Control device, spraying device, and control method

Abstract

To provide a control method capable of appropriately controlling an unmanned flying vehicle.SOLUTION: A main control unit 56 (control device) includes: an acquisition unit 561 configured to acquire operation information related to operations performed by an operator of an unmanned flying vehicle 10; a determination unit 563 configured to compare the acquired operation information with a plurality of pieces of basic operation information related to basic operations of the unmanned flying vehicle 10 stored in advance in a storage unit 59 and determine whether or not the operation information matches any of the basic operation information; and an operation control unit 564 configured to control the operation of the unmanned flying vehicle 10 so that, when the determination unit 563 determines that they match, the unmanned flying vehicle performs an operation corresponding to the operation information.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a control device for controlling the operation of an object such as an unmanned aerial vehicle, a spraying device provided with this control device, and a control method.

Background Art

[0002] In recent years, with the development of drone (unmanned aerial vehicle) technology, it has brought great benefits in various industries and fields. In the agricultural field, the application of drone technology to sensing, transportation, spraying operations, etc. has been attempted, achieving precision agriculture and labor saving. Drone technology is considered to continue to be one of the major technologies responsible for smart agriculture.

[0003] When operating an object such as a drone, the moving direction and moving speed of the drone can be determined by tilting an operation lever or the like forward, backward, left, or right at a predetermined angle and speed. At this time, if the operator suddenly tilts the operation lever greatly unexpectedly, the drone may perform sudden turning, sudden descent, or movements unintended by the operator. Therefore, the development of a technology that can appropriately respond when the operator performs an unintended operation is desired.

[0004] By the way, technologies for monitoring the flight state of a drone, transmitting an emergency operation command to the drone when an abnormality is detected, and causing the drone to perform an evacuation action such as landing or hovering in the air, and technologies for the drone itself to perform an evacuation action when an emergency operation command cannot be received have been disclosed (see, for example, Patent Documents 1 and 2). However, these conventional technologies are not technologies for controlling a drone in response to an unintended operation by the operator.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

[0006] This disclosure is made in view of the above circumstances and aims to appropriately control the operation of the object. [Means for solving the problem]

[0007] To achieve the above objective, the control device of this disclosure is a control device for controlling the operation of an object, comprising: an acquisition unit for acquiring operation information relating to an operation performed by an operator of the object; a determination unit for comparing the acquired operation information with a plurality of basic operation information relating to the basic operation of the object stored in a storage unit in advance, and determining whether the operation information matches any of the basic operation information; and an operation control unit for controlling the operation of the object to perform an operation corresponding to the operation information when the determination unit determines that they match. [Effects of the Invention]

[0008] By configuring it in this way, the manipulation of the object can be appropriately controlled. [Brief explanation of the drawing]

[0009] [Figure 1] This figure shows a schematic configuration of a spraying device and spraying system equipped with a control device according to the first embodiment. [Figure 2] This is a block diagram showing an example of the overall configuration of a spraying system equipped with a control device according to the first embodiment. [Figure 3] These are explanatory diagrams illustrating how basic operation information is acquired. (a) shows how basic operation information is acquired in the first embodiment, and (b) shows how basic operation information is acquired in the second embodiment. [Figure 4] This is an explanatory diagram to explain the relationship between the basic operation of the control handle and the movement of the unmanned aerial vehicle. (a) is a diagram showing the correspondence between the basic operation of the control handle and the movement of the unmanned aerial vehicle, and (b) is a diagram showing the coordinate axes of the control handle. [Figure 5] This is an explanatory diagram illustrating the movement of an unmanned aerial vehicle, the stick operation of the control device in the second embodiment, and the relationship between operation by the control device according to the first embodiment and displacement. [Figure 6] This flowchart shows an example of a control method; (a) is a flowchart showing an example of the process for acquiring basic operation information, and (b) is a flowchart showing an example of the process for dispersing the object to be dispersed. [Figure 7] This figure shows a schematic configuration of an unmanned aerial vehicle system equipped with a control device according to the second embodiment. [Figure 8] This is a block diagram showing an example of the overall configuration of an unmanned aerial vehicle system equipped with a control device according to the second embodiment. [Modes for carrying out the invention]

[0010] (First Embodiment) Hereinafter, a spraying device 60 and a spraying system 100 equipped with a control device according to the first embodiment of this disclosure will be described with reference to the drawings. The spraying device 60 and the spraying system 100 are a device and a system for spraying a target substance onto a field or agricultural products growing in a field. A field is a place where agricultural products such as rice, vegetables, fruits, and pasture grass are grown, and examples include rice paddies, fields, orchards, and pastures. The spraying device 60 and the spraying system 100 according to the first embodiment are suitable for use in relatively medium-sized or small farms. The target substance in the first embodiment is a liquid pesticide such as herbicides and insecticides, fertilizers, plant stimulants, etc.

[0011] Furthermore, the form of the substance to be sprayed in this disclosure is not limited to liquid, but may be granular, powder, etc. Also, the substance to be sprayed is not limited to the above-mentioned pesticides, fertilizers, and plant stimulants, but may be seeds, water, or anything that can be sprayed on a field. In addition, the target of the substance to be sprayed is not limited to fields or agricultural products growing in fields, but may be parks, gardens, yards, forests, roadsides, vacant lots, etc., or plants growing in these places.

[0012] As shown in Figures 1 and 2, the spraying system 100 is a system comprising an unmanned aerial vehicle 10 and a spraying device 60, enabling the flight of the unmanned aerial vehicle 10 and the spraying of the target material via a control device 50. The spraying system 100 is an example of an unmanned aerial vehicle system using an unmanned aerial vehicle 10. In this embodiment, the control device 50 is equipped with the control device of this disclosure (more specifically, the main control unit 56 described later).

[0013] The unmanned aerial vehicle 10, also known as an unmanned aircraft or UAV (Unmanned Aerial Vehicle), is an aerial vehicle that does not carry a person (unmanned). Examples of unmanned aerial vehicles 10 include drones, unmanned helicopters, and radio-controlled (RC) aircraft, but it is not limited to these as long as it flies without a person. The unmanned aerial vehicle 10 of the first embodiment is an unmanned rotary-wing aircraft having multiple (four) rotor blades 12, as shown in Figure 1.

[0014] As shown in Figure 2, the unmanned aerial vehicle 10 comprises a spraying unit 11, a rotor blade 12, a motor 13, an imaging unit 14, various sensors 15, a communication unit 16, a control unit 17, and a storage unit 18. The motor 13, imaging unit 14, sensors 15, communication unit 16, control unit 17, and storage unit 18 are electrical devices that operate using power supplied from a power supply unit 21, which will be described later.

[0015] The spraying unit 11 is a device for spraying the material to be sprayed onto the target, and in the first embodiment, it consists of a spray nozzle. The spraying unit 11 is fixed to the body 10a or leg portion 10b of the unmanned aerial vehicle 10 with its spray nozzle facing downward or horizontally. When spraying the material to be sprayed over a narrow area (pinpoint), one spraying unit 11 may be provided facing a predetermined direction, or multiple spraying units may be provided facing multiple directions when spraying over a wide area. The spraying unit 11 may also be equipped with a power pump or the like for spraying the material to be sprayed.

[0016] The rotary wings 12, also called rotors, are devices for flying the unmanned aircraft 10, and a plurality (four) of them are provided in consideration of flight stability and the like. Each rotary wing 12 is attached to an arm 10c extending from the body 10a. The motors 13 are provided for the respective rotary wings 12 and are rotationally driven by the control unit 17 to rotate the rotary wings 12, thereby flying the unmanned aircraft 10.

[0017] The imaging unit 14 is a device for acquiring images around the unmanned aircraft 10. The imaging unit 14 is composed of, for example, a digital camera or the like that captures still images or moving images. The imaging unit 14 outputs the captured images to the control unit 17.

[0018] The sensor 15 is a device for detecting various types of information, and examples include an altimeter, a gyro sensor, an acceleration sensor, an ultrasonic sensor, a magnetic azimuth sensor, a GPS (Global Positioning System), and the like. The sensor 15 transmits the acquired information to the control unit 17. These types of information are used for, among other things, ascertaining the position and attitude of the unmanned aircraft 10, the distance to the spraying target, the spraying amount of the sprayed material, the flight conditions, and the like.

[0019] The communication unit 16 is a device for performing wireless communication with a controller 50 for remotely operating the unmanned aircraft 10 in order to transmit and receive signals and data. The communication unit 16 is configured to include a wireless device, an antenna, and the like. Note that the communication between the communication unit 16 and the controller 50 is not limited to wireless communication and may be communication by wire.

[0020] The control unit 17 is a so-called flight controller and controls the operation of the entire unmanned aerial vehicle 10. The control unit 17 is composed of a processor such as a CPU (Central Processing Unit) and functions as a control device that controls the unmanned aerial vehicle 10 by executing a program stored in the memory unit 18. The control unit 17 controls the flight of the unmanned aerial vehicle 10 by controlling the rotation speed of the motor 13 based on input information received from the pilot 50 via the communication unit 16 and detection results input from various sensors 15. The control unit 17 also stores images input from the imaging unit 14 in the memory unit 18 and transmits them to the pilot 50 via the communication unit 16.

[0021] The control unit 17 controls the unmanned aircraft 10 to perform autonomous flight according to a pre-set procedure, and also controls the unmanned aircraft 10 to perform remotely controlled (manual) flight according to control signals from the pilot 50.

[0022] The memory unit 18 is a storage device composed of semiconductor memory such as ROM (Read Only Memory) and RAM (Random Access Memory), storage media such as a hard disk drive and SSD (Solid State Drive). The memory unit 18 stores the operating system and application programs, as well as various information such as parameters for controlling the unmanned aerial vehicle 10, images captured by the imaging unit 14, and detection results from the sensor 15.

[0023] The spraying device 60 comprises a sprayer body 20, a power supply line 30, a supply tube 40, and a control unit 50. The sprayer body 20 and the main body 51 of the control unit 50 are integrally attached to the mounting portion 53b of the mounting body 53, which will be described later, and the mounting body 53 is attached to the back of the operator P (see Figure 1).

[0024] The sprayer body 20 is a powered sprayer that is attached to or carried by the operator P. The sprayer body 20 of the first embodiment is a backpack-type engine-powered sprayer that is powered by an engine and can be carried on the operator P's back (see Figure 1).

[0025] As shown in Figure 2, the sprayer body 20 comprises a power supply unit 21 and a supply unit 22. The power supply unit 21 is a power source for supplying power to the electrical equipment of the unmanned aerial vehicle 10 via a power supply line 30. In this embodiment, the power supply unit 21 is composed of a generator that generates electricity using gasoline, which is the power source 25 of the power pump 24. Note that the power supply unit 21 is not limited to a generator and may be a battery or battery pack, etc. Also, if the power source 25 is electricity, the power source 25 itself can be used as the power supply unit 21.

[0026] The supply unit 22 comprises a storage unit 23, a power pump 24, and a power source 25. The storage unit 23 consists of a chemical tank that stores the chemical solution to be sprayed. The storage unit 23 is made of a resin such as polyethylene, making it lightweight and excellent in liquid resistance and chemical resistance. The power pump 24 sprays the material to be sprayed stored in the storage unit 23 through the supply tube 40 to the spraying unit (injection nozzle) 11 of the unmanned aircraft 10 by pressure. The power pump 24 is driven by the operation of the operation button 52e on the operation handle 52 under the control of the main control unit 56. In the second embodiment, the power pump 24 consists of an engine-type power pump driven by the power source 25, but is not limited to this; any pump that supplies the chemical solution to the spraying unit 11 and sprays it from the spraying unit 11 is acceptable. The power pump 24 is a gasoline engine type power pump with gasoline as the power source 25, but is not limited to this, and may also be a diesel engine type, an LPG (Liquefied Petroleum Gas) engine type, or a CNG (Compressed Natural Gas) engine type power pump. Furthermore, the power source 25 is not limited to gasoline, but may also be electricity or the like.

[0027] The power supply line 30 connects the power supply unit 21 of the sprayer body 20 to the electrical equipment of the unmanned aerial vehicle 10, supplying power from the power supply unit 21 to the electrical equipment. The length of the power supply line 30 is not particularly limited, but it is preferable that it be long enough not to hinder the unmanned aerial vehicle 10 from ascending or moving to a height at which it can spray the liquid agent onto targets such as trees.

[0028] The supply tube 40 connects the power pump 24 and housing 23 of the sprayer body 20 to the spraying unit 11 of the unmanned aerial vehicle 10, and supplies the chemical solution sprayed from the housing 23 by the power pump 24 to the spraying unit 11. The supply tube 40 can be made of resin, such as a rubber tube or a polyvinyl chloride tube (including hoses, pipes, etc.). The length of the supply tube 40 is preferably the same as the length of the power supply line 30.

[0029] Next, the controller 50 according to the first embodiment will be described in detail. The controller 50 is a device that transmits flight-related control signals such as flight direction, altitude, and speed to the unmanned aerial vehicle 10 in response to operations performed by the operator P, and controls the operation of the unmanned aerial vehicle 10.

[0030] As shown in Figure 1, the control unit 50 comprises a main body 51, a rigid operating handle 52, and a wearable body 53. The main body 51 is a device carried on the back of the operator P by the wearable body 53. As shown in Figure 2, the main body 51 comprises a fixing unit 54, a detection unit 55, a main control unit 56, a power supply unit 57, a communication unit 58, and a storage unit 59. These are housed in a resin or metal casing 51a (see Figure 1).

[0031] The fixing part 54 is located on the side of the main body part 51 and is fixed to the housing 51a or a base (not shown). The fixing part 54 is made of a rigid material that is resistant to deformation, such as a metal housing. The housing 51a or the base itself can also be used as the fixing part 54. One end of the rigid operating handle 52 (more specifically, one end of the sub-shaft 53c) is connected to the fixing part 54.

[0032] The detection unit 55 is provided at the connection point between the fixed part 54 and the operating handle 52. The detection unit 55 detects the displacement of the operating handle 52 relative to the fixed part 54. The detection unit 55 is preferably, for example, a strain gauge, but is not limited to this; any device that outputs displacement such as elongation or twisting of the operating handle 52 relative to the fixed part 54 is acceptable, and may also be a piezoelectric element, a laser displacement meter, etc. There may be only one detection unit 55, but multiple units (at least two, preferably four, more preferably five or more) are provided at predetermined intervals at the connection point to detect displacement of the operating handle 52 in various directions.

[0033] The power supply unit 57 is a device that supplies power to the electrical equipment of the main unit 51 (detection unit 55, main control unit 56, communication unit 58, memory unit 59, operation buttons 52e, etc.), and is composed of a battery, battery pack, etc.

[0034] The communication unit 58 is a device that performs wireless communication with the communication unit 16 of the unmanned aerial vehicle 10 in order to send and receive signals and data. The communication unit 58 is composed of a radio, an antenna, and the like.

[0035] The memory unit 59 is a storage device composed of semiconductor memory such as ROM and RAM (Random Access Memory), storage media such as a hard disk drive and SSD (Solid State Drive). The memory unit 59 stores the operating system and application programs, as well as various information such as basic operation information for the operation handle 52, operation information and parameters of the unmanned aerial vehicle 10 corresponding to the operation (operation information) of the operation handle 52.

[0036] "Basic operation information" is information acquired through the basic operation information acquisition process described later, and consists of multiple reference operation information. "Operation information" is information about the movement of the control handle 52 acquired by the operator P's operation. Specifically, operation information includes the extension amount, contraction amount, rotation amount, operation time, etc. of the control handle 52. "Motion information" is information indicating the movement of the unmanned aircraft 10, such as forward, backward, right turn, left turn, ascend, descend, right movement, left movement, distance traveled, speed of movement, rotation angle, altitude, etc.

[0037] The main control unit (control unit) 56 controls the operation of the entire control unit 50. The main control unit 56 is composed of a processor such as a CPU (Central Processing Unit) and functions as a control device that controls the control unit 50 by executing a program stored in the memory unit 59.

[0038] The main control unit 56 controls the movement of the unmanned aerial vehicle 10 based on the displacement of the operating handle 52 detected by the detection unit 55. The main control unit 56 also receives various information from the unmanned aerial vehicle 10, such as detection results detected by the sensor 15, through the communication unit 58. Based on the detection results from the detection unit 55 and the detection results from the sensor 15, the main control unit 56 generates a control signal to control the movement of the unmanned aerial vehicle 10 and transmits it to the unmanned aerial vehicle 10 through the communication unit 58.

[0039] Furthermore, the main control unit 56 functions as a control device that executes a control method for controlling the operation of the unmanned aerial vehicle 10 by the pilot 50. That is, by executing a program stored in the memory unit 59, the main control unit 56 functions as a control device of this disclosure having an acquisition unit 561, a recording unit 562, a determination unit 563, an operation control unit 564, and a notification unit 565.

[0040] The acquisition unit 561 acquires operation information performed on the operating handle 52 by the operator P. More specifically, the acquisition unit 561 acquires displacement information (such as the amount of extension, contraction, and rotation of the operating handle 52, as described later) based on the displacement detection result detected by the detection unit 55 as a result of the operation of the operating handle 52, and analyzes this displacement information to acquire operation information.

[0041] The recording unit 562 collects various operation information, which is performed by the operator P on the control handle 52 and acquired by the acquisition unit 561, as basic operation information and records (stores) it in the storage unit 59. "Basic operation information" is the operation information that serves as the basis for the control handle 52 in order to control the movement of the unmanned aerial vehicle 10 and make it fly as desired. Basic operation information is acquired by the acquisition unit 561 when the operator P operates the control device 50 while viewing virtual reality images displayed by the head-mounted display 70, and is recorded in the storage unit 59 by the recording unit 562.

[0042] The determination unit 563 compares the operation information acquired by the acquisition unit 561, which is made by the operator P to the control handle 52 when the unmanned aircraft 10 is actually flown, with a plurality of basic operation information recorded in the storage unit 59, and determines whether the operation information matches any of the basic operation information. This determination may be made with strict accuracy, or it may allow differences within a predetermined threshold range, and determine that they match if they are within this range.

[0043] The motion control unit 564 controls the operation of the object to perform the operation corresponding to the operation information when the determination unit 563 determines that the operation information matches any of the basic operation information. That is, it obtains operation information corresponding to the operation information (direction of movement, amount of movement, amount of rotation, etc. of the unmanned aerial vehicle 10) from the storage unit 59, generates a control signal, and transmits it to the unmanned aerial vehicle 10 via the communication unit 58.

[0044] On the other hand, if the determination unit 563 determines that the operation information does not match any of the basic operation information (mismatch), the operation control unit 564 discards the operation information and prevents the unmanned aircraft 10 from performing the operation corresponding to that operation information (skips the operation).

[0045] In the first embodiment, basic operation information is defined as "correct" (normal operation or correct operation), operations that match the basic operation information are defined as "normal operation" (appropriate operation performed intentionally by operator P), and operations that do not match the basic operation information are defined as "error operation" (unintended operation or incorrect operation). The operation control unit 564 controls the unmanned aerial vehicle 10 to prevent it from performing operations corresponding to error operations.

[0046] In the first embodiment, the acquisition unit 561 also acquires operation information for operations on the sprayer body 20 that supplies the material to be sprayed to the spraying unit 11 of the unmanned aerial vehicle 10, specifically, operations on the operation button 52e for driving the power pump 24. The determination unit 563 then compares this with the basic operation information of the operation button 52e that has been recorded in advance to determine whether it is appropriate or not.

[0047] "Error operations" include, but are not limited to, the following: For example, when the operator P trips for some reason while controlling the unmanned aerial vehicle 10 while walking and accidentally moves the control handle 52. For example, an operation that brings the unmanned aerial vehicle 10 so close that it collides with the target tree or the like. For example, an operation that continues to spray chemicals from the spraying unit 11 for a long period of time, other than the target tree or the like.

[0048] The notification unit 565 notifies the operator P that an error operation has occurred. Specifically, the notification unit 565 controls a buzzer, vibrator, LED (Light Emitting Diode), or other light-emitting part (not shown) provided on the control unit 50 to output sound from the buzzer, vibrate the vibrator, or light up the light-emitting part to inform the operator P that an error operation has occurred. If the control unit 50 has a display unit, the notification unit 565 may also notify the operator by displaying a message or image on the display unit.

[0049] Furthermore, the processing in the event of an error operation is not limited to discarding or notifying operation information. In other different embodiments, the motion control unit 564 may, upon detecting an error operation, transmit a control signal to the unmanned aerial vehicle 10 to perform an action to avoid the error (for example, slowing down, landing, hovering, etc.). Additionally, if the controller 50 is equipped with AI (Artificial Intelligence), and the motion control unit 564 accumulates and learns from error operations, generates a control signal to perform an appropriate action, and transmits it to the unmanned aerial vehicle 10, unintended actions such as sharp turns or dives of the unmanned aerial vehicle 10 can be suppressed, enabling more appropriate flight.

[0050] Next, the control handle 52 will be described in detail. The control handle 52 is a component that the operator P grasps and uses to control the unmanned aerial vehicle 10. The control handle 52 is not particularly limited as long as it is a rigid body, and may be a straight rod or a rod bent into an L-shape, crank shape, etc. Considering the differences in physique such as the length of the operator P's upper arm, ease of operation, and the fact that the main body 51 is positioned on the back, the control handle 52 is more preferably L-shaped or crank-shaped.

[0051] In the first embodiment of the control device 50, the operating handle 52 is provided on the left side of the main body 51. This configuration allows the operator P to operate the operating handle 52 with their left hand, enabling them to perform other tasks with their right hand. The operating handle 52 has a first arm portion 52a (main shaft) that extends in the front-rear direction relative to the operator P carrying the main body 51 on their back, and a second arm portion 52b (sub-shaft) that extends in the left-right direction from one end (rear end) of the first arm portion 52a, intersecting the first arm portion 52a. That is, the first arm portion 52a and the second arm portion 52b extend in an L-shape in plan view from the left rear to the front relative to the operator P. One end of the second arm portion 52b is inserted into the housing 51a from the left side of the main body 51 and connected to a fixing portion 54 inside the housing 51a.

[0052] Furthermore, the operating handle 52 of the first embodiment has a grip portion 52c, which is a third axis extending vertically from the other end (tip) of the first arm portion 52a, intersecting the first arm portion 52a and the second arm portion 52b. The grip portion 52c is the part that the operator P grasps, and a cover member 52d is attached to its outer circumference to facilitate the operator P's grip and operation. Thus, by having the first arm portion 52a, the second arm portion 52b, and the grip portion 52c, the operating handle 52 has a crank shape.

[0053] Furthermore, the operating handle 52 of the first embodiment has an operating button 52e on the top surface of the grip portion 52c that can be pressed with the thumb. This operating button 52e transmits an ON (pressed) or OFF (released) signal to the main control unit 56 (acquisition unit 561) via wireless or wired communication. When the main control unit 56 (operation control unit 564) receives an ON signal, for example, it drives the power pump 24 of the sprayer body 20 to supply liquid from the storage unit 23 to the spraying unit 11 of the unmanned aerial vehicle 10 via the supply tube 40, and starts spraying the liquid by the spraying unit 11, and continues spraying as long as the ON signal is maintained. On the other hand, when the main control unit 56 receives an OFF signal, it stops the supply of liquid to the spraying unit 11 by stopping the power pump 24 of the sprayer body 20.

[0054] Furthermore, the main control unit 56 controls the driving force of the power pump 24 according to the amount the operation button 52e is pressed down, allowing the amount of liquid sprayed from the spraying unit 11 to be adjusted. In other words, by pressing the operation button 52e down less, the operator P can reduce the amount of liquid sprayed from the spraying unit 11 or spray it over a wider area, and by pressing it down more, the operator can increase the amount of liquid sprayed from the spraying unit 11 or spray it more concentratedly.

[0055] Next, the method of operating the control handle 52 and the relationship between the operation of the control handle 52 and the movement of the unmanned aircraft 10 will be explained with reference to Figures 4 and 5. Note that the control button 52e is omitted in Figure 4. Incidentally, a typical control device with two control sticks (left and right) has multiple operating modes, such as Mode 1 and Mode 2. In the following, the control device 50 of the first embodiment will be described as being operated in Mode 1, but it may also be operated in Mode 2.

[0056] The control unit 50 of the first embodiment can substitute the movement of the two control sticks of the control unit 50A of the second embodiment, which will be described later, by moving the control handle 52 (grip portion 52c) horizontally or tilting it. Figure 4(a) is a diagram showing the correspondence between the basic operation of the control handle 52 and the movement of the unmanned aerial vehicle 10. As shown in Figure 4(a), when moving the unmanned aerial vehicle 10 horizontally in the forward, backward, left, and right directions, the operator P moves the entire control handle 52 horizontally in the forward, backward, left, and right directions, as indicated by the straight arrows. When raising or lowering the unmanned aerial vehicle 10, or turning left or right, the operator P tilts the control handle 52 in the forward, backward, left, or right direction, as indicated by the curved arrows. When performing these operations, the operator P makes movements such as pushing out or tilting the control handle 52, but these movements do not actually extend or tilt the control handle 52, but rather output changes in elongation or torsion as a rigid body.

[0057] Figure 4(b) shows the coordinate axes of the operating handle 52. In Figure 4(b), "x, y, z" indicate the coordinate axes (x-axis, y-axis, z-axis) of the first arm section 52a. The x-axis is parallel to the extension direction (front-to-back direction) of the first arm section 52a, the y-axis is parallel to the horizontal direction (left-to-right direction), and the z-axis is parallel to the up-and-down direction (vertical direction). In Figure 4(b), "x', y', z'" indicate the coordinate axes (x'-axis, y'-axis, z'-axis) of the second arm section 52b. The x'-axis, y'-axis, and z'-axis are parallel to the x-axis, y-axis, and z-axis, respectively.

[0058] Furthermore, in Figure 4(b), "u" indicates the range of motion of the first arm 52a with the x-axis as the center (axis of rotation), "v" indicates the range of motion of the first arm 52a with the y-axis as the center (axis of rotation), and "w" indicates the range of motion of the first arm 52a with the z-axis as the center (axis of rotation). The sign of the change is indicated by "+" and "-" in the figure. Although not shown in Figure 4(b), the range of motion of the second arm 52b with the x' axis as the center (axis of rotation) will be referred to as "u'", the range of motion of the second arm 52b with the y' axis as the center (axis of rotation) will be referred to as "v'", and the range of motion of the second arm 52b with the z' axis as the center (axis of rotation) will be referred to as "w'" below.

[0059] Figure 5 is an explanatory diagram illustrating the movement of the unmanned aerial vehicle 10, the stick operation of the controller 50A of the second embodiment, which is also a general-purpose controller, and the relationship between operation by the controller 50 of the first embodiment and displacement. In Figure 4, "X, Y, Z" are the coordinates of movement of the unmanned aerial vehicle 10, where the positive X-axis is the forward direction, the negative X-axis is the backward direction, the positive Y-axis is the rightward movement, the negative Y-axis is the leftward movement, the positive Z-axis is the upward direction, and the negative Z-axis is the downward direction. In addition, "L" in the column for "Stick operation of the controller of the second embodiment" indicates the left control stick, and "R" indicates the right control stick, and the black arrows indicate the direction of operation (tilting) of the control stick in each operation. The column for "Operation and displacement by the controller of the first embodiment" shows the operation of the controller 50 and the movement of the first arm section 52a and the second arm section 52b.

[0060] As shown in Figure 5, in a typical control device (control device 50A of the second embodiment), there is a one-to-one correspondence between the operation of the control sticks and the movement of the unmanned aerial vehicle 10. For example, to move forward, the left control stick is tilted forward, and to move backward, the left control stick is tilted backward. Furthermore, the larger the angle at which the control stick is tilted, the faster the unmanned aerial vehicle moves in proportion to that angle. Also, for example, to instruct the unmanned aerial vehicle to move forward while ascending, the operation of tilting both the left and right control sticks forward is required, making operation with both hands essential.

[0061] In contrast, the controller 50 of the first embodiment does not have a one-to-one correspondence between the operation of the control handle 52 and the movement of the unmanned aerial vehicle 10, but rather makes a determination based on a main action on the control handle 52 and an auxiliary action that supplements the main action. This determination is made by the main control unit 56 (acquisition unit 561, etc.), described later, based on the detection results of the detection unit 55, etc. Correspondence information or calculation formulas, etc., that associate operation information based on displacement information such as the state and amount of displacement of the control handle 52 (first arm section 52a and second arm section 52b) due to the main action and auxiliary action as shown in Figure 5, with operation information related to the movement of the unmanned aerial vehicle 10, such as the direction of movement, amount of movement, and turning angle, is stored in the storage unit 59 in advance. Based on the detection results of the detection unit 55, etc., the main control unit 56 acquires the corresponding operation information of the unmanned aerial vehicle 10 (direction of movement, amount of movement, turning angle, etc.) from the storage unit 59, and transmits a control signal corresponding to this information to the unmanned aerial vehicle 10 via the communication unit 58. The correspondence information may be stored in the memory unit 59 in advance when the control device 50 is manufactured, or the operator P may operate the control handle 52 in advance, and the operation information and operation information corresponding to that operation may be associated with and stored in the memory unit 59.

[0062] As shown in Figure 5, in the control unit 50, for example, when "Operation 1" is used to move the unmanned aerial vehicle 10 forward, the operator P pushes the grip portion 52c forward. In response to this operation, the detection unit 55 detects the amount of extension (+Δx) of the first arm portion 52a in the positive x-axis direction as the main operation. The detection unit 55 also detects the amount of rotation (+Δw) and (+Δw') of the first and second arm portions 52a and 52b around the z-axis and z' axis as auxiliary operations. Based on these detection results, the main control unit 56 transmits a control signal to the unmanned aerial vehicle 10 to move forward by an amount of movement corresponding to the amount of rotation. Also, for example, to instruct the unmanned aerial vehicle 10 to move upward while moving forward, the operator P performs "Operation 1" and "Operation 5," that is, pushing the grip portion 52c forward while tilting it forward. Then, in addition to the detection result in "Operation 1" described above, the detection unit 55 detects the amount of rotation (-Δv) of the first arm 52a tilting forward around the y-axis as the main operation, and detects the amount of rotation (-Δv') of the second arm 52b tilting downward around the y'-axis as an auxiliary operation. Based on these detection results, the main control unit 56 transmits a control signal to the unmanned aerial vehicle 10. In this way, the controller 50 of the first embodiment can control the unmanned aerial vehicle 10 in the same way as a normal drone by operating only one control handle 52.

[0063] The wearer 53 is attached to the housing 51a of the main body 51 and is a component for positioning and securing the main body 51 on the back (back or waist) of the operator P. The wearer 53 has a pair of shoulder straps 53a that the operator P places on their shoulders by putting their arms through them. The wearer 53 is not limited to shoulder straps 53a, but may also be a belt, or may have both shoulder straps 53a and a belt, or may be a strap or the like. Furthermore, the wearer 53 is not limited to a configuration in which the main body 51 is positioned on the back, but may also be configured to position the main body 51 on the front (abdominal side) or side (armpit) of the body.

[0064] Furthermore, in the spraying system 100 of the first embodiment, a head-mounted display 70 is used to create a virtual reality space of the field, and the operator P can use a controller 50 to operate the unmanned aerial vehicle 10 in the virtual reality space and acquire basic operation information.

[0065] The head-mounted display 70 is a device that plays content such as still images and moving images (in this case, images of a virtual reality space) and allows the operator P to view virtual images while it is worn on the operator P's head. The head-mounted display 70 used in the first embodiment is a glasses-type head-mounted display (smart glasses) worn on the operator P's head, but is not limited to this, and any suitable device such as a goggle-type or headset-type head-mounted display can be used. Furthermore, the device that plays the content is not limited to the head-mounted display 70, but may be a personal computer that displays images on a display, a projector that projects images onto a screen or stereoscopic screen, etc.

[0066] As shown in Figure 2, the head-mounted display 70 includes a display unit 71, a communication unit 72, a control unit 73, and a storage unit 74. In addition, it also includes other components that are generally found in head-mounted displays, such as a projection optical system.

[0067] The display unit 71 displays an image of the virtual reality space on the display surface 71a under the control of the control unit 73. The display unit 71 is composed of, for example, a liquid crystal display or an organic electroluminescent (OLED) display. The communication unit 72 is a device that performs wireless communication with the communication unit 58 of the controller 50. The communication unit 72 is composed of a radio, an antenna, etc.

[0068] The control unit 73 controls the operation of the entire head-mounted display 70. The control unit 73 is composed of a processor such as a CPU and controls the head-mounted display 70 by executing a program stored in the memory unit 74. The control unit 73 also displays content pre-stored in the memory unit 74 on the display unit 71 to generate a virtual reality space and present it to the operator P. In addition, the control unit 73 flies an unmanned aircraft in the virtual reality space displayed on the display unit 71 in response to control signals input from the pilot 50, and virtually sprays chemicals.

[0069] The memory unit 74 is a storage device composed of semiconductor memory such as ROM (Read Only Memory) and RAM (Random Access Memory), storage media such as a hard disk drive and SSD (Solid State Drive). The memory unit 59 stores the operating system and application programs, as well as images such as two-dimensional or three-dimensional images of targets for spraying liquid agents, such as orchards O. These images may be actual images edited from photographs taken, or graphic images generated using graphic technology. These images may also be standard (general) actual or graphic images of spray targets, or actual or graphic images of actual spray targets. By providing multiple image patterns, the spraying system 100 can acquire various basic operation information for various spray targets.

[0070] A method for controlling the operation of the unmanned aerial vehicle 10 in the first embodiment of the spraying system 100 with the configuration described above, and a method for spraying the object to be sprayed controlled by this control method, will be explained following the flowchart in Figure 6, with reference to Figures 1 and 3(a). Figure 6(a) is a flowchart showing an example of the process for acquiring basic operation information, and Figure 6(b) is a flowchart showing an example of the process for spraying the object to be sprayed.

[0071] The process of acquiring basic operation information and the process of spraying the material to be sprayed can be performed separately with a time interval between them, or consecutively. Furthermore, for example, when operator P switches the mode of the control unit 50 between the basic operation information acquisition mode and the spraying mode, the main control unit 56 performs the basic operation information acquisition process or the material to be sprayed process according to the mode.

[0072] First, the process for acquiring basic operation information will be explained. This acquisition process is performed before the actual spraying of the target material. To perform this acquisition process, operator P wears a head-mounted display 70 on their head, carries a spraying device 60 on their back, and grips the operating handle 52, as shown in Figure 3(a). Next, operator P operates the head-mounted display 70 to start playback of images in the virtual reality space. Then, while viewing the images of the virtual reality space displayed on the display surface 71a of the display unit 71 of the head-mounted display 70, operator P operates the operating handle 52 to fly the unmanned aerial vehicle in the virtual reality space and operates the operating button 52e to virtually spray the liquid agent onto the target material.

[0073] The detection unit 55 detects the operation of the operating handle 52 and transmits the detection result to the main control unit 56. Upon receiving this detection result, in step S1 of Figure 6(a), the acquisition unit 561 acquires operation information (such as the extension, contraction, and rotation of the operating handle 52) performed by the operator P based on the detection result. The acquisition unit 561 also acquires information such as the amount of spraying and spraying time as part of the operation information based on the signal input from the operation button 52e. This acquisition of operation information by the acquisition unit 561 is performed each time the operator P performs various operations.

[0074] In the next step, S2, the motion control unit 564 controls the movement of the unmanned aerial vehicle in the virtual reality space. Specifically, the motion control unit 564 acquires movement information of the unmanned aerial vehicle 10 corresponding to the operation information acquired in step S1, and transmits a control signal corresponding to this movement information to the head-mounted display 70. Upon receiving this control signal, the head-mounted display 70 controls the display unit 71 to display images of the unmanned aerial vehicle moving in the virtual reality space and images of the object being scattered from the scattering unit. By viewing these images, the operator P can control the unmanned aerial vehicle in the virtual reality space as if they were actually flying the unmanned aerial vehicle and scattering the object.

[0075] In the next step, S3, the recording unit 562 collects the operation information acquired by the acquisition unit 561 as basic operation information and records it in the storage unit 59. With this, the basic operation information acquisition process is completed.

[0076] Furthermore, if the user of the spraying system 100 is responsible for acquiring basic operation information, it will be possible to acquire operation information for the unmanned aerial vehicle 10 and spraying operation information according to the user's intentions and the field conditions. Alternatively, if the manufacturer or distributor of the spraying system 100 is responsible for acquiring basic operation information, it will be possible to eliminate the effort required of the user to acquire basic operation information and to control the operation of the unmanned aerial vehicle 10 more easily.

[0077] Next, the process of spraying the target substance will be explained. This spraying process is performed when the unmanned aerial vehicle 10 and spraying device 60 are used to spray the target substance in a real field such as an orchard O, after the basic operation information acquisition process has been performed in a virtual reality space and the basic operation information has been recorded.

[0078] First, as shown in Figure 1, operator P carries the spraying device 60 on their back and grips the operating handle 52 in an orchard O or similar location. Next, operator P operates the operating handle 52 to fly the unmanned aerial vehicle 10 in the orchard O and operates the operating button 52e to spray the liquid agent onto the target area.

[0079] The detection unit 55 detects the operation of the operation handle 52 and transmits the detection result to the main control unit 56. Upon receiving this detection result, in step S11 of Figure 6(b), the acquisition unit 561 acquires operation information performed by the operator P based on the detection result. The acquisition unit 561 also acquires information such as the amount of spraying and the spraying time as part of the operation information based on the signal input from the operation button 52e.

[0080] In the next step S12, the determination unit 563 compares the operation information acquired by the acquisition unit 561 with the basic operation information recorded in the storage unit 59, and in step S13, it determines whether the operation information matches any of the basic operation information.

[0081] If a match is determined (the determination in step S13 is YES), the process proceeds to step S14, where the operation control unit 564 acquires operation information of the unmanned aerial vehicle 10 corresponding to the operation information acquired in step S11, and transmits a control signal based on this operation information to the unmanned aerial vehicle 10. If the operation information corresponds to the operation button 52e, the operation information of the sprayer body 20 is acquired, and the power pump 24 of the sprayer body 20 is driven and controlled based on this operation information.

[0082] Upon receiving this control signal, the control unit 17 of the unmanned aerial vehicle 10 controls the rotation speed of the motor 13 to control the flight of the unmanned aerial vehicle 10. As a result, the unmanned aerial vehicle 10 flies in a manner that corresponds to the operator P's movements. In addition, when the power pump 24 is driven, the liquid agent is supplied from the supply unit 22 to the spraying unit 11 via the supply tube 40, and sprayed from the spraying unit 11 onto the target to be sprayed, such as trees T. As a result, the sprayer body 20 can spray the liquid agent according to the operator P's movements. The program then proceeds to step S16.

[0083] If a mismatch is detected (the determination in step S13 is NO), step S14 is skipped and the program proceeds to step S15. In other words, a mismatch means that the operation performed by operator P is an unintended operation (for example, a sharp turn, a steep descent, a steep ascent, excessive spraying, insufficient spraying, etc.), and therefore it is preferable not to perform it. For this reason, when a mismatch is detected, the main control unit 56 can skip step S14, thereby controlling the unmanned aircraft 10 and the power pump 24 to prevent them from performing movements corresponding to the unintended operation.

[0084] Then, in step S15, the notification unit 565 notifies the operator P that an error operation (unintended operation) has occurred by sound, vibration, light, etc. As a result, operator P can recognize that an inappropriate operation was performed and that this operation has been avoided. Therefore, the execution of unintended operations can be appropriately suppressed, and operator P can redo the operation in the correct manner. After that, the program proceeds to step S16.

[0085] In step S16, the main control unit 56 determines whether all operations have been completed. If it determines that they have not been completed (the determination in step S16 is YES), it returns to step S11 and executes the processing for the next operation. In other words, as long as operations are continuing, the processing in steps S11 to S15 is repeated.

[0086] As described above, according to the first embodiment, it is possible to determine whether the operation information regarding the operation performed by operator P on the operation handle 52 matches the basic operation information, and if they do not match, it is determined that this is an unintended operation, and control can be made to prevent the unmanned aerial vehicle 10 or the spraying device 60 from performing this operation. Therefore, it is possible to provide a control method and control device (main control unit 56) that can appropriately control the operation of the target object (unmanned aerial vehicle 10 or spraying device 60).

[0087] Furthermore, in the first embodiment, the recording unit 562 collects basic operation information regarding basic operations performed by the operator of the unmanned aerial vehicle 10 and records it in the storage unit 59. This allows the control device to accumulate various operation information under various conditions, as well as operation information for various types of controllers, enabling more appropriate control of the unmanned aerial vehicle 10.

[0088] Therefore, the unmanned aerial vehicle 10 can appropriately spray the liquid agent onto trees T, etc., using the spraying unit 11. Furthermore, since the spray nozzle of the spraying unit 11 is oriented downward or horizontally, the liquid agent is accurately sprayed onto the target, such as trees T, from above or from the side via the spraying unit 11. The operator P can then operate the control handle 52 to move the unmanned aerial vehicle 10 in any desired direction (up, down, left, or right), thereby evenly and appropriately spraying the liquid agent onto a single tree T, or even onto multiple trees T or fruits within a predetermined range.

[0089] Furthermore, in the first embodiment, if it is determined that the operation information and the basic operation information do not match, the notification unit 565 notifies that they do not match. This allows the operator P to know that they have performed an unintended (or inappropriate) operation and to repeat the operation in the correct manner. In addition, even if the operation was intended by the operator P, they will know that it differed from the standard operation in the basic operation information and will be able to strive to perform the operation in the standard manner, making it possible to use it as an operation training tool.

[0090] In the first embodiment, the control unit 50 comprises a main body 51, a rigid body (operating handle 52) operated by the operator P, and a mounting body 53 for attaching the main body 51 to the operator P's body. The main body 51 comprises a fixing part 54 to which one end of the rigid body is connected, a detection part 55 provided at the connection point between the fixing part 54 and the rigid body for detecting the displacement of the rigid body, and a control unit (main control unit 56) that controls the movement of the object based on the displacement of the rigid body detected by the detection part 55.

[0091] With a control system 50 configured in this way, operator P can control the unmanned aircraft 10 by operating the control handle 52 with one hand, and perform other tasks with the right hand (for example, adjusting the movement of the power supply line 30 or supply tube 40, or carrying loads), thereby improving work efficiency.

[0092] Furthermore, in the first embodiment, the operator P can easily move around with the spraying device 60 on their back. Then, by operating the operating handle 52 at the destination, the operator P can appropriately spray the liquid onto trees T in a different range under appropriate control by the control device. Moreover, the operator P can continue spraying while moving, making the spraying work more efficient. At this time, the operator P can use the hand that is not operating the operating handle 52 to adjust the movement of the power supply line 30 and the supply tube 40, so that walking is not hindered by the power supply line 30 and the supply tube 40, reducing physical burden, enabling smoother movement, and improving work efficiency.

[0093] Furthermore, in the first embodiment, the spraying device 60 can continuously supply power to the unmanned aerial vehicle 10 from the power supply line 30 and continuously supply liquid agent from the supply unit 22. As a result, the unmanned aerial vehicle 10 can perform spraying work for extended periods without being constrained by power capacity, liquid agent capacity, etc. In addition, the operator P can carry the spraying device 60 on their back and operate the control handle 52 with one hand, reducing physical strain even during long spraying operations.

[0094] Furthermore, in the first embodiment of the spraying system 100, the unmanned aerial vehicle 10 can bring the nozzle, which is the spraying unit 11, closer to the target, and the spraying unit 11 can be appropriately directed towards the target. This suppresses the spraying of liquid in unnecessary directions and reduces the drift to unintended crops that occurs during pesticide application. In addition, the ability to improve the accuracy of spraying to the target location also makes it possible to avoid spraying to the target location, thus improving the selectivity of spraying. Moreover, because the operation for spraying is appropriately controlled, the spraying system 100 can efficiently spray the liquid in the appropriate amount.

[0095] Furthermore, in the spraying system 100 of the first embodiment, the substances to be sprayed include pesticides such as herbicides and insecticides, fertilizers, plant stimulants, seeds, and water, and these are sprayed onto targets such as fields, parks, gardens, yard, forests, roadsides, and vacant lots. However, the substances to be sprayed and the spraying system are not limited to these. As another example, the substance to be sprayed may be paint, and the spraying device may be a system that sprays (applies) the paint onto targets such as buildings. Alternatively, the substance to be sprayed may be detergent, and the spraying device may be a device that sprays it onto targets such as objects to be washed for cleaning purposes. Alternatively, the substance to be sprayed may be a disinfectant or antibacterial agent, and the device may be a device that sprays it onto targets for disinfection or antibacterial purposes. Even with such a spraying system, the control device can appropriately control the unmanned aerial vehicle 10 to enable proper spraying of the substances to be sprayed.

[0096] In another different embodiment, the controller 50 may be equipped with a display unit such as a liquid crystal display, and the image captured by the imaging unit 14 that receives the image from the unmanned aerial vehicle 10 may be displayed on the display unit. By viewing the image displayed on this display unit, the operator P can more clearly grasp the flight status of the unmanned aerial vehicle 10 and control the unmanned aerial vehicle 10 more appropriately with the controller 50. In addition, by viewing the image displayed on the display unit, the operator P can more clearly grasp the scattering status of the material to be scattered and carry out the scattering of the material more appropriately.

[0097] Furthermore, in the first embodiment, the rigid body is an L-shaped bent operating handle 52 with a two-axis configuration consisting of a main axis (first arm portion 52a) and a sub-axis (second arm portion 52b), but the rigid body is not limited to this. For example, the rigid body may consist of a single straight rod (single axis) protruding forward or to the side from the main body portion 51, which can further simplify the rigid body and output information that appropriately controls the movement of the object based on its displacement. Also, in the first embodiment, the operating handle 52 is provided on the left side of the main body portion 51, but the configuration is not limited to this, and it may be provided on the right side so that the operator P can operate it with their right hand. In addition, the operating handle 52 may be interchangeable between the left and right sides of the main body portion 51 so that it can be operated with either the right or left hand, or it may be provided on both sides.

[0098] Furthermore, in the first embodiment, the spraying device 60 supplies power to the unmanned aerial vehicle 10 via a power supply line 30 from a power supply unit 57 located on the backpack-type sprayer body 20, and supplies the material to be sprayed to the spraying unit 11 via a supply tube 40 from a supply unit 22. However, the spraying device of this disclosure is not limited to this configuration. For example, the spraying device may be configured to supply power to the unmanned aerial vehicle 10 via a power supply line from a power supply unit installed on the ground, or to supply the material to be sprayed to the spraying unit via a supply tube from a supply unit installed on the ground. Even with such a configuration, the control device can appropriately control the unmanned aerial vehicle 10 to enable proper spraying of the material to be sprayed.

[0099] (Second Embodiment) Hereinafter, an unmanned aerial vehicle system 200 equipped with a control device according to the second embodiment of this disclosure will be described with reference to the drawings. As shown in Figures 7 and 8, the unmanned aerial vehicle system 200 is a system comprising an unmanned aerial vehicle 10 and a pilot 50 having a control device, and is a system that enables flight by controlling the operation of the unmanned aerial vehicle 10 with the control device.

[0100] The unmanned aerial vehicle 10 comprises a rotor 12, a motor 13, an imaging unit 14, various sensors 15, a communication unit 16, a control unit 17, a storage unit 18, and a power supply unit 19. The rotor 12, motor 13, imaging unit 14, various sensors 15, communication unit 16, control unit 17, and storage unit 18 have the same configuration and functions as those of the unmanned aerial vehicle 10 in the first embodiment, so a detailed explanation is omitted.

[0101] The power supply unit 19 supplies power to electrical equipment such as the motor 13, imaging unit 14, sensor 15, communication unit 16, control unit 17, and memory unit 18, and is composed of a battery, battery pack, etc.

[0102] In addition, the unmanned aerial vehicle 10 of the second embodiment may use the imaging unit 14 to take images to confirm the growth status of trees T and fruits, or it may spray pesticides or other substances onto targets such as trees T. When spraying substances, the unmanned aerial vehicle 10 may be equipped with a sprayer having, for example, a spray nozzle and a supply unit consisting of a storage tank for storing the substances to be sprayed and a power pump. Even with such an unmanned aerial vehicle 10, the control device can appropriately control the operations for flight and spraying, and ensure that the substances to be sprayed are properly sprayed.

[0103] The control unit 50 is a typical control unit that operates with two sticks, and comprises a main unit 51, a left control stick 52L and a right control stick 52R which are the operating parts, and a display unit 501.

[0104] The main unit 51 includes a left detection unit 55L and a right detection unit 55R, a main control unit 56, a power supply unit 57, a communication unit 58, and a storage unit 59. These are housed within the casing 51a (see Figure 7). The configuration and functions of the main control unit 56, the power supply unit 57, and the storage unit 59 are the same as those of the first embodiment, so a detailed explanation is omitted.

[0105] The left control stick 52L is a control unit that operator P uses with their left hand to input control commands, and the right control stick 52R is a control unit that operator P uses with their right hand to input control commands. Operator P can input various control commands by tilting the left control stick 52L and the right control stick 52R in the forward, backward, left, and right directions. The correspondence between the operation of the left control stick 52L and the right control stick 52R and the movement of the unmanned aerial vehicle 10 is shown in the table in Figure 4.

[0106] The left detection unit 55L and the right detection unit 55R respectively detect the movement of the left control stick 52L and the right control stick 52R (position coordinates in the x and y axes, tilt angle, velocity, etc.) and output the detection results to the main control unit 56 (acquisition unit 561). The left detection unit 55L and the right detection unit 55R are composed of, for example, a potentiometer, a piezoelectric element, a laser displacement meter, etc.

[0107] Similar to the first embodiment, the main control unit 56 functions as a control device of this disclosure, having an acquisition unit 561, a recording unit 562, a determination unit 563, an operation control unit 564, and a notification unit 565, by executing a program stored in the storage unit 59. The storage unit 59 also stores various information such as an operating system, application programs, basic operation information, and operation information.

[0108] In the second embodiment as well, basic operation information can be collected using the controller 50A and the head-mounted display 70. The head-mounted display 70 can be the same as in the first embodiment and has the same configuration and functions, so a detailed explanation is omitted. In the second embodiment, as shown in Figure 3(b), the controller 50A and the head-mounted display 70 are connected to communicate using a code 75 such as a USB (Universal Serial Bus) code, but they may also be configured to communicate wirelessly.

[0109] A control method for operating the unmanned aerial vehicle 10 in the unmanned aerial vehicle system 200 of the second embodiment having the configuration described above, and this control method will be explained with reference to Figures 3(a) and 7, following the flowchart in Figure 6.

[0110] First, in the process of acquiring basic operation information, operator P connects the head-mounted display 70 and the control unit 50A with a code 75, as shown in Figure 3(b), attaches the head-mounted display 70 to their head, grasps the control unit 50A with both hands, and places their left and right thumbs on the left control stick 52L and the right control stick 52R.

[0111] Next, operator P operates the head-mounted display 70 to start playback of images in the virtual reality space, and while viewing this virtual reality space, operates the left control stick 52L and the right control stick 52R to fly the unmanned aircraft within the virtual reality space.

[0112] The left detection unit 55L and the right detection unit 55R detect this operation and transmit the detection result to the main control unit 56. Upon receiving this detection result, in step S1 of Figure 6(a), the acquisition unit 561 acquires operation information of the operation performed by operator P based on the detection result.

[0113] In the next step S2, the motion control unit 564 acquires motion information corresponding to the acquired operation information, generates a control signal corresponding to this motion information, and transmits it to the head-mounted display 70. Upon receiving this control signal, the head-mounted display 70 controls the display unit 71 to fly the unmanned aerial vehicle in the virtual reality space.

[0114] In the next step S3, the recording unit 562 collects the operation information acquired by the acquisition unit 561 as basic operation information and records it in the storage unit 59.

[0115] Next, when flying the unmanned aircraft 10 in an actual location such as an orchard O, as shown in Figure 7, the operator P holds the control unit 50A with both hands and operates the left control stick 52L and the right control stick 52R with their left and right thumbs.

[0116] The left detection unit 55L and the right detection unit 55R detect this operation and transmit the detection result to the main control unit 56. Upon receiving this detection result, in step S11 of Figure 6(b), the acquisition unit 561 acquires the operation information. In the next step S12, the determination unit 563 compares the operation information acquired by the acquisition unit 561 with the basic operation information recorded in the storage unit 59, and in step S13, it determines whether the operation information matches any of the basic operation information.

[0117] If a match is determined, the program proceeds to step S14, where the motion control unit 564 acquires motion information of the unmanned aerial vehicle 10 based on the acquired operation information and transmits a control signal corresponding to this motion information to the unmanned aerial vehicle 10. Upon receiving this control signal, the control unit 17 of the unmanned aerial vehicle 10 controls the flight of the unmanned aerial vehicle 10 by controlling the rotation speed of the motor 13. As a result, the unmanned aerial vehicle 10 flies in a manner corresponding to the operation of operator P. After that, the program proceeds to step S16.

[0118] If a mismatch is detected, the program skips step S14, thereby preventing the operator P from performing an unintended operation (e.g., a sudden turn, a sudden descent, a sudden ascent, etc.). The program then proceeds to step S15, where the notification unit 565 notifies the operator P of the erroneous operation (unintended operation) through sound, vibration, light, etc. The program then proceeds to step S16.

[0119] In step S16, the main control unit 56 determines whether all operations have been completed. If it determines that they have not been completed, it returns to step S11 and executes the processing for the next operation. In other words, as long as operations are continuing, the processing in steps S11 to S15 is repeated.

[0120] As described above, in the unmanned aerial vehicle system 200 of the second embodiment, the control device (main control unit 56) can prevent unintended operations and erroneous operations by the operator P, and the operation of the unmanned aerial vehicle 10 can be appropriately controlled.

[0121] While embodiments of this disclosure have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design modifications that do not depart from the gist of this disclosure are included.

[0122] For example, in each of the above embodiments, the controllers 50 and 50A are equipped with a control device (main control unit 56) consisting of an acquisition unit 561, a recording unit 562, a determination unit 563, an operation control unit 564, and a notification unit 565, and basic operation information is stored in the storage unit 59 of the controllers 50 and 50A. However, the entire control device or a part thereof may be provided in equipment other than the controllers 50 and 50A, or the basic operation information may be stored in a storage unit other than the storage unit 59 of the controllers 50 and 50A.

[0123] Specifically, for example, an acquisition unit 561 and a recording unit 562 may be provided in the controllers 50 and 50A, and a determination unit 563, an operation control unit 564, and a notification unit 565 may be provided in the unmanned aerial vehicle 10 (control unit 17). Then, using the controllers 50 and 50A and the head-mounted display 70, basic operation information may be collected and stored in the memory unit 59, and this information may be transferred from the memory unit 59 to the unmanned aerial vehicle 10 and stored in the memory unit 18. When controlling the actual operation of the unmanned aerial vehicle 10, the determination unit 563 of the control unit 17 of the unmanned aerial vehicle 10 may compare the operation information based on the signals input from the controllers 50 and 50A with the basic operation information stored in the memory unit 18 to determine whether they match, and the operation control unit 564 may control the unmanned aerial vehicle 10 to perform the operation corresponding to the matching operation information. Furthermore, if there is a discrepancy, the notification unit 565 may notify the controllers 50 and 50A of the discrepancy, and based on this notification, the controllers 50 and 50A may notify the operator P by sound or other means.

[0124] Furthermore, while the above embodiments are designed to prevent inconsistent operations (unintended operations), they are not limited to this and may be performed. If the operator P is notified that an unintended operation has occurred, and the correct operation is suggested, the operator P can learn the appropriate operation and, through repetition, can approach the appropriate operation (reference operation). For this reason, the control device and control method of this disclosure are more suitable as training tools for the operator P to perform appropriate operations. In addition, the control device may use AI (Artificial Intelligence) technology to analyze and learn from inconsistent operations, derive appropriate operations, and automatically control the movement of the unmanned aerial vehicle 10 based on the derived operations.

[0125] Furthermore, in each of the above embodiments, the controllers 50 and 50A are operated in a virtual reality space using a head-mounted display 70 to acquire basic operation information, but this is not limited to this. For example, the controllers 50 and 50A may be operated in an actual field or the like to actually fly the unmanned aircraft 10 or spray the material to be sprayed, and the recording unit 562 may collect the operation information at that time and store it in the storage unit 59 as basic operation information.

[0126] Furthermore, in the embodiments described above, the object is an unmanned aerial vehicle 10 or a power pump 24, and the control device controls the operation of the unmanned aerial vehicle 10 or the power pump 24, but the object is not limited to these. For example, the object may be a manned aerial vehicle, a game console, an object in a computer program, an automobile, agricultural machinery, a robot, etc. Even with such an object, the control device and control method of this disclosure can more appropriately control the operation of the object. [Explanation of Symbols]

[0127] 10: Unmanned flying vehicle (object) 11: Dispersion part 20: Spreader body 21: Power supply section 22: Supply section 23: Storage section 24: Power pump 30: Power supply line 40: Supply tube 52: Operating handle (operating part) 52L: Left-hand control stick (control unit) 52R: Right-hand control stick (control unit) 56: Main control unit (control device) 59: Memory unit 60: Spreading device 561: Acquisition unit 562: Recording section 563: Judgment section 564: Operation Control Unit 565: Notification Unit P: Operator

Claims

1. A control device for controlling the operation of an object, An acquisition unit that acquires operation information relating to operations performed by the operator of the aforementioned object, A determination unit compares the acquired operation information with a plurality of basic operation information relating to the basic operation of the object stored in the storage unit in advance, and determines whether the operation information matches any of the basic operation information. The system includes an operation control unit which, when the determination unit determines that there is a match, controls the operation of the object to perform an operation corresponding to the operation information, and when the determination unit determines that there is no match, controls the object to perform an operation that avoids the operation corresponding to the operation information, The aforementioned object is an unmanned aerial vehicle. A control device characterized by the following features.

2. The system includes a recording unit that collects operations performed by manipulating virtual reality objects within a virtual reality space, or by manipulating said objects in real space, as basic operations, and records the basic operation information in the storage unit based on the acquired basic operations. The control device according to feature 1.

3. When the determination unit determines that there is no match, the system has a notification unit that notifies that there is no match. The control device according to claim 1 or 2.

4. A spraying device for spraying a substance onto a predetermined target using an unmanned aerial vehicle equipped with a spraying unit for the substance to be sprayed, The control unit is operated by the operator of the aforementioned unmanned aircraft, A control device according to any one of claims 1 to 3, to which operation information relating to an operation performed on the aforementioned operation unit is input, The device comprises a powered sprayer body that is attached to or carried by the operator, The sprayer body comprises a power supply unit, a supply unit having a container for the material to be sprayed and a power pump, The unmanned aircraft and the power supply unit are connected by a power supply line. The spraying unit and the supply unit are connected by a supply tube. A spraying device characterized by the following features.

5. A spraying device for spraying a substance onto a predetermined target using an unmanned aerial vehicle equipped with a spraying unit for the substance to be sprayed, The control unit is operated by the operator of the aforementioned unmanned aircraft, A control device receives operation information related to operations performed on the aforementioned control unit and controls the operation of the unmanned aerial vehicle, The device comprises a powered sprayer body that is attached to or carried by the operator, The sprayer body comprises a power supply unit, a supply unit having a container for the material to be sprayed and a power pump, The unmanned aircraft and the power supply unit are connected by a power supply line. The spraying unit and the supply unit are connected by a supply tube. The control device is An acquisition unit that acquires the operation information relating to the operation performed by the operator of the unmanned aircraft, A determination unit compares the acquired operation information with a plurality of basic operation information relating to the basic operation of the unmanned aircraft stored in the memory unit in advance, and determines whether the operation information matches any of the basic operation information. The system includes an operation control unit that controls the operation of the unmanned aerial vehicle to perform an action corresponding to the operation information when the determination unit determines that there is a match. A spraying device characterized by the following features.

6. The aforementioned operating part is made of a rigid body, A fixing part to which one end of the rigid body is connected, The system includes a detection unit provided at the connection portion between the fixed portion and the rigid body, which detects the displacement of the rigid body and outputs the detection result to the control device. The spraying device according to feature 4 or 5.

7. A control method executed by a control device according to any one of claims 1 to 3, An acquisition step to acquire operation information relating to operations performed by the operator of the unmanned aircraft, A determination step involves comparing the acquired operation information with a plurality of basic operation information relating to the basic operation of the unmanned aircraft that is pre-recorded in the storage unit, and determining whether the operation information matches any of the basic operation information. The procedure includes: an operation control step in which, if a match is determined in the determination step, the operation of the unmanned aerial vehicle is controlled to perform an action corresponding to the operation information, and if a match is determined, the operation control step in which the operation of the unmanned aerial vehicle is controlled to perform an action that avoids the action corresponding to the operation information. A control method characterized by the following:

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