AN AERIAL VEHICLE

Abstract

An aerial vehicle includes a liquid chemical tank, at least one spray unit, at least one actuator, a plurality of sensors, and a processing unit. The processing unit is configured to determine an air movement direction relative to a projection of the fore-aft axis onto the ground and determine an air movement speed relative to the ground, the determination comprising utilization of the speed of the aerial vehicle, the air movement direction relative to the aerial vehicle with respect to the fore-aft axis of the aerial vehicle and the air movement speed relative to the aerial vehicle. The processing unit is configured to control at least one flying operation of the aerial vehicle and/or control the at least one actuator.

Claims

1. An aerial vehicle, comprising: a liquid chemical tank; at least one spray unit; at least one actuator; a plurality of sensors; and a processing unit; wherein, the liquid chemical tank is configured to hold a liquid chemical; wherein, the at least one spray unit is configured to spray the liquid chemical; wherein, the at least one actuator is configured to operate and/or move the at least one spray unit; wherein, at least one first sensor of the plurality of sensors is configured to measure a speed of the aerial vehicle relative to the ground; wherein, at least one second sensor of the plurality of sensors is configured to measure an air movement direction relative to the aerial vehicle with respect to a fore-aft axis of the aerial vehicle; wherein, at least one third sensor of the plurality of sensors is configured to measure an air movement speed relative to the aerial vehicle; wherein, the processing unit is configured to determine an air movement direction relative to a projection of the fore-aft axis onto the ground and determine an air movement speed relative to the ground, the determination comprising utilization of the speed of the aerial vehicle, the air movement direction relative to the aerial vehicle with respect to the fore-aft axis of the aerial vehicle and the air movement speed relative to the aerial vehicle; and wherein, the processing unit is configured to control at least one flying operation of the aerial vehicle and/or control the at least one actuator, wherein determination of at least one instruction for control of the at least one flying operation of the aerial vehicle and/or determination of at least one instruction for control the at least one actuator comprises utilization of the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the determined air movement speed relative to the ground.

2. The aerial vehicle of to claim 1, wherein control of the at least one flying operation comprises varying a height of the aerial vehicle above the ground or crop.

3. The aerial vehicle of to claim 2, wherein at least one fourth sensor of the plurality of sensors is configured to provide data from which height of the aerial vehicle above the ground or crop can be determined, and wherein the processing unit is configured to fly the aerial vehicle to a height above the ground or crop that depends on a magnitude of the determined air movement speed relative to the ground.

4. The aerial vehicle of to claim 3, wherein the processing unit is configured to fly the aerial vehicle at a height above the ground or crop that depends on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground.

5. The aerial vehicle of to claim 4, wherein the height above the ground or crop at which the aerial vehicle is flown is calculated on the basis of the air movement speed relative to the ground multiplied by cosine of the air direction angle.

6. The aerial vehicle according to any of claim 3, wherein the processing unit is configured to fly the aerial vehicle in a downwards direction when the magnitude of the determined air movement speed relative to the ground exceeds one or more threshold values.

7. The aerial vehicle of to claim 6, wherein the one or more threshold values depend upon a magnitude of an air direction angle, wherein the air direction angle is the angle between the determined air movement direction relative to the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

8. The aerial vehicle of to claim 7, wherein the one or more threshold values are a plurality of threshold values, and wherein a threshold value of the plurality of threshold values is calculated on the basis of a set air movement speed multiplied by cosine of the air direction angle.

9. The aerial vehicle according to any of claim 1, wherein the at least one spray unit is movably attached to the aerial vehicle, wherein at least one sensor fifth of the plurality of sensors is configured to provide data from which an angle of the at least one spray unit with respect to a vertical axis can be determined; and wherein the at least one actuator comprises at least one first rotator actuator configured to rotate the at least one spray unit by at least one angle of rotation with respect to the vertical axis, and wherein the processing unit is configured to control one or more of the at least one first rotator actuator to rotate one or more of the at least one spray unit.

10. The aerial vehicle of to claim 9, wherein a horizontal axis extends in a direction perpendicular to the fore-aft axis of the aerial vehicle and extends in a direction perpendicular to the vertical axis; wherein at least one sixth sensor of the plurality of sensors is configured to provide data from which an angle of the at least one spray unit with respect to the horizontal axis can be determined; and wherein the at least one actuator comprises at least one second rotator actuator configured to rotate the at least one spray unit by at least one angle of rotation with respect to the horizontal axis, and wherein the processing unit is configured to control one or more of the at least one second rotator actuator to rotate one or more of the at least one spray unit.

11. The aerial vehicle according to any of claim 10, wherein the processing unit is configured to control the at least one first rotator actuator and/or the at least one second rotator actuator to rotate the at least one spray unit in unison by a same angle of rotation with respect to the vertical axis and/or horizontal axis.

12. The aerial vehicle according to any of claim 9, wherein control of the at least one actuator by the processing unit comprises utilization of a magnitude of the determined air movement speed relative to the ground.

13. The aerial vehicle according to any of claim 9, wherein control of the at least one actuator by the processing unit comprises utilization of a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground; wherein the air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

14. The aerial vehicle of to claim 13, wherein the at least one angle of rotation with respect to the vertical axis is based at least in part on the air movement speed relative to the ground multiplied by cosine of the air direction angle.

15. The aerial vehicle according to any of claim 1, wherein the at least one actuator comprises at least one activation actuator configured to start the at least one spray unit spraying the liquid chemical and configured to stop the at least one spray unit spraying the liquid chemical.

16. The aerial vehicle of to claim 15, wherein the processing unit is configured to control one or more of the at least one activation actuator to stop an equivalent number of spray units from spraying the liquid chemical based at least in part on a magnitude of the determined air movement speed relative to the ground.

17. The aerial vehicle according to any of claim 15, wherein the processing unit is configured to control one or more of the at least one activation actuator to stop an equivalent number of spray units from spraying the liquid chemical based at least in part on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground, wherein the air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground

18. The aerial vehicle of to claim 17, wherein the determination to stop a spray unit from spraying is based at least in part on the air movement speed relative to the ground multiplied by cosine of the air direction angle.

19. The aerial vehicle according to any of claim 1, wherein the at least one actuator comprises at least one spray adjustment actuator configured to control a droplet size of the liquid chemical sprayed by the at least one spray unit.

20. The aerial vehicle of to claim 19, wherein the processing unit is configured to control one or more of the at least one spray adjustment actuator to control the droplet size of the liquid chemical sprayed by an equivalent number of spray units based at least in part on a magnitude of the determined air movement speed relative to the projection of the fore-aft axis of the aerial vehicle onto the ground.

21. The aerial vehicle of to claim 20, wherein the processing unit is configured to increase the droplet size on the basis of an increase in the magnitude of the determined air movement speed relative to the ground.

22. The aerial vehicle according to any of claim 19, wherein the processing unit is configured to control one or more of the at least one spray adjustment actuator to control the droplet size of the liquid chemical sprayed by an equivalent number of spray units based at least in part on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis of the aerial vehicle onto the ground, and wherein the air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis of the aerial vehicle onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground

23. The aerial vehicle of to claim 22, wherein the droplet size is determined at least in part on the air movement speed relative to the ground multiplied by cosine of the air direction angle.

24. The aerial vehicle according to any of claim 1, wherein the at least one spray unit is movably attached to the aerial vehicle, wherein the at least one spray unit is configured to be moved away from and toward a body of the aerial vehicle, and wherein the at least one actuator comprises at least one extension actuator configured to move the at least one spray unit away from and toward the body of the aerial vehicle, and wherein control of the at least one actuator comprises controlling the at least one extension actuator to vary a height of the at least one spray unit above the ground or crop.

25. The aerial vehicle of to claim 24, wherein at least one seventh sensor of the plurality of sensors is configured to provide data from which a height of the at least one spray unit above the ground or crop can be determined, and wherein the processing unit is configured to control the at least one extension actuator to position the at least one spray unit at a height above the ground or crop that depends on a magnitude of the determined air movement speed relative to the ground or crop.

26. The aerial vehicle of to claim 25, wherein the processing unit is configured to control the at least one extension actuator to position the at least one spray unit at a height above the ground or crop that depends on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground.

27. The aerial vehicle of to claim 26, wherein the height above the ground or crop at which the at least one spray unit is positioned is calculated on the basis of the air movement speed relative to the ground multiplied by the of the air direction angle.

28. The aerial vehicle according to any of claim 25, wherein the processing unit is configured to control the at least one extension actuator to move the at least one spray unit in a downwards direction when the magnitude of the determined air movement speed relative to the ground exceeds one or more threshold values.

29. The aerial vehicle of to claim 28, wherein the one or more threshold values depend upon a magnitude of an air direction angle, wherein the air direction angle is the angle between the determined air movement direction relative to the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

30. The aerial vehicle of to claim 29, wherein the one or more threshold values are a plurality of threshold values, and wherein a threshold value of the plurality of threshold values is calculated on the basis of a set air movement speed multiplied by cosine of the air direction angle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Exemplary embodiments will be described in the following, by way of example only, with reference to the following drawings:

[0066] FIG. 1 shows a schematic set up of an example of an aerial vehicle; and

[0067] FIG. 2 shows a schematic example of a plan view of an aerial vehicle;

DETAILED DESCRIPTION OF EMBODIMENTS

[0068] FIG. 1 shows an example of an aerial vehicle 10. The aerial vehicle comprises a liquid chemical tank 20, at least one spray unit 30, at least one actuator 40, a plurality of sensors 50, and a processing unit 60. The liquid chemical tank is configured to hold a liquid chemical. The at least one spray unit is configured to spray the liquid chemical. The at least one actuator is configured to operate and/or move the at least one spray unit. At least one sensor 51 of the plurality of sensors is configured to measure a speed of the aerial vehicle relative to the ground. At least one sensor 52 of the plurality of sensors is configured to measure an air movement direction relative to the aerial vehicle with respect to a fore-aft axis of the aerial vehicle. At least one sensor 53 of the plurality of sensors is configured to measure an air movement speed relative to the aerial vehicle. The processing unit is configured to determine an air movement direction relative to a projection of the fore-aft axis onto the ground and determine an air movement speed relative to the ground. The determination comprises utilization of the speed of the aerial vehicle, the air movement direction relative to the aerial vehicle with respect to the fore-aft axis of the aerial vehicle and the air movement speed relative to the aerial vehicle. The processing unit is configured to control at least one flying operation of the aerial vehicle and/or control the at least one actuator. Determination of at least one instruction for the control of the at least one flying operation of the aerial vehicle and/or determination of at least one instruction for the control the at least one actuator comprises utilization of the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the determined air movement speed relative to the ground.

[0069] In an example, the at least one sensor 51 configured to measure a speed of the aerial vehicle relative to the ground comprises a GPS system.

[0070] In an example, the at least one sensor 51 configured to measure a speed of the aerial vehicle relative to the ground comprises a laser reflectance based system.

[0071] In an example, the at least one sensor 52 configured to measure an air movement direction relative to the aerial vehicle comprises a wind vane.

[0072] In an example, the at least one sensor 53 configured to measure an air movement speed relative to the aerial vehicle comprises an anemometer.

[0073] In an example, the at least one sensor 53 configured to measure an air movement speed relative to the aerial vehicle comprises a pitot tube.

[0074] According to an example, control of the at least one flying operation comprises varying a height of the aerial vehicle above the ground or crop.

[0075] According to an example, at least one sensor 54 of the plurality of sensors is configured to provide data from which a height of the aerial vehicle above the ground or crop can be determined. The processing unit is configured to fly the aerial vehicle to a height above the ground or crop that depends on a magnitude of the determined air movement speed relative to the ground.

[0076] In an example, the sensor used to determine height is a radar sensor.

[0077] In an example, the sensor used to determine height is a laser time of flight sensor.

[0078] In an example, the at least one sensor 54 is configured to determine the height of a spray unit above the ground or crop. For example, the spray unit could be moveable with respect to body of the aerial vehicle, for example being mounted on a telescopic extension below the aerial vehicle.

[0079] According to an example, the processing unit is configured to fly the aerial vehicle at a height above the ground or crop that depends on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground.

[0080] According to an example, the height above the ground or crop at which the aerial vehicle is flown is calculated on the basis of the air movement speed relative to the ground multiplied by the cosine of the air direction angle.

[0081] According to an example, the processing unit is configured to fly the aerial vehicle in a downwards direction when the magnitude of the determined air movement speed relative to the ground exceeds one or more threshold values.

[0082] According to an example, the one or more threshold values depend upon a magnitude of an air direction angle. The air direction angle is the angle between the determined air movement direction relative to the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

[0083] According to an example, the one or more threshold values are a plurality of threshold values. A threshold value of the plurality of threshold values is calculated on the basis of a set air movement speed multiplied by the cosine of the air direction angle.

[0084] According to an example, the at least one spray unit is movably attached to the aerial vehicle. At least one sensor 55 of the plurality of sensors is configured to provide data from which an angle of the at least one spray unit with respect to a vertical axis can be determined. The at least one actuator 40 comprises at least one first rotator actuator 41 configured to rotate the at least one spray unit by at least one angle of rotation with respect to the vertical axis. The processing unit is configured to control one or more of the at least one first rotator actuator to rotate one or more of the at least one spray unit.

[0085] According to an example, a horizontal axis extends in a direction perpendicular to the fore-aft axis of the aerial vehicle and extends in a direction perpendicular to the vertical axis. At least one sensor 56 of the plurality of sensors is configured to provide data from which an angle of the at least one spray unit with respect to the horizontal axis can be determined. The at least one actuator 40 comprises at least one second rotator actuator 42 configured to rotate the at least one spray unit by at least one angle of rotation with respect to the horizontal axis. The processing unit is configured to control one or more of the at least one second rotator actuator to rotate one or more of the at least one spray unit.

[0086] According to an example, the processing unit is configured to control the at least one first rotator actuator to rotate the at least one spray unit in unison by a same angle of rotation with respect to the vertical axis.

[0087] According to an example, the processing unit is configured to control the at least one second rotator actuator to rotate the at least one spray unit in unison by a same angle of rotation with respect to the horizontal axis.

[0088] According to an example, control of the at least one actuator by the processing unit comprises utilization of a magnitude of the determined air movement speed relative to the ground.

[0089] According to an example, control of the at least one actuator by the processing unit comprises utilization of a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground. The air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

[0090] According to an example, the at least one angle of rotation with respect to the vertical axis is based at least in part on the air movement speed relative to the ground multiplied by the cosine of the air direction angle.

[0091] According to an example, the at least one actuator comprises at least one activation actuator 43 configured to start the at least one spray unit spraying the liquid chemical and configured to stop the at least one spray unit spraying the liquid chemical.

[0092] According to an example, the processing unit is configured to control one or more of the at least one activation actuator to stop an equivalent number of spray units from spraying the liquid chemical based at least in part on a magnitude of the determined air movement speed relative to the ground.

[0093] According to an example, the processing unit is configured to control one or more of the at least one activation actuator to stop an equivalent number of spray units from spraying the liquid chemical based at least in part on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground. The air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

[0094] According to an example, the determination to stop a spray unit from spraying is based at least in part on the air movement speed relative to the ground multiplied by the cosine of the air direction angle.

[0095] According to an example, the at least one actuator comprises at least one spray adjustment actuator 44 configured to control a droplet size of the liquid chemical sprayed by the at least one spray unit.

[0096] According to an example, the processing unit is configured to control one or more of the at least one spray adjustment actuator to control the droplet size of the liquid chemical sprayed by an equivalent number of spray units based at least in part on a magnitude of the determined air movement speed relative to the projection of the fore-aft axis of the aerial vehicle onto the ground.

[0097] According to an example, the processing unit is configured to control one or more of the at least one spray adjustment actuator to increase the droplet size on the basis of an increase in the magnitude of the determined air movement speed relative to the ground.

[0098] According to an example, the processing unit is configured to control one or more of the at least one spray adjustment actuator to control the droplet size of the liquid chemical sprayed by an equivalent number of spray units based at least in part on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis of the aerial vehicle onto the ground. The air direction angle is the angle between the determined air movement direction relative to the projection of the fore-aft axis of the aerial vehicle onto the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground

[0099] According to an example, the droplet size is determined at least in part on the air movement speed relative to the ground multiplied by the cosine of the air direction angle.

[0100] According to an example, the at least one spray unit is movably attached to the aerial vehicle. The at least one spray unit is configured to be moved away from and toward a body of the aerial vehicle. The at least one actuator comprises at least one extension actuator 45 configured to move the at least one spray unit away from and toward the body of the aerial vehicle. Control of the at least one actuator comprises controlling the at least one extension actuator to vary a height of the at least one spray unit above the ground or crop.

[0101] In an example, the spray unit(s) is (are) mounted on a telescopic extendable and retractable mount beneath the aerial vehicle, enabling the distance between the spray unit(s) and body of the aerial vehicle to be varied. Thus, the aerial vehicle can be flown at a constant height above the ground or crop, and at the same time the spray unit's height above the ground or crop can be varied. In this way, as the possibility of spray drift increases, one way to mitigate this is spray from a lower height, by varying the height of the spray unit but keeping the aerial vehicle at an optimum flight height. The liquid sprayed, is then in the air for a reduced time and consequently has less time to drift laterally, thereby mitigating spray drift.

[0102] In an example, a sensor measures a distance of the spray unit below the body of the aerial vehicle, and therefore by knowing the height of the body of the aerial vehicle above the ground or crop through use of an appropriate sensor, the height of the spray unit above the ground or crop can be determined.

[0103] According to an example, at least one sensor 57 of the plurality of sensors is configured to provide data from which a height of the at least one spray unit above the ground or crop can be determined. The processing unit is configured to control the at least one extension actuator to position the at least one spray unit at a height above the ground or crop that depends on a magnitude of the determined air movement speed relative to the ground or crop.

[0104] In an example, the sensor used to determine height is a radar sensor.

[0105] In an example, the sensor used to determine height is a laser time of flight sensor.

[0106] According to an example, the processing unit is configured to control the at least one extension actuator to position the at least one spray unit at a height above the ground or crop that depends on a magnitude of an air direction angle of the determined air movement direction relative to the projection of the fore-aft axis onto the ground.

[0107] According to an example, the height above the ground or crop at which the at least one spray unit is positioned is calculated on the basis of the air movement speed relative to the ground multiplied by the cosine of the air direction angle.

[0108] According to an example, the processing unit is configured to control the at least one extension actuator to move the at least one spray unit in a downwards direction when the magnitude of the determined air movement speed relative to the ground exceeds one or more threshold values.

[0109] According to an example, the one or more threshold values depend upon a magnitude of an air direction angle. The air direction angle is the angle between the determined air movement direction relative to the ground and the projection of the fore-aft axis of the aerial vehicle onto the ground.

[0110] According to an example, the one or more threshold values are a plurality of threshold values. A threshold value of the plurality of threshold values is calculated on the basis of a set air movement speed multiplied by the cosine of the air direction angle.

[0111] FIG. 2 shows a plan view of an exemplar aerial vehicle 10 flying over and spraying a crop in a field. The aerial vehicle is flying close to, and parallel to, a boundary of the field, and the wind is blowing with a component towards the boundary. The vehicle is flying with a speed V.sub.S and the wind is blowing in a particular direction and with a velocity V.sub.AG. The aerial vehicle has an anemometer and a wind vane to determine both the direction and speed of the wind, with respect to the aerial vehicle—in other words in the reference from of the aerial vehicle. Due to the movement of the aerial vehicle, the measured wind direction and wind speed have both been distorted from their true ground based values, as shown. Thus, the wind speed measured at the aerial vehicle has been distorted to V.sub.AV. A vector based analysis can however be used to determine the real ground based wind direction and wind speed. In this way, the component of the wind speed towards the boundary of the field, in terms of the ground, can be determined. Then, the processing unit of the aerial vehicle can position its spray units closer to the ground or crop if the wind is too strong and its direction would lead to lateral drift, and/or the processing unit can control the spray units themselves, to spray larger drops that are less susceptible to drift or angle the spray units into the wind. The aerial vehicle can move the spray units closer to the ground or crop by flying closer to the ground or crop and/or by extending the spray units away from its body in a downwards direction. The absolute velocity of the vehicle with respect to the sprayed liquid has been found to be not particularly important. This is because the sprayed liquid initially sprayed has a forward velocity equal to that of the aerial vehicle, but the spray is very rapidly slowed down and then falls under gravity at a speed governed by drag from the air and is globally carried by the moving air—the wind.

[0112] Thus, the following situations can apply, and where the aerial vehicle takes appropriate action in order to mitigate the effects of spray drift. Thus, the wind has a wind speed that has a component blowing perpendicular to the vehicle's forward direction. This component of wind speed is V.sub.AG1. The processing unit has flown the aerial vehicle slightly downwards, however to fly further downwards would position it too close to the crop. Thus, the processing unit has controlled an actuator to extend the spray units downwards, such that the spray units are positioned a distance above ground or crop equal to Hi. This distance, for this position in the field, has been determined to be optimal in that spray drift has been determined not to be problematic and will not be blown over the boundary. The wind is however gusting in terms of a wind speed varying and/or a wind direction changing, and now the component of the wind speed perpendicular to the forward direction has increased to a value V.sub.AG2. In this example, the processing unit mitigates the effect of drift, that would otherwise occur, by further lowering spray units to a height Hz, where it has been determined that there will be less drift, and at the same time angles the spray units slightly into the wind in order that the spray immediately leaving the spray units is being sprayed slightly upwind. Spray drift is mitigated due to the spray droplets having less distance to travel before reaching the target to be sprayed, and therefore there is less lateral drift. As the wind gusts further to a cross component having a speed V.sub.AG3, the processing unit determines that the spray unit cannot be lowered further or angled to mitigate spray drift, and therefore controls the spray units to spray droplets having a larger size. These more massive droplets have increased mass with respect to their cross sectional area, and fall faster under gravity than smaller droplets and therefore do not get carried as far laterally with the wind before they reach the ground or crop, thereby mitigating spray drift.

[0113] While embodiments of the invention have been illustrated and described in detail in the exemplary drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing a claimed invention, from a study of the drawings, the disclosure, and the dependent claims.

[0114] In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfill the functions of several items re-cited in the claims. The mere fact that certain measures are re-cited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.