JPWO2019208607A1 - Drug leak prevention system and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent leakage of a chemical in an agricultural machine for spraying the chemical. SOLUTION: A drug leakage prevention system provided in an agricultural machine for spraying a drug and preventing the drug from leaking is always closed and opened according to the discharge pressure of the drug from the drug tank. It has a check valve to valve. [Selection diagram] Fig. 6

Description

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

The application of small unmanned helicopters (multicopters), which are generally called drones, is advancing. One of the important application fields is spraying chemicals such as pesticides and liquid fertilizers on farmland (fields) (for example, Patent Document 1). In Japan, where farmland 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 the typical narrow and complicated terrain of farmland, it is possible to fly autonomously with minimal 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 taken into consideration for autonomous flying drones for agricultural chemical spraying. Since the drone carrying the drug weighs several tens of kilograms, it can have serious consequences in the event of an accident such as falling onto a person. In addition, since the operator of the drone is usually not an expert, a foolproof mechanism is necessary, but consideration for this is 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 agricultural chemical spraying. There was no technology to do this.

Japanese Patent Application Laid-Open No. 2001-120151 Patent Publication Japanese Patent Application Laid-Open No. 2017-163265 Patent Publication Japanese Patent Application Laid-Open No. 11-94 Patent Publication Japanese Patent Application Laid-Open No. 11-98947

The purpose is to prevent the leakage of chemicals in agricultural machines that spray chemicals.

In order to achieve the above object, the drug leakage prevention system according to one aspect of the present invention has a drug tank for storing the drug and a discharge port for discharging the drug to the outside, and is used for agriculture in which the drug is sprayed. A system provided in a machine for preventing the leakage of the drug, the agricultural machine discharges the drug by controlling a blocking mechanism for blocking the path from the drug tank to the discharge port and the blocking mechanism. It has a control means for blocking the path from the drug tank to the discharge port when the operation state is not allowed.

Further, the shutoff mechanism may be a check valve.

Further, the shutoff mechanism may be a solenoid valve.

Further, a plurality of the blocking mechanisms may be provided in the path from the drug tank to the discharge port.

Further, the blocking mechanism may be at least provided at the discharge port of the drug tank.

Further, in the path from the drug tank to the discharge port of the drug to the outside, the plurality of blocking mechanisms may be provided for each predetermined leakage allowable amount.

Further, the pressure sensor provided in the path from the drug tank to the discharge port of the drug and the drug leakage abnormality detecting means are further provided, and the leakage abnormality detecting means is measured by the pressure sensor. The change with time of the discharge pressure of the drug may be acquired, and the abnormality may be detected based on the change with time of the discharge pressure of the acquired drug.

Further, the agricultural machine has a pump for discharging the drug stored in the drug tank downstream, and the number of rotations of a rotor that sucks the drug from the drug tank and discharges the drug downstream in the pump. The pump sensor for measuring may further be provided, and the leak abnormality detecting means may further detect an abnormality based on the discharge pressure of the drug measured by the pressure sensor.

Further, when an abnormality is detected by the leak abnormality detecting means, the control means further controls the blocking mechanism to block the path from the drug tank to the discharge port, and the drug by the agricultural machine. May be regulated for spraying.

Further, the control means may further regulate the driving of the agricultural machine when an abnormality is detected by the leak abnormality detecting means.

Further, it has an open / close sensor that is attached to the lid of the drug tank and can detect the open / closed state, and the leak abnormality detecting means further abnormally changes the open state of the lid based on the information from the open / close sensor. It may be regarded as a state and this may be detected.

Further, the control means may further control the shutoff mechanism to block the path from the drug tank to the discharge port when the main power supply is stopped, and maintain the shutoff state.

Further, it further has an impact sensor for detecting a collision or a crash of the agricultural machine, and the control means further controls the blocking mechanism when the impact sensor detects a collision or a crash of the agricultural machine. Then, the path from the drug tank to the discharge port may be forcibly blocked.

Further, the agricultural machine may be a drone.

Further, a method for preventing leakage of a drug according to another aspect of the present invention is provided in an agricultural machine having a drug tank for storing the drug and a discharge port for discharging the drug to the outside and spraying the drug. , A method executed by a system for preventing leakage of the drug, wherein the system including a blocking mechanism for blocking the path from the drug tank to the discharge port controls the blocking mechanism to obtain the above-mentioned When the agricultural machine is in an operating state in which the chemical is not discharged, the process of blocking the path from the chemical tank to the discharge port is executed.

Further, a computer program according to still another aspect of the present invention is provided in an agricultural machine having a drug tank for storing a drug and a discharge port for discharging the drug to the outside, and spraying the drug. A computer program executed by a system for preventing the leakage of a drug, which controls the blocking mechanism for a system including a blocking mechanism for blocking the path from the drug tank to the discharge port, and controls the agriculture. When the machine is in an operating state in which the drug is not discharged, a process of blocking the path from the drug tank to the discharge port is executed.

According to the present invention, it is possible to prevent leakage of chemicals in an agricultural machine for spraying chemicals.

It is a top view of the Example of the drone for spraying a drug equipped with the drug discharge prevention system which concerns on this invention. It is a front view of the Example of the drone for drug spraying equipped with the drug ejection prevention system which concerns on this invention. It is a right-side view of the Example of the drone for spraying a drug equipped with the drug discharge prevention system which concerns on this invention. This is an example of an overall conceptual diagram of a drug spraying system using an example of a drug spraying drone equipped with a drug discharge prevention system according to the present invention. It is a schematic diagram which showed the control function of the Example of the drone for drug spraying equipped with the drug ejection prevention system which concerns on this invention. It is a schematic diagram which showed the structure of the chemical discharge prevention system which concerns on this invention. It is a functional block diagram which showed a part of the function provided in the chemical discharge prevention system which concerns on this invention. It is a processing flow diagram which showed an example of the processing executed by the chemical discharge prevention system which concerns on this invention. It is a processing flow diagram which showed an example of the processing executed by the chemical discharge prevention system which concerns on this invention.

Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. All figures are illustrations.

FIG. 1 shows a plan view of an embodiment of the drone 100 according to the present invention, FIG. 2 shows a front view thereof (viewed from the traveling direction side), and FIG. 3 shows a right side view thereof. In the specification of the present application, the drone may be a power means (electric power, prime mover, etc.) and a maneuvering method (wireless or wired, autonomous flight type, manual maneuvering type, etc.). Instead, it refers to all vehicles that have multiple rotors or means of flight.

Rotors 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b (also known as rotors) are the means by which the Drone 100 is flown. Considering the balance between flight stability, aircraft size, and battery consumption, it is desirable to have eight aircraft (four sets of two-stage rotor blades).

Motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are 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, it is an electric motor, but it may be a motor, etc.), and one is provided for one rotor. It is desirable that it is. The upper and lower rotors (eg, 101-1a and 101-1b) in one set, and the corresponding motors (eg, 102-1a and 102-1b), are used for drone flight stability, etc. It is desirable that the axes are on the same straight line and rotate in opposite directions. Although some rotors 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, 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 rather on a ridge. This is to prevent the member from buckling and deforming toward the rotor at the time of a collision and to prevent interference with the rotor.

The drug nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the drug downward, and it is desirable that four of them are provided. In the specification of the present application, the term “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 it is desirable that the medicine tank 104 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 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 embodiment of the drone 100 for chemical spraying according to the present invention. This figure is a schematic diagram, and the scale is not accurate. The controller 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 medicine, 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. The drone 100 according to the present invention is preferably controlled to perform autonomous flight, but it is desirable that it can be manually operated during basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button, etc. so that an emergency response can be taken quickly. 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.

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 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 differ. Normally, field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railroads, and 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 an 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 and related software operated on a cloud service, and it is desirable that the farming cloud 405 is wirelessly connected to the controller 401 via a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the 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 captured 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 the chemicals need to be replenished or charged. 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. 5 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 desirable that the configuration is such that it can be monitored. Alternatively, the rotary blade 101 may be provided with an optical sensor or the like so that the rotation of the rotary blade 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 malicious software. In addition, a part of the calculation process used by the flight controller 501 for control may be executed by another computer located on the control controller 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 about 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 (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 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 beam, 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 aircraft, 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 if it fails, it may switch to an alternative 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 drug, and it is desirable that the flow rate sensor 510 is provided at a plurality of locations on the path from the drug tank 104 to the drug nozzle 103. The liquid drain 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, the read information may be transmitted to the drone by providing a sensor at the base station 404 outside the drone 100, the controller 401, or some other place. For example, a wind power sensor may be provided in the base station 404 to transmit information on the wind power and the wind direction to the drone 100 via Wi-Fi communication.

The flight controller 501 transmits a control signal to the pump 106 to adjust the drug discharge amount and stop the drug discharge. It is desirable that 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. In place of or in addition to the Wi-Fi slave 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 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.

In agricultural drones that spray chemicals by autonomous flight, it is extremely important to maintain the altitude and upper limit of speed of the drone in order to maintain safety. This is because the user 402 does not always stick to the controller 401 to control the drone 100. If the altitude of the drone 100 exceeds the specified altitude, the impact at the time of a ground collision in the event of a fall may exceed the safety regulations (in the unlikely event that it collides with a person, it may cause serious damage). .. In addition, it is desirable to limit the altitude in order to minimize the scattering (drift) of the chemicals out of the target field. Similarly, if the speed of the drone 100 exceeds a predetermined speed, it can be a big safety problem. In addition to falling, the impact of a collision with an obstacle (especially a human) can exceed safety standards.

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

(Altitude measurement)
It is desirable that the drone 100 according to the present invention measures the aircraft altitude using a plurality of sensors. A combination of GPS 504, 6-axis gyro sensor 505, barometric pressure sensor 507, sonar 509, and laser sensor 508 may be used for altitude measurement. Further, the distance to the ground may be measured by providing the multispectral camera 512 or the obstacle detection camera 513 with a passive autofocus function. In this case, it is desirable that the measuring instrument or sensor be duplicated or multiplexed in case of failure. Duplication / multiplexing may be performed by using a plurality of sensors of the same type, may be performed by using a plurality of types 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 on the ground, but it is difficult to make accurate measurements when the field 403 is on the water surface (in this case, the laser sensor 508 is appropriate). Since there are strengths and weaknesses depending on the measurement method, it is desirable to use multiple types of sensors together. In addition, if GPS radio wave disturbance or base station abnormality occurs, even if GPS504 is multiplexed, it will be an overall obstacle, so it is desirable to provide an altitude measurement means other than GPS.

In particular, it is desirable to use GPS504 for initial altitude measurement during takeoff and sonar 509 during flight. GPS504 can perform the most accurate measurement, but can only measure absolute altitude, so while field 403 with irregularities such as irrigation canals cannot measure altitude above ground level, Sonar 509 measures altitude above ground level. This is because it can be measured. During level flight, both GPS504 and sonar 509 measurements are taken and the results are compared, and if the difference is within a given threshold (eg 10 cm), the GPS504 readings are used for altitude measurements and the given threshold. When it exceeds, it may be determined that the unevenness of the field 403 is large, and the measured value of the sonar 509 may be used for the altitude measurement.

In addition, GPS504 is an indispensable function to grasp the flight position of the drone anyway, so if GPS504 does not function due to failure or disturbance at the time of takeoff, control (interlock) to prohibit the takeoff of the drone is performed. It is desirable to do it. In addition, if GPS does not work due to interruption of radio waves from GPS satellites during flight, temporary unreceivability, communication jamming, etc., the drone 100 will fly over the drone 100 on the spot. It is desirable to control to stop (hover). If the GPS does not function after a lapse of a predetermined time, the hovering may be stopped and the drone 100 may be soft-landed on the spot or controlled to return to the departure / arrival point 406 or the like. At this time, an error message may be displayed on the controller 401 and the instruction of the user 402 may be sought.

By inputting the altitude information measured by these altitude measuring means into the flight control means of the drone 100, the drone 100 can be operated within the restricted altitude stipulated by laws and regulations, safety standards, etc., even if there is no visual control by humans. It will be possible to fly with.

When the altitude is measured by GPS504, it is desirable to set the altitude limit lower than when measuring by sonar 509. While GPS measures the absolute value of the altitude of the drone 100, the sonar 509 measures the distance between the drone 100 and the ground surface, so allow a margin for the restricted altitude in consideration of the height of the terrain. Is desirable. For example, if the altitude limit during measurement using the sonar 509 is 2 meters, the altitude limit during measurement using GPS 504 may be 1.5 meters.

In addition to the absolute altitude limit of Drone 100, you may limit the rate of climb (change in altitude over time). This is because if the ascending speed is not limited, there is a risk that the drone 100 will temporarily exceed the restricted altitude due to the delay in sensor measurement and the delay in processing of the flight controller 501. In this case, when the altitude is measured by GPS 504, the upper limit of the ascending speed may be set lower than that when the altitude is measured by another method such as sonar 509. This is because the GPS504 may not be able to measure temporarily due to radio wave disturbance or the condition of the positioning satellite, so there is a high risk that the drone will temporarily exceed the restricted altitude.

(Speed limit)
The drone 100 according to the present invention may measure the airframe speed using a plurality of sensors. To measure the speed, 6-axis gyro sensor 505 (speed is obtained by integrating acceleration), GPS Doppler 504-3 (measures the speed of the aircraft by processing the phase difference of radio waves from multiple GPS base stations with software). You can use) or you may use the change in absolute coordinates measured by GPS504. In this case, it is desirable to duplicate or multiplex the measuring instrument or sensor in case of failure. It is preferable that the duplication or multiplexing is performed within the same method and between different methods. For example, if GPS cannot be used due to radio wave disturbance or obstacles of positioning satellites, it will be an overall obstacle if only GPS is duplicated.

By inputting the speed information measured by these altitude measuring means to the flight controller 501, the drone 100 can be operated within the speed limit stipulated by laws and regulations, safety standards, etc. (for example, even without human visual control). It will be possible to fly at a speed of 20 km / h).

(Weight measurement)
In the case of a typical drone 100 pesticide application, the drug weighs more than 10 kilograms. Since the weight of only the airframe 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 the drone 100 may be adjusted in response to changes in overall weight. For example, if safety standards specify the impact force on the ground surface of the drone 100 during free fall, the impact force is determined by altitude, speed, and weight (proportional to the square of speed, proportional to altitude and weight. Therefore, when the weight of the aircraft is light, the altitude limit may be increased. Similarly, when the weight of the aircraft is light, the speed limit may be increased. Further, when the flight speed is high, the speed limit may be set low, and when the flight altitude is high, the speed limit may be set slow.

The weight of the aircraft may be estimated using the acceleration measured by the 6-axis gyro sensor 505 or the acceleration as a derivative of the velocity measured by means such as GPS Doppler 504-3 or GPS504. In the case of climbing, if the thrust of the motor 102 is T, the gravitational acceleration is g, and the measured acceleration of the airframe is α, the weight M of the entire airframe is obtained as M = T / (α + g). Since the thrust T of the motor 102 is determined by the rotation speed of the motor and the flight controller 501 can measure the rotation speed of the motor, the weight of the airframe can be estimated. If the motor rotation speed cannot be measured directly, 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.

In addition, the weight of the drone 100 may be estimated by measuring the inclination of the drone 100 during level flight at a constant velocity. The inclination of the airframe may be directly measured by providing a gyro sensor, or may be estimated by differentiating the measured value of the 6-axis gyro sensor 505 twice. During constant-velocity level flight, the air resistance of the aircraft, gravity, and thrust by the rotor are balanced. Since air resistance is a function of the flight speed of the aircraft, thrust by the rotor is a function of the rotation speed of the motor, and gravity is a function of the weight of the aircraft, the weight is the inclination of the aircraft, the rotation speed of the motor, and the aircraft. If the flight speed of is known, it can be estimated. A wind power sensor may be provided to correct the air resistance coefficient according to the wind power and the wind direction.

In addition, since the biggest factor that changes the weight during flight is the amount of medicine, the remaining amount of medicine is measured by measuring the height of the liquid level of the medicine with the level sensor in the medicine tank, and from there. The weight of the entire aircraft may be estimated. In this case, the weight of the entire machine may be estimated by providing a water pressure sensor in the medicine tank and estimating the weight of the medicine in the medicine tank.

6 and 7 show the configuration and function of the drug leakage prevention system according to the embodiment of the present invention.
The drug leakage prevention system according to the present embodiment is provided in an agricultural machine for spraying the drug, particularly in this example, the drug spraying drone 100, and prevents the drug from leaking. In the present embodiment, the term "drug leaking state" includes a state in which the drug is leaking inside the agricultural machine and a case where the drug is leaking out of the agricultural machine. , Including the condition where the drug is leaking from a normally controlled route.

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

Further, the drug tank 104 is provided with a drug type discrimination sensor 104b. The drug type discrimination sensor 104b can discriminate the type of drug stored in the drug tank 104.
The drug type discrimination sensor 104b is composed of, for example, a device capable of measuring the viscosity, conductivity, or pH of the drug in the drug tank 104, and the measured values of each item and the reference value for each drug. And can be compared to determine the type of drug.

Here, since a plurality of types of drugs may be used, it is useful to determine whether or not the drug to be sprayed is stored in the drug tank 104. In particular, the particle size of the drug differs depending on the type, and if a drug with a smaller particle size than the drug planned to be sprayed is accidentally sprayed, drift (scattering of the drug to other than the target object) , Adhesion) is likely to occur and cannot be overlooked.

Further, the medicine tank 104 is equipped with a liquid shortage sensor 511 for detecting the liquid shortage of the medicine. In addition, the case where the drug runs out includes the case where the amount of the drug falls below a predetermined amount, and the case where the drug runs out is detected according to an arbitrarily set amount. Can be done.

It is preferable that the drug tank 104 is provided with a function for detecting the evaporation of the drug in the drug tank 104 and a function for measuring temperature and humidity so that the drug is managed in an appropriate state.

The pump 106 discharges the drug stored in the drug tank 104 to the downstream, and the drug nozzles 103-1, 103-2, through the drug hoses 105-1, 105-2, 1053, 105-4, Send to 103-3 and 103-4.
The drug is delivered from the drug tank 104 to the drug nozzles 103-1, 103-2, 103-3, 103-4. In the description of the present embodiment, the drug is delivered along this delivery path. Is referred to as the downstream direction, and the opposite direction may be referred to as the upstream direction. A part of the medicine is sent from the medicine tank 104 to the medicine tank 104 again 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 route from the three-way valve 122 to the drug tank 104 via the expansion tank 141 is a path for removing (defoaming) air bubbles in the drug. The drug can be defoamed by circulating this route and temporarily storing it in the expansion tank 141.

Check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 deliver the drug only in one direction and in the direction opposite to that direction. It is a valve to prevent the inflow, that is, the backflow. In addition, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are from the drug tank 104 to the drug nozzles 103-1, 103-2, 103. In the route to -3 and 103-4, it acts as a blocking mechanism to block the discharge of the drug, and when the drone 100 is not in the operating state of spraying the drug, the valve is closed under the control of the control unit 12. Block the drug delivery route and regulate the drug discharge. For example, the drone 100 has flown and the drone 100 has not received the command for spraying the drug, the drone 100 has become abnormal, and the drone 100 has received the command to regulate the spraying of the drug. When the drive power supply is stopped, the discharge of chemicals is cut off.

In this example, the check valve 121-1 is between the drug tank 104 and the pump 106 and is provided near the drug discharge port provided in the drug tank 104, and the check valve 121-2 is the three-way valve 122 and the drug. Check valves 121-4, 121-5, 121-6, 121-7 are provided between nozzles 103-1, 103-2, 103-3, 103-4 and discharge ports 103a- to the outside of the drug. It is provided in 1, 103a-2, 103a-3, 103a-4, and a check valve 121-3 is provided between the three-way valve 122 and the expansion tank 141. The check valve 121-1 sends the medicine delivered from the medicine tank 104 in the downstream direction and controls the medicine so that it cannot flow back to the medicine tank 104. Further, the check valve 121-2 sends the medicine delivered from the pump 106 in the downstream direction and controls the pump 106 so that it cannot flow back. In addition, the check valve 121-3 sends the medicine delivered from the three-way valve 122 in the upstream direction where the expansion tank 141 is located, and controls the check valve 122 so that it cannot flow back. Furthermore, the check valves 121-4, 121-5, 121-6, 121-7 can block the discharge of chemicals from the discharge ports 103a-1, 103a-2, 103a-3, 103a-4 to the outside. I have to. These check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are always closed (NC: normally closed) and from the drug tank 104. The valve is opened according to the discharge pressure of the discharged drug.

In addition, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are the discharge ports 103a-1, 103a from the drug tank 104 to the outside of the drug. In the route to -2, 103a-3, 103a-4, it is provided for each predetermined leakage allowance. That is, one check valve 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 and a check valve 121-1 adjacent to each other in the upstream or downstream direction. , 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, and the volume of the path is less than or equal to the prescribed leakage allowance.

Further, the path between the check valve 121-1 and the drug discharge port of the drug tank 104 on the upstream side thereof, the check valve 121-2 and the discharge port on the downstream side thereof (103a-1, 103a-2, 103a-). The volume of the route between 3, 103a-4) is also less than the prescribed leakage allowance.

Here, the permissible amount of leakage is the upper limit of the amount at which the concentration of the drug in the sprayed crops does not affect the human body even if the leaked drug is locally sprayed to the field 403 at one time, or leaked. Even if the drug is sprayed on the field 403, it means the upper limit of the amount that does not affect the surrounding environment at the time of spraying.

For the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, various types such as swing type, lift type, and wafer type are used. It can be, and is not limited to a specific one. Further, regardless of this example, more check valves than in this example may be provided at appropriate locations.

Not limited to check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, but also drug tanks 104 to drug nozzles 103-1, 103-2, If the path leading to 103-3 and 103-4 can play a role of blocking the discharge of the drug, a solenoid valve or other mechanism can be used as the blocking mechanism.

As a result, even if a drug leak occurs in the route from the drug tank 104 to the discharge ports 103a-1, 103a-2, 103a-3, 103a-4, the check valves 121-1, 121-2, If 121-3, 121-4, 121-5, 121-6, 121-7 are closed, check valves 121-1, 121-2, 121-3, 121- are adjacent to each other in the upstream or downstream direction. Only the drug contained in the route between 4, 121-5, 121-6, 121-7 leaks. Since the amount of the leaked drug is equal to or less than the permissible amount of the drug, it is safe even if the drug leaks to the outside.

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 to the drug nozzles 103-1, 103-2, 103-3, It constitutes a branch point of the route leading to 103-4 and the route connecting the pump 106 to the drug tank 104 via the expansion tank 141, and the drug is sent to each path according to the switching operation.
Here, the route from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, 103-4 causes the drug to be discharged from the drug nozzles 103-1, 103-2, 103-3, 103-4. , A route for spraying the drug.
Further, as described above, the path from the pump 106 to the drug tank 104 via the expansion tank 141 is a path for removing (defoaming) air bubbles in the drug.

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

The pressure sensors 111-1 and 111-2 measure the discharge pressure of the drug at the mounting position.
The pressure sensor 111-1 is attached to the downstream side of the pump 106 and is attached to the upstream side of the check valve 121-2 and the three-way valve 122, and measures the discharge pressure of the drug discharged downstream.
The pressure sensor 111-2 is on the downstream side of the check valve 121-2, and is attached to the upstream side of the drug nozzles 103-1, 103-2, 103-3, 103-4, and discharges the drug downstream. Measure the discharge pressure.

Since the discharge pressure of the drug can be measured by these pressure sensors 111-1 and 111-2, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6 With the valve closed, the change over time of the drug discharge pressure measured by 111-1 and 111-2 of each pressure sensor is acquired, and this is obtained over time of the normal drug discharge pressure. By comparing with the change, it is possible to detect an abnormality in drug leakage. For example, if the discharge pressure of the drug acquired by the pressure sensors 111-1 and 111-2 draws a downward line over time, and this downward line exceeds the error range and differs from the normal time, it is in the path. It can be inferred that drug leakage may have occurred.

In addition, by making a judgment for each of the pressure sensors 111-1 and 111-2, it is possible to roughly identify the route in which the drug leak occurs. That is, in this example, when the measured value of the pressure sensor 111-1 is normal, but the measured value of the pressure sensor 111-2 is determined to be abnormal, it is downstream from the pressure sensor 111-1. It can be inferred that drug leakage has occurred in.

The pump sensor 106a measures the rotation speed of the rotor that sucks the drug from the drug tank 104 and discharges it downstream in the pump 106.
After measuring the rotation speed of the rotor of the pump 106 with this pump sensor 106a, it is compared with the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2, and whether or not it matches the normal ratio. By discriminating, it is possible to detect a drug leakage abnormality. That is, when the discharge pressure of the drug corresponding to the rotation speed of the pump 106 is not obtained as compared with the normal state, it is presumed that the drug leaks and the discharge pressure is reduced.

The nozzle type discrimination sensors 114-1, 114-2, 114-3, 114-4 are the drug nozzles 103-1, 103 attached to the drug discharge ports 103a-1, 103a-2, 103a-3, 103a-4. The types of -2, 103-3, and 103-4 can be identified.
Due to the difference in particle size of each drug to be sprayed, the drug nozzles 103-1, 103-2, 103-3, 103-4 are usually used differently depending on the drug. Therefore, by determining whether or not the types of the drug nozzles 103-1, 103-2, 103-3, and 103-4 are appropriate, it is possible to prevent erroneous spraying of the drug.

Specifically, for example, the discharge port is provided with a mechanism for fitting or engaging with the drug nozzles 103-1, 103-2, 103-3, 103-4, and the drug nozzles 103-1, 103-2, 103. -3 and 103-4 are mechanisms for fitting or engaging with the fitting or engaging mechanism on the spout side, and are a plurality of drug nozzles 103-1, 103-2, 103-3, 103-4. A mechanism with a different shape is provided for each. Then, when the drug nozzles 103-1, 103-2, 103-3, 103-4 are attached to the discharge port, different shapes are identified for each drug nozzle 103-1, 103-2, 103-3, 103-4. By doing so, the types of drug nozzles 103-1, 103-2, 103-3, and 103-4 can be identified.
As a result, it is possible to prevent the drug from drifting due to the use of a drug having a particle size smaller than that of the drug to be used.

In the middle of the route from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, 103-4, there is a discharge port with a cock for discharging the medicine stored in the route to the outside. (Indicated as "DRAIN" in FIG. 6) is provided. When discharging the chemicals accumulated in the route from the chemical tank 104 to the chemical nozzles 103-1, 103-2, 103-3, 103-4, such as after the chemicals have been sprayed on the field 403, The drug can be discharged from this discharge port.

In the present embodiment, as shown in FIG. 7, the flight controller 501 has a determination processing unit 11 for determining an abnormality in drug leakage, a threshold information storage unit 22 that stores data required for the determination processing, and a check valve 121. It has a control unit 12 that controls the opening / closing operation of -1 and 121-2 and the spraying operation of chemicals.
Note that FIG. 7 shows only the functions necessary for preventing the leakage of the drug in the present embodiment as the functions provided by the flight controller 501.

The control unit 12 causes the drone 100 to take a predetermined safety action when it is determined that a drug leakage abnormality has occurred as a result of the judgment processing by the judgment processing unit 11 described later.
Here, 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" that 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 takeoff point. A 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.
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 in which a drug is usually 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 with the drug.
In addition, the evacuation action also includes an "emergency stop" in which all rotors are stopped and the drone 100 is dropped downward from the spot.

Flight control measures are measures that regulate flight in the preparatory stage before flight, such as refusing the flight order of the user or requesting 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 control unit 12 may or may not cause an abnormality in the drone 100, and may control the discharge amount or flow rate of the drug to a predetermined amount based on the discharge amount or flow rate of the drug measured by each sensor. Check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are opened and closed.

The threshold value information storage unit 22 is a storage unit that stores reference threshold values such as pressure and flow rate during judgment processing by the judgment processing unit 11 described later.

The judgment processing unit 11 can execute the following first and second judgment processes. The flow of each determination process is as shown in FIG. 8, and each process will be described based on this.

The judgment processing unit 11 is in a state where the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, and 121-7 are closed as the first judgment processing. , The change with time of the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2 is acquired, and the change with time of the discharge pressure of the acquired drug and the normality stored in the threshold information storage unit 22. It is possible to judge the leakage abnormality of the drug by comparing it with the time-dependent change in the discharge pressure of the drug.

That is, the determination processing unit 11 acquires the change with time of the discharge pressure of the drug as the status (S101), and determines the leakage abnormality by comparing the change with time in the normal state stored in the threshold information storage unit 22. (S102). As a result, when it is determined that the leak is abnormal, the control unit 12 takes a predetermined safety action (S103).

Regarding this first judgment process, not only the change over time in the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2 but also the pressure sensors 111-1 and 111-2 measure the pressure. Leakage abnormality can also be determined based on the change over time in the pressure loss calculated from the discharge pressure.

As a second judgment process, the rotation speed of the rotor of the pump 106 is measured by the pump sensor 106a, and the ratio is compared with the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2. By determining whether or not the ratio matches the normal ratio stored in the threshold information storage unit 22, it is possible to determine an abnormality in drug leakage.

That is, the determination processing unit 11 acquires the rotation speed of the rotor of the pump 106 and the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2 as the status (S101). Then, the ratio is calculated by comparing these, and the leakage abnormality is determined based on whether or not the ratio matches the normal ratio stored in the threshold information storage unit 22 (S102). As a result, when it is determined that the leak is abnormal, the control unit 12 takes a predetermined safety action (S103).

When a drug leakage abnormality is detected as a result of the determination process by the determination processing unit 11, the control unit 12 executes an operation for ensuring safety. Specifically, when a drug leakage abnormality is detected, the control unit 12 sends a control signal to the pump 106 to stop the drug discharge and close the check valves 121-1 and 121-2. Valve and maintain the valve closed state. Further, when an abnormality is detected in the pre-flight preparation stage of the drone 100, the flight command from the user 402 may be restricted until the abnormal state is resolved.

In addition to the above control, the flight controller 501 causes the control unit 12 to take a predetermined safety action when it detects an abnormal state of the drone 100 (S201), as shown in FIG.

For example, when the battery 502, which is the main power source of the drone 100, is stopped, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are used by the standby power supply or the like. The valve is closed and the valve closed state is maintained to suppress the leakage of the drug.

In another example, an impact sensor that detects a collision or crash of the drone 100 is attached to the drone 100, and when the impact sensor detects a collision or crash of the drone 100, the flight controller 501 (control unit 12) checks back. Valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 are forcibly closed to prevent drug leakage.

In another example, based on the information from the open / close sensor 104a attached to the lid of the drug tank 104 and capable of detecting the open / closed state, the open state of the lid is regarded as an abnormal state and detected, and the control unit 12 detects this. It is also possible to take certain safety actions.

In another example, the discharge pressure of the drug measured by the pressure sensors 111-1 and 111-2, the pressure loss calculated from the discharge pressure measured by the pressure sensors 111-1 and 111-2, and the pump sensor 106a. Check valves 121-1, 121-2, 121-3, 121-4, 121 when an abnormality in the discharge pressure of the drug is found based on the measured information such as the rotation speed of the rotor in the pump 106. -5, 121-6, 121-7 are closed and the valve closed state is maintained to suppress drug leakage.

In addition to the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7, the discharge port of the drug tank 104 and the drug nozzle 103-1, 103 A separate blocking mechanism may be provided at points such as -2, 103-3, and 103-4 to forcibly block the discharge or delivery of the drug when an abnormality such as a drug leak, collision, or crash is detected.

It is preferable that the drug leakage abnormality detection executed by each sensor and the determination processing unit 11 is performed as an inspection at the preparatory stage for spraying the drug, that is, at the stage before the drone 100 is flown. In addition, regardless of this, it is possible to configure the drone 100 as a redundant system that is constantly or intermittently executed at a predetermined timing even when the drone 100 is being flown and the chemicals are sprayed on the field 403.

Further, in the above embodiment, the judgment processing unit 11 is provided in the flight controller 501 of the drone 100, but the present invention is not limited to this, and a server or the like that acquires data from the flight controller 501 via a predetermined communication line is applicable. A judgment processing unit may be provided so that the judgment processing can be executed on the server or the like.

Although the embodiment of the drone for the purpose of spraying the drug has been described, the present invention can be applied to, for example, an agricultural drone in which the growth is monitored by a camera without spraying the drug, and a general drone.

(Technically remarkable effect of the present invention)
According to the present invention, in an agricultural machine for spraying a drug, leakage of the drug can be reliably detected and safety can be enhanced. In particular, it can be detected automatically and instantly by a sensor. In addition, even if the drug leaks, the volume of the drug in the route between the adjacent check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7. Is safe because it is less than the leakage allowance, and check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121- depending on the detection of abnormality. Since 7 is automatically closed, the effect of drug leakage can be minimized.
In addition, it can be widely applied to various agricultural machines for spraying chemicals.

The present invention provides agricultural unmanned air vehicle to perform chemical spraying or the like, such as pesticides against field (drone), in particular, drones enhanced safety, contact and, a control method thereof.

Claims (17)

It is a system that has a drug tank for storing the drug and a discharge port for discharging the drug to the outside, and is provided in an agricultural machine for spraying the drug to prevent the drug from leaking.
A blocking mechanism that blocks the path from the drug tank to the discharge port,
It has a control means for controlling the blocking mechanism and blocking the path from the chemical tank to the discharge port when the agricultural machine is in an operating state in which the chemical is not discharged.
Drug leakage prevention system. The shutoff mechanism is a check valve.
The drug leakage prevention system according to claim 1. The shutoff mechanism is a solenoid valve.
The drug leakage prevention system according to claim 1. A plurality of the blocking mechanisms are provided in the path from the drug tank to the discharge port.
The drug leakage prevention system according to any one of claims 1 to 3. The blocking mechanism is provided at least at a discharge port for discharging the drug to the outside.
The drug leakage prevention system according to any one of claims 1 to 4. The blocking mechanism is provided at least at the discharge port of the drug tank.
The drug leakage prevention system according to any one of claims 1 to 5. In the path from the drug tank to the outlet of the drug to the outside
The plurality of blocking mechanisms are provided for each predetermined leakage allowance.
The drug leakage prevention system according to any one of claims 4 to 6. A pressure sensor provided in the path from the drug tank to the drug discharge port,
Further having the above-mentioned drug leakage abnormality detecting means,
The leak abnormality detecting means acquires a change over time in the discharge pressure of the drug measured by the pressure sensor, and detects the abnormality based on the change over time in the discharge pressure of the acquired drug.
The drug leakage prevention system according to any one of claims 1 to 7. The agricultural machine has a pump, which discharges the drug stored in the drug tank downstream.
Further having a pump sensor for measuring the rotation speed of a rotor that sucks the medicine from the medicine tank and discharges the medicine downstream in the pump.
The leak abnormality detecting means further detects an abnormality based on the discharge pressure of the drug measured by the pressure sensor.
The drug leakage prevention system according to claim 8. Further, when an abnormality is detected by the leak abnormality detecting means, the control means controls the blocking mechanism to block the path from the drug tank to the discharge port, and sprays the drug by the agricultural machine. To regulate,
The drug leakage prevention system according to claim 8 or 9. The control means further regulates the drive of the agricultural machine when an abnormality is detected by the leak abnormality detecting means.
The drug leakage prevention system according to claim 8 or 9. It has an open / close sensor, which is attached to the lid of the drug tank and can detect the open / closed state.
The leak abnormality detecting means further detects a state in which the lid is opened as an abnormal state based on the information from the open / close sensor.
The drug leakage prevention system according to any one of claims 8 to 11. The control means further controls the shutoff mechanism to block the path from the drug tank to the discharge port when the main power supply is stopped, and maintains the shutoff state.
The drug leakage prevention system according to any one of claims 1 to 12. It also has an impact sensor, which detects a collision or crash of the agricultural machinery.
Further, when the impact sensor detects a collision or a crash of the agricultural machine, the control means controls the blocking mechanism to forcibly block the path from the drug tank to the discharge port.
The drug leakage prevention system according to any one of claims 1 to 13. The agricultural machine is a drone,
The drug leakage prevention system according to any one of claims 1 to 14. It is a method executed by a system that has a drug tank for storing a drug and a discharge port for discharging the drug to the outside, is provided in an agricultural machine for spraying the drug, and prevents leakage of the drug. ,
A system including a blocking mechanism that blocks the path from the drug tank to the discharge port
A process of blocking the path from the chemical tank to the discharge port is executed by controlling the blocking mechanism and when the agricultural machine is in an operating state in which the chemical is not discharged.
How to prevent drug leakage. A computer program that has a drug tank for storing drugs and a discharge port for discharging the drug to the outside, and is provided in an agricultural machine that sprays the drug and is executed by a system that prevents the drug from leaking. ,
For a system provided with a blocking mechanism that blocks the path from the drug tank to the discharge port.
The blocking mechanism is controlled to execute a process of blocking the path from the chemical tank to the discharge port when the agricultural machine is in an operating state in which the chemical is not discharged.
Computer program.

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