WO2019208607A1 - Système, procédé et programme informatique de prévention de fuites de produits chimiques - Google Patents

Système, procédé et programme informatique de prévention de fuites de produits chimiques Download PDF

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Publication number
WO2019208607A1
WO2019208607A1 PCT/JP2019/017341 JP2019017341W WO2019208607A1 WO 2019208607 A1 WO2019208607 A1 WO 2019208607A1 JP 2019017341 W JP2019017341 W JP 2019017341W WO 2019208607 A1 WO2019208607 A1 WO 2019208607A1
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WIPO (PCT)
Prior art keywords
medicine
drug
tank
leakage
discharge port
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PCT/JP2019/017341
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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 JP2020515507A priority Critical patent/JP6746126B2/ja
Publication of WO2019208607A1 publication Critical patent/WO2019208607A1/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

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.
  • the purpose of the present invention is to prevent the leakage of medicines in agricultural machines that spray the medicines.
  • a medicine leakage prevention system includes a medicine tank that stores medicine, and an outlet that discharges the medicine to the outside.
  • a system for preventing leakage of the medicine which is provided in an industrial machine, which controls a shut-off mechanism that shuts off a path from the medicine tank to the discharge port, and controls the shut-off mechanism so that the agricultural machine discharges the medicine.
  • the shut-off mechanism may be a check valve.
  • the blocking mechanism may be a solenoid valve.
  • a plurality of blocking mechanisms may be provided in a path from the drug tank to the discharge port.
  • the blocking mechanism may be provided at least at the discharge port of the medicine tank.
  • the plurality of blocking mechanisms may be provided for each predetermined leakage allowable amount.
  • a pressure sensor provided in a path from the medicine tank to the medicine discharge port, and a medicine leakage abnormality detecting means, wherein the leakage abnormality detecting means is measured by the pressure sensor.
  • a change over time in the discharge pressure of the medicine may be acquired, and an abnormality may be detected based on the change over time in the acquired discharge pressure of the medicine.
  • the agricultural machine has a pump that discharges the medicine stored in the medicine tank to the downstream, and the number of rotations of the rotor that sucks the medicine from the medicine tank and discharges it downstream in the pump. It further includes a pump sensor for measuring, and the leakage abnormality detecting means may further detect an abnormality based on the discharge pressure of the medicine measured by the pressure sensor.
  • the controller further controls the blocking mechanism to block a path from the drug tank to the discharge port when an abnormality is detected by the leakage abnormality detection unit, so that the medicine by the agricultural machine is used. It is good also as what regulates spraying.
  • control means is good also as what regulates the drive of the said agricultural machine, when abnormality is detected by the said leakage abnormality detection means.
  • an open / close sensor attached to the lid of the medicine tank and capable of detecting an open / closed state, wherein the leakage abnormality detecting means further detects the open state based on information from the open / close sensor. This may be detected as a state.
  • the control means may further control the shut-off mechanism so as to shut off the path from the medicine tank to the discharge port when the main power supply is stopped, and maintain the shut-off state.
  • an impact sensor for detecting a collision or crash of the agricultural machine
  • the control means further controls the blocking mechanism when the impact sensor detects a collision or crash of the agricultural machine. Then, the path from the medicine tank to the discharge port may be forcibly blocked.
  • the agricultural machine may be a drone.
  • a medicine leakage prevention method is provided in an agricultural machine having a medicine tank for storing medicine and a discharge port for discharging the medicine to the outside and spraying the medicine.
  • a method executed by a system for preventing leakage of the medicine wherein the system includes a shut-off mechanism that shuts off a path from the medicine tank to the discharge port, and controls the shut-off mechanism, When the agricultural machine is in an operation state in which no medicine is discharged, a process of blocking a path from the medicine tank to the discharge port is executed.
  • a computer program is provided in an agricultural machine having a medicine tank for storing medicine and a discharge port for discharging the medicine to the outside, and spraying the medicine,
  • a computer program executed by a system for preventing leakage of medicine comprising: a shutting mechanism for shutting off a path from the medicine tank to the discharge port; When the working machine is in an operation state in which the medicine is not discharged, a process of cutting off the path from the medicine tank to the discharge port is executed.
  • medical agent can be prevented in the agricultural machine which spreads a chemical
  • Example of the drone for medicine distribution carrying the medicine discharge prevention system concerning the invention in this application. It is a front view of the Example of the drone for medicine distribution carrying the medicine discharge prevention system concerning the invention in this application. It is a right view of the Example of the drone for chemical
  • 1 is an example of an overall conceptual diagram of a medicine spraying system using an embodiment of a medicine spraying drone equipped with a medicine discharge preventing system according to the present invention. It is the schematic diagram showing the control function of the Example of the drone for chemical
  • 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 operates 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 leakage prevention system according to the present embodiment is provided in an agricultural machine that spreads medicine, particularly in this example, the medicine dispensing drone 100, and prevents medicine leakage.
  • the state where the medicine is leaking it includes a state where the medicine is leaking in the agricultural machine and a case where the medicine is leaking outside the agricultural machine. , Including the condition where the drug is leaking from a normally managed route.
  • 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 medicine or taking out medicines stored.
  • 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 determination sensor 104b can determine the type of medicine stored in the medicine tank 104.
  • This 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.
  • 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. Further, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are provided from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103. -3, 103-4, which acts as a blocking mechanism for blocking the discharge of the drug, and when the drone 100 is not in an operation state in which the drug is sprayed, the valve is closed under the control of the control unit 12. The medicine delivery route is blocked and the medicine ejection is restricted.
  • the state in which the drone 100 flies and the instruction for spraying the drug is received or not received by the drone 100 the drone 100 is in an abnormal state, and the drone 100 is receiving the command for restricting the spraying of the drug.
  • the medicine discharge is cut off.
  • 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.
  • 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. These check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are normally closed (NC: normally closed), and from the drug tank 104 The valve is opened according to the discharge pressure of the discharged medicine.
  • NC normally closed
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are discharge ports 103a-1, 103a from the drug tank 104 to the outside of the drug. -2, 103a-3, and 103a-4 are provided for each predetermined leakage allowance. That is, one check valve 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 and a check valve 121-1 adjacent in the upstream or downstream direction , 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, the volume of the path is equal to or less than a predetermined leakage allowable amount.
  • the path between the check valve 121-1 and the discharge port of the medicine in the upstream drug tank 104, the check valve 121-2 and the discharge port on the downstream side (103a-1, 103a-2, 103a- 3 and 103a-4) also has a volume equal to or less than a predetermined allowable leakage amount.
  • the leakage allowable amount is the upper limit of the amount that the concentration of the drug in the spread crops etc. does not affect the human body even if the leaked drug is sprayed locally at the field 403 at one time, or leaked Even if the medicine is sprayed on the field 403, it means the upper limit of the amount that does not affect the surrounding environment at the time of spraying.
  • 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 other mechanism such as an electromagnetic valve can be used as the blocking mechanism.
  • 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 measure the discharge pressure of the medicine at the attachment position.
  • the pressure sensor 111-1 is attached to the downstream side of the pump 106 and upstream of the check valve 121-2 and the three-way valve 122, and measures the discharge pressure of the medicine discharged downstream.
  • the pressure sensor 111-2 is attached to the downstream side of the check valve 121-2 and upstream of the drug nozzles 103-1, 103-2, 103-3, 103-4, and is used for the drug discharged to the downstream. Measure the discharge pressure.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6 , 121-7 is closed, and the change over time in the discharge pressure of the drug measured by 111-1 and 111-2 of each pressure sensor is obtained, and this is obtained over time.
  • a drug leakage abnormality can be detected. For example, if the discharge pressure of the medicine acquired by the pressure sensors 111-1 and 111-2 draws a descending line over time, and this descending line exceeds the error range and is different from the normal time, It can be inferred that there may be a drug leak.
  • 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.
  • the pump sensor 106a measures the rotational speed of the rotor of the pump 106 and compares it with the drug discharge pressure measured by the pressure sensors 111-1 and 111-2 to determine whether it matches the normal ratio. It is possible to detect a drug leakage abnormality. That is, when the discharge pressure of the medicine corresponding to the rotation speed of the pump 106 is not obtained as compared with the normal time, it is estimated that the medicine leaks and the discharge pressure is reduced.
  • Nozzle type determination sensors 114-1, 114-2, 114-3, 114-4 are drug nozzles 103-1, 103 attached to the drug discharge ports 103a-1, 103a-2, 103a-3, 103a-4. -2, 103-3, 103-4 types can be identified. 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.
  • the types of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 can be determined. Thereby, it is possible to prevent a drug drift from being caused by using a medicine having a particle diameter smaller than that of a medicine to be used.
  • 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 determination processing unit 11 for determining a drug leakage abnormality, a threshold information storage unit 22 that stores data necessary for the determination processing, and a check valve 121. -1 and 121-2, and a control unit 12 that controls the medicine spraying operation.
  • a determination processing unit 11 for determining a drug leakage abnormality a threshold information storage unit 22 that stores data necessary for the determination processing
  • a check valve 121. -1 and 121-2 a control unit 12 that controls the medicine spraying operation.
  • FIG. 7 only functions necessary for preventing medicine leakage in the present embodiment are shown as functions provided in the flight controller 501.
  • the control unit 12 causes the drone 100 to take a predetermined safety action when it is determined as a result of determination processing by the determination processing unit 11 described later that a drug leakage 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.
  • control unit 12 is not limited to the occurrence of an abnormality in the drone 100, but based on the discharge amount and flow rate of the drug measured by each sensor, controls the discharge amount and flow rate of the drug to a predetermined amount,
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are opened and closed.
  • the threshold value 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 determination processing unit 11 described later.
  • the determination processing unit 11 can execute the following first and second determination processes.
  • the flow of each determination process is as shown in FIG. 8, and each process will be described based on this.
  • the determination processing unit 11 performs the first determination processing in a state where the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are closed.
  • the change over time of the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2 is obtained, and the change over time of the obtained discharge pressure of the medicine and the normal stored in the threshold information storage unit 22 Abnormal drug leakage can be determined by comparing the change in the discharge pressure of the drug over time.
  • the determination processing unit 11 acquires a change over time in the discharge pressure of the medicine as a status (S101), and determines a leakage abnormality by comparing the change over time during normal time stored in the threshold information storage unit 22. (S102). As a result, if it is determined that there is a leakage abnormality, the control unit 12 takes a predetermined safety action (S103).
  • the first determination process is not only performed with changes in the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2, but also measured by the pressure sensors 111-1 and 111-2.
  • a leakage abnormality can also be determined based on the change over time in the pressure loss calculated from the discharged pressure.
  • the rotation speed of the rotor of the pump 106 is measured by the pump sensor 106a, and the ratio is compared with the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2.
  • the drug leakage abnormality can be determined by determining whether or not it matches the normal ratio stored in the threshold information storage unit 22.
  • the determination processing unit 11 acquires the number of rotations of the rotor of the pump 106 and the medicine discharge pressure measured by the pressure sensors 111-1 and 111-2 as the status (S101). Then, these ratios are compared to determine the ratio, and a leakage abnormality is determined based on whether or not the ratio matches the normal ratio stored in the threshold information storage unit 22 (S102). As a result, if it is determined that there is a leakage abnormality, the control unit 12 takes a predetermined safety action (S103).
  • the control unit 12 executes an operation for ensuring safety. Specifically, when a medicine leakage abnormality is detected, the control unit 12 transmits a control signal to the pump 106 to stop the medicine discharge and close the check valves 121-1 and 121-2. Leave the valve closed. Further, when an abnormality is detected in the pre-flight preparation stage of the drone 100, the flight instruction from the user 402 may be restricted until the abnormal state is resolved.
  • the flight controller 501 causes the control unit 12 to take a predetermined safety action when detecting an abnormal state of the drone 100 (S201) as shown in FIG. 9 (S202).
  • check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are connected by a standby power source or the like. The valve is closed and the closed state is maintained to prevent the drug from leaking.
  • an impact sensor that detects a collision or crash of the drone 100 is attached to the drone 100, and the flight controller 501 (control unit 12) performs a check when the impact sensor detects a collision or crash of the drone 100.
  • Valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are forcibly closed to prevent drug leakage.
  • the open state is regarded as an abnormal state, and this is detected by the control unit 12. Predetermined safety actions can be taken.
  • the medicine discharge pressure measured by the pressure sensors 111-1 and 111-2 the pressure loss calculated from the discharge pressure measured by the pressure sensors 111-1 and 111-2, and the pump sensor 106a Based on information such as the measured number of rotations of the rotor in the pump 106, when an abnormal discharge pressure of the drug is observed, the check valves 121-1, 121-2, 121-3, 121-4, 121 -5, 121-6, 121-7 are closed and the closed state is maintained, thereby preventing leakage of the medicine.
  • a blocking mechanism for forcibly blocking the discharge or delivery of a drug when an abnormality such as a drug leakage, collision, or crash is detected may be separately provided at locations such as -2, 103-3, and 103-4.
  • each sensor and determination processing unit 11 is preferably performed as an inspection at a preparation stage for spraying medicine, that is, at a stage before the drone 100 is allowed to fly. Regardless of this, even when the drone 100 is flying and spraying the medicine onto the field 403, it can be configured as a redundant system that is always or intermittently executed at a predetermined timing.
  • the determination controller 11 is provided in the flight controller 501 of the drone 100.
  • the present invention is not limited to this, and a server or the like that acquires data from the flight controller 501 via a predetermined communication line A determination processing unit may be provided, and determination processing 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.
  • the present invention in an agricultural machine for spraying a medicine, it is possible to reliably detect the leakage of the medicine and improve safety. In particular, it can be detected automatically and immediately by a sensor. In the unlikely event that a drug leaks, the volume of the drug in the path between adjacent check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 Is safe because it is less than the allowable leakage amount, and check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121- Since 7 is automatically closed, the effect of drug leakage can be minimized. Further, it can be widely applied to various agricultural machines for spraying medicine.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

Le problème décrit par la présente invention est d'empêcher la fuite de produits chimiques dans une machine agricole de pulvérisation de produits chimiques. La solution selon l'invention porte sur un système de prévention de fuite chimique, qui est disposé dans une machine agricole pour pulvériser des produits chimiques et empêcher une fuite des produits chimiques, comporte une vanne d'arrêt qui est normalement fermée et qui est ouverte en fonction de la pression de décharge due à la décharge des produits chimiques à partir d'un réservoir de produits chimiques.
PCT/JP2019/017341 2018-04-25 2019-04-24 Système, procédé et programme informatique de prévention de fuites de produits chimiques WO2019208607A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113439731A (zh) * 2021-07-23 2021-09-28 北京百瑞弘霖有害生物防治科技有限责任公司 一种施药监控方法、装置及***

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03174267A (ja) * 1989-11-30 1991-07-29 Aichi Electric Co Ltd 自走薬剤散布車
US20090112372A1 (en) * 2007-10-30 2009-04-30 Agco Corporation Adaptive feedback sources for application controllers
JP2017206066A (ja) * 2016-05-16 2017-11-24 株式会社プロドローン 薬液散布用無人航空機

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03174267A (ja) * 1989-11-30 1991-07-29 Aichi Electric Co Ltd 自走薬剤散布車
US20090112372A1 (en) * 2007-10-30 2009-04-30 Agco Corporation Adaptive feedback sources for application controllers
JP2017206066A (ja) * 2016-05-16 2017-11-24 株式会社プロドローン 薬液散布用無人航空機

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113439731A (zh) * 2021-07-23 2021-09-28 北京百瑞弘霖有害生物防治科技有限责任公司 一种施药监控方法、装置及***

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