Chemical spraying system

Abstract

This chemical spraying system comprises: an unmanned aerial vehicle 1 provided with a chemical spraying device 3; and a control device 11 for controlling the unmanned aerial vehicle 1. The control device 11 includes: an acquisition unit 12 for acquiring environment information 30 indicating an environment of a work target area; a first flight control unit 14 for causing the unmanned aerial vehicle 1 to perform work flight in a first work flight behavior; and a second flight control unit 15 for determining a second work flight behavior on the basis of the environment information 30 and causing the unmanned aerial vehicle to perform work flight in the second work flight behavior.

Description

Chemical spraying system

[0001] The present invention relates to a pesticide spraying system that causes an unmanned aerial vehicle to spray pesticides on a work area.

[0002] Patent document 1 discloses a flight planning device for an unmanned helicopter that uses a flight planning device to set flight areas and flight routes as accurately as possible using GPS, and prevents spraying outside the area by flying the helicopter over the flight area along the flight route set by this flight planning device and spraying pesticides.

[0003] Japanese Patent Application Publication No. 2002-211494 (JP2002-211494 A)

[0004] The flight planning device described in Patent Document 1 does not acquire environmental information in the flight area (e.g., wind conditions, pesticide spraying status, past pesticide spraying records, etc.) and set a flight route that corresponds to the environment of the flight area.

[0005] For example, if the sprayed chemicals are blown away by the wind, the chemicals may not be sprayed in the area expected in advance.

[0006] An object of the present invention is to provide a chemical spraying system that makes it easier to spray an appropriate amount of chemical onto a work area.

[0007] The work vehicle of the present invention is a pesticide spraying system that causes an unmanned aerial vehicle to spray pesticides over a work area, and comprises: an unmanned aerial vehicle equipped with a pesticide spraying device; and a control device that controls the unmanned aerial vehicle.The control device comprises an acquisition unit that acquires environmental information indicating the environment of the work area, a first flight control unit that causes the unmanned aerial vehicle to perform work flights using a first work flight behavior, and a second flight control unit that determines a second work flight behavior based on the environmental information and causes the unmanned aerial vehicle to perform work flights using the second work flight behavior.

[0008] According to the present invention, the unmanned aerial vehicle is operated using a first operational flight behavior, and then a second operational flight behavior of the unmanned aerial vehicle is determined based on environmental information. This makes it possible to determine an operational flight behavior for spraying an appropriate amount of chemical agent over a target work area, depending on the environment of the target work area. This makes it easier to spray an appropriate amount of chemical agent over the target work area.

[0009] In the present invention, it is preferable that the first flight control unit operates the pesticide spraying device while flying the unmanned aerial vehicle along a first route as the first work flight behavior, and the second flight control unit generates a second route as the second work flight behavior that is different from the first route based on the environmental information, and operates the pesticide spraying device while flying the unmanned aerial vehicle along the second route.

[0010] According to the present invention, the unmanned aerial vehicle is flown along a first path, and then a second path for the unmanned aerial vehicle is generated based on environmental information, which differs from the first path. This makes it possible to generate a path for the unmanned aerial vehicle to spray an appropriate amount of chemicals onto a work area according to the environment of the work area. This makes it easier to spray an appropriate amount of chemicals onto the work area.

[0011] In the present invention, it is preferable that the first flight control unit operates the pesticide spraying device based on a first spraying form as the first work flight behavior while flying the unmanned aerial vehicle along a first route as the first work flight behavior, and the second flight control unit generates a second spraying form as the second work flight behavior that is different from the first spraying form based on the environmental information, and operates the pesticide spraying device based on the second spraying form while flying the unmanned aerial vehicle along a second route as the second work flight behavior.

[0012] According to the present invention, the unmanned aerial vehicle is flown along a first path while the chemical spraying device is operated based on a first spraying configuration, and then a second spraying configuration of the chemical spraying device is generated based on environmental information so as to be different from the first spraying configuration. This allows the chemical spraying device to generate a spraying configuration for spraying an appropriate amount of chemical to the work area according to the environment of the work area. Therefore, it is easier to spray an appropriate amount of chemical to the work area.

[0013] In the present invention, it is preferable that the first flight control unit operates the pesticide spraying device based on a first spraying form as the first work flight behavior while flying the unmanned aerial vehicle along a first route as the first work flight behavior, and the second flight control unit generates a second route as the second work flight behavior that is different from the first route based on the environmental information, generates a second spraying form as the second work flight behavior that is different from the first spraying form based on the environmental information, and operates the pesticide spraying device based on the second spraying form while flying the unmanned aerial vehicle along the second route.

[0014] According to the present invention, the flight path of the unmanned aerial vehicle and the spraying pattern of the pesticide spraying device can be generated according to the environment of the work area, making it easier to have the unmanned aerial vehicle spray an appropriate amount of pesticide in the work area.

[0015] In the present invention, it is preferable that the acquisition unit acquires as the environmental information at least one of the following: wind conditions in the work area, the topography surrounding the work area, results of past pesticide spraying in the work area, and results of past pesticide spraying in the vicinity of the work area.

[0016] According to the present invention, the acquisition unit can acquire information necessary to determine the work flight behavior of the unmanned aerial vehicle according to the environment of the work area.

[0017] In the present invention, it is preferable that the control device is equipped with a third flight control unit that determines a third work flight behavior based on the environmental information and causes the unmanned aerial vehicle to perform work flight using the third work flight behavior.

[0018] According to the present invention, the third work flight behavior of the unmanned aerial vehicle can be determined according to the environment of the work area, making it easier to have the unmanned aerial vehicle spray an appropriate amount of pesticide onto the work area.

[0019] In the present invention, it is preferable that the first flight control unit causes the first unmanned aerial vehicle to perform a work flight using the first work flight behavior, and the second flight control unit causes the second unmanned aerial vehicle to perform a work flight using the second work flight behavior.

[0020] According to the present invention, by performing a work flight using a first unmanned aerial vehicle with a first work flight behavior and a work flight using the second unmanned aerial vehicle with the second work flight behavior, the work efficiency of pesticide spraying can be improved compared to performing a work flight using only one unmanned aerial vehicle.

[0021] Fig. 1 is a block diagram showing a pesticide spraying system. Fig. 2 is a diagram showing a spray map showing a first work flight behavior. Fig. 3 is a diagram showing a spray map showing a first work flight behavior. Fig. 4 is a diagram showing a spray map showing a second work flight behavior. Fig. 5 is a diagram showing a spray map showing a second work flight behavior. Fig. 6 is a diagram showing a spray map showing a third work flight behavior. Fig. 7 is a diagram showing a spray map showing a third work flight behavior. Fig. 8 is a flowchart showing a pesticide spraying system.

[0022] Hereinafter, a chemical spraying system according to the present invention will be described with reference to the drawings.

[0023] As shown in Figure 1, the pesticide spraying system includes an unmanned aerial vehicle 1 equipped with a pesticide spraying device 3, a control device 11 that controls the unmanned aerial vehicle 1, and a management device 21. The pesticide spraying system is a system that causes the unmanned aerial vehicle 1 to spray pesticides in a work area E.

[0024] The chemicals refer to liquids or solids such as pesticides, herbicides, fertilizers, insecticides, etc. that are sprayed onto the work area E.

[0025] The work area E is the area where the unmanned aerial vehicle 1 sprays the pesticide. The work area E may be a farm field, an area surrounding the farm field, or a forest.

[0026] The pesticide spraying system of this embodiment causes the unmanned aerial vehicle 1 to perform multiple work flights. A work flight is when the unmanned aerial vehicle 1 flies over the work target area E while spraying pesticide. That is, in this embodiment, multiple work flights are performed over the entire work target area E or part of it. As a result of these multiple work flights, a predetermined amount (target spray amount V1) of pesticide is sprayed over the work target area E.

[0027] In the following description, the first work flight will be referred to as the first work flight. The route and dispersal form will be referred to as the first route R1 and the first dispersal form, and these will be collectively referred to as the first work flight behavior. The second work flight will be referred to as the second work flight. The route and dispersal form will be referred to as the second route R2 and the second dispersal form, and these will be collectively referred to as the second work flight behavior. The same applies to the third and subsequent work flights.

[0028] The work flight behavior is the behavior of the unmanned aerial vehicle 1 when performing a work flight. In this embodiment, the work flight behavior is the flight path of the unmanned aerial vehicle 1 or the spraying pattern of the pesticide spraying device 3. Without being limited to this, the work flight behavior may also include the spraying pattern of the pesticide spraying device 3, the height from the work target area E at which the unmanned aerial vehicle 1 flies, the flight speed of the unmanned aerial vehicle 1, etc.

[0029] In this embodiment, the spraying mode of the chemical spraying device 3 is the operation of the chemical spraying device 3 that is executed by on / off control by the control device 11. In other words, the control device 11 controls the spraying mode of the chemical spraying device 3 by activating the chemical spraying device 3 to spray a chemical, or by not activating the chemical spraying device 3 to not spray a chemical. The spraying mode of the chemical spraying device 3 may include the spraying speed (amount sprayed per unit time), the type and concentration of the chemical to be sprayed, etc.

[0030] The management device 21 is provided outside the unmanned aerial vehicle 1. The management device 21 has a memory unit and a CPU that executes programs. The memory unit is composed of, for example, an HDD, ROM, or non-volatile memory. The management device 21 can send and receive information to and from the control device 11 via wired or wireless communication. The management device 21 stores environmental information 30, which is information indicating the environment of the work area E, a target spray amount V1 of the pesticide in the work area E, and the like.

[0031] The target spray amount V1 is a predetermined amount of the pesticide to be sprayed per a predetermined area. For example, the target spray amount V1 is the amount of the pesticide to be sprayed (kg) per 10 a. However, the target spray amount V1 is not limited to this and can be set arbitrarily.

[0032] The unmanned aerial vehicle 1 is an aerial vehicle capable of autonomous flight. The unmanned aerial vehicle 1 is an unmanned aircraft that cannot accommodate a person due to its structure. In this embodiment, the unmanned aerial vehicle 1 is a drone equipped with multiple rotors 2. The unmanned aerial vehicle 1 is capable of sending and receiving information to and from a control device 11 via wired or wireless communication. However, the unmanned aerial vehicle 1 is not limited to this, and may also be an unmanned helicopter.

[0033] The control device 11 has a memory unit 13 and a CPU that executes programs. The memory unit 13 is composed of, for example, a HDD, a ROM, a non-volatile memory, etc. In this embodiment, the control device 11 is provided in the unmanned aerial vehicle 1.

[0034] As shown in Figure 1, the control device 11 includes an acquisition unit 12 that acquires environmental information 30, a first flight control unit 14 that causes the unmanned aerial vehicle 1 to perform a work flight using a first work flight behavior, a second flight control unit 15 that determines a second work flight behavior based on the environmental information 30 and causes the unmanned aerial vehicle 1 to perform a work flight using the second work flight behavior, and a third flight control unit 16 that determines a third work flight behavior based on the environmental information 30 and causes the unmanned aerial vehicle to perform a work flight using the third work flight behavior.

[0035] The environmental information 30 includes wind conditions in the work area E (e.g., wind direction and wind speed), the status of pesticide spraying, topographical data for the work area E, topographical data for the surrounding area of ​​the work area E, results of past pesticide spraying in the work area E, and results of past pesticide spraying in the surrounding area of ​​the work area E.

[0036] In this embodiment, the acquisition unit 12 acquires, as environmental information 30, wind conditions (e.g., wind direction and wind speed) and the pesticide spraying status in the work area E from the wind sensor 5 and camera 6 of the unmanned aerial vehicle 1. The acquisition unit 12 also acquires, as environmental information 30, topographical data around the work area E, the results of past pesticide spraying in the work area E, and the results of past pesticide spraying around the work area E from the management device 21.

[0037] [Unmanned Aerial Vehicle] As shown in FIG. 1 , the unmanned aerial vehicle 1 includes a battery 4 , a wind sensor 5 , a camera 6 , a GPS antenna unit 7 , and an inertial measurement unit 8 .

[0038] The power of the battery 4 is supplied to a motor provided on the rotor 2. The rotor 2 is driven around an axis extending in the vertical direction. The unmanned aerial vehicle 1 flies by driving the multiple rotors 2. However, the rotors 2 may also be driven by engine power.

[0039] The wind sensor 5 is capable of detecting the wind direction and wind speed. The signal output from the wind sensor 5 is output to the acquisition unit 12 as environmental information 30.

[0040] Camera 6 is capable of capturing images of drug spraying device 3 and the drug sprayed from drug spraying device 3. The images captured by camera 6 are output to acquisition unit 12 as environmental information 30. In this embodiment, the images are still images. However, the images are not limited to this and may be videos or videos that continuously display still images.

[0041] The GPS antenna unit 7 receives positioning signals from artificial satellites used in GNSS (Global Navigation Satellite System, for example, GPS, QZSS, Galileo, GLONASS, BeiDou, etc.). The positioning signals are output to the acquisition unit 12.

[0042] The inertial measurement unit 8 detects inertial information (yaw angle, pitch angle, roll angle, etc.) of the unmanned aerial vehicle 1. The inertial information is output to the acquisition unit 12.

[0043] The chemical spraying device 3 has a container for storing the chemical, a nozzle for spraying the chemical stored in the container, and a pump for sending the chemical from the container to the nozzle.

[0044] [Control Device] As shown in FIG. 1 , the control device 11 includes a sprayed medicine control unit 17 , a position calculation unit 18 , and a map creation unit 19 .

[0045] The position calculation unit 18 generates positioning data indicating the position of the unmanned aerial vehicle 1 in the work area E based on the inertial information of the unmanned aerial vehicle 1 and the position signal of the unmanned aerial vehicle 1.

[0046] The sprayed chemical control unit 17 calculates the working spray amount V2 that the chemical spraying device 3 sprays per unit area during one work flight based on the target chemical spray amount V1 and the environmental information 30. For example, the working spray amount V2 is the amount of chemical sprayed (kg) per 10 a. However, the sprayed chemical control unit 17 may also calculate the concentration of chemical sprayed by the chemical spraying device 3.

[0047] The work spray amount V2 varies depending on the number of work flights X of the unmanned aerial vehicle 1. Specifically, the work spray amount V2 is calculated based on the following formula (1): Work spray amount V2 = Target spray amount V1 / × Number of times X (1)

[0048] In the above formula (1), the number of times X is 2 or more. In this embodiment, the number of times X is 3. However, the number of times X is not limited to this, and may be 4 or more.

[0049] The sprayed chemical control unit 17 may be configured to determine the number of work flights X based on the environmental information 30. For example, the sprayed chemical control unit 17 increases the value of the number of times X the greater the wind speed (or change in wind direction) in the work area E. This reduces the work spray volume V2.

[0050] The sprayed chemical control unit 17 calculates the effective spray amount V3 based on the signal input from the wind sensor 5, the image input from the camera 6, and the positioning data of the unmanned aerial vehicle 1. The effective spray amount V3 is the actual spraying status (spraying result) of the chemical during a single work flight. The effective spray amount V3 is preferably the spray amount for each position in the work area E or the spray amount for each small section into which the work area E is divided. When the wind is blowing, the sprayed chemical is carried away by the wind. Therefore, the chemical is carried away by the wind and sprayed to a position that is not directly below the chemical spraying device 3. The sprayed chemical control unit 17 estimates the wind speed and wind direction using at least one of the signal input from the wind sensor 5 and the image input from the camera 6, calculates the moment-to-moment position (flight history) of the unmanned aerial vehicle 1 from the positioning data, and calculates the actual sprayed position and the sprayed amount of the chemical as the effective spray amount V3.

[0051] The map creation unit 19 creates a spray map M showing the spray results of the pesticide in the work target area E based on the effective spray volume V3. The effective spray volume V3 is shown in the spray map M. Preferably, the spray map M shows the cumulative value of the effective spray volume V3, i.e., the total amount of pesticide sprayed in the work target area E by multiple work flights.

[0052] The first flight control unit 14, the second flight control unit 15, and the third flight control unit 16 determine the work flight behavior (route and spraying pattern) of the unmanned aerial vehicle 1, and perform the work flight of the unmanned aerial vehicle 1 using the determined work flight behavior.

[0053] [Regarding Control of Unmanned Aerial Vehicle Operation Flight] Control of the operation flight of the unmanned aerial vehicle 1 will be described based on the flowcharts shown in Figures 2 to 7 and 8. Note that the order of the steps described below may be reversed, and multiple steps may be performed simultaneously, as long as no contradictions arise.

[0054] In the example shown below, the work area E is a rectangular field. The flight speed of the unmanned aerial vehicle 1 and the height from the work area E at which the unmanned aerial vehicle 1 flies are assumed to be constant. In Figure 2-7, the longitudinal direction of the field (the vertical direction in the figure) is referred to as the y direction, the same direction as the arrow is referred to as the +y direction, and the opposite direction to the arrow is referred to as the -y direction. The lateral direction of the field in the figure (the left-right direction) is referred to as the x direction, the same direction as the arrow is referred to as the +x direction, and the opposite direction to the arrow is referred to as the -x direction. For the sake of explanation, the field is divided in the y direction, and the regions in the +y direction are referred to as E1, E2, E3, E4, and E5, respectively.

[0055] As shown in FIG. 8, first, the sprayed medicine control unit 17 calculates the task spray amount V2 (step S001).

[0056] [First work flight] The map creation unit 19 creates a spray map M. Figure 2 shows the spray map M when the unmanned aerial vehicle 1 is located at P1. Figure 2 shows area F1 as the effective spray amount V3. In this embodiment, area F1 indicates the area where the effective spray amount V3 is 0% of the target spray amount V1. Because Figure 2 shows the state before the first work flight is performed, the effective spray amount V3 is zero throughout the entire work target area E, and the entire work target area E is area F1.

[0057] The first flight control unit 14 determines a first flight behavior (step S002). Specifically, the first flight control unit 14 generates a first route R1 from point P1 where the unmanned aerial vehicle 1 is located to point P2. The first flight control unit 14 also determines a first flight mode so that the pesticide is sprayed while flying along the first route R1. In Figure 2, the spraying map M shows the position of the unmanned aerial vehicle 1 and the generated first route R1. In this embodiment, the spraying width of the pesticide from the unmanned aerial vehicle 1 is 4-10 m.

[0058] The first flight control unit 14 causes the unmanned aerial vehicle 1 to perform a first work flight (first work flight). That is, the first flight control unit 14 operates the pesticide spraying device 3 while flying the unmanned aerial vehicle 1 along the first route R1 as the first work flight behavior (step S003).

[0059] Specifically, the first flight control unit 14 causes the unmanned aerial vehicle 1 to fly straight in the X direction from point P1. Next, the first flight control unit 14 changes the orientation of the unmanned aerial vehicle 1 by 90 degrees from the X direction to the Y direction. Next, the first flight control unit 14 causes the unmanned aerial vehicle 1 to fly straight in the Y direction. Next, the first flight control unit 14 changes the orientation of the unmanned aerial vehicle 1 by 90 degrees from the Y direction to the X direction. By repeating this process, the unmanned aerial vehicle 1 performs a work flight from point P1 to point P2.

[0060] The acquisition unit 12 acquires environmental information 30 (step S004). Specifically, during the first work flight, the acquisition unit 12 acquires, as environmental information 30, wind conditions in the work target area E and images input from the camera 6. Here, the area to which the pesticide is sprayed may change depending on changes in wind conditions in the work target area E. This causes variation in the effective spray amount V3 in the work target area E.

[0061] Figure 3 shows the spray map M when the first work flight has ended and the unmanned aerial vehicle 1 is at P2. Figure 3 shows areas F2 and F3 as the effective spray volume V3. In this embodiment, area F2 indicates an area where the effective spray volume V3 is approximately 50% of the target spray volume V1. Area F3 indicates an area where the effective spray volume V3 is approximately 100% of the target spray volume V1. Without being limited to this, the ratio of the effective spray volume V3 to the target spray volume V1 indicated by area F2 or area F3 can be set arbitrarily in advance.

[0062] The sprayed chemical control unit 17 calculates the effective spray amount V3 for the first work flight based on the environmental information 30. The map creation unit 19 then updates the spray map M based on the calculated effective spray amount V3.

[0063] To explain this in more detail, suppose that a wind blows in the +y direction while the unmanned aerial vehicle 1 is performing a work flight along route R1a from point P1 to point P3. In this case, the pesticide sprayed while flying along route R1a is carried in the +y direction by the wind and sprayed in an area shifted in the +y direction from route R1a. Specifically, the pesticide sprayed while flying over area E1 is sprayed in area E2. The pesticide sprayed while flying over area E2 is sprayed in area E3. Due to the flight along route R1a, the effective spray volume V3 in area E1 becomes 0% (no pesticide is sprayed), and the effective spray volume V3 in areas E2 and E3 becomes 50%.

[0064] Assume that the wind weakens when the unmanned aerial vehicle 1 reaches point P3, and this condition continues until the unmanned aerial vehicle 1 reaches point P4. In this case, the pesticide sprayed while flying along route R1b is not blown away by the wind and is sprayed along route R1b. In other words, the pesticide is sprayed in area E3 by the work flight along route R1b. In this case, the pesticide is sprayed twice in area E3, so the effective spray amount V3 in area E3 is 100%.

[0065] Assume that wind blows in the +y direction while the unmanned aerial vehicle 1 is performing a work flight along route R1c from point P4 to point P2. The pesticide sprayed while flying along route R1c is carried in the +y direction by the wind and sprayed in an area shifted in the +y direction from route R1c. Specifically, the pesticide sprayed while flying over area E4 is sprayed in area E5. The pesticide sprayed while flying over area E5 is sprayed in an area on the +y side of area E5 (i.e., outside the field). Due to the flight along route R1c, the effective spray amount V3 for area E4 becomes 0% (no pesticide is sprayed), and the effective spray amount V3 for area E5 becomes 50%.

[0066] In this way, the sprayed chemical control unit 17 calculates the effective spray amount V3 for the first work flight based on the environmental information 30. The map creation unit 19 then updates the spray map M based on the calculated effective spray amount V3. Figure 3 shows the spray map M updated based on the results of the first work flight. Areas E1 and E4 are areas where the effective spray amount V3 is 0%, and are designated as area F1. Areas E2 and E5 are areas where the effective spray amount V3 is 50%, and are designated as area F2. Area E3 is an area where the effective spray amount V3 is 100%, and is designated as area F3.

[0067] In this embodiment, the sprayed chemical control unit 17 sets the work spray amount V2 to be smaller than the target spray amount V1 based on the target spray amount V1 of the chemical and the environmental information 30. This prevents the spraying of an amount of chemical exceeding the target spray amount V1 during the first work flight.

[0068] 4 shows the scattering map M when the unmanned aerial vehicle 1 is at P11 before the start of the second work flight. The second flight control unit 15 calculates the wind speed and direction in the work area E based on the signal from the wind sensor 5.

[0069] The second flight control unit 15 determines the second flight behavior (step S005). Specifically, the second flight control unit 15 determines the second work flight behavior based on the current wind conditions and the dispersion map M. Because the dispersion map M reflects the wind speed and wind direction during the first work flight, it can be said that the second work flight behavior is determined based on the environmental information 30.

[0070] Specifically, the second flight control unit 15 generates a second route R2 from point P11 to point P12. In Figure 4, the scatter map M shows the position of the unmanned aerial vehicle 1 and the generated second route R2.

[0071] The second flight control unit 15 determines the current wind conditions, i.e., at the start of the second work flight, based on the environmental information 30. Assume that there is no wind currently blowing. In this case, the pesticide sprayed from the pesticide spraying device 3 is sprayed in the area where spraying was performed. In this case, the second flight control unit 15 determines the second flight behavior (i.e., the second route R2 and the second spraying behavior) so that the pesticide is sprayed in the area where the effective spraying volume V3 has not reached 100%.

[0072] The effective spray volume V3 in area E1 is 0%, and the effective spray volume V3 in area E2 is 50%. Therefore, the second flight control unit 15 generates a route R2a from point P11 to point P13 so as to pass through areas E1 and E2. The second flight control unit 15 determines the second spraying form so that the pesticide is sprayed while flying along route R1a.

[0073] Since the effective spray volume V3 for area E3 is 100%, there is no need to spray pesticide in area E3. Therefore, the second flight control unit 15 generates route R2b from point P13 to point P14 so as to skip area E3. Note that the second flight control unit 15 determines the second spraying form so as not to spray pesticide while flying along route R1b.

[0074] The effective spray volume V3 in area E4 is 0%, and the effective spray volume V3 in area E5 is 50%. Therefore, the second flight control unit 15 generates a route R2c from point P14 to point P12 so as to pass through areas E4 and E5. The second flight control unit 15 determines the second spraying form so that the pesticide is sprayed while flying along route R1c.

[0075] If the environmental information 30 indicates that wind is currently blowing, i.e., at the start of the second work flight, the second flight control unit 15 determines the second route R2 and the second spraying pattern so that the pesticide is sprayed in areas where the effective spray rate V3 has not reached 100%. For example, if the wind is blowing in the +y direction, a route is generated on the -y side of the second route R2 shown in Figure 3.

[0076] In this way, the second flight control unit 15 determines the second work flight behavior to be different from the first work flight behavior based on environmental information 30 (current wind conditions and wind conditions during the first work flight). The second route R2 and the first route R1 may be different, and the second spraying form may be the same (for example, the first spraying form and the second spraying form are forms in which spraying is always performed). The second route R2 and the first route R1 may be the same, and the second spraying form may be different from the first spraying form (for example, the first spraying form is a form in which spraying is always performed, and the second spraying form is a form in which spraying is performed intermittently at necessary positions).

[0077] Then, the second flight control unit 15 causes the unmanned aerial vehicle 1 to perform the second work flight using the determined second work flight behavior (step S006).

[0078] During the second work flight, the acquisition unit 12 acquires, as environmental information 30, the wind conditions in the work target area E and images input from the camera 6. The sprayed chemical control unit 17 calculates the effective spray amount V3 for the second work flight based on the acquired environmental information 30. The map creation unit 19 then updates the spray map M based on the calculated effective spray amount V3.

[0079] A more specific explanation follows. Assume that there is no wind during the second work flight. The pesticide sprayed while flying along route R2a is sprayed in areas E1 and E2. The pesticide sprayed while flying along route R2c is sprayed in areas E4 and E5. That is, the effective spray amount V3 during the second work flight is 50% in areas E1, E2, E4, and E5, and zero in area E3. Then, the cumulative value of the effective spray amount V3 at the end of the second work flight is 50% in areas E1 and E4, and 100% in areas E2, E3, and E5. The map creation unit 19 updates the spray map M based on the calculated effective spray amount V3. The updated spray map M is shown in Figure 5, with area F2 (the area where the effective spray rate V3 is approximately 50% of the target spray rate V1) assigned to areas E1 and E4, and area F3 (the area where the effective spray rate V3 is approximately 100% of the target spray rate V1) assigned to areas E2, E3, and E5.

[0080] It is determined whether the amount of chemical sprayed in the work area E has reached the target spray amount V1 (step S007). Specifically, the control device 11 determines whether the cumulative value of the effective spray amount V3 has reached 100% over the entire work area E. If the target spray amount V1 has been reached (step S007: YES), the work is terminated.

[0081] As shown in Figure 5, at the end of the second work flight, the cumulative value of the effective spray volume V3 for areas E1 and E4 is 50%, so the amount of pesticide sprayed in the work area E has not reached the target spray volume V1. If the target spray volume V1 has not been reached (step S007: NO), the work flight is performed again. First, the acquisition unit 12 acquires environmental information 30 (step S004).

[0082] 6 shows the scattering map M when the unmanned aerial vehicle 1 is at P21 before the start of the third work flight. The third flight control unit 16 calculates the wind speed and direction in the work area E based on the signal from the wind sensor 5.

[0083] The third flight control unit 16 determines the third flight behavior (step S005). Specifically, the third flight control unit 16 determines the third work flight behavior based on the current wind conditions and the dispersion map M.

[0084] Specifically, the third flight control unit 16 generates a third route R3 from point P21 to point P22. In Figure 6, the scatter map M shows the position of the unmanned aerial vehicle 1 and the generated third route R3.

[0085] The third flight control unit 16 determines the current wind conditions, i.e., the wind conditions at the start of the third work flight, based on the environmental information 30. Assume that there is no wind currently blowing.

[0086] The effective spray volume V3 for areas E1 and E4 is 50%, and the effective spray volume V3 for areas E2, E3, and E5 is 100%.

[0087] Therefore, the third flight control unit 16 generates a route R3a from point P21 to point P23 so as to pass through the area E1. The third flight control unit 16 determines a third spraying form so as to spray the pesticide while flying along the route R3a.

[0088] The third flight control unit 16 generates a route R3b from point P23 to point P24 so as to skip areas E2 and E3. The third flight control unit 16 determines a third spraying form so as not to spray the pesticide while flying along route R3b.

[0089] The third flight control unit 16 generates a route R3c from point P24 to point P22 so as to pass through area E4. The third flight control unit 16 determines a third spraying form so as to spray the pesticide while flying along route R3c.

[0090] The third flight control unit 16 then causes the unmanned aerial vehicle 1 to perform the third work flight using the determined third work flight behavior (step S006).

[0091] During the third work flight, the acquisition unit 12 acquires, as environmental information 30, the wind conditions in the work target area E and images input from the camera 6. The sprayed chemical control unit 17 calculates the effective spray amount V3 for the third work flight based on the acquired environmental information 30. The map creation unit 19 then updates the spray map M based on the calculated effective spray amount V3.

[0092] Let's explain this in more detail. Assume that there is no wind during the third work flight. The pesticide sprayed while flying along route R3a is sprayed in area E1. The pesticide sprayed while flying along route R3c is sprayed in area E4. That is, the effective spray amount V3 for the second work flight is 50% in areas E1 and E4, and zero in other areas. Then, the cumulative value of the effective spray amount V3 at the end of the third work flight is 100% in all areas. The map creation unit 19 updates the spray map M based on the calculated effective spray amount V3. The updated spray map M is shown in Figure 7, and area F3 (the area where the effective spray amount V3 is approximately 100% of the target spray amount V1) is assigned to all areas.

[0093] It is determined whether the amount of medicine sprayed in the work area E has reached the target spray amount V1 (step S007). Since the cumulative value of the effective spray amount V3 has reached 100% throughout the work area E (step S007: YES), the work is terminated.

[0094] [Other Embodiments] The present invention is not limited to the above-described embodiment. For example, the present invention may be configured as in the following other embodiments. In the other embodiments described below, the same components as those in the embodiment are assigned the same numbers and symbols as those in the embodiment.

[0095] [1] The manner in which flight behavior is determined based on environmental information 30 is not limited to the above example. For example, flight behavior may be determined based on the topographical data of the work area E indicated by environmental information 30, the topographical data of the surrounding area of ​​work area E, the results of past pesticide spraying in the work area E, and the results of past pesticide spraying in the surrounding area of ​​work area E. Based on this information, it is possible to estimate the area where the pesticide sprayed from the pesticide spraying device 3 of the unmanned aerial vehicle 1 will reach. For example, it is possible to estimate the direction and strength of the constantly blowing wind from the topography of the work area E and the topography around the work area E, and determine flight behavior based on the estimated results. Furthermore, it is possible to estimate the relationship between the flight path and the location where the pesticide will reach from the results of past pesticide spraying, and determine flight behavior based on the estimated results.

[0096] [2] In the above-described embodiment, the first flight control unit 14 and the second flight control unit 15 perform work flights of the same unmanned aerial vehicle 1. However, the present invention is not limited to this. The first flight control unit 14 may perform work flights of a first unmanned aerial vehicle using a first work flight behavior, and the second flight control unit 15 may perform work flights of a second unmanned aerial vehicle different from the first unmanned aerial vehicle using a second work flight behavior.

[0097] [3] The first flight control unit 14 may fly the unmanned aerial vehicle 1 at a predetermined height from the work target area E as a first work flight behavior, and the second flight control unit 15 may fly the unmanned aerial vehicle 1 at a height from the work target area E different from the first work flight behavior as a second work flight behavior.

[0098] [4] In the above-described embodiment, the control device 11 is equipped with a first flight control unit 14, a second flight control unit 15, and a third flight control unit 16. A single functional unit may be provided to perform the functions of these functional units. In this embodiment, multiple work flights are performed, and the work ends when the amount of pesticide sprayed reaches the target spray amount V1. The number of work flights X performed varies. In this sense, the control device 11 does not need to be equipped with the third flight control unit 16. The control device 11 may also be equipped with a functional unit that controls the fourth and subsequent work flights.

[0099] [5] The first flight control unit 14 may fly the unmanned aerial vehicle 1 at a predetermined speed as a first work flight behavior, and the second flight control unit 15 may fly the unmanned aerial vehicle 1 at a speed different from the first work flight behavior as a second work flight behavior.

[0100] [6] In the above-described embodiment, the working spray amount V2 is automatically calculated by the spray chemical control unit 17. However, this is not limiting, and the working spray amount V2 may be artificially set in advance.

[0101] [7] The work area E may have any shape. For example, the work area E may be trapezoidal.

[0102] [8] In the above embodiment, the control device 11 includes the map creation unit 19. However, this is not limiting, and the management device 21 may include the map creation unit 19.

[0103] [9] The control device 11 does not need to be equipped with the map creation unit 19. In this case, the effective spray amount V3 is linked to the latitude and longitude of the work area E.

[0104]

[10] In the above-described embodiment, the control device 11 is provided in the unmanned aerial vehicle 1. However, the control device 11 may be provided outside the unmanned aerial vehicle 1. In this case, the management device 21 may be capable of sending and receiving information between the control device 11 and the unmanned aerial vehicle 1 via wired or wireless communication.

[0105]

[12] The spray map M shows the effective spray rate V3 as areas F1, F2, and F3. This is not limiting, and the effective spray rate V3 may be expressed in a different form. For example, the number of areas representing the effective spray rate V3 may be two or less, or more than three.

[0106]

[13] The management device 21 may be provided with a display unit, which is a monitor that displays predetermined information, and the scattering map M may be displayed on the display unit.

[0107]

[14] The first flight control unit 14 may be configured to determine the first work flight behavior based on the environmental information 30. For example, the first flight control unit 14 determines the first route R1 based on the current wind volume and wind direction.

[0108]

[15] The amount of pesticide sprayed from the pesticide spraying device 3 (amount sprayed per unit time, concentration, etc.) may be changeable. The control device 11 may change the amount of pesticide sprayed (specifically, the work spraying amount V2) based on the environmental information 30. The change may be made before the work flight is performed (e.g., before the start of the second work flight) or during the work flight.

[0109] The present invention can be applied to a pesticide spraying system that causes an unmanned aerial vehicle to spray pesticides on a work area.

[0110] 1: Unmanned aerial vehicle 3: Chemical spraying device 11: Control device 12: Acquisition unit 14: First flight control unit 15: Second flight control unit 16: Third flight control unit 30: Environmental information E: Work area R1: First route R2: Second route

Claims

1. A chemical spraying system for spraying chemicals on a work target area by an unmanned aerial vehicle, comprising: the unmanned aerial vehicle equipped with a chemical spraying device; and a control device for controlling the unmanned aerial vehicle, wherein the control device includes: an acquisition unit for acquiring environmental information indicating the environment of the work target area; a first flight control unit for flying the unmanned aerial vehicle in a first work flight behavior; and a second flight control unit for determining a second work flight behavior based on the environmental information and flying the unmanned aerial vehicle in the second work flight behavior.

2. The chemical spraying system according to claim 1, wherein the first flight control unit operates the chemical spraying device while flying the unmanned aerial vehicle along a first path as the first work flight behavior, and the second flight control unit generates a second path as the second work flight behavior different from the first path based on the environmental information and operates the chemical spraying device while flying the unmanned aerial vehicle along the second path.

3. The chemical spraying system according to claim 1, wherein the first flight control unit operates the chemical spraying device based on a first spraying pattern as the first work flight behavior while flying the unmanned aerial vehicle along a first path as the first work flight behavior, and the second flight control unit generates a second spraying pattern as the second work flight behavior different from the first spraying pattern based on the environmental information and operates the chemical spraying device based on the second spraying pattern while flying the unmanned aerial vehicle along a second path as the second work flight behavior.

4. The chemical spraying system according to claim 1, wherein the first flight control unit operates the chemical spraying device based on a first spraying pattern as the first work flight behavior while flying the unmanned aerial vehicle along a first path as the first work flight behavior, the second flight control unit generates a second path as the second work flight behavior different from the first path based on the environmental information, generates a second spraying pattern as the second work flight behavior different from the first spraying pattern based on the environmental information, and operates the chemical spraying device based on the second spraying pattern while flying the unmanned aerial vehicle along the second path.

5. The acquisition unit acquires, as the environmental information, at least one of a wind state in the work target area, a terrain around the work target area, a result of past chemical agent spraying in the work target area, and a result of past chemical agent spraying around the work target area, according to the chemical agent spraying system of claim 1.

6. The control device includes a third flight control unit that determines a third work flight behavior based on the environmental information and causes the unmanned aircraft to perform a work flight in the third work flight behavior, according to the chemical agent spraying system of claim 1.

7. The first flight control unit causes the first unmanned aircraft to perform a work flight in the first work flight behavior, and the second flight control unit causes the second unmanned aircraft to perform a work flight in the second work flight behavior, according to the chemical agent spraying system of claim 1.

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