WO2019208606A1 - Système, procédé et programme informatique de commande d'éjection de produits chimiques - Google Patents

Système, procédé et programme informatique de commande d'éjection de produits chimiques Download PDF

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Publication number
WO2019208606A1
WO2019208606A1 PCT/JP2019/017340 JP2019017340W WO2019208606A1 WO 2019208606 A1 WO2019208606 A1 WO 2019208606A1 JP 2019017340 W JP2019017340 W JP 2019017340W WO 2019208606 A1 WO2019208606 A1 WO 2019208606A1
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WIPO (PCT)
Prior art keywords
medicine
drug
discharge
sensor
type
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PCT/JP2019/017340
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English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
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株式会社ナイルワークス
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Application filed by 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to JP2020515506A priority Critical patent/JP6749626B2/ja
Publication of WO2019208606A1 publication Critical patent/WO2019208606A1/fr

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    • 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
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors

Definitions

  • the present invention relates to an unmanned aerial vehicle (drone) for spraying chemicals such as agricultural chemicals on a field, and more particularly to a drone with improved safety, a control method thereof, and a program.
  • drone unmanned aerial vehicle
  • the drone can know the absolute position of its own aircraft accurately in centimeters during flight. Even in farmland with a narrow and complex terrain typical in Japan, it is possible to fly autonomously with a minimum of manual maneuvering, and to disperse medicines efficiently and accurately.
  • An object of the present invention is to accurately control the discharge of a drug in an agricultural machine that sprays the drug and to increase the safety of the drug spray.
  • a medicine discharge control system in an agricultural machine that has a medicine tank for storing medicine and a discharge port for discharging the medicine, and sprays the medicine, A system for controlling the discharge of the medicine, a first pressure sensor that measures the discharge pressure of the medicine, a second pressure sensor that is provided in the vicinity of the pump and that measures the discharge pressure of the medicine discharged downstream A pressure sensor, a pump sensor that measures the number of rotations of a rotor that sucks the drug from the drug tank and discharges it downstream in a pump that discharges the drug stored in the drug tank downstream, or a flow rate of the drug Any one of a plurality of sensors, and the discharge amount of the medicine is detected by any one of the sensors.
  • a first determination processing unit that determines abnormal discharge of the medicine by any one of the first pressure sensor, the second pressure sensor, the pump sensor, or the flow rate sensor, It is good also as what has.
  • the first determination processing unit may determine an abnormal discharge based on a pressure loss calculated from the discharge pressure of the medicine measured by the first pressure sensor and the second pressure sensor. Good.
  • the first determination processing unit is configured to determine the discharge pressure of the medicine measured by the first pressure sensor or the second pressure sensor and the rotational speed of the rotor measured by the pump sensor. Based on this, it is also possible to determine the ejection abnormality.
  • the first determination may further include a drug type determination sensor that determines a type of the drug stored in the drug tank, and an input reception unit that receives an input of information related to the type of the drug.
  • the processing unit may further determine a setting abnormality based on the type of the drug determined by the drug type determination sensor and the information related to the type of the drug received by the input receiving unit.
  • the first determination processing unit further includes a nozzle type determination sensor that determines a type of a nozzle attached to the discharge port of the medicine, and an input reception unit that receives an input of information related to the type of the medicine. Furthermore, based on the information on the medicine type determined in advance according to the type of the nozzle determined by the nozzle type determination sensor and the information on the type of medicine received by the input receiving means, a setting abnormality is detected. It may be determined.
  • the first determination processing unit further determines the type of the medicine determined in advance according to the type of the medicine determined by the medicine type determination sensor and the type of the nozzle determined by the nozzle type determination sensor. Based on this, a setting abnormality may be determined.
  • the first determination processing unit may further include a first retraction control unit that causes the agricultural machine to take a retreat action when it is determined that the ejection abnormality or the setting abnormality has occurred.
  • the first determination processing unit may further include a first blocking mechanism that blocks the discharge of the medicine when it is determined that the discharge is abnormal or the setting is abnormal.
  • the apparatus further includes an altitude measuring means for measuring the altitude of the agricultural machine, and the second determination processing unit determines that an abnormal state occurs when the altitude of the agricultural machine exceeds a predetermined altitude. It may be a thing.
  • the apparatus further comprises a wind speed measuring means for measuring the wind speed around the agricultural machine, and the second determination processing unit is abnormal when the wind speed around the agricultural machine becomes equal to or higher than a predetermined wind speed. It is good also as what judges a state.
  • the apparatus further comprises a temperature / humidity measuring means for measuring the ambient temperature and humidity of the agricultural machine, and the second determination processing unit is configured such that the ambient temperature of the agricultural machine is equal to or higher than a predetermined temperature and the humidity is higher. It may be determined as an abnormal state when the humidity is equal to or lower than a predetermined humidity.
  • the second determination processing unit may further include a second retraction control unit that causes the agricultural machine to perform a retreat action when it is determined as an abnormal state.
  • the second determination processing unit may further include a blocking mechanism that blocks the discharge of the medicine when it is determined as an abnormal state.
  • the detection of the discharge amount of the medicine by any one of the sensors may be performed constantly during use of the agricultural machine.
  • the agricultural machine may be a drone.
  • a medicine discharge control method is provided in an agricultural machine having a medicine tank for storing medicine and a discharge port for discharging the medicine, and spraying the medicine, A system for controlling the discharge of a medicine, a first pressure sensor that measures the discharge pressure of the medicine, a second pressure sensor that is provided in the vicinity of the pump and that measures the discharge pressure of the medicine discharged downstream A pressure sensor, a pump sensor for measuring the number of rotations of a rotor that sucks the medicine from the medicine tank and discharges the medicine downstream in a pump for discharging the medicine stored in the medicine tank downstream, or a flow rate of the medicine A system having any one of a plurality of sensors for measuring a flow rate sensor detects the discharge amount of the medicine by any one of the sensors. Management, to run.
  • a computer program is provided in an agricultural machine that has a medicine tank for storing medicine and a discharge port for discharging the medicine, and sprays the medicine.
  • a system for controlling discharge the first pressure sensor for measuring the discharge pressure of the medicine, the second pressure sensor for measuring the discharge pressure of the medicine to be discharged downstream, provided in the vicinity of the pump
  • a pump sensor that measures the number of rotations of a rotor that sucks the medicine from the medicine tank and discharges the medicine downstream in the pump that discharges the medicine stored in the medicine tank downstream, or measures the flow rate of the medicine
  • a computer program executed by a system having any one of a plurality of sensors. Processing for detecting the discharge amount of the drug by either a plurality of sensors of the chromatography, to execution.
  • the computer program can be provided by downloading via a network such as the Internet or can be provided by being recorded on various readable recording media.
  • 1 is an example of an overall conceptual diagram of a medicine dispensing system using an embodiment of a medicine dispensing drone equipped with a medicine discharge control system according to the present invention.
  • FIG. 1 is a plan view of an embodiment of the drone 100 according to the present invention
  • FIG. 2 is a front view thereof (viewed from the traveling direction side)
  • FIG. 3 is a right side view thereof.
  • drone refers to power means (electric power, prime mover, etc.) and control method (whether wireless or wired, autonomous flight type or manual control type).
  • power means electric power, prime mover, etc.
  • control method whether wireless or wired, autonomous flight type or manual control type.
  • the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b are means for flying the drone 100 Considering the balance between flight stability, airframe size, and battery consumption, it is desirable to have 8 aircraft (4 sets of 2-stage rotor blades).
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are connected to the rotor blades 101-1a, 101-1b, 101-2a, 101- 2b, 101-3a, 101-3b, 101-4a, 101-4b
  • Rotating means typically an electric motor, but it may be a motor
  • the upper and lower rotors for example, 101-1a and 101-1b
  • their corresponding motors for example, 102-1a and 102-1b
  • the axes are collinear and rotate in opposite directions.
  • the radial member for supporting the propeller guard provided so that the rotor does not interfere with the foreign object is desirably a horizontal structure rather than horizontal. This is to prevent the member from buckling and deforming to the rotor side at the time of collision and to prevent interference with the rotor.
  • medical agent generally refers to the liquid or powder disperse
  • the medicine tank 104 is a tank for storing medicine to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the chemical hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the chemical tank 104 and the chemical nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. And may also serve as a support for the drug nozzle.
  • the pump 106 is a means for discharging the medicine from the nozzle.
  • FIG. 4 shows an overall conceptual diagram of a system using an embodiment of the drug spraying application of the drone 100 according to the present invention.
  • the controller 401 is a means for transmitting a command to the drone 100 by an operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that runs a computer program.
  • the drone 100 according to the present invention is desirably controlled so as to perform autonomous flight, but it is desirable that a manual operation can be performed at the time of basic operations such as takeoff and return, and in an emergency.
  • an emergency operating device (not shown) that has a dedicated emergency stop function may be used (the emergency operating device has a large emergency stop button etc. so that it can respond quickly in an emergency) It is desirable to be a dedicated device with It is desirable that the controller 401 and the drone 100 perform wireless communication using Wi-Fi or the like.
  • the field 403 is a rice field, a field, or the like that is a target of drug spraying by the drone 100.
  • the topography of the field 403 is complicated, and a topographic map cannot be obtained in advance, or the topographic map and the situation at the site may be different.
  • the farm 403 is adjacent to houses, hospitals, schools, other crop farms, roads, railways, and the like. Further, there may be an obstacle such as a building or an electric wire in the field 403.
  • the base station 404 is a device that provides a base unit function of Wi-Fi communication, etc., and preferably functions as an RTK-GPS base station so that the exact position of the drone 100 can be provided (Wi-Fi
  • the communication master unit and the RTK-GPS base station may be independent devices).
  • the farming cloud 405 is typically a computer group operated on a cloud service and related software, and is desirably wirelessly connected to the controller 401 via a mobile phone line or the like.
  • the farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growth status of the crop, and perform processing for determining the flight route.
  • the drone 100 may be provided with the topographic information and the like of the stored farm 403.
  • the history of the flight of the drone 100 and the captured video may be accumulated and various analysis processes may be performed.
  • the drone 100 takes off from the landing point 406 outside the field 403 and returns to the landing point 406 after spraying the medicine on the field 403 or when it is necessary to refill or charge the medicine.
  • the flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the takeoff starts.
  • the flight controller 501 is a component that controls the entire drone. Specifically, the flight controller 501 may be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 receives motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the pilot 401 and input information obtained from various sensors described below.
  • 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b are controlled to control the flight of the drone 100.
  • the actual rotational speed of motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b is fed back to the flight controller 501, and normal rotation is performed. It is desirable to have a configuration that can monitor whether Alternatively, a configuration in which an optical sensor or the like is provided on the rotor blade 101 and the rotation of the rotor blade 101 is fed back to the flight controller 501 may be employed.
  • the software used by the flight controller 501 is desirably rewritable through a storage medium or the like for function expansion / change, problem correction, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by illegal software is not performed. Further, a part of calculation processing used for control by the flight controller 501 may be executed by another computer that exists on the pilot 401, the farming cloud 405, or in another place. Since the flight controller 501 is highly important, some or all of the components may be duplicated.
  • the battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is preferably rechargeable.
  • the battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 is desirably a smart battery having a function of transmitting the internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to the power supply function.
  • the flight controller 501 communicates with the pilot 401 via the Wi-Fi slave function 503 and further via the base station 404, receives necessary commands from the pilot 401, and sends necessary information to the pilot. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so that it is possible to prevent illegal acts such as interception, spoofing, and takeover of the device.
  • the base station 404 preferably has an RTK-GPS base station function in addition to a Wi-Fi communication function. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is highly important, it is desirable to duplicate or multiplex, and each redundant GPS module 504 should use a different satellite in order to cope with the failure of a specific GPS satellite. It is desirable to control.
  • the 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body (further, means for calculating the speed by integrating the acceleration), and is preferably a 6-axis sensor.
  • the geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring geomagnetism.
  • the atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface using the reflection of laser light, and it is preferable to use an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the ground surface using reflection of sound waves such as ultrasonic waves.
  • sensors may be selected according to drone cost targets and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind sensor for measuring wind force, and the like may be added. In addition, these sensors are preferably duplexed or multiplexed. When there are a plurality of sensors having the same purpose, the flight controller 501 may use only one of them, and when a failure occurs, it may be switched to an alternative sensor. Alternatively, a plurality of sensors may be used at the same time, and when each measurement result does not match, it may be considered that a failure has occurred.
  • the flow sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of locations in the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become a predetermined amount or less.
  • the multispectral camera 512 is a means for capturing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the lens orientation are different from those of the multispectral camera 512, the obstacle detection camera 513 is preferably a device different from the multispectral camera 512.
  • the switch 514 is a means for the user 402 of the drone 100 to perform various settings.
  • Obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • the cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the internal maintenance cover are open.
  • the medicine inlet sensor 517 is a sensor that detects that the inlet of the medicine tank 104 is open. These sensors may be selected according to drone cost targets and performance requirements, and may be duplicated or multiplexed.
  • a sensor may be provided in the base station 404, the controller 401, or other place outside the drone 100, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information regarding wind power and wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 transmits a control signal to the pump 106 to adjust the medicine discharge amount and stop the medicine discharge. It is desirable that the current situation (for example, the rotational speed) of the pump 106 is fed back to the flight controller 501.
  • the LED 107 is a display means for informing the drone operator of the drone status.
  • Display means such as a liquid crystal display may be used instead of or in addition to the LED.
  • the buzzer 518 is an output means for notifying a drone state (particularly an error state) by an audio signal.
  • the Wi-Fi handset function 519 is an optional component for communicating with an external computer or the like for software transfer or the like, separately from the controller 401. In place of or in addition to the Wi-Fi handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used.
  • the speaker 520 is an output means for notifying a drone state (particularly an error state) by a recorded human voice or synthesized voice. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 during the flight, and in such a case, the situation transmission by voice is effective.
  • the warning light 521 is a display unit such as a strobe light that notifies the drone state (particularly an error state).
  • the altitude and speed upper limit of the drone is extremely important for maintaining safety. This is because the user 402 is not always attached to the controller 401 and is operating the drone 100. If the altitude of the drone 100 exceeds the predetermined altitude, the impact at the time of a ground collision in the event of a fall may exceed the safety regulations (in the unlikely event that it may cause serious damage when it collides with a person) . In addition, it is desirable to limit the altitude in order to minimize the scattering (drift) of the drug outside the target field. Similarly, if the speed of the drone 100 exceeds a predetermined speed, it can be a big problem in terms of safety. In addition to falling, impacts when colliding with obstacles (especially humans) may exceed safety standards.
  • the drone 100 includes altitude measurement means, speed measurement means, or both for input to the flight controller 501.
  • a weight measuring means may be provided. It is desirable that the flight controller 501 receives the measured information as input and controls the motor 102 so that the drone 100 does not exceed a predetermined limit altitude, a predetermined limit speed, or both.
  • the drone 100 measures the aircraft altitude using a plurality of sensors.
  • a combination of GPS 504, 6-axis gyro sensor 505, barometric pressure sensor 507, sonar 509, and laser sensor 508 may be used.
  • the distance to the ground may be measured by providing the multispectral camera 512 or the obstacle detection camera 513 with a passive autofocus function.
  • Duplexing / multiplexing may be performed by using a plurality of sensors of the same type, may be performed by using a plurality of sensors in combination, or may be performed by both.
  • the sonar 509 can perform accurate measurement when the field 403 is the ground, but is difficult when the field 403 is water (in this case, the laser sensor 508 is appropriate). Since there are advantages and disadvantages depending on the measurement method, it is desirable to use a plurality of types of sensors together. In addition, in the event of disturbance of GPS radio waves, abnormality of the base station, etc., even if the GPS 504 is multiplexed, it will be an obstacle, so it is desirable to provide altitude measuring means other than GPS.
  • GPS504 can make the most accurate measurement, but only absolute height can be measured, so it is impossible to measure accurate ground altitude in uneven field 403 such as irrigation channels, while Sonar 509 measures ground altitude to measure the distance to the ground. This is because it can be measured.
  • measurements are made using both GPS504 and Sonar 509, and the results are compared. If the difference is within a predetermined threshold (for example, 10 centimeters), the measured value of GPS504 is used for altitude measurement. May be determined that the unevenness of the field 403 is large, and the measurement value of the sonar 509 may be used for altitude measurement.
  • GPS504 is an indispensable function for grasping the drone's flight position anyway, so if GPS504 does not function during takeoff due to malfunction or disturbance, control (interlock) prohibiting drone takeoff is performed. It is desirable to do so.
  • GPS stops functioning due to interruption of radio waves from GPS satellites during flight, temporary interruption of communication, or reception interruptions due to communication interference the drone 100 will fly over on the spot. It is desirable to perform control to stop (hover). If the GPS does not function even after a predetermined time has elapsed, the hovering may be stopped and the drone 100 may be softly landed on the spot, or returned to the landing point 406 or the like. At this time, an error message may be displayed on the controller 401 and the user 402 may be instructed.
  • the drone 100 can be operated within the restricted altitudes defined by laws and regulations, safety standards, etc. It is possible to fly with.
  • the limit altitude at the time of measurement using the sonar 509 is 2 meters
  • the limit altitude at the time of measurement using the GPS 504 may be 1.5 meters.
  • the ascent rate (altitude change over time) may be limited. This is because if the ascent rate is not limited, there is a risk that the drone 100 may temporarily exceed the limit altitude due to sensor measurement delay, flight controller 501 processing delay, and the like.
  • the upper limit value of the ascending speed may be set lower than when the altitude is measured by another method such as the sonar 509. This is because the GPS 504 may not be able to measure temporarily due to radio wave disturbances or positioning satellite conditions, so the risk of the drone temporarily exceeding the restricted altitude increases.
  • the drone 100 may measure the aircraft speed using a plurality of sensors.
  • 6-axis gyro sensor 505 speed can be obtained by integration of acceleration
  • GPS Doppler 504-3 measurement of aircraft speed by processing the phase difference of radio waves from multiple GPS base stations with software
  • changes in absolute coordinates measured by the GPS 504 may be used.
  • the drone 100 can be operated within the speed limit defined by laws and regulations, safety standards, etc. It is possible to fly at a speed of 20 km / h.
  • the weight of the drug is over 10 kilograms. Since the weight of the fuselage only is typically about 25 kilograms, there is a big difference in the overall weight at the start of spraying and near the end of spraying.
  • the altitude and speed of the drone 100 may be adjusted according to changes in the overall weight. For example, if the safety standards stipulate the impact force on the surface of the drone 100 when it falls naturally, the impact force is determined by altitude, speed, and weight (proportional to the square of speed and proportional to altitude and weight) Therefore, the altitude limit may be increased when the aircraft weight is light. Similarly, the speed limit may be increased when the aircraft weight is light. Alternatively, the limit altitude may be set low when the flight speed is fast, and the limit speed may be set slow when the flight altitude is high.
  • the body weight may be estimated using the acceleration measured by the 6-axis gyro sensor 505 or the acceleration as a differential value of the speed measured by means such as the GPS Doppler 504-3 or the GPS 504.
  • the thrust of the motor 102 is T
  • the acceleration of gravity is g
  • the measured acceleration of the aircraft is ⁇
  • the weight of the aircraft may be estimated by measuring the inclination of the aircraft of the drone 100 during the uniform speed flight.
  • the inclination of the airframe may be directly measured by providing a gyro sensor, or may be estimated by differentiating the measured value of the 6-axis type 6-axis gyro sensor 505 twice.
  • the aircraft's air resistance, gravity, and thrust from the rotor blades are balanced.
  • Air resistance is a function of the aircraft's flight speed
  • thrust by the rotor blades is a function of the number of revolutions of the motor
  • gravity is a function of the weight of the aircraft, so weight is the inclination of the aircraft, the number of revolutions of the motor, If the flight speed is known, it can be estimated.
  • a wind sensor may be provided and the air resistance coefficient may be corrected by the wind force and the wind direction.
  • the level of the drug is measured by the level sensor in the drug tank, and the remaining amount of drug is measured.
  • the weight of the entire aircraft may be estimated by providing a water pressure sensor in the medicine tank and estimating the weight of the medicine in the medicine tank.
  • the medicine discharge control system according to the present embodiment is provided in an agricultural machine for spraying medicine, particularly in this example, the medicine spraying drone 100, and controls medicine discharge accurately and detects medicine discharge abnormality. .
  • the medicine discharge abnormality actually occurs, and in addition to a state where a medicine exceeding a specified value is being discharged, such a medicine discharging abnormality occurs.
  • the medicine tank 104 is a tank for storing the medicine to be sprayed.
  • the medicine tank 104 is provided with an openable / closable lid for filling the medicine or taking out the stored medicine.
  • An open / close sensor 104a capable of detecting an open / close state is attached to the openable / closable lid.
  • the open / close sensor 104a can be constituted by, for example, a magnet attached to the lid and a sensor attached to the main body and sensing the magnetic force and contact of the magnet. Thereby, the open / closed state of the lid is determined, the user can recognize the open / closed state of the lid, and the situation where the medicine is sprayed while the lid is open can be prevented.
  • the medicine tank 104 is provided with a medicine type discrimination sensor 104b.
  • the medicine type discrimination sensor 104b can discriminate the type of medicine stored in the medicine tank 104.
  • the medicine type discrimination sensor 104b is constituted by, for example, a device capable of measuring the viscosity, conductivity, or pH of the medicine in the medicine tank 104, and the value of each measured item and the reference value for each medicine And the type of medicine can be determined.
  • a cartridge type drug tank is used as the drug tank 104, an IC or the like in which the drug type data is recorded is attached to the cartridge type drug tank.
  • the type of medicine can be determined.
  • the particle size of the drug varies depending on the type. If a drug with a particle size smaller than the drug intended to be sprayed is accidentally sprayed, drift (scattering of the drug other than the target) will occur. , Adhesion) is high and cannot be overlooked.
  • the medicine tank 104 is provided with a liquid shortage sensor 511 for detecting the liquid shortage of the medicine.
  • a liquid shortage sensor 511 for detecting the liquid shortage of the medicine.
  • the medicine when the medicine runs out, it includes not only the case where the medicine runs out, but also the case where the amount of medicine falls below a predetermined amount, and detects the running out of medicine according to an arbitrarily set amount. Can do.
  • a medicine transpiration detection function and a temperature / humidity measurement function in the medicine tank 104 may be provided in the medicine tank 104 so that the medicine is managed in an appropriate state.
  • the pump 106 discharges the medicine stored in the medicine tank 104 downstream, and each medicine nozzle 103-1, 103-2, via the medicine hose 105-1, 105-2, 105-3, 105-4, Send to 103-3, 103-4.
  • the medicine is delivered from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, and 103-4.
  • the medicine is delivered along this delivery path. Is referred to as the downstream direction, and the opposite direction may be referred to as the upstream direction.
  • a part of the medicine is sent again from the medicine tank 104 to the medicine tank 104 through the three-way valve 122.
  • the three-way valve 122 side is referred to as a downstream direction
  • the medicine tank 104 side is referred to as an upstream direction. Yes.
  • the expansion tank 141 is a tank for temporarily storing the medicine delivered from the three-way valve 122 and returning it to the medicine tank 104.
  • a path from the three-way valve 122 to the drug tank 104 via the expansion tank 141 is a path for removing (defoaming) bubbles in the drug. By circulating this path and temporarily storing it in the expansion tank 141, the defoaming of the medicine can be performed.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 deliver the drug only in a certain direction and in the direction opposite to the certain direction. This is a valve for preventing the inflow, that is, the back flow.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are provided from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3.
  • 103-4 plays a role of a blocking mechanism that blocks the discharge of the drug, and if it can play a role of blocking the discharge of the drug, the other mechanism such as an electromagnetic valve is used as the blocking mechanism You can also.
  • the check valve 121-1 is provided between the drug tank 104 and the pump 106, in the vicinity of the drug discharge port provided in the drug tank 104, and the check valve 121-2 is provided with the three-way valve 122 and the drug.
  • the nozzles 103-1, 103-2, 103-3, 103-4 are provided, and check valves 121-4, 121-5, 121-6, 121-7 are provided to discharge the medicine 103a- 1, 103a-2, 103a-3, 103a-4, and a check valve 121-3 is provided between the three-way valve 122 and the expansion tank 141.
  • the check valve 121-1 controls the medicine sent out from the medicine tank 104 in the downstream direction so that it cannot flow back to the medicine tank 104.
  • the check valve 121-2 controls the medicine sent from the pump 106 in the downstream direction so that it cannot flow back to the pump 106. Further, the check valve 121-3 controls the medicine sent from the three-way valve 122 in the upstream direction where the expansion tank 141 is present and prevents the backflow to the three-way valve 122. Furthermore, the check valves 121-4, 121-5, 121-6, 121-7 can block the discharge of medicine from the discharge ports 103a-1, 103a-2, 103a-3, 103a-4. I have to. Various check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, such as swing type, lift type, and wafer type, are used. It is not limited to a specific one. Regardless of this example, more check valves may be provided in appropriate locations than in this example.
  • the three-way valve 122 is provided between the pump 106 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, A branch point between the path connected to 103-4 and the path connected from the pump 106 to the drug tank 104 via the expansion tank 141 is configured, and the drug is sent to each path according to the switching operation.
  • the path leading from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, 103-4 causes the drug to be discharged from the drug nozzles 103-1, 103-2, 103-3, 103-4. It is a route for spraying medicine.
  • the path leading from the pump 106 to the medicine tank 104 via the expansion tank 141 is a path for removing (defoaming) bubbles in the medicine as described above.
  • the flow sensor 510 is provided between the pump 106 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and is sent to the drug nozzles 103-1, 103-2, 103-3, 103-4. Measure the drug flow rate. Based on the flow rate of the medicine measured by the flow sensor 510, the amount of the medicine spread on the field 403 can be grasped.
  • the pressure sensors 111-1 and 111-2 are provided at the discharge port of the drug and measure the discharge pressure of the drug discharged from the drug nozzles 103-1, 103-2, 103-3, and 103-4 to the outside.
  • the pressure sensors 111-1 and 111-2 are provided on the downstream side of the pump 106, and measure the discharge pressure of the medicine discharged downstream.
  • the pump sensor 106a measures the number of rotations of the rotor that sucks the drug from the drug tank 104 and discharges it downstream in the pump 106. By measuring the number of rotations of the rotor of the pump 106 by the pump sensor 106a, the amount of the medicine delivered by the pump 106 can be grasped, and an abnormal discharge such as excessive discharge of the medicine can be determined, or the discharge of the medicine can be determined. Can be controlled.
  • the nozzle type discrimination sensors 114-1, 114-2, 114-3, 114-4 discriminate the types of the drug nozzles 103-1, 103-2, 103-3, 103-4 attached to the drug discharge ports. be able to. Due to the difference in particle diameter for each sprayed drug, the drug nozzles 103-1, 103-2, 103-3, and 103-4 are usually used in accordance with the drug. Therefore, by determining whether the types of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 are appropriate, it is possible to prevent the wrong medicine from being sprayed.
  • a mechanism for fitting or engaging with the drug nozzles 103-1, 103-2, 103-3, 103-4 is provided at the discharge port, and the drug nozzles 103-1, 103-2, 103 are provided.
  • -3, 103-4 is a mechanism that fits or engages with the spout-side fitting or engagement mechanism, and includes a plurality of drug nozzles 103-1, 103-2, 103-3, 103-4 A differently shaped mechanism is provided for each.
  • the medicine nozzles 103-1, 103-2, 103-3, 103-4 are attached to the discharge ports, different shapes are identified for the medicine nozzles 103-1, 103-2, 103-3, 103-4. By doing so, the types of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 can be determined.
  • a discharge port with a cock for discharging medicine stored in the path to the outside (Indicated as “DRAIN” in FIG. 6).
  • DRAIN a discharge port with a cock for discharging medicine stored in the path to the outside
  • the flight controller 501 includes a first determination processing unit 11, a first control unit 12, a threshold information storage unit 22, and an input receiving unit 501a for determining a drug ejection abnormality.
  • a first determination processing unit 11 a first control unit 12, a threshold information storage unit 22, and an input receiving unit 501a for determining a drug ejection abnormality.
  • a threshold information storage unit 22 a threshold information storage unit 22 .
  • an input receiving unit 501a for determining a drug ejection abnormality.
  • FIG. 7 only functions necessary for the medicine ejection control in the present embodiment are shown as the functions of the flight controller 501.
  • the first control unit 12 causes the drone 100 to take a predetermined safety action when it is determined as a result of the determination process by the first determination processing unit 11 described later that a medicine ejection abnormality or a setting abnormality has occurred.
  • the predetermined safety action is a evacuation action if in flight, and a flight regulation measure if it is in a pre-flight preparation state.
  • the evacuation action includes, for example, a normal landing operation, an air stop such as hovering, and “emergency return” that moves immediately to a predetermined return point by the shortest route.
  • the predetermined return point is a point that is previously stored in the flight controller 501, for example, a point that has taken off.
  • the predetermined return point is a land point where the user 402 can approach the drone 100, for example, and the user 402 can check the drone 100 that has reached the return point or manually carry it to another location. can do.
  • the evacuation action may be a “normal return” that moves to a predetermined return point by an optimized route.
  • the optimized route is, for example, a route that is calculated with reference to a route in which medicine is dispersed before receiving a normal feedback command.
  • the drone 100 moves to a predetermined return point while spraying the drug via a route where the drug is not yet sprayed.
  • the retreating action includes “emergency stop” in which all the rotary blades are stopped and the drone 100 is dropped downward from the spot.
  • the flight regulation measure is a measure that regulates the flight in a pre-flight preparation stage, and rejects the flight instruction of the user or requests the user to check the state.
  • a flight regulation measure When a flight regulation measure is taken, it may be controlled so that it cannot fly unless an abnormality is confirmed or maintained.
  • the first control unit 12 is not limited to the case where an abnormality occurs in the drone 100, and can control to a predetermined discharge amount and flow rate based on the discharge amount and flow rate of the medicine measured by each sensor.
  • the threshold information storage unit 22 is a storage unit that stores a threshold value serving as a reference for pressure, flow rate, and the like in determination processing by the first determination processing unit 11 described later.
  • the input receiving unit 501a can receive input of various types of information such as information related to the type of medicine.
  • the first determination processing unit 11 can execute the following first to sixth determination processes. The flow of each determination process is as shown in FIG. 8, and each process will be described based on this.
  • the first determination processing unit 11 can determine a discharge abnormality based on the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2 as the first determination process. Specifically, when the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2 is equal to or higher than a predetermined value, it can be determined that the discharge is abnormal.
  • the first determination processing unit 11 acquires information relating to the discharge pressure of the medicine as a status (S101), and compares the predetermined value stored in the threshold information storage unit 22 with the status to determine an ejection abnormality ( S102). As a result, if it is determined that the discharge is abnormal, the first control unit 12 takes a predetermined safety action (S103).
  • a discharge abnormality is determined based on the pressure loss calculated from the discharge pressure measured by the pressure sensors 111-1 and 111-2. Specifically, the pressure loss is calculated from the difference between the discharge pressure of the medicine measured by the pressure sensor 111-1 and the discharge pressure of the medicine measured by the pressure sensor 111-2, and the pressure loss is greater than or equal to a predetermined value. If there is, it can be determined that the discharge is abnormal. By determining the discharge abnormality based on the pressure loss, it is possible to detect a drug leakage abnormality between the internal three-way valve 122 and the pressure sensors 111-1 and 111-2.
  • the first determination processing unit 11 acquires information on the discharge pressure of the medicine as the status (S101), calculates the pressure loss, and compares it with the predetermined value stored in the threshold information storage unit 22. Abnormality is judged (S102). As a result, if it is determined that the discharge is abnormal, the first control unit 12 takes a predetermined safety action (S103).
  • a discharge abnormality is determined based on the rotation speed of the rotor in the pump 106 measured by the pump sensor 106a. Specifically, it is possible to determine that the discharge is abnormal when the rotational speed of the rotor measured by the pump sensor 106a is equal to or greater than a predetermined value. In this case, it is presumed that the rotor is in an over-rotating state, so that it can be determined that a medicine exceeding the safe discharge amount is being sprayed.
  • the first determination processing unit 11 acquires information related to the number of rotations of the rotor in the pump 106 as a status (S101), and compares the predetermined value stored in the threshold information storage unit 22 with the status for discharge. Abnormality is judged (S102). As a result, if it is determined that the discharge is abnormal, the first control unit 12 takes a predetermined safety action (S103).
  • a fourth determination process it is determined whether or not there is an abnormal state based on the drug type determined by the drug type determination sensor 104b and the information related to the drug type received by the input receiving unit 501a. Specifically, if the type of the drug determined by the drug type determination sensor 104b is different from the type of the drug received by the input unit, it is assumed that there is a possibility that an unscheduled drug may be sprayed. It can be judged.
  • the first determination processing unit 11 acquires information on the type of drug from each of the drug type determination sensor 104b and the input reception unit 501a as the status (S101), and compares these to determine whether or not there is an abnormal state. Judgment is made (S102). As a result, when it is determined that the state is abnormal, the first control unit 12 takes a predetermined safety action (S103).
  • the medicine nozzles 103-1, 103-2, 103-3, 103-4 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4 are used. Whether or not there is an abnormal state is determined based on the type of medicine determined in advance according to the type of information and the information related to the type of medicine received by the input receiving unit 501a.
  • the types of medicine nozzles 103-1, 103-2, 103-3, and 103-4 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, and 114-4, and the input
  • the type of medicine received by the means is different, it is possible to determine that there is a possibility that unscheduled medicine may be sprayed, and that it is an abnormal state.
  • the first determination processing unit 11 uses, as the status, the medicine nozzles 103-1, 103-2, 103-3 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. , Information on the type of medicine predetermined according to the type of 103-4 and the type of medicine received by the input receiving unit 501a is acquired (S101), and these are compared to determine whether or not there is an abnormal state. Judgment is made (S102). As a result, when it is determined that the state is abnormal, the first control unit 12 takes a predetermined safety action (S103).
  • the type of medicine determined by the medicine type determination sensor 104b and the drug nozzle 103- determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4 are used. It is determined whether or not there is an abnormal state based on the type of medicine determined in advance according to the types of 1, 103-2, 103-3, and 103-4. Specifically, the type of medicine determined by the medicine type determination sensor 104b and the drug nozzles 103-1, 103- determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. 2. If the predetermined drug type differs depending on the type of 2, 103-3, 103-4, it may be determined that there is a risk of unscheduled drug spraying and that it is an abnormal condition it can.
  • the first determination processing unit 11 is determined as the status by the drug type determined by the drug type determination sensor 104b and the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4.
  • Information on the type of medicine determined in advance according to the type of medicine nozzles 103-1, 103-2, 103-3, 103-4 is acquired (S101), and these are compared to determine whether or not there is an abnormal state. Is determined (S102).
  • the first control unit 12 takes a predetermined safety action (S103).
  • the drug discharge pressure measured by the pressure sensors 111-1 and 111-2, the pressure sensor 111-1 and the pressure sensor 111-2 are measured.
  • the pressure loss calculated from the difference in the discharge pressure of the medicine, the number of rotations of the rotor in the pump 106 measured by the pump sensor 106a, and the medicine flow rate measured by the flow sensor 510 are used in combination.
  • a drug discharge abnormality has occurred. Can be judged. Thereby, it is possible to accurately determine an abnormal discharge of the medicine and to take a safety action such as a retreat action or a safety regulation measure.
  • the discharge control system in the first to third determination processes, it is basically determined that the excessive discharge of the medicine is an abnormal discharge. This is because if the amount of medicine sprayed on the field 403 exceeds the specified value, there may be concerns about the surrounding environment and the safety of the crops that have been sprayed with the medicine may be impaired. Since there is no such concern, it is determined that excessive discharge is an abnormal discharge. On the other hand, in the discharge control system according to the present embodiment, it is determined whether or not the pressure measured from the pressure sensors 111-1, 111-2 and the pump sensor 106a and the rotational speed of the pump rotor are below a predetermined value. Thus, it is possible to identify a shortage of medicine discharge and determine that this is a discharge abnormality.
  • the medicine discharge control executed by each sensor and the first determination processing unit 11 is preferably configured as a redundant system that is always executed, but is configured to be executed intermittently at a predetermined timing. You can also
  • the flight controller 501 may include a second determination processing unit 13 for determining an abnormality in the distribution of medicines.
  • the drug dispersion abnormality judged here is mainly caused by drug drift (spray of the drug outside the target field), but the drug is locally sprayed even within the field 403. Is also included in spraying abnormalities.
  • statuses such as altitude, speed, wind speed, temperature, humidity, and position of the drone 100 are used as basic data for determination.
  • the drug has a small particle size, especially when using a small particle size, the higher the altitude (for example, 2 m or more), the higher the possibility that the drug will be scattered to an unintended location. It becomes impossible to attach to crops on the ground with high accuracy.
  • the slower the speed for example, 5 km / h or less
  • the higher the wind speed the higher the possibility that the medicine will be scattered outside the target.
  • the drone 100 includes an altitude measuring unit 131, a speed measuring unit 132, a wind speed measuring unit 133, a temperature / humidity measuring unit 134, a position measuring unit 135, and a threshold information storage unit. 136 and a second control unit 137 are provided.
  • the threshold information storage unit 136 is a storage unit that stores a threshold value serving as a reference such as a pressure and a flow rate in the determination process by the second determination processing unit 13 described later.
  • the second control unit 137 causes the drone 100 to take a predetermined safety action when it is determined that the drone 100 is in an abnormal state as a result of the determination process by the second determination processing unit 13 described later.
  • the predetermined safety action in the second control unit 137 is a retreat action if in flight, and a flight regulation measure if it is in a pre-flight preparation state.
  • the retreat action and the flight regulation measures are the same as those by the first control unit 12 described above.
  • the second control unit 137 is not limited to the case where an abnormality occurs in the drone 100, and can be controlled to a predetermined discharge amount and flow rate based on the discharge amount and flow rate of the medicine measured by each sensor.
  • the functions required directly for the processing executed by the second determination processing unit are as shown in FIG. 9, and the second determination processing unit 13 makes the following first to fifth functions by these functional units. Judgment processing can be executed.
  • the flow of each determination process is as shown in FIG. 10, and each process will be described based on this.
  • the second determination processing unit 13 can determine whether or not there is an abnormal state based on the altitude of the drone 100 measured by the altitude measuring unit 131 as the first determination processing. Specifically, when the altitude of the drone 100 measured by the altitude measuring unit 131 is equal to or higher than a predetermined altitude, it can be determined as an abnormal state.
  • the second determination processing unit 13 acquires information related to the altitude of the drone 100 as a status (S201), and determines whether or not it is in an abnormal state in comparison with a predetermined value stored in the threshold information storage unit 136. (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes a predetermined safety action to be taken (S203).
  • the second determination process it is possible to determine whether or not there is an abnormal state based on the speed of the drone 100 measured by the speed measuring unit 132. Specifically, when the speed of the drone 100 measured by the speed measuring unit 132 is equal to or lower than a predetermined speed, it can be determined that the abnormal state.
  • the second determination processing unit 13 acquires information related to the speed of the drone 100 as the status (S201), and determines whether or not it is in an abnormal state in comparison with a predetermined value stored in the threshold information storage unit 136. (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes a predetermined safety action to be taken (S203).
  • a third determination process it is possible to determine whether or not there is an abnormal state based on the wind speed measured by the wind speed measuring unit 133. Specifically, when the wind speed measured by the wind speed measuring unit 133 is equal to or higher than a predetermined speed, it can be determined that the state is abnormal.
  • the second determination processing unit 13 acquires information relating to the wind speed as a status (S201), and determines whether or not there is an abnormal state in comparison with a predetermined value stored in the threshold information storage unit 136 (S202). .
  • emergency measures are taken (S203).
  • the third determination process can be executed not only during the flight but also at the pre-flight preparation stage, and if it is determined that the vehicle is in an abnormal state, measures may be taken to restrict the flight.
  • the fourth determination process it is possible to determine whether or not there is an abnormal state based on the temperature and humidity measured by the temperature and humidity measurement unit 134. Specifically, regarding the temperature and humidity measured by the temperature and humidity measurement unit 134, it can be determined that the temperature is not lower than a predetermined value and the humidity is not higher than a predetermined value.
  • the second determination processing unit 13 acquires information related to temperature and humidity as a status (S201), and determines whether or not an abnormal state is compared with a predetermined value stored in the threshold information storage unit 126 (S202). ). As a result, when it is determined that the state is abnormal, the second control unit 137 causes a predetermined safety action to be taken (S203).
  • the fourth determination process can be executed not only during the flight but also at the pre-flight preparation stage, and if it is determined that the vehicle is in an abnormal state, measures may be taken to restrict the flight.
  • the temperature / humidity measurement unit 134 may be provided in the drone 100 itself, but is provided in the vicinity of the communication base station and the field 403, which is acquired by the drone 100 by communication. It is good.
  • the fifth determination process it is possible to determine whether or not the abnormal state is based on the position of the drone 100 measured by the position measurement unit 135.
  • the position of the drone 100 grasped by the position measurement unit 135 can be determined as an abnormal state when the position is the field 403.
  • the position measuring unit 135 can be realized by, for example, GPS (Global Positioning System).
  • the second determination processing unit 13 acquires information related to the position of the drone 100 as a status (S201), and is in an abnormal state as compared with position information such as coordinates of the field 403 stored in the threshold information storage unit 136. It is determined whether or not (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes a predetermined safety action to be taken (S203).
  • the discharge or the dispersion of the medicine can be accurately recognized by each sensor, and the safety of the medicine can be improved.
  • each sensor and the second determination processing unit 13 is preferably configured as a redundant system that is always executed, but is intermittently executed at a predetermined timing. It can also be configured.
  • the check valve 121 provided in the path from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3, and 103-4. -1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 may be forcibly closed to prevent the medicine from being discharged.
  • the first determination processing unit 11 and the second determination processing unit 13 are provided in the flight controller 501 of the drone 100, but not limited thereto, the flight controller 501 via a predetermined communication line.
  • the server or the like that acquired the data may include the determination processing unit, and the determination process may be executed by the server or the like.
  • the present invention is applicable to, for example, an agricultural drone that monitors the growth by a camera and a general drone without spraying the drug.
  • each sensor can automatically and immediately detect an abnormal discharge of the medicine, so that the abnormal discharge of the medicine can be prevented in advance, and the actual discharge abnormality of the medicine can be quickly dealt with. Further, it can be widely applied to various agricultural machines for spraying medicine.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Zoology (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Catching Or Destruction (AREA)
  • Special Spraying Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Spray Control Apparatus (AREA)

Abstract

Le problème décrit par la présente invention consiste à commander avec précision l'éjection de produits chimiques et à renforcer la sécurité de l'éjection des produits chimiques dans un engin agricole destiné à pulvériser les produits chimiques. La solution selon l'invention concerne un système, qui est destiné à commander l'éjection de produits chimiques et qui est disposé dans un engin agricole ayant un réservoir de produits chimiques et un orifice d'éjection de produits chimiques et pulvérisant des produits chimiques, comprenant une pluralité de capteurs et détectant la quantité de décharge des produits chimiques au moyen des capteurs. Les capteurs peuvent être l'un quelconque des suivants : des capteurs de pression destinés à mesurer la pression d'éjection des produits chimiques ; des capteurs de pression disposés à proximité d'une pompe et mesurant la pression d'éjection des produits chimiques éjectés en aval ; des capteurs de pompe destinés à mesurer la vitesse de rotation d'un rotor à l'intérieur de la pompe ; et des capteurs d'écoulement destinés à mesurer le débit des produits chimiques.
PCT/JP2019/017340 2018-04-25 2019-04-24 Système, procédé et programme informatique de commande d'éjection de produits chimiques WO2019208606A1 (fr)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021144987A1 (fr) * 2020-01-17 2021-07-22 株式会社ナイルワークス Procédé de commande de vol pour pulvérisation de produit chimique par drone, et terminal de traitement d'informations
JPWO2021171631A1 (fr) * 2020-02-28 2021-09-02
JPWO2021192234A1 (fr) * 2020-03-27 2021-09-30
JPWO2021192233A1 (fr) * 2020-03-27 2021-09-30
WO2022061771A1 (fr) * 2020-09-25 2022-03-31 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote de protection de plantes agricoles, procédé de commande de semis et support de stockage
WO2022266879A1 (fr) * 2021-06-23 2022-12-29 深圳市大疆创新科技有限公司 Procédé et appareil de détection de défaut pour système de protection de plante, et plate-forme mobile et support de stockage

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WO2021144987A1 (fr) * 2020-01-17 2021-07-22 株式会社ナイルワークス Procédé de commande de vol pour pulvérisation de produit chimique par drone, et terminal de traitement d'informations
JPWO2021144987A1 (fr) * 2020-01-17 2021-07-22
JP7227658B2 (ja) 2020-01-17 2023-02-22 株式会社ナイルワークス ドローンの薬剤散布フライト制御方法及び情報処理端末
JPWO2021171631A1 (fr) * 2020-02-28 2021-09-02
JP7417319B2 (ja) 2020-02-28 2024-01-18 株式会社ナイルワークス 薬剤散布用ドローン
JPWO2021192234A1 (fr) * 2020-03-27 2021-09-30
JPWO2021192233A1 (fr) * 2020-03-27 2021-09-30
WO2021192234A1 (fr) * 2020-03-27 2021-09-30 株式会社ナイルワークス Drone permettant l'épandage d'un liquide et procédé de commande de drone
WO2021192233A1 (fr) * 2020-03-27 2021-09-30 株式会社ナイルワークス Drone à dispersion de liquide et procédé de commande de drone
JP7460198B2 (ja) 2020-03-27 2024-04-02 株式会社ナイルワークス 液体物を散布するドローン及びドローンの制御方法
WO2022061771A1 (fr) * 2020-09-25 2022-03-31 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote de protection de plantes agricoles, procédé de commande de semis et support de stockage
WO2022266879A1 (fr) * 2021-06-23 2022-12-29 深圳市大疆创新科技有限公司 Procédé et appareil de détection de défaut pour système de protection de plante, et plate-forme mobile et support de stockage

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