JP6868275B2 - Float drop system, float drop device and base station device - Google Patents

Description

The present disclosure relates to a float dropping system and a floating device for dropping a float to observe the flow rate of a river, and a base station device for flying an unmanned aerial vehicle.

For river management and disaster prevention monitoring, it is necessary to regularly grasp the flow rate at major points of the river. Specifically, an observatory for observing the water level and flow rate is set up at major points in the river, and the observatory regularly observes the water level and flow rate.

In the flow rate measurement method using floats, the river width is divided into a plurality of stations, stations are determined, floats are dropped at the station positions, the flow velocity of each float at a certain distance (for example, 100 m) is measured, and the flow velocity is measured. The flow rate is calculated from the flow velocity calculated based on. The station is also called a base point.

By the way, in the flow observation, the worker drops the float directly into the river. The drop location is set near the surface of the water such as piers and riverbanks. Here, when the water level rises due to rainfall or the like, it may not be possible to drop the float by standing at the dropping place, and it may be difficult to observe the flow rate. In addition, since the worker drops the float at each base point, it is necessary to carry the float to the drop point, which imposes a heavy work load.

Patent Document 1 discloses a float dropping device for easily and efficiently performing a float dropping operation at multiple stations when measuring a high water content of a river. Specifically, the float dropping device supports the suspended vehicle body so that it can be reciprocated by a guide wire stretched between the opposite banks of the river, and the float is dropped on the vehicle body at a specific position in the river width direction. Means are provided.

Japanese Unexamined Patent Publication No. 7-89485

However, according to the float attachment / detachment means disclosed in Patent Document 1, a guide wire must be stretched between the opposite banks of the river, and a personnel for stretching the guide wire is required. There is a problem that the cost is high, and if the guide wire is permanently installed, regular maintenance is required and the management cost is high. Further, if there is no space for extending the guide wire between the opposite banks of the river, there is a problem that the flow rate observation becomes difficult.

The present disclosure provides a float drop system and a float drop device capable of dropping a float into a river at any time without installing a device such as a guide wire, and a base station device for flying an unmanned aerial vehicle. The purpose.

In order to achieve the above object, the float drop system in one aspect of the present disclosure is a float drop system including an unmanned aerial vehicle and a base station device that communicates with the unmanned aerial vehicle. The unmanned aerial vehicle is a device used for aviation, and includes an aviation unit that flies by remote control or autopilot, and a mounting unit that attaches and detaches a float to and from the aircraft. Based on, drop the float. The base station device generates flight plan data including the flight route of the unmanned aircraft, the drop location of the float, and the type of float suitable for the drop location, based on the cross-sectional shape data and the water level data of the observation location. The flight plan data generation unit is provided, and the aviation unit flies by a flight route based on the flight plan data generated by the flight plan data generation unit.

The float dropping device in one aspect of the present disclosure is a device used for aviation, and includes an aviation portion that flies by remote operation or automatic control, a mounting portion that attaches and detaches a float, and cross-sectional shape data of an observation location. And a flight plan data generation unit that generates flight plan data including the flight route of the aviation unit, the drop location of the float, and the type of float suitable for the drop location based on the water level data. The mounting unit drops the float based on the drop command signal, and the aviation unit flies based on the flight route based on the flight plan data.

The base station apparatus in one aspect of the present disclosure includes a flight route of an unmanned aircraft, a float drop location, and a type of float suitable for the drop location, based on the cross-sectional shape data and water level data of the observation location. The flight plan data generation unit for generating plan data is provided, and the unmanned aircraft is flown by a flight route based on the flight plan data generated by the flight plan data generation unit.

According to the present disclosure, the float can be dropped into the river at any time.

It is a figure which provides the explanation about the type of a float. It is a figure which shows the structure of the float drop system. It is a figure which provides the explanation about the float table. It is a figure which provides the explanation about the flow velocity lateral line. It is a figure which provides the explanation about the flight route. It is a figure which provides the explanation about the modification of a flight route. It is a figure which provides the explanation about the drop command signal. It is a figure which shows the structure of an external device and a mounting part. It is a figure which shows the structure of the float drop system. It is a timing chart provided to explain the procedure of dropping a float based on the drop command signal generated by the drop command signal generation unit. It is a figure which shows the structure of the float drop device which concerns on the modification (1). It is a figure which shows the structure of the base station apparatus and unmanned aerial vehicle which concerns on modification (2).

Hereinafter, the float drop system, the float drop device, and the base station device according to the embodiment of the present invention will be described with reference to the drawings. In all the drawings for explaining the embodiments, the common components are designated by the same reference numerals, and the repeated description will be omitted.

In the float dropping system 1, in order to periodically grasp the flow rate at the main points of the river, the river width is divided into a plurality of stations to determine the station, and the float is set at the station position at an arbitrary timing. It is a system to drop. A buoy is a rod-shaped object that is dropped into a river in order to measure the flow velocity in buoy observation of flow rate observation. Generally, the float body is made of paper and has a tubular shape, and a weight for adjusting the draft depth is attached to the bottom. Five types of floats are used according to the water depth at the time of measurement. A float number is attached to the float, and as shown in FIG. 1, a water depth (m), a draft (m), and a correction coefficient are set for each float number. For example, the float number "1" has a water depth of 0.7 m or less, a draft of surface float (0.1 m), and a correction coefficient of 0.85. In the following, the float number "1" refers to a float whose draft is a surface float (0.1 m), the draft number "2" refers to a float whose draft is 0.5 m, and the draft number "3" is , Draft refers to a 1.0 m float, draft number "4" refers to a draft with a draft of 2.0 m, and draft number "5" refers to a float with a draft of 4.0 m.

The flow velocity of the float dropped by the system at a certain distance (for example, 100 m) is measured, and the flow velocity is calculated based on the flow velocity. In addition, the flow rate is calculated by multiplying the flow velocity by the cross-sectional area of the river. The specific configuration and operation of the float dropping system 1 will be described below.

<About the configuration of the floating child dropping system>
As shown in FIG. 2, the float dropping system 1 includes an unmanned aerial vehicle 2 and a base station device 3 that communicates with the unmanned aerial vehicle 2.

The unmanned aerial vehicle 2 includes an aviation unit 21, a mounting unit 22, a geomagnetic sensor 23, a position measuring unit 24, a communication unit 25, and a control unit 26. The aviation unit 21 also includes elements other than those described above, and includes, for example, a camera unit for aerial photography, a battery, and the like.

The aviation unit 21 is a device used for aviation, and flies by remote control or autopilot. Specifically, the aviation unit 21 is a device such as an airplane, a rotorcraft, a glider, and an airship that can be used for aviation, and is a device that flies by remote control or autopilot under the control of the control unit 26. Is. The Aviation Department 21 is also commonly referred to as an industrial drone, multicopter or multi-rotor helicopter (MRH). Autopilot refers to autopilot based on the flight route based on flight plan data. Under the control of the control unit 26, the aviation unit 21 can perform vertical takeoff and landing, horizontal flight, air stop (hereinafter referred to as “hovering”), and the like. The control unit 26 controls the attitude of the aviation unit 21 during flight, hovering, etc., based on the data of the gyro sensor. Further, the control unit 26 controls the operations of the aviation unit 21 at takeoff, flight, and landing based on the remote control signal received from the outside via the communication unit 25. Further, the control unit 26 can autonomously control the takeoff, flight, and landing operations of the aviation unit 21 based on the automatic flight (autopilot) program.

The mounting portion 22 mounts one or more floats on and off. For example, the mounting portion 22 can mount the float within a range that does not exceed a predetermined maximum load (for example, 5.0 kg). In this embodiment, the mounting portion 22 can mount up to four floats, but may mount five or more floats. Further, the mounting unit 22 drops the float based on the drop command signal.

The geomagnetic sensor 23 is a so-called electronic compass, which is composed of a 2-axis type or 3-axis type magnetic sensor, and measures the geomagnetism to calculate the direction.

The position measuring unit 24 is a so-called GPS (Global Positioning System) device, and calculates latitude, longitude, altitude, and the like by using radio waves transmitted by artificial satellites.

The communication unit 25 transmits the directional information calculated by the geomagnetic sensor 23 and the latitude / longitude / altitude information calculated by the position measurement unit 24 to the base station device 3 at a predetermined timing.

The base station device 3 calculates the flight route of the unmanned aerial vehicle 2 and the nose direction, altitude, and attitude during flight based on each information transmitted from the communication unit 25, and hovering at which place for how many seconds. It is possible to calculate whether or not it was done. Information such as the flight route of the unmanned aerial vehicle 2 can be referred to when creating a flight route for the next flow rate observation, or can be used for reporting. Information such as the flight route of the unmanned aerial vehicle 2 may be created on the unmanned aerial vehicle 2 side and transmitted to the base station device 3.

The base station device 3 includes a receiving unit 31, a flight plan data generating unit 32, and a transmitting unit 33. The receiving unit 31 receives the information transmitted from the communication unit 25.

The flight plan data generation unit 32 includes a flight route of the unmanned aerial vehicle 2 based on the cross-sectional shape data and the water level data of the observation location, the drop location of the float, and the type of float suitable for the water depth of the drop location. Generate plan data.

The transmission unit 33 transmits the flight route included in the flight plan data generated by the flight plan data generation unit 32. The flight plan data generation unit 32 and the transmission unit 33 may be provided in another device (for example, a PC or the like) instead of the base station device 3.

<Procedure for generating flight plan data>
Here, the procedure for generating flight plan data will be described. The cross-sectional shape data is generated by cross-sectional surveying carried out by a contractor (surveying company, etc.) who has received an order for flow observation work ordered by each river office or local government. The flight plan data generation unit 32 acquires the cross-sectional shape data of the target observation place from the cross-sectional shape data of the observation points of the main rivers nationwide generated in this way. The above-mentioned method for acquiring cross-sectional shape data is an example, and is not limited to this.

The water level data is displayed at the water level observatory. For example, an employee of a surveying company fills in this water level data in a field note. The field note may be realized by software for a personal computer instead of paper. The flight plan data generation unit 32 acquires the water level data of the target observation place from the water level data of the observation points of the main rivers nationwide entered in the field note. The above-mentioned method for acquiring water level data is an example, and is not limited to this.

The flight plan data generation unit 32 creates a float table based on the acquired cross-sectional shape data and water level data of the target observation location. The float table shows the relationship between the water depth and the type of float at the drop location on a cross-sectional view.

For example, as shown in FIG. 3, the float table shows the width of the water surface of the target observation site (about 150 m in the example shown in FIG. 3), the distance from the water surface A to the bottom of the water, and the predetermined interval (in FIG. 3). In the example shown, the places where the floats are dropped (at intervals of 10 m) (a1 to a15 in the example shown in FIG. 3) and the like are shown. The float table may be color-coded so that the degree of water depth can be seen at a glance.

In the present disclosure, flow velocity observation corresponds to standard time and emergency. An emergency is an urgent time to observe the flow velocity such as during a flood. In standard time, the ratio between the water surface width and the float flow velocity lateral line spacing is determined according to FIG. 4 (a). For example, when the water surface width is less than 20 m, the number of float flow velocity lateral lines is five. In an emergency, the ratio between the water surface width and the float flow velocity lateral line interval is determined according to FIG. 4 (b). For example, when the water surface width is 50 m or less, the number of float flow velocity lateral lines is three.

The flight plan data generation unit 32 specifies the type of float to be dropped based on the water depth of each drop location. In the example shown in FIG. 3, the flight plan data generation unit 32 designates a float with a float number “1” in a1 to a4, designates a float with a float number “2” in a5 and a7, and a8. In ~ a9, the float of the float number "3" is specified, in a10 to a11, the float of the float number "4" is specified, in a12, the float of the float number "3" is specified, and a13 ~ At each location of a14, a float with a float number "2" is designated, and at a15, a float with a float number "1" is designated. In this way, the type of float to be dropped is specified by the water depth of the flow velocity lateral line.

Next, the flight route of the unmanned aerial vehicle 2 will be described. The flight route includes, for example, the route until the unmanned aerial vehicle 2 takes off from the takeoff / landing point, moves in space, and then lands at the takeoff / landing point. In this embodiment, a maximum of four floats can be mounted on the mounting portion 22, but the number of floats may be four or less depending on the weight of the floats. That is, the distance of one flight route is determined based on the number of floats mounted on the mounting portion 22 of the unmanned aerial vehicle 2.

The weight of the float varies depending on the type (length). The flight plan data generation unit 32 holds the weight for each type of float, determines the number of floats that can be mounted on the mounting unit 22 based on the type of float and the maximum load, and determines the number of floats to be mounted. Based on this, a flight route is generated.

The aviation unit 21 flies by a flight route based on the flight plan data generated by the flight plan data generation unit 32.

In this way, the float drop system 1 can fly the unmanned aerial vehicle 2 according to the flight route based on the flight plan data, and drop the float mounted on the mounting portion 22 according to the drop command signal. , The float can be dropped without the need for a worker to drop the float. In particular, when the water level rises due to rainfall or the like, the float drop system 1 can be used to safely drop the float into the river and safely observe the flow rate.

<About the flight route>
The flight plan data generation unit 32 calculates the number of floats that can be mounted on the mounting unit 22 based on the type of float suitable for the drop location, and the flight plan including the flight route of the unmanned aerial vehicle 2 according to the number of floats. It may be configured to generate data.

The flight plan data generation unit 32 creates, for example, three flight plan data. In other words, up to 12 floats can be dropped with 3 flight plan data. If the flow velocity observation fails, a fourth flight plan data is generated so that the failed float is dropped again. The flight plan data is not limited to three.

For example, the flight plan data generation unit 32 drops a float with a float number “1” on the first side line a1 and a float with a float number “1” on the second side line a2 as the first flight plan data. Flight plan data is generated such that a float with a float number "2" is dropped on the third side line a3 and a float with a float number "3" is dropped on the fourth side line a4. Further, the flight plan data generation unit 32 drops a float with a float number "3" on the fifth lateral line a5 and a float with a float number "2" on the sixth lateral line a6 as the second flight plan data. Flight plan data is generated such that a float with a float number "3" is dropped on the 7th lateral line a7 and a float with a float number "3" is dropped on the 8th lateral line a8. Further, the flight plan data generation unit 32 drops a float with a float number "4" on the 9th side line a9 and a float with a float number "3" on the 10th side line a10 as the third flight plan data. Flight plan data is generated such that a float with a float number "2" is dropped on the 11th side line a11 and a float with a float number "1" is dropped on the 12th side line a12.

Then, as shown in FIGS. 5A, 5B, and 5C, the flight route f1 based on the first flight plan data, the flight route f2 based on the second flight plan data, and the third flight. The unmanned aircraft 2 is flown from the takeoff and landing point X by the flight route f3 based on the plan data, the float is dropped at a predetermined place, and the flow velocity is observed for each float.

Here, when the flow velocity observation fails on the 3rd and 9th lateral lines, the flight plan data generation unit 32 uses the 3rd lateral line as the 4th flight plan data as shown in FIG. 5 (d). Drop the float with float number "2", drop the float with float number "4" on the 9th lateral line, drop the float with float number "2" on the 13th lateral line, and drop the float number "3" on the 14th lateral line. Generate flight plan data that drops the siding.

In addition, if the flow velocity observation fails after dropping the float, it is necessary to specify the reason for the failure in the field note. Possible reasons for failure include "the float does not float on the surface of the water", "the float is caught", "the float bends to the right (left)", and "the float is lost".

By the way, it cannot be determined whether or not the float is bent in the left-right direction unless it is visually observed in the downstream direction in the river longitudinal direction from the point where the float is dropped. Therefore, in the present disclosure, the unmanned aerial vehicle 2 may be equipped with a camera unit, and the camera unit may be used to confirm that the dropped float is bent in the left-right direction.

Further, the flight plan data generation unit 32 may be configured to generate flight plan data including the hovering time at the place where the float is dropped. When the unmanned aerial vehicle 2 is hovering, the mounting unit 22 drops the float into the river in response to the drop command signal. The hovering time is set as the time required for the float to be dropped and the flow rate to be observed by the dropped float.

<About correction of flight route>
Further, the flight plan data generation unit 32 may be configured to generate the next flight plan data including the place where the dropped float is dropped when the flow rate observation by the dropped float fails.

In the flow rate observation by the float, the time required for the dropped float to flow down the distance in a certain section (for example, the distance between lines of sight) is observed. In other words, if the float flows down a certain distance, it is judged that the observation is successful, and as described above, "the float does not float on the water surface", "the float is caught", and "the float moves to the right (left)". If the float does not flow down a certain distance due to "bent" or "lost the float", it can be judged that the observation has failed.

For example, as shown in FIG. 6A, it is assumed that the flow rate observation by the floats dropped in a1, a2, and a4 is successful, and the flow rate observation by the floats dropped in a3 is unsuccessful.

In this case, the flight plan data generation unit 32 generates the next flight plan data including a3, which is the drop location of the failed float. Specifically, as shown in FIGS. 6 (b) and 6 (c), the flight plan data generation unit 32 changes from the initial flight route f2 (a5 → a6 → a7 → a8) to the modified route f2 (a3). → a5 → a6 → a7).

<About the drop command signal (1)>
Next, the drop command signal of the float will be described. For example, the drop command signal may be configured to be transmitted from the external device 4. The external device 4 is a device capable of dropping the float mounted on the mounting unit 22 by remote control, and includes an operating unit 41 and a transmitting unit 42 as shown in FIG. 7.

The operation unit 41 accepts an operation by the operator. The transmission unit 42 outputs a signal (drop command signal) to the outside based on the operation of the operation unit 41. The mounting unit 22 receives the signal output from the external device 4 and drops the corresponding float.

For example, as shown in FIG. 8, the external device 4 is provided with operation buttons B1 to B4, and when any of the operation buttons B1 to B4 is operated, a signal indicating the operated operation button (drop command signal) Is output.

The mounting unit 22 drops a float corresponding to the signal received from the external device 4. For example, when the operation button B1 is operated, the float C1 is dropped, when the operation button B2 is operated, the float C2 is dropped, and when the operation button B3 is operated, the float C3 is dropped and the operation button B4. Is operated, the float C4 is dropped.

<About the drop command signal (2)>
Further, the float command signal may be output from an element other than the external device 4. For example, the base station device 3 includes a drop command signal generation unit 34, as shown in FIG.

The drop command signal generation unit 34 generates a drop command signal for dropping the float at the drop location of the float included in the flight plan data. The transmission unit 33 transmits the drop command signal generated by the drop command signal generation unit 34 to the unmanned aerial vehicle 2. The mounting unit 22 drops the float based on the drop command signal.

Here, assuming a case where the unmanned aerial vehicle 2 flies based on the flight data f1 shown in FIG. 5A, the procedure for dropping the float will be described with reference to FIG.

In step ST1, the unmanned aerial vehicle 2 notifies the base station apparatus 3 that it has departed from the takeoff and landing point x and arrived at the first lateral line a1. The unmanned aerial vehicle 2 may detect that it has arrived at the first lateral line a1 based on the position information measured by the position measuring unit 24.

In step ST2, the receiving unit 31 of the base station device 3 receives the information indicating that the unmanned aerial vehicle 2 has arrived at the first lateral line a1, and notifies the drop command signal generation unit 34 to that effect.

In step ST3, the drop command signal generation unit 34 of the base station device 3 generates the drop command signal S1 and outputs it via the transmission unit 33.

In step ST4, the mounting unit 22 of the unmanned aerial vehicle 2 drops the float C1 corresponding to the drop command signal S1. It is determined whether the flow rate observation by the dropped float C1 succeeded or failed, and if it failed, the reason for the failure is entered in the field note. After that, the unmanned aerial vehicle 2 moves to the second lateral line a2.

In step ST5, the unmanned aerial vehicle 2 notifies the base station apparatus 3 that it has arrived at the second lateral line a2.

In step ST6, the receiving unit 31 of the base station device 3 receives the information indicating that the unmanned aerial vehicle 2 has arrived at the second lateral line a2, and notifies the drop command signal generation unit 34 to that effect.

In step ST7, the drop command signal generation unit 34 of the base station device 3 generates the drop command signal S2 and outputs it via the transmission unit 33.

In step ST8, the mounting unit 22 of the unmanned aerial vehicle 2 drops the float C2 corresponding to the drop command signal S2. It is determined whether the flow rate observation by the dropped float C2 succeeded or failed, and if it failed, the reason for the failure is entered in the field note. After that, the unmanned aerial vehicle 2 moves to the third lateral line a3.

In step ST9, the unmanned aerial vehicle 2 notifies the base station apparatus 3 that it has arrived at the third lateral line a3.

In step ST10, the receiving unit 31 of the base station device 3 receives the information indicating that the unmanned aerial vehicle 2 has arrived at the third lateral line a3, and notifies the drop command signal generation unit 34 to that effect.

In step ST11, the drop command signal generation unit 34 of the base station device 3 generates the drop command signal S3 and outputs it via the transmission unit 33.

In step ST12, the mounting unit 22 of the unmanned aerial vehicle 2 drops the float C3 corresponding to the drop command signal S3. It is determined whether the flow rate observation by the dropped float C3 succeeded or failed, and if it failed, the reason for the failure is entered in the field note. After that, the unmanned aerial vehicle 2 moves to the fourth lateral line a4.

In step ST13, the unmanned aerial vehicle 2 notifies the base station apparatus 3 that it has arrived at the fourth lateral line a4.

In step ST14, the receiving unit 31 of the base station device 3 receives the information indicating that the unmanned aerial vehicle 2 has arrived at the fourth lateral line a4, and notifies the drop command signal generation unit 34 to that effect.

In step ST15, the drop command signal generation unit 34 of the base station device 3 generates the drop command signal S4 and outputs it via the transmission unit 33.

In step ST16, the mounting unit 22 of the unmanned aerial vehicle 2 drops the float C4 corresponding to the drop command signal S4. It is determined whether the flow rate observation by the dropped float C4 succeeded or failed, and if it failed, the reason for the failure is entered in the field note. The unmanned aerial vehicle 2 then moves towards the takeoff and landing point x to mount the float.

According to this configuration, the float drop system 1 can drop the float based on the drop command signal output from the base station device 3 without the need for the external device 4, and the operator of the external device 4 can be dropped. There is a merit that you do not need.

<Modification example (1)>
In the above description, an embodiment in which flight plan data is generated by the flight plan data generation unit 32 of the base station device 3 and the unmanned aircraft 2 flies based on the flight data based on the flight grand data has been described, but the present invention is limited to this. Absent. In the following, the same components as the float dropping system 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 11, the float dropping device 5 includes an aviation unit 21, a mounting unit 22, and a flight plan data generation unit 32.

The aviation unit 21 is a device used for aviation, and flies by remote control or autopilot. The mounting portion 22 mounts the float detachably.

The flight plan data generation unit 32 includes flight plan data including the flight route of the aviation unit 21, the drop location of the float, and the type of float suitable for the drop location, based on the cross-sectional shape data and the water level data of the observation location. To generate. The aviation department 21 flies based on the flight route.

The mounting unit 22 drops the float based on the drop command signal. The drop command signal may be transmitted from the external device 4 or may be generated by the drop command signal generation unit 34 provided inside.

According to such a configuration, the float dropping device 5 can generate flight plan data and fly based on the flight route included in the generated flight plan data without the need for the base station device 3. it can.

<Modification example (2)>
Further, as shown in FIG. 12, the base station device 3 may be configured to include a receiving unit 31, a flight plan data generation unit 32, and a control unit 35.
The flight plan data generation unit 32 includes flight plan data including the flight route of the unmanned aerial vehicle 2 and the drop location of the float, and the type of float suitable for the drop location, based on the cross-sectional shape data and the water level data of the observation location. To generate.
The control unit 35 controls the unmanned aerial vehicle 2 by a flight route based on the flight plan data generated by the flight plan data generation unit 32.

According to such a configuration, since the base station device 3 controls the unmanned aerial vehicle 2 by remote control based on the flight route, it is possible to use the unmanned aerial vehicle 2 which does not have the function of autonomously flying. , You can drop the float cheaply and safely.

1 Float drop system, 2 Unmanned aerial vehicle, 3 Base station device, 4 External device, 5 Float drop device, 21 Aviation section, 22 Mounting section, 23 Geomagnetic sensor, 24 Position measurement section, 25 Communication section, 26 Control section, 31 Reception Unit, 32 Flight plan data generation unit, 33 Transmission unit, 34 Drop command signal generation unit, 35 Control unit

Claims (8)

In a float dropping system including an unmanned aerial vehicle and a base station device that communicates with the unmanned aerial vehicle.
The unmanned aerial vehicle
Equipment used for aviation, with the aviation department flying by remote control or autopilot,
Equipped with a mounting part for mounting the float detachably,
The mounting portion drops the float based on the drop command signal.
The base station device is
Flight plan data generation unit that generates flight plan data including the flight route of the unmanned aerial vehicle, the drop location of the float, and the type of float suitable for the drop location based on the cross-sectional shape data and the water level data of the observation location. With
The aviation unit is a float dropping system that flies by a flight route based on the flight plan data generated by the flight plan data generation unit. The flight plan data generation unit calculates the number of floats that can be mounted on the mounting unit based on the type of float suitable for the drop location, and the flight plan including the flight route of the unmanned aerial vehicle according to the number of floats. The float dropping system according to claim 1, wherein data is generated. The float drop system according to claim 1 or 2, wherein the flight plan data generation unit generates the next flight plan data including the place where the dropped float fails when the flow rate observation by the dropped float fails. The float drop system according to any one of claims 1 to 3, wherein the flight plan data generation unit generates flight plan data including a time to stop in the air at a float drop location. The float drop system according to any one of claims 1 to 4, wherein the drop command signal is transmitted from an external device. The base station device includes a drop command signal generation unit that generates a drop command signal for dropping the float at a float drop location included in the flight plan data.
A transmission unit that transmits a drop command signal generated by the drop command signal generation unit to the unmanned aerial vehicle is provided.
The float dropping system according to any one of claims 1 to 4, wherein the mounting portion drops a float based on the drop command signal. Equipment used for aviation, with the aviation department flying by remote control or autopilot,
A mounting part that attaches the float to the detachable side,
A flight plan data generator that generates flight plan data including the flight route of the aviation section, the drop location of the float, and the type of float suitable for the drop location based on the cross-sectional shape data and the water level data of the observation location. And with
The mounting portion drops the float based on the drop command signal.
The aviation unit is a float dropping device that flies based on a flight route based on the flight plan data. Based on the cross-sectional shape data and water level data of the observation location, a flight plan data generator that generates flight plan data including the flight route of the unmanned aerial vehicle, the drop location of the float, and the type of float suitable for the drop location. Prepare,
A base station device that flies the unmanned aerial vehicle by a flight route based on the flight plan data generated by the flight plan data generation unit.

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