JP2022179302A - Program, method, injection device, and system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To inject an object to a desired position.

SOLUTION: There is provided a program to be executed in a computer comprising a processor and a memory. The program causes the processor to execute a step of selecting at least one of multiple holes formed in a substantially spherical nozzle device on the basis of a target position to which the object is to be injected, and a step of controlling send-out means of sending out the object so as to cause the object to be injected through the selected hole.

SELECTED DRAWING: Figure 7

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present disclosure relates to programs, methods, injection devices, and systems.

A technique is disclosed in which cleansing water reaches an object to be cleaned without blind spots by jetting cleansing water from a nozzle that is formed in a substantially spherical shape and has a plurality of ejection ports (see Patent Document 1).

Japanese Unexamined Patent Application Publication No. 2011-19898

In Patent Literature 1, washing water supplied to the interior through a water supply hose is pressurized by a pump and flows into a substantially spherical nozzle through a supply channel. The washing water that has flowed into the nozzle is radially jetted from a plurality of ejection ports provided in the nozzle. Since the nozzle is formed in a substantially spherical shape, the cleaning water is jetted radially and can enter even the gaps of the cleaning target.

However, although Patent Literature 1 describes that the cleaning water reaches the object to be cleaned without blind spots, it does not describe ejecting the object so as to reach the desired position.

Accordingly, an object of the present disclosure is to provide a program, method, injection device, and system capable of ejecting an object to a desired position.

A program to be executed by a computer having a processor and a memory. The program instructs the processor to select at least one of a plurality of holes provided in the substantially spherical nozzle device based on a target position for ejecting the object, and to eject the object from the selected hole. and controlling the delivery means for delivering the object.

According to the present disclosure, an object can be ejected to a desired position.

It is a figure showing the whole system composition concerning this embodiment. FIG. 2 is a perspective view schematically showing the injection device shown in FIG. 1; 2 is a block diagram showing the configuration of an injection device included in the system according to this embodiment; FIG. It is a figure showing the appearance of the nozzle device concerning this embodiment. It is a figure showing the cross section of the nozzle apparatus shown in FIG. 4 is a flow chart showing the operation when the injection device according to the present embodiment injects liquid onto a target. FIG. 4 is a diagram of the injection device according to the present embodiment injecting liquid to a predetermined target; It is a figure showing the cross section of a nozzle apparatus in case a 2nd tank is provided in a nozzle apparatus. It is a figure showing the cross section of a nozzle apparatus when a gate valve is attached to the pipe|tube connected to an injection mouth.

Hereinafter, embodiments will be described with reference to the drawings. It should be noted that the embodiments described below do not unduly limit the content of the present disclosure described in the claims. Moreover, not all the configurations described in the present embodiment are essential constituent elements of the present disclosure.

<Overview>
The system 1 according to the present embodiment injects a liquid such as an insecticide, an agricultural chemical, a nutrient, or water by an injection device 10 so as to directly reach an object that needs to be sprinkled with the liquid. For example, the injection device 10 is provided with a nozzle device 111 which is formed in a substantially spherical shape and has a plurality of holes on its surface, and the liquid is injected from holes on the nozzle device 111 corresponding to target positions.

<1 Overall configuration>
FIG. 1 is a diagram showing an example of the overall configuration of a system 1 according to this embodiment. As shown in FIG. 1, the system 1 includes an injection device 10, a server 20, and a terminal device 30. As shown in FIG. The injection device 10, the server 20, and the terminal device 30 are connected to communicate with each other via a network 80 using a wireless communication standard. The network 80 is implemented by, for example, the Internet and/or a communication network provided by a telecommunications carrier.

In the example of FIG. 1, one terminal device 30 is included in the system 1, but the number of terminal devices 30 included is not limited to one. Moreover, although the example of FIG. 1 shows the case where the server 20 is realized by one computer, the server 20 may be realized by combining a plurality of computers.

The injection device 10 is a device for injecting a liquid so as to directly reach an object that needs to be sprinkled with the liquid. The ejection device 10 moves while photographing the surroundings, and ejects the liquid toward an object to be sprinkled with the liquid. The injection device 10 may be a moving object that has tires and moves on the ground, a multicopter drone that has a propeller and moves in the air, or a fixed-wing drone that moves in the air with fixed wings.

FIG. 2 is an example of a perspective view schematically showing the injection device 10 shown in FIG. As shown in FIGS. 1 and 2, the injection device 10 includes a main body device 11, a nozzle device 111, a pump 112, an imaging device 113, and a drive device 114. The nozzle device 111 , the pump 112 , the imaging device 113 and the drive device 114 are connected to the main device 11 . Note that the pump 112 may be provided inside the main unit 11 .

Main unit 11 includes communication IF (Interface) 12 , input/output IF 13 , tank 14 , memory 15 , storage 16 , and processor 19 . The communication IF 12, the input/output IF 13, the tank 14, the memory 15, the storage 16, and the processor 19 are communicably connected to each other via a bus, for example.

The communication IF 12 is an interface for the injection device 10 to communicate with an external device.

The input/output IF 13 is an interface for outputting instructions to the nozzle device 111 , the pump 112 , the imaging device 113 , or the driving device 114 . Also, the input/output IF 13 is an interface for receiving signals output from the nozzle device 111 , the pump 112 , the imaging device 113 , or the driving device 114 .

The tank 14 is a tank for storing liquid. The tank 14 and the pump 112 are connected by piping, for example. Liquid stored in the tank 14 is sucked by the pump 112 .

The memory 15 temporarily stores programs and data processed by the programs, and is a volatile memory such as a DRAM (Dynamic Random Access Memory). The storage 16 is for storing data, and is, for example, a flash memory, HDD (Hard Disc Drive), or the like. The processor 19 is hardware for executing an instruction set described in a program, and is composed of arithmetic units, registers, peripheral circuits, and the like.

The nozzle device 111 is formed in a substantially spherical shape. The nozzle device 111 has a plurality of injection holes on the surface of the sphere. The nozzle device 111 will be described later in detail.

The pump 112 is connected to the nozzle device 111 and the tank 14 by piping. Pump 112 draws liquid from tank 14 under control from processor 19 . The pump 112 sends the sucked liquid to the nozzle device 111 at a predetermined pressure, and ejects the liquid from a predetermined injection port of the nozzle device 111 .

The imaging device 113 is a device for receiving light with a light receiving element and outputting it as an imaging signal. The photographing device 113 has, for example, a super-wide-angle lens, a fish-eye lens, or a wide-angle lens, and photographs the surroundings with a wide angle of view. In addition, the photographing device 113 may have, for example, a normal lens, and photograph the surroundings while shaking the head. The ejection device 10 may be equipped with a gimbal that is driven according to a predetermined principle, so that the movement of the ejection device 10 will reduce the effect on photography. The imaging device 113 performs imaging according to control from the processor 19, for example.

The driving device 114 is a device for moving the main device 11 . The driving device 114 is a device for moving over land, such as a tire or a crawler. The driving device 114 may also be a device for moving through the air, such as a propeller or a wing. The driving device 114 moves the injection device 10 along a predetermined path and at a predetermined speed under the control of the processor 19 .

The server 20 manages information for controlling the injection device 10 . The server 20 also manages information acquired by the injection apparatus 10 . The server 20 is realized by a computer connected to the network 80, for example. The server 20 includes, for example, memory, storage, and a processor. The memory is for temporarily storing programs, data processed by the programs, etc., and is realized by volatile memory such as DRAM, for example. A storage is a storage device for saving data, and is implemented by a non-volatile memory such as a flash memory or an HDD. A processor is hardware for executing an instruction set described in a program, and is composed of arithmetic units, registers, peripheral circuits, and the like.

The terminal device 30 is a terminal used by a user. A user operates the terminal device 30 and inputs information for operating the injection device 10 to the server 20 , for example. Also, the user operates the terminal device 30 and, for example, operates the injection device 10 . The terminal device 30 is implemented by, for example, a portable terminal such as a smart phone or a tablet terminal. Also, the terminal device 30 may be realized by a laptop PC (Personal Computer), a head-mounted display, or the like.

<1.1 Configuration of Injection Device>
FIG. 3 is a block diagram showing a configuration example of the injection device 10 included in the system 1 according to this embodiment. As shown in FIG. 3 , the injection device 10 includes a main device 11 , a nozzle device 111 , a pump 112 , an imaging device 113 and a drive device 114 . Main unit 11 shown in FIG. 3 includes communication unit 121, antenna 122, input unit 131, output unit 132, tank 14, position information sensor 150, motion sensor 160, storage unit 180, and control unit. 190. The main unit 11 also has functions and configurations not particularly shown in FIG. 3, such as a battery for retaining power, a power supply circuit for controlling the power supply from the battery to each circuit, and the like. Each block included in the main unit 11 is electrically connected by, for example, a bus.

The antenna 122 radiates the signal emitted by the injection device 10 as radio waves. Also, the antenna 122 receives radio waves propagating in space.

The communication unit 121 corresponds to the antenna 122 and performs processing for the injection device 10 to communicate with other devices. The communication unit 121 performs transmission processing such as modulation processing and frequency conversion on the signal generated by the control unit 190, and transmits the signal to the outside (for example, the server 20). The communication unit 121 performs reception processing such as demodulation processing and frequency conversion on the signal received from the outside, and outputs the result to the control unit 190 .

Input unit 131 receives information output from nozzle device 111 , pump 112 , imaging device 113 , and driving device 114 . The input unit 131 converts information received from the nozzle device 111 , the pump 112 , the imaging device 113 , and the driving device 114 into a predetermined format, and outputs the information to the control unit 190 .

The output unit 132 outputs control signals from the control unit 190 to the nozzle device 111 , the pump 112 , the imaging device 113 and the driving device 114 .

The position information sensor 150 is a sensor that detects the position of the injection device 10, and is, for example, a GPS (Global Positioning System) module. A GPS module is a receiving device used in a satellite positioning system. The position information sensor 150 may detect the position of the injection device 10 from the strength of radio waves from the base station.

The motion sensor 160 includes an acceleration sensor, an angular velocity sensor, etc., and detects movement of the injection device 10 . For example, the motion sensor 160 senses the acceleration of the injection device 10 while moving along a predetermined route. Also, the motion sensor 160 detects rotation of the injection device 10 and changes in orientation.

The storage unit 180 is realized by, for example, the memory 15 and the storage 16, and stores data and programs used by the injection device 10. FIG. Specifically, the storage unit 180 stores, for example, route data 181 and learned models 182 .

The route data 181 is data relating to the route along which the injection device 10 moves. When the injection device 10 moves outdoors, the route data 181 may be information about a predetermined outdoor point, such as coordinate information. Further, when the injection device 10 moves indoors, the route data 181 may be information related to a line representing a moving route. The route data 181 is downloaded from the server 20, for example. Alternatively, the user may store the route data 181 in the ejection device 10 from the terminal device 30 .

The trained model 182 is a model generated by causing a machine learning model to perform machine learning according to a model learning program. The trained model 182 is, for example, a synthetic function with parameters, which is a synthesis of multiple functions that performs predetermined inference based on input data. A parameterized composite function is defined by a combination of multiple adjustable functions and parameters. A trained model according to this embodiment may be any parameterized composite function that satisfies the above requirements.

For example, if the trained model 182 is generated using a forward propagation multi-layered network, the parameterized synthesis function may be, for example, a linear relationship between layers using a weight matrix, a non-linear defined as a combination of a relationship (or linear relationship) and a bias. Weighting matrices and biases are called parameters of the multilayered network. A parameterized composite function changes its form as a function depending on how the parameters are chosen. In a multi-layered network, by appropriately setting the constituent parameters, it is possible to define a function capable of outputting favorable results from the output layer.

As the multi-layered network according to the present embodiment, for example, a deep neural network (DNN), which is a multi-layered neural network targeted for deep learning, can be used. As the DNN, for example, a convolution neural network (CNN) targeting images may be used.

The trained model 182 is a model that has been trained to output a liquid injection target included in the image when the image is input. In this embodiment, the trained model 182 is trained to determine objects in the following states as targets, for example.
・Dry objects with insufficient moisture ・Objects infested with specified pests ・Objects with specified symptoms (e.g., symptoms of disease) ・Objects with insufficient nutrients

The injection device 10 is capable of injecting liquid in multiple directions at the same time, but depending on the number of targets, the liquid may not reach all at once. The trained model 182 may be trained to order the targets for ejecting liquid according to a predetermined rule when more than a predetermined number of targets are included in the image. Predetermined rules are, for example:
・Sequence according to symptoms (e.g. target with more severe symptoms first)
- The order according to the distance from the injection device 10 (for example, the liquid is injected first from the target farther from the injection device 10)
・Order according to the direction of movement (for example, liquid is ejected first from the target that moves away when moving to a predetermined route)

Control unit 190 is implemented by processor 19 reading a program stored in storage unit 180 and executing instructions included in the program. The control section 190 controls the operation of the injection device 10 . Specifically, for example, the control unit 190 functions as an operation reception unit 191 , a transmission/reception unit 192 , an image analysis unit 193 , a drive control unit 194 and an injection control unit 195 .

The operation accepting unit 191 performs processing for accepting a user's operation input via the communication unit 121 .

The transmitting/receiving unit 192 performs processing for the main unit 11 to transmit/receive data to/from the nozzle device 111, the pump 112, the imaging device 113, the driving device 114, and the like.

The image analysis unit 193 analyzes the image captured by the imaging device 113 to extract a target for ejecting the liquid from the image. For example, the image analysis unit 193 uses the learned model 182 stored in the storage unit 180 to analyze the image captured by the imaging device 113 . Specifically, for example, the image analysis unit 193 inputs an image to the trained model 182 and outputs a target in the image.

The drive control unit 194 uses the route data 181 stored in the storage unit 180 to control the drive device 114 .

The injection control unit 195 controls the nozzle device 111 or the pump 112 so that the liquid reaches the target output by the image analysis unit 193 . Specifically, for example, the injection control unit 195 grasps the position of the target in a polar coordinate system based on its own device.

For example, the ejection control unit 195 acquires the target azimuth angle with respect to the ejection device 10 from the orientation of the ejection device 10, the imaging direction of the imaging device 113, the target position in the image, and the like. Further, the ejection control unit 195 acquires the elevation angle of the target from the imaging direction of the imaging device 113, the position of the target in the image, and the like. In addition, the ejection control unit 195 acquires the distance to the target from the magnification of the imaging device 113, the size of the target in the image, and the like.

The injection control section 195 may grasp the position of the target in an orthogonal coordinate system. The injection control unit 195 acquires, for example, x-coordinates, y-coordinates, and z-coordinates of the target with its own device as the origin.

The injection control unit 195 controls the nozzle device 111 or the pump 112 so that the liquid reaches the grasped position while considering the movement of the injection device 10 .

<1.2 Configuration of Nozzle Device>
FIG. 4 is a schematic diagram showing the appearance of the nozzle device 111 according to this embodiment. FIG. 5 is a schematic diagram showing a cross section of the nozzle device 111 shown in FIG.

As shown in FIG. 4, the nozzle device 111 has a substantially spherical shape, and a plurality of injection holes 1111 are formed on the surface. As shown in FIG. 5, each injection port 1111 is connected to a pipe 1112 that connects to the tank 14 .

A micropump 1121 is connected to each tube 1112 connecting the injection port 1111 and the tank 14 . The micropump 1121 sucks the liquid from the tank 14 under the control of the controller 190 . The micropump 1121 delivers the sucked liquid to the nozzle device 111 at a predetermined pressure and ejects it from the injection port 1111 connected by the pipe 1112 .

The number of micropumps 1121 attached to the tube 1112 is not limited to one. A plurality of micropumps 1121 may be attached in series to the tube 1112 . This makes it possible to throw the liquid farther.

Any of the injection ports 1111 may be processed into a shape that allows the liquid to fly far. Also, one of the injection ports 1111 may be processed into a shape that allows the liquid to be ejected in a predetermined direction.

<2. Operation>
The operation of the injection device 10 when the injection device 10 injects the liquid to the target will be described.

FIG. 6 is a flow chart showing the operation when the injection device 10 according to this embodiment injects the liquid to the target. In the description of FIG. 6, it is assumed that the injection device 10 is moving along a predetermined route on the ground at a predetermined speed. The moving speed may be constant, or may be variable in a predetermined area or the like. Moreover, you may stop temporarily.

In the injection device 10 traveling along a predetermined route, the photographing device 113 photographs images at a predetermined frame rate under the control of the control unit 190 (imaging control unit, not shown). That is, the control unit 190 causes the image capturing device 113 to capture an image. The image capturing device 113 may capture images continuously, or may capture images in a preset area. Also, the image capturing device 113 may capture an image while the ejection device 10 is stopped. The imaging device 113 may change the magnification of the image based on control from the control unit 190 .

In step S<b>11 , the control unit 190 causes the transmission/reception unit 192 to receive image data captured by the imaging device 113 .

In step S<b>12 , the control unit 190 causes the image analysis unit 193 to analyze the image data. Specifically, the image analysis unit 193 inputs an image captured by the imaging device 113 to the learned model 182 stored in the storage unit 180 . The trained model 182 outputs the targets contained in the images.

Specifically, for example, in the case where the injection device 10 is a device for injecting water, assume that an image including a dry object with insufficient moisture is input to the trained model 182 by the image analysis unit 193. . The trained model 182 outputs dry objects with insufficient moisture as water targets.

Further, for example, in the case where the injection device 10 is a device for injecting an insecticide, the image analysis unit 193 learns an image containing a predetermined pest or an image containing an object suspected of generating a predetermined pest. Suppose that it is input to the finished model 182 . The trained model 182 outputs an image containing a predetermined pest or an image containing an object suspected of generating a predetermined pest as a pesticide target.

Further, for example, in the case where the injection device 10 is a device for injecting water containing pesticides, the image analysis unit 193 can generate an image including an object in a state where a predetermined symptom (for example, a symptom of a disease) is occurring. Suppose that it is input to the trained model 182 . The trained model 182 outputs an image including an object in which a given symptom is occurring as a target for water containing agricultural chemicals.

Further, for example, in the case where the injection device 10 is a device for injecting nutrients, it is assumed that an image including an object with insufficient nutrition is input to the learned model 182 by the image analysis unit 193 . The trained model 182 outputs an image containing a nutrient-deficient object as a nutrient target.

In step S13, the control unit 190 determines whether or not the target has been output. The control unit 190 advances the process to step S14 when the target is output, and terminates the process when the target is not output.

In step S<b>14 , the control unit 190 uses the injection control unit 195 to grasp the target position. Specifically, for example, the injection control unit 195 determines the position of the device itself, the direction the device is facing, the shooting direction of the shooting device 113, the position of the target in the image, the size of the target in the image, and the like. Based on this, the position of the target extracted by the image analysis is acquired as the coordinates of the polar coordinate system or the orthogonal coordinate system.

In step S<b>15 , the control section 190 controls the nozzle device 111 or the pump 112 by the injection control section 195 . Specifically, the injection control unit 195 determines the injection port 1111 that allows the liquid to reach the target position along a predetermined parabola, and the strength of the micropump 1121 that delivers the liquid to the injection port 1111. . The strength of the micropump 1121 that delivers the liquid is, for example, the pressure, the discharge amount, or the like. The strength of the micropump 1121 that delivers the liquid may be preset according to the properties of the ejected object. The properties of the projecting object are, for example, the air resistance of the object. The injection control section 195 controls the micropump 1121 to deliver the liquid at the determined pressure.

The micropump 1121 sucks the liquid from the tank 14 according to the control of the control unit 190 and delivers the sucked liquid to the nozzle device 111 at the determined pressure. As a result, a predetermined amount of liquid is ejected to the target from the determined ejection port 1111 .

FIG. 7 shows a schematic diagram of the liquid being injected from the injection device 10 according to this embodiment to a predetermined target. In FIG. 7, the photographing device 113 is a camera capable of photographing a wide range (all directions) of the surroundings, such as a 360-degree camera. The image captured by the 360-degree camera may be subjected to image analysis as it is, or may be subjected to image analysis after being corrected using, for example, equirectangular projection.

In FIG. 7 , the control unit 190 causes the image analysis unit 193 to analyze an image 1131 captured by the imaging device 113 . The image analysis unit 193, for example, analyzes the image 1131 and outputs targets 1132-1 and 1132-2.

The control unit 190 drives the two micropumps 1121 so that the liquid is ejected from the nozzle device 111 toward the targets 1132-1 and 1132-2 substantially simultaneously. The liquid delivered by the micropump 1121 is ejected from the ejection port 1111 of the nozzle device 111 toward targets 1132-1 and 1132-2.

As described above, in the present embodiment, the control unit 190 causes the injection device 10 to select at least one of the plurality of holes 1111 provided in the substantially spherical nozzle device 111 based on the target position for injecting the object. Select hole 1111 . The controller 190 then controls the pump 112 that delivers the object so that the object is ejected from the selected hole 1111 . As a result, the object is ejected from the hole 1111 suitable for the target position.

Therefore, according to the injection device 10 according to the present embodiment, an object can be injected with pinpoint accuracy toward a target that needs to be injected with the object. For this reason, it is possible to efficiently reach only the necessary area with the object, so that it is possible to suppress the scattering of the object even in the unnecessary area, and it is possible to save the usage amount of the object.

Further, in this embodiment, the control unit 190 extracts the target by analyzing the image using the image analysis unit 193 . Then, the control unit 190 selects the hole 1111 of the nozzle device 111 by the injection control unit 195 based on the extracted target position. As a result, the injection device 10 can extract the target from the image, so that the operation of acquiring the image and injecting the object to the target can be performed quickly.

Further, in the present embodiment, the control unit 190 causes the image capturing device 113 to capture an image around the nozzle device 111 . Then, the control unit 190 extracts the target by analyzing the photographed image using the image analysis unit 193 . This makes it possible to extract a target from the image around the ejection device 10 and eject an object to the extracted target.

Further, in this embodiment, the imaging device 113 is capable of imaging in all directions. The control unit 190 causes the photographing device 113 to photograph images in consecutive frames. As a result, the injection device 10 can extract the target from moving images continuously captured in all directions. As a result, physical blind spots and temporal blind spots are reduced, so that the target can be extracted more accurately.

Further, in the present embodiment, the control unit 190 controls the drive device 114 that moves the nozzle device 111 by the drive control unit 194 . This enables the injection device 10 to inject an object toward a target while self-propelled.

Further, in the present embodiment, the controller 190 controls the pump 112 by the injection controller 195 while the nozzle device 111 is moving. As a result, the injection device 10 can eject the object without stopping, so that the object can be efficiently ejected toward the target while going around a preset route.

Also, in this embodiment, the micropump 1121 is attached to a tube 1112 that connects the tank 14 holding the object and the plurality of holes 1111 respectively. The controller 190 controls the injection controller 195 to control the micropump 1121 corresponding to the selected hole 1111 . This allows the injection device 10 to inject the object from any hole 1111 .

In the above embodiment, the control unit 190 causes the injection control unit 195 to change the strength with which the pump 112 delivers the object according to the target position. This enables the injection device 10 to inject an object to an arbitrary distance.

Further, in the above embodiment, when the injection control unit 195 selects the holes 1111 for a plurality of targets, the control unit 190 controls the pump so that the objects are injected from the selected holes 1111 substantially simultaneously. 112 is controlled. As a result, the object is ejected to each of the plurality of targets, so that the ejection device 10 can eject the object more efficiently.

Further, in the above embodiment, when the target number exceeds a predetermined number, the control unit 190 sets the order of injecting the objects by the injection control unit 195, and controls the pump 112 according to the set order. ing. As a result, the injection device 10 can accurately reach the target even when there are many targets.

(Other embodiments)
The configuration of the nozzle device 111 is not limited to the configuration shown in FIG. For example, the injection device 10 may have a second tank, and a micropump may be provided for each pipe connecting the injection port 1111 and the second tank.

FIG. 8 is a schematic diagram showing a cross section of the nozzle device 111 when the second tank 1113 is provided inside the nozzle device 111. As shown in FIG. As shown in FIG. 8, a second tank 1113 is provided inside the nozzle device 111 . The second tank 1113 stores the liquid delivered by the pump 112 in the second tank 1113 .

A pipe 1112 that connects to a second tank 1113 is connected to each of the injection ports 1111 . A micropump 1114 is connected to each tube 1112 connecting the injection port 1111 and the tank 14 . The micropump 1114 sucks liquid from the second tank 1113 under the control of the controller 190 . The micropump 1114 delivers the sucked liquid at a predetermined pressure and ejects it from the injection port 1111 connected by the pipe 1112 .

The micropump 1114 and the controller 190 may be connected by wire or wirelessly. For example, in the case of wireless connection, a communication device that communicates with the control unit 190 is attached to the nozzle device 111, and the micropump 1114 and the communication device may be preferentially connected.

The number of micropumps 1114 attached to tube 1112 is not limited to one. Multiple micropumps 1114 may be attached in series to tube 1112 . This makes it possible to throw the liquid farther.

Any of the injection ports 1111 may be processed into a shape that allows the liquid to fly far. Also, one of the injection ports 1111 may be processed into a shape that allows the liquid to be ejected in a predetermined direction.

The controller 190 controls the pump 112 at a predetermined timing to supply liquid to the second tank 1113 . For example, the predetermined timing is as follows.
・A water level sensor is attached to the second tank 1113, and the timing when the liquid in the second tank 1113 reaches a predetermined water level ・Predetermined period ・Timing when reaching a predetermined point ・Timing when the liquid is ejected a predetermined number of times

When the nozzle device 111 shown in FIG. 8 is provided, the injection device 10 operates as follows to inject the liquid to the target.

The control unit 190 performs the processes of steps S11 to S14 shown in FIG.

In step S<b>15 , the control section 190 controls the nozzle device 111 or the pump 112 by the injection control section 195 . Specifically, the injection control unit 195 determines the injection port 1111 that allows the liquid to reach the target position along a predetermined parabola, and the pressure of the micropump 1114 that delivers the liquid to the injection port 1111. . The injection controller 195 controls the micropump 1114 to deliver the liquid at the determined pressure.

The micropump 1114 sucks the liquid from the second tank 1113 under the control of the control unit 190 and delivers the sucked liquid to the nozzle device 111 at the determined pressure. As a result, a predetermined amount of liquid is ejected to the target from the determined ejection port 1111 .

As described above, the micropump 1114 is attached to the pipe 1112 that connects the second tank 1113 holding the object delivered from the tank 14 holding the object and the plurality of holes 1111 respectively. The controller 190 controls the injection controller 195 to control the micropump 1114 corresponding to the selected hole 1111 . This allows the injection device 10 to inject the object from any hole 1111 .

Moreover, the configuration of the nozzle device 111 is not limited to the configuration in which the micropumps 1121 and 1114 are provided as shown in FIGS. For example, the injection device 10 may have a gate valve attached to a pipe connected to the injection port.

FIG. 9 is a schematic diagram showing a cross section of the nozzle device 111 when the gate valve 1115 is attached to the pipe 1112 connected to the injection port 1111. As shown in FIG. As shown in FIG. 9, a gate valve 1115 is attached to each of the tubes 1112 connected to the injection port 1111 .

The gate valve 1115 is opened or closed under the control of the controller 190 . Gate valve 1115 , when open, allows liquid delivered by pump 112 to flow to injection port 1111 . Gate valve 1115 blocks liquid delivered by pump 112 when closed.

The gate valve 1115 and the controller 190 may be wired or wirelessly connected. For example, in the case of wireless connection, a communication device that communicates with the control unit 190 is attached to the nozzle device 111, and the gate valve 1115 and the communication device may be preferentially connected.

Any of the injection ports 1111 may be processed into a shape that allows the liquid to fly far. Also, one of the injection ports 1111 may be processed into a shape that allows the liquid to be ejected in a predetermined direction.

When the nozzle device 111 shown in FIG. 9 is provided, the injection device 10 operates as follows to inject the liquid to the target. As an initial state, all the gate valves 1115 attached to the nozzle device 111 are closed.

The control unit 190 performs the processes of steps S11 to S14 shown in FIG.

In step S<b>15 , the control section 190 controls the nozzle device 111 or the pump 112 by the injection control section 195 . Specifically, the injection control unit 195 controls the injection port 1111 that allows the liquid to reach the target position in a predetermined parabola, the gate valve 1115 corresponding to the injection port 1111, and the pressure of the pump 112. decide. The injection control unit 195 controls the determined gate valve 1115 to be in an open state, and controls the pump 112 to deliver the liquid at the determined pressure.

The pump 112 sucks the liquid from the tank 14 under the control of the control unit 190 and delivers the sucked liquid to the nozzle device 111 at the determined pressure. The delivered liquid passes through the opened gate valve 1115 and is ejected from the injection port 1111 corresponding to the opened gate valve 1115 .

As described above, the control unit 190 selects the valves 1115 attached to the pipes 1112 connecting the pumps 112 and the holes 1111 so that the object is ejected from the selected holes 1111 by the injection control unit 195. The valve 1115 corresponding to the hole 1111 is opened to control the pump 112 . This allows the injection device 10 to inject the object from any hole 1111 .

In the above embodiment, the case where the injection device 10 injects a liquid as an object has been described as an example, but what the injection device 10 injects is not limited to liquid. The injection device 10 may inject granular solids such as seeds as objects so that they reach a plurality of desired positions. At this time, the pump 112 and the micropumps 1121 and 1114 as the delivery device are replaced with a mechanism capable of ejecting the solid from the ejection port 1111 . For example, a mechanism such as an air blower or a hammer can be used as the delivery device.

Also, the trained model 182 is trained to determine, for example, a target area that satisfies a predetermined condition in a field. Predetermined conditions are, for example, the following.
・It has a predetermined color ・It exists in a predetermined location (for example, the location is registered in the route data 181)

Also, in the above embodiment, the case where the control unit 190 controls the pressures of the pump 112 and the micropumps 1121 and 1114 has been described. good too. The control unit 190 may eject the object in any direction by selecting the ejection port 1111 of the nozzle device 111 .

Also, in the above embodiment, the case where an object is ejected from one ejection port toward one target has been described. However, the object may be ejected from multiple ejection openings toward one target. For example, the control unit 190 determines two or more injection ports 1111 for the target output from the image analysis unit 193, and causes pumps corresponding to the determined injection ports 1111 to deliver liquid. This allows a larger amount of objects to reach the target in a short period of time.

Further, in the above-described embodiment, the image analysis is performed by the injection device 10 as an example, but the image analysis may be performed by the server 20 . At this time, the ejection device 10 transmits image data captured by the imaging device 113 to the server 20 .

The server 20 uses the learned model stored in the server 20 to analyze the image transmitted from the injection device 10 . The server 20 transmits the target output from the learned model to the injection device 10 .

The injection device 10 controls the nozzle device 111 or the pump 112 by the injection control unit 195 so that the liquid reaches the target transmitted from the server 20 .

Although several embodiments of the present disclosure have been described above, these embodiments can be implemented in various other forms, and various omissions, replacements, and modifications are possible without departing from the spirit of the invention. It can be performed. These embodiments and their modifications shall be included in the invention described in the scope of claims and its equivalents as well as being included in the scope and gist of the invention.

<Appendix>
The items described in the above embodiments will be added below.
(Appendix 1)
A program to be executed by a computer comprising a processor 19 and a memory 15. The program instructs the processor 19 to select a plurality of holes provided in a substantially spherical nozzle device 111 based on a target position for ejecting an object. A program for executing a step of selecting at least one hole out of 1111 (step S15) and a step of controlling the sending means 112 for sending the object so that the object is emitted from the selected hole (step S15). .
(Appendix 2)
The program according to Supplementary Note 1, wherein the step of extracting the target by analyzing the image (step S12) is executed by the processor, and in the selecting step, the hole of the nozzle device is selected based on the position of the extracted target. .
(Appendix 3)
The program according to Supplementary Note 2, wherein the target is extracted by causing the processor to execute the step of causing the image capturing means 113 to capture an image around the nozzle device, and analyzing the captured image in the extracting step.
(Appendix 4)
The program according to (Appendix 3), wherein the photographing means is capable of photographing in all directions, and in the photographing step, the photographing means is caused to photograph images in continuous frames.
(Appendix 5)
The program according to any one of (Appendix 1) to (Appendix 4), causing a processor to execute the step of controlling the driving means 114 that moves the nozzle device.
(Appendix 6)
In the step of controlling the delivery means, the program according to (Appendix 5), wherein the delivery means is controlled while the nozzle device is moving.
(Appendix 7)
The delivery means are attached to the tubes 1112 respectively connecting the tank 14 holding the object and the plurality of holes, and in the step of controlling the delivery means 1121, the selected hole 1111 and the corresponding delivery means 1121 are controlled (Appendix 1 ) to (Appendix 6).
(Appendix 8)
The delivery means is attached to a tube 1112 that connects a second tank 1113 holding an object delivered from the tank 14 holding the object and the plurality of holes 1111, respectively. 11. The program according to any one of (Appendix 1) to (Appendix 6) for controlling the sending means 1114 corresponding to 1111.
(Appendix 9)
In the step of controlling the delivery means 112, among the valves 1115 attached to the tubes 1112 connecting the delivery means 112 and the holes 1111 respectively, the valves 1115 corresponding to the selected holes 1111 are selected so that the object is ejected from the selected holes 1111. The program according to any one of (Appendix 1) to (Appendix 6), which opens the valve 1115 and controls the delivery means 112 .
(Appendix 10)
The program according to any one of (Appendix 1) to (Appendix 9), wherein in the step of controlling the sending means, the strength with which the sending means sends the object is changed according to the position of the target.
(Appendix 11)
In the step of controlling the delivery means, when holes are respectively selected for a plurality of targets, controlling the delivery means so that the objects are ejected substantially simultaneously from the plurality of selected holes (Appendix 1) 1 to (Appendix 10) The program according to any one of the above.
(Appendix 12)
12. The program according to appendix 11, wherein in the step of controlling the delivery means, if the target number exceeds a predetermined number, the order of ejecting the objects is set, and the delivery means is controlled according to the set order.
(Appendix 13)
In the step of controlling the delivery means, when a plurality of holes are selected for a single target, controlling the delivery means so that the objects are ejected substantially simultaneously from the plurality of selected holes (Appendix 1) to ( A program according to any one of Appendix 10).
(Appendix 14)
A computer-executed method comprising a processor and memory, wherein the processor selects at least one hole from among a plurality of holes provided in a substantially spherical nozzle device based on a target position for ejecting an object. and controlling the delivery means for delivering the object such that the object is ejected from the selected hole.
(Appendix 15)
A nozzle device formed in a substantially spherical shape and having a plurality of holes for injecting an object; delivery means for delivering the object to the holes; , a controller for selecting at least one hole and for controlling the delivery means such that the object is ejected from the selected hole.
(Appendix 16)
A nozzle device formed in a substantially spherical shape and having a plurality of holes for ejecting an object, sending means for sending the object to the holes, photographing means for photographing an image around the nozzle device, and analyzing the photographed image. and an analysis means for extracting a target with, based on the position of the extracted target, selecting at least one hole from a plurality of holes provided in the nozzle device so that the object is ejected from the selected hole, and control means for controlling the delivery means.

DESCRIPTION OF SYMBOLS 1... System 10... Injection apparatus 11... Main unit 111... Nozzle apparatus 1111... Injection port 1112... Pipe 1113... Second tank 1114... Micro pump 1115... Gate valve 112... Pump 1121... Micro pump 113... Imaging device 114... Driving device DESCRIPTION OF SYMBOLS 121... Communication part 122... Antenna 131... Input part 132... Output part 12... Communication IF
13... Input/output IF
14 Tank 15 Memory 150 Position information sensor 16 Storage 160 Motion sensor 180 Storage unit 181 Route data 182 Trained model 19 Processor 190 Control unit 191 Operation reception unit 192 Transmission/reception unit 193 Image Analysis unit 194 Drive control unit 195 Injection control unit 20 Server 30 Terminal device 80 Network

Claims (16)

A program to be executed by a computer comprising a processor and a memory, the program comprising:
selecting at least one of a plurality of holes provided in the substantially spherical nozzle device based on a target position for ejecting the object;
and controlling a delivery means for delivering the object so that the object is ejected from the selected hole. causing the processor to extract the target by analyzing an image;
2. The program according to claim 1, wherein, in said selecting step, a hole of said nozzle device is selected based on said extracted target position. causing the processor to execute a step of causing a photographing means to photograph an image around the nozzle device;
3. The program according to claim 2, wherein in said extracting step, said target is extracted by analyzing said photographed image. The photographing means is capable of photographing in all directions,
4. The program according to claim 3, wherein in said photographing step, said photographing means is caused to photograph images in continuous frames. 5. The program according to any one of claims 1 to 4, causing the processor to execute a step of controlling driving means for moving the nozzle device. 6. The program according to claim 5, wherein in the step of controlling the delivery means, the delivery means is controlled while the nozzle device is moving. the delivery means is attached to a pipe that connects the tank holding the object and the plurality of holes, respectively;
7. The program according to any one of claims 1 to 6, wherein in the step of controlling the delivery means, the delivery means corresponding to the selected hole is controlled. The delivery means is attached to a pipe that connects a second tank holding the object delivered from the tank holding the object and the plurality of holes,
7. The program according to any one of claims 1 to 6, wherein in the step of controlling the delivery means, the delivery means corresponding to the selected hole is controlled. In the step of controlling the delivery means, the valves corresponding to the selected holes among the valves attached to the pipes connecting the delivery means and the holes so that the object is ejected from the selected holes 7. The program according to any one of claims 1 to 6, wherein the is placed in an open state and controls the sending means. 10. The program according to any one of claims 1 to 9, wherein, in the step of controlling the sending means, the strength with which the sending means sends the object is changed according to the position of the target. 2. In the step of controlling said sending means, when said holes are selected for a plurality of targets respectively, said sending means is controlled such that said objects are ejected substantially simultaneously from said plurality of selected holes. 11. The program according to any one of 10 to 10. 12. The program according to claim 11, wherein in the step of controlling the delivery means, if the target number exceeds a predetermined number, an order of ejecting the objects is set, and the delivery means is controlled according to the set order. wherein, in the step of controlling the sending means, when a plurality of the holes are selected for a single target, the sending means is controlled such that the objects are ejected substantially simultaneously from the selected plurality of holes; Item 11. The program according to any one of Items 1 to 10. A computer-implemented method comprising a processor and a memory, the processor comprising:
selecting at least one of a plurality of holes provided in the substantially spherical nozzle device based on a target position for ejecting the object;
and controlling delivery means for delivering said object such that said object is ejected from said selected hole. a nozzle device having a substantially spherical shape and having a plurality of holes for injecting an object;
delivery means for delivering the object to the hole;
selecting at least one of a plurality of holes provided in the nozzle device based on a target position for ejecting the object, and operating the delivery means so that the object is ejected from the selected hole; and a control unit for controlling the injection device. a nozzle device having a substantially spherical shape and having a plurality of holes for injecting an object;
delivery means for delivering the object to the hole;
a photographing means for photographing an image around the nozzle device;
analysis means for extracting a target by analyzing the captured image;
At least one of the plurality of holes provided in the nozzle device is selected based on the extracted target position, and the delivery means is controlled so that the object is ejected from the selected hole. A system comprising control means for

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