Method and program for spraying medicine by unmanned air vehicle

摘要

PROBLEM TO BE SOLVED: To provide a flight control method and program for a drone which perform accurate chemical spray in a farmland of a narrow and complicated land form even without having accurate map information in advance.SOLUTION: A drone 101 is controlled by two modes being a farm field shape grasp mode and a chemical spray mode. In the farm field shape grasp mode, the drone is caused to make a round inside a boundary line 401 of a farm field 103 at a fixed altitude while maintaining the position of the drone such that the boundary line of the farm field is seen on a fixed line of equal elevation angles, and position information is stored in a memory in this process. In the chemical spray mode, chemical spray to the inside of the farm field is performed according to the stored position information.SELECTED DRAWING: Figure 4