WO2019225762A1

WO2019225762A1 - Drone system, drone, controller, method for controlling drone system, and control program of drone system

Info

Publication number: WO2019225762A1
Application number: PCT/JP2019/020825
Authority: WO
Inventors: 千大和氣; 洋柳下
Original assignee: 株式会社ナイルワークス
Priority date: 2018-05-25
Filing date: 2019-05-27
Publication date: 2019-11-28
Also published as: JP6803592B2; JPWO2019225762A1

Abstract

[Problem] To provide a highly-safe drone. [Solution] A drone system 500 that operates in mutual cooperation of a controller 401 and a drone 100 that are connected to each other via a network (NW). The drone system has a plurality of states different from one another, and the drone system satisfies a condition set for each state to thereby transit to other state corresponding to the condition. The drone comprises a first state transition determination unit 113 for determining whether or not a condition is satisfied for each of the plurality of states. The controller comprises a second state transition determination unit 413 that determines whether or not a condition is satisfied for each of the plurality of states. The first state transition determination unit and the second state transition determination unit perform determination alternatively.

Description

DRONE SYSTEM, DRONE, CONTROLLER, DRONE SYSTEM CONTROL METHOD, AND DRONE SYSTEM CONTROL PROGRAM

The present invention relates to a drone system, a flying body (drone), and more particularly to a drone with improved safety, a pilot, a control method for the drone system, and a drone system control program.

Applications of small unmanned helicopters (multicopters) generally called drones are progressing. One of the important application fields is spraying of chemicals such as agricultural chemicals and liquid fertilizers on agricultural land (field) (for example, Patent Document 1). In Japan, where the farmland is small compared to the West, it is often appropriate to use drones rather than manned airplanes and helicopters.

With the technology such as the Quasi-Zenith Satellite System and RTK-GPS (Real Time Time Kinematic-Global Positioning System), the drone can know the absolute position of its own aircraft accurately in centimeters during flight. Even in farmland with a narrow and complex terrain typical in Japan, it is possible to fly autonomously with a minimum of manual maneuvering, and to disperse medicines efficiently and accurately.

On the other hand, there were cases where it was difficult to say that safety considerations were sufficient for autonomous flying drones for spraying agricultural chemicals. A drone loaded with drugs weighs several tens of kilograms, which can have serious consequences in the event of an accident such as falling on a person. Moreover, since the operator of the drone is usually not an expert, a foolproof mechanism is necessary, but this has not been sufficiently considered. Until now, drone safety technology that presupposes maneuvering by humans has existed (for example, Patent Document 2), but it addresses the safety issues specific to autonomous flight drones, especially for agricultural chemical spraying There was no technology to do this.

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

Even during autonomous flight, a drone that can maintain high safety, that is, an unmanned air vehicle can be provided.

In order to achieve the above object, a drone system according to an aspect of the present invention is a drone system in which a controller and a drone are connected to each other through a network and operate in cooperation with each other. Have a plurality of states different from each other, the drone system transitions to another state corresponding to the condition by satisfying a condition determined for each state, and the drone has the condition for each of the plurality of states. A first state transition determination unit that determines whether or not the condition is satisfied, and the controller includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states. The first state transition determination unit and the second state transition determination unit alternatively perform the determination.

Further, the main terminal determination unit further determines which state transition determination unit performs the determination, the main terminal determination unit, when the first state transition determination unit is not in a state where the determination can be performed, It is good also as what determines a 2nd state transition determination part performing the said determination.

Also, the second state transition determination unit may perform the determination when the drone is powered off.

Further, the second state transition determination unit may perform the determination when a direct or indirect connection between the drone and the controller is disconnected.

In addition, the drone and the pilot are executing information on the state to which the drone system currently belongs, power on / off information and power capacity of the drone and the pilot, operation history, maintenance history, failure information, and emergency stop. Information on whether or not, the history of emergency stop, the connection state between the pilot and the drone, and the water or the drug injected into the drug tank provided in the drone, the amount and the injection history Of these, at least one piece of information may be transmitted and received.

Further, the drone may receive a power capacity of the pilot from the pilot and take a retreat action when the power capacity is a predetermined value or less.

The pilot may transmit an emergency stop command to the drone, and the drone may transmit reception information to the pilot indicating that the emergency stop command has been received.

A third state in which a base station is connected to at least one of the drone and the pilot through a network, and the base station determines whether the condition is satisfied for each of the plurality of states; A transition determination unit may be provided, and the first state transition determination unit, the second state transition determination unit, and the third state transition determination unit may alternatively perform the determination.

In addition, the base station executes information on the state to which the drone system currently belongs, as well as on / off information and power capacity of the drone and the base station, operation history, maintenance history, failure information, and emergency stop. Information on whether or not it is in the middle, history of emergency stop, the connection state of the drone, the pilot, and the base station, and the water or medicine injected into the medicine tank provided in the drone Alternatively, at least one piece of information about the amount and the injection history may be transmitted / received to / from the drone and / or the pilot.

Further, a farming support cloud is connected to at least one of the drone and the controller through a network, and the farming support cloud determines whether or not the condition is satisfied for each of the plurality of states. A four-state transition determination unit may be provided, and the first state transition determination unit, the second state transition determination unit, and the fourth state transition determination unit may alternatively perform the determination.

In addition, the first state transition determination unit, the second state transition determination unit, the third state transition determination unit, and the fourth state transition determination unit may alternatively perform the determination.

A drone according to another aspect of the present invention is a drone connected to a control device and a drone system connected to each other through a network and operating in cooperation with each other, and the drone system includes a plurality of different drones. The drone system transitions to another state corresponding to the condition by satisfying a condition determined for each state, and the drone satisfies the condition for each of the plurality of states. A first state transition determination unit that determines whether or not the first state transition determination unit includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states; The transition determination unit and the second state transition determination unit alternatively perform the determination.

A pilot according to another aspect of the present invention is a pilot connected to a drone and a drone system connected to each other through a network and operating in cooperation with each other, and the drone system includes a plurality of different drones. The drone system transitions to another state corresponding to the condition by satisfying a condition determined for each state, and the drone satisfies the condition for each of the plurality of states. A first state transition determination unit that determines whether or not the first state transition determination unit includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states; The state transition determination unit and the second state transition determination unit alternatively perform the determination.

A drone system control method according to another aspect of the present invention is a drone system control method in which a controller and a drone are connected to each other through a network and operate in cooperation with each other. The system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition defined for each state, and the control method includes: A first state transition determination step for determining whether or not the condition is satisfied for each state; and a second state transition determination for determining whether or not the controller satisfies the condition for each of the plurality of states The first state transition determination step and the second state transition determination step are alternatively performed.

A drone system control program according to another aspect of the present invention is a drone system control program that is executed by a computer in a drone system in which a controller and a drone are connected to each other through a network and operate in cooperation with each other. The drone system has a plurality of different states, the drone system transitions to another state corresponding to the condition by satisfying a condition defined for each state, and the drone system control program A first state transition determination instruction for determining whether or not the condition is satisfied for each of the plurality of states by the drone; and whether or not the condition is satisfied for each of the plurality of states by the pilot. A second state transition determination instruction for determining, the first state transition determination instruction and the second state transition determination instruction Alternatively causes the computer to execute state transition determination instruction.
The computer program can be provided by downloading through a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.

A drone (unmanned aerial vehicle) that can maintain high safety even during autonomous flight.

It is a top view which shows embodiment of the drone which comprises the drone system which concerns on this invention. It is a front view of the drone. It is a right view of the above-mentioned drone. It is a rear view of the drone. It is a perspective view of the drone. It is a whole conceptual diagram of the above-mentioned drone system. It is a schematic diagram showing the control function of the drone. It is a schematic diagram showing the structure of the chemical | medical agent spraying system which the said drone has. It is a functional block diagram which shows the function part regarding a state transition which the said drone which is a component of the said drone system, a control device, a base station, and a farming support cloud each have. It is a detailed functional block diagram of the drone. It is a schematic state transition diagram which shows the several state which the said drone system changes. It is an outline state transition diagram about medicine replenishment with which the above-mentioned drone system changes. It is a schematic state transition diagram regarding takeoff diagnosis in which the drone system changes. It is a schematic state transition diagram regarding the shutdown of the drone system in which the drone system transitions.

Hereinafter, an embodiment for carrying out the present invention will be described with reference to the drawings. All figures are exemplary. In the following detailed description, for the purposes of explanation, certain specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, embodiments are not limited to these specific details. In other instances, well-known structures and devices are schematically shown in order to simplify the drawing.

FIG. 6 shows an overall conceptual diagram of a system using an embodiment of a drug spraying application of the drone 100 according to the present invention. This figure is a schematic diagram, and the scale is not accurate. As shown in FIG. 9 and FIG. 9, the drone system 500 is a system in which a drone 100, a controller 401, a base station 404, and a farming support cloud 405 are connected to each other through a network (NW) and operate in cooperation with each other. is there. In the drone system 500, all the components may be directly connected to each other, or each component is directly connected to at least one component and separated via the directly connected component. The structure indirectly connected with the component of (2) may be sufficient.

The controller 401 is a means for transmitting a command to the drone 100 by an operation of the user 402 and displaying information received from the drone 100 (for example, position, amount of medicine, remaining battery level, camera image, etc.). Yes, it may be realized by a portable information device such as a general tablet terminal that operates a computer program. The drone 100 according to the present invention is desirably controlled so as to perform autonomous flight, but it is desirable that a manual operation can be performed at the time of basic operations such as takeoff and return, and in an emergency. In addition to the portable information device, an emergency controller with an emergency stop function may be used (the emergency controller is a dedicated device with a large emergency stop button, etc. so that a quick response can be taken in an emergency. Preferably). It is desirable that the controller 401 and the drone 100 perform wireless communication using Wi-Fi or the like.

The field 403 is a rice field, a field, or the like that is a target of drug spraying by the drone 100. Actually, the topography of the field 403 is complicated, and a topographic map cannot be obtained in advance, or the topographic map and the situation at the site may be different. Usually, the farm 403 is adjacent to houses, hospitals, schools, other crop farms, roads, railways, and the like. Further, there may be an obstacle such as a building or an electric wire in the field 403.

The base station 404 is a device that provides a base unit function of Wi-Fi communication, etc., and preferably functions as an RTK-GPS base station so that the exact position of the drone 100 can be provided (Wi-Fi The communication master unit and the RTK-GPS base station may be independent devices). The farming support cloud 405 is typically a computer group operated on a cloud service and related software, and is desirably wirelessly connected to the controller 401 via a mobile phone line or the like. The farming support cloud 405 may analyze the image of the field 403 taken by the drone 100, grasp the growth state of the crop, and perform processing for determining the flight route. In addition, the drone 100 may be provided with the topographic information and the like of the stored farm 403. In addition, the history of the flight of the drone 100 and the captured video may be accumulated and various analysis processes may be performed.

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

1 is a plan view of an embodiment of the drone 100, FIG. 2 is a front view thereof (viewed from the advancing direction side), FIG. 3 is a right side view thereof, FIG. 4 is a rear view thereof, and FIG. The figure is shown. In the specification of the present application, drone refers to power means (electric power, prime mover, etc.) and control method (whether wireless or wired, autonomous flight type or manual control type). First, it shall refer to an aircraft in general having a plurality of rotor blades or flying means.

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

The motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b are connected to the rotor blades 101-1a, 101-1b, 101-2a, 101- 2b, 101-3a, 101-3b, 101-4a, 101-4b Rotating means (typically an electric motor, but it may be a motor), one for each rotor blade It is desirable that The upper and lower rotors (for example, 101-1a and 101-1b) in one set and their corresponding motors (for example, 102-1a and 102-1b) are used for drone flight stability, etc. It is desirable that the axes are collinear and rotate in opposite directions. Although some of the rotor blades 101-3b and the 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 the foreign object is desirably a horizontal structure rather than horizontal. This is to prevent the member from buckling to the outside of the rotor blade and to interfere with the rotor at the time of collision.

The drug nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the drug downward, and it is preferable that four nozzles are provided. In addition, in this specification, a chemical | medical agent generally refers to the liquid or powder disperse | distributed to agricultural fields, such as an agricultural chemical, a herbicide, liquid fertilizer, an insecticide, a seed | species, and water.

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

The drone 100 sprays the medicine stored in the medicine tank 104 from the air toward the bottom toward the field. According to the drone 100 that performs aerial spraying, it is possible to spray the medicine more precisely on the field than when sprayed from the ground by a ground sprayer or the user. Therefore, unlike the case where it is sprayed from the ground, it is not sprayed over the area in the field and can be sprayed uniformly. Therefore, the medicine stored in the medicine tank 104 is a medicine having a high concentration, for example, about 10 times that of the medicine sprayed from the ground.

The schematic diagram showing the control function of the Example of the drone for chemical distribution which concerns on FIG. 7 at this invention is shown. The flight controller 501 is a component that controls the entire drone. Specifically, the flight controller 501 may be an embedded computer including a CPU, a memory, related software, and the like. The flight controller 501 receives motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the pilot 401 and input information obtained from various sensors described below. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b are controlled to control the flight of the drone 100. The actual rotational speed of motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b is fed back to the flight controller 501, and normal rotation is performed. It is desirable to have a configuration that can monitor whether Alternatively, a configuration in which an optical sensor or the like is provided on the rotor blade 101 and the rotation of the rotor blade 101 is fed back to the flight controller 501 may be employed.

The software used by the flight controller 501 is desirably rewritable through a storage medium or the like for function expansion / change, problem correction, or through communication means such as Wi-Fi communication or USB. In this case, it is desirable to protect by encryption, checksum, electronic signature, virus check software, etc. so that rewriting by illegal software is not performed. Further, a part of calculation processing used for control by the flight controller 501 may be executed by another computer that exists on the pilot 401, the farming support cloud 405, or in another place. Since the flight controller 501 is highly important, some or all of the components may be duplicated.

The battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is preferably rechargeable. The battery 502 is preferably connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker. The battery 502 is desirably a smart battery having a function of transmitting the internal state (amount of stored electricity, accumulated usage time, etc.) to the flight controller 501 in addition to the power supply function.

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

The 6-axis sensor 505 is means for measuring the acceleration of the drone body (further, means for calculating the speed by integrating the acceleration). The geomagnetic sensor 506 is a means for measuring the direction of the drone body by measuring geomagnetism. The atmospheric pressure sensor 507 is a means for measuring atmospheric pressure, and can indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface using the reflection of laser light, and it is preferable to use an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the ground surface using reflection of sound waves such as ultrasonic waves. These sensors may be selected according to drone cost targets and performance requirements. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind sensor for measuring wind force, and the like may be added. In addition, these sensors are preferably duplexed or multiplexed. When there are a plurality of sensors having the same purpose, the flight controller 501 may use only one of them, and when a failure occurs, it may be switched to an alternative sensor. Alternatively, a plurality of sensors may be used at the same time, and when each measurement result does not match, it may be considered that a failure has occurred.

The flow sensor 510 is a means for measuring the flow rate of the medicine, and is preferably provided at a plurality of locations in the path from the medicine tank 104 to the medicine nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become a predetermined amount or less. The multispectral camera 512 is a means for capturing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the lens orientation are different from those of the multispectral camera 512, the obstacle detection camera 513 is preferably a device different from the multispectral camera 512. The switch 514 is a means for the user 402 of the drone 100 to perform various settings. Obstacle contact sensor 515 is a sensor for detecting that the drone 100, in particular, its rotor or propeller guard part has come into contact with an obstacle such as an electric wire, building, human body, standing tree, bird, or other drone. . The cover sensor 516 is a sensor that detects that the operation panel of the drone 100 and the internal maintenance cover are open. The medicine inlet sensor 517 is a sensor that detects that the inlet of the medicine tank 104 is open. These sensors may be selected according to drone cost targets and performance requirements, and may be duplicated or multiplexed. Further, a sensor may be provided in the base station 404, the controller 401, or other place outside the drone 100, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information regarding wind power and wind direction may be transmitted to the drone 100 via Wi-Fi communication.

The flight controller 501 transmits a control signal to the pump 106 to adjust the medicine discharge amount and stop the medicine discharge. It is desirable that the current situation (for example, the rotational speed) of the pump 106 is fed back to the flight controller 501.

The LED 107 is a display means for informing the drone operator of the drone status. Display means such as a liquid crystal display may be used instead of or in addition to the LED. The buzzer 518 is an output means for notifying a drone state (particularly an error state) by an audio signal. The Wi-Fi handset function 519 is an optional component for communicating with an external computer or the like for software transfer or the like, separately from the controller 401. In place of or in addition to the Wi-Fi handset function, other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection May be used. The speaker 520 is an output means for notifying a drone state (particularly an error state) by a recorded human voice or synthesized voice. Depending on the weather conditions, it may be difficult to see the visual display of the drone 100 during the flight, and in such a case, the situation transmission by voice is effective. The warning light 521 is a display unit such as a strobe light that notifies the drone state (particularly an error state). These input / output means may be selected according to drone cost targets and performance requirements, and may be duplexed / multiplexed.

As shown in FIG. 8, the drug discharge control system included in the drone 100 is provided in an agricultural machine for spraying medicine, particularly in the drug spraying drone 100 in this example, and controls the medicine discharge with high precision. Detects abnormal discharge.

In the present embodiment, in the case of “discharging abnormality” of a medicine, the medicine discharge abnormality actually occurs, and in addition to a state where a medicine exceeding a specified value is being discharged, such a medicine discharging abnormality occurs. This includes a preparation state that has a fear and a setting abnormality state in which a medicine different from the spraying schedule is actually sprayed or may be sprayed.

As described above, the medicine tank 104 is a tank for storing the medicine to be sprayed.
The medicine tank 104 is provided with an openable / closable lid for filling medicine or taking out medicines stored. An open / close sensor 104a capable of detecting an open / close state is attached to the openable / closable lid. The open / close sensor 104a can be constituted by, for example, a magnet attached to the lid and a sensor attached to the main body and sensing the magnetic force and contact of the magnet. Thereby, the open / closed state of the lid is determined, the user can recognize the open / closed state of the lid, and the situation where the medicine is sprayed while the lid is open can be prevented.

Further, the medicine tank 104 is provided with a medicine type discrimination sensor 104b. The medicine type discrimination sensor 104b can discriminate the type of medicine stored in the medicine tank 104.

The medicine type discrimination sensor 104b is constituted by, for example, a device capable of measuring the viscosity, conductivity, or pH of the medicine in the medicine tank 104, and the value of each measured item and the reference value for each medicine And the type of medicine can be determined.

For example, if a cartridge type drug tank is used as the drug tank 104, an IC or the like in which the drug type data is recorded is attached to the cartridge type drug tank. By providing means for acquiring data, the type of medicine can be determined.

Here, since there are cases where a plurality of types of drugs are used, it is useful to determine whether or not the drug scheduled to be sprayed is stored in the drug tank 104. In particular, the particle size of the drug varies depending on the type. If a drug with a particle size smaller than the drug intended to be sprayed is accidentally sprayed, drift (scattering of the drug other than the target) will occur. , Adhesion) is high and cannot be overlooked.

Further, the medicine tank 104 is provided with a liquid shortage sensor 511 for detecting the liquid shortage of the medicine. In addition, when the medicine runs out, it includes not only the case where the medicine runs out, but also the case where the amount of medicine falls below a predetermined amount, and detects the running out of medicine according to an arbitrarily set amount. Can do.

It should be noted that a medicine transpiration detection function and a temperature / humidity measurement function in the medicine tank 104 may be provided in the medicine tank 104 so that the medicine is managed in an appropriate state.

The pump 106 discharges the medicine stored in the medicine tank 104 downstream, and each medicine nozzle 103-1, 103-2, via the medicine hose 105-1, 105-2, 105-3, 105-4, Send to 103-3, 103-4.

Note that the medicine is delivered from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, and 103-4. In the description of the present embodiment, the medicine is delivered along this delivery path. Is referred to as the downstream direction, and the opposite direction may be referred to as the upstream direction. A part of the medicine is sent again from the medicine tank 104 to the medicine tank 104 through the three-way valve 122. In this route, the three-way valve 122 side is referred to as a downstream direction, and the medicine tank 104 side is referred to as an upstream direction. Yes.

The expansion tank 131 is a tank for temporarily storing the medicine sent from the three-way valve 122 and returning it to the medicine tank 104.

The path from the three-way valve 122 to the drug tank 104 via the expansion tank 131 is a path for removing (defoaming) water in the drug tank 104 or bubbles in the drug. By circulating this path and temporarily storing it in the expansion tank 131, it is possible to defoam water or chemicals.

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

In this example, the check valve 121-1 is provided between the drug tank 104 and the pump 106, in the vicinity of the drug discharge port provided in the drug tank 104, and the check valve 121-2 is provided with the three-way valve 122 and the drug. The nozzles 103-1, 103-2, 103-3, 103-4 are provided, and check valves 121-4, 121-5, 121-6, 121-7 are provided to discharge the medicine 103a- 1, 103 a-2, 103 a-3, and 103 a-4, and a check valve 121-3 is provided between the three-way valve 122 and the expansion tank 131. The check valve 121-1 controls the medicine sent out from the medicine tank 104 in the downstream direction so that it cannot flow back to the medicine tank 104. The check valve 121-2 controls the medicine sent from the pump 106 in the downstream direction so that it cannot flow back to the pump 106. The check valve 121-3 controls the medicine sent from the three-way valve 122 to be sent in the upstream direction where the expansion tank 131 is present, so that the check valve 121-3 cannot flow back to the three-way valve 122. Furthermore, the check valves 121-4, 121-5, 121-6, 121-7 can block the discharge of medicine from the discharge ports 103a-1, 103a-2, 103a-3, 103a-4. I have to.

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

The three-way valve 122 is provided between the pump 106 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, A branch point of a path connected to 103-4 and a path connected from the pump 106 to the drug tank 104 via the expansion tank 131 is configured, and the drug is sent to each path according to the switching operation. The three-way valve 122 is, for example, a three-way solenoid valve.
Here, the path leading from the pump 106 to the drug nozzles 103-1, 103-2, 103-3, 103-4 causes the drug to be discharged from the drug nozzles 103-1, 103-2, 103-3, 103-4. It is a route for spraying medicine.
Further, as described above, the path leading from the pump 106 to the drug tank 104 via the expansion tank 131 is a path for removing (defoaming) bubbles in the drug.

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

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

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

The nozzle type discrimination sensors 114-1, 114-2, 114-3, 114-4 discriminate the types of the drug nozzles 103-1, 103-2, 103-3, 103-4 attached to the drug discharge ports. be able to.
Due to the difference in particle diameter for each sprayed drug, the drug nozzles 103-1, 103-2, 103-3, and 103-4 are usually used in accordance with the drug. Therefore, by determining whether the types of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 are appropriate, it is possible to prevent the wrong medicine from being sprayed.

Specifically, for example, a mechanism for fitting or engaging with the drug nozzles 103-1, 103-2, 103-3, 103-4 is provided at the discharge port, and the drug nozzles 103-1, 103-2, 103 are provided. -3, 103-4 is a mechanism that fits or engages with the spout-side fitting or engagement mechanism, and includes a plurality of drug nozzles 103-1, 103-2, 103-3, 103-4 A differently shaped mechanism is provided for each. When the medicine nozzles 103-1, 103-2, 103-3, 103-4 are attached to the discharge ports, different shapes are identified for the medicine nozzles 103-1, 103-2, 103-3, 103-4. By doing so, the types of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 can be determined.

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

It should be noted that water is injected into the drug tank 104 in the process of refilling the drug tank 104 with the drug, particularly in the water injection standby state (S31) and the air bleeding standby state (S32) described later. Each sensor relating to the drug, that is, the liquid shortage sensor 511, the pressure sensors 511-1 and 511-2, and the flow rate sensor 510 included in the drug discharge system operate similarly when the drug tank 104 is filled with water. . Further, the medicine type discrimination sensor 104b can discriminate that the medicine tank 104 contains water.

The drone system 500 in which the drone 100, the pilot 401, the base station 404, and the farming support cloud 405 are connected to each other and operate in cooperation with each other, the connection between one of the components and the other components is cut off, It is desirable that the state of the drone system 500 can be maintained and the operation as the drone system can be continued smoothly even when the power of such components is turned off.

Further, the drone system 500 has a plurality of different states. The drone system 500 transitions to another state corresponding to the condition by satisfying the condition determined for each state. The “state of the drone system 500” is a concept indicating that the conditions for transitioning to another state are different from each other, and each state may be configured independently of each other in the software system configuration. May be configured in the same system configuration. When the drone system 500 belongs to a certain state, the drone system 500 performs an operation determined for each state. If the condition determined for each state is not satisfied, the drone system 500 remains in that state. In addition, there may be a plurality of conditions to be determined, and there may be a state that can transition to a plurality of states.

If there is an abnormality in any of the drone 100, the pilot 401, the base station 404, and the farming support cloud 405, the safety of the entire drone system 500 may be threatened. Since the state of the drone system 500 is correctly determined and the operation is regulated according to the determination, the drone 100 is not allowed to fly or the medicine is not sprayed when the condition is not satisfied. That is, the drone system 500 can be operated safely. In particular, the drone 100 can fly safely and spray the medicine.

As shown in FIG. 9, the drone 100 includes a first state transmission unit 111, a first state reception unit 112, a first state transition determination unit 113, a first main terminal determination unit 114, and a first state storage unit. 115. In addition, the pilot 401, the base station 404, and the farming support cloud 405 include the first state transmission unit 111, the first state reception unit 112, the first state transition determination unit 113, the first main terminal determination unit 114, and the first Each has a configuration corresponding to the state storage unit 115. That is, the controller 401 includes a second state transmission unit 411, a second state reception unit 412, a second state transition determination unit 413, a second main terminal determination unit 414, and a second state storage unit 415. The base station 404 includes a third state transmission unit 441, a third state reception unit 442, a third state reception unit 443, a third main terminal determination unit 444, and a third state storage unit 445. The farming support cloud 405 includes a fourth state transmission unit 451, a fourth state reception unit 452, a fourth state transition determination unit 453, a fourth main terminal determination unit 454, and a fourth state storage unit 455.

The first to fourth state transmitting units 111, 411, 441, and 451 are connected to the information on the state to which the drone system 500 currently belongs, and the terminal information indicating the states of the terminals of the drone 100, the pilot 401, and the base station 404, respectively. It is a functional unit that transmits to a component. The other components here are the drone 100, the pilot 401, the base station 404, or the farming support cloud 405. The terminal information is numerical values indicating, for example, power on / off information of the drone 100, the pilot 401, and the base station 404, and the power capacity of each. In addition, the terminal information refers to the connection state between each component, the operation history and maintenance history of each component, the failure information of each component, information on whether or not an emergency stop is being performed, and an emergency stop. It may include the history, the amount of water or medicine injected into the medicine tank 104, the amount thereof, the injection history, and the like.

The first to fourth state transmission units 111, 411, 441, and 451 may transmit cloud information indicating the status of the farming support cloud 405 to other components. The cloud information may include, for example, a history in which information stored in the farming support cloud 405 is updated, that is, the last update date and time, information on the terminal that performed the update, and the like.

The first to fourth status receiving units 112, 412, 442, and 452 include information on the status to which the drone system 500 currently belongs, and terminal information indicating the status of the drone 100, the pilot 401, and the base station 404. It is a functional unit that receives from the first to fourth state transmission units 111, 411, 441, 451. Further, the first to fourth state receiving units 112, 412, 442, and 452 may receive cloud information from other components.

That is, the base station 404 transmits the state to which the drone system 500 currently belongs to at least one of the drone 100 and the controller 401. Further, the base station 404 receives the state to which the drone system 500 currently belongs from at least one of the drone 100 and the pilot 401. The base station 404 has at least one connection state selected from the connection state between the pilot 401 and the base station 404, the connection state between the drone 100 and the base station 404, and the connection state between the pilot 401 and the drone 100. Receive from at least one of the pilots 401.

In addition, the base station 404 may transmit and receive the connection state between each component and the farming support cloud 405 with at least one other component.

According to the first to fourth state transmitting units 111, 411, 441, and 451 and the first to fourth state receiving units 112, 412, 442, and 452, each component grasps each other's terminal information and cloud information of other components connected in the drone system 500 be able to. In other words, each component can maintain the state of the drone system 500 and smoothly continue operation as the drone system 500 even when any component is out of cooperation.

Further, according to the configuration in which the controller 401 always grasps the terminal information and the cloud information, the user 402 can always grasp the state of the drone system 500.

The first to fourth state transition determination units 113, 413, 443, and 453 are functional units that recognize a state to which the drone system 500 currently belongs and determine whether or not a condition for transitioning from the current state to another state is satisfied. is there. The first to fourth state transition determination units 113, 413, 443, and 453 can make a determination regarding the same condition, and each state transition determination unit can operate as an alternative to another state transition determination unit.

1st thru | or 4th state transition determination part 113,413,443,453 alternatively determines whether the conditions for changing to another state are satisfied. That is, when one state transition determination unit makes a determination, the other state transition determination units do not perform the determination. In the following description, a component having a state transition determination unit that determines a state transition is also referred to as a “main terminal”. According to this configuration, even when one of the components is turned off, or when the connection between any of the components is disconnected and the operation as the main terminal is not possible, another component is The state transition can be determined as the main terminal, and the state of the drone system 500 can be transitioned.

The first to fourth main terminal determining units 114, 414, 444, and 454 are functional units that determine which component is the main terminal based on information received by the first to fourth state receiving units 112, 412, 442, and 452. A priority is determined in advance which component is the main terminal, that is, which of the first to fourth state transition determination units 111, 411, 441, and 451 determines the state transition. Specifically, when the power of each component is turned on and all the components are coordinated, the drone 100 becomes the main terminal. If the drone 100 is powered off or disconnected from each component of the drone 100 and cannot operate as a main terminal, the first to fourth main terminal determining units 114, 414, 444, and 454 determine the controller 401 Becomes the main terminal. The priority order is an example, and when the drone 100 cannot operate as the main terminal, the base station 404 or the farming support cloud 405 may be the main terminal. The priority order may be fixed or may vary. For example, the priority may vary depending on the state to which the drone system 500 currently belongs.

In the present embodiment, the main terminal determination unit is provided in each component. According to this configuration, the main terminal can be determined even when any component is disconnected and uncoordinated. When all the components are operating in cooperation, it is sufficient that any one of the main terminal determination units determines the main terminal. For example, the first main terminal determination unit provided in the drone 100 114 may determine that the drone 100 is the main terminal. When the drone 100 is out of cooperation, the second main terminal determination unit 114 determines that the controller 401 becomes the main terminal based on the information to that effect.

The first to fourth state storage units 115, 415, 445, and 455 are functional units that store terminal information indicating the state to which the drone system 500 currently belongs and the states of the drone 100, the controller 401, and the base station 404. The first state storage unit 115 may further store cloud information indicating the status of the farming support cloud 405.

The first to fourth state storage units 115, 415, 445, and 455 are at least partially configured by a nonvolatile storage area, for example, a nonvolatile memory. According to this configuration, information can be stored even when the power of each component is turned off. Since failure information and maintenance history are carried over when the power is turned on again, repairs and maintenance can be performed reliably even for failures and abnormalities that occur before the power is turned off. It can be used safely.

As shown in FIG. 10, the drone 100 includes a water injection detection unit 31, an air bleeding detection unit 32, and a full tank detection unit 33 as a configuration for managing the injection of the drug into the drug tank 104.

The water injection detection unit 31 is a functional unit that detects that water has been injected into the chemical tank 104.

The air bleeding detection unit 32 is a functional unit that detects that the air bleeding operation for causing the air inside the drug tank 104 to flow out of the drug tank 104 is completed. When the three-way valve 122 opens the path on the expansion tank 131 side, the air bleeding detection unit 32 performs air in the path from the medicine tank 104 to the three-way valve 122 in FIG. 6 (hereinafter also referred to as “upstream path”). Detect that the removal is complete. When the three-way valve 122 opens the path on the drug nozzles 103-1 to 4-4 side, the air bleeding detection unit 32 passes the path from the three-way valve 122 to the drug nozzles 103-1 to 4 in FIG. It is also referred to as “route”.) It is detected that air bleeding has been completed.

The air bleeding detection unit 32 detects air bleeding in the upstream path based on the rotational speed of the pump 106 detected by the pump sensor 106a and the measurement result of at least one of the pressure sensor 111-1 and the flow sensor 510. Detect that the air bleeding operation is complete. In the downstream path, specifically, the air bleeding detection unit 32 sets the value of the pressure sensor 111-1 and the value of the flow rate sensor 510 according to the rotation speed of the pump 106 when the air bleeding operation is completed. At least one value is stored as a reference value. The air bleeding detection unit 32 compares a reference value corresponding to the number of rotations of the pump 106 with an actual measurement value of at least one of pressure and flow rate. When the difference is within the predetermined range, the air bleeding detection unit 32 detects that the air bleeding operation is completed.

The air bleeding detection unit 32 detects air bleeding in the downstream path based on the rotation speed of the pump 106 detected by the pump sensor 106a and the measurement result of at least one of the pressure sensor 111-2 and the flow rate sensor 510. Detecting that the air bleeding operation is complete. The air bleeding detection unit 32 stores the value of the pressure sensor 111-2 corresponding to the rotation speed of the pump 106 and the value of the flow rate sensor 510 as a reference value when the air bleeding operation is completed. Then, the completion of the air bleeding operation is detected in comparison with the actually measured value. Further, the value of the pressure sensor 111-1 may also be used for air bleeding detection in the downstream path.

Note that the values of the pressure sensors 111-1 and 111-2 and the value of the flow sensor 510 differ according to the number of rotations of the pump 106 depending on the path through which the three-way valve 122 is open. The air bleeding detection unit 32 determines a reference value to be compared with the actual measurement value based on information on which path the three-way valve 122 is open.

The full tank detection unit 33 is a functional unit that detects that the medicine tank 104 has been replenished with medicine.

As shown in FIG. 10, the drone 100 has a flight start command receiving unit 51 as a configuration for diagnosing whether the conditions for the drone 100 to fly safely and perform drug spraying are ready before takeoff, A plan confirmation unit 52, a drone determination unit 53, and an external environment determination unit 54 are provided.

The flight start command receiving unit 51 is a functional unit that receives a flight start command input from the user 402. The flight start command is a command transmitted from the controller 401 to the drone 100. Since the flight start command is a command for transmitting the intention of the user 402 to the drone 100, the flight start command is transmitted to the drone 100 with the operation of the user 402 as a starting point.

The flight plan confirmation unit 52 is a functional unit that confirms whether or not the drone 100 normally holds information related to the flight plan of the drone 100. The flight plan includes, for example, the position of a field where chemicals are sprayed during flight, and the flight route in the field. The flight plan is information registered in advance in the drone 100 and can be appropriately rewritten. Further, the flight route included in the flight plan is automatically calculated based on the designated position of the field. The flight route may be uniquely calculated based on the position of the field, or may be a different flight route that is calculated every time a flight plan is formulated in consideration of other conditions. Also good.

The drone determination unit 53 is a functional unit that determines that each configuration of the drone 100 itself is operating within a normal range. The components included in the drone 100 are, for example, the battery 502, the motor 102, various sensors, and the like.

The external environment determination unit 54 is a functional unit that mainly determines whether the external environment of the drone 100 is an environment suitable for the flight of the drone 100. The external environment includes, for example, the presence / absence of disturbance that interferes with radio waves connecting each component, GPS reception sensitivity, temperature, and the like.

Drone System State Transition As shown in FIG. 11, the drone system 500 according to the present embodiment includes a stop state (S0), an initial check state (S1), a medicine preparation standby state (S2), and a medicine preparation state ( S3), start-of-flight standby state (S4), take-off diagnosis state (S5), flight dispersion state (S6), standby state after landing (S7), maintenance state (S8), and shutdown state (S9) And can take.

The stop state (S0) is a state in which the power of the drone 100, the pilot 401, and the base station 404 is turned off. When the power of each component is turned on in the stop state (S0), the drone system 500 transitions to the initial check state (S1). The power of each component may be manually turned on by the user 402, or the power of other components is turned on by operating one component of the user 402. You may come to become. For example, the drone 100 and the base station 404 may be turned on when the user 402 turns on the power of the controller 401 and starts a dedicated application.

The initial check state (S1) is a state in which after each component is activated, it is confirmed whether or not each component is operating normally. In the initial check state, for example, it is confirmed whether or not each component is powered on, and whether or not communication between the components is normally performed. When it is confirmed that all the predetermined confirmation items are normal, the drone system 500 transitions to the medicine preparation standby state (S2).

The medicine preparation standby state (S2) is a state in which the user 402 waits for a command to start injecting medicine into the medicine tank 104 of the drone 100, that is, a medicine injection start instruction is input. It is. When the medicine injection start command input by the user 402 is received, the drone system 500 transitions to the medicine preparation state (S3).

The drug preparation state (S3) is a state in which the drone system 500 belongs while the user 402 is injecting the drug into the drug tank 104.

As shown in FIG. 12, the medicine preparation state (S3) includes a water injection standby state (S31), an air bleeding standby state (S32), and a medicine standby state (S33).

The water injection standby state (S31) is a state in which water can be injected into the medicine tank 104. The water injection standby state (S31) is a state in which a transition from the medicine preparation standby state (S2) is made based on a medicine injection start command from the user. In the water injection standby state (S31), when the water injection detector 31 detects that water has been injected into the chemical tank 104, the drone system 500 transitions to the air bleeding standby state (S32). The drone system 500 may transition to the air bleeding standby state (S32) on the condition that the lid of the water injection port of the medicine tank 104 is locked by an appropriate lock mechanism.

The air bleeding standby state (S32) is a state in which the pump 106 is driven to perform air bleeding and wait for air to escape from the inside of the medicine tank 104 and the route from the medicine tank 104 to the medicine nozzles 103-1 to 104-3. . The air bleeding standby state (S32) further includes an upstream air bleeding standby state (S32-1) and a downstream air bleeding standby state (S32-2).

In the upstream air bleeding standby state (S32-1), the three-way valve 122 is opened to the expansion tank 131 side. The air existing in the drug tank 104 and in the upstream path is circulated through this path and temporarily stored in the expansion tank 131 and removed by driving the pump 106. When the air bleeding detection unit 32 detects the completion of the air bleeding operation in the upstream path, the drone system 500 transitions to the downstream air bleeding standby state (S32-2).

In the downstream air bleeding standby state (S32-2), the three-way valve 122 is opened to the drug nozzles 103-1 to 4-3 side. Air existing mainly in the downstream path is pushed by the moving water by driving the pump 106 and is discharged from the nozzle 103 to the outside of the medicine tank 104. That is, air removal from the medicine tank 104 in the downstream path is performed. When the air bleeding detection unit 32 detects the completion of the air bleeding operation, the drone system 500 transitions to the medicine standby state (S33).

The medicine standby state (S33) is a state where the lid of the water inlet is unlocked and the medicine can be injected from the water inlet. When the full tank detection unit 33 detects that the medicine tank 104 has been replenished with the medicine, the drone system 500 transitions to the flight start standby state (S4).

The flight start standby state (S4) is a state in which a flight start command from the user 402 can be input. The flight start command is a command that prompts the user 402 to take off the drone 100. As shown in FIG. 11, when the flight start command receiving unit 51 receives the flight start command, the drone system 500 shifts to a take-off diagnosis state (S5) for performing a take-off diagnosis required before the drone 100 takes off.

The take-off diagnosis state (S5) is a state in which the drone system 500 belongs while diagnosing whether the conditions for the drone 100 to fly safely and perform the chemical spraying are in place before the drone 100 takes off.

As shown in FIG. 13, the takeoff diagnosis state (S5) includes a drone determination state (S51), a flight plan confirmation state (S52), and an external environment determination state (S53).

The drone determination state (S51) is a state to which the drone system 500 belongs while it is determined by the drone determination unit 53 that each configuration of the drone 100 itself is operating within a normal range. When the drone determination unit 53 determines that each component is operating within a normal range, the drone system 500 transitions to the external environment determination state (S53). When an abnormality is confirmed by the drone determination unit 53, a message to that effect is displayed on the controller 401, and a transition is made to a standby state (S7) after landing.

The flight plan confirmation state (S52) is a state in which the drone system 500 belongs while the flight plan confirmation unit 52 confirms whether or not the drone 100 normally holds information on the flight plan of the drone 100. When the information about the flight plan is confirmed, the drone system 500 transitions to the external environment determination state (S53). If the information regarding the flight plan is not normally held, the drone system 500 performs an operation of obtaining information regarding the flight plan. This operation may be received from the farming support cloud 405, for example. In addition, when a determination by the user 402 is necessary, such as designation of a field where medicine spraying is performed, the user 402 is notified through the controller 401 to prompt the determination.

The external environment determination state (S53) is a state to which the drone system 500 belongs while it is determined by the external environment determination unit 54 whether or not the external environment of the drone 100 is an environment suitable for the flight of the drone 100. When the external environment determination unit 54 determines that the external environment is suitable for flight, the drone system 500 takes off and transitions to the flight dispersion state (S6). Having a take-off diagnosis state (S5) immediately after take-off command and immediately before take-off makes it possible to reliably detect abnormalities that occur during other operations such as drug injection. High safety can be ensured as compared with the configuration that performs the above and the configuration that does not perform the diagnosis.

If the external environment determination unit 54 determines that the external environment is not suitable for the flight of the drone 100, the drone 100 stands by while landing. In addition, a message to that effect is displayed on the controller 401. Since the external environment is a factor that fluctuates rapidly in a short time, it is preferable to wait for the external environment to be in a state suitable for flight, instead of transitioning to another state.

The drone system 500 may prompt the user 402 for confirmation in the takeoff diagnosis state (S5) and input information indicating that the user 402 has confirmed as one condition of the state transition.

The drone system 500 may check the power capacity of the emergency pilot in the takeoff diagnosis state (S5). This is because when the power supply capacity of the emergency pilot is less than or equal to a predetermined value, an emergency stop command cannot be transmitted in the flight dispersion state (S6), which may impair safety. When the power capacity of the emergency pilot is below a predetermined level, the fact is displayed on the pilot 401 and the user 402 is urged to take measures such as replacing the battery of the emergency pilot. The same applies to the power supply capacity of the pilot 401 itself.

The flying spraying state (S6) is a state where the drone system 500 belongs while the drone 100 is flying and spraying the medicine on the field. When drone 100 lands, it changes to the standby state (S7) after landing.

When the emergency stop command is transmitted from the controller 401 or the emergency controller in the flight spraying state (S6), the drone 100 takes evacuation action. The evacuation action includes, for example, “emergency return” in which the user immediately moves to a predetermined return point on the shortest route. The predetermined return point is a point previously stored in the flight control unit 23, for example, a departure / arrival point 406. The landing point 406 is, for example, a land point where the user 402 can approach the drone 100. The user 402 can check the drone 100 that has reached the landing point 406, or manually carry it to another location. can do.

Also, the evacuation action includes landing action. “Landing operation” means “normal landing” that performs normal landing operation, “emergency landing” that descends and landes faster than normal landing, and all drones are stopped and the drone 100 is moved downward from the spot Including "Emergency stop" to drop. In “Emergency Landing”, not only landing at the same point as when performing normal landing while descending faster than normal landing and performing the same posture control as normal, but also the accuracy of posture control This includes the action to establish landing while the posture is slightly broken. As a specific example, the number of rotations of all the motors can be decreased slowly and evenly so that landing can be made while accurately descending although not directly below.

The drone 100 receives the power capacity of the pilot 401 from the pilot 401 at least in the flight spraying state (S6). The drone 100 takes evacuation action when the power supply capacity of the controller 401 is equal to or less than a predetermined value. When the power supply capacity of the pilot 401 is reduced, it is not possible to transmit a command related to the flight of the user 402 to the drone 100, and it is difficult to fly the drone 100 safely. Therefore, when the power supply capacity of the controller 401 is low, the drone 100 may be caused to take a retreat action even when the capacity of the battery 502 of the drone 100 is sufficient.

Similarly, when the power supply capacity of the emergency controller is below a predetermined level, the drone 100 should be evacuated.

When the drone system 500 receives an emergency stop command from the controller 401 or the emergency controller, the drone system 500 transits to an emergency stop state (S11). The drone system 500 receives the emergency stop command and transmits reception information indicating that the emergency stop command has been entered to the emergency stop state (S11). According to this configuration, the user 402 can know from the display on the controller 401 that the drone system 500 has transitioned to the emergency stop state (S11) as intended by the user 402.

The landing standby state (S7) is a state to which the drone system 500 belongs while preparing for switching work after landing. The post-landing standby state (S7) is a state in which a transition can be made to a plurality of states based on an operation command from the user 402 when the drone 100 is landing.

In the standby state after landing (S7), when receiving an operation command for switching the field for spraying medicine from the user 402, the drone system 500 enters the flight start standby state (S4) via the designated field switching route (D). Transition.

Upon receiving an operation command for performing maintenance from the user 402 in the standby state after landing (S7), the drone system 500 transitions to the maintenance state (S8).

In the standby state after landing (S7), when receiving an operation command for replenishing medicine from the user 402, the drone system 500 transitions to a medicine preparation standby state (S2).

According to the drone system 500 having the standby state (S7) after landing, even when the drone 100 that has finished spraying the drug on one field continues to spray the drug to another field or refills the drug, Can be migrated to. Specifically, when performing field switching and drug replenishment, the flight start standby state (without passing through other states such as the shutdown state (S9), stop state (S0), initial check state (S1)) ( Direct transition to S4) and drug ready standby state (S2).

The maintenance state (S8) is a state in which the drone system 500 belongs while the drone 100 is performing maintenance of the drone 100 itself. The maintenance includes an operation of automatically cleaning the outer casing of the drone 100, for example. When the maintenance in the maintenance state (S8) is completed, the drone system 500 transitions to the shutdown state (S9).

In the shutdown state (S9), the drone system 500 belongs until the drone 100, the pilot 401, and the base station 404 are disconnected from each other and the power of the drone 100, the pilot 401, and the base station 404 is shut down. It is.

As shown in FIG. 14, the shutdown state (S9) includes a drone shutdown state (S91) and another terminal shutdown state (S92).

The drone shutdown state (S91) is a state where the drone system 500 belongs until the drone 100 is shut down, that is, the preparation necessary for turning off the power is performed and the drone 100 is shut down. In the drone shutdown state (S91), the drone 100 stores the information stored in the first state storage unit 115 in the nonvolatile storage unit. In addition, the drone 100 transmits the information stored in the first state storage unit 115 to the farming support cloud 405 by the first state transmission unit 111.

The drone 100 releases the connection with the pilot 401 and the base station 404, and releases the cooperation with each component. And drone 100 is shut down.

When the drone 100 is shut down, the drone system 500 transitions to the other terminal shutdown state (S92). Here, when the drone 100 is the main terminal, the main terminal shifts to another component, for example, the controller 401 when the drone 100 is shut down.

In the transition of the main terminal, the pilot 401 may be determined as the main terminal by the first main terminal determination unit 114 before the drone 100 is shut down. Alternatively, the second main terminal determination unit 414 may detect that the drone 100 is powered off and determine the controller 401 as the main terminal.

The other terminal shutdown state (S92) is a state to which the drone system 500 belongs until the controller 401 and the base station 404 are shut down. The pilot 401 and the base station 404 may transmit the information stored in the second and third state storage units 415 and 445 to the farming support cloud 405 by the second and third state transmission units 411 and 441, respectively. Good.

When the drone 100, the pilot 401 and the base station 404 are all shut down, the drone system 500 stops. That is, the drone system 500 transitions to the stop state (S0).

When it is detected that the battery capacity of the drone 100 is less than the specified value in the drug preparation state (S3) or takeoff diagnosis state (S5), the drone system 500 will stop after landing via the battery dead route (C). Transition to the standby state (S7). When the battery capacity is below a predetermined level in the standby state after landing (S7), the drone system 500 shifts to the shutdown state (S9), and the battery 502 becomes replaceable.

When it is detected in the medicine preparation state (S3) or the standby state after landing (S7) that the medicine in the medicine tank 104 is less than or equal to a predetermined value, the drone system 500 prepares the medicine through the medicine out route (B). Transition to the standby state (S2). When it is detected that the medicine in the medicine tank 104 is equal to or less than a predetermined value in the medicine preparation state (S3), that is, the drone 100 is landing, the transition to the medicine preparation standby state (S2) may be made before takeoff. it can. When the medicine tank 104 is sufficiently filled in the medicine preparation state (S3), there is a high possibility that the medicine is depleted in the flying spray state (S6) of the drone 100. Accordingly, the drone 100 is landed from the flight spraying state (S6), transitions to the standby state (S7) after landing, and then transitions to the medicine preparation standby state (S2). In this way, since the drone system 500 can detect a medicine out and can transition from two different states to the medicine preparation standby state (S2), the drone system 500 performs a redundant state transition even when the medicine runs out. It is possible to smoothly transition to the next state without any problem.

According to the drone system according to the present invention in which the drone, the controller, the base station, and the farming support cloud are connected to each other and operate in cooperation with each other, the connection between any of the components and the other components is cut off, Even when the power of any component is turned off, the state of the drone system can be maintained and the operation as the drone system can be continued smoothly.

In this description, the 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 drones. This is particularly useful for drones that perform autonomous flight.

(Technologically significant effect of the present invention)
The drone system according to the present invention can provide a drone system that can maintain high safety even during autonomous flight.

Claims

A pilot,
With drone,
Is a drone system that is connected to each other through a network and operates in cooperation with each other,
The drone system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition determined for each state,
The drone includes a first state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The pilot includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The first state transition determination unit and the second state transition determination unit perform the determination alternatively.
Drone system.
It further has a main terminal determination unit that determines which state transition determination unit performs the determination, and the main terminal determination unit includes a second terminal when the first state transition determination unit is not in a state where the determination can be performed. The drone system according to claim 1, wherein the state transition determination unit determines to perform the determination.
The drone system according to claim 1 or 2, wherein the second state transition determination unit performs the determination when the power of the drone is off.
The drone system according to any one of claims 1 to 3, wherein the second state transition determination unit performs the determination when a direct or indirect connection between the drone and the controller is disconnected.
The drone and the pilot are executing information on the state to which the drone system currently belongs, power on / off information and power capacity of the drone and the pilot, operation history, maintenance history, failure information, and emergency stop. Information on whether or not, history of emergency stop, connection state between the pilot and the drone, and whether or not the water or medicine injected into the medicine tank provided in the drone, its amount and injection history The drone system according to any one of claims 1 to 4, wherein at least one piece of information is transmitted / received to / from each other.
The drone system according to any one of claims 1 to 5, wherein the drone receives a power capacity of the pilot from the pilot, and takes a retreat action when the power capacity is a predetermined value or less.
The drone system according to claim 1, wherein the pilot transmits an emergency stop command to the drone, and the drone transmits reception information indicating that the emergency stop command has been received to the pilot. .
The plurality of states that the drone system has are:
A drone shutdown state waiting for the drone to shut down;
Other terminal shutdown state waiting for shutdown of the pilot,
Further including
The drone system stores information stored in the drone in the non-volatile storage unit in the drone shutdown state, and transitions to the other terminal shutdown state by the second state transition determination unit when the drone is shut down. The drone system according to any one of claims 1 to 7, wherein it is determined that the pilot is shut down in the other terminal shutdown state.
Base stations are connected to each other through a network with at least one of the drone and the pilot,
The base station includes a third state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The drone system according to any one of claims 1 to 8, wherein the first state transition determination unit, the second state transition determination unit, and the third state transition determination unit perform the determination alternatively.
The base station is currently executing information on the state to which the drone system currently belongs, as well as on / off information and power capacity of the drone and the base station, operation history, maintenance history, failure information, and emergency stop. Information on whether or not there is, history of emergency stop, connection state of the drone, the pilot, and the base station, and another of water or medicine injected into a medicine tank provided in the drone, The drone system according to claim 9, wherein at least one of the quantity and the injection history is transmitted to and received from at least one of the drone and the pilot.
A farming support cloud is connected to each other through a network with at least one of the drone and the pilot,
The farming support cloud includes a fourth state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The drone system according to any one of claims 1 to 10, wherein the first state transition determination unit, the second state transition determination unit, and the fourth state transition determination unit perform the determination alternatively.
The base station includes a third state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The drone system according to claim 11, wherein the first state transition determination unit, the second state transition determination unit, the third state transition determination unit, and the fourth state transition determination unit perform the determination alternatively. .
A drone connected to a pilot system and a drone system connected to each other through a network and operating in cooperation with each other;
The drone system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition determined for each state,
The drone includes a first state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The pilot includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The first state transition determination unit and the second state transition determination unit perform the determination alternatively.
Drone.
A pilot connected to a drone and a drone system connected to each other through a network and operating in cooperation with each other,
The drone system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition determined for each state,
The drone includes a first state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The pilot includes a second state transition determination unit that determines whether or not the condition is satisfied for each of the plurality of states.
The first state transition determination unit and the second state transition determination unit perform the determination alternatively.
Pilot.
A pilot,
With drone,
Is a control method of a drone system that is connected to each other through a network and operates in cooperation with each other,
The drone system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition determined for each state,
The control method is:
A first state transition determination step of determining whether the drone satisfies the condition for each of the plurality of states;
A second state transition determination step for determining whether or not the controller satisfies the condition for each of the plurality of states;
Including
A control method for a drone system, wherein the first state transition determination step and the second state transition determination step are performed alternatively.
A pilot,
With drone,
Is a drone system control program that is executed by a computer in a drone system that is connected to each other through a network and operates in cooperation with each other,
The drone system has a plurality of different states, and the drone system transitions to another state corresponding to a condition by satisfying a condition determined for each state,
The drone system control program is
A first state transition determination instruction for determining whether or not the condition is satisfied for each of the plurality of states by the drone;
A second state transition determination command for determining whether or not the condition is satisfied for each of the plurality of states by the pilot;
Including
A drone system control program for causing a computer to alternatively execute the first state transition determination instruction and the second state transition determination instruction.