The objective of the present invention is to enable easy selection of an unmanned aerial vehicle which is of a plurality of unmanned aerial vehicles autonomously flying and is to be manually operated. An operation terminal device 401 displays, on a screen, icons respectively corresponding to drones 100a to 100d autonomously flying simultaneously over a field 403. A user 402 carries out, on the screen displayed on the operation terminal device 401, a touch operation on the icon corresponding to a drone which is of the drones 100a to 100d and with which the user 402 wishes to carry out a specific autonomous flight (such as a return to a base), which does not follow a flight plan, or a flight through a manual operation. The operation terminal device 401 transmits a selection signal containing identification information on the drone corresponding to the icon on which the touch operation has been carried out. When each of the drones 100a to 100d receives the selection signal containing the identification information on the own device, the drone uses a light emission unit provided for the own device to emit light. The user 402 can easily check whether or not the intended drone is selected on the basis of whether or not the light emission unit of the intended drone is emitting light.
[Problem] To eliminate variability in crop growth in a field. [Solution] This spraying method involves: a diagnostic step S13 which diagnoses the growing state of a target crop, the soil state of the field 403 or the pathological state of the target crop on the basis of information relating to the target crop grown in the field, acquired after chemical spraying of the field in a first spraying step; and a second spraying step S16 which sprays the field with a chemical on the basis of the diagnosis in the diagnostic step, wherein the second spraying step includes a step for spraying the chemical by means of a drone 100 that flies over the field.
Provided is a drone which, in accordance with the flying state of the drone, performs appropriate management relating to pre-processing of captured images or transmission of pre-processed data to the outside, and a drone provided with an appropriate means for retaking an image if an invalid image is extracted. This drone is provided with a main body, a plurality of rotating blades, a camera, a transmitting unit for transmitting data generated from an image acquired from the camera to the outside, and a storage device, wherein, if the flying state of the drone satisfies a predetermined condition, the drone performs at least one of: flagging the image as an invalid image; stopping storage of the image to the storage device, stopping pre-processing of the image, or stopping transfer of the data to the outside; and deleting the image from the storage device.
Provided is a system for acquiring an image that is more suitable for determining a crop growth state. The present invention provides a crop growth management device having: an acquisition unit that acquires image information captured by a camera; a determination unit that determines a crop growth state on the basis of the acquired image information; and an output unit that outputs information, wherein the output unit outputs information related to the image-capturing condition for determining the crop growth state.
Provided are: a flight vehicle that is capable of coping with foreign objects inside a motor or in the vicinity thereof; a flight vehicle system; a flight vehicle control method; and a manipulator. A motor control unit (200) of this flight vehicle (10) enables the flight vehicle to fly by executing a forward rotary operation that causes a motor (132) for rotating a propeller (130) to rotate in a forward direction. In addition, the motor control unit is provided with a reverse rotation control unit (212) which executes a reverse rotary operation that causes the motor to rotate in a direction reverse to the forward direction when the flight vehicle is not airborne. The manipulator (26) may provide a display pertaining to reverse rotary operation.
A soil state estimation device includes an estimation unit (81) that, on the basis of the oxygen concentration in the soil of a field, estimates a first state amount relating to the amount of ammonium ions in the soil, or a second state amount related to the nitrogen assimilation speed of crops in the field.
Provided are a flying object and a motor that enable improvement in cooling inside the motor or in releasing foreign matter from inside the motor or the periphery thereof. In motors (132u, 132l) of a flying object (10), lateral surface parts (422u, 422l) of rotor frames (412u, 412l) have formed therein a plurality of first exhaust through-holes (440u, 440l) at positions between a plurality of permanent magnets (414u, 414l) that face a plurality of coils (312u, 312l) and that are disposed along a circumferential direction.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64D 27/24 - Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
B64D 33/08 - Arrangement in aircraft of power plant parts or auxiliaries not otherwise provided for of power plant cooling systems
H02K 5/20 - Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
H02K 9/06 - Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium with fans or impellers driven by the machine shaft
8.
POSITIONING SYSTEM, MOBILE BODY, SPEED ESTIMATING SYSTEM, POSITIONING METHOD, AND SPEED ESTIMATING METHOD
[Problem] To measure coordinates of a moving body with good precision. [Solution] A positioning system 1000 that performs positioning of coordinates of a moving body 100 includes a coordinates acquiring unit 620 that periodically calculates a first coordinates value and a second coordinates value that indicate a position of the moving body, with at least two reference points that differ from each other as references, a coordinates storing unit 650 that stores a previous history value of at least the first coordinates value calculated by the coordinates acquiring unit a prior time or earlier, a comparing unit 630 that calculates a difference between the first coordinates value and the history value of the first coordinates value, and a coordinates finalizing unit 640 that finalizes the second coordinates value as the positioning coordinates of the mobile body in a case of the difference exceeding a predetermined value.
G08G 1/00 - Traffic control systems for road vehicles
G01C 21/12 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning
9.
AREA EDITING SYSTEM, USER INTERFACE DEVICE, AND WORK AREA EDITING METHOD
[Problem] To enhance the efficiency of field surveying work. [Solution] A system 500 for editing an area that is defined on the basis of coordinate point information that has been acquired through surveying or input by a user and is a work area in which a drone 100 is to fly or a no-fly area where the flying of the drone is prohibited, the system 500 comprising an area definition unit 13 for delimiting a work area or no-fly area by connecting a plurality of coordinate points to each other to define the work area or no-fly area and an area editing unit 20 for receiving, via a user interface device 200, 401, input for editing the work area or no-fly area defined by the area definition unit and permitting editing if the input command meets a prescribed condition.
[Problem] To perform a field survey accurately. [Solution] A survey system 500 that performs a survey of an area 403 is provided with: a coordinate obtaining unit 11 that obtains, as survey coordinates, three-dimensional coordinates of a survey point or a base station to be used for specifying coordinates of the area; a comparison coordinate obtaining unit 121 that obtains at least a height-direction coordinate value of comparison coordinates indicating a position within a prescribed range from the obtained survey coordinates; and a determination unit 122 that calculates the difference between a height-direction coordinate value of the survey coordinates and the height-direction coordinate value of the comparison coordinates, and if the difference is greater than a prescribed value, determines that at least one of the survey coordinates and the comparison coordinates is incorrect.
To provide a mechanism for managing loading of an object in a state different from a normal usage state of a drone. The drone comprises a body, a plurality of rotor blades, and a control unit for controlling the plurality of rotor blades. The control unit acquires barycentric-position related information including at least any of the thrust force of the plurality of rotor blades, a difference in thrust force between the plurality of rotor blades, and the barycentric position of the drone. If the acquired barycentric-position related information does not satisfy predetermined conditions, the control unit at least either outputs a notification or stops the flying of the drone.
[Problem] To reduce the frequency of resurveying of a farm field when the coordinates of a reference point change. [Solution] A resurvey necessity determination device 650 comprising: an existing information readout unit 652 that reads out the coordinate values of an electronic reference point 409 stored in advance in a recording unit as existing coordinates; a current information acquisition unit 653 that acquires the current coordinates of the electronic reference point 409 as current coordinates; a coordinate change acquisition unit 654 that determines whether the recorded coordinates of the electronic reference point 409 have changed when the coordinates of a farm field 403 are acquired and determines it is not necessary to resurvey when the coordinates have not changed; and a relative change acquisition unit 655 that determines it is not necessary to resurvey when the coordinates of the electronic reference point 409 have changed by the same distance in the same direction.
Provided is a means which reduces the risk of collision between two or more unmanned aerial vehicles when the unmanned aerial vehicles fly according to separate flight routes. A plurality of drones 100 fly over an agricultural field 403 and perform operations such as spraying chemicals. A determination means provided in a server 405 determines a flight plan that indicates, for each drone 100, a different flight route and target times at which to pass a plurality of locations on the flight route. When each drone 100 is flying according to the flight plan, the determination means provided in the server 405 changes the flight plan, on the basis of the times at which each drone 100 actually passed the plurality of locations on the flight route, so that two or more drones 100 are separated by at least a prescribed threshold distance in order to avoid the risk of these drones 100 approaching and colliding.
[Problem] To make it possible to easily establish the effective range of a base station providing position information for a drone. [Solution] A display device: displays, on a map, boundaries 4041a, 4042a of effective ranges that are prescribed distance ranges from base stations 4041, 4042 defined in advance; displays, as fields in which a drone can fly, fields 4031, 4032, 4033 included in the effective ranges; and displays fields 4034, 4035, 4036 that are not included in the effective ranges as fields in which a drone cannot fly, so as to be distinguishable from the fields 4031, 4032, 4033 included in the effective ranges.
[Problem] To improve the accuracy of the determination of the positions of the coordinates of a base station. [Solution] A positioning system 1000 determines the positions of the coordinates of a base station 404 used for relative positioning of at least a drone 100, the positioning system comprising: a coordinate acquisition unit 620 that calculates a first coordinate value and a second coordinate value indicating the position of the base station, with at least two reference points D1, D2 that differ from each other serving as a reference; a comparison unit 630 that calculates a difference or a distance between the first coordinate value and the second coordinate value; and a coordinate establishment unit 640 that, if the difference is less than or equal to a prescribed value, establishes, as positioning coordinates of the base station, the first coordinate value or a coordinate value of a point located between the first coordinate value and the second coordinate value.
The present invention reduces the risk of collisions when a plurality of unmanned aerial vehicles fly in formation. This flight control system comprises: a drone 100a which flies over an agricultural field 403; a drone 100b which flies alongside the drone 100b; and a server 405 provided with a determination means which determines a first flight plan indicating a flight route and a flight mode for the drone 100a, and a second flight plan indicating a flight route and a flight mode for the drone 100b. The determination means determines the first flight plan and the second flight plan so that a distance at least equal to a prescribed threshold value is always maintained between the drone 100a, which flies according to the first flight plan, and the drone 100b, which flies according to the second flight plan.
The present invention provides a scheme for managing a chemical agent used for aerial application. Provided is a drone that disperses a liquid, comprising a main body, a plurality of rotors for causing the main body to fly, a control unit that controls flight, a tank containing the liquid, a supply port that receives a supply of the liquid to the tank, a discharge nozzle that disperses the liquid contained in the tank, and a flowpath valve configured to receive a supply of the liquid in a case where a predetermined replenisher nozzle and the supply port are connected or in a case where either one of the replenisher nozzle or the supply port is inserted into the other.
The present invention provides a scheme for managing a chemical used in a spraying flight. This drone sprays a liquid, wherein the drone comprises a body, a plurality of rotor blades for causing the body to fly, a control unit that controls the flying, a communication unit that performs wireless communication or wired communication, a tank that stores the liquid, and a sensor that acquires information pertaining to a characteristic of the liquid stored in the tank. When the information pertaining to the characteristic of the liquid acquired by the sensor does not satisfy a prescribed condition, the control unit performs at least one of the following: prohibiting the drone from flying, stopping the flying of the drone mid-flight, prohibiting the drone from spraying the liquid, and stopping the drone from spraying while the drone is spraying.
[Problem] To detect obstacles inside a flight target area accurately, and optimize the work of surveying the flight target area. [Solution] A drone system 500 includes an obstacle detection unit 30 that detects an obstacle on a flight route of a drone 100 while the drone 100 is in flight, and a storage unit 51 that stores the position of the obstacle in the case where the obstacle is detected intermittently or continuously for a predetermined time or longer.
Provided are a farming system, server for farming, and farming method capable of satisfactorily managing water or fertilizing according to the condition of an agricultural field or crops. Water management or fertilization are performed for each growing phase according to a future or current state of an agricultural field or crops. For example, a target water temperature during a current panicle growth period is set on the basis of information relating to a predicted insolation amount during a future grain filling period. In the grain filling period, when the grain weight exceeds a target weight, the soil of the agricultural field as a paddy field is exposed. In the tillering stage, the target water temperature at night before the size of crops exceeds a size threshold is set relatively high.
Provided is a drug dispersion drone with which it is possible to effectively spray a drug discharged from a nozzle onto plants on the ground, considering changes in airflow such as downwash. A drone that disperses a drug, the drone comprising: a body; a plurality of rotating blades positioned on each of the left and right sides ahead of the body and the left and right sides to the rear of the body in relation to the advancing direction while the drone is flying; and a plurality of drug nozzles for dispersing the drug, the plurality of drug nozzles including below-the-rotating-blade nozzles positioned below the turning region of the rotating blades positioned to the left and right sides ahead of the body, and between-the-rotating-blades nozzles positioned between the rotating blades positioned to the left and right sides ahead of the body, the between-the-rotating-blades nozzles being positioned farther forward than the front end of the turning region of the rotating blades positioned on the left and right sides to the rear of the body, in the advancing direction of the drone.
[Problem] To prevent erroneous inputting during an emergency operation in a drone operation. [Solution] An operation device 401 for controlling a drone 100 which flies by a lift generation unit 102 is provided with: a display that displays a plurality of types of processes for instructing motions of the drone; and detection regions K1-K4 which are for detecting an operator's input on the display and in which the plurality of types of processes is associated with mutually different ranges. At least one of the processes is a lift generation unit stoppage process for stopping the lift generation unit in emergency, and clearance distances D1 between the detection region K4 with which the lift generation stoppage process is associated and the other detection regions K1-K3 are larger than distances D10, D11 between the detection regions with which the other processes are associated.
H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
Provided are a drone that is robust with respect to changes in a lower object such as the ground, and a method for controlling said drone. A flight control unit (200) performs flight control of a drone (24) by using a control altitude that is set by selecting one, or combining both, of a first distance up to a lower object as detected by an optical sensor (100) and a second distance up to the lower object as detected by an ultrasonic sensor (102). Further, when the accuracy of the optical sensor is low, the flight control unit may set the control altitude by selecting the second distance or by assigning greater weight to the second distance than to the first distance, and further, may decrease flight velocity.
[Problem] To cool a heating element with a simple configuration in a drone body. [Solution] This drone 100 comprises: a main body 110 on which a control unit for controlling a lift generation unit is installed; a plurality of rotary wings 102-1a to 102-4b that are provided at positions surrounding the main body when the main body is viewed from above, and that constitute the lift generation unit; and a cooling plate 20 which constitutes at least a portion of a housing of the main body and in which high-heat-generating elements 21, 22, 24 and a low-heat-generating element 23 having a heat-generating amount smaller than those of the high-heat-generating elements are joined to a surface inside the main body, wherein the low-heat-generating element is disposed at the central section of the cooling plate and the high-heat-generating elements are disposed around the low-heat-generating element.
[Problem] To increase farmland surveying efficiency. [Solution] A system 500 that defines a work area A1 for a drone 100 on the basis of information on survey points P1–P6, the system comprising: a display unit 4012 that displays information on the plurality of surveyed survey points; a survey point selection unit 12 that accepts selections of survey points displayed on the display unit; and an area definition unit 13 that partitions and defines the area by connecting a plurality of survey points accepted by the survey point selection unit to each other.
[Problem] To continue supplying power from a battery even after an impact. [Solution] A drone 100 uses a battery 502 as a power source to fly, the drone comprising: a plate member 30 that detachably holds the battery; and a pair of battery-holding parts that secure both end sections of the battery to the plate member. The plate member has plate member projecting sections 30p, 30q that protrude from a flat surface of the plate member along a direction in which the pair of battery-holding parts face each other.
[Problem] To reduce temperature rise of a sensor element mounted in a drone. [Solution] This drone 100, provided with multiple propellers 101, is provided with a body on which a control board 23 that controls flight of the drone is mounted, a first member 20 which constitutes part of the body and to which high heat generating elements 21, 22, 24 are bonded, and a second member 30 which is arranged spaced at a gap from the first member, wherein a sensor element 505, the output value of which fluctuates with the effects of temperature, is bonded on the second member.
Provided are a growth assessment system, growth assessment server and growth assessment method with which it is possible to improve the accuracy of a growth assessment model. A deviation determination unit (83) of the growth assessment system (10) compares an estimated growth state value, which is growth state value for a crop (502) that is calculated by a growth assessment model, with a detected growth state value, which is a growth state value for the crop (502) that is calculated on the basis of an image of a field (500) or the crop (502) that is acquired by a camera (120). A model amendment unit (84) amends the growth assessment model depending on the comparison result from the deviation determination unit.
Provided is a water management system with which water can be more suitably managed according to the condition of a field. Also provided are a corresponding water management server and water management method. A water management device (100) determines a target operation for an object (32, 34) to be controlled which changes a water condition of a field (500) on the basis of a weather condition including the temperature or the amount of sunlight of the field and/or a fertilization condition of the field. The water condition of the field is managed by issuing, to a user, a request for an operation of the object to be controlled based on the target operation or by operating the object to be controlled on the basis of the target operation.
A means for making an assessment pertaining to morbidity of a crop disease is provided to a user such as an agriculture worker. A drone 100 photographs crops planted in a field 403 while flying above the field 403. On the basis of the photographed image, the drone 100 diagnoses whether or not the planted crop is affected with a disease. Additional data pertaining to the crop diagnosed by a diagnostic unit of the drone 100 to be affected with a disease and indicating an image different from the image that was photographed by the drone 100 and used in the diagnosis is recorded by a server 405 in association with identification data identifying the crop, and the server 405 provides the additional data to a user terminal 401 operated by an agriculture worker 402.
This system provides a user such as an agricultural worker with a means for making a judgment related to a crop being affected with a disease. A drone 100 photographs crops planted in an agricultural field 403 while flying over the agricultural field 403. The drone 100 diagnoses whether the planted crops are affected with a disease or not on the basis of the captured image. A server 405 generates a second flying route for rephotographing each crop diagnosed, by the drone 100, as being affected with a disease and instructs the drone 100 to rephotograph crops according to the second flying route.
The present invention provides a scheme for managing the amount of chemical and the amount of energy needed in a spraying flight. The present invention provides an information processing device that controls a spraying flight of a drone for performing chemical spraying, the information processing device being provided with: a storage unit that stores a plurality of items of agricultural-field information; an output unit that outputs the plurality of items of agricultural-field information; an input unit that accepts selection of an arbitrary agricultural field from a plurality of agricultural fields; and a control unit that controls a spraying flight of a drone for performing chemical spraying. When the arbitrary agricultural field has been selected via the input unit, the control unit generates information concerning the amount of chemical to be sprayed on the basis of the agricultural-field information of the selected arbitrary agricultural field, and the output unit outputs the generated information concerning the amount of chemical to be sprayed.
Provided is a mechanism for decomposing conditions to be considered for spraying flights, generating a spraying flight schedule by performing path search processing on the basis of the conditions, and making it easy to manage a chemical spraying schedule. In the present invention, an information processing device for controlling spraying flights of a drone for spraying a chemical is provided with: a storage unit for storing a plurality of pieces of field information; an output unit for outputting the plurality of pieces of field information; an input unit for accepting a selection from a plurality of fields; and a control unit for controlling spraying flights of the drone for spraying a chemical. The control unit calculates, for a plurality of fields selected through the input unit, a spraying flight time for a spraying flight in each field and travel times for travel between the fields, and generates a chemical spraying schedule on the basis of the calculated spraying flight time and travel times and a constraint condition. The output unit outputs the generated chemical spraying schedule.
In the present invention, a system for displaying information pertaining to the next spray flight on a portion of an operation screen for operating a spray flight of a drone. An information processing terminal controls a spray flight of a drone that performs chemical spraying, the terminal comprising: a storage unit that stores a chemical spraying schedule according to which a plurality of spray flights are performed over a plurality of fields; a display unit that displays an operation screen for operating the spray flight of the drone; and a control unit that controls the spray flight of the drone. The display unit displays, on the basis of the chemical spraying schedule stored in the storage unit, the operation screen pertaining to the current spray flight and displays information pertaining to the next spray flight on a portion of the operation screen.
The purpose of the present invention is to prevent a sprayed chemical from escaping from an agricultural field when spraying the chemical in the agricultural field. A drone system 1000 comprises: a flight control unit 1001 that flies a drone 100 along a flight route in the air over an agricultural field 403; a spray control unit 1002 that sprays a chemical M on the agricultural field; and a flight management unit 600 that determines the flight altitude of the drone at locations along the flight route, wherein the flight route includes an edge section route 413a along which the drone flies while spraying the chemical on an edge section 403a of the agricultural field, and a center section route 413b along which the drone flies while spraying the chemical on a center section 403b that to the inside of the edge section, and the flight management unit performs control such that the flight altitude of the edge section route is lower than the flight altitude of the center section route.
[Problem] To effectively prevent the spread of infection of crop disease. [Solution] An agricultural field management system 1000 comprises: a pathological information acquisition unit 1004 which acquires an image of a crop growing in an agricultural field; a pathological diagnosis unit 605 which performs a pathological determination, on the basis of the acquired image, to determine the rate of progression of a disease that is occurring in the crop; and a countermeasure determination unit 701 which determines a countermeasure to be taken in the agricultural field. The countermeasure may include at least one of the following: a plant base visual inspection instruction; re-imaging; silent observation; agrochemical spraying; removal of infected leaves; removal of an infected stalk; and removal of stalks in the area where the infected stalk was found.
[Problem] To effectively prevent the infectious spread of a crop disease. [Solution] A dispersion system 1000 comprising: a pathological information acquisition unit 1004 that acquires an image of a crop growing in a field 403; a pathological diagnosis unit 605 that, on the basis of the acquired image, performs a pathological evaluation regarding whether the crop is diseased or not; a dispersion area determination unit 702a that, if a disease has been detected, determines the dispersion area for an agricultural chemical; and a dispersion control unit 1002 that disperses the agricultural chemical in the dispersion area, wherein a countermeasure determination unit determines the dispersion area on the basis of the location of a diseased plant base, and at least one of information indicating the surrounding environment of the diseased plant base in which the disease was detected and information indicating the condition of the diseased plant base.
[Problem] To pathologically diagnose crops with high accuracy. [Solution] A pathological diagnosis system 1000 for plants is provided with: a flight control unit 1001 that causes a drone 100 to fly over a field; a pathological information acquisition unit 1004 that is mounted on the drone and acquires an image of a crop growing in the field 403; a spot measurement unit 604 for measuring at least any parameter among the size, density and number of spots on the crop on the basis of the image; and a pathological diagnosis unit 605 for pathologically determining whether the crop has a disease or not on the basis of the parameter measurement result.
[Problem] To ensure safe work by an industrial machine. [Solution] An industrial machine system 500 including an industrial machine 100, an area information acquisition device 2 that obtains information about a work area in which an industrial machine is caused to work, and a control device 3 that determines whether or not the industrial machine can work in the work area. The control device comprises: a storage unit 310 that stores information about a registered area obtained beforehand; and a determination unit 32 that determines whether or not the industrial machine can work, in accordance with whether or not an area corresponding to the work area can be identified from the registered area stored in the storage unit.
[Problem] To provide a drone system for safely executing a task by using a plurality of drones. [Solution] A drone system (500) comprising at least a plurality of drones (100) that fly within a task area (403a) and execute a task, and a control device (40) that determines the operations of the plurality of drones (100), wherein the control device is equipped with a flight planning unit (42) that determines a flight plan for the plurality of drones such that at least a prescribed distance is maintained between the plurality of drones simultaneously in flight. The plurality of drones comprises a first drone (100a) that flies in a first task area (403c) which is part of the task area, and a second drone (100b) that flies in a second task area (100b) which is part of the task area outside of the first task area.
[Problem] To ensure accurate imaging and chemical dispersal even when a strong wind is blowing around the drone. [Solution] A drone 100 provided with: a first operation unit 22 for flying in a work area 403 and performing a prescribed action on the work area; a detection unit 23 for detecting wind that meets prescribed conditions during the flight in the work area; a storage part 234 for storing a detection point where wind is detected; and a second operation unit 24 for performing, on the detection point, an action that differs from an action performed on undetected points where wind is not detected.
[Problem] To accurately predict the harvest amount of a crop. [Solution] A harvest amount prediction system 500 provided with: an imaging unit 22 that captures an image of a growing crop; a crop shape acquisition unit 31 that uses the image as a basis to acquire the crop length of the crop and the curvature in the length direction; and a harvest amount prediction unit 32 that uses the crop length and the curvature as a basis to predict the harvest amount from the crop. In addition, the harvest amount prediction system 500 is provided with an unhulled grain counting unit 311 for counting the number of unhulled grains borne on a crop and a harvest amount prediction unit that uses the number of unhulled grains as a basis to predict the harvest amount from the crop. From the harvest amount predicted on the basis of the number of unhulled grains, the harvest amount prediction unit calculates an expected range for at least one of the crop length and the curvature at which the harvest amount can be harvested, and when at least one of the acquired values for the crop length and the curvature acquired by the crop shape acquisition unit is not included in the expected range, the harvest amount prediction unit corrects the harvest amount on the basis of the acquired values.
[Problem] To provide a piloting machine and a piloting program for an autonomously flying drone, having easy operation even for a non-specialist. [Solution] Provided are a piloting machine for controlling a drone which flies autonomously by means of computer control, and a piloting program which operates on a tablet terminal. A screen of the piloting machine or the program displays map information of an agricultural field over which the drone flies, route information for the flight of the drone, and an emergency-stop button for the drone. An altitude adjustment button may also be displayed. It is desirable that the emergency-stop button is semi-transparent and is displayed overlapping the map information. It is also desirable that an emergency stop is performed only if a prescribed operation is performed at least a prescribed number of times within a prescribed length of time using the emergency-stop button.
B64C 13/20 - Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/10 - Simultaneous control of position or course in three dimensions
G06F 3/0481 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
44.
DRONE SYSTEM, DRONE, METHOD FOR CONTROLLING DRONE SYSTEM, AND DRONE SYSTEM CONTROL PROGRAM
ABABB and that the factor of the drones which have not returned is sufficient for the drones which have not returned to handle all the remaining work, then all the remaining work is allocated and redistributed to the drones which have not returned and the flight path of each of the drones is modified.
The present invention provides a drone system for safely and efficiently carrying out a task using a plurality of drones. Specifically provided is a drone system 500 containing at least a plurality of drones 100 which carry out a task by flying in a work area 403, and a control device 40 which controls the takeoff order in which the plurality of drones are caused to takeoff. A landing/takeoff platform 406 can store a resource that is replenished in the drones, and the control device may be additionally equipped with a replenishment control unit 44 which controls a replenishment plan for replenishing the resource in the plurality of drones. A movement control unit 45 may be further provided for causing some or all of the plurality of drones to fly separated a prescribed distance from a mobile unit 406a when the mobile unit and the plurality of drones are moving.
[Problem] To provide a drone system for safely and efficiently carrying out a task using a plurality of drones. [Solution] A drone system 500 containing at least a plurality of drones 100 which carry out a task by flying in a work area 403, and a control device 40 which controls the takeoff order in which the plurality of drones are caused to takeoff. A landing/takeoff platform 406 can store a resource that is replenished in the drones, and the control device may be additionally equipped with a replenishment control unit 44 which controls a replenishment plan for replenishing the resource in the plurality of drones. A movement control unit 45 may be further provided for causing some or all of the plurality of drones to fly separated a prescribed distance from a mobile unit 406a when the mobile unit and the plurality of drones are moving.
The present invention provides a drone system for safely and efficiently carrying out a task using a plurality of drones. Specifically provided is a drone system 500 containing at least a plurality of drones 100 which carry out a task by flying in a work area 403, and a control device 40 which controls the takeoff order in which the plurality of drones are caused to takeoff. A landing/takeoff platform 406 can store a resource that is replenished in the drones, and the control device may be additionally equipped with a replenishment control unit 44 which controls a replenishment plan for replenishing the resource in the plurality of drones. A movement control unit 45 may be further provided for causing some or all of the plurality of drones to fly separated a prescribed distance from a mobile unit 406a when the mobile unit and the plurality of drones are moving.
[Problem] To provide a drone system for safely and efficiently carrying out a task using a plurality of drones. [Solution] A drone system 500 containing at least a plurality of drones 100 which carry out a task by flying in a work area 403, and a control device 40 which controls the takeoff order in which the plurality of drones are caused to takeoff. A landing/takeoff platform 406 can store a resource that is replenished in the drones, and the control device may be additionally equipped with a replenishment control unit 44 which controls a replenishment plan for replenishing the resource in the plurality of drones. A movement control unit 45 may be further provided for causing some or all of the plurality of drones to fly separated a prescribed distance from a mobile unit 406a when the mobile unit and the plurality of drones are moving.
[Problem] To make it possible, in a system for managing the process for charging a drone battery, to efficiently charge the drone even when the amount of stored power in the battery of the drone becomes depleted while the drone is working. [Solution] A drone system 500 containing at least a drone 100, replenishment units 33a, 33b that are capable of replenishing the drone with the energy necessary for flight, and an operation determination device 40 that determines the operations of the drone, wherein the operation determination device is equipped with a necessary charging amount acquisition unit 442 that acquires a total charging amount which exceeds the energy that is necessary for the work of the drone and that can be retained by the drone, and a charging planning unit 44 that determines a charging plan for charging the drone one or more times while the drone is working and replenishing the drone with energy to the total charging amount.
[Problem] To enable many drones to operate for a long period and carry out tasks efficiently even when there is a variation from the work plan. [Solution] A drone system 500 in which a plurality of drones 100a, 100b that execute a task in a work area are connected to an operation determination device 40 that acquires the positions and statuses of the plurality of drones and determines the operations of the plurality of drones, wherein the plurality of drones comprise a first drone 100a performing a first task and a second drone 100b performing a second task, and the operation determination device is equipped with a task completion detection unit 42 that detects when the first drone has completed the first task, and a reassignment unit 44 that, on the basis of the detection by the task completion detection unit, determines at least a portion of the second task to be the next task for the first drone.
[Problem] To enable many drones to operate for a long period and carry out tasks efficiently even when there is a variation from the work plan. [Solution] A drone system 500 in which a plurality of drones 100a, 100b that execute a task in a work area are connected to an operation determination device 40 that acquires the positions and statuses of the plurality of drones and determines the operations of the plurality of drones, wherein the plurality of drones comprise a first drone 100a performing a first task and a second drone 100b performing a second task, and the operation determination device is equipped with a task completion detection unit 42 that detects when the first drone has completed the first task, and a reassignment unit 44 that, on the basis of the detection by the task completion detection unit, determines at least a portion of the second task to be the next task for the first drone.
[Problem] To make it possible, in a system for managing the process for charging a drone battery, to efficiently charge the drone even when the amount of stored power in the battery of the drone becomes depleted while the drone is working. [Solution] A drone system 500 containing at least a drone 100, replenishment units 33a, 33b that are capable of replenishing the drone with the energy necessary for flight, and an operation determination device 40 that determines the operations of the drone, wherein the operation determination device is equipped with a necessary charging amount acquisition unit 442 that acquires a total charging amount which exceeds the energy that is necessary for the work of the drone and that can be retained by the drone, and a charging planning unit 44 that determines a charging plan for charging the drone one or more times while the drone is working and replenishing the drone with energy to the total charging amount.
[Problem] To automatically determine the work schedule for a drone and a mobile unit in a system having a drone which executes a prescribed task by means of automatic flight and a mobile unit which transports the drone. Additionally, to generate an efficient work schedule and modify the work schedule in accordance with work conditions, thereby enhancing the work efficiency of the drone. [Solution] A drone system in which a drone 100 performing a prescribed task at an agricultural field and a mobile unit 406a permitting landing and takeoff of the drone 100 operate in coordination with one another determines, by means of a schedule determination unit 41, a flight schedule for the drone 100 and a movement schedule for the mobile unit 406a corresponding to the flight schedule, and an instruction unit 42 instructs the drone 100 to execute a task in accordance with the flight schedule and instructs the mobile unit 406a to move or wait in accordance with the movement schedule.
[Problem] To enable many drones to operate for a long period and carry out tasks efficiently even when there is a variation from the work plan. [Solution] A drone system 500 in which a plurality of drones 100a, 100b that execute a task in a work area are connected to an operation determination device 40 that acquires the positions and statuses of the plurality of drones and determines the operations of the plurality of drones, wherein the plurality of drones comprise a first drone 100a performing a first task and a second drone 100b performing a second task, and the operation determination device is equipped with a task completion detection unit 42 that detects when the first drone has completed the first task, and a reassignment unit 44 that, on the basis of the detection by the task completion detection unit, determines at least a portion of the second task to be the next task for the first drone.
[Problem] To make it possible, in a system in which a drone replenishes a resource from a mobile unit, to efficiently replenish the resource in the drone and the mobile unit even when the resource stored in the drone and the mobile unit becomes depleted while the drone and the mobile unit are working. [Solution] A drone system 500 containing at least a drone 100, a mobile unit 406a upon which the drone can land and which can move together with the drone, and an operation determination device 40 which acquires the positions and statuses of the drone and the mobile unit and determines the operations of the drone and the mobile unit, wherein the mobile unit is equipped with a storage compartment 821a that is capable of housing a resource used by the drone, and the operation determination device is equipped with a mobile unit resource acquisition unit 411 that acquires the amount of the resource stored in the storage compartment, and a resource replenishment determination unit 41 that determines to replenish the resource in the mobile unit when the aforementioned resource amount satisfies a predetermined condition.
[Problem] To make it possible, in a system in which a drone replenishes a resource from a mobile unit, to efficiently replenish the resource in the drone and the mobile unit even when the resource stored in the drone and the mobile unit becomes depleted while the drone and the mobile unit are working. [Solution] A drone system 500 containing at least a drone 100, a mobile unit 406a upon which the drone can land and which can move together with the drone, and an operation determination device 40 which acquires the positions and statuses of the drone and the mobile unit and determines the operations of the drone and the mobile unit, wherein the mobile unit is equipped with a storage compartment 821a that is capable of housing a resource used by the drone, and the operation determination device is equipped with a mobile unit resource acquisition unit 411 that acquires the amount of the resource stored in the storage compartment, and a resource replenishment determination unit 41 that determines to replenish the resource in the mobile unit when the aforementioned resource amount satisfies a predetermined condition.
[Problem] To provide a system that includes a drone for executing a prescribed task by automatic flight, and a moving body for transporting the drone, wherein the operation efficiency of the drone can be improved and work stoppages caused by the drone can be kept to a minimum even when an intruder enters an area where automatic travel of the moving body is permitted. [Solution] In a drone system 500, a drone 100 and a moving body 406a operate in a coordinated manner, said moving body being capable of moving with the drone loaded thereon, and allowing the drone to take off from and land thereon. The drone system further has a demarcation member 407 that demarcates a work area in which at least one of the drone and the moving body will perform work, and detects an intruder entering the work area. The moving body includes a movement control unit 30 that stops the movement of the moving body on the basis of the detection of an intruder by the demarcation member. The drone includes a landing position determination unit 23 that determines the landing position on the basis of the stop position of the moving body.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64D 45/04 - Landing aids; Safety measures to prevent collision with earth's surface
G05D 1/10 - Simultaneous control of position or course in three dimensions
G08B 13/19 - Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using infrared-radiation detection systems
[Problem] To provide a system that includes a drone for executing a prescribed task by automatic flight, and a moving body for transporting the drone, wherein the operation efficiency of the drone can be improved and work stoppages caused by the drone can be kept to a minimum even when an intruder enters an area where automatic travel of the moving body is permitted. [Solution] In a drone system 500, a drone 100 and a moving body 406a operate in a coordinated manner, said moving body being capable of moving with the drone loaded thereon, and allowing the drone to take off from and land thereon. An area 90 where automatic driving of the moving body is permitted is subdivided into a movement-permitted area 901 where the moving body can move but the drone cannot land, and a landing-permitted area 902 where the moving body can move and the drone can land on the moving body. The drone system further includes: an area discrimination unit 33 that determines whether the position of the moving body belongs in the landing-permitted area where the drone can land on the moving body or belongs in the movement-permitted area; and a landing position determination unit 23 that determines the landing position of the drone on the basis of the type of area in which the moving body is stopped.
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64D 45/04 - Landing aids; Safety measures to prevent collision with earth's surface
G05D 1/10 - Simultaneous control of position or course in three dimensions
G08B 13/19 - Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using infrared-radiation detection systems
[Problem] To control flight on the basis of the angle of attitude of an aircraft so as to adjust the points at which a chemical agent is dropped and achieve the proper effect of the chemical agent on cultivated land. [Solution] A chemical agent distribution drone (100) comprises a flight controller (21) and a discharge unit (103) that distributes a chemical agent (600) while in flight under the control of the flight controller (21), the drone further comprises: an angle of attitude detector (22) that detects the angle of attitude of the drone; a chemical agent drop point estimation unit (20) that estimates chemical agent drop points for the chemical agent to be discharged from the drone on the basis of the angle of attitude; and a chemical agent drop point controller (30) that controls the working state of the drone on the basis of the estimated chemical agent drop points.
[Problem] To enable a high level of safety to be maintained even when a drone and a moving body, which is capable of moving with the drone carried thereon and on which the drone can takeoff and land, operate in cooperation and the drone flies autonomously. [Solution] In a drone system 500, a drone 100 and a moving body 406a, which is capable of moving with the drone carried thereon and on which the drone can takeoff and land, operate in cooperation, the drone comprising: a flight control unit 21 that controls the flight of the drone; and a drone transmission unit 40 that transmits information with which it can be distinguished whether the drone is in flight. The moving body comprises: a takeoff/landing region 82 which serves as a takeoff/landing point 406 in which the drone is carried and in which the drone can perform takeoff/landing; a movement control unit 30 that causes the moving body to move together with the drone when the drone is carried in the takeoff/landing region; a moving body reception unit 60 that receives information from the drone; a moving body control unit 66 capable of determining, on the basis of the information from the drone, whether the drone is in flight; and a display unit 65 that displays information on the basis of the determination results obtained by the moving body control unit. If it is determined that the drone is in flight, the moving body control unit causes at least one of an operation restriction of the moving body and a display of the display unit to differ from that in the case in which the drone is not in flight.
[Problem] Through cooperative operation of a drone and a movable body which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed, high safety can be maintained even when the drone performs autonomous flying. [Solution] A drone system 500 operates through cooperation between a drone 100 and a movable body 406a which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed. The drone is provided with a flight control unit 21 for controlling the flight of the drone and a drone transmission unit 40 for transmitting information for enabling distinction as to whether the drone is in flight or not. The movable body is provided with: an arrival/departure region 82 which has the drone loaded thereon and which serves as an arrival/departure point 406 for allowing takeoff and landing of the drone; a movement control unit 30 which moves the movable body along with the drone by loading the drone on the arrival/departure region; a movable body reception unit 60 for receiving information from the drone; and a display unit 65 for displaying information on the basis of the information received from the drone. When information indicating that the drone is in flight is received by the movable body reception unit, the operational restriction of the movable body and/or display of the display unit is made different from that of the case where the drone is not in flight.
[Problem] Through cooperative operation of a drone and a movable body which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed, high safety can be maintained even when the drone performs autonomous flying. [Solution] A drone system 500 operates through cooperation between a drone 100 and a movable body 406a which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed. The movable body has a cargo bed 82 disposed at a rear portion in the travelling direction, and a pair of lateral plates 823 which stand at lateral edges of the cargo bed and which face each other. The movable body can be switched to at least two of configurations which are a travelling configuration for a case where the movable body moves, a takeoff/landing base configuration for a case where the drone performs takeoff from or landing on the movable body, and a working platform configuration in which the lateral plates are laid down. The movable body is provided with a configuration acquisition unit 321 for detecting which configuration of the plurality of configurations the movable body is in.
[Problem] To provide a configuration in which a drone and a moving body that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together, and a high degree of safety can be maintained even when the drone flies autonomously. [Solution] Provided is a moving body 406a that can move with a drone 100 loaded thereon, the moving body comprising: a bed 82 that is disposed towards the rear in the direction of travel; a riding seat 81 that is disposed towards the front in the direction of travel; and an upper plate 824 on which a drone is loaded, and that can slide from the bed in the front/rear direction in relation to the direction of travel or in the horizontal direction in relation to the direction of travel. The moving body can be switched between a state in which the upper plate is proximal to the riding seat and a state in which the upper plate is distant from the riding seat.
[Problem] To cooperatively operate a drone and a movable body which can move while loading the drone thereon and on which the drone can take off and land, and to be capable of maintaining high safety even when the drone autonomously flies. [Solution] This movable body 406a capable of loading a drone 100 thereon and moving is provided with: a cargo bed 82 arranged in a rear portion in the travel direction; a riding seat 81 arranged in a front portion in the traveling direction; and a top surface plate 824 which is provided to the cargo bed and on which the drone takes off and lands, wherein a waste liquid groove 840 is formed in the upper surface of the top surface plate. The drone has: a chemical tank 104 for storing a chemical that can be sprayed; and chemical nozzles 103-1, 103-2, 103-3, and 103-4 which communicate with the chemical tank and discharge the chemical, wherein the waste liquid groove may be formed along the positions of the chemical nozzles in a state in which the drone is placed on the top surface plate, and guide the chemical to be discharged from the chemical nozzles.
[Problem] Through cooperative operation of a drone and a movable body which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed, high safety can be maintained even when the drone performs autonomous flying. [Solution] A drone system 500 operates through cooperation between a drone 100 and a movable body 406a which is movable with the drone loaded thereon and at which takeoff and landing of the drone is allowed. The movable body is provided with: an arrival/departure region 82 which has the drone loaded thereon and which serves as an arrival/departure point 406 for allowing takeoff and landing of the drone; a movement control unit 30 which is able to move the movable body along with the drone loaded on the movable body; and a movable body transmission unit 31 for transmitting information about the movable body. The drone is provided with a flight control unit 21 for flying the drone and a drone reception unit 20 for receiving information about the movable body. The drone transmits to the movable body the position of the arrival/departure point when the drone is to take off.
[Problem] To achieve coordinated operation of a drone and a moving body which can move with the drone loaded thereon and from which the drone can take off and land, and to maintain a high degree of safety even when the drone flies autonomously. [Solution] This moving body 406a, which can move with a drone 100 loaded thereon, is provided with a loading platform 82 which is arranged on the rear section in the direction of travel, a passenger seat 81 which is arranged in the front section in the direction of travel, and a top plate 824 which is provided on the loading platform and from which the drone takes off and lands; on the top surface of the top plate, light-emitting bodies 850a, 850b are arranged in positions that surround the approximate center of the top plate, and, by a portion thereof lighting up, the light-emitting bodies display the flight direction of the drone after take-off or the approach direction of the drone during landing.
[Problem] To provide a system in which a drone and a moving body that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together, and a high degree of safety can be maintained even when the drone flies autonomously. [Solution] Provided is a drone system 500 in which a drone 100 and a moving body 406a that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together. The moving body, on which a drone is loaded, comprises: a takeoff/landing area 82 serving as a takeoff/landing point 406 where the drone takes off or lands; a movement control unit 30 that can cause the moving body to move together with the drone loaded thereon; and a moving body transmission unit 31 that transmits information of the moving body. The drone comprises a flight control unit 21 that causes the drone to fly, and a drone reception unit 20 that receives the information of the moving body. The flight control unit determines the position at which the drone should land on the basis of the information of the moving body received by the drone reception unit.
[Problem] To provide a system in which a drone and a moving body that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together, and a high degree of safety can be maintained even when the drone flies autonomously. [Solution] Provided is a drone system 500 in which a drone 100 and a moving body 406a that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together. The moving body includes a surrounding environment acquisition unit 311d that acquires information relating to a surrounding environment in which the drone, when attempting to land at a take-off and landing site 406, could be obstructed. The drone acquires the information from the surrounding environment acquisition unit and on the basis of the information, determines if landing is possible or not.
[Problem] The present invention addresses the problem of enabling a drone to operate in cooperation with a mobile unit that is mobile with the drone mounted thereon and that allows the drone to land thereon and to take off therefrom, in such a manner that high safety can be maintained even when the drone flies autonomously. [Solution] The present invention provides a drone system 500 in which a drone 100 operates in cooperation with a mobile unit 406a that is mobile with the drone mounted thereon and that allows the drone to land thereon and to take off therefrom. The mobile unit is provided with: a landing and takeoff region 82 in which the drone is mounted and that serves as a landing and takeoff point 406 where the drone performs landing and takeoff; a movement control unit 30 that is capable of moving the mobile unit together with the drone mounted on the mobile unit; and a mobile-unit transmission unit 31 that transmits information concerning the mobile unit. The drone is provided with: a flight control unit 21 that causes the drone to fly; and a drone reception unit 20 that receives the information concerning the mobile unit. The flight control unit determines a position at which the drone is to land on the basis of the information concerning the mobile unit, received by the drone reception unit.
[Problem] To provide a system in which a drone and a moving body that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together, and a high degree of safety can be maintained even when the drone flies autonomously. [Solution] Provided is a drone system 500 in which a drone 100 and a moving body 406a that can move with the drone loaded thereon and that enables the drone to take off therefrom and land thereon operate together. The moving body is provided with a system state acquisition unit 325 that acquires malfunction-state information of the moving body. When the system state acquisition unit has determined that the malfunction-state information indicates a malfunction necessitating the return of the drone, the drone returns to the moving body.
[Problem] To obtain a work planning device which, on the basis of a proposed travel route along which a mobile device moves, can estimate, in advance, a plan to replenish a resource and notify a user of the same. [Solution] A work planning device (20) comprising: consumption amount estimating units (211, 221) which estimate a consumption amount for a resource over a proposed travel route (403r) for a mobile device (100) that moves while reducing the resource held therein; resource amount acquiring units (212, 222) which acquire the amount of the resource being held therein; and, a travel route dividing unit (213) which, on the basis of the consumption amount and the amount of the resource being held, divides the proposed travel route (403r) by means of generating work interruption points (31, 32) where work is interrupted on the proposed travel route (403r) in order to replenish the mobile device (100) with the resource.
[Problem] To generate thrust efficiently by using the wind force of air flow blown upward in a drone having rotary wings. [Solution] A drone 100 is provided with: a body 110; a plurality of rotary wings 101 arranged around the body; and flow rectifying plates 21, 22 each guiding air flow that is generated by the rotary wings and flows upward from below the body, to a position where the air flow is taken in by the rotary wings. At least portions of the flow rectifying plates may be arranged between the body and the rotary wings, and may guide the air flow that is generated between the body and the rotary wings and flows upward from below, to the position where the air flow is taken in by the rotary wings.
[Problem] To generate downwash with a stronger wind force in a drone having rotary wings. [Solution] A drone 100 is provided with a body 110 and a plurality of rotary wings 101 arranged around the body so as to form a plurality of pairs each disposed vertically, and the drone 100 moves through generating thrust with downwash generated downward of lower-side rotary wings 101-1b, 101-2b, 101-3b, 101-4b. Upper-side rotary wings 101-1a, 101-2a, 101-3a, 101-4a and the lower-side rotary wings rotate in directions opposite to each other. The diameters of the lower-side rotary wings are smaller than the diameters of the upper-side rotary wings.
[Problem] To generate a travel route on which a moving apparatus can move efficiently. [Solution] A travel route generating system 1000, which is provided with a route-generating unit 40 that generates a travel route for a moving apparatus 100 to move in a target area 80i on the basis of information acquired on the target area. The route-generating unit travels back and forth multiple times within the target area and generates reciprocating routes 71r-75r, which run so that adjacent reciprocating routes or adjacent outgoing routes and return routes diverge or converge with respect to each other from the outgoing route origin-side to the outgoing route terminus-side. The route-generating unit may also comprise: a peripheral route-generating section 41 for generating a circling travel route 811r for circling a ring-shaped peripheral area 811i that forms the outer margin of a regularly shaped area 81i; and an inner route-generating section 42 that travels back and forth multiple times within an inner area 812i on the inside of a peripheral area and generates reciprocating travel routes 812r that run back and forth so that adjacent reciprocating routes or adjacent outgoing routes and return routes diverge or converge with respect to each other from the outgoing route origin-side to the outgoing route terminus-side.
[Problem] To efficiently move a drone, of which the weight can change during flight, while maintaining a high level of safety, even during autonomous operation. [Solution] A drone that has a flight control unit 223 capable of controlling an exerted thrust and can fly having been loaded with a load object 104, said drone comprising: a weight estimation unit 211 that can estimate a weight that at least includes the load weight of the load object, and a control mode setting unit 222 that sets a control mode in which the flight control unit controls the exerted thrust, on the basis of the estimated weight.
[Problem] To provide a drone that operates using a fuel cell as a power source and can remain highly safe even during autonomous flight. [Solution] The present invention comprises: a flight control unit 21 that generates thrust by operating a propulsion device 101 that generates airflow; a fuel cell power supply 502 capable of supplying power to the flight control unit; an openable/closable reaction gas outlet 616 for discharging reaction gas to the outside of the fuel cell power supply; and a reaction gas outlet control unit 300 that controls the opening and closing of the reaction gas outlet according to the operating state of the propulsion unit.
The present invention addresses the problem of generating operation routes that make it possible to efficiently perform movement control by autonomous operation between a departure/arrival point for a mobile device and a prescribed point in a work area. This operation route generation system (1000): generates an operation route for a drone (100) that is to depart/arrive from/to a departure/arrival point that is outside a target area (80) and move within the target area; and comprises an in-area route generation part (40) that generates an in-area operation route (80r) for within the target area on the basis of coordinate information acquired for the target area; a departure/arrival route generation part (61) that generates a departure/arrival route (41r) that connects the departure/arrival point and a prescribed connection point (P1) on the in-area operation route; and an interruption point storage part (612) that stores the coordinates of points at which the travel of the drone along the in-area operation route is interrupted.
[Problem] To provide an operation route generation device that generates operation routes that make a drone perform prescribed work as intended and that produce the results of the work throughout the entirety of a field, even when the drone is operating autonomously. [Solution] An operation route generation device 1 that: generates an operation route for a drone 100 that is to fly over a field 80; and comprises a route generation part 40 that generates at least a principal scanning route 812r for making the drone scan the field by moving reciprocally over the field while also moving sequentially in a direction that is different from the direction of reciprocation and auxiliary scanning routes 814r, 815r for making the drone continue to scan in the direction that is different from the direction of reciprocation of the principal scanning route in turnback areas of the principal scanning route in which the drone switches from outward routes to return routes.
[Problem] To generate operation routes that make it possible to achieve efficient movement and maintain a high level of safety, even in cases of autonomous operation. [Solution] An operation route generation system that: generates an operation route for a mobile device 100 for within a target area 80; and comprises a target area information acquisition part 10 and a movement area generation part 20. The target area information acquisition part acquires a plurality of measurement point coordinates for edges of the target area. The movement area generation part determines whether the measurement point coordinates are suitable. When any of the measurement point coordinates have been determined to be unsuitable, the movement area generation part does not generate a movement area or does not use the measurement point coordinates that were determined to be unsuitable to generate the movement area. When the measurement point coordinates have been determined to be suitable, the movement area generation part generates the movement area on the basis of the measurement point coordinates. The movement area is an area in which the mobile device can move.
[Problem] To provide a cultivated field image analysis method and program with which a high-precision crop growing analysis can be carried out. [Solution] An image of a crop in a cultivated field is captured by a drone which flies over the cultivated field. An accurate cultivated field image analysis is made possible by: the conditions of the sunlight at the time when the image is captured being recorded together with cultivated field image information, said conditions of the sunlight including whether the sunlight is backlight or front light (transmitted light or reflected light), what the proportion is of direct light to skylight, and the position and direction of the sun; and when the analysis is carried out, correcting an acquired image on the basis of the conditions of the sunlight at the time when the image is captured. The image analysis may be carried out while the drone is in flight.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
G01N 21/27 - Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection
[Problem] To provide a driving route generating device that generates a driving route for moving efficiently even during autonomous driving, and that can maintain a high level of safety. [Solution] This driving route generating device 1 comprises: an entry prohibited area determining unit 21 that determines entry prohibited areas 81b to 85b of obstacles and the obstacle periphery based on the coordinate information of obstacles 81b to 85b; and a movement permitted area determining unit 22 that determines a movement permitted area 80i in which moving by a moving device 100 is possible inside a target area while ensuring safety, by excluding the entry prohibited area from a target area 80 to be acquired.
[Problem] To provide a drone system that operates using fuel cell for power and that can maintain high safety even when performing autonomous flying. [Solution] In a drone system 500, a control unit 20 mounted to a drone 100 and a fuel cell power supply device 502 capable of supplying electric power to the control unit are operated in a cooperative manner. The control unit is provided with: a flight control unit 21; a target value transmission unit 23b that transmits a power generation target value to the fuel cell power supply device; a possible output value reception unit 22a that receives a possible output value of the fuel cell power supply device; a power generation amount reception unit 22c that receives the power generation amount of the fuel cell power supply device; and a fuel cell control unit 24 that controls the power generation amount on the basis of the power generation target value. The fuel cell power supply device is provided with: a fuel cell 50; a reaction gas supply unit 54 that supplies a reaction gas to the fuel cell; a possible output value transmission unit 53a that detects the operation status of the fuel cell and transmits the possible output value to the control unit; and a power generation amount transmission unit 53c that transmits the power generation amount to the power generation amount reception unit.
[Problem] To provide a work management system for easily recording and managing the progress state of a work process. [Solution] This work management system 1 is for managing work having a plurality of steps and has a terminal 407 wearable by a worker and a work management device 405 which are connected through a network (NW). The terminal is provided with a behavior measurement unit 20 that measures an index indicating the behavior of the worker, and a transmission unit 23 that transmits the measured index indicating the behavior of the worker to the work management device. The work management device is provided with: an acquisition unit 41 that receives the index indicating the behavior of the worker transmitted from the terminal; a work content processing unit 42 that determines the progress of work by the worker on the basis of information acquired by the acquisition unit; and a work prediction unit 44 that predicts a next step to be carried out on the basis of the progress of the work determined by the work content processing unit.
[Problem] To provide a drone that can maintain high safety even during autonomous flying. [Solution] This drone is provided with: a body 110; rotors 101 that are respectively arranged at least in the front and rear of the body in an advancing direction; and propellers 102 that are connected to the respective rotors, wherein the gravity center 100g of the drone is set before the attitude rotational angle center point 100o of the drone. The drone can be configured such that, when the drone is tilted in the advancing direction during forward flying and is flying forward at a target flying speed, the gravity center is set vertically below the attitude rotational angle center point.
[Problem] To provide a drone (unmanned flying body) that is capable of appropriately photographing plant stalk bases, leaf lateral sides, and ear tips of field crops. [Solution] The present invention has a photographing mode having an altitude and a speed at which plant stalk bases, leaf lateral sides, and ear tips can be appropriately photographed when a camera that is oriented to the rearward direction with respect to a drone traveling direction, is set on the lower part of the drone, and photographs a crop temporarily tilted by a downward air current generated by rotary wings of the drone. The mode is switchable. In order to enable photographing of a desired site, the direction of the camera and the flying speed/altitude of the drone body may be adjustable. In addition, the photographing mode may be automatically switched on the basis of the curvature, etc. of a leaf of a tilted crop.
[Problem] To provide a camera suitable for photographing a farm land using an unmanned air vehicle for growth condition analysis. [Solution] Provided is a camera which comprises a lens, a beam splitter, two pairs of bandpass filters, and an image sensor. The camera is structured such that a light beam that has passed through the lens is split by the beam splitter into two light beams and a second light beam that reach the image sensor via the respective bandpass filters. Further, the unmanned air vehicle is provided with a member for reflected light calibration which is allowed to enter the angle of view of the camera at all times, thereby making it possible to accurately measure reflected light without being affected by external conditions.
[Problem] To provide an aircraft with which it is possible to reduce vibrations of a fuselage by manipulating the arrangement position of the fuselage which is equipped with a control unit required by an aircraft. [Solution] The present invention has: a plurality of propeller drive motors 102-1a to 102-4b that individually rotationally drive a plurality of propellers 101-1a to 101-4b; and a frame that is formed by connecting a plurality of support arms 10, 11, 12, 20, 21, 22 that support the plurality of propeller drive motors. The plurality of support arms support the propeller drive motors at the respective leading ends and have upper support arms and lower support arms. A three-dimensional space is defined by the upper support arms and the lower support arms inside a space surrounded by the plurality of propellers. A fuselage 50 equipped with a control unit is mounted in the three-dimensional space.
[Problem] To obtain a flying body with enhanced flight attitude stability through ingenious modification of the layout of constituent parts. [Solution] This flying body includes: a plurality of propellers 101-1a to 101-4b; a plurality of propeller driving motors 102-1a to 102-4b that drive, so as to rotate, each of the plurality of propellers individually; and a frame formed by joining a plurality of support arms 10, 11, 12, 20, 21, and 22 that support the plurality of propeller driving motors. The flying body also includes a sensor for controlling the flight of the flying body. A rotation center P of the flying body for when attitude control is performed is located in an area enclosed by the plurality of propellers at a position farthest from each of the propeller driving motors, and the sensor is provided near the rotation center P.
[Problem] To provide a drone that can maintain a high level of safety even during autonomous flight. [Solution] This drone includes: a battery 502 for supplying driving power; an information acquisition unit 24 for measuring the temperature of the battery and the amount of power stored in the battery; a warming-up determination unit 25 for determining whether a warming-up operation for increasing the temperature of the battery is necessary on the basis of the values acquired by the information acquisition unit; and a warming-up unit 26 for performing the warming-up operation when the warming-up determination unit determines, while the drone is on the ground, that the warming-up operation is necessary. The warming-up unit increases the temperature of the battery through the warming-up operation by applying a load to the battery.
H01M 10/48 - Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
[Problem] To obtain a flight vehicle in which it is possible to detect looseness and play of fuselage structure components, and take evasive action when looseness or play is detected, and to avoid in advance defects occurring due to the reduction of various types of control precision. [Solution] A flight vehicle having a fuselage and a plurality of propeller drive motors 102-1a to 102-4b that are mounted on the fuselage and separately rotationally drive a plurality of propellers, the fuselage having a frame obtained by joining a plurality of support arms that support the plurality of propeller drive motors 102-1a to 102-4b, wherein a loosening sensor 530, which detects looseness or play of structure components of the fuselage including the frame, is attached to the fuselage, and the aerial vehicle takes evasive action when the loosening sensor 530 has outputted an abnormality signal.
[Problem] To provide a drone, that is, an unmanned aircraft, which is capable of maintaining a high level of safety, even in autonomous flight. [Solution] This drone system 500, in which a controller 401 and a drone 100 operate in cooperation with each other by being connected through a network NW, has a plurality of different states and by satisfying conditions set for each state, transitions to other states according to the conditions. The plurality of states include a stand-by state (S7) that can transition to a plurality of states on the basis of an operation command from a user. The drone is provided with: a battery 502 for driving the drone, and a low battery detection unit 70 that detects when the power storage state of the battery is equal to or lower than a predetermined value. The drone system transitions to the stand-by state on the basis of the detection by the low battery detection unit.
[Problem] To provide a chemical spraying system which is capable of maintaining high stability even during autonomous operation. [Solution] Provided is a chemical spraying system 500 in which a controller 401 and an agricultural machine 100 are connected through a network NW to operate in cooperation with each other. The chemical spraying system: is capable of assuming a plurality of different states; transitions to other states corresponding to conditions by satisfying the conditions provided for each state; transitions from a chemical preparation state (S3) to a standby state (S7) on the basis of detection by a chemical amount detection unit 80 in the chemical preparation state; and transitions from a chemical spraying state (S6) to the standby state on the basis of the detection by the chemical amount detection unit in the chemical spraying state.
[Problem] To provide a chemical discharge control system for ensuring effectiveness of chemical spraying. [Solution] A system 500 for controlling the discharge of a chemical and provided in an agricultural machine 100 for spraying chemicals, said system comprising: a rainfall prediction unit 24 that detects the likelihood of rain and generates a rainfall signal; and a chemical control unit 30 that controls whether or not to discharge the chemical externally and, on the basis of the rainfall signal, stops chemical spraying.
[Problem] To provide a highly safe drone. [Solution] A steering device 401 and a drone 100 that are connected to each other via a network and operate in a coordinated manner. The drone comprises: a flight control unit 23; a flight start command reception unit 51 that receives flight start commands from a user 402; a drone determination unit 53 that determines the configuration of the drone; and an external environment determination unit 54 that determines the external environment of the drone. This drone system has a plurality of mutually different states including at least a takeoff diagnosis state (S5) and moves to a different state when a condition is satisfied. The takeoff diagnosis state includes at least either: a drone determination state (S51) in which the drone determination unit determines the configuration of the drone; and an external environment determination state (S53) in which the external environment determination unit determines the external environment. If a flight start command has been received, the drone system transitions to the takeoff diagnosis state and then causes the drone to take off.
[Problem] To increase chemical spraying safety in an agricultural machine. [Solution] A system 500 for filling a chemical into a chemical tank, provided in agricultural machinery and having: a chemical tank 104; a chemical nozzle 103 that discharges objects inside the chemical tank to outside; a fluid detection unit 31 that detects when fluid refilling of the chemical tank has been completed; an air bleeding detection unit 32 that detects when an air bleeding operation has been completed; and a refilling detection unit 34 that detects when chemical refilling of the chemical tank has been completed. The system has a plurality of mutually different states and transitions to a different state corresponding to a condition. The system transitions to a spraying preparation start standby state (S4) after transitioning to at least a fluid standby state (S31), an air bleeding standby state (S32), and a chemical standby state (S34).
[Problem] To provide an aircraft wherein the need for additional components for heat radiation is eliminated by making the structure of the aircraft itself suitable for heat radiation, and a frame for the aircraft. [Solution] This aircraft has a plurality of propeller drive motors 102-1a to 102-4b that individually rotationally drive a plurality of propellers 101-1a to 101-4b and also has a frame which is formed by connecting a plurality of support arms 10, 11, 12, 20, 21, 22 for supporting the plurality of propeller drive motors; and a built-in component support 50 which comprises a heat conductor, supports a built-in component including a heat generating component, and is connected to the frame.
[Problem] To provide a highly-safe drone. [Solution] A drone system 500 that operates in mutual cooperation of a controller 401 and a drone 100 that are connected to each other via a network (NW). The drone system has a plurality of states different from one another, and the drone system satisfies a condition set for each state to thereby transit to other state corresponding to the condition. The drone comprises a first state transition determination unit 113 for determining whether or not a condition is satisfied for each of the plurality of states. The controller comprises a second state transition determination unit 413 that determines whether or not a condition is satisfied for each of the plurality of states. The first state transition determination unit and the second state transition determination unit perform determination alternatively.
[Problem] To detect a failure in advance in an agricultural machine for spraying a chemical, and use the agricultural machine safely. [Solution] This system for failure detection provided in an agricultural machine for spraying a chemical has: a pressure sensor provided in a path from a chemical tank for storing the chemical to a discharge port for the chemical; and a failure detection means that detects a failure of the agricultural machine, wherein the failure detection means acquires the variation in the discharge pressure of the chemical over time by means of a pressure sensor and detects a failure on the basis of the acquired variation in the discharge pressure of the chemical over time.
[Problem] To accurately control the ejection of chemicals and increase the safety of the ejection of the chemicals in an agricultural machine for spraying the chemicals. [Solution] This system, which is for controlling the ejection of chemicals and is provided in an agricultural machine that has a chemical tank and a chemical ejection port and sprays chemicals, has a plurality of sensors and detects the discharge amount of the chemicals by means of the sensors. The sensors may be any among: pressure sensors for measuring the ejection pressure of the chemicals; pressure sensors provided in the vicinity of a pump and measuring the ejection pressure of the chemicals ejected downstream; pump sensors for measuring the rotation speed of a rotor inside the pump; and flow sensors for measuring the flow rate of the chemicals.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/08 - Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 17/00 - Apparatus for spraying or atomising liquids or other fluent materials, not covered by any other group of this subclass
B64C 39/02 - Aircraft not otherwise provided for characterised by special use
B64D 1/16 - Dropping or releasing powdered, liquid or gaseous matter, e.g. for fire-fighting
[Problem] To prevent the leakage of chemicals in an agricultural machine for spraying the chemicals. [Solution] This chemical leak prevention system, which is provided in an agricultural machine for spraying chemicals and prevents leakage of the chemicals, has a stop valve that is normally closed and that is opened according to the discharge pressure due to the discharge of the chemicals from a chemical tank.
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