JP6749626B2 - Drug ejection control system, method, and computer program - Google Patents

Description

The present invention relates to an unmanned aerial vehicle (drone) for spraying chemicals such as pesticides on a field, particularly to a drone with improved safety, a control method thereof, and a program.

The application of small unmanned helicopters (multicopters) generally called drones is progressing. One of the important fields of application thereof is spraying chemicals such as pesticides and liquid fertilizers on farmland (field) (for example, Patent Document 1). In Japan, where farmland is smaller than in the US and Europe, it is often the case that drones are more suitable than manned airplanes and helicopters.

With technologies such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Kinematic-Global Positioning System), it became possible for a drone to accurately know its absolute position in centimeters during flight. Even in a farmland with a narrow and complicated terrain typical of the above, it is possible to autonomously fly with minimal manual operation and to efficiently and accurately apply the drug.

On the other hand, there were cases in which it was difficult to say that safety considerations were sufficient for autonomous flight drones for drug spraying for agriculture. A drone loaded with drugs weighs in the tens of kilograms, which could have serious consequences in the event of an accident such as falling onto a person. In addition, the drone operator is usually not an expert, so a fool-proof mechanism is necessary, but the consideration for this was insufficient. Until now, there have been drone safety technologies that are premised on human control (for example, Patent Document 2), but they address the safety issues particular to autonomous flight drones, especially for agricultural drug spraying. There was no technology to do this. In addition, there has been no technology for autonomously detecting an abnormality in an agricultural machine for spraying chemicals on the premise of spraying chemicals on a field.

Japanese Patent Laid-Open No. 2001-120151 Patent publication gazette JP, 2017-163265, A Japanese Patent Laid-Open No. 2006-001485

It is an object of the present invention to improve the safety of spraying a drug by accurately controlling the discharge of the drug in an agricultural machine that sprays the drug.

In order to achieve the above object, a drug discharge control system according to the present invention has a drug tank for storing a drug and a discharge port for discharging the drug, and is provided in an agricultural machine for spraying the drug, A system for controlling the discharge of the medicine, wherein a first pressure sensor for measuring the discharge pressure of the medicine, a second pressure sensor provided in the vicinity of the pump, for measuring the discharge pressure of the medicine discharged downstream. Pressure sensor, a sensor for a pump that measures the rotational speed of a rotor that sucks the drug from the drug tank and discharges the drug in the pump that discharges the drug stored in the drug tank to the downstream, or the flow rate of the drug. And a plurality of sensors for measuring the flow rate, and the discharge amount of the medicine is detected by any one of the plurality of sensors.

In addition, the first pressure sensor, the second pressure sensor, the sensor for the pump, or by a plurality of sensors of the flow rate sensor, a first determination processing unit that determines discharge abnormality of the drug, May be included.

Further, the first determination processing unit may determine the discharge abnormality based on the pressure loss calculated from the discharge pressure of the medicine measured by the first pressure sensor and the second pressure sensor. Good.

Further, the first determination processing unit, the discharge pressure of the drug measured by the first pressure sensor or the second pressure sensor, and the rotation speed of the rotor measured by the pump sensor Based on this, it may be possible to judge the discharge abnormality.

The first determination may further include a drug type determination sensor that determines a type of the drug stored in the drug tank, and an input receiving unit that receives an input of information related to the type of the drug. The processing unit may further determine the setting abnormality based on the type of the drug determined by the drug type determination sensor and the information related to the type of the drug received by the input receiving unit.

The first determination processing unit further includes a nozzle type determination sensor that determines a type of a nozzle attached to the ejection port of the medicine, and an input receiving unit that receives an input of information related to the type of the medicine. Further, based on the type of the medicine determined in advance according to the type of the nozzle discriminated by the nozzle type discrimination sensor and the information related to the type of the medicine received by the input receiving means, a setting abnormality is detected. It may be judged.

Further, further comprising a drug type determination sensor for determining the type of the drug stored in the drug tank, and a nozzle type determination sensor for determining the type of nozzle attached to the ejection port of the drug, The first determination processing unit further includes a type of the drug determined by the drug type determination sensor and a type of the drug predetermined according to the type of the nozzle determined by the nozzle type determination sensor. Based on this, the setting abnormality may be determined.

Further, the first determination processing unit may further include a first evacuation control unit that causes the agricultural machine to take an evacuation action when it is determined that the discharge abnormality or the setting abnormality occurs.

Further, the first determination processing unit may further include a first blocking mechanism that blocks the discharge of the medicine when it is determined that the discharge is abnormal or the setting is abnormal.

Further, it may further include a second determination processing unit that determines the spraying abnormality of the medicine.

Further, it further comprises an altitude measuring means for measuring the altitude of the agricultural machine, and the second judgment processing unit judges that the agricultural machine is in an abnormal state when the altitude exceeds a predetermined altitude. It may be one.

Further, it further has a speed measuring means for measuring the speed of the agricultural machine, the second determination processing unit determines an abnormal state when the speed of the agricultural machine is below a predetermined speed It may be one.

Further, further has a wind speed measuring means for measuring the wind speed around the agricultural machine, the second determination processing unit is abnormal when the wind speed around the agricultural machine is equal to or higher than a predetermined wind speed. It may be determined as a state.

Further, further comprising a temperature and humidity measuring means for measuring the temperature and humidity around the agricultural machine, the second determination processing unit, the ambient temperature of the agricultural machine is a predetermined temperature or more and humidity It may be judged as an abnormal state when the humidity is below a predetermined humidity.

In addition, the second determination processing unit may further include second evacuation control means for causing the agricultural machine to take evacuation action when it is determined to be in an abnormal state.

In addition, the second determination processing unit may further include a blocking mechanism that blocks the discharge of the medicine when it is determined to be in an abnormal state.

Further, the detection of the discharge amount of the medicine by any one of the plurality of sensors may be constantly performed during the use of the agricultural machine.

Further, the agricultural machine may be a drone.

Further, a drug discharge control method according to another aspect of the present invention is provided in a agricultural machine for spraying a drug, which has a drug tank for storing the drug and a discharge port for discharging the drug. A system for controlling the discharge of a medicine, comprising a first pressure sensor for measuring the discharge pressure of the medicine, a second pressure sensor provided in the vicinity of the pump, for measuring the discharge pressure of the medicine discharged downstream. A pressure sensor, a pump sensor that measures the number of rotations of a rotor that sucks the drug from the drug tank and discharges the drug in the pump that discharges the drug stored in the drug tank to the downstream, or the flow rate of the drug. A system including any one of a plurality of sensors for measuring a flow rate sensor performs a process of detecting the discharge amount of the medicine by any one of the plurality of sensors.

Further, a computer program according to still another aspect of the present invention includes a medicine tank for storing a medicine and an ejection port for ejecting the medicine, and is provided in an agricultural machine for spraying the medicine. A system for controlling discharge, comprising a first pressure sensor for measuring the discharge pressure of the medicine, and a second pressure sensor provided in the vicinity of the pump for measuring the discharge pressure of the medicine discharged downstream. , A pump sensor that sucks the drug from the drug tank in the pump that discharges the drug stored in the drug tank to the downstream and measures the rotation speed of a rotor that discharges the drug to the downstream, or measures the flow rate of the drug. A flow rate sensor, which is a computer program executed by a system having any one of a plurality of sensors, wherein the system is configured to detect a discharge amount of the medicine by any one of the plurality of sensors. Let it run.
The computer program can be provided by being downloaded via a network such as the Internet, or can be provided by being recorded in various readable recording media.

ADVANTAGE OF THE INVENTION According to this invention, the safety|security of spraying of a chemical|medical agent can be improved in the agricultural machine which sprays a chemical|medical agent.

1 is a plan view of an embodiment of a drug spraying drone equipped with a drug discharge control system according to the present invention. 1 is a front view of an embodiment of a drug spraying drone equipped with a drug ejection control system according to the present invention. FIG. 3 is a right side view of an embodiment of a drug spraying drone equipped with a drug ejection control system according to the present invention. 1 is an example of an overall conceptual diagram of a drug spraying system using an embodiment of a drug spraying drone equipped with a drug discharge control system according to the present invention. It is a schematic diagram showing the control function of the Example of the chemical|medical agent spray drone which mounts the chemical|medical agent discharge control system which concerns on this invention. It is a schematic diagram showing the structure of the ejection control system of the chemical|medical agent which concerns on this invention. It is a functional block diagram showing some of the functions of the drug ejection control system according to the present invention. It is a processing flow figure showing an example of processing performed by the medicine discharge control system concerning the present invention. It is a functional block diagram showing some of the functions of the drug ejection control system according to the present invention. It is a processing flow figure showing an example of processing performed by the medicine discharge control system concerning the present invention.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The figures are all examples.

1 is a plan view of an embodiment of a drone 100 according to the present invention, FIG. 2 is a front view (viewed from the traveling direction side), and FIG. 3 is a right side view thereof. In the specification of the present application, the drone means any power means (electric power, prime mover, etc.) and control method (whether wireless or wired, autonomous flight type or manual control type, etc.). Instead, it refers to any flying body having multiple rotors or flight means.

Rotors 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also called rotors) are means for flying the drone 100. Considering the balance of flight stability, airframe size, and battery consumption, it is desirable to have 8 aircraft (4 sets of 2-stage rotary blades).

The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are rotor blades 101-1a, 101-1b, 101-2a, 101-. 2b, 101-3a, 101-3b, 101-4a, 101-4b is a means for rotating (typically an electric motor, but may be an engine, etc.), one for each rotor It is desirable that the The upper and lower rotor blades (eg 101-1a and 101-1b) and their corresponding motors (eg 102-1a and 102-1b) in one set are for drone flight stability etc. It is desirable that the axes be collinear and rotate in opposite directions. Incidentally, although some rotor blades 101-3b and the motor 102-3b are not shown, their positions are self-explanatory, and if there is a left side view, they are at the positions shown. As shown in FIG. 2 and FIG. 3, it is desirable that the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a structure that is not horizontal but has a tower shape. This is to prevent the member from buckling and deforming toward the rotor at the time of collision, and to prevent the member from interfering with the rotor.

The medicine nozzles 103-1, 103-2, 103-3, 103-4 are means for spraying the medicine downward, and are preferably provided in four units. In the present specification, the term "medicine" generally refers to pesticides, herbicides, liquid fertilizers, insecticides, seeds, and liquids or powders applied to fields such as water.

The drug tank 104 is a tank for storing the drug to be sprayed, and is preferably provided at a position close to the center of gravity of the drone 100 and a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 105-3, 105-4 are means for connecting the drug tank 104 and each drug nozzle 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above material and also have a role of supporting the medicine 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 example of drug application of the drone 100 according to the present invention. This figure is a schematic diagram and the scale is not accurate. The pilot 401 is a means for transmitting a command to the drone 100 by the operation of the user 402, and for displaying information received from the drone 100 (for example, position, drug amount, battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that runs a computer program. Although it is desirable that the drone 100 according to the present invention be controlled to perform autonomous flight, it is desirable that the drone 100 can be manually operated during basic operations such as takeoff and return, and in an emergency. In addition to portable information devices, you may use an emergency operating device (not shown) that has a function dedicated to emergency stop (a large emergency stop button, etc. so that the emergency operating device can respond quickly in an emergency). It is desirable that it is a dedicated device equipped with). It is desirable that the pilot 401 and the drone 100 perform wireless communication by Wi-Fi or the like.

The field 403 is a rice field, a field, or the like to which the drug is sprayed by the drone 100. Actually, the topography of the farm field 403 is complicated, and there are cases where the topographic map cannot be obtained in advance, or the topographic map and the situation at the site are inconsistent. Normally, the farm field 403 is adjacent to a house, a hospital, a school, another crop farm field, a road, a railroad, and the like. Further, there may be obstacles such as buildings and electric wires in the field 403.

The base station 404 is a device that provides a master device function of Wi-Fi communication, and it is desirable that the base station 404 also functions as an RTK-GPS base station and can provide an accurate position of the drone 100 (Wi-Fi The master device function of communication and RTK-GPS base station may be independent devices). The farm cloud 405 is typically a group of computers operated on a cloud service and related software, and is preferably wirelessly connected to the controller 401 by a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growth status of the crop, and perform a process for determining a flight route. Further, the drone 100 may be provided with the stored topographical information of the field 403 and the like. In addition, the history of the drone 100 flight and captured images may be accumulated and various analysis processes may be performed.

Usually, the drone 100 takes off from a departure/arrival point 406 outside the field 403 and returns to the departure/arrival point 406 after spraying a drug on the field 403 or when it becomes necessary to replenish or charge the drug. The flight route (intrusion route) from the landing point 406 to the target field 403 may be stored in advance in the farm cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 5 is a schematic view showing the control function of the embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and specifically may be an embedded computer including a CPU, a memory, related software, and the like. The flight controller 501, based on the input information received from the controller 401 and the input information obtained from various sensors described later, via the control means such as ESC (Electronic Speed Control), the motor 102-1a, 102-1b , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are controlled to control the flight of the drone 100. The actual rotation speed of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501 to perform normal rotation. It is desirable to have a configuration that can monitor whether or not the Alternatively, the rotary blade 101 may be provided with an optical sensor or the like and the rotation of the rotary blade 101 may be fed back to the flight controller 501.

The software used by the flight controller 501 is preferably rewritable through a storage medium or the like for function expansion/change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect with encryption, checksum, electronic signature, virus check software, etc. so that rewriting by unauthorized software is not performed. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer existing on the controller 401, the farm cloud 405, or another place. Since the flight controller 501 is highly important, some or all of its constituent elements may be duplicated.

The battery 502 is a means of 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 preferably a smart battery that has a function of transmitting its internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to a power supply function.

The flight controller 501 communicates with the controller 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives a necessary command from the controller 401, and transmits necessary information to the controller. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so as to prevent illegal acts such as interception, spoofing, and hijacking of equipment. The base station 404 preferably has a function of an RTK-GPS base station in addition to a communication function by Wi-Fi. 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 very important, it is desirable to duplicate and multiplex it, and in order to cope with the failure of a specific GPS satellite, each redundant GPS module 504 should use another satellite. It is desirable to control.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body (further, a means for calculating the speed by integrating the acceleration), and is preferably a 6-axis sensor. The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring the geomagnetism. The atmospheric pressure sensor 507 is a means for measuring the 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 by utilizing 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 by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected depending on the drone's cost goals and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the tilt of the machine body, a wind force sensor for measuring wind force, and the like may be added. Further, it is desirable that these sensors are duplicated or multiplexed. If there are multiple sensors for the same purpose, the flight controller 501 may use only one of them, and if it fails, it may switch to another sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the measurement results do not match, it may be considered that a failure has occurred.

The flow rate sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of places on 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 equal to or less than a predetermined amount. The multi-spectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle, and it is desirable that the obstacle detection camera 513 is a device different from the multispectral camera 512 because the image characteristics and the orientation of the lens are different from those of the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard portion 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 cover for internal maintenance are open. The drug injection port sensor 517 is a sensor that detects that the injection port of the drug tank 104 is open. These sensors may be selected according to the drone's cost targets and performance requirements, and may be duplicated or multiplexed. Further, a sensor may be provided at the base station 404 outside the drone 100, the controller 401, or at another place, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information regarding wind force/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 ejection amount and stop the medicine ejection. It is desirable that the current status of the pump 106 (for example, the number of revolutions) be fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the state of the drone. Display means such as a liquid crystal display may be used instead of or in addition to the LEDs. The buzzer 518 is an output means for notifying a drone state (especially an error state) by a voice signal. The Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for the transfer of software, for example, separately from the controller 401. In addition to or in addition to the Wi-Fi cordless 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 the drone state (especially error state) by the recorded human voice, synthesized voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight, and in such a case, it is effective to communicate the situation by voice. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (in particular, an error state). These input/output means may be selected according to the cost target and performance requirements of the drone, or may be duplicated/multiplexed.

In an agricultural drone that sprays drugs and the like by autonomous flight, maintaining the altitude and the upper limit of the speed of the drone is extremely important for maintaining safety. This is because the drone 100 is not always attached to the user 402 by sticking to the pilot 401. If the altitude of the drone 100 exceeds a predetermined altitude, the impact at the time of a ground collision in the event of a drop may exceed the safety regulations (in the unlikely event of a collision with a person, serious damage may occur). .. In addition, it is desirable to limit the altitude in order to minimize the drug drift outside the target field. Similarly, if the speed of the drone 100 exceeds a predetermined speed, it may pose a serious safety problem. In addition to falling, the impact of collision with an obstacle (especially human) may exceed the safety standard.

In order to comply with the safety standards, it is desirable that the drone 100 according to the present invention comprises an altitude measuring means, a speed measuring means, or both for being an input of the flight controller 501. In addition, a weight measuring means may be provided. It is preferable that the flight controller 501 inputs the measured information and controls the motor 102 so that the drone 100 does not exceed a predetermined limit altitude, a predetermined speed limit, or both.

(Altitude measurement)
The drone 100 according to the present invention preferably uses a plurality of sensors to measure the aircraft altitude. A combination of GPS 504, 6-axis gyro sensor 505, barometric pressure sensor 507, sonar 509, and laser sensor 508 may be used for altitude measurement. The ground distance may be measured by providing the multi-spectral camera 512 or the obstacle detection camera 513 with a passive autofocus function. In this case, it is desirable that the measuring instruments and sensors be duplicated or multiplexed in case of failure. Duplexing/multiplexing may be performed by using a plurality of sensors of the same kind, may be performed by using a plurality of sensors in combination, or may be performed by both of them.

For example, the sonar 509 can make accurate measurements when the field 403 is the ground, but it is difficult to make accurate measurements when the field 403 is the water surface (in this case, the laser sensor 508 is suitable), etc. However, it is desirable to use a plurality of sensors in combination, because some measurement methods have advantages and disadvantages. Further, in the event of disturbance of GPS radio waves or abnormality of the base station, even if the GPS 504 is multiplexed, it will be an obstacle to the whole. Therefore, it is desirable to provide an altitude measuring means other than GPS.

In particular, it is desirable to use GPS 504 for initial altitude measurement during takeoff and sonar 509 during flight. GPS504 can measure the most accurate, but only absolute altitude can be measured, so accurate ground altitude cannot be measured in uneven field 403 such as irrigation canal, whereas Sonar 509 measures the ground altitude because it measures the distance to the ground. This is because it can be measured. During level flight, both GPS 504 and sonar 509 measurements are performed and the results are compared, and if the difference is within a predetermined threshold (for example, 10 cm), the GPS 504 measurement is used for altitude measurement, and the predetermined threshold is used. When it exceeds, it 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.

The GPS 504 is an indispensable function to grasp the flight position of the drone anyway, so if the GPS 504 does not function due to a failure or disturbance during takeoff, a control (interlock) that prohibits the takeoff of the drone is used. It is desirable to do. In addition, if GPS stops functioning due to interruption of radio waves from GPS satellites during flight, temporary interruption of reception, communication interruption, and other inability to receive, drone 100 will fly over the spot. It is desirable to perform control to stop (hover). If the GPS does not function even after the lapse of a predetermined time, the hovering may be stopped and the drone 100 may be controlled to soft land on the spot or return to the departure point 406 or the like. At this time, an error message may be displayed on the pilot 401 and the user 402 may be instructed.

By inputting the altitude information measured by these altitude measuring means to the flight control means of the drone 100, the drone 100 can be controlled within the restricted altitude defined by laws and safety standards even if it is not visually operated by humans. It will be possible to fly with.

When the altitude is measured by the GPS 504, it is desirable to set the restricted altitude lower than that when the sonar 509 measures the altitude. GPS measures the absolute value of the altitude of the drone 100, while Sonar 509 measures the distance between the drone 100 and the ground surface, so allow a margin for the restricted altitude considering the height of the terrain. Is desirable. For example, if the sonar 509 has a restricted altitude of 2 meters, the GPS 504 may have a restricted altitude of 1.5 meters.

In addition to the absolute altitude limit of the drone 100, you may also limit the rate of climb (the change in altitude over time). This is because if the climb speed is not limited, there is a risk that the drone 100 may temporarily exceed the restricted altitude due to a delay in sensor measurement, a delay in processing by the flight controller 501, and the like. In this case, when the altitude is measured by the GPS 504, the upper limit value of the ascending speed may be set lower than the case where the altitude is measured by another method such as the sonar 509. This is because the GPS 504 may temporarily be unable to measure due to the disturbance of radio waves or the situation of positioning satellites, and therefore the risk of the drone temporarily exceeding the restricted altitude increases.

(Speed limit)
The drone 100 according to the present invention may measure the airframe speed using a plurality of sensors. For speed measurement, 6-axis gyro sensor 505 (speed can be obtained by integration of acceleration), GPS Doppler 504-3 (measure the aircraft speed by processing the phase difference of radio waves from multiple GPS base stations with software) Yes), or changes in absolute coordinates measured by GPS 504, etc. may be used. In this case, it is desirable that the measuring instruments and sensors be duplicated or multiplexed in case of failure. Duplexing or multiplexing is preferably performed within the same system and between different systems. This is because, for example, if GPS cannot be used due to radio disturbance or positioning satellite failure, if only GPS is duplicated, it will cause an overall failure.

By inputting the speed information measured by these altitude measuring means to the flight controller 501, the drone 100 is within the speed limit set by the legal regulation, the safety standard, etc. even if there is no human visual operation (for example, It will be possible to fly at a speed of 20 km per hour.

(Weight measurement)
In a typical drone 100 pesticide application case, the weight of the drug would be over 10 kilograms. Since the weight of only the body part is typically about 25 kilograms, there is a large difference in the total weight between the start of spraying and the end of spraying. The altitude and speed of drone 100 may be adjusted in response to changes in overall weight. For example, if the safety standard stipulates the impact force on the surface of the drone 100 when it naturally falls, the impact force is determined by altitude, speed, and weight (proportional to the square of speed, proportional to altitude and weight). Therefore, the limit altitude may be increased when the body weight is light. Similarly, when the airframe weight is light, the speed limit may be increased. Further, the limit altitude may be set low when the flight speed is high, and the speed limit may be set low when the flight altitude is high.

The airframe weight may be estimated using the acceleration measured by the 6-axis gyro sensor 505 or the acceleration as a differential value of the speed measured by means such as GPS Doppler 504-3 or GPS 504. If the thrust of the motor 102 is T, the gravitational acceleration is g, and the acceleration of the machine body is α when the vehicle is climbing, the weight M of the entire machine body is calculated as M=T/(α+g). The thrust T of the motor 102 is determined by the number of rotations of the motor, and the flight controller 501 can measure the number of rotations of the motor, so that the weight of the airframe can be estimated. If the motor rotation speed cannot be directly measured, the target rotation speed commanded by the flight controller 501 to the motor 102 may be regarded as the motor rotation speed, and the thrust may be estimated from the target rotation speed.

Further, the body weight may be estimated by measuring the inclination of the body of the drone 100 during constant velocity horizontal flight. The tilt of the machine body may be directly measured by providing a gyro sensor, or may be estimated by differentiating the measurement value of the 6-axis type 6-axis gyro sensor 505 twice. During constant-level horizontal flight, the air resistance of the aircraft, gravity, and thrust by 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 motor's rotation speed, and gravity is a function of the aircraft's weight. If the flight speed is known, it can be estimated. A wind force sensor may be provided to correct the air resistance coefficient according to the wind force and the wind direction.

Also, since the largest factor that changes weight during flight is the amount of drug, the level sensor in the drug tank measures the liquid level of the drug to measure the amount of drug remaining, and then The weight of the entire aircraft may be estimated. In this case, a water pressure sensor may be provided in the medicine tank, and the weight of the medicine in the medicine tank may be estimated to estimate the weight of the entire machine body.

6 and 7 show the configuration and function of the medicine ejection control system according to the embodiment of the present invention.
The drug discharge control system according to the present embodiment is provided in an agricultural machine for spraying a drug, particularly in this example, the drug spray drone 100, accurately controls the drug discharge, and detects a drug discharge abnormality. ..
In the present embodiment, in the case of “discharging abnormality” of the medicine, in addition to the state where the medicine is actually discharged abnormally and the medicine exceeding the specified value is discharged, such a discharge abnormality of the medicine is caused. This includes a preparation state that may be a concern, and a setting abnormality state in which a drug different from the application schedule is actually applied or may be applied.

As described above, the medicine tank 104 is a tank for storing the medicine to be sprayed.
The medicine tank 104 is provided with an openable/closable lid for filling the medicine and discharging the stored medicine. An open/close sensor 104a capable of detecting the open/closed state is attached to the openable/closable lid. The opening/closing sensor 104a can be configured by, for example, a magnet attached to the lid and a sensor attached to the main body to detect magnetic force and contact of the magnet. This makes it possible to discriminate the open/closed state of the lid so that the user can recognize the open/closed state of the lid, and it is possible to prevent a situation in which the medicine is sprayed with the lid open.

Further, the medicine tank 104 is provided with a medicine type discrimination sensor 104b. The drug type determination sensor 104b can determine the type of the drug stored in the drug 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 measured value of each item and the reference value for each medicine. It is possible to determine the type of drug by comparing with.

Note that, if not limited to this, for example, if a cartridge-type drug tank is used as the drug tank 104, an IC or the like in which data of the drug type is recorded is attached to the cartridge-type drug tank, and the IC By providing a means for acquiring data, the type of drug can also be determined.

Here, since a plurality of types of drugs may be used, it is useful to determine whether the drug to be sprayed is stored in the drug tank 104. In particular, the particle size of the drug varies depending on the type.If you accidentally spray a drug with a smaller particle size than the drug you plan to spray, drift (scattering the drug to other than the target , Adhesion), and cannot be overlooked.

Further, the medicine tank 104 is provided with a liquid shortage sensor 511 for detecting liquid shortage of the medicine. In addition, in addition to when the drug runs out, when the amount of the drug drops below a predetermined amount, the liquid run-out of the drug must be detected according to an arbitrarily set amount. You can

It is preferable that the drug tank 104 be provided with a drug evaporation detection function in the drug tank 104, a temperature/humidity measurement function, and the like so that the drug is managed in an appropriate state.

The pump 106 discharges the medicine stored in the medicine tank 104 to the downstream side, and each medicine nozzle 103-1, 103-2, via the medicine hoses 105-1, 105-2, 105-3, 105-4. It is sent to 103-3 and 103-4.
The medicine is delivered from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, 103-4. In the description of the present embodiment, the medicine is delivered along the delivery path. May be referred to as the downstream direction, and the opposite direction may be referred to as the upstream direction. A part of the medicine is delivered to the medicine tank 104 again from the medicine tank 104 via the three-way valve 122. Regarding this route, the three-way valve 122 side is referred to as the downstream direction and the medicine tank 104 side is referred to as the upstream direction. There is.

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.
The path from the three-way valve 122 to the medicine tank 104 via the expansion tank 141 is a path for removing (defoaming) bubbles in the medicine. By circulating this path and temporarily storing it in the expansion tank 141, it is possible to defoam the drug.

The check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 deliver the drug only in a certain direction, and in the direction opposite to the certain direction. It is a valve for preventing the inflow, that is, the reverse flow. The check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are provided from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3. , 103-4 plays the role of a blocking mechanism that blocks the discharge of the drug, and if it can play the role of blocking the discharge of the drug, use another mechanism such as a solenoid valve as the blocking mechanism. You can also

In this example, the check valve 121-1 is provided between the medicine tank 104 and the pump 106, near the medicine discharge port provided in the medicine tank 104, and the check valve 121-2 includes the three-way valve 122 and the medicine. The check valves 121-4, 121-5, 121-6, 121-7 provided between the nozzles 103-1, 103-2, 103-3, 103-4 are provided with check valves 121-4, 121-5, 121-6, 121-7. 1, 103a-2, 103a-3, 103a-4 are provided, and a check valve 121-3 is provided between the three-way valve 122 and the expansion tank 141. The check valve 121-1 causes the medicine delivered from the medicine tank 104 to be delivered in the downstream direction, and controls the backflow into the medicine tank 104 such that it cannot flow backward. Further, the check valve 121-2 controls the medicine delivered from the pump 106 in the downstream direction, and controls the pump 106 so that it cannot backflow. Further, the check valve 121-3 sends the medicine sent from the three-way valve 122 to the upstream direction where the expansion tank 141 is located, and controls the three-way valve 122 so that the backflow cannot be performed. Furthermore, the check valves 121-4, 121-5, 121-6, 121-7 can block the discharge of the medicine from the discharge ports 103a-1, 103a-2, 103a-3, 103a-4 to the outside. I have to.
The check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 may be of various types such as swing type, lift type, wafer type, etc. However, it is not limited to a particular one. Also, regardless of this example, more check valves than this example may be provided at appropriate locations.

The three-way valve 122 is provided between the pump 106 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and the pump 106 drives the drug nozzles 103-1, 103-2, 103-3, A branch point of the path connecting to 103-4 and a path connecting from the pump 106 to the medicine tank 104 via the expansion tank 141 is configured, and the medicine is delivered to each path according to the switching operation.
Here, the path from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, 103-4 is such that the drug is discharged from the drug nozzles 103-1, 103-2, 103-3, 103-4. , A route for spraying the drug.
Further, the path connecting the pump 106 to the medicine tank 104 via the expansion tank 141 is a path for removing bubbles (defoaming) in the medicine as described above.

The flow rate sensor 510 is provided between the pump 106 and the medicine nozzles 103-1, 103-2, 103-3, 103-4, and delivers it to the medicine nozzles 103-1, 103-2, 103-3, 103-4. The flow rate of the drug being measured is measured. Based on the flow rate of the drug measured by the flow sensor 510, the amount of the drug sprayed on the field 403 can be grasped.

The pressure sensors 111-1 and 111-2 are provided at the medicine ejection ports and measure the ejection pressure of the medicine ejected from the medicine nozzles 103-1, 103-2, 103-3 and 103-4 to the outside.
The pressure sensors 111-1 and 111-2 are provided on the downstream side of the pump 106 and measure the discharge pressure of the drug discharged downstream.
By measuring the discharge pressure of the medicine by these pressure sensors 111-1, 111-2, the discharge pressure of the medicine obtained from 111-1, 111-2 of each pressure sensor and/or each pressure sensor 111-1, Based on the value of pressure loss obtained from the measured value by 111-2, it is possible to accurately grasp the ejection state of the drug, judge the ejection abnormality such as excessive ejection of the drug, and control the ejection of the drug. it can.

The pump sensor 106a measures the number of rotations of the rotor that sucks the drug from the drug tank 104 and discharges the drug downstream in the pump 106.
By measuring the number of revolutions of the rotor of the pump 106 by the pump sensor 106a, the amount of the medicine delivered by the pump 106 can be grasped, the ejection abnormality such as the excessive ejection of the medicine can be judged, or the ejection of the medicine can be judged. Can be controlled.

Nozzle type discrimination sensors 114-1, 114-2, 114-3, 114-4 discriminate the types of the drug nozzles 103-1, 103-2, 103-3, 103-4 attached to the ejection ports of the drug. be able to.
Due to the difference in particle size for each drug to be sprayed, the drug nozzles 103-1, 103-2, 103-3, 103-4 are usually different depending on the drug. Therefore, it is possible to prevent erroneous spraying of the medicine by determining whether or not the type of the medicine nozzles 103-1, 103-2, 103-3, 103-4 is appropriate.

Specifically, for example, a mechanism for fitting or engaging with the drug nozzles 103-1, 103-2, 103-3, 103-4 is provided in 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 fitting or engaging mechanism on the outlet side, and has a plurality of drug nozzles 103-1, 103-2, 103-3, 103-4. A different shaped mechanism is provided for each. Then, when the medicine nozzles 103-1, 103-2, 103-3, 103-4 are attached to the ejection ports, different shapes are identified for each medicine nozzle 103-1, 103-2, 103-3, 103-4. By doing so, it is possible to determine the type of the medicine nozzles 103-1, 103-2, 103-3, 103-4.

In the middle of the route from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3, 103-4, a discharge port with a cock for discharging the drug stored in the route to the outside. (In FIG. 6, it is described as “DRAIN”). When the medicine accumulated in the path from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, 103-4 is discharged after the spraying of the medicine to the field 403 is completed, The medicine can be discharged from this discharge port.

In the present embodiment, as shown in FIG. 7, the flight controller 501 includes a first determination processing unit 11, a first control unit 12, a threshold value information storage unit 22, and an input reception unit 501a for determining a drug ejection abnormality. Have
Note that, in FIG. 7, only the functions required for the ejection control of the medicine in the present embodiment are shown as the functions included in the flight controller 501.

The first control unit 12 causes the drone 100 to take a predetermined safety action when it is determined that a drug ejection abnormality or a setting abnormality occurs as a result of the determination processing by the first determination processing unit 11 described later. ..
Here, the predetermined safety action is an evacuation action during flight, and a flight control measure in a pre-flight preparation state.

The evacuation action includes, for example, a normal landing operation, an aerial stop such as hovering, and an “emergency return” in which the vehicle immediately moves to a predetermined return point by the shortest route. The predetermined return point is a point stored in the flight controller 501 in advance, for example, a point where the flight controller 501 has taken off. The predetermined return point is, for example, a land point where the user 402 can approach the drone 100, and the user 402 can inspect the drone 100 that has reached the return point or manually carry it to another place. can do.
In addition, the evacuation behavior may be a “normal return” in which the route is optimized to move to a predetermined return point. The optimized route is, for example, a route calculated by referring to the route in which the medicine has been sprayed before receiving the normal return command. For example, the drone 100 moves to a predetermined return point while spraying the drug via a route that has not yet sprayed the drug.
Further, the evacuation action includes an “emergency stop” in which all the rotor blades are stopped and the drone 100 is dropped downward from the place.

The flight control measure is a measure for restricting the flight in the preparatory stage before flight, and is for rejecting the flight command of the user or requesting the user to confirm the condition.
If flight control measures are taken, the aircraft may be controlled so that it cannot fly unless an abnormality is confirmed or maintenance is performed.

It should be noted that the first controller 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 threshold value information storage unit 22 is a storage unit that stores a threshold value serving as a reference for pressure, flow rate, and the like in the determination process by the first determination processing unit 11 described later.

The input receiving unit 501a can receive input of various types of information such as information relating to the type of drug.
The first judgment processing unit 11 can execute the following first to sixth judgment processing. The flow of each determination process is as shown in FIG. 8, and each process will be described based on this.

The first determination processing unit 11 can determine a discharge abnormality based on the discharge pressure of the medicine measured by the pressure sensors 111-1, 111-2 as the first determination processing. Specifically, when the ejection pressure of the medicine measured by the pressure sensors 111-1, 111-2 is equal to or higher than a predetermined value, it can be determined that the ejection is abnormal.

That is, the first determination processing unit 11 acquires information relating to the ejection pressure of the medicine as the status (S101), and compares the predetermined value stored in the threshold value information storage unit 22 with the status to determine the ejection abnormality ( S102). As a result, when it is determined that the discharge is abnormal, the first control unit 12 causes the predetermined safety action (S103).

Also, as the second determination process, the discharge abnormality is determined based on the pressure loss calculated from the discharge pressure measured by the pressure sensors 111-1, 111-2. Specifically, the pressure loss is calculated from the difference between the discharge pressure of the medicine measured by the pressure sensor 111-1 and the discharge pressure of the medicine measured by the pressure sensor 111-2, and the pressure loss is equal to or more than a predetermined value. If there is, it can be determined that the discharge is abnormal. By judging the discharge abnormality based on the pressure loss, it is possible to detect the leakage abnormality of the medicine between the internal three-way valve 122 and the pressure sensors 111-1, 111-2.

That is, the first determination processing unit 11 acquires information relating to the ejection pressure of the medicine as the status (S101), calculates the pressure loss, and then compares the ejection pressure with a predetermined value stored in the threshold information storage unit 22. The abnormality is judged (S102). As a result, when it is determined that the discharge is abnormal, the first control unit 12 causes the predetermined safety action (S103).

Further, as the third determination process, the discharge abnormality is determined based on the rotation speed of the rotor inside the pump 106 measured by the pump sensor 106a. Specifically, when the rotation speed of the rotor measured by the pump sensor 106a is equal to or higher than a predetermined value, it can be determined that the discharge is abnormal. In this case, it is presumed that the rotor is in the over-rotation state, and it can be determined that the medicine that exceeds the safe discharge amount is sprayed.

That is, the first determination processing unit 11 obtains information relating to the number of rotations of the rotor in the pump 106 as the status (S101), compares the predetermined value stored in the threshold value information storage unit 22 with the status, and discharges. The abnormality is judged (S102). As a result, when it is determined that the discharge is abnormal, the first control unit 12 causes the predetermined safety action (S103).

In addition, as the fourth determination process, it is determined whether or not the state is abnormal based on the type of the drug determined by the drug type determination sensor 104b and the information related to the type of the drug received by the input receiving unit 501a. Specifically, when the type of the drug discriminated by the drug type discrimination sensor 104b and the type of the drug received by the input means are different, it is assumed that there is a possibility that unscheduled spraying of the drug will occur. Can be determined.

That is, the first determination processing unit 11 obtains, as the status, information relating to the type of the drug from each of the drug type determination sensor 104b and the input receiving unit 501a (S101), and compares them to determine whether or not there is an abnormal state. Judge (S102). As a result, when it is determined that the state is abnormal, the first control unit 12 causes the predetermined safety action (S103).

Also, as the fifth determination process, the drug nozzles 103-1, 103-2, 103-3, 103-4 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. It is determined whether or not it is in an abnormal state, based on the type of drug predetermined according to the type and the information related to the type of drug received by the input receiving unit 501a. Specifically, the type of the drug nozzles 103-1, 103-2, 103-3, 103-4 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4, and the input When the types of the medicines received by the means are different, it is possible to determine that the medicines are in an abnormal state, because there is a possibility that the medicines may not be sprayed unexpectedly.

That is, the first determination processing unit 11 determines, as the status, the drug nozzles 103-1, 103-2, 103-3 determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. , 103-4, the type of the drug determined in advance according to the type and the information regarding the type of the drug received by the input receiving unit 501a are acquired (S101), and these are compared to determine whether or not there is an abnormal state. Judge (S102). As a result, when it is determined that the state is abnormal, the first control unit 12 causes the predetermined safety action (S103).

Further, as a sixth determination process, the type of the drug determined by the drug type determination sensor 104b and the drug nozzles 103- determined by the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. It is determined whether or not it is in an abnormal state based on the type of the drug that is predetermined according to the type of 1, 103-2, 103-3, 103-4. Specifically, the type of the drug determined by the drug type determination sensor 104b and the drug nozzles 103-1 and 103- determined by the nozzle type determination sensors 114-1, 114-2, 114-3 and 114-4. When the type of drug that is determined in advance according to the type of 2, 103-3, 103-4 is different, it may be judged as an abnormal state, as there is a possibility that the drug will not be sprayed unexpectedly. it can.

That is, the first determination processing unit 11 determines the status as the type of the medicine determined by the medicine type determination sensor 104b and the nozzle type determination sensors 114-1, 114-2, 114-3, 114-4. Acquire information related to the type of medicine determined in advance according to the type of medicine nozzles 103-1, 103-2, 103-3, 103-4 (S101), and compare them to determine whether or not there is an abnormal state. Is determined (S102). As a result, when it is determined that the state is abnormal, the first control unit 12 causes the predetermined safety action (S103).

In the process of determining the drug discharge abnormality in the drug discharge control system, the drug discharge pressure measured by the pressure sensors 111-1, 111-2, and the pressure measured by the pressure sensor 111-1 and the pressure sensor 111-2. Determined by combining any one of the pressure loss calculated from the difference in the discharge pressure of the medicine, the rotation speed of the rotor in the pump 106 measured by the pump sensor 106a, and the flow rate of the medicine measured by the flow sensor 510. You can also do it. For example, the number of rotations of the rotor in the pump 106, the flow rate of the medicine measured by the flow sensor 510, the discharge pressure of the medicine measured by the pressure sensors 111-1, 111-2, and the pump measured by the pump sensor 106a. The rotation speed of the rotor in 106, or the pressure loss calculated from the difference between the discharge pressures of the medicines measured by the pressure sensor 111-1 and the pressure sensor 111-2 and the flow rate of the medicine measured by the flow rate sensor 510, etc. , Using a plurality of detection information. By comparing the information acquired by these plural sensors, it is possible to judge the ejection abnormality of the medicine from the ratio. For example, if the discharge pressure measured by the pressure sensors 111-1 and 111-2 is smaller or larger than the normal value with respect to the flow rate of the medicine measured by the flow sensor, a medicine discharge abnormality may occur. You can judge that there is. As a result, it is possible to accurately determine the discharge abnormality of the medicine and to take a safety action such as a withdrawal action or a safety regulation measure.

It should be noted that, in the above-described operations of the ejection control system, in the first to third determination processes, it is basically determined that excessive ejection of the medicine is abnormal ejection. This is because if the amount of the drug sprayed on the field 403 exceeds the specified value, there is a risk of concern about the surrounding environment or the safety of the crops or the like that have received the drug sprayed, while if it is below the specified value. Since there is no such possibility, excessive ejection is determined to be ejection abnormality. On the other hand, in the discharge control system according to the present embodiment, it is determined whether or not the pressure measured by the pressure sensors 111-1, 111-2 or the pump sensor 106a or the rotational speed of the rotor of the pump is below a predetermined value. By doing so, it is possible to identify the insufficient discharge of the medicine and determine that this is abnormal discharge.

Further, the drug discharge control executed by each sensor and the first determination processing unit 11 is preferably configured as a redundant system that is always executed, but is configured to be intermittently executed at a predetermined timing. You can also do it.

In addition, in the present embodiment or in another embodiment, the flight controller 501 may include the second determination processing unit 13 for determining a drug spraying abnormality.
It should be noted that the drug dispersion abnormality judged here mainly refers to drug drift (scattering of the drug outside the target field), but even within the field 403, the drug is locally sprayed. Is also included in the scattering abnormalities.

In the case of judging an abnormal application of the medicine, the status of the drone 100 such as altitude, speed, wind speed, temperature, humidity and position is used as basic data for judgment. Regarding these statuses, the drug has a small particle size, especially when using a drug with a small particle size, the higher the altitude (for example, 2 m or more), the higher the possibility that the drug will be scattered to an unintended place. , It becomes impossible to attach it to the crops on the ground with high accuracy. Further, the lower the speed (for example, 5 km/h or less), the higher the possibility that the drug is locally sprayed and the concentration of the drug is locally increased. In addition, the higher the wind speed, the higher the possibility that the drug will be scattered to a place other than the target. Regarding the temperature and humidity, the higher the temperature and the lower the humidity, the easier it is for the sprayed drug itself to dry, and as a result of evaporation of the water content of the drug sprayed in the field 403, particles of the dry drug Is likely to be scattered outside the field 403. In addition, if the drone 100 goes out of the field 403, the drug is naturally sprayed to the field 403.
In order to obtain these statuses, the drone 100 has, as shown in FIG. 9, an altitude measuring unit 131, a speed measuring unit 132, a wind speed measuring unit 133, a temperature/humidity measuring unit 134, a position measuring unit 135, a threshold value information storage unit. 136 and a second control unit 137 are provided.

Like the threshold information storage unit 22, the threshold information storage unit 136 is a storage unit that stores a reference threshold value such as pressure and flow rate in the determination process by the second determination processing unit 13 described later.
Further, the second control unit 137 causes the drone 100 to take a predetermined safe action when it is determined that the drone 100 is in an abnormal state as a result of the determination process by the second determination processing unit 13 described later.
The predetermined safety action in the second control unit 137 is an evacuation action during flight, and a flight restriction measure in a preparatory state before flight. The evacuation behavior and flight restriction measures are the same as those by the above-described first control unit 12. The second control unit 137 is not limited to the case where an abnormality occurs in the drone 100, and can control the discharge amount and flow rate to a predetermined value based on the discharge amount and flow rate of the medicine measured by each sensor.

The functions directly required for the processing executed by the second judgment processing unit are as shown in FIG. 9, and the second judgment processing unit 13 has the following first to fifth functions. A judgment process can be executed. The flow of each determination process is as shown in FIG. 10, and each process will be described based on this.

As the first determination process, the second determination processing unit 13 can determine whether or not it is in an abnormal state based on the altitude of the drone 100 measured by the altitude measurement unit 131. Specifically, when the altitude of the drone 100 measured by the altitude measuring unit 131 is equal to or higher than a predetermined altitude, it can be determined that the state is abnormal.

That is, the second determination processing unit 13 acquires information relating to the altitude of the drone 100 as the status (S201), and compares it with a predetermined value stored in the threshold value information storage unit 136 to determine whether or not it is in an abnormal state. (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes the predetermined safety action (S203).

Further, as the second determination process, it is possible to determine whether or not the state is abnormal based on the speed of the drone 100 measured by the speed measuring unit 132. Specifically, when the speed of the drone 100 measured by the speed measuring unit 132 is equal to or lower than a predetermined speed, it can be determined that the drone 100 is in an abnormal state.

That is, the second determination processing unit 13 acquires information relating to the speed of the drone 100 as a status (S201), and determines whether or not it is in an abnormal state by comparing it with a predetermined value stored in the threshold value information storage unit 136. (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes the predetermined safety action (S203).

Further, as the third determination process, it is possible to determine whether or not the state is abnormal based on the wind speed measured by the wind speed measuring unit 133. Specifically, when the wind speed measured by the wind speed measuring unit 133 is equal to or higher than a predetermined speed, it can be determined as an abnormal state.

That is, the second determination processing unit 13 acquires information related to the wind speed as a status (S201), and determines whether or not it is in an abnormal state by comparing it with a predetermined value stored in the threshold value information storage unit 136 (S202). .. As a result, when it is determined that the state is abnormal, emergency measures are taken (S203).
The third determination process can be executed not only during the flight but also at the preparatory stage before the flight, and if it is determined that the vehicle is in an abnormal state, it is advisable to take measures to restrict the flight.

Further, as the fourth determination process, it is possible to determine whether or not the state is abnormal based on the temperature and humidity measured by the temperature and humidity measuring unit 134. Specifically, regarding the temperature and humidity measured by the temperature/humidity measuring unit 134, when the temperature is equal to or higher than a predetermined value and the humidity is equal to or lower than a predetermined value, it can be determined as an abnormal state.

That is, the second determination processing unit 13 acquires information related to temperature and humidity as the status (S201), and determines whether or not it is in an abnormal state by comparing it with a predetermined value stored in the threshold value information storage unit 126 (S202). ). As a result, when it is determined that the state is abnormal, the second control unit 137 causes the predetermined safety action (S203).
The fourth determination process can be executed not only during the flight but also at the preparatory stage before the flight, and it is advisable to take measures to restrict the flight when it is determined that the vehicle is in an abnormal state.

Regarding the fourth determination processing, the temperature/humidity measuring unit 134 may be provided in the drone 100 itself, but it is provided in the base station for communication or in the vicinity of the farm field 403, and the drone 100 acquires this by communication. May be

Further, as the fifth determination process, it is possible to determine whether or not the state is abnormal based on the position of the drone 100 measured by the position measuring unit 135. Specifically, the position of the drone 100 grasped by the position measuring unit 135 can be determined to be in an abnormal state in the case of the field 403.
The position measuring unit 135 can be realized by, for example, GPS (Global Positioning System).

That is, the second determination processing unit 13 acquires the information related to the position of the drone 100 as the status (S201), and compares it with the position information such as the coordinates of the field 403 stored in the threshold information storage unit 136 to indicate the abnormal state. It is determined whether or not (S202). As a result, when it is determined that the state is abnormal, the second control unit 137 causes the predetermined safety action (S203).

According to the above embodiments, in the agricultural machine such as the drone 100 for spraying the drug, the discharge or spray of the drug can be accurately recognized by each sensor, and the safety of the drug spray can be improved. ..

It should be noted that the detection of the drug spraying abnormality performed by each sensor and the second determination processing unit 13 is preferably configured as a redundant system that is always executed, but may be intermittently executed at a predetermined timing. It can also be configured.

Further, in the above embodiment, when an abnormal state is determined, the check valve 121 provided in the path from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, 103-4. -1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 may be forcibly closed to block the discharge of the medicine.

In the above embodiments, the flight controller 501 of the drone 100 is provided with the first determination processing unit 11 and the second determination processing unit 13, but not limited to this, the flight controller 501 via the predetermined communication line. The server or the like that has acquired the data may include the determination processing unit, and the determination process may be executed by the server or the like.

Although the embodiment of the drone for the purpose of spraying the drug has been described, the present invention is also applicable to an agricultural drone that does not spray the drug and monitors growth by a camera, and a general drone.

(Technically remarkable effect of the present invention)
INDUSTRIAL APPLICABILITY According to the present invention, it is possible to enhance the safety of drug spraying in an agricultural machine that sprays drugs. In particular, since it is possible to automatically and immediately detect the ejection abnormality of the medicine by each sensor, it is possible to prevent the ejection abnormality of the medicine in advance or quickly respond to the ejection abnormality of the medicine that actually occurs.
Further, it can be widely applied to various agricultural machines for spraying chemicals.

Claims (19)

An agricultural machine for spraying a plurality of kinds of medicines, which has a medicine tank to which an openable/closable lid for filling the medicine is attached, and a discharge port for discharging the medicine, is provided,
A system for controlling the discharge of the drug, comprising:
A first pressure sensor for measuring the discharge pressure of the medicine, a second pressure sensor provided in the vicinity of the pump for measuring the discharge pressure of the medicine discharged downstream, and the medicine stored in the medicine tank A pump sensor for measuring the number of rotations of a rotor that sucks the drug from the drug tank in the pump that discharges downstream and discharges the drug downstream, or a flow rate sensor for measuring the flow rate of the drug, and any one of a plurality of sensors,
A drug type determination sensor for determining the type of the drug stored in the drug tank,
And an input receiving unit that receives input of information related to the type of the drug scheduled to be sprayed,
Based on the type of the drug determined by the drug type determination sensor and information related to the type of the drug accepted by the input accepting unit, an abnormal state is determined, and the drug determined by the drug type determination sensor When the type and the information related to the type of the drug received by the input receiving means are different, it is determined that the drug tank not to be sprayed is filled in the drug tank ,
Drug discharge control system. A first determination processing unit that determines a discharge abnormality of the drug by a plurality of sensors selected from the first pressure sensor, the second pressure sensor, the pump sensor, and the flow rate sensor. Then
Detecting the ejection amount of the medicine by any of a plurality of the sensors,
The drug ejection control system according to claim 1. The first determination processing unit further determines a discharge abnormality based on a pressure loss calculated from the discharge pressure of the medicine measured by the first pressure sensor and the second pressure sensor,
The drug ejection control system according to claim 2. The first determination processing unit is further based on the discharge pressure of the drug measured by the first pressure sensor or the second pressure sensor, and the rotation speed of the rotor measured by the pump sensor. , Determine the discharge abnormality,
The drug discharge control system according to claim 2 or 3. Further comprising a nozzle type determination sensor for determining the type of nozzle attached to the ejection port of the medicine,
The first determination processing unit further relates to the type of the medicine determined in advance according to the type of the nozzle discriminated by the nozzle type discrimination sensor and the type of the medicine received by the input receiving unit. Judge the setting abnormality based on the information,
The drug ejection control system according to any one of claims 2 to 4. Further comprising a nozzle type determination sensor for determining the type of nozzle attached to the ejection port of the medicine,
The first determination processing unit is further configured to determine the type of the drug determined by the drug type determination sensor and the type of the drug determined in advance according to the nozzle type determined by the nozzle type determination sensor. Based on, determine the setting abnormality,
The drug ejection control system according to any one of claims 2 to 5. The first determination processing unit further includes a first control unit that causes the agricultural machine to take a predetermined safe action when it is determined that the discharge abnormality or the setting abnormality has occurred.
The drug ejection control system according to any one of claims 2 to 6. The first determination processing unit further includes a first blocking mechanism that blocks the discharge of the medicine when it is determined that the discharge is abnormal or the setting is abnormal.
The drug ejection control system according to any one of claims 2 to 7. Further comprising a second judgment processing unit for judging an abnormal application of the medicine,
The drug ejection control system according to claim 1. Further comprising an altitude measuring means for measuring the altitude of the agricultural machine,
The second determination processing unit determines an abnormal state when the altitude of the agricultural machine becomes equal to or higher than a predetermined altitude,
The drug ejection control system according to claim 9. Further comprising speed measuring means for measuring the speed of the agricultural machine,
The second determination processing unit determines an abnormal state when the speed of the agricultural machine becomes equal to or lower than a predetermined speed,
The drug ejection control system according to claim 9. Further comprising wind speed measuring means for measuring the wind speed around the agricultural machine,
The second determination processing unit determines an abnormal state when the wind speed around the agricultural machine becomes equal to or higher than a predetermined wind speed,
The drug ejection control system according to claim 9. Further comprising temperature and humidity measuring means for measuring the ambient temperature and humidity of the agricultural machine,
The second determination processing unit determines an abnormal state when the ambient temperature of the agricultural machine is equal to or higher than a predetermined temperature and humidity is equal to or lower than a predetermined humidity,
The drug ejection control system according to claim 9. The second determination processing unit, when it is determined to be an abnormal state, further has a second control means for causing the agricultural machine to take a predetermined safe action,
The drug ejection control system according to any one of claims 9 to 13. The second determination processing unit further includes a shutoff mechanism that shuts off the discharge of the medicine when it is determined to be in an abnormal state.
The drug ejection control system according to any one of claims 9 to 14. The detection of the discharge amount of the medicine by any one of the plurality of sensors is constantly performed during use of the agricultural machine,
The drug ejection control system according to any one of claims 1 to 15. The agricultural machine is a drone,
The drug ejection control system according to any one of claims 1 to 16. An agricultural machine for spraying a plurality of types of drugs, which has a drug tank with an openable and closable lid for filling the drug and a discharge port for discharging the drug, is provided for discharging the drug. A system for controlling,
A first pressure sensor for measuring the discharge pressure of the medicine, a second pressure sensor provided in the vicinity of the pump for measuring the discharge pressure of the medicine discharged downstream, and the medicine stored in the medicine tank A sensor for a pump that measures the rotation speed of a rotor that sucks the drug from the drug tank and discharges the drug in the pump that discharges downstream, or a flow rate sensor that measures the flow rate of the drug, and any one or more sensors,
A drug type determination sensor for determining the type of the drug stored in the drug tank,
An input receiving unit that receives input of information related to the type of the drug scheduled to be sprayed,
Based on the type of the drug determined by the drug type determination sensor and the information related to the type of the drug accepted by the input accepting unit, an abnormal state is determined, and the drug determined by the drug type determination sensor When the type and the information related to the type of the drug received by the input receiving unit are different, a process of determining that the drug tank that is not scheduled to be sprayed is filled in the drug tank , is executed.
A method for controlling ejection of medicine. An agricultural machine for spraying a plurality of types of drugs, which has a drug tank with an openable and closable lid for filling the drug and a discharge port for discharging the drug, is provided for discharging the drug. A system for controlling,
A first pressure sensor for measuring the discharge pressure of the medicine, a second pressure sensor provided in the vicinity of the pump for measuring the discharge pressure of the medicine discharged downstream, and the medicine stored in the medicine tank A pump sensor for measuring the number of rotations of a rotor that sucks the drug from the drug tank in the pump that discharges downstream and discharges the drug downstream, or a flow rate sensor for measuring the flow rate of the drug, and any one of a plurality of sensors,
A drug type determination sensor for determining the type of the drug stored in the drug tank,
A computer program executed by a system including: an input receiving unit that receives an input of information related to the type of the medicine to be sprayed,
For the above system,
Based on the type of the drug determined by the drug type determination sensor and information related to the type of the drug accepted by the input accepting unit, an abnormal state is determined, and the drug determined by the drug type determination sensor When the type and the information related to the type of the drug received by the input receiving means are different, a process of determining that the drug tank not filled with the drug is filled in the drug tank is executed.
Computer program.

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