JP6996792B2 - Drug discharge control system, its control method, and control program - Google Patents

Description

The present invention relates to a drug discharge control system, a control method thereof, and a control program.

The application of small helicopters (multicopters) generally called drones is advancing. One of the important application fields is spraying chemicals such as pesticides and liquid fertilizers on agricultural land (fields) (for example, Patent Document 1). In Japan, where agricultural land is small compared to Europe and the United States, it is often appropriate to use drones instead of manned airplanes and helicopters.

Technologies such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Kinematic --Global Positioning System) have made it possible for drones to accurately know the absolute position of their aircraft in centimeters during flight. Even in a farmland with a typical narrow and complicated terrain, it is possible to fly autonomously with a minimum of manual maneuvering and to spray chemicals efficiently and accurately.

On the other hand, there were cases where it was difficult to say that safety was sufficiently taken into consideration for autonomous flying drones for spraying chemicals for agriculture. Drones loaded with drugs weigh several tens of kilograms, which can have serious consequences in the event of an accident such as falling onto a person. In addition, since the drone operator is not usually an expert, a foolproof mechanism is necessary, but consideration for this was insufficient. Until now, there have been drone safety technologies that are premised on human maneuvering (for example, Patent Document 2), but in particular, they address safety issues specific to autonomous flying drones for spraying chemicals for agriculture. There was no technology to do this.

Patent Publication Japanese Patent Application Laid-Open No. 2001-120151 Patent Publication Japanese Patent Application Laid-Open No. 2017-163265

Provided is a drug discharge control system for ensuring the effectiveness of drug spraying.

In order to achieve the above object, the drug discharge control system according to one aspect of the present invention is provided in an agricultural machine for spraying the drug, and is a system for controlling the discharge of the drug, and is capable of precipitation. It includes a precipitation prediction unit that detects sex and generates a precipitation signal, and a drug control unit that controls whether or not to discharge the drug to the outside and stops spraying the drug based on the precipitation signal.

The precipitation prediction unit determines whether or not there is a possibility of precipitation in a pressure measuring unit that measures the air pressure around the agricultural machine and a region where the agricultural machine sprays a drug based on the air pressure. It may be provided with a precipitation determination unit.

The precipitation determination unit detects a sudden change in the atmospheric pressure based on the change over time of the atmospheric pressure measured by the atmospheric pressure measuring unit, and whether or not there is a possibility of precipitation in the region where the agricultural machine sprays the drug. May be configured to determine.

Further provided with another machine information receiving unit for receiving a precipitation signal transmitted from another agricultural machine, the drug control unit stops spraying the drug based on the precipitation signal received by the other machine information receiving unit. It may be configured to cause.

An airframe information transmission unit that transmits a precipitation signal generated by the precipitation prediction unit to the outside of the agricultural machine may be further provided.

A predictor information receiving unit that receives the atmospheric pressure measured by the predictor may be further provided, and the precipitation predicting unit may be configured to detect the possibility of precipitation based on the atmospheric pressure.

It is a drug discharge control system mounted on a drone having a flight control unit, and when the possibility of precipitation is detected while the drone is landing, the flight control unit does not take off the drone. It may be configured in.

The ease of evaporation of the drug in the region where the agricultural machine sprays the drug is determined, an evaporation signal is generated when the ease of evaporation is equal to or higher than a predetermined value, and the evaporation signal is transmitted to the drug control unit. The evaporation prediction unit may be further provided, and the drug control unit may be configured to stop the spraying of the drug based on the evaporation signal.

The evaporation prediction unit determines whether or not the ease of evaporation in the region is equal to or higher than a predetermined value based on at least one of the temperature and humidity and the evaporation measurement unit that measures at least one of the temperature and humidity in the region. It may be provided with an evaporation determination unit.

The drug discharge control system according to another aspect of the present invention is provided in an agricultural machine for spraying the drug, and is a system for controlling the discharge of the drug, wherein the drug is sprayed in a region where the drug is sprayed. The evaporation prediction unit that determines the ease of evaporation and generates an evaporation signal when the ease of evaporation is equal to or higher than a predetermined value, and controls whether or not to discharge the drug to the outside, based on the evaporation signal. It is provided with a drug control unit for stopping the spraying of the drug.

The evaporation prediction unit determines whether or not the ease of evaporation in the region is equal to or higher than a predetermined value based on at least one of the temperature and humidity and the evaporation measurement unit that measures at least one of the temperature and humidity in the region. It may be provided with an evaporation determination unit.

Further provided with another machine information receiving unit for receiving an evaporation signal transmitted from another agricultural machine, the drug control unit stops spraying the drug based on the evaporation signal received by the other machine information receiving unit. It may be configured to allow.

An airframe information transmission unit that transmits an evaporation signal generated by the evaporation prediction unit to the outside of the agricultural machine may be further provided.

It further comprises an evaporation predictor that receives at least one of the temperature and humidity measured by the predictor, which is configured to predict the ease of evaporation based on at least one of the temperature and humidity. May be.

In a drug discharge control system mounted on a drone having a flight control unit, the flight control unit takes off the drone when the ease of evaporation is equal to or higher than a predetermined value while the drone is landing. It may be configured not to.

It may be configured to notify that the possibility of precipitation or the susceptibility to evaporation is high based on the precipitation signal or the evaporation signal.

After the notification, the drug control unit may be configured to wait for a command input by the user and determine whether or not to spray the drug based on the input command. ..

The method for controlling the discharge of a drug according to another aspect of the present invention is a method for controlling the discharge of the drug provided in an agricultural machine for spraying the drug, and is a method for detecting the possibility of precipitation and a precipitation signal. The step of generating the drug and the step of controlling whether or not the drug is discharged to the outside and stopping the spraying of the drug based on the precipitation signal are included.

The method for controlling the discharge of a drug according to another aspect of the present invention is a method for controlling the discharge of the drug provided in an agricultural machine for spraying the drug, and the drug in a region where the drug is sprayed. The step of determining the ease of evaporation and generating an evaporation signal when the ease of evaporation is equal to or higher than a predetermined value, and controlling whether or not to discharge the drug to the outside, and the drug based on the evaporation signal. A method of controlling the discharge of a drug, including a step of discontinuing spraying.

The drug discharge control program according to another aspect of the present invention is provided in an agricultural machine for spraying the drug, and is a program for controlling the discharge of the drug, and is a program for detecting the possibility of precipitation and a precipitation signal. And an instruction to control whether or not to discharge the drug to the outside and stop spraying the drug based on the precipitation signal, the computer is made to execute.

The drug discharge control program according to another aspect of the present invention is provided in an agricultural machine for spraying the drug, and is a program for controlling the discharge of the drug, wherein the drug is sprayed in a region where the drug is sprayed. The command to generate an evaporation signal when the ease of evaporation is equal to or higher than a predetermined value, and whether or not to discharge the drug to the outside are controlled, and the drug is controlled based on the evaporation signal. Have the computer execute an instruction to stop spraying.
The computer program can be provided by downloading via a network such as the Internet, or can be recorded and provided on various computer-readable recording media such as a CD-ROM.

The effectiveness of spraying the drug can be guaranteed.

It is a top view which shows the 1st Embodiment of the drone which has the discharge control system of the medicine which concerns on this invention. It is a front view of the embodiment of the said drone. It is a right side view of the embodiment of the said drone. It is a rear view of the above-mentioned drone. It is a perspective view of the said drone. It is an example of the whole conceptual diagram of the drug spraying system using the example of the drone which concerns on this invention. It is a schematic diagram which showed the control function of the Example of the drone which concerns on this invention. It is a functional block diagram regarding the configuration which determines the possibility of precipitation and the easiness of evaporation possessed by the above-mentioned drone and the predictors arranged in the vicinity. In addition, a functional block diagram of another drone with similar functions is also shown. The above-mentioned drone is a flowchart for determining the possibility of precipitation and the ease of evaporation. It is a flowchart when the said drone receives a precipitation signal or an evaporation signal from another machine information receiving part which another drone having the same function has. It is a flowchart when the said drone receives the measurement result of atmospheric pressure, temperature, and humidity by the predictor information receiving part which the said drone has. It is a flowchart which determines the possibility of precipitation and the easiness of evaporation of the drone in the 2nd Embodiment of the medicine discharge control system which concerns on this invention. It is a flowchart when the said drone receives a precipitation signal or an evaporation signal from another machine information receiving part which another drone having the same function has. It is a flowchart when the said drone receives the measurement result of atmospheric pressure, temperature, and humidity by the predictor information receiving part which the said drone has.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. All figures are illustrations. In the following detailed description, certain details are given for illustration purposes and to facilitate a complete understanding of the disclosed embodiments. However, embodiments are not limited to these particular details. Also, for the sake of simplification of the drawings, well-known structures and devices are shown schematically.

● Drug discharge control system (1) ●
In the present specification, the drone is regardless of the power means (electric power, prime mover, etc.) and the maneuvering method (wireless or wired, autonomous flight type, manual maneuvering type, etc.). It refers to all aircraft with multiple rotor blades. Drones are an example of agricultural machinery.

As shown in FIGS. 1 to 5, the rotor blades 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also referred to as rotors) are It is a means for flying the Drone 100, and is equipped with eight aircraft (four sets of two-stage rotor blades) in consideration of the balance between flight stability, aircraft size, and battery consumption.

Motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b have rotary blades 101-1a, 101-1b, 101-2a, 101- It is a means to rotate 2b, 101-3a, 101-3b, 101-4a, 101-4b (typically an electric motor, but it may be a motor, etc.), and one machine is provided for one rotary blade. It is desirable that it is. The upper and lower rotors (eg 101-1a and 101-1b) in one set and their corresponding motors (eg 102-1a and 102-1b) are for the stability of the drone's flight, etc. It is desirable that the axes are on the same straight line and rotate in opposite directions. Although some rotor blades 101-3b and motor 102-3b are not shown, their positions are self-explanatory and are in the positions shown if there is a left side view. As shown in FIGS. 2 and 3, the radial member for supporting the propeller guard provided so that the rotor does not interfere with foreign matter has a rather wobbling structure rather than a horizontal structure. This is to encourage the member to buckle to the outside of the rotor blade in the event of a collision and prevent it from interfering with the rotor.

The drug nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the drug downward and are provided with four machines. In the specification of the present application, a drug generally refers to a liquid or powder sprayed in a field such as a pesticide, a herbicide, a liquid fertilizer, an insecticide, a seed, and water.

The medicine tank 104 is a tank for storing the medicine to be sprayed, and is provided at a position close to the center of gravity of the drone 100 and at a position lower than the center of gravity from the viewpoint of weight balance. The drug hoses 105-1, 105-2, 1053, 105-4 are means for connecting the drug tank 104 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and are rigid. It may be made of the above-mentioned material and also serve to support the drug nozzle. The pump 106 is a means for discharging the drug from the nozzle.

FIG. 4 shows an overall conceptual diagram of a system using an example of the drug spraying 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 displaying information received from the drone 100 (for example, position, amount of drug, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that runs a computer program. It is desirable that the drone 100 according to the present invention is controlled to perform autonomous flight, but 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 mobile information devices, an emergency operation device (not shown) that has a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button, etc. so that it 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 that is the target of chemical spraying by the drone 100. In reality, the terrain of the field 403 is complicated, and the topographic map may not be available in advance, or the topographic map and the situation at the site may be inconsistent. Normally, the field 403 is adjacent to a house, a hospital, a school, another crop field, a road, a railroad, or the like. In addition, obstacles such as buildings and electric wires may exist in the field 403.

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

Normally, the drone 100 takes off from the departure / arrival point 406 outside the field 403 and returns to the departure / arrival point 406 after spraying the chemicals on the field 403 or when replenishment or charging of the chemicals is required. The flight route (invasion route) from the departure / arrival point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the user 402 before the start of takeoff.

FIG. 6 shows a schematic diagram showing a control function of an embodiment of the drug spraying drone according to the present invention. The flight controller 501 is a component that controls the entire drone, and may be an embedded computer including a CPU, memory, related software, and the like. The flight controller 501 uses motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on the input information received from the controller 401 and the input information obtained from various sensors described later. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b to control the flight of the drone 100. The actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured so that it can be monitored. Alternatively, the rotary wing 101 may be provided with an optical sensor or the like so that the rotation of the rotary wing 101 is fed back to the flight controller 501.

It is desirable that the software used by the flight controller 501 be rewritable through a storage medium or the like for function expansion / change, problem correction, etc., or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect it with encryption, checksum, digital signature, virus check software, etc. so that it will not be rewritten by unauthorized software. Also, some of the computational processing used by the flight controller 501 for control may be performed by another computer located on the pilot 401, on the farming cloud 405, or elsewhere. Due to the high importance of the flight controller 501, some or all of its components 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. It is desirable that the battery 502 is connected to the flight controller 501 via a fuse or a power supply unit including a circuit breaker or the like. It is desirable that the battery 502 is a smart battery having a function of transmitting the internal state (charge amount, total usage time, etc.) to the flight controller 501 in addition to the power supply function.

The flight controller 501 communicates with the pilot 401 via the Wi-Fi slave unit function 503 and further via the base station 404, receives the necessary commands from the pilot 401, and receives the necessary information from the pilot. It is desirable to be able to send to 401. In this case, it is desirable to encrypt the communication so that fraudulent acts such as interception, spoofing, and device hijacking can be prevented. It is desirable that the base station 404 also has the function of an RTK-GPS base station in addition to the 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 makes it possible to measure the absolute position of the drone 100 with an accuracy of several centimeters. Since GPS module 504 is very important, it is desirable to duplicate and multiplex it, and to cope with the failure of a specific GPS satellite, each redundant GPS module 504 should use a different satellite. It is desirable to control.

The 6-axis gyro sensor 505 is a means for measuring the acceleration of the drone body in three directions orthogonal to each other (further, a means for calculating the velocity by integrating the acceleration). Further, the 6-axis gyro sensor 505 is a means for measuring the change in the attitude angle of the drone aircraft in the above-mentioned three directions, that is, the angular velocity. The geomagnetic sensor 506 is a means for measuring the direction of the drone aircraft by measuring the geomagnetism. The barometric pressure sensor 507 is a means for measuring barometric pressure, and can also indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone aircraft and the ground surface by utilizing the reflection of the laser light, and it is desirable to use an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone aircraft and the ground surface by utilizing the reflection of sound waves such as ultrasonic waves. These sensors may be selected according to the cost target and performance requirements of the drone. In addition, a gyro sensor (angular velocity sensor) for measuring the inclination of the airframe, a wind power sensor for measuring wind power, 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 switch to an alternative sensor if it fails. 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 drug, and is provided at a plurality of locations on the route from the drug tank 104 to the drug nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the drug has fallen below a predetermined amount. The multispectral camera 512 is a means of photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle, and since the image characteristics and the lens orientation are different from those of the multispectral camera 512, it is desirable that the device is different from 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 part, has come into contact with an obstacle such as an electric wire, a building, a human body, a standing 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 in the open state. The drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is in an open state. These sensors may be selected according to the cost target and performance requirements of the drone, and may be duplicated or multiplexed. Further, a sensor may be provided at a base station 404 outside the drone 100, a controller 401, or some other place, and the read information may be transmitted to the drone. For example, a wind sensor may be provided at the base station 404 to transmit information on the wind and wind direction to the drone 100 via Wi-Fi communication.

The flight controller 501 sends a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. The current status of the pump 106 (for example, the number of revolutions) is 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 in place of or in addition to the LED. The buzzer 518 is an output means for notifying the state of the drone (particularly the error state) by an audio signal. The Wi-Fi slave unit function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, in addition to the control unit 401. Instead of or in addition to the Wi-Fi handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection. You may use it. The speaker 520 is an output means for notifying the state of the drone (particularly the error state) by means of a recorded human voice, synthetic voice, or the like. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 in flight. In such cases, voice communication is effective. The warning light 521 is a display means such as a strobe light for notifying the state of the drone (particularly the error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated / multiplexed.

There is a possibility that it will rain in the fields where the chemicals are sprayed. If it rains while the chemicals are being sprayed on the field, or even after the chemicals are sprayed until the chemicals settle in the field, the chemicals sprayed on the field will be washed away, and the chemicals will be used as intended in the field. Can't settle in. In addition, if the sprayed drug concentrates and flows into a specific point, there is a risk that an excessive concentration of the drug will stay at that point, causing phytotoxicity in the field or impairing the safety of the human body that may come into contact with the drug. be. Therefore, it is desirable that the drone that sprays the chemicals on the field has a function of predicting that it will rain or the like on the field and, if precipitation is predicted, evacuate the drone. In addition, if precipitation is predicted before the drone takes off, it is desirable to have a function to prohibit the drone from flying.

Rain and the like refer to various precipitation phenomena such as rain, snow, sleet, hail, and hail that fall from the atmosphere.

As shown in FIG. 7, the drone 100 according to the present invention includes a flight control unit 23, a precipitation prediction unit 24, an evaporation prediction unit 25, another aircraft information receiving unit 26, an aircraft information transmitting unit 27, and a predictor. It includes an information receiving unit 28 and a drug control unit 30 that controls the amount of the drug discharged from the drone 100.

Another drone 100b having the same function as the drone 100 is a flight control unit 23b, a precipitation prediction unit 24b, an evaporation prediction unit 25b, another aircraft information reception unit 26b, and an aircraft information transmission unit 27b. It includes a machine information receiving unit 28b and a drug control unit 30b that controls the amount of the drug discharged from the drone 100b. Drone 100 and drone 100b can communicate by any method. This configuration will be described later.

The flight control unit 23 controls the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b to control the rotor blades 101-1a, 101. Control the number and direction of rotation of -1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b to fly Drone 100 within the compartment intended by User 402. It is a functional part to make. In addition, the flight control unit 23 controls the takeoff and landing of the drone 100. Specifically, the flight control unit 23 is a CPU mounted by a microcomputer or the like, and is a flight controller 501.

The flight control unit 23 may operate to control the flight of the drone 100 in the normal operation of the drone 100, or may be configured separately from the flight control means in the normal operation. In the latter case, the flight control unit 23 operates only when the evacuation action is taken at the time of precipitation detection, precipitation prediction, or evaporation prediction.

The predetermined safety action is an evacuation action if it is in flight, and a flight regulation measure if it is in a pre-flight preparation state.

Evacuation actions include, for example, normal landing operations, aerial stops such as hovering, and "emergency return" to immediately move 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 takes off. The predetermined return point is, for example, a land point where the user 402 can approach the drone 100, and the user 402 inspects the drone 100 that has reached the return point, or manually transports the drone 100 to another place. can do.

Further, the evacuation action may be a "normal return" in which the user moves to a predetermined return point by an optimized route. The optimized route is, for example, a route calculated by referring to a route to which a drug is normally sprayed before receiving a return command. For example, the drone 100 travels to a predetermined return point while spraying the drug via a route that has not yet been sprayed.
In addition, the evacuation action also includes an "emergency stop" in which all rotors are stopped and the drone 100 is dropped downwards from the spot.

Flight control measures are measures that regulate flight in the preparatory stage before flight, and reject the flight order of the user or request the user to confirm the condition.
If flight control measures are taken, it may be controlled so that it cannot fly unless anomalies are confirmed and maintenance is made.

The flight control unit 23 may be configured to perform different evacuation behaviors depending on the degree of the possibility of precipitation detected by the precipitation prediction unit 24 or whether or not it has already been deposited. For example, if precipitation is predicted in advance and it is possible to return to the departure / arrival point 406 before precipitation occurs, normal return is performed. In situations where it is difficult to even return normally due to the occurrence of extremely heavy precipitation, emergency return or normal landing operation is performed on the spot. Further, if it is determined that the rotor blades are hit by heavy rain or the like and it is difficult to perform a normal landing operation, "emergency stop" may be selected.

The drug control unit 30 is a control unit that controls the amount or timing of spraying the drug solution from the drug tank 104. For example, somewhere in the path from the drug tank 104 to each drug nozzle 103-1, 103-2, 103-3, 103-4, an opening / closing means for opening / closing the drug solution path is provided, and the drug control unit 30 is provided. , Various emergency actions are performed after blocking the release of the drug solution by the opening / closing means. Further, the drug control unit 30 stops the pump 106 before executing the evacuation action. This is because if there is a possibility of precipitation, even if the chemical is sprayed on the field, it will not settle and will flow, so even if it is sprayed, the chemical will be wasted.

The precipitation prediction unit 24 is a functional unit that detects the possibility of precipitation in the area where the drug is sprayed, generates a precipitation signal, and transmits the precipitation signal to the flight control unit 23. The precipitation prediction unit 24 has a barometric pressure measurement unit 241 and a precipitation determination unit 242.

The atmospheric pressure measuring unit 241 is a functional unit that measures the atmospheric pressure around the drone 100. The barometric pressure measuring unit 241 is composed of, for example, a barometric pressure sensor 507, but may have a plurality of functional units for measuring barometric pressure.

The precipitation determination unit 242 is a functional unit that determines whether or not there is a possibility of precipitation in the area where the drone 100 sprays the drug, based on the atmospheric pressure measured by the atmospheric pressure measurement unit 241. Specifically, the precipitation determination unit 242 signals that if the atmospheric pressure measured by the atmospheric pressure measuring unit 241 is below a predetermined value, there is a possibility of precipitation in the area where the drug is sprayed (hereinafter, also referred to as “precipitation signal”). ) Is generated and transmitted to the flight control unit 23.

Further, the precipitation determination unit 242 may determine whether or not there is a possibility of precipitation in the area where the drug is sprayed, based on the change over time of the atmospheric pressure measured by the atmospheric pressure measuring unit 241. Specifically, when the measured atmospheric pressure changes by a predetermined time or more within a predetermined time, that is, when there is a sudden change in atmospheric pressure, the precipitation determination unit 242 may detect the possibility of precipitation. The sudden change in atmospheric pressure may detect either a sudden rise or a sharp fall, or both may be detected.

The precipitation determination unit 242 determines which evacuation action the flight control unit 23 performs based on the measured atmospheric pressure or the change over time of the atmospheric pressure, and transmits the determined type of evacuation action to the flight control unit 23. May be good.

Further, when the precipitation determination unit 242 determines that the possibility of precipitation is high based on the information of the atmospheric pressure measured by the atmospheric pressure measurement unit 241, the precipitation signal is transmitted to the drug control unit 30. When the drug control unit 30 has sprayed the drug, the drug control unit 30 stops the spraying of the drug when the precipitation signal is transmitted.

For example, when a sudden change in atmospheric pressure is detected and precipitation is predicted, the drug control unit 30 first stops spraying the drug, and the flight control unit 23 hovering. The precipitation prediction unit 24 may repeatedly predict precipitation during hovering, and if the possibility of precipitation increases, the flight control unit 23 may perform normal return or emergency return by flying the drone 100 to the departure / arrival point.

The threshold value of the atmospheric pressure that the precipitation determination unit 242 determines that there is a high possibility of precipitation in the area where the drug is sprayed may be a fixed threshold value stored in the drone 100 in advance, or may be a fixed threshold value depending on the situation. It may be a variable threshold that is changed. In the case of a fluctuating threshold value, it may be automatically fluctuated by an appropriate configuration connected to the drone 100 wirelessly or by wire, or it may be manually changed by the user 402. Since the time required for colonization in the field and the degree of influence of precipitation may differ depending on the type of drug to be sprayed, the threshold value is configured to be changed depending on the type of drug stored in the drug tank 104. May be. In this case, a sensor for discriminating the type of the drug is arranged in the path from the drug tank 104 or the drug tank 104 to the discharge nozzle, and is determined in advance according to the discrimination result of the discrimination sensor according to the type of the drug. It may be automatically changed to the threshold value.

The precipitation prediction unit 24 displays on the controller 401 monitored by the user 402 that the possibility of precipitation has been detected by an appropriate communication means possessed by the drone 100. Further, the precipitation prediction unit 24 may be configured to display that the drone 100 has detected the possibility of precipitation by a display means included in the drone 100, for example, an LED. Further, an appropriate sound may be output from the speaker of the drone 100.

Further, when the user 402 acquires the information of the drone 100 by the eyewear type wearable terminal, it may be displayed or projected on the screen of the eyewear. Further, when the user 402 acquires the information of the drone 100 by the earphone type wearable terminal, the user may notify by sound.

In the present embodiment, the atmospheric pressure and the change over time of the atmospheric pressure are measured as a means for predicting the possibility of precipitation, but another means may be used. Further, it may have a functional unit for detecting that precipitation is occurring. For example, it may be determined that precipitation is occurring by measuring the change in the capacitance of the surface of the drone 100 with a sensor and detecting that the drone 100 is wet.

Although it is possible to know the changes in the wide-area weather in a certain area from the weather forecast information published on the Web etc., it is difficult to know the local and short-term precipitation phenomenon such as the convectional rain. .. Therefore, according to the configuration in which the drone 100 itself predicts the possibility of precipitation, it is possible to predict the change in the weather by measuring the atmospheric pressure at the point where the drone 100 exists. It is possible to predict precipitation more accurately, including targeted and short-term changes in weather. Further, the drone 100 is often provided with a barometric pressure sensor 507 assuming another application such as altitude measurement. Therefore, according to the drone 100 that predicts precipitation using the barometric pressure sensor 507, by using the on-board barometric pressure sensor 507 for precipitation prediction, it is more accurate and efficient without adding a hardware configuration. The drug can be sprayed well and safely.

The other machine information receiving unit 26 is a functional unit that receives information transmitted by another drone 100b existing in the vicinity. The aircraft information transmission unit 27 is a functional unit that transmits information to the outside of the drone 100. Another drone 100b is a drone that flies in space near the drone 100. Another drone 100b may be a drone managed by the same user 402 or a drone managed by another user. Further, in the present embodiment, another drone 100b is assumed to be a drone for spraying a drug having the same configuration as the drone according to the present invention, but it may be a drone that flies around for another purpose. For example, it may be a monitoring drone that does not have a drug tank.

The aircraft information transmission unit 27 transmits the precipitation signal generated by the precipitation determination unit 242 to the outside of the drone 100. The other aircraft information receiving unit 26 receives the precipitation signal from the aircraft information transmitting unit 27b of another drone 100b and transmits it to the flight control unit 23 and the drug control unit 30. The flight control unit 23 starts the evacuation action based on the precipitation signal received by the other aircraft information receiving unit 26. When the drone 100 is in the landing state, the flight control unit 23 prohibits the drone 100 from taking off. Further, the drug control unit 30 stops the spraying of the drug based on the precipitation signal received by the other machine information receiving unit 26.

The aircraft information transmission unit 27 may transmit the atmospheric pressure measured by the aircraft to the other aircraft information reception unit 26b instead of the precipitation signal. In this case, the other aircraft information receiving unit 26 transmits the air pressure from another drone 100b to the precipitation determination unit 242. Precipitation determination unit 242 detects the possibility of precipitation based on the atmospheric pressure from another drone 100b or the change in atmospheric pressure over time.

According to the drone 100 having the other aircraft information receiving unit 26 and the aircraft information transmitting unit 27, it is possible for drones existing in the vicinity to exchange information with each other. The other machine information receiving unit 26 and the aircraft information transmitting unit 27 may transmit and receive barometric pressure information via a base station or cloud by using, for example, Wi-fi, or the other unit information receiving unit 26 and the aircraft information. The transmitter 27 may communicate directly. As a method for direct communication, various configurations such as Bluetooth (registered trademark) and Zigbee (registered trademark) can be applied.

The other aircraft information receiving unit 26 can receive the precipitation signal or the atmospheric pressure information measured by the other aircraft when the drone 100 is in normal flight, hovering, and landing. That is, if the possibility of precipitation is detected while the drone 100 is landing, the flight control unit 23 can prevent the drone 100 from taking off. Also, some of the functions of the pilot 401 may be restricted so that takeoff commands cannot be transmitted.

According to the configuration including the other aircraft information receiving unit 26 that receives the precipitation possibility predicted by another drone 100b, the precipitation determination unit 242 uses the drone 100 based on the precipitation possibility at a point away from the drone 100. Precipitation potential in areas where the drug is applied can be predicted. Clouds that cause changes in the weather often gradually approach from distant points. Therefore, it is possible to predict the possibility of precipitation more accurately by referring to the information on the possibility of precipitation at a distant point.

The predictor information receiving unit 28 is a receiving unit capable of receiving the atmospheric pressure measured by the fixed predictor 40. The predictor 40 is located near the flight space of the drone 100. The predictor 40 is installed in, for example, a Wi-fi base station or an RTK-GPS base station. The predictor 40 transmits barometric pressure information to the predictor information receiving unit 28. The predictor information receiving unit 28 transmits the received atmospheric pressure to the precipitation determination unit 242.

The predictor 40 may have a determination unit for determining the possibility of precipitation based on the measured atmospheric pressure. When the predictor 40 determines that the possibility of precipitation is high, the predictor 40 transmits a precipitation signal to the predictor information receiving unit 28 of the drone 100. The predictor information receiving unit 28 receives the precipitation signal transmitted from the predictor 40 and transmits it to the flight control unit 23 and the drug control unit 30. Further, the predictor 40 may determine the possibility of precipitation by referring to the weather information published on the Web or the like, and if the possibility of precipitation is high, the predictor 40 may transmit a precipitation signal to the predictor information receiving unit 28. ..

The predictor information receiver 28 can receive the precipitation signal or the atmospheric pressure measured by the predictor 40 during normal flight, hovering, and landing of the drone 100. If it is determined that there is a high possibility of precipitation while the drone 100 is landing, the flight control unit 23 will not take off the drone 100. According to the configuration of the predictor information receiving unit 28, it is possible to receive the possibility of precipitation at a place away from the point where the drone 100 exists. That is, it is possible to detect a change in the weather gradually approaching from a distant point and more accurately predict the possibility of precipitation at that point.

The evaporation prediction unit 25 is a functional unit that determines the ease of evaporation of the drug in the region where the drug is sprayed. The drone 100 sprays an aqueous solution or a drug which is a mixed solution with water in the form of a mist. When the drug is sprayed in an environment where it easily evaporates, the water in the drug evaporates in the air. In many cases, the particle size of the drug is smaller than the particle size of the water particles, so that the drug that has lost water may scatter in the air and may not be able to settle at a desired point in the field. Further, if the drug itself is highly volatile, the drug itself may evaporate and may not be fixed at a desired point. Therefore, according to the evaporation prediction unit 25, it is possible to determine the environment in which evaporation is likely to occur, and if the ease of evaporation is equal to or higher than a predetermined value, the spraying of the drug can be stopped. That is, the chemical spraying can be effectively performed more accurately, efficiently and safely.

The evaporation prediction unit 25 includes an evaporation measurement unit 251 and an evaporation determination unit 252.

The evaporation measuring unit 251 is a functional unit that measures at least one of temperature and humidity in the area where the drug is sprayed. The evaporation measuring unit 251 may measure an index related to the ease of evaporation other than temperature and humidity. For example, the evaporation measuring unit 251 may measure the wind speed.

The evaporation determination unit 252 determines the ease of evaporation of the drug in the region where the drug is sprayed based on at least one measurement result of the temperature and humidity measured by the evaporation measurement unit 251. For example, the evaporation determination unit 252 has a threshold value of temperature and humidity, respectively, and when the temperature is equal to or higher than the threshold value and the humidity is equal to or lower than the threshold value, the evaporation determination unit 252 determines that the ease of evaporation is equal to or higher than a predetermined value. Further, the evaporation determination unit 252 may determine the ease of evaporation by considering both the values of temperature and humidity in a complex manner, that is, by calculating a function including temperature and humidity.

The evaporation determination unit 252 generates an evaporation signal when the ease of evaporation is equal to or higher than a predetermined value. Then, the evaporation determination unit 252 transmits an evaporation signal to the drug control unit 30. The drug control unit 30 stops spraying the drug when the evaporation signal is transmitted. Further, the evaporation determination unit 252 transmits an evaporation signal to the flight control unit 23. When the evaporation signal is transmitted, the flight control unit 23 takes flight control measures or takes evacuation action when in flight.

For example, when it is predicted that the environment is likely to evaporate, the drug control unit 30 first stops spraying the drug, and the flight control unit 23 hovering. The evaporation prediction unit 25 repeatedly predicts evaporation during hovering, and if the ease of evaporation increases, the flight control unit 23 may fly the drone 100 to the departure / arrival point 406, and perform normal return or emergency return. ..

The temperature and humidity thresholds for which the evaporation determination unit 252 determines the ease of evaporation may be fixed thresholds stored in the drone 100 in advance, or may be variable thresholds that are changed depending on the situation. There may be. In the case of a fluctuating threshold value, it may be automatically fluctuated by an appropriate configuration connected to the drone 100 wirelessly or by wire, or it may be manually changed by the user 402. Since the ease of evaporation may differ depending on the type of the drug to be sprayed, the threshold value may be changed depending on the type of the drug stored in the drug tank 104. In this case, a sensor for discriminating the type of the drug is arranged in the path from the drug tank 104 or the drug tank 104 to the discharge nozzle, and is determined in advance according to the discrimination result of the discrimination sensor according to the type of the drug. It may be automatically changed to the threshold value.

The other aircraft information receiving unit 26, the aircraft information transmitting unit 27, the predictor information receiving unit 28, and the predictor 40 have been described as a configuration for predicting precipitation by measuring pressure, but at least one of temperature and humidity is described. The same operation can be performed as a configuration for predicting the ease of evaporation by measuring.

As shown in FIG. 9, first, the barometric pressure measuring unit 241 measures the barometric pressure while the drone 100 is landing (step S1).

The precipitation determination unit 242 determines the possibility of precipitation in the field to which the drug is sprayed based on the atmospheric pressure measured by the atmospheric pressure measuring unit 241 or the change over time of the atmospheric pressure (step S2).

If the precipitation determination unit 242 determines that there is a high possibility of precipitation, flight control measures will be taken to prohibit the drone 100 from taking off (step S3).

If the precipitation determination unit 242 determines that the possibility of precipitation is not high, the evaporation measurement unit 251 measures at least one of temperature and humidity (step S4). The evaporation determination unit 252 determines whether or not the region to which the drug is sprayed is likely to evaporate based on the measurement results of at least one of the temperature and the humidity (step S5). If the ease of evaporation is above the specified level, take flight control measures to prohibit the drone 100 from taking off (step S3). If the evaporation determination unit 252 determines that the ease of evaporation is low, the drone 100 starts flight (step S6).

In the present embodiment, the evaporation prediction is performed when the possibility of precipitation is not high by the precipitation prediction, but the evaporation prediction is performed first, and the precipitation prediction is performed when the evaporation easiness is not high. good. The same applies to the following description.

While hovering or moving after the start of flight, the barometric pressure measuring unit 241 constantly measures the barometric pressure (step S7). The precipitation determination unit 242 determines whether or not there is a high possibility of precipitation based on the measured atmospheric pressure or the change in atmospheric pressure over time (step S8). If precipitation is not likely, at least one of temperature and humidity is measured (step S9) to determine if evaporation is high (step S9). If it is determined that the ease of evaporation is low, the process returns to step S7, and the barometric pressure measurement, precipitation determination, temperature and humidity measurement, and evaporation determination, that is, steps S7 to S10 are repeated while hovering or moving. If the possibility of precipitation or the ease of evaporation is high, the drug control unit 30 stops spraying the drug (step S11). Then, the aircraft information transmission unit 27 transmits a precipitation signal or an evaporation signal to another drone 100b (step S12). In addition, the drone 100 starts the evacuation action (step S13).

Precipitation prediction and evaporation prediction may be appropriately performed in parallel between steps S11 to S13. In particular, when performing the evacuation action (step S13), hovering is performed first according to the possibility of precipitation or the ease of evaporation, and if the possibility of precipitation or the ease of evaporation increases, normal return or emergency Different evacuation actions may be sequentially performed based on the prediction results performed at any time, such as returning.

According to this configuration, the effectiveness of the chemical spraying can be ensured by predicting the occurrence of a precipitation phenomenon in which the chemical is not fixed in the field and is washed away and stopping the chemical spraying.

As shown in FIG. 10, first, the other aircraft information receiving unit 26 of the drone 100 receives a precipitation signal or an evaporation signal from another drone 100b (step S21). The other aircraft information receiving unit 26 may receive the precipitation signal and the evaporation signal in any of the planned flight, normal flight, hovering, and landing. Determine if the drone 100 is in flight or landing (step S22). When the drone 100 is in flight, the drug control unit 30 stops spraying the drug if it is spraying the drug (step S23). Further, the flight control unit 23 starts the evacuation action (step S24).

When the drone 100 is in the landing state, the flight control unit prohibits the drone 100 from taking off and takes flight control measures to prevent the drone 100 from taking off (step S25). The pilot 401 indicates that the drone 100 should not take off due to expected precipitation or evaporation. In addition, a part of the operation of the controller 401 may be restricted so that a command accompanied by takeoff cannot be input.

As shown in FIG. 11, first, the predictor information receiving unit 28 of the drone 100 receives the atmospheric pressure measured by the predictor 40 (step S31). The predictor information receiving unit 28 may receive the precipitation signal in any of the planned flight, normal flight, hovering, and landing. The precipitation determination unit 242 determines whether or not there is a high possibility of precipitation based on the atmospheric pressure received by the predictor information receiving unit 28 (step S32).

When the precipitation determination unit 242 determines that the possibility of precipitation is low, the predictor information receiving unit 28 receives at least one of temperature and humidity from the predictor information receiving unit 28 (step S33). The evaporation determination unit 252 determines the ease of evaporation of the drug in the field where the drug is sprayed based on the information from the predictor information receiving unit 28 (step S34). If it is determined that the ease of evaporation is low, the process returns to step S31.

If the precipitation determination unit 242 determines that there is a high possibility of precipitation, or the evaporation determination unit 252 determines that the evaporation rate is high, it is determined whether the drone 100 is in flight or in a landing state (. Step S35). When the drone 100 is in flight or hovering, the drug control unit 30 stops spraying the drug if it is spraying the drug (step S36). In addition, the flight control unit 23 starts the evacuation action (step S37).

When the drone 100 is in the landing state, the flight control unit 23 prohibits the drone 100 from taking off and implements flight control measures to prevent the drone 100 from flying (step S38). In addition, the pilot 401 may indicate that the drone 100 should not take off due to the high possibility of precipitation. Further, a part of the operation of the controller 401 may be restricted so that a command accompanied by takeoff cannot be input.

● Drug discharge control system (2) ●
The second embodiment of the drug discharge control system according to the present invention will be described focusing on the parts different from the first embodiment. The drug discharge control system according to the second embodiment has a step of asking the user whether or not to take a safety action, that is, an evacuation action or a flight control measure when the precipitation signal or the evaporation signal is received. Unless otherwise specified, the configuration of the discharge control system of the second embodiment is the same as that of the first embodiment.

As shown in FIG. 12, first, the barometric pressure measuring unit 241 measures the barometric pressure while the drone 100 is landing (step S1).

The precipitation determination unit 242 determines the possibility of precipitation in the field to which the drug is sprayed based on the atmospheric pressure measured by the atmospheric pressure measuring unit 241 or the change over time of the atmospheric pressure (step S2).

If the precipitation determination unit 242 determines that the possibility of precipitation is not high, the evaporation measurement unit 251 measures at least one of temperature and humidity (step S4). The evaporation determination unit 252 determines whether or not the region to which the drug is sprayed is likely to evaporate based on the measurement results of at least one of the temperature and the humidity (step S5). If the evaporation determination unit 252 determines that the ease of evaporation is low, the drone 100 starts flight (step S6).

When the precipitation determination unit 242 determines that the possibility of precipitation is high, or the evaporation determination unit 252 determines that the evaporation rate is high, the user 402 is notified to that effect (step S111). Then, it waits for a command input by the user 402 indicating whether or not to continue the operation related to the drug spraying. If a command from the user 402 is input and there is a command not to fly, flight control measures are taken (step S3). If the command entered is a command to start the flight, the drone 100 starts the flight (step S6).

While hovering or moving after the start of flight, the barometric pressure measuring unit 241 constantly measures the barometric pressure (step S7). The precipitation determination unit 242 determines whether or not there is a high possibility of precipitation based on the measured atmospheric pressure or the change in atmospheric pressure over time (step S8). If precipitation is not likely, at least one of temperature and humidity is measured (step S9) to determine if evaporation is high (step S9). If it is determined that the ease of evaporation is low, the process returns to step S7, and the barometric pressure measurement, precipitation determination, temperature and humidity measurement, and evaporation determination, that is, steps S7 to S10 are repeated while hovering or moving.

If the possibility of precipitation or the ease of evaporation is high, the drone 100 or the pilot 401 notifies the user 402 to that effect (step S111). Then, it waits for a command input by the user 402 indicating whether or not to continue the operation related to the drug spraying. If a command from the user 402 is input and the command is to stop the spraying of the drug, the spraying of the drug is stopped (step S11). Then, the aircraft information transmission unit 27 transmits a precipitation signal or an evaporation signal to another drone 100b (step S12). In addition, the drone 100 starts the evacuation action (step S13). When the user 402 inputs that the drug spraying is continued, the drone 100 continues the drug spraying and returns to step S7.

As shown in FIG. 13, first, the other aircraft information receiving unit 26 of the drone 100 receives a precipitation signal or an evaporation signal from another drone 100b (step S21). The other aircraft information receiving unit 26 may receive the precipitation signal and the evaporation signal in any of the planned flight, normal flight, hovering, and landing. Then, the user 402 is notified to that effect (step S211). Then, it waits for a command input by the user 402 indicating whether or not to continue the operation related to the drug spraying. When the command from the user 402 is input and the spraying stop command is to stop the drug spraying, it is determined whether the drone 100 is in flight or in the landing state (step S22). When the drone 100 is in flight, the drug control unit 30 stops spraying the drug if it is spraying the drug (step S23). Further, the flight control unit 23 starts the evacuation action (step S24).

When the drone 100 is in the landing state, the flight control unit prohibits the drone 100 from taking off and takes flight control measures to prevent the drone 100 from taking off (step S25).

As shown in FIG. 14, first, the predictor information receiving unit 28 of the drone 100 receives the atmospheric pressure measured by the predictor 40 (step S31). The predictor information receiving unit 28 may receive the precipitation signal in any of the planned flight, normal flight, hovering, and landing. The precipitation determination unit 242 determines whether or not there is a high possibility of precipitation based on the atmospheric pressure received by the predictor information receiving unit 28 (step S32).

When the precipitation determination unit 242 determines that the possibility of precipitation is low, the predictor information receiving unit 28 receives at least one of temperature and humidity from the predictor information receiving unit 28 (step S33). The evaporation determination unit 252 determines the ease of evaporation of the drug in the field where the drug is sprayed based on the information from the predictor information receiving unit 28 (step S34). If it is determined that the ease of evaporation is low, the process returns to step S31.

When the precipitation determination unit 242 determines that the possibility of precipitation is high, or the evaporation determination unit 252 determines that the evaporation rate is high, the user 402 is notified to that effect (step S311). Then, it waits for a command input by the user 402 indicating whether or not to continue the operation related to the drug spraying. When a command from the user 402 is input and the command is to stop spraying the drug (step S312), it is determined whether the drone 100 is in flight or landing (step S35). When the drone 100 is in flight or hovering, the drug control unit 30 stops spraying the drug if it is spraying the drug (step S36). In addition, the flight control unit 23 starts the evacuation action (step S37).

When the drone 100 is in the landing state, the flight control unit 23 prohibits the drone 100 from taking off and implements flight control measures to prevent the drone 100 from flying (step S38).

In the second embodiment described with reference to FIGS. 12 to 14, when an input is made to continue the operation related to chemical spraying, a change to raise the threshold value for notifying the possibility of precipitation or the ease of evaporation is automatically performed. You may be struck. In addition, once an input is made to continue spraying the drug, the notification may be stopped for a predetermined time. According to the configuration as described above, when the continuation of the drug spraying is selected, it is possible to prevent the repeated notification when the index of the possibility of precipitation or the index of the ease of evaporation does not change. Further, it may be configured to automatically learn the optimum threshold value based on the input history from the user 402.

According to this configuration, which notifies the user 402 that the possibility of precipitation or the susceptibility to evaporation is more than a predetermined value and determines the operation based on the confirmation input by the user 402, the drone 100 starts flight or Alternatively, the user 402 can decide whether to spray the drug during flight or hovering. It is possible to flexibly spray the chemicals in consideration of the circumstances peculiar to the field where the chemicals are sprayed, various information obtained by the user 402, or the circumstances of the user 402.

In this description, an agricultural chemical spraying drone has been described as an example, but the technical idea of the present invention is not limited to this, and can be applied to all agricultural machines for spraying chemicals. In particular, it is applicable to drones that fly autonomously. It can also be applied to autonomously operating agricultural machinery that runs on the ground.

(Technically significant effect of the present invention)
In the drug discharge control system according to the present invention, it is possible to provide a discharge control system that sprays the drug more accurately and efficiently with respect to the spraying of the drug in a field where precipitation or evaporation may occur. Further, it is possible to provide a highly safe discharge control system for the field and the human body.

Claims (18)

Spraying A system provided in a spraying machine that sprays liquids or powders to control the discharge of the drug.
A precipitation prediction unit that detects the possibility of precipitation and generates a precipitation signal,
A spray control unit that controls whether or not to discharge the spray liquid or powder to the outside and stops spraying the spray liquid or powder based on the precipitation signal.
A spraying liquid or powder discharge control system. The precipitation prediction unit determines whether or not there is a possibility of precipitation in a pressure measuring unit that measures the pressure around the spraying machine and a region where the spraying machine sprays the spraying liquid or powder based on the pressure. The spray liquid or powder discharge control system according to claim 1, further comprising a precipitation determination unit for determination. The precipitation determination unit detects a sudden change in the atmospheric pressure based on the change over time of the atmospheric pressure measured by the atmospheric pressure measuring unit, and there is a possibility of precipitation in the region where the spraying machine sprays the spraying liquid or powder . The spraying liquid or powder discharge control system according to claim 2, which determines whether or not. Further comprising another machine information receiving unit for receiving a precipitation signal transmitted from another spraying machine, the spraying control unit is a spraying liquid or powder based on the precipitation signal received by the other machine information receiving unit. The spraying liquid or powder discharge control system according to any one of claims 1 to 3, wherein spraying is stopped. The spraying liquid or powder discharge control system according to claim 4, further comprising an aircraft information transmission unit that transmits a precipitation signal generated by the precipitation prediction unit to the outside of the spraying machine. The spray according to any one of claims 1 to 5, further comprising a predictor information receiving unit that receives the atmospheric pressure measured by the predictor, and the precipitation predicting unit detects the possibility of precipitation based on the atmospheric pressure. Liquid or powder discharge control system. A spraying liquid or powder discharge control system mounted on a drone having a flight control unit, when the flight control unit detects the possibility of precipitation while the drone is landing, the flight control unit takes off from the drone. The spraying liquid or powder discharge control system according to any one of claims 1 to 6, wherein the spraying liquid or powder is not discharged. The spraying machine determines the ease of evaporation of the sprayed liquid or powder in the region where the spraying liquid or powder is sprayed, and when the ease of evaporation is equal to or higher than a predetermined value, an evaporation signal is generated, and the evaporation signal is generated. The invention according to any one of claims 1 to 7, further comprising an evaporation prediction unit that transmits the above to the spray control unit, wherein the spray control unit stops the spraying of the spray liquid or powder based on the evaporation signal. Spraying liquid or powder discharge control system. The evaporation prediction unit determines whether or not the ease of evaporation in the region is equal to or higher than a predetermined value based on at least one of the temperature and humidity and the evaporation measurement unit that measures at least one of the temperature and humidity in the region. The spraying liquid or powder discharge control system according to claim 8, further comprising an evaporation determination unit. A system provided in a spraying machine for spraying a spraying liquid or powder and for controlling the discharge of the spraying liquid or powder .
An evaporation prediction unit that determines the ease of evaporation of the sprayed liquid or powder in the region where the sprayed liquid or powder is sprayed and generates an evaporation signal when the ease of evaporation is equal to or higher than a predetermined value.
A spray control unit that controls whether or not to discharge the spray liquid or powder to the outside and stops spraying the spray liquid or powder based on the evaporation signal is provided .
When the drone equipped with the discharge control system is on land and the ease of evaporation is equal to or higher than a predetermined value, the flight control unit of the drone does not take off the drone, and discharge control of sprayed liquid or powder. system. The evaporation prediction unit determines whether or not the ease of evaporation in the region is equal to or higher than a predetermined value based on at least one of the temperature and humidity and the evaporation measurement unit that measures at least one of the temperature and humidity in the region. The spraying liquid or powder discharge control system according to claim 10, further comprising an evaporation determination unit. Further provided is another machine information receiving unit that receives an evaporation signal transmitted from another spraying machine, and the spraying control unit is a spraying liquid or powder based on the evaporation signal received by the other machine information receiving unit. The spraying liquid or powder discharge control system according to any one of claims 10 or 11, wherein the spraying is stopped. The spraying liquid or powder discharge control system according to claim 12, further comprising an airframe information transmission unit that transmits an evaporation signal generated by the evaporation prediction unit to the outside of the spraying machine. 10. Claim 10 further comprising an evaporation predictor that receives at least one of the temperature and humidity measured by the predictor, the evaporation predictor predicts the ease of evaporation based on at least one of the temperature and humidity. The spraying liquid or powder discharge control system according to any one of 13. The spray liquid or powder discharge control system according to any one of claims 1 to 14 , which notifies that the possibility of precipitation or the ease of evaporation is high based on the precipitation signal or the evaporation signal. After the notification, the drug control unit waits for a command input by the user, and determines whether or not to spray the spraying liquid or powder based on the input command. Dispensing liquid or powder discharge control system according to the above. Spraying A method for controlling the discharge of the drug, which is provided in a spraying machine for spraying liquid or powder .
Steps to detect the possibility of precipitation and generate a precipitation signal,
A step of controlling whether or not to discharge the sprayed liquid or powder to the outside and stopping the spraying of the sprayed liquid or powder based on the precipitation signal.
Discharge control method for sprayed liquid or powder , including. A program provided in a spraying machine for spraying a spraying liquid or powder to control the discharge of the spraying liquid or powder .
An instruction to detect the possibility of precipitation and generate a precipitation signal,
An instruction to control whether or not to discharge the sprayed liquid or powder to the outside and to stop spraying the sprayed liquid or powder based on the precipitation signal.
A method of controlling the discharge of sprayed liquid or powder , which causes a computer to execute.

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