JP7807796B2 - Control and spraying device - Google Patents

Description

The present disclosure relates to a controller and a spraying device equipped with the controller.

In recent years, advances in drone (unmanned aerial vehicle) technology have brought significant benefits to a variety of industries and fields. In the agricultural sector, efforts have been made to apply drone technology to sensing, transportation, spraying, and other tasks, achieving precision agriculture and labor savings. It is expected that drone technology will continue to be one of the key technologies driving smart agriculture.

Patent Document 1 discloses two controllers for operating this drone: one with two control sticks aligned on the left and right and operated with both hands, and an object controller (controller) that has a main body and an operating part that is attached to the thumb and operated without contact with (separate from) the main body and can be operated with one hand.

A controller that requires two hands to be operated requires the operator to hold the controller between both hands and use their thumbs to move the two sticks back and forth and left and right to operate it. This requires the operator to always keep both hands along the controller, which can easily cause fatigue and makes it difficult to operate for long periods of time, and it is not possible to perform tasks other than operating the controller at the same time.

On the other hand, controllers that can be operated with one hand allow the drone to move up, down, left, right, and forward and backward by moving the control panel up, down, left, and right using the thumb, based on the relative position of the main body and the control panel. However, it is difficult to achieve yawing (rotational movement around the vertical axis at the center of the drone) using only the thumb, and movements other than up, down, left, right, and forward and backward require operating multiple control buttons on the main body, making both the operation method and the controller structure complicated.

Special table number 2019-514093

This disclosure was made in consideration of the above circumstances, and aims to provide a controller that can be easily operated with one hand.

To achieve the above objectives, the controller disclosed herein is a controller for controlling the movement of an object, and includes a main body, a rigid body operated by an operator, and a mounting body for mounting the main body on the operator's body. The main body includes a fixed part to which one end of the rigid body is connected, a detection part provided at the connection between the fixed part and the rigid body and detecting displacement of the rigid body, and a control part that controls the movement of the object based on the displacement detected by the detection part.

This configuration makes it possible to provide a controller that can be easily operated with one hand.

1 is a diagram showing the general configuration of a controller according to a first embodiment and an unmanned flight system equipped with this controller. 1 is a block diagram showing an example of the overall configuration of a controller according to a first embodiment and an unmanned flight system equipped with this controller. An explanatory diagram for explaining the relationship between the basic operations of the operating handle and the movement of the unmanned aerial vehicle, where (a) is a diagram correlating the basic operations of the operating handle with the movement of the unmanned aerial vehicle, and (b) is a diagram showing the coordinate axes of the operating handle. An explanatory diagram for explaining the movement of an unmanned aerial vehicle, stick operation of a conventional controller, and the relationship between operation and displacement by the controller of the first embodiment. A diagram showing the general configuration of a spraying device equipped with a controller related to the second embodiment and a spraying system equipped with this spraying device. A block diagram showing an example of the overall configuration of a spraying device equipped with a controller related to the second embodiment and a spraying system equipped with this spraying device.

(First embodiment)
Hereinafter, a controller 50 according to a first embodiment of the present disclosure and an unmanned aerial vehicle system 100 including this controller 50 will be described with reference to the drawings. The controller 50 according to the first embodiment is a device for controlling (piloting) the operation (movement) of the unmanned aerial vehicle 10, which is an object. The unmanned aerial vehicle system 100 is a system including the unmanned aerial vehicle 10 and the controller 50 according to the first embodiment, and enables the unmanned aerial vehicle 10 to fly using the controller 50.

The unmanned aerial vehicle 10, also known as a drone, UAV (Unmanned Aerial Vehicle), etc., is an aerial vehicle that does not carry a human on board (unmanned). Examples of unmanned aerial vehicles 10 include drones, unmanned helicopters, and radio-controlled vehicles, but are not limited to these as long as they are unmanned. The unmanned aerial vehicle 10 of the first embodiment is an unmanned rotorcraft having multiple (four) rotors 12, as shown in Figure 1.

As shown in Figure 2, the unmanned aerial vehicle 10 includes a rotor 12, a motor 13, an imaging unit 14, various sensors 15, a communication unit 16, a control unit 17, a memory unit 18, and a power supply unit 19.

The rotors 12, also known as rotors, are devices used to fly the unmanned aerial vehicle 10, and multiple rotors (four in total) are provided to ensure flight stability and other factors. Each rotor 12 is attached to an arm 10c extending from the body 10a. A motor 13 is provided on each rotor 12 and is driven to rotate by the control unit 17, rotating the rotors 12 and causing the unmanned aerial vehicle 10 to fly.

The imaging unit 14 is a device that captures images of the surroundings of the unmanned aerial vehicle 10. The imaging unit 14 is composed of, for example, a digital camera that captures still images and moving images. The imaging unit 14 outputs the captured images to the control unit 17.

The sensor 15 is a device that detects various types of information, such as an altimeter, gyro sensor, acceleration sensor, ultrasonic sensor, magnetic direction sensor, and GPS (Global Positioning System). The sensor 15 outputs the acquired information to the control unit 17. This information is used to determine the position, attitude, flight conditions, etc. of the unmanned aerial vehicle 10.

The communication unit 16 is a device that performs wireless communication with the controller 50, which remotely controls the unmanned aerial vehicle 10, to send and receive signals and data. The communication unit 16 is composed of wireless devices, an antenna, etc. Note that communication between the communication unit 16 and the controller 50 is not limited to wireless communication, and may also be wired communication.

The control unit 17 is a so-called flight controller, and controls the overall operation of the 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 programs 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 controller 50 via the communication unit 16 and detection results input from the 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 controller 50 via the communication unit 16.

The control unit 17 controls the unmanned aerial vehicle 10 to fly autonomously according to a preset procedure, and also controls the unmanned aerial vehicle 10 to fly by remote control (manual operation) according to command signals from the controller 50.

The memory unit 18 is a storage device composed of semiconductor memory such as ROM (Read Only Memory) and RAM (Random Access Memory), and storage media such as a hard disk drive and SSD (Solid State Drive). The memory unit 18 stores an 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.

The power supply unit 19 supplies power to electrical devices 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.

In a modified example, the unmanned aerial vehicle 10 may be configured to spray a target such as a pesticide on a target such as a tree T. Specifically, for example, the unmanned aerial vehicle 10 may be equipped with a sprayer (the sprayer main body of the present disclosure) having a supply unit consisting of a spray nozzle, a storage tank for storing the target, and a power pump. Such an unmanned aerial vehicle 10 can also be easily operated with one hand using the controller 50 of the first embodiment, allowing the sprayer to appropriately spray pesticides, etc.

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

As shown in FIG. 1, the controller 50 comprises a main body 51, a rigid operating handle 52, and a mounting body 53. The main body 51 is a device carried on the back of the operator P via the mounting body 53. As shown in FIG. 2, the main body 51 comprises a fixing part 54, a detection part 55, a main control part 56, a power supply part 57, a communication part 58, and a memory part 59. These are housed in a resin or metal housing 51a (see FIG. 1).

The fixed part 54 is fixed to the side of the main body 51, either to the housing 51a or to a base (not shown). The fixed part 54 is made of a hard material that is difficult to deform, such as a metal housing. The housing 51a or the base itself can also serve as the fixed part 54. One end of the rigid operating handle 52 (more specifically, one end of the secondary shaft 53c) is connected to the fixed part 54.

The detector 55 is provided at the connection between the fixed part 54 and the operating handle 52. The detector 55 detects the displacement of the operating handle 52 relative to the fixed part 54. The detector 55 is preferably, for example, a strain gauge, but is not limited to this. Any device that outputs displacement such as extension or twisting of the operating handle 52 relative to the fixed part 54 may be used, such as a piezoelectric element or a laser displacement meter. There may be only one detector 55, but multiple detectors (at least two, preferably four, and more preferably five or more) are provided at a predetermined interval at the connection part to detect displacement of the operating handle 52 in various directions.

The main control unit (control unit) 56 controls the overall operation of the controller 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 controller 50 by executing programs stored in the memory unit 59. The memory unit 59 is a storage device composed of semiconductor memory such as ROM (Read Only Memory) and RAM (Random Access Memory), as well as storage media such as a hard disk drive and SSD (Solid State Drive). The memory unit 59 stores various information such as application programs and parameters for controlling the controller 50.

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 the detection results detected by the sensor 15, via the communication unit 58. Based on the detection results of the detection unit 55 and further the detection results of the sensor 15, the main control unit 56 generates instruction signals related to the flight of the unmanned aerial vehicle 10, such as the movement direction, movement distance, turning angle, altitude, and speed, and transmits these to the unmanned aerial vehicle 10 via the communication unit 58.

The communication unit 58 is a device that communicates wirelessly with the communication unit 16 of the unmanned aerial vehicle 10 to send and receive signals and data. The communication unit 58 is composed of a radio, an antenna, etc.

The operating handle 52 is a member that is held by the operator P and operated to control the unmanned aerial vehicle 10. The operating 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. Taking into consideration differences in the length of the operator P's upper arm, ease of operation, and the fact that the main body 51 is placed on the back, it is more preferable that the operating handle 52 be L-shaped or crank-shaped.

In the first embodiment and other embodiments described below, 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 his or her left hand and perform other tasks with his or her right hand. The operating handle 52 has a first arm portion 52a (main shaft) that extends in the front-to-rear direction relative to the operator P carrying the main body 51 on his or her back, and a second arm portion 52b (sub-shaft) that extends in the left-to-right direction from one end (rear end) of the first arm portion 52a and intersects with the first arm portion 52a. In other words, the first arm portion 52a and the second arm portion 52b extend in an L-shape in a plan view from the rear left toward the front of 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 is connected to a fixed portion 54 within the housing 51a.

Furthermore, the operating handle 52 of the first embodiment has a grip portion 52c, which is a third axis that extends vertically from the other end (tip) of the first arm portion 52a and intersects with the first arm portion 52a and the second arm portion 52b. The grip portion 52c is the part that is grasped by the operator P, and a cover member 52d is attached to its outer periphery to make it easier for the operator P to grasp and operate. In this way, 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.

The operating handle 52 of the first embodiment also 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 via wireless or wired communication. For example, when the main control unit 56 receives an ON signal, it transmits an instruction signal to the imaging unit 14 of the unmanned aerial vehicle 10 to start taking images, and when it receives an OFF signal, it transmits an instruction signal to the imaging unit 14 to stop taking images. Furthermore, if the unmanned aerial vehicle 10 is equipped with a sprayer, as in the modified example, the main control unit 56 may transmit an instruction signal to the sprayer to start spraying the target substance or an instruction signal to stop spraying in response to the ON or OFF operation of the operating button 52e.

The attachment 53 is attached to the housing 51a and is a member for positioning and fixing the main body 51 on the back (back or waist) of the operator P. The attachment 53 has a pair of shoulder straps 53a that the operator P places on their shoulders through both arms. Note that the attachment 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 attachment 53 is not limited to a configuration in which the main body 51 is positioned on the back, but may also be a configuration in which the main body 51 is positioned in front of the body (towards the abdomen) or to the side (armpit).

Next, the method of operating the operating handle 52 and the relationship between the operation of the operating handle 52 and the movement of the unmanned aerial vehicle 10 will be explained with reference to Figures 3 and 4. Note that the operating button 52e is omitted from Figure 3. A typical controller with two operating sticks, one on the left and one on the right, has multiple operating modes, such as mode 1 and mode 2. Below, the controller 50 of the first embodiment will be explained as being operated in mode 1, but it may also be operated in mode 2.

The controller 50 of the first embodiment can replace the movement of two conventional sticks with the movement of the operating handle 52 (grip portion 52c) by horizontally moving or tilting it. Figure 3(a) is a diagram correlating the basic operation of the operating handle 52 with the movement of the unmanned aerial vehicle 10. As shown in Figure 3(a), when moving the unmanned aerial vehicle 10 horizontally forward, backward, left, or right, the operator P moves the entire operating handle 52 horizontally in the forward, backward, left, or right directions, as indicated by the straight arrows. When ascending or descending the unmanned aerial vehicle 10, or when turning left or right, the operator P tilts the operating handle 52 forward, backward, or left or right, as indicated by the curved arrows. When performing these operations, the operator P pushes or tilts the operating handle 52, but these movements do not actually extend or tilt the operating handle 52; rather, they are movements that output changes in extension and twist as a rigid body.

Figure 3(b) is a diagram showing the coordinate axes of the operating handle 52. "x, y, z" in Figure 3(b) indicate the coordinate axes (x-axis, y-axis, z-axis) of the first arm portion 52a. The x-axis is an axis parallel to the extension direction (front-to-back direction) of the first arm portion 52a, the y-axis is an axis parallel to the horizontal direction (left-to-right direction), and the z-axis is an axis parallel to the up-down direction (vertical direction). "x', y', z'" in Figure 3(b) indicate the coordinate axes (x'-axis, y'-axis, z'-axis) of the second arm portion 52b. The x'-axis, y'-axis, and z'-axis are axes parallel to the x-axis, y-axis, and z-axis, respectively.

In addition, in Figure 3(b), "u" indicates the movable range of the first arm portion 52a centered on the x-axis (rotation axis), "v" indicates the movable range of the first arm portion 52a centered on the y-axis (rotation axis), and "w" indicates the movable range of the first arm portion 52a centered on the z-axis (rotation axis). The positive and negative amounts of change are indicated by "+" and "-" in the figure. Although not shown in Figure 3(b), the movable range of the second arm portion 52b centered on the x'-axis (rotation axis) will be referred to as "u'", the movable range of the second arm portion 52b centered on the y'-axis (rotation axis) will be referred to as "v'", and the movable range of the second arm portion 52b centered on the z'-axis (rotation axis) will be referred to as "w'".

Figure 4 is an explanatory diagram illustrating the relationship between the movement of the unmanned aerial vehicle 10, the stick operation of a conventional controller, and the operation and displacement by the controller 50 according to the first embodiment. The "X, Y, Z" listed in the "Movement of Unmanned Aerial Vehicle" column in Figure 4 are the coordinates along which the unmanned aerial vehicle 10 moves, with the positive X-axis direction representing the forward direction, the negative X-axis direction representing the backward direction, the positive Y-axis direction representing rightward movement, the negative Y-axis direction representing leftward movement, the positive Z-axis direction representing the upward direction, and the negative Z-axis direction representing the downward direction. Additionally, in the "Stick Operation of Conventional Controller" column, "L" represents the left control stick, "R" represents the right control stick, and the black arrows indicate the direction of operation (tilting) of the control sticks L and R for each operation. The "Operation and Displacement by Controller According to the First Embodiment" column shows the operation of the controller 50 and the movement of the first arm unit 52a and the second arm unit 52b. Note that the movements of the left and right control sticks L, R of the conventional controller and the first arm portion 52a and second arm portion 52b of the controller 50 of the first embodiment shown in Figure 4 are merely examples, and are not limited to the movements shown in Figure 4.

As shown in Figure 4, with conventional controllers, there is a one-to-one correspondence between the operation of the control sticks L and R and the movement of the unmanned aerial vehicle 10; for example, to move forward, tilt the left control stick L forward, and to move backward, tilt the left control stick L backward. Furthermore, the greater the angle at which each control stick L or R is tilted, the faster the unmanned aerial vehicle will move accordingly. Furthermore, for example, to instruct the unmanned aerial vehicle to move upward while moving forward, the left and right control sticks L and R are tilted forward, so operation with both hands is essential.

In contrast, the controller 50 of the first embodiment does not have a one-to-one correspondence between the operation of the operating handle 52 and the movement of the unmanned aerial vehicle 10, but instead determines the movement based on the main movement of the operating handle 52 and the auxiliary movement that supplements the main movement. This determination is made by the main control unit 56 based on the detection results, etc., of the detection unit 55. Correspondence information or calculation formulas, etc., that correlate displacement information, such as the state and amount of displacement of the operating handle 52 (first arm unit 52a and second arm unit 52b) due to the main movement and auxiliary movement as shown in FIG. 4, with movement information regarding the movement of the unmanned aerial vehicle 10, such as the movement direction, movement amount, and turning angle, are pre-stored in the memory unit 59. The main control unit 56 obtains the corresponding movement information of the unmanned aerial vehicle 10 (movement direction, movement amount, turning angle, etc.) from the memory unit 59 based on the detection results, etc., of the detection unit 55, and transmits an instruction signal corresponding to this information to the unmanned aerial vehicle 10 via the communication unit 58. The correspondence information may be stored in advance in the storage unit 59, such as when the controller 50 is manufactured, or the operator P may operate the operating handle 52 in advance, and the displacement information and movement information corresponding to that operation may be associated and stored in the storage unit 59.

As shown in FIG. 4 , in the controller 50, for example, when moving the unmanned aerial vehicle 10 forward using "Operation 1," the operator P pushes the grip portion 52c forward. This operation causes the detection unit 55 to detect the extension (+Δx) of the first arm portion 52a in the positive x-axis direction as the primary operation. The detection unit 55 also detects the rotation amounts (+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 this detection result, the main control unit 56 sends an instruction signal to the unmanned aerial vehicle 10 to move the unmanned aerial vehicle 10 forward by a distance corresponding to the rotation amount. Furthermore, for example, to instruct the unmanned aerial vehicle 10 to ascend while moving forward, the operator P performs "Operation 1" and "Operation 5," i.e., pushes the grip portion 52c forward while tilting it forward. Then, in addition to the detection results of "Operation 1" above, the detection unit 55 detects the amount of forward tilt rotation (-Δv) of the first arm unit 52a around the y-axis as the primary operation, and the amount of downward tilt rotation (-Δv') of the second arm unit 52b around the y'-axis as the secondary operation. Based on these detection results, the main control unit 56 sends an instruction 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 simply operating the single operating handle 52.

The operation of the controller 50 according to the first embodiment will be described below. The controller 50 according to the first embodiment is a controller for controlling the movement of an object (unmanned aerial vehicle 10), and comprises a main body 51, a rigid body (operating handle 52) operated by operator P, and a mounting body 53 for mounting the main body 51 on the body of operator P. The main body 51 comprises a fixed part 54 to which one end of the rigid body is connected, a detection part 55 provided at the connection between the fixed part 54 and the rigid body and for detecting displacement of the rigid body, and a control part (main control part 56) that controls the movement of the object based on the displacement of the rigid body detected by the detection part 55.

When piloting the unmanned aerial vehicle 10 using a controller 50 configured in this way, operator P places both arms through shoulder straps 53a and carries the main body 51 (controller 50) on his/her back, as shown in Figure 1. This allows the controller 50 to be securely attached to operator P's body, allowing operator P to easily carry the controller 50 and reducing physical strain such as hand fatigue compared to holding it in one hand. Operator P then grasps the operating handle 52 with his/her left hand and performs operations corresponding to operations 1 to 8 shown in Figure 4. Because the operating handle 52 is fixed to and stably supported by the fixed part 54, operator P can operate it appropriately with one hand.

This operation causes the detection unit 55 to detect the displacement of the operating handle 52 and output the detection results to the main control unit 56. Based on this detection result, the main control unit 56 determines the amount and direction of movement of the unmanned aerial vehicle 10, generates an instruction signal, and transmits it to the unmanned aerial vehicle 10. Upon receiving this instruction signal, the control unit 17 of the unmanned aerial vehicle 10 controls the rotation speed of each motor 13, thereby causing the unmanned aerial vehicle 10 to fly in the direction and amount of movement according to the operation of the operator P.

As described above, the operator P can easily control the unmanned aerial vehicle 10 by simply operating the operating handle 52 with one hand. For example, the operator P can operate the controller 50 with one hand to fly the unmanned aerial vehicle 10 over an orchard O, thereby taking photos of the trees T and fruit with the imaging unit 14. Furthermore, if the unmanned aerial vehicle 10 is equipped with a sprayer, the operator P can operate the controller 50 with one hand to easily spray pesticides, etc., on the trees T. Therefore, according to the first embodiment, a controller 50 that can be easily operated with one hand can be provided. Furthermore, by including this controller 50, an unmanned aerial vehicle system 100 that can be easily operated with one hand can be provided.

In addition, in the controller 50 of the first embodiment, the rigid body (operating handle 52) has a main shaft (first arm portion 52a) extending in the front-to-rear direction relative to the operator P, and a sub-shaft (second arm portion 52b) extending from one end of the main shaft in a direction intersecting the main shaft, with one end of the sub-shaft connected to the fixed portion 54. Having these two shafts (first arm portion 52a, second arm portion 52b) allows the operator P to grip the operating handle 52 in a comfortable position regardless of individual differences in physique, such as the operator P's upper arm length. Furthermore, by placing the operator P's arm along the first arm portion 52a, the operator P's arm is supported by the first arm portion 52a, enabling stable operation. Furthermore, by providing the grip portion 52c, the operator P can appropriately grasp the grip portion 52c and operate the operating handle 52 efficiently and easily with little force.

In the first embodiment, the object is the unmanned aerial vehicle 10 and the controller 50 is a controller for controlling the unmanned aerial vehicle 10, but the object is not limited to the unmanned aerial vehicle 10. For example, the object may be a manned aerial vehicle, a game console, an object in a computer program, a car, agricultural machinery, a robot, etc. Even with such an object, the operator P can more easily control the object by simply operating the controller 50 of the present disclosure with one hand.

Second Embodiment
A spraying device 60 including a controller 50 according to a second embodiment of the present disclosure and a spraying system 200 including the spraying device 60 will be described below with reference to FIGS. 5 and 6 . The spraying device 60 and the spraying system 200 according to the second embodiment are devices that spray a target substance onto a target field or agricultural products growing in the field. A farm field is a place where agricultural products such as rice, vegetables, fruits, and grass are grown, and examples include rice paddies, fields, orchards, and pastures. The spraying device 60 and the spraying system 200 according to the second embodiment are suitable for use in relatively medium- or small-scale farms. The target substance in the second embodiment is liquid pesticides such as herbicides and insecticides, fertilizers, and vitality enhancers.

The form of the material to be sprayed in the present disclosure is not limited to liquids, but may be granules, powder, etc. Furthermore, the material to be sprayed is not limited to the above-mentioned pesticides, fertilizers, vitality agents, etc., but may be seeds, water, etc., as long as it can be sprayed on a field. Furthermore, the target of the material 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 areas.

As shown in Figures 5 and 6, the spraying system 200 according to the second embodiment comprises an unmanned aerial vehicle 10 and a spraying device 60. The spraying system 200 is an example of an unmanned aerial system using the unmanned aerial vehicle 10. The spraying device 60 comprises a sprayer main body 20, a power supply line 30, a supply tube 40, and a controller 50. The sprayer main body 20 and the main body 51 of the controller 50 are integrally attached to the mounting portion 53b of the attachment body 53 (described below), and are attached to the back of the operator P by the attachment body 53 (see Figure 5).

The unmanned aerial vehicle 10 has the same basic configuration as the unmanned aerial vehicle 10 of the first embodiment, except that it is equipped with a spraying unit 11 for spraying the target material and is supplied with power from the sprayer main body 20. Therefore, the same components as the unmanned aerial vehicle 10 of the first embodiment are designated by the same reference numerals and detailed descriptions are omitted.

As shown in FIG. 6, the unmanned aerial vehicle 10 comprises a spraying unit 11, rotors 12, a motor 13, an imaging unit 14, various sensors 15, a communication unit 16, a control unit 17, and a memory unit 18. The motor 13, imaging unit 14, sensor 15, communication unit 16, control unit 17, and memory unit 18 are electrical devices that operate using power supplied from a power supply unit 21, which will be described later.

The spraying unit 11 is a device for spraying the target material onto the target, and in the second embodiment, is composed of a spray nozzle for spraying the liquid agent. The spraying unit 11 is fixed to the body 10a or legs 10b of the unmanned aerial vehicle 10 with its spray nozzle facing downward or horizontally. A single spraying unit 11 may be provided facing a predetermined direction when spraying the liquid agent over a narrow area (pinpoint), or multiple spraying units 11 may be provided facing in multiple directions when spraying over a wide area. The spraying unit 11 may also be provided with a power pump or the like for spraying the target material.

The communication unit 16 is a device that performs wireless communication with the controller 50, which remotely controls the unmanned aerial vehicle 10, to send and receive signals and data. Note that communication between the communication unit 16 and the controller 50 is not limited to wireless communication, and may also be wired communication.

The control unit 17 controls the unmanned aerial vehicle 10 to fly autonomously according to a preset procedure, and also controls the unmanned aerial vehicle 10 to fly by remote control (manual operation) according to command signals from the controller 50.

The sprayer body 20 is a powered sprayer that is worn or carried by the operator P. In the first embodiment, the sprayer body 20 is an engine-powered backpack-type engine-powered sprayer that can be carried (carried) by the operator P on his or her back (see Figure 5).

As shown in FIG. 6, the sprayer main 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, battery pack, etc. Furthermore, if the power source 25 is a battery, etc., the power source 25 itself may also be the power supply unit 21.

The supply unit 22 comprises a storage unit 23, a power pump 24, and a power source 25. The storage unit 23 is composed of a chemical tank that contains the chemical solution to be sprayed. The storage unit 23 is formed from a resin such as polyethylene, and is lightweight and has excellent liquid and chemical resistance. The power pump 24 sprays the chemical solution stored in the storage unit 23 from the spraying unit (spray nozzle) 11 of the unmanned aerial vehicle 10 by pressure via the supply tube 40. The power pump 24 is driven by operation of the operation button 52e of the operating handle 52 under the control of the main control unit 56. The power pump 24 in the second embodiment is composed of an engine-driven power pump driven by the power source 25, but is not limited to this and may be any device that supplies the chemical solution to the spraying unit 11 and sprays it from the spraying unit 11. The power pump 24 is a gasoline engine-type power pump that uses gasoline as the power source 25, but is not limited to this and may also be a diesel engine-type, LPG (Liquefied Petroleum Gas) engine-type, or CNG (Compressed Natural Gas) engine-type power pump. Furthermore, the power source 25 is not limited to gasoline and may be a battery, etc.

The power supply line 30 connects the power supply unit 21 of the sprayer main body 20 to the electrical equipment of the unmanned aerial vehicle 10, and supplies power from the power supply unit 21 to the electrical equipment. There are no particular limitations on the length of the power supply line 30, but it is preferable that the length not interfere with the unmanned aerial vehicle 10's ability to rise or move to a height where it can spray the liquid agent on targets such as trees.

The supply tube 40 connects the power pump 24 and storage unit 23 of the sprayer main body 20 to the spraying unit 11 of the unmanned aerial vehicle 10, and supplies the chemical solution sprayed from the storage unit 23 by the power pump 24 to the spraying unit 11. The supply tube 40 may be, for example, a rubber tube, a polyvinyl chloride tube, or other resin tube (including hoses, tubes, pipes, etc.). The length of the supply tube 40 is preferably the same as that of the power supply line 30.

The controller 50 has the same basic configuration as the controller 50 of the first embodiment, except that the sprayer main body 20 is mounted on top of the main body 51. Therefore, the same components as those of the controller 50 of the first embodiment are designated by the same reference numerals and detailed descriptions are omitted.

That is, the controller 50 comprises a main body 51, a rigid operating handle 52, and an attachment 53. The main body 51 comprises a fixed section 54, a detection section 55, a main control section 56, a power supply section 57, a communication section 58, and a memory section 59 within a housing 51a. The operating handle 52 has a first arm section 52a, which is the main axis, a second arm section 52b, which is the secondary axis, and a grip section 52c, which is the third axis. Operation of the operating handle 52 and the corresponding movement of the unmanned aerial vehicle 10 are the same as in the first embodiment, so detailed description will be omitted.

The operating handle 52 of the second embodiment also 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 sends an ON or OFF signal to the main control unit 56 via wireless or wired communication. When the main control unit 56 receives an ON signal, it drives the power pump 24 of the sprayer main body 20, supplies liquid agent from the storage portion 23 via the supply tube 40 to the spraying unit 11 of the unmanned aerial vehicle 10, and begins spraying the liquid agent by the spraying unit 11. On the other hand, when the main control unit 56 receives an OFF signal, it stops the power pump 24 of the sprayer main body 20, thereby stopping the supply of liquid agent to the spraying unit 11.

In addition, the controller 50 may be supplied with power from the power supply unit 21 of the sprayer main body 20 instead of the power supply unit 57. Alternatively, instead of the power source 25, the power supply unit 57 of the controller 50 may supply power to the power pump 24. By sharing (combining) a power source between the controller 50 and the sprayer main body 20 in this way, the spraying device 60 can be simplified and made lighter.

The attachment 53 includes an attachment portion 53b to which the main body 51 and sprayer main body 20 of the controller 50 are attached, and a pair of shoulder straps 53a connected to the attachment portion 53b. In the second embodiment, as shown in FIG. 5 , the main body 51 and sprayer main body 20 are integrally attached to the attachment portion 53b, and the sprayer main body 20 is mounted on top of the main body 51. This allows the operator P to carry the controller 50 and sprayer main body 20 (spraying device 60) together on their back using the attachment 53. This improves the portability of the spraying device 60 and the operator P's operability, allowing the operator P to easily move around and perform spraying operations. Furthermore, the operator P can operate the control handle 52 of the controller 50 with his left hand to control the unmanned aerial vehicle 10 and sprayer main body 20, and perform other tasks with his right hand (e.g., adjusting the movement of the power supply line 30 or supply tube 40, carrying luggage, etc.).

The operation of the spraying device 60 according to the second embodiment will be described below. The spraying device 60 according to the second embodiment is a spraying device for spraying a target (e.g., a field such as an orchard O) with an unmanned aerial vehicle 10 equipped with a spraying unit 11 that sprays the target (e.g., a liquid agent), and has a controller 50 and a supply unit 22 that supplies the target to the spraying unit 11.

The sprayer main body 20 of the second embodiment is a powered sprayer having a power supply unit 21 and a supply unit 22 having a storage unit 23 for the material to be sprayed and a power pump 24. The spraying device 60 also includes a power supply line 30 connecting the unmanned aerial vehicle 10 and the power supply unit 21, a supply tube 40 connecting the spraying unit 11 and the supply unit 22, and a mounting body 53 for attaching the sprayer main body 20 to the body of the operator P. The mounting body 53 also includes an attachment portion 53b to which the controller 50 and the sprayer main body 20 are attached, and a pair of shoulder straps 53a connected to the attachment portion 53b.

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

When using the spraying device 60 configured in this way to spray a liquid agent on trees T in an orchard O, the operator P places both arms through the shoulder straps 53a and carries the spraying device 60 on his back, as shown in Figure 5. Because the sprayer body 20 and the controller 50 are integrally attached to the mounting portion 53b, the operator P can carry them together stably on his back.

Next, operator P grasps the grip portion 52c of the operating handle 52 with his left hand. Operator P then performs one of the operations on the operating handle 52 corresponding to operations 1 to 8 shown in Figure 4. This operation causes the main control unit 56 to send an instruction signal to fly the unmanned aerial vehicle 10 based on the displacement of the operating handle 52 detected by the detection unit 55. The control unit 17 receives this instruction signal and controls the drive of each motor 13 based on the instruction signal, causing the unmanned aerial vehicle 10 to fly.

When the unmanned aerial vehicle 10 approaches the tree T to be sprayed, the operator P presses the operation button 52e, which activates the power pump 24 under the control of the main control unit 56. The pressure from this power pump 24 continuously supplies the liquid agent from the storage unit 23 via the supply tube 40 to the spraying unit 11 of the unmanned aerial vehicle 10, and the liquid agent is sprayed from the spraying unit 11 onto the tree T. Because the spraying nozzle of the spraying unit 11 faces downward or horizontally, the liquid agent is accurately sprayed from above or sideways via the spraying unit 11 onto the target, such as the tree T. By operating the operation handle 52 to move the unmanned aerial vehicle 10 in the desired direction, up, down, left, or right, the operator P can spray the liquid agent evenly and appropriately over a single tree T, or even over multiple trees T and fruits within a specified range.

Once spraying of the trees T within a specified range has been completed, the operator P moves to another location on foot, easily moving while carrying the spraying device 60 on his/her back. At this destination, the operator P can perform the same operation to properly spray the liquid agent on another range of trees T. Furthermore, the operator P can continue spraying while moving, making the spraying operation more efficient. At this time, the operator P can adjust the movement of the power feeder 30 and supply tube 40 with the hand that is not operating the operating handle 52. This prevents the power feeder 30 and supply tube 40 from interfering with the operator's walking, reduces physical strain, enables smoother movement, and improves workability. Therefore, according to the second embodiment, it is possible to provide a spraying device 60 and a spraying system 200 equipped with this spraying device 60 that allow the unmanned aerial vehicle 10 to be easily operated with one hand to properly spray the target object.

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Furthermore, the spraying device 60 of the second embodiment can constantly supply power to the unmanned aerial vehicle 10 from the power supply line 30 and constantly supply the liquid agent from the supply unit 22. This allows the unmanned aerial vehicle 10 to perform spraying operations over long periods of time without being restricted by the power capacity or the liquid agent capacity, etc. Furthermore, by being able to operate the operating handle 52 with one hand while carrying the spraying device 60 on one's back, the physical burden on the operator P is reduced even during long periods of spraying operations.

Furthermore, the spraying device 60 of the second embodiment uses the unmanned aerial vehicle 10 to bring the nozzle, which is the spraying unit 11, closer to the target, allowing the spraying unit 11 to be aimed appropriately at the target. This prevents the spraying of chemical solution in unnecessary directions and reduces the risk of chemicals being sprayed onto unintended crops when spraying pesticides. Furthermore, improving the accuracy of spraying at the targeted location means that it is possible to avoid spraying at the targeted location, improving the selectivity of spraying.

The above describes in detail an embodiment of the present disclosure with reference to the drawings, but the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present disclosure are included in the present disclosure.

For example, the controller 50 can be equipped with a display unit such as an LCD monitor, and can be configured to display images captured by the imaging unit 14 received from the unmanned aerial vehicle 10 on the display unit. By visually checking the images displayed on this display unit, the operator P can more clearly grasp the flight status of the unmanned aerial vehicle 10, allowing the operator P to more appropriately control the unmanned aerial vehicle 10 with the controller 50. Furthermore, if the spraying device 60 is equipped with a controller 50 having such a display unit, the operator P can more clearly grasp the spray status of the target substance by visually checking the images displayed on the display unit, allowing the spraying of the target substance to be carried out more appropriately.

The display unit is preferably configured as a wearable device such as a head-mounted display. Alternatively, the display unit may be supported by a support provided on the main body 51. In such a configuration, the display unit does not need to be held by hand, so the operator P can easily view the image without being hindered from operating the controller 50.

In addition, in each of the above embodiments, the rigid body is an operation handle 52 bent into an L-shape and having 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 be composed 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 enable its displacement to output information for appropriately controlling the movement of the object. In addition, in each of the above embodiments, the operation handle 52 is provided on the left side of the main body portion 51, but this configuration is not limited, and the operation handle 52 may be provided on the right side so that the operator P can operate it with his or her right hand. In addition, the operation 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.

Furthermore, the spraying device 60 of the second embodiment described above supplies power to the unmanned aerial vehicle 10 via the power supply line 30 from the power supply unit 57 provided on the backpack-type sprayer main body 20, and supplies the material to be sprayed from the supply unit 22 to the spraying unit 11 via the supply tube 40. However, the spraying device of the present 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 from a supply unit installed on the ground to the spraying unit via a supply tube. Even with a spraying device configured in this way, the operator P can easily operate the controller 50 carried on his back with one hand to properly fly the unmanned aerial vehicle 10 and properly spray the material to be sprayed.

In addition, in the spraying device 60 of the second embodiment described above, the material to be sprayed is pesticides such as herbicides and insecticides, fertilizers, vitality enhancers, seeds, water, etc., and the spraying device sprays these materials on target areas such as fields, parks, gardens, yards, forests, roadsides, and vacant lots. However, the material and spraying device are not limited to these. As another example, the material to be sprayed may be paint, and the spraying device may be a device that sprays (applies) the paint on target areas such as buildings. The material to be sprayed may be detergent, and the spraying device may be a device that sprays detergent on target areas such as cleaned areas for cleaning. The material to be sprayed may also be a chemical agent such as a disinfectant or antibacterial agent, and the device may spray the chemical agent to disinfect or sterilize the target area. With such a spraying device, operator P can operate the controller 50 carried on his back with one hand, and even while moving, allowing for easier and more efficient spraying operations.

DESCRIPTION OF SYMBOLS 10: Unmanned aerial vehicle (object) 11: Spraying unit 20: Sprayer main body 21: Power supply unit 22: Supply unit 23: Storage unit 24: Power pump 30: Power supply line 40: Supply tube 50: Controller 50A: Controller 51: Main body 52: Operation handle (rigid body) 53: Wearing body 53a: Shoulder strap 53b: Mounting unit 54: Fixing unit 55: Detection unit 56: Main control unit (control unit) 57: Power supply unit 60: Spraying device O: Orchard (spraying target)
P: Operator T: Tree (target for spraying)

Claims (5)

A controller for controlling the movement of an object,
a main body;
a rigid body that can be operated by an operator with one hand and to which a motion by the operator is input;
a wearable body for wearing the main body on the body of the operator,
The main body portion is
a fixed portion to which one end of the rigid body is connected;
a detection unit provided at a connection portion between the fixed unit and the rigid body, which detects displacement information including a state and amount of displacement of the rigid body;
a control unit that controls a movement of the object based on the displacement detected by the detection unit;
a storage unit storing correspondence information or a calculation formula in which displacement information including a state and amount of displacement of the rigid body is associated with movement information regarding a movement of the object including a moving direction, a moving amount, and a turning angle of the object;
the rigid body has a main shaft extending in a front-to-rear direction relative to the operator and a sub-shaft extending from one end of the main shaft in a direction intersecting the main shaft, one end of the sub-shaft being connected to the fixed portion;
The control unit acquires movement information of the object from correspondence information or a calculation formula associated with the displacement information from the storage unit based on the displacement information detected by the detection unit, and controls a movement of the object based on the acquired movement information. The controller of claim 1 , wherein the object is an unmanned aerial vehicle. A spraying device for spraying a target object to a predetermined target by an unmanned aerial vehicle equipped with a spraying unit for the target object,
A controller according to claim 1 or 2 ;
A spraying device characterized by comprising: a sprayer body having a supply section that supplies the material to be sprayed to the spraying section. The sprayer body is a powered sprayer having a power supply unit, a storage unit for the object to be sprayed, and a supply unit having a power pump,
a power supply line connecting the unmanned aerial vehicle and the power supply unit;
a supply tube connecting the spray unit and the supply unit;
The spraying device according to claim 3 , further comprising a mounting body for mounting the sprayer body on the operator's body. 5. The spraying device according to claim 4 , wherein the attachment body has a mounting portion to which the controller and the sprayer main body are attached, and a pair of shoulder straps connected to the mounting portion.