial vehicle 10 issues a command to the open-close motor M1 to open the open-close lid 141. In addition, a command is issued to the control unit 26 of the feed dispenser, via or without the wireless communication unit 35, to control the open-close motor M2 of the feed dispenser 20 to open the open-close lid 241. When the opening / closing lid 141 of the cargo hold 14 is opened, the feed stored in the cargo hold 14 is naturally released. At the same time, the opening / closing lid 241 of the storage section 24 is opened, so that the feed released from the cargo hold 14 can be received in the storage section 24.

[0079] When the feed in the cargo hold 14 has been mostly released, the opening / closing motors M1, M2 of the unmanned aerial vehicle 10 and the feeder 20 are controlled again to close the opening / closing lids 141, 241, and the feeding control is determined to be complete.

[0080] <Embodiment 8: Automatically Opening and Closing the Opening and Closing Cover: Control S13> The closing control S13 according to the eighth embodiment will be described with reference to Fig. 10. Fig. 10(a) is a schematic diagram showing the closing control S13 according to the eighth embodiment, and Fig. 10(b) is an example of a closing control module 162 used in the closing control S13 according to the eighth embodiment.

[0081] In the eighth embodiment, the cargo hold 14 of the unmanned aerial vehicle 10 and the storage compartment 24 of the feed dispenser 20 both have openable / closable lids 141, 241, but unlike the seventh embodiment, the openable / closable lids 141, 241 are not motor-driven. The openable / closable lids 141, 241 in the eighth embodiment are opened and closed by, for example, rod-shaped engaging members B1, B2 engaging with predetermined locations. That is, the openable / closable lid 241 is opened when the engaging member B1 provided on the unmanned aerial vehicle 10 engages with an engaging portion (not shown) of the openable / closable lid 241 of the feed dispenser 20. Similarly, the openable / closable lid 141 is opened when the engaging member B2 provided on the feed dispenser 20 engages with an engaging portion (not shown) of the openable / closable lid 141 of the unmanned aerial vehicle 10. The engaging portions are disposed at positions where the respective engaging members B1, B2 are simultaneously engaged. As a result, by performing the alignment control S12, the opening and closing lid portion is simultaneously opened using the weight of the unmanned aerial vehicle 10, and the insertion process is carried out.

[0082] According to the present invention, an unmanned aerial vehicle capable of horizontal navigation, vertical navigation, and a combination of these navigation modes is used, enabling accurate alignment toward a target. Furthermore, by using a positioning control means that aligns the vehicle based on relative position, accurate alignment can be achieved by detecting the relative positions of the two on the spot, even when replenishing feed to a feeder installed in a fish pen whose position changes slightly with the current. Furthermore, the positioning means and feed supply control means each operate automatically based on detected information, enabling feed to be replenished automatically without manual intervention.

[0083] Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

[0084] Furthermore, the above-described embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to an embodiment having all of the configurations described. [Industrial Applicability]

[0085] The feed supply system for feeders according to the present invention is useful not only for supplying feed to feeders at sea but also for supplying feed to feeders at fish farms set up on lakes. [Explanation of symbols]

[0086] 1. Feed supply system for feeders 10 Unmanned aerial vehicle 11 Propulsion device 12 Detector 121 Location information acquisition unit (first location information acquisition means) 13 Positioning signal receiver 14 Cargo hold 141 Opening / closing lid part (first opening / closing lid part) 15. Radio Communication Department 16 Control Unit 161 Alignment Module 162 Injection Control Module 163 Feedback Control Module 20 Feeder 21 Power supply section 22 Detection unit 221 Location information acquisition unit (second location information acquisition means) 23 Positioning signal receiver 24 Reservoir 241 Opening / closing lid part (second opening / closing lid part) 25 Radio Communication Department 26 Control Unit 30 Computer

Claims

1. A feed supply system for a feeder uses an unmanned aerial vehicle capable of horizontal navigation, vertical navigation, and a combination of these, which has a cargo compartment that can load feed and release the feed by opening a first opening / closing lid, and supplies feed to the feeder, which is installed in a fish pen to be fed and has a storage section that can receive feed by opening a second opening / closing lid, a relative position information acquisition means for acquiring relative position information between the unmanned aerial vehicle and the feed dispenser; a positioning control means for aligning the position of the unmanned aerial vehicle to substantially coincide with the position of the feed dispenser based on the relative position information; and a loading control means for controlling the opening and closing of the first opening and closing cover portion and the second opening and closing cover portion. Feed supply system for feeders.

2. The relative position information is a first position information acquisition means for acquiring position information of the unmanned aerial vehicle; a second location information acquisition means for acquiring location information of the feed dispenser; The location information is determined based on the location information obtained by 2. A system for supplying feed to a feeder according to claim 1.

3. A method for supplying feed to a feeder, using an unmanned aerial vehicle capable of horizontal navigation, vertical navigation, and a combination of these, which has a cargo compartment that can load feed and release the feed by opening a first opening / closing lid, to supply feed to the feeder, which is installed in a fish pen to be fed and has a storage section that can receive feed by opening a second opening / closing lid, acquiring relative position information between the unmanned aerial vehicle and the feed dispenser; aligning the position of the unmanned aerial vehicle to substantially coincide with the position of the feed dispenser based on the relative position information; controlling the opening and closing of the first opening and closing cover unit and the second opening and closing cover unit, How to refill the feeder.

4. A feed supply system for a feeder uses an unmanned aerial vehicle that is equipped with a cargo compartment that can load feed and release the feed by opening a first opening / closing lid and that is capable of horizontal navigation, vertical navigation, and a combination of these navigation modes, to supply feed to a feeder that is installed in a fish pen to be fed and has a storage section that can receive feed by opening a second opening / closing lid, acquiring relative position information between the unmanned aerial vehicle and the feed dispenser; aligning the position of the unmanned aerial vehicle to substantially coincide with the position of the feed dispenser based on the relative position information; controlling the opening and closing of the first opening and closing cover unit and the second opening and closing cover unit; A program to execute.

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