JP6569050B2 - Unmanned aerial vehicle for aerial application, external device, control program, and aerial application method - Google Patents

Description

  The present invention relates to an unmanned aerial vehicle for air spraying, an external device that controls the unmanned aircraft, a control program, and an air spraying method using these.

  Conventionally, a small unmanned aerial vehicle represented by an industrial unmanned helicopter has been expensive and difficult to obtain, and requires skill to operate in order to fly stably. However, in recent years, the sensor and software used for attitude control and autonomous flight of unmanned aircraft have been improved and the price has been reduced, which has dramatically improved the operability of unmanned aircraft. Especially for small multicopters, the rotor structure is simpler than helicopters, and the design and maintenance is easy. Therefore, not only for hobby purposes but also for various missions in a wide range of industrial fields. Yes.

  In the field of agriculture, the history of aerial spraying of agricultural chemicals by unmanned aerial vehicles such as unmanned helicopters is long and can be said to be a representative example of industrial use of unmanned aerial vehicles. This is an area where further development is expected in the future due to improved operability and lower prices of unmanned aerial vehicles. For example, as described in Patent Document 1 and Patent Document 2, a method of spraying agricultural chemicals while flying over the field is provided for spraying agricultural chemicals on fields, for example, as disclosed in Patent Document 1 and Patent Document 2. .

JP 11-000094 A JP 2017-036011 A

  When an unmanned aerial vehicle equipped with a spraying device as described above is used, the spraying width that can be sprayed at once is uniquely determined by the shape of the spraying port of the spraying device, the mounting position, and the like. On the other hand, the width of the field to be sprayed is not uniform, and using a spraying device having a spray width uniquely determined, for example, as shown in FIG. When sprayed, an unsprayed portion having a width less than the spray width is formed on the other end side.

  If the spread of pesticides and other materials is spread outside the intended range, there is a concern about the impact on surrounding crops and the environment. If the width of the field to be spread does not match the spread width of the spreader, spray There was no choice but to spray the pesticides on the unspread parts that were less than the width, or to spray over the already sprayed parts so that the sprayed material would not go out of range. In such a case, there was a concern that the amount of agricultural chemicals would be uneven in the field of one side and the growth situation would not be uniform.

  The problem to be solved by the present invention is to provide an unmanned aerial vehicle for aerial spraying, an external device, a control program, and an aerial spraying method using these, which can suppress unevenness in the sprayed amount of the sprinkled material and efficiently spray the spattered material. There is to do.

  In order to solve the above problems, an unmanned aerial vehicle for air spraying according to the present invention includes an unmanned aerial vehicle including rotary wings and autonomous flying means, and a spraying device for spraying dust. The plurality of spray ports are arranged side by side so as to form a row in the horizontal direction, and in the autonomous flight, the row direction of the spray port is the body of the unmanned aircraft The gist is that it is possible to fly while spraying the scattered material in a state of being inclined in plan view with respect to the traveling direction.

  According to the unmanned aerial vehicle for spraying aerial according to the present invention, it is possible to spray scattered matter with an arbitrary spraying width by making the row direction of the spraying port inclined with respect to the traveling direction during autonomous flight. Thus, it is possible to spray the sprayed material to the fields of all widths without excess or deficiency using the same unmanned aerial spraying aircraft.

  The rows of the plurality of spray ports are fixed in direction with respect to the airframe of the unmanned aircraft, and in the autonomous flight, the nose direction of the unmanned aircraft is inclined in a plan view with respect to the traveling direction. By flying, the row direction of the spray ports can be inclined in plan view with respect to the traveling direction.

  If the row of spraying ports is fixed to the airframe of the unmanned aerial vehicle and the nose direction of the unmanned aircraft is slanted, the spraying width can be adjusted simply by managing the program without providing a special mechanism. is there.

  In order to solve the above-mentioned problem, an unmanned aerial vehicle for air spraying according to another aspect of the present invention includes an unmanned aerial vehicle including rotating wings, and a spraying device for spraying sprayed material. A plurality of spraying ports for discharging, and the plurality of spraying ports are arranged side by side so as to form a row in a horizontal direction, and the row of the plurality of spraying ports is horizontal to the fuselage of the unmanned aircraft It is possible to rotate in a direction, and during flight, it is possible to fly while spraying the scattered matter in a state where the row direction of the spray ports is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft. And

  According to the unmanned aerial vehicle for air spraying according to the present invention, since the row of spray ports is a movable body that can be rotated in a horizontal direction with respect to the airframe of the unmanned aircraft, the unmanned aircraft travels the nose as usual. The row direction of the spout can be inclined with respect to the traveling direction while flying toward the vehicle. As a result, it is possible to disperse the scattered matter with an arbitrary distribution width while preventing the flight control from becoming complicated. Can spread dust.

  An unmanned aerial spray aircraft is set with a horizontal spreading width perpendicular to the advancing direction of the unmanned aircraft, and the unmanned aerial sprayer is inclined from the set value with respect to the traveling direction of the row of spray ports. It is preferable to adjust the angle automatically.

  When an unmanned aerial vehicle for aerial application automatically adjusts the inclination angle from the setting value of the application width, it is possible to optimize the inclination angle only by setting an appropriate application width at the time of application. .

  It is preferable that the unmanned aerial vehicle for air scattering further includes a discharge amount adjusting unit that adjusts the discharge amount of the scattered matter according to an inclination angle of the row of the spray ports with respect to the traveling direction.

  The spreading width in the direction orthogonal to the traveling direction when the spreading device is tilted with respect to the traveling direction of the unmanned aircraft varies depending on the tilt angle. When the spread width is narrowed, the amount of sprayed material spread per unit area increases. It is preferable to have means for adjusting the discharge amount discharged from the spraying device, and to make the amount of sprayed material sprayed per unit area constant. As the discharge amount adjusting means, any method such as a method of adjusting the output of the pump or a method of providing a flow rate adjusting device in the piping of the spraying device can be used.

  It is preferable that the unmanned aerial vehicle for air scattering automatically adjusts the flight altitude according to the inclination angle of the row of the spray ports with respect to the traveling direction.

  When the row direction of the spraying ports is inclined with respect to the traveling direction, the spraying range of one spraying port and the spraying range of the other spraying ports among the multiple spraying ports of the spraying device are relative to the traveling direction. It may overlap. If this overlap is slight, it can be ignored, but if the overlap becomes large, it is preferable to have means for adjusting the spraying range of each spraying port. Examples of means for adjusting the spraying range include a method of adjusting the aperture manually or automatically by providing a throttle at each spraying port, and a method of adjusting the spraying range by adjusting the altitude of the unmanned aircraft. When the spraying range is adjusted by adjusting the altitude of the unmanned aircraft, the spraying range can be adjusted only by managing the program without providing a special mechanism in the spraying device.

  The unmanned aerial vehicle is preferably a multicopter including a plurality of rotor blades.

  In an aircraft having a rotating wing, when the aircraft flies near the ground, turbulence called a ground effect is generated below the aircraft. In the ground effect, the sprayed material scattered is scattered in a turbulent air flow, so that it is generally difficult to spray the material. The altitude at which the ground effect occurs is proportional to the diameter of the rotor blades, and the ground effect occurs at a higher altitude as the rotor blade diameter increases. An unmanned aerial vehicle having a plurality of rotor blades is less affected by the ground effect because the diameter of each rotor blade can be reduced as the number of rotor blades increases. From this point of view, the plain aircraft is preferably a multicopter having a plurality of rotary wings, and is a multicopter having at least three or more rotary wings, except for special scattering that actively uses the ground effect. It is more preferable.

  It is preferable that the unmanned aerial vehicle for aerial application has a distribution width calculation unit that automatically calculates the distribution width from the shape of the distribution target area where the distribution object is distributed.

  If an unmanned aerial vehicle for aerial application automatically calculates the application width from the shape of the application target area, it can be easily applied to the air only by specifying the application target area during application.

  In order to solve the above-described problems, an external device according to the present invention is arranged such that a rotating wing and an unmanned aerial vehicle including autonomous flight means and a plurality of spray ports for discharging spatter form a horizontal row. An external device for creating a flight plan of an unmanned aerial vehicle for air spraying comprising a spraying device, and in autonomous flight, the row direction of the spraying port is inclined in plan view with respect to the traveling direction of the airframe of the unmanned aircraft The gist is to create the flight plan so as to fly while spraying the scattered material in a state where the spray is applied.

  According to the external device according to the present invention, at the time of autonomous flight, by setting the row direction of the spray port to be inclined with respect to the traveling direction, it is possible to spray the scattered matter with an arbitrary spread width, Using the same aerial unmanned aerial vehicle, it is possible to spread the sprinkle over fields of all widths without excess or deficiency.

  When creating the flight plan, the external device automatically determines the flight path of the unmanned aerial vehicle for aerial application and the horizontal distribution width orthogonal to the traveling direction from the shape of the application target area to which the application object is applied. It is preferable to select.

  When an external device selects the flight path of an unmanned aerial vehicle for aerial application, it is essential to calculate an appropriate distribution width, and the external device has the functions of selecting the flight path and determining the distribution width. There is no technical hindrance. In addition, since the external device has these functions, it is possible to reduce the processing load on the unmanned aerial vehicle for air spraying.

  An autonomous flight control program according to the present invention includes a rotating wing, an unmanned aerial vehicle including autonomous flight means, a spraying device in which a plurality of spraying ports for discharging spatter are arranged side by side so as to form a row in a horizontal direction, A computer for controlling the autonomous flight of an unmanned aerial vehicle for spraying aerial vehicles, while flying the scattered material in a state in which the row direction of the spray ports is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft The gist is to make it function as a means.

  According to the control program of the present invention, during autonomous flight, it is possible to spray the scattered matter with an arbitrary spraying width by making the row direction of the spraying port inclined with respect to the traveling direction. Using the same aerial unmanned aerial vehicle, it is possible to spread the sprinkle over fields of all widths without excess or deficiency.

  In order to solve the above-mentioned problems, an aerial spraying method according to the present invention is an aerial spraying method using an unmanned aerial vehicle for bitter dispersal provided with a rotating wing and an unmanned aerial vehicle equipped with autonomous flying means and a spraying device for spraying scattered matter. The spraying device has a plurality of spraying ports for discharging the sprayed material, and the plurality of spraying ports are arranged side by side so as to form a row in the horizontal direction. The gist is to spray the sprayed material while flying in a state where the row direction of the spray port is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft.

  According to the aerial spraying method according to the present invention, it is possible to spray the sprayed material with an arbitrary spraying width by making the row direction of the spraying port inclined with respect to the traveling direction during autonomous flight. It is possible to spread the sprayed material to fields of all widths without excess or deficiency using the same aerial unmanned aerial aircraft.

  According to the present invention, unevenness in the amount of sprayed material can be suppressed, and air can be efficiently sprayed.

It is a top view which shows the external appearance of the unmanned aerial vehicle for air dispersion | distribution concerning 1st Embodiment. (A) It is the schematic which shows the air spraying method concerning 1st Embodiment, and (b) the conventional air spraying method. It is the schematic which shows the spraying range in (a) high altitude, and (b) the spraying range in low altitude. It is a block diagram which shows the function structure of the unmanned aerial vehicle for air scattering concerning 1st Embodiment. It is a block diagram which shows the function structure of the external device concerning 2nd Embodiment. It is a top view which shows the external appearance of the unmanned aerial vehicle for air dispersion | distribution concerning 3rd Embodiment. It is a flowchart which shows the flow of the autonomous flight control program of the unmanned aerial vehicle for air scattering concerning 1st Embodiment.

  An unmanned aerial vehicle for aerial application according to the present invention will be described in detail. FIG. 1 is a top view showing an appearance of an unmanned aerial vehicle for air scattering according to the first embodiment.

  The aerial spraying unmanned aerial vehicle 1 according to the present embodiment includes a multicopter 2 that is an unmanned aerial vehicle including a plurality of rotor blades and autonomous flight means, and a spraying device 3 that sprays scattered material.

  The unmanned aerial vehicle is not particularly limited as long as it has a rotary wing. In this embodiment, a quadcopter having four propellers 28 is shown. However, depending on the required flight performance, the propeller may be a single so-called helicopter, or six hexacopters having six propellers. It may be a multicopter such as an octacopter. As will be described later, from the viewpoint of being hardly affected by the ground effect when flying at a low altitude, the unmanned aircraft preferably includes more propellers 28, and preferably includes at least three or more propellers 28.

  The spraying device 3 has a plurality of spraying ports 31 that form rows in the horizontal direction. In addition, the spraying device 3 includes a sprayed material tank 32 and a pump 33, and the power of the pump 33 discharges the sprayed material stored in the sprayed product tank 32 from the spraying port 31. The spraying device 3 includes discharge amount adjusting means such as adjusting the output of the pump 33 or providing a flow rate adjusting device in a pipe connecting the pump 33 and the spray nozzle 31 to adjust the discharge amount of the sprayed material. Can do.

  The row direction of the plurality of spray ports 31 is fixed with respect to the multicopter 2, and the row direction of the plurality of spray ports 31 is changed in the traveling direction by rotating the nose direction of the multicopter 2 in the horizontal direction. Can be inclined in plan view. In addition, when a plurality of spraying ports are not on the same straight line, a straight line connecting the farthest spraying ports is defined as the row direction of the spraying ports.

  The multicopter 2 normally travels in the nose direction indicated by an arrow in FIG. 1, and the spraying device 3 often includes the spraying port 31 in a direction orthogonal to the nose direction. When the aerial spraying unmanned aerial vehicle 1 travels in the nose direction of the multicopter 2, the spraying width L0 is uniquely determined by the arrangement of the spraying ports 31 and the spraying range. When the sprayed material is sprayed with the spraying width L0, as shown in FIG. 2 (b), the sprayed material is not applied to the width of the field, and the sprayed material is sprayed in some places.

  On the other hand, the aerial spraying unmanned aerial vehicle 1 according to the present invention travels in the Y-axis direction in FIG. 1 and travels with the row direction of the spray ports 31 inclined at an inclination angle θ with respect to the traveling direction. That is, the nose direction and the traveling direction are different. The inclination angle θ may be an angle at which the row direction of the spray ports 31 is not orthogonal to the traveling direction and is not parallel. The unmanned aerial vehicle 1 for aerial application adjusts the inclination angle θ to appropriately adjust the application width L1 with respect to the direction of travel, and as shown in FIG. can do.

  At this time, if L1 is made small, the amount of the sprayed material sprayed per unit area increases. The unmanned aerial vehicle for aerial application 1 includes a discharge amount adjusting unit that adjusts a discharge amount according to the inclination angle θ, and can adjust the amount of scattered matter to be sprayed per unit area.

  As shown in FIG. 3, the sprayed material sprayed from the spray port 31 is sprayed so as to diffuse from the spray port 31, and the greater the distance between the spray port 31 and the ground, the larger the spray range. That is, the relationship between the spraying range R0 at a high altitude and the spraying range R1 at a low altitude is R0> R1. When the row direction of the spraying ports is inclined with respect to the traveling direction, the spraying ranges of the plurality of spraying ports 31 included in the spraying device may overlap each other with respect to the traveling direction. If this overlap is slight, it can be ignored, but if the overlap becomes large, it is preferable to have means for adjusting the spraying range of each spraying port. As means for adjusting the spraying range, by adjusting the flight altitude of the multicopter 2, the spraying range R1 can be reduced, and overlapping of the spraying ranges can be easily eliminated. In addition, a method of adjusting a diaphragm manually or automatically by providing a nozzle with a diaphragm at each spray port 31 can also be used. At this time, it is preferable to adjust the amount of the sprayed material per unit area by combining with the above-described discharge amount adjusting means.

  When the aerial spraying unmanned aerial vehicle 1 sprays the scattered material at a constant inclination angle θ, triangular unsprayed portions remain at the corners of the spray start and end portions and the turn-around portion of the channel. The unsprayed portion is usually a very small range and does not cause a problem in many cases. For example, in the folded portion, only the spray port 31 located outside is rotated by turning the body around one end of the row of the spray ports 31 as a rotation center. The unmanned aerial vehicle for spraying air or the unmanned aerial vehicle for aerial spraying 1 flies so as to protrude in the front-rear direction of the spraying target area, and in front of the traveling direction, the sprayed material is sequentially discharged from the spraying port 31 that has reached the spraying target area. The non-sprayed area can be further reduced by using a method such as a method of sequentially stopping the discharge of the sprinkled material from the sprinkling port 31 deviating from the spraying target area on the far side in the traveling direction.

  FIG. 4 is a block diagram showing a functional configuration of the unmanned aerial vehicle 1 for aerial application. The unmanned aerial vehicle 1 for aerial spraying includes a multicopter 2 that is an unmanned aerial vehicle and a spraying device 3 that sprays scattered material. The flight function of the multicopter 2 is mainly configured by a flight controller FC, a plurality of rotors R that are rotor blades, an ESC 26 (Electric Speed Controller) provided for each rotor R, and a battery 29 that supplies electric power thereto. ing.

  Each rotor R is composed of a motor 27 and a propeller 28 connected to its output shaft. The ESC 26 is connected to the motor 27 of the rotor R, and rotates the motor 27 at a speed instructed from the flight controller FC.

  The flight controller FC includes a flight control sensor group 23 and a GPS receiver 24 (hereinafter collectively referred to as “sensors”), which are connected to the control device 20. The flight control sensor group 23 of the multicopter 2 in this embodiment includes an image recognition device, a triaxial acceleration sensor, a triaxial angular velocity sensor, an atmospheric pressure sensor (altitude sensor), a geomagnetic sensor (orientation sensor), and the like. The control device 20 can acquire position information of the aircraft including the tilt and rotation of the aircraft, the latitude and longitude during flight, the altitude, and the azimuth angle of the nose using these sensors.

  The control device 20 includes a CPU 21 that is a central processing unit, a memory 22 that includes a storage device such as a RAM, a ROM, and a flash memory, and a PWM (Pulse Width Modulation: pulse width that controls the rotational speed of each rotor R via the ESC 26. A modulation) controller 23.

  The flight controller FC controls the autonomous flight of the aerial unmanned aerial vehicle 1 by an autonomous flight control program and flies while spraying spatter while the row direction of the spout 31 is inclined in plan view with respect to the traveling direction. It functions as a means to Specifically, the step of acquiring the aircraft traveling direction from the flight plan FP, the step of identifying the row direction of the spray port 31, the step of acquiring the necessary tilt angle, and the attitude of the aircraft in the yaw direction are controlled. Means for tilting the row direction of the spout 31 with respect to the traveling direction in plan view, means for flying in the traveling direction in accordance with the flight plan FP, and a signal from the operator or entering the area to be sprayed And a means for starting the spraying of the scattered material. In addition, the autonomous flight control program may provide the flight controller FC with various functions relating to air scattering, such as a means for calculating an inclination angle and a means for adjusting the altitude.

  In the memory 22 of the control device 20, a spraying target area for spraying the sprayed material is specified, and an appropriate inclination angle is determined based on the spraying width L 0 determined by the shape of the spraying device 3, the spraying range of the spraying port 31, and the like. θ is calculated, and the aircraft flies with the inclination angle θ maintained. The information on the spreading width L0 may be input to the memory 22 of the control device 20 in advance, or water or a small amount of sprayed material may be sprayed on a trial basis and recognized by the image recognition device.

  A conventionally well-known method can be used for designating the spray target area. For example, there are a method of installing a marker on the outer edge of the scattering target area, a method of specifying longitude and latitude, a method of specifying the scattering target area from a map or an aerial photograph taken in advance.

  The spraying device 3 includes a spraying port 31, a sprayed material tank 32, and a pump 33, and sprays the sprayed material stored in the sprayed product tank 32 from the spraying nozzle 31 by the power of the pump 33. The pump 33 is connected to the control device 20 and the battery 29 of the multicopter 2, and can adjust the discharge amount of the scattered matter by increasing or decreasing the output of the pump 33 according to the inclination angle θ.

  The multicopter 2 can fly by adjusting the altitude according to the inclination angle θ in order to eliminate the overlapping of the spraying ranges of the spraying ports 31. At this time, the altitude may be determined based on the spread range spread information input to the memory 22 of the control device 20 in advance, or the altitude may be determined while the scattering range is recognized by the image recognition device.

  Parameters such as the flight path, inclination angle θ, altitude, speed, output of the pump 33 of the spraying device 3 such as the flight path of the multicopter 2 may be automatically calculated from the designated spraying target area, or these are external devices. The flight plan FP may be constructed by calculating with GCS4 (Ground Control Station).

  FIG. 5 is a block diagram showing a functional configuration of the GCS4 which is an external device. The GCS 4 mainly includes a CPU 41 that is a central processing unit, a memory 42 that includes a storage device such as a RAM, a ROM, and a flash memory, a communication device 43 that communicates with the unmanned aerial vehicle 1 for spraying air, and various information visually The monitor 44 to be displayed, an input device 45 for receiving an input from the operator, and a battery 49 for supplying electric power thereto.

  As long as the communication device 43 can transmit and receive control signals and data to and from the unmanned aerial vehicle 1 for spraying in the air, the specific communication method and protocol are not limited. For example, uploading the flight plan FP to the unmanned aerial vehicle 1 for aerial application and receiving telemetry data from the multicopter 2 are performed by two-way communication using Wi-Fi (Wireless Fidelity), and the control signal at the time of manual operation is PCM (Pulse). A configuration in which a Code Modulation (pulse code modulation) signal is transmitted by a frequency hopping method in the 2.4 GHz band is conceivable. In addition, the communication apparatus may be configured to include a connection module to a mobile communication network such as 3G, LTE (Long Term Evolution), or WiMAX (Worldwide Interoperability for Microwave Access). By doing so, the pilot can control the unmanned aerial spraying aircraft 1 from anywhere within the service area of the mobile communication network. In addition, the unmanned aerial spraying aircraft 1 and the GCS 4 of this example do not necessarily need to communicate wirelessly, and may be configured to communicate by wired connection.

  The GCS 4 is installed with a flight plan creation program for creating a flight plan FP of the unmanned aerial vehicle 1 for air scattering. The pilot uses the flight plan creation program to create the flight plan FP while referring to the scatter target area data 422, which is information for specifying the scatter target area, and uploads the flight plan FP to the aerial spray unmanned aircraft 1 Can do. As a subprogram, the flight plan creation program automatically sets parameters such as the flight path, inclination angle θ, altitude, speed, and output of the pump 33 of the spraying device 3 from the spray target area data 422. Have a program to calculate.

  Also, the memory 42 of the GCS 4 has a spraying device such as a spraying width L0 when the row direction of the spraying port 31 of the unmanned aerial spraying aircraft 1 is orthogonal to the traveling direction when spraying agricultural chemicals, and the amount of change in the spraying range due to the flight altitude. Data 423 is registered and referred to when creating the flight plan FP. As the spraying device data 423, numerical values may be input to the memory 42 in advance, or water or a small amount of sprayed material may be sprayed on a trial basis, and information that is recognized by the image recognition device may be registered.

  A general notebook type personal computer or tablet computer can be suitably used for GCS4. This is because the main configuration shown in FIG. 5 is integrated into one device and is easy to carry. On the other hand, the physical form of the GCS 4 of the present invention is not limited as long as a flight plan can be created. For example, it is good also as GCS4 combining the separate apparatus which has each structure shown in FIG. In this example, the aerial spraying unmanned aerial vehicle 1 and the GCS 4 are configured as separate devices, but the aerial spraying unmanned aerial vehicle 1 itself may have a GCS4 function. In that case, the operator may access the GCS 4 in the unmanned aerial vehicle 1 for spraying air using a notebook computer or tablet computer.

  FIG. 6 is a top view showing the external appearance of the unmanned aerial vehicle for air scattering according to the third embodiment. In the following description, a detailed description of a configuration having the same or similar function as the previous embodiment is omitted.

  The spraying device 3 according to the present embodiment can rotate the row direction of the plurality of spraying ports 31 in the horizontal direction with respect to the multicopter 2. The multicopter 2 travels with the nose directed in the traveling direction, but by rotating the row direction of the plurality of spraying ports 31 in the horizontal direction, the row direction of the plurality of spraying ports 31 is arbitrarily set with respect to the traveling direction. The inclination angle θ can be set.

  The spraying device 3 has a rod-shaped support body and a plurality of spraying ports 31 provided so as to form a row on the support body. The support is rotatably held by the multicopter 2 so that its length direction is horizontal. Furthermore, the multicopter 2 and the support are connected via a servo motor (not shown), and the support and the row of the spray ports 31 can be rotated by the power of the servo motor.

  In the present embodiment, the aerial spraying unmanned aircraft 1 may be manually operated using a control terminal, or provided with autonomous flight means as in the first embodiment, and part or all of the control is performed automatically. Also good.

  According to the present invention, unevenness in the amount of sprayed material can be suppressed and efficiently sprayed in the air, which is suitable for spraying herbicides, insecticides, other agricultural chemicals, fertilizers, seeds, or snow melting agents. What is necessary is just to select the optimal thing for the spreading | diffusion apparatus 31 suitably according to the shape of the sprayed thing to spread, the recommended spreading method, etc. For example, in the present embodiment, an example of spraying a liquid spray was shown, but when spraying granular or powdery agricultural chemicals, fertilizer, snow melting agent, seeds, etc., a feeder instead of the pump 33 is used. Etc. may be provided. Moreover, the sprinkling port 31 may simply be provided with a hole in the pipe of the spraying device, and the sprayed material may be dropped from the hole, or the support body of the spraying device 3 may be used as a pipe for distributing the sprayed material. Also good.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

1 Unmanned aerial vehicle for air spraying 2 Unmanned aerial vehicle 28 Propeller 3 Spraying device 31 Spraying port 4 External device L0, L1 Spreading width R0, R1 Spraying range θ Inclination angle

Claims (11)

Comprising a unmanned aerial vehicle comprising a rotor blade contact and autonomous flight vehicle, a spraying device for spraying a spraying material, a
The spraying device has a plurality of spraying ports for discharging the sprayed material, and the plurality of spraying ports are arranged side by side so as to form a row in the horizontal direction,
During autonomous flight, Ri flyable der While sparging said spraying material in the column direction of the distribution opening in a state of being inclined viewed with respect to the traveling direction of the unmanned aircraft fuselage,
An unmanned aerial vehicle for aerial spraying, which automatically adjusts an inclination angle of the row of spraying ports with respect to the traveling direction according to a setting of a scattering width that is a horizontal width orthogonal to the traveling direction of the aircraft. . Column before the winding fabric port, the which direction is fixed relative to the unmanned aircraft fuselage, at the time of the autonomous flight, while in a plan view obliquely heading of the unmanned aircraft to the traveling direction The unmanned aerial vehicle for aerial spraying according to claim 1, wherein the row direction of the spraying ports is inclined in plan view with respect to the traveling direction of the airframe by flying. During the autonomous flight, by rotating in the horizontal direction columns of the spraying device before the winding fabric port to the unmanned aircraft fuselage, the column direction of the distribution opening with respect to the traveling direction of the machine body The unmanned aerial vehicle for aerial spraying according to claim 1, wherein the unmanned aerial aircraft is inclined in plan view . Depending on the angle of inclination with respect to the traveling direction of row of the distribution opening, according to any one of claims 1 to 3, further comprising a discharge amount adjusting means for adjusting the discharge amount of the spraying material Unmanned aerial vehicle for air spraying. An unmanned aerial vehicle equipped with rotor blades and autonomous flight means, and a spraying device for spraying scattered material,
The spraying device has a plurality of spraying ports for discharging the sprayed material, and the plurality of spraying ports are arranged side by side so as to form a row in the horizontal direction,
During autonomous flight, it is possible to fly while spraying the scattered material in a state where the row direction of the spray port is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft,
An unmanned aerial vehicle for air spraying , wherein a flight altitude is automatically adjusted in accordance with an inclination angle of the row of spray ports with respect to the traveling direction. The unmanned aerial vehicle according to any one of claims 1 to 5 , wherein the unmanned aircraft is a multicopter including a plurality of rotor blades. The unmanned aerial sprayer according to any one of claims 1 to 4 , further comprising a spraying width calculating unit that automatically calculates the spraying width from the shape of a spraying target area to which the sprayed material is sprayed. aircraft. And unmanned aircraft having a rotary wing Contact and autonomous flight vehicle, spraying was to eject multiple distribution opening is flying aerial spraying unmanned aircraft and a spraying device which is arranged so as to form a row horizontally plan An external device that creates
During autonomous flight, create the flight plan to fly while spraying the scattered material in a state where the row direction of the spray port is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft ,
In accordance with the setting of the spreading width which is the width in the horizontal direction orthogonal to the traveling direction of the aircraft, the inclination angle of the row of spraying ports in the flight direction in the flight plan is automatically adjusted. External device. When creating the flight plan, according to claim 8 to the shape of the spray target area for spraying the spraying material, a flight path of the aerial spraying unmanned aircraft, said a swath, characterized in that the automatically selected External device according to. And unmanned aircraft having a rotary wing Contact and autonomous flight vehicle, a plurality of distribution opening autonomous flight of the unmanned aircraft aerial application; and a spraying device which is arranged so as to form a row in the horizontal direction for ejecting the sprayed product Control the computer,
Functioning as a means of flying while spraying the spatter in a state where the row direction of the spout is inclined in plan view with respect to the traveling direction of the aircraft of the unmanned aircraft ,
An autonomous flight control program that automatically adjusts an inclination angle of the row of spraying ports with respect to the traveling direction according to a setting of a spraying width that is a width in a horizontal direction orthogonal to the traveling direction of the aircraft . And unmanned aircraft with a rotating blade contact and autonomous flight vehicle, a aerial spraying method using a spray device, the unmanned aircraft aerial application comprising delivering a spray product,
The spraying device has a plurality of spraying ports for discharging the sprayed material, and the plurality of spraying ports are arranged side by side so as to form a row in the horizontal direction,
In accordance with the spreading width that is the width in the horizontal direction orthogonal to the traveling direction of the aircraft of the unmanned aerial vehicle, automatically adjusting the inclination angle of the row of spraying ports with respect to the traveling direction,
An aerial spraying method, wherein the scattered material is sprayed while flying in a state where the row direction of the spray ports is inclined in plan view with respect to the traveling direction of the airframe of the unmanned aircraft during autonomous flight.

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