WO2019208608A1 - Système, procédé et programme informatique pour la détection de défaillance - Google Patents

Système, procédé et programme informatique pour la détection de défaillance Download PDF

Info

Publication number
WO2019208608A1
WO2019208608A1 PCT/JP2019/017342 JP2019017342W WO2019208608A1 WO 2019208608 A1 WO2019208608 A1 WO 2019208608A1 JP 2019017342 W JP2019017342 W JP 2019017342W WO 2019208608 A1 WO2019208608 A1 WO 2019208608A1
Authority
WO
WIPO (PCT)
Prior art keywords
medicine
drug
failure
failure detection
agricultural machine
Prior art date
Application number
PCT/JP2019/017342
Other languages
English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Original Assignee
株式会社ナイルワークス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 JP2020515508A priority Critical patent/JP6913978B2/ja
Publication of WO2019208608A1 publication Critical patent/WO2019208608A1/fr

Links

Images

Classifications

    • 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 is to detect a failure so that it can be used safely in an agricultural machine that spreads medicine.
  • a failure detection system is a system for detecting a failure provided in an agricultural machine for spraying a medicine from a medicine tank for storing the medicine.
  • a pressure sensor provided in a path leading to the discharge port of the agricultural machinery, and a failure detection means for detecting a failure of the agricultural machine, wherein the failure detection means detects the discharge pressure of the medicine over time by the pressure sensor.
  • a change is acquired, and a failure is detected based on the change over time of the acquired discharge pressure of the medicine.
  • the agricultural machine is provided with a shut-off mechanism that shuts off a path from the drug tank to the discharge port, and the failure detection means has a path from the drug tank to the discharge port by the shut-off mechanism.
  • a change with time of the discharge pressure of the medicine may be acquired by the pressure sensor, and a failure may be detected based on the change with time of the acquired discharge pressure of the medicine.
  • the shut-off mechanism may be a check valve.
  • the blocking mechanism may be a solenoid valve.
  • the failure detecting means may detect a failure based on a change with time of the discharge pressure of the medicine and a change with time of the discharge pressure of the medicine at a normal time by the pressure sensor.
  • a plurality of the pressure sensors may be provided, and the failure detection unit may detect a failure based on a temporal change in pressure loss calculated from a discharge pressure acquired by the plurality of pressure sensors.
  • the agricultural machine is provided with a pump that discharges the medicine stored in the medicine tank downstream, and the number of rotations of the rotor that sucks the medicine from the medicine tank and discharges the medicine downstream in the pump.
  • a sensor for measuring the pump, and the failure detection means measures the ratio of the rotation speed of the rotor of the pump measured by the sensor for pump and the discharge pressure of the medicine measured by the pressure sensor over time. A failure may be detected based on the change.
  • the failure detection unit when a failure is detected by the failure detection unit, it may further include a control unit that causes the agricultural machine to take a predetermined safety action.
  • the predetermined safety action is a control for retracting the agricultural machine during the spraying of the medicine on the agricultural machine, and regulation of the spraying of the medicine by the agricultural machine in a preparatory stage before the spraying of the medicine on the agricultural machine. Or it is good also as what is control which regulates use of the said agricultural machine.
  • the agricultural machine may be a drone.
  • a failure detection method is a method that is provided in an agricultural machine that sprays a medicine and that is executed by a system that detects the failure, wherein the system stores the medicine.
  • a time-dependent change in the discharge pressure of the drug is acquired by a pressure sensor provided in a path from the tank to the discharge port of the drug, and the agricultural machine malfunctions based on the change over time in the acquired discharge pressure of the drug Is detected.
  • a computer program according to still another aspect of the present invention is a computer program that is provided in an agricultural machine that disperses a medicine and that is executed by a system that detects a failure.
  • a change in the discharge pressure of the drug with time is acquired by a pressure sensor provided in a path from the drug tank to be stored to the discharge port of the drug, and based on the change with time of the acquired discharge pressure of the drug, the agricultural Detect machine failures.
  • 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 acceleration 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 six-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, acceleration 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.
  • acceleration sensor 505 speed can be obtained by integrating acceleration
  • GPS Doppler 504-3 aircraft speed can be measured by processing the phase difference of radio waves from multiple GPS base stations with software
  • a change in absolute coordinates measured by the GPS 504 may be used.
  • Duplexing or multiplexing is preferably performed within the same system and between different systems. For example, if GPS cannot be used due to radio wave disturbance or positioning satellite failure, the entire failure will occur if only GPS is duplicated.
  • 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 airframe weight may be estimated using acceleration measured by the acceleration sensor 505 or acceleration as a differential value of velocity measured by means such as the GPS Doppler 504-3 or GPS504.
  • 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 six-axis acceleration 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, and 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.
  • FIG. 6 is a schematic diagram showing the configuration of the failure detection system according to the embodiment of the present invention.
  • the failure detection system according to the present embodiment is provided in an agricultural machine for spraying medicine, particularly in this example, a drone 100 for spraying medicine, and detects a failure in advance.
  • the case of “failed state” refers to a state in which the medicine is leaking from a normally managed route, or check valves 121-1, 121-2, 121-3. This is a state in which the drone 100 cannot accurately perform the originally assumed operation such as a state in which the device does not function properly.
  • 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 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.
  • 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) air (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, and 121-3 are valves for sending the medicine only in a certain direction and preventing inflow in the direction opposite to the certain direction, that is, backflow.
  • the check valves 121-1, 121-2, and 121-3 block the discharge of the drug in the path from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3, and 103-4.
  • the medicine discharge is regulated.
  • the state where the drone 100 flies and the drone 100 accepts the command for dispensing the drug the drone 100 becomes abnormal, the drone 100 accepts the command to regulate the dispensing of the drug, and the main drive power supply has stopped In the state, etc., the medicine discharge is cut off.
  • Stop valves 121-1, 121-2, 121-3 are provided between the medicine tank 104 and the pump 106.
  • 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.
  • 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.
  • These check valves 121-1, 121-2, and 121-3 are normally closed (NC: normally closed) and opened according to the discharge pressure of the medicine discharged from the medicine tank 104.
  • the check valves 121-1, 121-2, 121-3 are predetermined in a route from the drug tank 104 to the discharge port 103a-1, 103a-2, 103a-3, 103a-4 to the outside of the drug. It is provided for each allowable leakage amount. That is, the volume of the path between one check valve 121-1, 121-2, 121-3 and the check valve 121-1, 121-2, 121-3 adjacent in the upstream or downstream direction is The predetermined leakage allowable amount is not exceeded.
  • 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 103a-1, 103a-2, 103a-3 on the downstream side thereof , 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.
  • the check valve 121-1 is provided between the medicine tank 104 and the pump 106 and in the vicinity of the medicine discharge port provided in the medicine tank 104.
  • the check valve 121-1 controls the medicine sent 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 is provided between the three-way valve 122 and the drug nozzles 103-1, 103-2, 103-3, and 103-4. This check valve 121-2 controls the medicine delivered from the pump 106 in the downstream direction so that it cannot flow back to the pump 106.
  • the check valve 121-3 is provided between the three-way valve 122 and the expansion tank 141. This check valve 121-3 controls the medicine sent out from the three-way valve 122 in the upstream direction in which the expansion tank 141 is present and prevents the backflow to the three-way valve 122.
  • the check valves 121-1, 121-2, and 121-3 can be of various types such as swing type, lift type, and wafer type, and are not particularly limited. Regardless of this example, more check valves may be provided in appropriate locations than in this example.
  • the check valves 121-1, 121-2 When 121-3 is closed, the medicine contained in the path between the check valves 121-1, 121-2, 121-3 adjacent in the upstream direction or the downstream direction is only leaked. And since the quantity of the chemical
  • 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.
  • each of the pressure sensors 111-1, 121-2, 121-3 is closed with the check valves 121-1, 121-2, 121-3 closed.
  • the failure can be detected by acquiring the change with time of the discharge pressure of the medicine measured by -1 and 111-2 and comparing this with the change with time of the discharge pressure of the medicine at the normal time. 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 a failure such as drug leakage has occurred.
  • a position where a failure has occurred such as a path where a medicine leaks. That is, in this example, when it is determined that the measured value of the pressure sensor 111-1 is normal but the measured value of the pressure sensor 111-2 is abnormal, the downstream of the pressure sensor 111-1. It can be assumed that a failure has occurred.
  • 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. Can be detected. 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 104-1, 104-2, 104-3, 104-4 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 detecting a failure, an information storage unit 32 that stores data necessary for the determination processing, and a check valve 121-
  • the controller 12 controls the opening / closing operation of 1 and 121-2 and the spraying operation of the medicine.
  • control unit 12 causes the drone 100 to take a predetermined safety action when it is determined that a failure has occurred as a result of determination processing by the determination processing unit 11 described later.
  • the predetermined safety action is a evacuation action during flight, or a medicine spraying regulation measure or 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 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 or flow rate based on the discharge amount or flow rate of the medicine measured by each sensor.
  • the functions directly required for the processing executed by the determination processing unit 11 are as shown in FIG. 7, and the first determination processing unit 11 performs the following first and second determination processing by these functional units. Can be executed.
  • the flow of each determination process is as shown in FIG. 8, and each process will be described based on this. Note that the processing by the determination processing unit 11 is executed before the drone 100 flies, that is, in a preparation state in which medicine is sprayed. That is, the user of the drone 100 confirms the safety of the drone 100 in advance and then sprays the medicine using the drone 100.
  • the determination processing unit 11 performs a time course of the discharge pressure of the medicine measured by the pressure sensors 111-1 and 111-2 in a state where the check valves 121-1 and 121-2 are closed. And determining whether or not there is a failure by comparing the obtained temporal change in the discharge pressure of the medicine and the temporal change in the normal medicine discharge pressure stored in the information storage unit 32. be able to.
  • the determination processing unit 11 acquires a change over time in the discharge pressure of the medicine as a status (S101), and whether a failure has occurred in comparison with a change over time during normal time stored in the information storage unit 32 It is determined whether or not (S102).
  • the control unit 12 takes a flight regulation measure, a medicine spraying regulation measure, or a use regulation measure (S103).
  • flight regulation measures, use regulation measures, or spraying regulation measures are measures that regulate flight, use, or automatic operation, and reject the user's flight instructions or require the user to check the status. To do. Forcible closing of the check valves 121-1, 121-2, 121-3 may be performed.
  • control measures or drive control measures are taken, control may be performed so that flight is not possible unless an abnormality is confirmed or maintained. The same applies to the second determination process described below.
  • 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.
  • the failure 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. Can be determined by determining whether or not it matches the normal ratio stored in the information storage unit 32.
  • 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, by comparing these, the ratio is determined, and a failure is determined based on whether or not it matches the normal ratio stored in the information storage unit 32 (S102). As a result, if it is determined that there is a failure, flight regulation measures or drive regulation measures are taken (S103).
  • the flight controller 501 executes an operation for ensuring safety. Specifically, when a failure is detected, the flight controller 501 transmits a control signal to the pump 106 to stop the discharge of the medicine and to close the check valves 121-1 and 121-2, Keep the valve closed. Further, the flight instruction from the user 402 may be regulated until the failure is resolved.
  • the drug discharge pressure measured by the pressure sensors 111-1 and 111-2 the drug discharge measured by the pressure sensor 111-1 and the pressure sensor 111-2, regardless of the above.
  • a failure is determined by combining any one of the pressure loss calculated from the pressure difference, the rotational speed of the rotor in the pump 106 measured by the pump sensor 106a, and the drug flow rate measured by the flow sensor 510. You can also.
  • the number of rotations of the rotor in the pump 106, the flow rate of the drug measured by the flow sensor 510, the discharge pressure of the drug measured by the pressure sensors 111-1, 111-2, and the pump measured by the pump sensor 106a The number of rotations of the rotor in 106, the pressure loss calculated from the difference between the discharge pressures of the drugs measured by the pressure sensor 111-1 and the pressure sensor 111-2, the drug flow rate measured by the flow sensor 510, etc.
  • a plurality of detection information is used. By comparing the information acquired by the plurality of sensors, it is possible to determine a drug ejection abnormality from the ratio.
  • the discharge pressure measured by the pressure sensors 111-1 and 111-2 is smaller or larger than the normal time with respect to the flow rate of the drug measured by the flow sensor, a drug discharge abnormality has occurred. Can be judged. Thereby, the presence or absence of a failure can be determined.
  • the flight controller 501 can also take flight regulation measures when detecting a failure (state abnormality) of the drone 100 (S201) as shown in FIG. 9 (S202). .
  • the open state is regarded as a failure and detected, and flight control measures are taken. You can also.
  • a blocking mechanism for forcibly blocking the discharge or delivery of the medicine may be provided.
  • each sensor and the determination processing unit 11 is performed as an inspection at the preparation stage for spraying the drug, that is, the stage before the drone 100 is allowed to fly, but regardless of this, the drone 100 is caused to fly. Further, even when the medicine is sprayed on the field 403, it can be configured to always or intermittently execute at a predetermined timing.
  • failure detection processing by the determination processing unit 11 is always performed before using the drone 100, and unless a failure is detected and it can be safely used, it is determined by the user. Use may be restricted, such as refusing to fly the drone 100 or spraying medicine.
  • the status relating to disturbance factors such as wind speed, temperature, and humidity may be used as basic data for determination to determine whether or not the flight is possible.
  • the higher the wind speed the higher the chance that the drug will fly out of place.
  • temperature and humidity the higher the temperature and the lower the humidity, the easier the sprayed drug itself dries, and the moisture of the drug sprayed on the field 403 evaporates, resulting in dry drug particles. Is likely to scatter outside the field 403.
  • the drone 100 is provided with wind speed measuring means and temperature / humidity measuring means.
  • the flight is possible based on the wind speed measured by the wind speed measuring means. Specifically, when the wind speed measured by the wind speed measuring unit is equal to or higher than a predetermined speed, it can be determined that the flight is impossible.
  • the information regarding the wind speed is acquired as the status, and it is determined whether or not the flight is possible in comparison with the predetermined value stored in the information storage unit. As a result, if it is determined that flight is not possible, measures should be taken to regulate flight.
  • the temperature and humidity measuring means determines whether or not the flight is possible (whether or not the medicine can be sprayed). Specifically, regarding the temperature and humidity measured by the temperature and humidity measuring means, when the temperature is not less than a predetermined value and the humidity is not more than a predetermined value, it can be determined as an abnormal state.
  • the second determination processing unit acquires information related to temperature and humidity as the status (S201), and determines whether or not the flight is possible in comparison with the predetermined value stored in the threshold information storage unit (S202). As a result, if it is determined that flight is not possible, measures should be taken to regulate flight.
  • the temperature / humidity measuring means may be provided in the drone 100 itself, but may be provided in the vicinity of a communication base station or the field 403, which may be acquired by the drone 100 by communication.
  • air contained in the medicine may be detected, and air bleeding may be performed when the air exceeds the allowable range.
  • Whether or not the air contained in the medicine is within an allowable range is obtained, for example, by acquiring information related to the actual medicine flow rate by the flow sensor 510 and by the judgment processing unit 11 according to the flow rate and the setting. To determine whether the flow rate falls within a predetermined allowable range.
  • the flow rate is reduced as compared with the setting, so that it can be determined by such processing.
  • air bleeding can be performed by circulating the path from the three-way valve 122 to the medicine tank 104 via the expansion tank 141 to the medicine and storing the medicine in the expansion tank 141 temporarily.
  • the flow rate sensor acquires the flow rate information of the chemical solution (S301).
  • the determination processing unit 11 compares the flow rate information with the flow rate of the designated or set medicine, and determines whether or not the error falls within an allowable range (S302). As a result, if the error is within the allowable range, the chemical solution is sprayed as normal. On the other hand, if the error is outside the allowable range, the air is vented until normal (S303).
  • the determination processing unit 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.
  • a failure in an agricultural machine for spraying a medicine, a failure can be reliably detected in advance and safety can be improved. In particular, it can be detected automatically and immediately by a sensor. In addition, the system can be widely applied to various agricultural machines for spraying medicine.

Landscapes

  • 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 consiste à détecter une défaillance à l'avance dans un engin agricole destiné à pulvériser un produit chimique et utiliser l'engin agricole en toute sécurité. La solution selon l'invention concerne un système de détection de défaillance disposé dans un engin agricole destiné à pulvériser un produit chimique comprenant : un capteur de pression disposé dans un trajet allant d'un réservoir de produit chimique destiné à stocker le produit chimique jusqu'à un orifice de décharge pour le produit chimique ; et un moyen de détection de défaillance qui détecte une défaillance de l'engin agricole, le moyen de détection de défaillance acquérant la variation de la pression de décharge du produit chimique au cours du temps au moyen d'un capteur de pression et détectant une défaillance sur la base de la variation acquise de la pression de décharge du produit chimique au cours du temps.
PCT/JP2019/017342 2018-04-25 2019-04-24 Système, procédé et programme informatique pour la détection de défaillance WO2019208608A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020515508A JP6913978B2 (ja) 2018-04-25 2019-04-24 故障検知システム、方法、及びコンピュータプログラム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018084146 2018-04-25
JP2018-084146 2018-04-25

Publications (1)

Publication Number Publication Date
WO2019208608A1 true WO2019208608A1 (fr) 2019-10-31

Family

ID=68293897

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/017342 WO2019208608A1 (fr) 2018-04-25 2019-04-24 Système, procédé et programme informatique pour la détection de défaillance

Country Status (2)

Country Link
JP (1) JP6913978B2 (fr)
WO (1) WO2019208608A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210053548A (ko) * 2019-11-04 2021-05-12 주식회사 엘지유플러스 드론의 센서 이상을 결정하는 방법 및 장치
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
JPWO2021192233A1 (fr) * 2020-03-27 2021-09-30

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113805518B (zh) * 2021-11-19 2022-03-08 华智生物技术有限公司 一种数字农业执行终端的故障防护***及方法
KR102529858B1 (ko) * 2022-09-26 2023-05-08 한화시스템 주식회사 도심 항공 모빌리티를 위한 전자장비 진단장치, 이를 포함하는 비행운송체 제어시스템, 및 전자장비 진단방법

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 (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210053548A (ko) * 2019-11-04 2021-05-12 주식회사 엘지유플러스 드론의 센서 이상을 결정하는 방법 및 장치
KR102293432B1 (ko) * 2019-11-04 2021-08-24 주식회사 엘지유플러스 드론의 센서 이상을 결정하는 방법 및 장치
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
JPWO2021192234A1 (fr) * 2020-03-27 2021-09-30
JPWO2021192233A1 (fr) * 2020-03-27 2021-09-30
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

Also Published As

Publication number Publication date
JPWO2019208608A1 (ja) 2020-07-30
JP6913978B2 (ja) 2021-08-04

Similar Documents

Publication Publication Date Title
WO2019208608A1 (fr) Système, procédé et programme informatique pour la détection de défaillance
WO2019208606A1 (fr) Système, procédé et programme informatique de commande d'éjection de produits chimiques
WO2019168042A1 (fr) Drone, son procédé de commande, et programme
JP7009005B2 (ja) ドローンシステム
CN111566010B (zh) 无人机、无人机控制方法和计算机可读取记录介质
JP6803592B2 (ja) ドローンシステム、ドローン、操縦器、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JPWO2020022266A1 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
WO2019168045A1 (fr) Drone, procédé de commande et programme associés
JP6777923B2 (ja) ドローンシステム、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JP6889502B2 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
CN111655581A (zh) 无人飞行器及其控制***以及控制程序
WO2019189929A1 (fr) Drone de pulvérisation chimique
WO2019208607A1 (fr) Système, procédé et programme informatique de prévention de fuites de produits chimiques
JP6746157B2 (ja) 薬剤の補充制御システム、噴霧機、ドローン、薬剤補充システムの制御方法、および、薬剤補充システム制御プログラム
WO2020004367A1 (fr) Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique
WO2019235585A1 (fr) Système de commande de distribution de produit chimique, son procédé de commande et programme de commande

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19792471

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020515508

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19792471

Country of ref document: EP

Kind code of ref document: A1