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WO2024171295A1 - Système de changement d'altitude de limite inférieure et engin volant sans pilote embarqué - Google Patents

Système de changement d'altitude de limite inférieure et engin volant sans pilote embarqué Download PDF

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Publication number
WO2024171295A1
WO2024171295A1 PCT/JP2023/004975 JP2023004975W WO2024171295A1 WO 2024171295 A1 WO2024171295 A1 WO 2024171295A1 JP 2023004975 W JP2023004975 W JP 2023004975W WO 2024171295 A1 WO2024171295 A1 WO 2024171295A1
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WO
WIPO (PCT)
Prior art keywords
lower limit
altitude
control device
limit altitude
multicopter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/004975
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English (en)
Japanese (ja)
Inventor
幸平 清野
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Kubota Corp
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Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to PCT/JP2023/004975 priority Critical patent/WO2024171295A1/fr
Priority to JP2025500462A priority patent/JPWO2024171295A1/ja
Publication of WO2024171295A1 publication Critical patent/WO2024171295A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B17/00—Apparatus for spraying or atomising liquids or other fluent materials, not covered by the preceding groups

Definitions

  • This disclosure relates to a lower limit altitude change system and an unmanned aerial vehicle.
  • Unmanned aerial vehicles are aircraft that cannot carry people due to their structure, but can fly remotely or automatically.
  • Rotary-wing unmanned aerial vehicles are unmanned aerial vehicles that obtain lift using propellers that rotate around an axis, i.e. rotors.
  • Small unmanned aerial vehicles equipped with multiple rotors are also called “drones,” “multirotors,” or “multicopters,” and are widely used for aerial photography, surveying, logistics, and pesticide spraying.
  • Patent Document 1 describes a technology that reduces the possibility of an unmanned aerial vehicle colliding with an obstacle, building, terrain, or person by setting a minimum altitude limit.
  • This disclosure provides a minimum altitude changing system that can change the minimum altitude setting depending on the type of crop or the type of agricultural work, and an unmanned aerial vehicle equipped with the minimum altitude changing system.
  • the lower limit altitude changing system of the present disclosure is a system used for a manned aircraft, and includes a control device that controls the altitude of the unmanned aircraft so that it does not fall below a lower limit altitude, and the lower limit altitude that is set when the unmanned aircraft performs agricultural work from above a farm field varies depending on at least one of the type of crop planted in the field and the content of the agricultural work.
  • the unmanned aerial vehicle of the present disclosure includes multiple rotors and the lower limit altitude change system described above.
  • FIG. 1 is a block diagram illustrating schematic examples of rotary drive devices that rotate rotors in an unmanned aerial vehicle having multiple rotors.
  • 1 is a plan view showing a schematic diagram of one basic configuration example of an unmanned aerial vehicle equipped with multiple rotors.
  • 1 is a side view showing a schematic diagram of one basic configuration example of an unmanned aerial vehicle equipped with multiple rotors.
  • FIG. 13 is a plan view showing a schematic diagram of another basic configuration example of an unmanned aerial vehicle having multiple rotors.
  • FIG. 1 is a block diagram showing an example of a basic configuration of a battery-powered multicopter.
  • FIG. 1 is a block diagram showing an example of the basic configuration of a series hybrid drive type multicopter.
  • FIG. 1 is a block diagram showing an example of a basic configuration of a parallel hybrid drive type multicopter.
  • FIG. 2 is a diagram for explaining the altitude at which a multicopter can fly.
  • FIG. 2 is a block diagram showing a configuration example of a lower limit altitude changing system.
  • FIG. 1 is a schematic diagram illustrating a multicopter performing agricultural work from above a field where root vegetables are planted.
  • FIG. 1 is a schematic diagram illustrating a multicopter performing agricultural work from above a field planted with gramineous crops.
  • FIG. 1 is a side view showing a schematic diagram of one basic configuration example of a multicopter equipped with a connecting mechanism.
  • FIG. 1 is a schematic diagram showing a multicopter performing agricultural work from above a field planted with gramineous crops.
  • 1 is a block diagram showing an example of a hardware configuration of a control device;
  • FIG. 1 is a schematic diagram showing an example in which a multicopter, an agricultural machine, a
  • Unmanned aerial vehicles with multiple rotors are equipped with a rotary drive device that rotates the rotors (hereinafter sometimes referred to as “propellers”).
  • pumps a rotary drive device that rotates the rotors
  • multicopters such unmanned aerial vehicles will be referred to as “multicopters.”
  • Figure 1A is a block diagram showing four examples of the rotary drive device 3 in this disclosure.
  • the first rotary drive device 3A shown in FIG. 1A has a plurality of electric motors (hereinafter referred to as "motors") 14 that rotate a plurality of rotors, and a battery 52 that stores power to be supplied to each motor 14.
  • the battery 52 is, for example, a secondary battery such as a polymer-type lithium-ion battery.
  • Each rotor 2 is connected to the output shaft of the corresponding motor 14 and rotated by the motor 14.
  • the storage capacity of the battery 52 can be increased by making the battery 52 larger, but making the battery 52 larger results in an increase in weight.
  • the second rotary drive device 3B shown in FIG. 1A has a power transmission system 23 mechanically connected to the rotor 2, and an internal combustion engine 7a that provides a driving force (torque) to the power transmission system 23.
  • the power transmission system 23 includes mechanical components such as gears or belts, and transmits the torque of the output shaft of the internal combustion engine 7a to the rotor 2.
  • the internal combustion engine 7a can efficiently generate mechanical energy by burning fuel. Examples of the internal combustion engine 7a may include a gasoline engine, a diesel engine, and a hydrogen engine. Furthermore, the number of internal combustion engines 7a included in the rotary drive device 3B is not limited to one.
  • the third rotary drive device 3C shown in FIG. 1A has multiple motors 14, a power buffer 9 that stores power to be supplied to each motor 14, a power generator 8 such as an alternator that generates power, and an internal combustion engine 7a that provides mechanical energy for power generation to the power generator 8.
  • a typical example of the power buffer 9 is a battery such as a secondary battery, but it may also be a capacitor.
  • the power generator 8 generates power using the driving force (mechanical energy) of the internal combustion engine 7a, making it possible to increase the payload and/or flight time.
  • This type of drive is called “series hybrid drive”.
  • the power generator 8 and internal combustion engine 7a in series hybrid drive are called “range extenders" because they extend the flight distance of the multicopter.
  • the fourth rotary drive device 3D shown in FIG. 1A has multiple motors 14, a power buffer 9 that stores power to be supplied to each motor 14, a power generation device 8 such as an alternator that generates power, an internal combustion engine 7a that provides the power generation driving force to the power generation device 8, and a power transmission system 23 that transmits the driving force generated by the internal combustion engine 7a to the rotor 2 to rotate the rotor 2. At least one of the multiple rotors 2 is rotated by the internal combustion engine 7a, and the other rotors 2 are rotated by the motor 14.
  • the mechanical energy generated by the internal combustion engine 7a can also be used to rotate the rotor 2 without being converted into electric power, which makes it possible to increase the efficiency of energy utilization. This type of drive is called a "parallel hybrid drive.”
  • FIG. 1B is a plan view that shows a schematic example of one basic configuration of a multicopter 10.
  • the configuration example of FIG. 1B includes a first rotation drive device 3A shown in FIG. 1A as the rotation drive device 3. That is, the rotation drive device 3 (3A) in this example includes a motor 14 and a battery 52.
  • FIG. 1C is a side view that shows a schematic example of a multicopter.
  • the multicopter 10 shown in Figures 1B and 1C comprises multiple rotors 2, an aircraft body 4, and an aircraft frame 5 that supports the rotors 2 and the aircraft body 4.
  • the aircraft frame 5 supports the aircraft body 4 at its center, and rotatably supports the multiple rotors 2 with multiple arms 5A extending outward from the center.
  • a motor 14 that rotates the rotors 2 is provided near the tip of each arm 5A.
  • the multicopter 10 is a quad-type multicopter (quadcopter) equipped with four rotors 2.
  • the rotors 2 located on one diagonal line rotate in the same direction (clockwise or counterclockwise), but the rotors 2 located on different diagonals rotate in the opposite direction.
  • the aircraft body 4 includes a control device 4a that controls the operation of the devices and components mounted on the multicopter 10, a group of sensors 4b connected to the control device 4a, a communication device 4c connected to the control device 4a, and a battery 52.
  • the control device 4a may include, for example, a flight control device such as a flight controller, and a higher-level computer (companion computer).
  • the companion computer can perform advanced computational processing such as image processing, obstacle detection, and obstacle avoidance based on the sensor data acquired by the sensor group 4b.
  • the sensor group 4b may include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, an air pressure sensor, an altitude sensor, a temperature sensor, a flow rate sensor, an imaging device, a laser sensor, an ultrasonic sensor, an obstacle contact sensor, and a GNSS (Global Navigation Satellite System) receiver.
  • the acceleration sensor and the angular velocity sensor may be mounted on the aircraft body 4 as components of an IMU (Inertial Measurement Unit), for example.
  • IMU Inertial Measurement Unit
  • laser sensors may include a laser range finder used to measure the distance to the ground, and a two-dimensional or three-dimensional LiDAR.
  • the communication device 4c may include a wireless communication module for transmitting and receiving signals via an antenna between a transmitter on the ground or a ground station (Ground Control Station: GCS), a mobile communication module using a cellular communication network, and the like.
  • the communication device 4c may receive signals such as control commands transmitted from the ground, and transmit sensor data such as image data acquired by the sensor group 4b as telemetry information.
  • the communication device 4c may have a function for communicating between multicopters, and a function for satellite communication.
  • the control device 4a can be connected to a computer on the cloud via the communication device 4c. Some or all of the functions of the companion computer may be executed by a computer on the cloud.
  • the battery 52 is a secondary battery that can store power by charging and supply power to the motors 14 by discharging.
  • the battery 52 and the multiple motors 14 operate to rotate the multiple rotors 2, making it possible to generate the desired thrust.
  • Each of the multiple rotors 2 generally has multiple blades with a fixed pitch angle, and generates thrust by rotation.
  • the pitch angle may be variable. It is not necessary for all of the multiple rotors 2 to have the same diameter (propeller diameter), and one or more rotors 2 may have a diameter larger than the other rotors 2.
  • the thrust (static thrust) generated by the rotating rotor 2 is generally proportional to the cube of the diameter of the rotor 2. For this reason, when rotors 2 with different diameters are provided, the rotor 2 with a relatively large diameter may be referred to as the "main rotor" and the rotor 2 with a relatively small diameter may be referred to as the "sub rotor".
  • the configuration of the rotation drive device 3 may include a rotor 2 with a relatively large thrust that can be generated and a rotor 2 with a relatively small thrust.
  • the rotor 2 with a relatively large thrust that can be generated may be referred to as the "main rotor” and the rotor 2 with a relatively small thrust may be referred to as the "sub rotor”.
  • the rotor 2 that generates a relatively large thrust per rotation may be called the "main rotor”
  • the rotor 2 that generates a relatively small thrust per rotation may be called the "sub-rotor.”
  • the main rotor may be positioned more inward than the sub-rotor.
  • each rotor 2 may be positioned so that the distance from the center of the aircraft to the rotation axis of each main rotor is shorter than the distance from the center of the aircraft to the rotation axis of each sub-rotor.
  • the rotary drive device 3 has multiple motors 14.
  • the rotary drive device 3 may include an internal combustion engine 7a.
  • FIG. 1D is a plan view showing a basic configuration example of a multicopter 10 having a second rotation drive device 3B as the rotation drive device 3.
  • an internal combustion engine 7a is supported by the aircraft body 4.
  • the driving force generated by the internal combustion engine 7a is transmitted to multiple rotors 2 by multiple power transmission systems 23, rotating each rotor 2.
  • the control device 4a can change the rotation speed of each rotor 2 by controlling each power transmission system 23.
  • the diameter of one or more rotors 2 rotated by the internal combustion engine 7a may be made larger than the diameter of the other rotors 2 rotated by the motor 14.
  • the internal combustion engine 7a may be used to rotate the main rotor, and the motor 14 may be used to rotate the sub-rotor.
  • the main rotor is primarily used to generate thrust, and the sub-rotor is used to generate thrust and control attitude.
  • the main rotor may be called the "booster rotor" and the sub-rotor may be called the "attitude control rotor.”
  • the internal combustion engine 7a is used for both thrust generation and power generation.
  • the driving force (torque) generated by the internal combustion engine to one or both of the rotor and the power generation device, it is possible to achieve a good balance between thrust generation and power generation.
  • Equipping a multicopter with an internal combustion engine 7a and using the internal combustion engine 7a to generate thrust and/or electricity contributes to an increase in payload and flight time. It is desirable to control the attitude of a multicopter by rotating the propellers with a motor, which has better response characteristics than an internal combustion engine. For this reason, in applications where the attitude of the multicopter needs to be precisely controlled, it is desirable to employ a parallel hybrid drive or series hybrid drive in order to increase the payload and flight time.
  • multicopters are currently being used for spraying pesticides or monitoring crop growth conditions, but by connecting a variety of ground working machines (hereinafter sometimes simply referred to as "working machines") to a multicopter, it becomes possible to perform various agricultural tasks from the air.
  • Working machines for agricultural use are sometimes called "implements.” Examples of working machines may include sprayers that spray pesticides on crops, mowers, seeders, spreaders, rakes, balers, harvesters, plows, harrows, or rotary machines.
  • Work vehicles such as tractors are not included in the "working machines” in this disclosure.
  • the multicopter 10 is connected to a working machine 200 that can, for example, spray pesticides or fertilizers on a field or crops in the field.
  • a working machine 200 that can, for example, spray pesticides or fertilizers on a field or crops in the field.
  • ground tasks agricultural tasks
  • the working machine 200 may be equipped with a mechanism such as a robot hand. In that case, one working machine 200 can perform a variety of ground tasks.
  • the working machine 200 has a space large enough to accommodate materials, such a working machine 200 can also transport agricultural materials or harvested products over a wide area.
  • the multicopter 10 is equipped with a power supply device 76.
  • the power supply device 76 is a device that supplies power to the work machine 200 from a driving energy source such as the battery 52 or the power generation device 8 equipped in the multicopter 10. Various functions of the work machine 200 can be performed by this power.
  • the work machine 200 is equipped with actuators such as motors that operate with power obtained from the power supply device 76 of the multicopter 10. It is preferable that the work machine 200 is equipped with a battery that stores power.
  • the battery-powered multicopter 10 includes a plurality of rotors 12, a plurality of motors 14 for rotating the rotors 12, a plurality of ESCs (Electric Speed Controllers) 16 each having a motor drive circuit for driving the motors 14, a battery 52 for supplying power to the corresponding motors 14 via each ESC 16, a control device 4a for controlling the ESCs 16 to fly while controlling the attitude, a sensor group 4b, a communication device 4c, and a power supply device 76 electrically connected to the battery 52.
  • the rotor 12 is an example of a rotor 2.
  • the control device 4a, the sensor group 4b, the communication device 4c, and other devices are connected to each other so that they can communicate with each other via, for example, a CAN (Controller Area Network) bus.
  • CAN Controller Area Network
  • FIG. 2A for simplicity, the rotor 12, the motor 14, and the ESC 16 are each shown as one block, but the number of the rotor 12, the motor 14, and the ESC 16 is multiple. This is also true for FIG. 2B and FIG. 2C.
  • the control device 4a can receive control commands wirelessly, for example, from a ground station 6 on the ground, via the communication device 4c.
  • the number of ground stations 6 is not limited to one, and they may be distributed in multiple locations.
  • the communication device 4c can also receive control commands wirelessly from a control device of a pilot on the ground.
  • the control device 4a can have the function of automatically or autonomously executing each of the operations of takeoff, flight, obstacle avoidance, and landing based on the sensor data obtained from the sensor group 4b.
  • the control device 4a may be configured to communicate with the work machine 200 connected to the power supply device 76 and to acquire a signal indicating the state of the work machine 200 from the work machine 200.
  • the control device 4a may also provide a signal to the work machine 200 that controls the operation of the work machine 200.
  • the work machine 200 may generate a signal that instructs the operation of the multicopter 10 and transmit it to the control device 4a.
  • Such communication between the control device 4a and the work machine 200 may be performed wired or wirelessly.
  • the series hybrid drive type multicopter 10 like the battery drive type multicopter 10, includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, and a communication device 4c.
  • the illustrated series hybrid drive type multicopter 10 further includes an internal combustion engine 7a, a fuel tank 7b that stores fuel for the internal combustion engine 7a, a power generation device 8 that is driven by the internal combustion engine 7a to generate electric power, a power buffer 9 that temporarily stores the electric power generated by the power generation device 8, and a power supply device 76 that is electrically connected to the power buffer 9.
  • the power buffer 9 is, for example, a battery such as a secondary battery.
  • the electric power generated by the power generation device 8 is supplied to the motor 14 via the power buffer 9 and the ESC 16.
  • the electric power generated by the power generation device 8 can also be supplied to the work machine 200 via the power supply device 76.
  • FIG. 2C is a block diagram showing an example of the basic configuration of a parallel hybrid drive type multicopter 10.
  • the parallel hybrid drive type multicopter 10 like the series hybrid drive type multicopter 10, includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, a communication device 4c, an internal combustion engine 7a, a fuel tank 7b, a power generation device 8, a power buffer 9, and a power supply device 76.
  • the parallel hybrid drive type multicopter 10 further includes a drive train 27 that transmits the driving force of the internal combustion engine 7a, and a rotor 22 that receives the driving force of the internal combustion engine 7a from the drive train 27 and rotates.
  • the rotor 22 is an example of a rotor 2.
  • the rotor 22 that is connected to the drive train 27 and rotates may be one or more.
  • the internal combustion engine 7a In a parallel hybrid drive type multicopter 10, the internal combustion engine 7a not only drives the power generation device 8 to generate electricity, but also mechanically transmits energy to the rotor 22 to rotate the rotor 22. On the other hand, in a series hybrid drive type multicopter 10, all of the rotors 12 rotate using the electricity generated by the power generation device 8. For this reason, in a series hybrid drive type multicopter 10, if the power generation device 8 is, for example, a fuel cell, the internal combustion engine 7a is not an essential component.
  • the lower limit altitude changing system is particularly suitable for use with a multicopter capable of performing agricultural work from above a field, and is capable of adaptively changing the lower limit altitude according to at least one of the type of crop planted in the field and the content of the agricultural work.
  • the control device provided in the lower limit altitude changing system is configured to control the altitude of the multicopter so that it does not fall below the lower limit altitude. This reduces, for example, contact of the multicopter (e.g., rotor) with crops or the impact of downwash of the multicopter on crops, making it possible to safely perform agricultural work from above a field.
  • FIG. 3 is a diagram for explaining the altitude at which the multicopter 10 can fly.
  • the altitude of the multicopter 10 according to the embodiment of the present disclosure is the altitude relative to the ground 90, i.e., the absolute altitude (or altitude above ground).
  • the absolute altitude corresponds to the height or distance from the ground 90 to the multicopter 10.
  • the range of altitudes at which the multicopter 10 can fly is defined by an upper limit altitude 95U indicating the upper limit of the flight altitude, and a lower limit altitude 95L indicating the lower limit of the flight altitude.
  • the multicopter 10 can fly in the range between the upper limit altitude 95 and the lower limit altitude 95L.
  • a different altitude may be set as the lower limit altitude 95L depending on the area in which the multicopter 10 flies. As illustrated in FIG. 3, the lower limit altitude 95L is set to be higher when the multicopter 10 flies above the field outside the field than above the field. In other words, the lower limit altitude 95L set when flying above the field is lower than the lower limit altitude 95L set when flying above the field outside the field. Assuming that there is limited access for people and agricultural machinery such as tractors to the field and that there are no obstacles, the lower limit altitude 95L when flying above the field can be set relatively low.
  • the lower limit altitude 95L during flight outside the field can be determined taking into consideration the height of features such as buildings, roads, and bridges outside the field, or general vehicles such as passenger cars, trucks, and buses traveling on roads, or work vehicles such as agricultural machinery (hereinafter, these are collectively referred to as "obstacles"). It is preferable to set the lower limit altitude 95L during flight outside the field relatively high. In this way, by setting the lower limit altitude 95L set during flight outside the field relatively high, it is possible to reduce the possibility of the multicopter (e.g., rotor) contacting or colliding with obstacles outside the field.
  • the upper limit altitude 95U is set uniformly regardless of the flight area. However, similar to the lower limit altitude 95L, a different altitude may be set as the upper limit altitude 95U depending on the flight area.
  • FIG. 4 is a block diagram showing an example configuration of a lower limit altitude changing system 100.
  • the lower limit altitude changing system (hereinafter simply referred to as "system") 100 includes a control device 4a, a communication device 4c, an altitude measuring device 81, a positioning device 82, and a sensing device 83.
  • the system 100 may further include a warning device 89 and/or a sound sensor 84.
  • the altitude measuring device 81, the positioning device 82, the sensing device 83, and the sound sensor 84 are included in the sensor group 4b.
  • Each device and each sensor included in the system 100 is connected so as to be able to communicate with each other, for example, via a CAN bus.
  • the system 100 can be mounted on various types of multicopters as described above.
  • the multicopters are not limited to quad-type multicopters, but can be, for example, hexa-type multicopters (hexacopters) with six rotors, or octo-type multicopters (octocopters) with eight rotors.
  • the altitude measuring device 81 is a device for measuring absolute altitude.
  • the altitude measuring device 81 includes, for example, an air pressure sensor and/or a GNSS receiver.
  • the altitude indicated by the sensor data output from the air pressure sensor and the GNSS receiver may be the height from the mean sea level (geoid) or the surface of the Earth ellipsoid to a measurement point in the air.
  • the control device 4a in the embodiment of the present disclosure may execute a process of converting the altitude indicated by the sensor data output from the air pressure sensor or the GNSS receiver into an absolute altitude.
  • the altitude measuring device 81 may include a distance measuring sensor such as a laser range finder or a two-dimensional or three-dimensional laser sensor such as LiDAR.
  • the altitude measuring device 81 may estimate the absolute altitude based on the height from the ground to the measurement point acquired by the distance measuring sensor.
  • the altitude measuring device 81 may include the imaging device (camera) described above.
  • the altitude measuring device 81 is capable of estimating the absolute altitude by analyzing the image acquired by the imaging device using any known method.
  • the positioning device 82 includes, for example, a GNSS receiver, an RTK (Real Time Kinematic) receiver, a GNSS receiver, and an IMU.
  • the positioning device 82 is capable of positioning the multicopter using RTK-GNSS.
  • RTK-GNSS Real Time Kinematic
  • Position information including information on the latitude, longitude, and altitude of the measurement point is obtained by high-precision positioning using RTK-GNSS.
  • the sensing device 83 examples include an imaging device and a two-dimensional or three-dimensional LiDAR.
  • the sensing device 83 may sense the field environment, acquire sensor data, and generate a remote sensing image from the sensor data.
  • An example of a remote sensing image is an aerial image such as an aerial photograph.
  • the sensing device 83 is an imaging device, and the remote sensing image is a camera image.
  • the sensing device 83 may also be a LiDAR.
  • the remote sensing image in this case is an image obtained by visualizing the LiDAR point cloud data.
  • the minimum altitude set when the multicopter performs agricultural work from above a farm field varies depending on at least one of the type of crop planted in the field and the content of the agricultural work.
  • the type of crop may include a first type in which the edible parts grow underground, and a second type in which the edible parts grow above ground.
  • An example of the first type includes root vegetables.
  • Examples of the second type include leafy stem vegetables, fruit vegetables, fruit vegetables, and grass crops.
  • the minimum altitude may be changed for the same crop depending on the growing period of the crop.
  • FIG. 5 is a schematic diagram illustrating a multicopter 10 performing agricultural work from above a field where root vegetables are planted.
  • FIG. 6 is a schematic diagram illustrating a multicopter 10 performing agricultural work from above a field where grass crops are planted.
  • the lower limit altitude 95L when the type of crop is classified as the first type, the lower limit altitude 95L is set relatively low, and when the type of crop is classified as the second type, the lower limit altitude 95L is set relatively high. In this way, the lower limit altitude 95L set when the type of crop is classified as the first type is lower than the lower limit altitude set when the type of crop is classified as the second type.
  • the lower limit altitude 95L set when performing agricultural work from the sky above a field planted with root vegetables is lower than the lower limit altitude 95L set when performing agricultural work from the sky above a field planted with gramineous crops.
  • the height ha (corresponding to the lower limit altitude 95L) from the ground 90 to the multicopter 10 shown in FIG.
  • the lower limit altitude in this way can, for example, reduce contact of the multicopter 10 (e.g., rotor) with crops (especially edible parts) or damage that downwash from the multicopter 10 can cause to crops (especially edible parts).
  • the lower limit altitude in cases where there are people and/or agricultural machinery performing agricultural work in the field is set within a range in which the multicopter will not come into contact with or collide with the people or agricultural machinery.
  • the control device 4a may process the sensor data output from the sensing device 83 to identify the type of crop planted in the field and change the minimum altitude setting according to the identified type of crop.
  • the control device 4a may, for example, use an image recognition algorithm based on deep learning to extract features of the subject contained in the remote sensing image indicated by the sensor data and identify the type of crop based on the features.
  • the communication device 4c may communicate with a server that generates a work plan for agricultural work.
  • the control device 4a may identify the type of crop planted in the field from the work plan data acquired from the server via the communication device 4c, and change the setting of the minimum altitude according to the identified type of crop.
  • a "work plan" is data that schedules one or more agricultural works to be performed from the air by the multicopter.
  • the work plan may include, for example, information indicating the content, sequence, and type of crop of the agricultural works to be performed by the multicopter, and the field on which each agricultural work will be performed.
  • the work plan may also include information on the date and time that each agricultural work is scheduled to be performed.
  • the work plan may be downloaded by the multicopter and stored in the storage device. The multicopter can perform the scheduled agricultural work according to the work plan.
  • the system 100 may include a storage device that stores a table (look-up table: LUT) that associates the type of crop with the minimum altitude.
  • the control device 4a may refer to the table to change the setting of the minimum altitude. In other words, the control device 4a may refer to the table to set the minimum altitude according to the identified type of crop.
  • control device 4a changes the lower limit altitude setting according to the type of crop identified, but the present disclosure is not limited to this.
  • the control device 4a may change the lower limit altitude setting according to the content of the identified agricultural work.
  • the control device 4a may change the lower limit altitude setting according to the type of crop identified and the content of the agricultural work.
  • the control device 4a can identify the content of the agricultural work, for example, from work plan data.
  • the content of the agricultural work is various ground work including liquid application of chemicals, granular application of chemicals, fertilization, thinning, weeding, transplanting, direct sowing of seeds, and harvesting, as described above.
  • control device 4a may set the lower limit altitude relatively high, and if the agricultural work is weeding, transplanting, or harvesting, the control device 4a may set the lower limit altitude relatively low.
  • the lower limit altitude set when agricultural work is performed from the sky over a field planted with root vegetables is LA1
  • the lower limit altitude set when agricultural work is performed from the sky over a field planted with cereal crops is LA2
  • the lower limit altitude set when flying over the sky outside the field is LA3.
  • the control device 4a sets the lower limit altitude LA3 higher than the lower limit altitudes L1 or L2, and sets the lower limit altitude L2 higher than the lower limit altitude LA1.
  • the multicopter in the embodiment of the present disclosure can fly in automatic and manual control modes.
  • the manual control mode is a control mode in which the pilot remotely controls the multicopter using a control device.
  • the automatic control mode is a control mode in which the control device 4a automatically performs the operations of takeoff, flight, obstacle avoidance, and landing based on sensor data obtained from the sensor group 4b.
  • the "control device” is a device with a communication function located away from the multicopter.
  • the control device may be, for example, a remote control device used by a pilot to remotely control the multicopter.
  • the remote control device may include a device with a signal transmission function, such as a personal computer (PC), a laptop computer, a tablet computer, a smartphone, or a remote controller.
  • the control device may include a display device or may be connected to a display device.
  • the display device can display an image (or video) that visualizes the situation around the multicopter based on sensor data output from a sensing device such as a camera or LiDAR sensor equipped on the multicopter.
  • the pilot can grasp the situation around the multicopter while looking at the displayed image, and can remotely control (manually control) the multicopter by operating the remote control device as necessary.
  • the control device 4a can control the altitude of the multicopter so that it does not fall below the lower limit altitude while receiving a descent command transmitted from the pilot's control device. Communication between the control device 4a and the control device is performed via the communication device 4c. Even if the pilot attempts to use the control device to descend the multicopter to an altitude lower than the lower limit altitude, the control device 4a does not respond to the descent command transmitted from the control device, and controls the altitude of the multicopter so that it does not fall below the lower limit altitude. For example, the control device 4a can control the multicopter to hover at the lower limit altitude.
  • the control device 4a can control the altitude of the multicopter not to fall below the lower limit altitude even if a landing command transmitted from the control device is received. In this way, the control device 4a does not respond to the landing command from the control device, and thus the landing of the multicopter is not permitted in the manual control mode.
  • the control device 4a can switch the control mode from the manual control mode to the autopilot mode only in response to a landing command transmitted from the control device of a person who has the authority to land the multicopter. After switching to the autopilot mode, the landing of the multicopter may be permitted. In this way, by setting a lower limit altitude and generally prohibiting landing by manual control, collisions or damage to the aircraft due to piloting or judgment errors can be prevented, and safety during landing can be ensured.
  • the system 100 in an embodiment of the present disclosure may include a warning device 89 that issues a warning when a descent command to descend the multicopter to an altitude lower than the lower limit altitude is received from the control device when the manual control mode is set.
  • the warning device 89 are a buzzer that emits a warning sound, or an optical device such as an LED (Light Emitting Diode) lamp.
  • the warning issued by the warning device 89 can, for example, prompt the pilot to perform an operation to raise the multicopter, or to change the control mode from the manual control mode to the automatic control mode.
  • the control device 4a may cause the multicopter to perform a landing operation in response to a landing command regardless of the set lower limit altitude.
  • the control device 4a can perform advanced arithmetic processing such as image processing, obstacle detection, and obstacle avoidance based on the sensor data acquired by the sensor group 4b.
  • the control device 4a may determine whether or not the multicopter can land based on the results of these arithmetic processing. For example, if there is no obstacle below the multicopter, the control device 4a may determine that the multicopter can land and cause the multicopter to perform a landing operation.
  • This landing determination process may be performed only when the autopilot mode is set.
  • the control device 4a receives a landing command from the control device while the manual control mode is set, it is preferable to change the control mode from the manual control mode to the autopilot mode and cause the multicopter to perform a landing operation after the change.
  • control device 4a executes the landing operation only when the autopilot mode is set, safety during landing can be ensured. This also has the effect of eliminating the pilot's anxiety that the multicopter will come into contact with or collide with an obstacle.
  • the control device 4a may refer to the table and set the lower limit altitude corresponding to the position information acquired by the positioning device 82.
  • the table describes the position information of the map and the lower limit altitude linked to the position information of the map. In this way, the position information of each point on the map can be linked to the lower limit altitude.
  • the position information of the map is position information including latitude and longitude included in the geographic information.
  • the position information may further include information such as altitude.
  • the data of the table may be stored in the storage device in a state where the position information of each point on the map is linked to the lower limit altitude that will be set when flying above each point.
  • the control device 4a may refer to the table and determine the lower limit altitude linked to the point on the map corresponding to the position information acquired by the positioning device 82. By setting the lower limit altitude for each point by linking it to the position information, it is possible to achieve both improved work efficiency and ensuring safety.
  • the control device 4a may cause the multicopter to perform a landing operation in response to a landing command transmitted from the control device.
  • the map may include a point where there is no lower limit altitude linked to the map's position information, or a point where the lower limit altitude linked is zero. In this case, a relationship is established in which the lower limit altitude is less than the threshold.
  • the control device 4a may cause the multicopter to perform a landing operation in response to a landing command transmitted from the control device.
  • the multicopter in the embodiment of the present disclosure is capable of performing agricultural work from above a field with a work machine or load suspended from a work cable.
  • cables, wires, wire ropes, ropes, etc. are collectively referred to as "work cables.”
  • FIG. 7 is a side view showing a schematic diagram of one basic configuration example of a multicopter 10 equipped with a coupling mechanism.
  • FIG. 7 shows a work machine 200 coupled to the multicopter 10.
  • luggage, agricultural materials, other machinery, or containers, cases, or packages capable of housing them may be coupled to the multicopter 10.
  • the weight of the work machine 200 and the work machine itself may be referred to as the "payload.”
  • the "coupling" between the multicopter 10 and the work machine 200, etc., may be performed by various tools or devices.
  • the main body 4 has a power supply device 76 and an actuator 78 used for connecting the main body 4 to the work machine 200.
  • the power supply device 76 is a device that supplies power generated in the main body 4 to the work machine 200.
  • the actuator 78 is a device such as an electric motor that performs an operation for connecting the work machine 200 to the main body 4 of the multicopter 10.
  • the actuator 78 drives a mechanism (winding mechanism) that winds up and sends out a work cable 79 that connects the main body 4 to the work machine 200.
  • the winding mechanism is, for example, a hoist mechanism.
  • the work cable 79 may include a power supply line for supplying power for the work machine 200 from the multicopter 10, and a communication line for communication between the multicopter 10 and the work machine 200.
  • the winding mechanism makes it possible to adjust the length of the working cable 79.
  • the length of the working cable 79 is variable while the multicopter 10 is flying in the sky.
  • the control device 4a can be configured to change the set lower limit altitude according to the length of the working cable 79.
  • FIG. 8 is a schematic diagram showing a multicopter 10 performing agricultural work from the sky above a field planted with a cereal crop.
  • the height ha shown in FIG. 8 indicates the height from the ground 90 to the payload (working machine or load). This height ha corresponds to the lower limit altitude set when the multicopter 10 flies above the field without a payload suspended by the work cable 79.
  • the multicopter 10 performs agricultural work from the sky above the field with a payload suspended by the work cable 79, it is necessary to set the lower limit altitude at an altitude where the payload does not come into contact with the crops or where the crops are minimally affected by downwash.
  • the multicopter 10 flies above the field outside the field with a payload suspended by the work cable 79, it is necessary to set the lower limit altitude at an altitude where the payload does not come into contact with obstacles.
  • the control device 4a changes the lower limit altitude from altitude ha to altitude ha*, as shown in FIG. 8.
  • Altitude ha is the lower limit altitude before the change.
  • the control device 4a can change the lower limit altitude 95L from altitude ha to altitude ha* by adding the length of the working cable 79 to altitude ha.
  • the control device 4a may limit the operation of adjusting the length of the work cable by the winding mechanism based on the lower limit altitude before the change. While the operator is sending a descent command to the control device 4a from the control device to lower the work cable, the control device 4a may control the payload not to descend to an altitude where it may come into contact with crops, in other words, to ensure that the height from the ground to the payload does not fall below a predetermined height. For example, the control device 4a may limit the altitude at which the payload can descend to the lower limit altitude before the change.
  • Multiple multicopters may be performing agricultural work from the sky above multiple farm fields, or multiple multicopters may be performing agricultural work from the sky above a single farm field. In such an environment, it is necessary to properly prevent collisions or contact between the multicopters. Of course, it is also necessary to properly prevent collisions or contact between multicopters and other flying objects other than multicopters (e.g. manned aircraft).
  • the system 100 may further include a sound sensor 84 for detecting a sound level, as shown in FIG. 4.
  • the control device 4a may control the multicopter not to move in the direction in which the sound was detected. This control can prevent the multicopter from approaching an object (sound source) that emits a sound level equal to or greater than a certain level, thereby avoiding the multicopter from contacting or colliding with the object.
  • the sound sensor includes, for example, a microphone and an amplifier that amplifies the sound signal collected by the microphone.
  • the sound level may be represented, for example, by a sound pressure level, an acoustic energy level, or an acoustic intensity level.
  • the sound level will be referred to as a sound pressure level.
  • the control device 4a determines that the multicopter is moving in a direction toward the sound source. On the other hand, if the sound pressure level gradually decreases, the control device 4a determines that the multicopter is moving in a direction away from the sound source. It is preferable that the control device 4a controls the multicopter not to move in the direction in which sound pressure is detected, regardless of the altitude of the multicopter.
  • Multicopters fly while emitting various sounds, such as the operating sounds of the motor and the internal combustion engine (engine), as well as wind noise caused by the rotation of the rotor.
  • the sound pressure level emitted by a multicopter during flight is considerably high and is completely different from the sound pressure level of flying sounds emitted by birds or insects. For this reason, there is no need to provide a new device as a sound source in the multicopter, since the multicopter itself acts as a sound source.
  • a data set indicating the characteristics of the frequency and sound pressure of the sound emitted by the multicopter can be generated for each type of multicopter and stored in a storage device.
  • the analysis or classification of the frequency and sound pressure characteristics of the sound can be performed based on features obtained using various algorithms by machine learning, for example. By utilizing such a data set, it is relatively easy to avoid contact or collision between multicopters based on the detected sound frequency or sound pressure level.
  • the control device 4a can estimate that the sound source is a multicopter.
  • a multicopter equipped with electrical equipment e.g., a motor
  • a noise canceling method such as active noise canceling to the processing of sound sensing by the sound sensor. This makes it possible to reduce the influence of sound emitted by the multicopter itself.
  • the noise canceling processing makes it possible to accurately measure sounds from the surrounding environment other than the aircraft itself.
  • the control device 4a can control the distance between the multicopter and the other multicopter estimated from the position information of the multicopter and the position information of the other multicopter so that it is greater than a predetermined value. Such control makes it possible to maintain a constant distance between the multicopters, thereby avoiding contact or collision between the multicopters.
  • the system 100 does not require a device for preventing collisions between multicopters, such as a traffic collision avoidance system or a sensing device such as LiDAR or sonar. This can contribute to reducing system costs or aircraft weight. Sound sensing (i.e., measuring sound pressure levels) using a sound sensor mainly prevents contact or collisions between multicopters, thereby reducing the risk of the multicopters crashing.
  • control device 4a in the embodiment of the present disclosure can be realized by a digital computer system programmed to execute each of the above-mentioned processes.
  • FIG. 9 is a block diagram showing an example of the hardware configuration of the control device 4a.
  • the control device 4a includes a processor 34, a ROM (Read Only Memory) 35, a RAM (Random Access Memory) 36, a storage device 37, and a communication I/F 38. These components are interconnected via a bus 39.
  • the bus 39 is, for example, a CAN (Controller Area Network) bus.
  • the processor 34 is a device that includes one or more semiconductor integrated circuits (e.g., processors).
  • the processor is also called a central processing unit (CPU) or a microprocessor.
  • the processor sequentially executes computer programs stored in the ROM 35 to realize the above-mentioned processing.
  • the term processor is broadly interpreted as including a field programmable gate array (FPGA), a graphic processor unit (GPU), an application specific integrated circuit (ASIC), or an application specific standard product (ASSP) equipped with a CPU.
  • FPGA field programmable gate array
  • GPU graphic processor unit
  • ASIC application specific integrated circuit
  • ASSP application specific standard product
  • ROM 35 is, for example, a writable memory (e.g., a PROM), a rewritable memory (e.g., a flash memory), or a read-only memory.
  • ROM 35 stores a program that controls the operation of the processor.
  • ROM 35 does not have to be a single recording medium, but can be a collection of multiple recording media. Part of the collection of multiple recording media may be removable memory.
  • RAM 36 provides a working area for loading the programs stored in ROM 35 at boot time.
  • RAM 36 does not have to be a single recording medium, but can be a collection of multiple recording media.
  • the communication I/F 38 is an interface for communicating between the control device 4a and other electronic components or electronic control units (ECUs).
  • the communication I/F 38 can perform wired communication conforming to various protocols.
  • the communication I/F 38 may also perform wireless communication conforming to the Bluetooth (registered trademark) standard and/or the Wi-Fi (registered trademark) standard. Both standards include wireless communication standards that utilize frequencies in the 2.4 GHz band.
  • the storage device 37 may be, for example, a semiconductor memory, a magnetic storage device, or an optical storage device, or a combination thereof.
  • the storage device 37 may store, for example, map data useful for the autonomous flight of the multicopter 10, flight path data, data for each of the tables mentioned above, and various sensor data acquired by the multicopter 10 during flight.
  • control device 4a may include, for example, a flight control device such as a flight controller and a higher-level computer (companion computer).
  • the companion computer may execute each process required for landing judgment, for example, and the companion computer may give a command regarding the landing judgment based on the result of the process to the flight controller.
  • some or all of the functions of the electrical equipment such as the control device 4a mounted on the multicopter 10 may be realized by one or more servers (computers) 500 or terminal devices (including portable and fixed types) 600 connected to the communication device 4c of the multicopter 10 by a communication network N.
  • An agricultural machine 700 such as a tractor may be connected to such a communication network N, and communication may be performed between the multicopter 10 and the agricultural machine 700.
  • a part of the data used for processing by the control device 4a and a control signal for the multicopter 10 may be given from the agricultural machine 700 to the multicopter 10 via the communication network N.
  • a system providing various functions in the embodiments can also be attached later to a multicopter that does not have those functions. Such a system can be manufactured and sold independently of the multicopter.
  • a computer program used in such a system can also be manufactured and sold independently of the multicopter.
  • the computer program can be provided, for example, stored in a non-transitory computer-readable storage medium.
  • the computer program can also be provided by downloading via a telecommunications line (for example, the Internet).
  • a lower altitude limit change system for use with an unmanned aerial vehicle, comprising: A control device is provided for controlling the altitude of the unmanned aerial vehicle so that the altitude does not fall below a lower limit altitude, A lower limit altitude changing system in which the lower limit altitude set when the unmanned aerial vehicle performs agricultural work from above a farm field varies depending on at least one of the type of crop planted in the field and the content of the agricultural work.
  • the types of crops include a first type whose edible parts grow underground and a second type whose edible parts grow above ground; 2.
  • the lower limit altitude changing system described in item 1 wherein the lower limit altitude set when the crop type is classified into the first type is lower than the lower limit altitude set when the crop type is classified into the second type.
  • a sensing device that senses the field environment and acquires sensor data;
  • the control device includes: Processing the sensor data output from the sensing device to identify the type of crop planted in the field; 3.
  • the lower limit altitude changing system according to item 1 or 2, wherein the setting of the lower limit altitude is changed according to the identified type of crop.
  • a communication device that communicates with a server that generates a farm work plan, The control device identifies the type of the crop planted in the field from the work plan data acquired from the server via the communication device, 3.
  • the lower limit altitude changing system according to item 1 or 2, wherein the setting of the lower limit altitude is changed according to the identified type of crop.
  • a storage device for storing a table correlating the type of crop with the minimum altitude limit; 5.
  • the unmanned aerial vehicle is capable of flying in both automatic and manual pilot modes; A lower limit altitude change system described in any one of items 1 to 5, wherein when the manual control mode is set, the control device controls the altitude of the unmanned aerial vehicle so that it does not fall below the lower limit altitude while receiving a descent command transmitted from the pilot's control device.
  • a positioning device for acquiring position information of the unmanned aerial vehicle The control device sets the lower limit altitude corresponding to the location information acquired by the positioning device by referring to a table describing the location information of a map and the lower limit altitude linked to the location information of the map.
  • the unmanned aerial vehicle includes a winding mechanism for adjusting the length of the working cable, Item 14.
  • the lower limit altitude changing system according to item 13, wherein the control device limits the operation of adjusting the length of the working cable by the winding mechanism based on the lower limit altitude before the change.
  • a sound sensor is provided to detect a sound level, A lower limit altitude change system described in any one of items 1 to 14, wherein the control device controls the unmanned aerial vehicle not to head in the direction in which the sound was detected when the sound level detected by the sound sensor is above a threshold value.
  • a sound sensor is provided to detect a sound level, A lower limit altitude change system described in any one of items 1 to 14, wherein when the sound level detected by the sound sensor is above a threshold value and the source of the sound is another unmanned aircraft, the control device controls the distance between the unmanned aircraft and the other unmanned aircraft estimated from the position information of the unmanned aircraft and the position information of the other unmanned aircraft so that it is greater than a predetermined value.
  • An unmanned aerial vehicle comprising:
  • the unmanned aerial vehicle disclosed herein can be widely used not only for aerial photography, surveying, logistics, and pesticide spraying, but also for ground work related to agricultural work, transporting harvested products and agricultural materials, etc.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un système de changement d'altitude de limite inférieure qui est utilisé pour un engin volant sans pilote embarqué comprend un dispositif de commande qui commande l'altitude de l'engin volant sans pilote embarqué de façon à ne chute pas au-dessous de l'altitude de limite inférieure. L'altitude de limite inférieure, qui est définie lorsque l'engin volant sans pilote embarqué effectue un travail agricole à partir de l'air au-dessus d'un champ, diffère en fonction du type de culture plantée dans le champ et/ou du contenu du travail agricole.
PCT/JP2023/004975 2023-02-14 2023-02-14 Système de changement d'altitude de limite inférieure et engin volant sans pilote embarqué Ceased WO2024171295A1 (fr)

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US5730394A (en) * 1995-12-20 1998-03-24 Sikorsky Aircraft Corporation Vertical performance limit compensator
JPH1088525A (ja) * 1996-09-19 1998-04-07 Kioritz Corp 飛行式作業機の発着支持装置
US20180275654A1 (en) * 2015-09-03 2018-09-27 Commonwealth Scientific And Industrial Research Or Ganisation Unmanned Aerial Vehicle Control Techniques
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