Method of using a weed-control drone device and a flight route information acquisition device used therefor.

Abstract

This invention provides a method for using a weed-removing drone and a flight route information acquisition device for use therein, which can accurately and appropriately acquire the flight route of the weed-removing drone. [Solution] In a method of using a weed-killing drone device equipped with a herbicide liquid application device 20 that can apply herbicide liquid to a target location, the method involves flying the drone along a pre-set flight route, and the pre-acquisition step of flight route information, which uses a satellite positioning system to obtain three-dimensional position information, includes obtaining flight route position information by having a positioning unit 82 having the same or equivalent functions as the positioning unit mounted on the weed-killing drone device use a flight route information acquisition device 80 attached to a long member 81 to sequentially acquire three-dimensional position point information along the flight route, and then inputting the flight route position information to the weed-killing drone device to control it to fly along the flight route.

Description

Technical Field

[0004] ,

[0001] The present invention relates to a method of using a weeding drone device capable of improving weeding work by flying a weeding drone device equipped with a herbicide liquid application device capable of applying a herbicide liquid to a target location in the air along a preset flight route.

Background Art

[0002] Conventionally, in a pesticide spraying device mounted on a radio-controlled helicopter, the pesticide stored in a tank is guided to an atomizer through a pipe with a pump interposed, and atomized by the atomizer and sprayed into the air. By interposing a radio-controlled stop valve between the pump and the atomizer of the pipe, the pipe can be completely blocked by the stop valve during non-spraying, and the flow path resistance of the pipe can be reduced by opening the stop valve during spraying (see Patent Document 1).

[0003] Also, conventionally, in a chemical liquid spraying device mounted on a wirelessly controlled helicopter, the pipe on the discharge side of the pump that supplies the chemical liquid is divided into two systems, and the chemical liquid is supplied to two atomizer spraying devices by two pumps respectively. The pipe that supplies the chemical liquid to one atomizer spraying device is configured through two pump orifices with different flow rates, and the spraying amount of the chemical liquid can be adjusted by operating one or both of the two pumps (see Patent Document 2).

[0004] In response to these, the present applicant has previously proposed a weeding drone device equipped with a herbicide liquid application device 20 capable of applying herbicide liquid to a target location, wherein the herbicide liquid application device 20 comprises a herbicide liquid supply unit 21 having a tank 22 for storing herbicide liquid and a pump 23 connected to the tank 22 for discharging the herbicide liquid, a branch pipe 30 that extends to the left and right in the forward and backward direction, which is the normal flight direction of the drone 10 when applying herbicide liquid, and is connected to the herbicide liquid supply unit 21 to receive and distribute the herbicide liquid, and has a plurality of liquid branching ports 35 spaced apart in the left and right extension direction, and a plurality of coating tubes 50 connected to the liquid branching ports 35 of the branch pipe 30 for flowing the herbicide liquid down to apply the herbicide liquid to the target location (see Patent Document 3).

[0005] According to this method, herbicide solution can be applied to only the grass in a limited area, minimizing the effects of wind, and significantly improving the optimization and efficiency of weed control work. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 11-94 (Page 1) [Patent Document 2] Japanese Patent Application Publication No. 11-57561 (Page 1) [Patent Document 3] Japanese Patent Publication No. 2024-23114 (page 1) [Overview of the project] [Problems that the invention aims to solve]

[0007] The problem that we aim to solve regarding the use of a weed-killing drone device is that, in the weed-killing drone device previously proposed by the present applicant, as an example of its use, positional information related to the flight route is set based on map data and loaded into the flight controller (flight control device). The weed-killing drone device is then flown along the pre-set flight route, and the positional information obtained using a satellite positioning system is compared with the positional information to match it, allowing the herbicide liquid to be automatically applied to the grass in a limited area by the herbicide liquid application device. However, in reality, the map data and the three-dimensional positional data obtained by the satellite positioning system from the weed-killing drone device flying in the field may not match with high accuracy, making it impossible to fly with high positional accuracy. For example, regarding the height position from the ground among the three-dimensional positional information, no method has been proposed to obtain more accurate data that takes into account the undulations of the ground in the field and unevenness caused by objects that may obstruct flight, making it difficult to set the optimal flight route.

[0008] Therefore, the object of the present invention is to provide a method for using a weed-removing drone and a flight route information acquisition device used therefor, which enable highly accurate flight by accurately and appropriately acquiring positional information related to the flight route of the weed-removing drone. [Means for solving the problem]

[0009] To achieve the above objective, the present invention comprises the following configuration. According to one embodiment of the method for using a weed-killing drone device according to the present invention, in a method for using a weed-killing 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 drone is flown along a predetermined flight route, and as preparation before flying the weed-killing drone device, a flight route information pre-acquisition step is performed to obtain three-dimensional position information of longitude, latitude, and height using a satellite positioning system, and the positioning unit that receives information from the satellite positioning system and determines three-dimensional position information is configured to be mounted on a long member, and has the same or equivalent functions as the positioning unit mounted on the weed-killing drone device. Using a flight route information acquisition device, in order to apply herbicide liquid to grass by maintaining the height of the flight route at a constant predetermined height from the ground, the lower end of the long member is placed on the ground or on an object that may obstruct flight, and the long member is positioned vertically to acquire three-dimensional position point information, which is the position information of a point on the flight route. By sequentially acquiring the three-dimensional position point information along the flight route, the system acquires flight route position information that is composed of a series of three-dimensional position point pieces, which the weed-killing drone device can trace and fly. The system then inputs the flight route position information to the weed-killing drone device to control the weed-killing drone device to fly along the set flight route.

[0010] Furthermore, according to one embodiment of the method of using the weed-killing drone device according to the present invention, the herbicide liquid application device is characterized by comprising: a herbicide liquid supply unit equipped with a tank for storing herbicide liquid and a pump connected to the tank for discharging the herbicide liquid; a branch pipe provided extending to the left and right with respect to the front and rear direction, which is the normal flight direction when the drone applies herbicide liquid, and connected to the herbicide liquid supply unit to receive and distribute the herbicide liquid, and having a plurality of liquid branching ports spaced apart in the left and right extension direction; and a plurality of coating tubes connected to the liquid branching ports of the branch pipe to allow the herbicide liquid to flow down so as to apply the herbicide liquid to the target location.

[0011] Furthermore, according to one embodiment of the flight route information acquisition device used in the method of using the above-described weed-killing drone device according to the present invention, the long member is equipped with the positioning unit, and a flight control device is also equipped with the long member that can receive a plurality of three-dimensional position point information measured by the positioning unit and output it as the flight route position information.

[0012] Furthermore, according to one embodiment of the flight route information acquisition device used in the method of using the weed-killing drone device according to the present invention, the long member is characterized in that a communication device capable of outputting the flight route position information to the outside is attached to it.

[0013] Furthermore, according to one embodiment of the flight route information acquisition device used in the method of using the weed-killing drone device according to the present invention, the positioning unit, the flight control device, and the communication device are mounted on the upper end of the long member.

[0014] Furthermore, according to one embodiment of the flight route information acquisition device used in the method of using the weed-killing drone device according to the present invention, the long member can be extended and retracted to adjust its length. [Effects of the Invention]

[0015] The method of using a weed-killing drone device and the flight route information acquisition device used therein according to the present invention provide the particularly advantageous effect of accurately and appropriately acquiring positional information related to the flight route of the weed-killing drone device, enabling highly accurate flight. As a result of this effect, the herbicide solution can be sprayed with high positional accuracy only on the grass in a limited target area, thereby significantly improving the accuracy and efficiency of weed-killing work. [Brief explanation of the drawing]

[0016] [Figure 1]It is a perspective view showing a morphological example of a flight route information acquisition device used in a method of using a drone device for weeding according to the present invention. [Figure 2] It is a perspective view showing a state where a cover is attached to the morphological example of FIG. 1. [Figure 3] It is a perspective view showing a main part of the morphological example of FIG. 1. [Figure 4] It is a side view showing a usage state of the morphological example of FIG. 2. [Figure 5] It is a perspective view showing a morphological example of a drone device for weeding according to the present invention. [Figure 6] It is a front view of the morphological example of FIG. 5. [Figure 7] It is a perspective view showing a usage state of the morphological example of FIG. 5. [Figure 8] It is an enlarged perspective view showing an end portion of a branch pipe of the morphological example of FIG. 5. [Figure 9] It is an enlarged front view showing an end portion of a branch pipe of the morphological example of FIG. 5. [Figure 10] It is a perspective view showing a state where an example of a spacing regulating member is arranged in the morphological example of FIG. 5.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, an example of a method of using a drone device for weeding according to the present invention and a morphological example of a flight route information acquisition device used therefor will be described in detail based on the accompanying drawings (FIGS. 1 to 10). The method of using a drone device for weeding according to the present invention is a method for accurately flying a drone device for weeding equipped with a herbicide liquid application device 20 capable of applying a herbicide liquid to a target location along a preset flight route.

[0018] In the method of using the weed-killing drone device according to the present invention, a flight route information pre-acquisition step is performed to set a flight route as preparation before flying the weed-killing drone device. This step involves using a positioning unit 82, which is separate from the positioning unit mounted on the weed-killing drone device but has the same or equivalent functionality, to obtain three-dimensional positional information including longitude, latitude, and height. This positioning unit is mounted on a long member 81 and constitutes a flight route information acquisition device 80. The method involves maintaining the height of the flight route at a constant predetermined height from the ground in order to apply the herbicide solution to the grass. The method involves placing the lower end 81c of the elongated member 81 on the ground 101 or an object that could obstruct flight, positioning the elongated member 81 in a vertical position, thereby acquiring three-dimensional position information, which is position information as a point on the flight route. This is achieved by sequentially acquiring this three-dimensional position information along the flight route, thereby acquiring flight route position information that is composed of a series of three-dimensional position information, and which the weed-removing drone device can trace. The method is characterized by inputting this flight route position information into the weed-removing drone device, thereby controlling the weed-removing drone device to fly along the set flight route.

[0019] This method of using the weed-killing drone device allows for the accurate and appropriate acquisition of positional information related to the drone's flight path (flight path positional information), resulting in the particularly advantageous effect of enabling highly accurate flight. This effect allows for precise application of herbicide solution to only the grass in a limited target area, significantly improving the accuracy and efficiency of weed-killing work.

[0020] Furthermore, as shown in Figures 1 and 3, in the flight route information acquisition device 80 used in the method of using the weeding drone device, which is an example of the form of the apparatus invention used in the above-described method invention, a positioning unit 82 is attached to a long member 81, and a flight control device 83 is attached that can receive multiple three-dimensional position point information measured by the positioning unit 82 and output it as flight route position information.

[0021] In other words, the flight route information acquisition device 80 in this example configuration is equipped with a control device that includes a positioning unit 82 and a flight control device 83 which are the same as or equivalent to those mounted on a weed-removing drone device. The flight route position information in this example configuration refers to position information relating to a flight path that connects points (coordinate points) of three-dimensional position information with straight lines.

[0022] Therefore, the flight route position information of the weed-killing drone device can be acquired accurately and appropriately. This flight route position information is then input to the flight control device 83 of the weed-killing drone device and can be directly used as information to control the weed-killing drone device, thereby improving operability and work efficiency. In other words, by having the flight route position information obtained by the flight route information acquisition device 80 read into the flight controller (flight control device 83), a flight route is set, and the weed-killing drone device is made to fly along the preset flight route, comparing it with position information obtained using a satellite positioning system to match it, and the herbicide liquid application device 20 can automatically apply the herbicide liquid to the grass in a limited area.

[0023] Furthermore, in the example configuration of the flight route information acquisition device 80 shown in Figures 1 to 4, the elongated member 81 is equipped with a communication device that can output flight route position information to the outside, in addition to the positioning unit 82 and the flight control device 83. In this example configuration, as shown in Figure 3, the elongated member 81 is composed of a pole 81a that constitutes its main part and a disc-shaped base 81b fixed to the upper end of the pole 81a. The base 81b is equipped with a QZSS (Quasi-Zenith Satellite System) positioning unit 82, a QZSS (Quasi-Zenith Satellite System) positioning antenna 82a, a flight controller (flight control device 83), a telemetry communication unit 84, a telemetry communication antenna 84a, a battery 85, and a spirit level 86. A satellite positioning system is a positioning system that receives radio waves from satellites and calculates position information.

[0024] In other words, in this embodiment, a communication device comprising a positioning unit 82, a flight control device 83, a telemetry communication unit 84, and a telemetry communication antenna 84a is mounted on the upper end of the elongated member 81. This communication device enables data input and output via bidirectional communication. This communication device also has the same or equivalent functionality as the one mounted on the control device of the weed-removing drone device. As shown in Figures 2 and 4, the components mounted on the base 81b are protected by the cover 87.

[0025] According to this, the Michibiki (Quasi-Zenith Satellite System), currently in operation as a satellite positioning system, is capable of high-precision positioning. Even now, the positioning error for latitude and longitude is about 3 cm, and the positioning error for height is about 6 cm, indicating sufficiently high positional accuracy. Furthermore, the three-dimensional error in the flight accuracy of the weed-removing drone device relative to the flight route position information is about 10-15 cm, enabling extremely precise operation (flight).

[0026] Furthermore, in this embodiment, the inclusion of a communication device allows for the operation and control of the positioning unit 82 and the flight control device 83 using an external remote control device (not shown), as well as the modification of acquired data, such as rearranging it. The external remote control device can be an information processing device such as a personal computer or a mobile phone, and the communication network used by the communication device can be, for example, the Internet, specifically a wireless LAN (Local Area Network). This wireless LAN can be easily and inexpensively installed using commonly available technologies such as Wi-Fi or Bluetooth. It should be noted that the remote control device is not limited to being externally mounted; it can also be attached to the flight route information acquisition device 80 as a dedicated device.

[0027] Furthermore, in the example configurations shown in Figures 1-4, the elongated member 81 is composed of a single pole 81a and a base 81b at its upper end, but it is not limited to this configuration. For example, the pole 81a may be made to be extendable and adjustable in length, like a camera tripod. This allows for the appropriate setting of the flight height position to correspond to the conditions of the site of use and the level of flight position accuracy. In this example configuration, for instance, the length of the branch pipe 30, which will be described later, is about 100 cm, and the position where the positioning unit 82 is mounted is about 50 cm from the upper end of the branch pipe 30. If the flight height to be lowered to so that the lower side of the branch pipe 30 contacts the ground is set to about 30 cm, the position of the positioning unit 82 attached to the elongated member 81 of the flight route information acquisition device 80 is set to be about 120 cm from the lower end of the pole 81a.

[0028] Furthermore, the control of the drone 10 of the weed-killing drone device includes, of course, general flight control in addition to the flight control for tracing the flight route described above, but also includes flight control programmed to automatically return to a coordinate point set as a base when, for example, the filled herbicide liquid has been sprayed and the spraying is finished, or when the battery 85 has been consumed and the battery charge level has fallen to a predetermined set value.

[0029] Incidentally, according to the method of using the weed-killing drone device of the present invention, it is possible to follow a predetermined desired flight route more accurately and to prevent the herbicide solution from being applied to surrounding crops or other objects that do not require chemical spraying (places where it would be problematic if chemicals were sprayed or adhered). It is of course applicable not only to the ridge 100 as shown in the example below, but also to other places where chemical spraying is necessary, and it is not limited to herbicide solutions, but can also be applied to the spraying or application of other chemicals.

[0030] Next, an overview of an example of the form of a weed-killing drone device used by the present invention will be briefly described based on the attached drawings (Figures 5-10), although this is the same as the content described in Patent Document 3. This weed-killing drone device incorporates a herbicide liquid application device 20 into a drone (unmanned aerial vehicle) that can fly by wireless control or automatic control using GPS (Global Positioning System) or a wireless communication network.

[0031] The weed control drone device according to the present invention is equipped with a herbicide liquid application device 20 that can apply herbicide liquid to a target area on a drone 10 that flies in the air. The drone 10 in this embodiment has a general configuration, as shown in Figure 5 and other figures, including a main body 11, multiple propellers 12, legs 13, a control device, a battery 14, and an antenna 15. The drone 10 according to the present invention is not limited to this embodiment, and any flying body that can precisely control its flight position to the required accuracy is acceptable, and of course, well-known forms can be selectively used as appropriate.

[0032] Furthermore, the weed control drone device according to the present invention comprises a herbicide liquid application device 20 which includes a herbicide liquid supply unit 21 (see Figure 6, etc.) equipped with a tank 22 for storing herbicide liquid and a pump 23 connected to the tank 22 for discharging the herbicide liquid, a branch pipe 30 fixed to the drone 10 (described later), and a plurality of coating tubes 50 connected to the branch pipe 30 (described later). Note that 22a is a plug that closes the inlet (pocket) of the tank 22 and is closed after the herbicide liquid is poured into the tank 22.

[0033] In this embodiment, the branch pipe 30 is provided extending to the left and right in the direction of normal flight, which is the front-to-back direction when the drone 10 applies herbicide solution. It is also equipped with multiple liquid branch ports 35 spaced apart in the left-to-right extension direction so as to be connected to the herbicide solution supply unit 21 to receive and distribute the herbicide solution. As shown in Figures 8 and 9, the branch pipe 30 in this embodiment is formed by connecting a large number of commercially available pipe fittings 32 and straight pipes 33 of appropriate lengths alternately in series, and is fixed to a rod-shaped long plate 31 which is fixed across the main body 11 of the drone 10 via legs 13.

[0034] Furthermore, the multiple coating tubes 50 in this embodiment are connected to the liquid branch ports 35 of the branch pipe 30, forming a tube channel that allows the herbicide liquid to flow down so that it is applied to the target area. One coating tube 50 is connected to each of the liquid branch ports 35 of the branch pipe 30, and the overall shape is such that when the herbicide liquid is applied to the target area, the multiple coating tubes 50 hang down from the branch pipe 30 in a curtain-like manner. In other words, in this embodiment, the numerous liquid branch ports 35 are arranged at equal intervals in the left-right direction, and the coating tubes 50 are arranged in parallel at equal intervals in the left-right direction, and the configuration is such that when the drone 10 is hovering in the air and no force is applied to the coating tubes 50, each coating tube 50 hangs down in a state where it extends vertically due to its own weight.

[0035] The weed-killing drone device according to the present invention offers a particularly advantageous effect: it can spray herbicide solution only on grass in a limited area, unaffected by wind. In other words, it allows for more uniform application of herbicide solution along a strip of grassland, whether straight or curved, such as the levees of a rice paddy or the boundary of a property, as shown in Figure 5, significantly improving work efficiency and enhancing the weed-killing effect.

[0036] Furthermore, this technology utilizes the highly accurate satellite positioning system provided by the Quasi-Zenith Satellite System (Michibiki), enabling more appropriate automatic control. For example, by setting the flight route using map data and loading it into the flight controller, herbicide can be automatically sprayed along that flight route with greater positional accuracy and reliability, and within the required width.

[0037] Furthermore, in this embodiment, each liquid branching port 35 and the coating tube 50 are connected via a bendable connecting tube section 40. The connecting tube section 40 in this embodiment is made of a tube that is more flexible than the coating tube 50, and more specifically, a silicone tube is used that is highly flexible and also has holding and airtight properties when the coating tube 50 is inserted inside.

[0038] According to this, since the connecting pipe section 40 of this embodiment can be bent, as shown in Figure 7, each of the coating tubes 50 can tilt appropriately to the opposite side of the flight direction (direction of travel) along the target area where objects such as unevenness or grass exist on the levees 100 of a rice paddy, so as not to create resistance to the drone's flight, and the herbicide solution can be applied accurately and reliably along the extension of the levee 100 with minimal influence from the wind.

[0039] Furthermore, in this embodiment, the coating tube 50 is guided to allow tilting in the front-to-back direction (the normal flight direction when applying herbicide solution), but a lateral sway control guide 60 is provided to suppress tilting of the coating tube 50 in the left-to-right direction. As shown in detail in Figure 8 and other figures, the lateral sway control guide 60 in this embodiment is formed in a fan shape and is arranged in pairs on both sides of each coating tube 50, with the fan-shaped surfaces arranged to be parallel to the front-to-back direction and the vertical direction with respect to the flight direction.

[0040] According to this, tilting of the multiple coating tubes 50 in the left-right direction can be suppressed, and the herbicide liquid outlets at the tips (lower ends) of the coating tubes 50 can be prevented 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 to be more even in the left-right direction, and the herbicide liquid can be applied more uniformly to the target area.

[0041] Furthermore, in this embodiment, as shown in Figure 10, a spacing regulating member 51 is provided between adjacent coating tubes 50 midway along the length of the multiple coating tubes 50 to restrict the spacing between them so that it does not widen beyond a certain width. This spacing regulating member 51 prevents each of the multiple coating tubes 50 from swaying wildly in various directions and angles. In other words, this suppresses the individual swaying of the coating tubes 50 that cannot be controlled by the lateral sway regulating guide 60 alone, and allows the spacing between the multiple coating tubes 50 to be maintained at more equal intervals, thereby enabling more uniform application of the herbicide solution in the width direction when spraying.

[0042] Furthermore, in this embodiment, a lever rotation device 70 is provided, which includes a lever member 71 that rotates in contact with the multiple coating tubes 50 and a rotation drive unit 72 that rotates the lever member 71, so as to rotate the multiple coating tubes 50 in the forward and backward direction, which is the normal flight direction when the drone 10 is applying herbicide solution, and fold them into a folded state. The bridging portion 71a of the lever member 71 comes into contact with the multiple coating tubes 50 and rotates, so that the multiple coating tubes 50 can be properly folded into a folded state.

[0043] In this embodiment, a rectangular frame portion 13c is provided horizontally fixed to a pair of legs 13. The rectangular frame portion 13c, together with the crossbar portion 13a provided on the legs 13, is configured to hold a branch pipe 30 via a rod-shaped long plate 31, and a plurality of coating tubes 50 via the branch pipe 30. The lower end of the legs 13 is a ground contact portion 13b. [Industrial applicability]

[0044] The above examples have described how to use a weed-killing drone device when applying liquid herbicides (herbicide solution). However, this drone device can also be used to apply other liquids (various aqueous solutions or chemical solutions, etc.) to a specific area (target area) instead of herbicide solution. In other words, the present invention can be used as a method for using a weed-killing drone device, but it is not limited to this and can be applied to other uses as well.

[0045] Although various preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and many modifications can be made without departing from the spirit of the invention. [Explanation of Symbols]

[0046] 10 Drones 11 Main unit 12 propellers 13 Legs 13a Cross section 13b Grounding part 13c Rectangular frame section 14 batteries 15 Antennas 20 Herbicide liquid application device 21 Herbicide liquid supply unit 22 tanks 23 pumps 24 Solenoid valve 25 connecting pipes 30 branch pipes 31. Long, rod-shaped boards 32 Pipe Fittings 33 straight pipe 35 Liquid branching port 40 Connecting pipe section 50 Capillary tubes for application 51 Spacing Regulator 60 Guide to Controlling Lateral Sway 70 Lever Rotation Device 71 Lever member 71a Bridge section 72 Rotary drive unit 80 Flight route information acquisition device 81 Long members 81a Paul 81b Bass 81c bottom end 82 positioning units 82a Positioning antenna 83 Flight control system 84 Telemetry Communication Unit 84a Telemetry communication antenna 85 Battery 86 Level 87 Cover 100 ridge 101 Ground

Claims

1. In a method for using a weed-killing drone equipped with a herbicide application device that can apply herbicide solution to a target area while the drone is flying in the air, the drone is flown along a pre-set flight route. As a preliminary step to setting the flight route for the aforementioned weed-removing drone device, a flight route information pre-acquisition process is performed, which uses a satellite positioning system to obtain three-dimensional positional information including longitude, latitude, and altitude. A positioning unit that receives information from a satellite positioning system to determine three-dimensional positional information, and a flight route information acquisition device which is configured in which a positioning unit that is separate from the positioning unit mounted on the aforementioned weed-removing drone device but has the same or equivalent functions, is attached to a long member, is used. In order to apply herbicide solution to grass by maintaining the flight path at a constant predetermined height above the ground, the lower end of the long member is placed on the ground or on an object that could obstruct the flight, and the long member is positioned vertically to obtain three-dimensional positional information, which is the positional information of a point on the flight path. This includes sequentially acquiring the three-dimensional position information along the flight route, thereby acquiring flight route position information that can be traced by the weed-removing drone device, which is composed of a series of three-dimensional position information points along the flight route. A method for using a weed-removing drone device, characterized by inputting the aforementioned flight route position information to the weed-removing drone device, thereby controlling the weed-removing drone device to fly along a set flight route.

2. The method for using the weed-killing drone device according to claim 1, characterized in that the herbicide liquid application device comprises a herbicide liquid supply unit equipped with a tank for storing herbicide liquid and a pump connected to the tank for discharging the herbicide liquid, a branch pipe provided extending to the left and right with respect to the front and rear direction which is the normal flight direction when the drone applies herbicide liquid, and connected to the herbicide liquid supply unit to receive and distribute the herbicide liquid, and a plurality of coating tubes connected to the liquid branch pipes for flowing the herbicide liquid down to apply the herbicide liquid to the target area.

3. A flight route information acquisition device for use in a method of using a weeding drone device according to claim 1 or 2, characterized in that the long member is equipped with the positioning unit and a flight control device that can receive a plurality of three-dimensional position point information measured by the positioning unit and output it as flight route position information.

4. A flight route information acquisition device for use in a weed-killing drone device according to claim 3, characterized in that the long member is equipped with a communication device capable of outputting the flight route position information to the outside.

5. A flight route information acquisition device for use in a method of using a weed-killing drone device according to claim 4, characterized in that the positioning unit, the flight control device, and the communication device are mounted on the upper end of the long member.

6. A flight route information acquisition device used in the method of using the weeding drone device according to claim 5, characterized in that the long member can be extended and retracted to adjust its length.

Images