+

WO2020004367A1 - Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique - Google Patents

Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique Download PDF

Info

Publication number
WO2020004367A1
WO2020004367A1 PCT/JP2019/025091 JP2019025091W WO2020004367A1 WO 2020004367 A1 WO2020004367 A1 WO 2020004367A1 JP 2019025091 W JP2019025091 W JP 2019025091W WO 2020004367 A1 WO2020004367 A1 WO 2020004367A1
Authority
WO
WIPO (PCT)
Prior art keywords
medicine
state
drone
drug
standby state
Prior art date
Application number
PCT/JP2019/025091
Other languages
English (en)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
Original Assignee
株式会社ナイルワークス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社ナイルワークス filed Critical 株式会社ナイルワークス
Priority to JP2020527534A priority Critical patent/JP6901187B2/ja
Publication of WO2020004367A1 publication Critical patent/WO2020004367A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/299—Rotor guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight

Definitions

  • the present invention relates to a medicine spraying system, a method of controlling the medicine spraying system, and a medicine spraying system control program.
  • the drone can now accurately know its absolute position in centimeters while flying, In small, complicated terrain farmland typical of the above, it is possible to fly autonomously with minimal maneuvering, and to efficiently and accurately spray medicine.
  • a medicine spraying system is a medicine spraying system in which a pilot and an agricultural machine are connected to each other through a network and operate in cooperation with each other,
  • the medicine spraying system can take a plurality of different states, and transits to another state corresponding to the condition by satisfying a condition defined for each state, and the agricultural machine stores the medicine.
  • a medicine amount detection unit that detects that the amount of medicine stored in the medicine tank is equal to or less than a predetermined value.
  • a medicine preparation standby state to wait for a start command to be input, a medicine preparation state to inject medicine into the medicine tank, and a medicine spraying state in which the agricultural machine sprays medicine.
  • a standby state that transits after the medicine spraying state, and a transition from the medicine preparation state to the standby state based on the detection by the medicine amount detection unit in the medicine preparation state, and the medicine in the medicine spraying state.
  • a transition is made from the medicine spraying state to the standby state based on the detection by the amount detecting unit.
  • the medicine state may be changed to the standby state without changing to the medicine spraying state.
  • the medicine preparation state is a liquid standby state in which the liquid detection unit detects the completion of the replenishment of the liquid, an air bleeding standby state in which the air bleeding detection unit detects the completion of the air bleeding operation, and the medicine detection unit detects the completion of the medicine.
  • the medicine spraying system includes a medicine standby state for detecting completion of replenishment, and a spray preparation start standby state in which a user can input a spray preparation start command to start preparation of the medicine spray in the system. After at least the liquid standby state, the air bleeding standby state, and the medicine standby state, transition to the spray preparation start standby state, based on the detection of the medicine amount detection unit in the spray preparation start standby state
  • the medicine spraying system may be configured to transition to the medicine preparation standby state.
  • the medicine spraying system may be configured to take an evacuation action when the medicine amount detection unit detects that the medicine amount in the medicine tank is equal to or less than a predetermined amount in the medicine spraying state.
  • the agricultural machine is a drone, the drone sprays medicine while flying in the medicine spraying state, and when the medicine amount detection unit detects the medicine in the medicine preparation state, the medicine spraying system includes the drone. May be configured to transition to the standby state without flying the airplane.
  • a method for controlling a medicine spraying system is a method for controlling a medicine spraying system in which a pilot and an agricultural machine are connected to each other through a network and operate in cooperation with each other,
  • the spraying system can take a plurality of states different from each other, and transitions to another state corresponding to the condition by satisfying a condition defined for each state, and the agricultural machine stores a medicine A medicine tank, and a medicine amount detection unit that detects that the amount of medicine stored in the medicine tank is equal to or less than a predetermined value, wherein the plurality of states are for replenishing medicine to the agricultural machine.
  • a medicine preparation standby state for waiting for a start command to be input a medicine preparation state for injecting medicine into the medicine tank, a medicine spraying state in which the agricultural machine sprays medicine,
  • a control program for a medicine spraying system is a control program for a medicine spraying system in which a pilot and an agricultural machine are connected to each other through a network and operate in cooperation with each other,
  • the medicine spraying system can take a plurality of different states, and transits to another state corresponding to the condition by satisfying a condition defined for each state, and the agricultural machine stores the medicine.
  • a medicine amount detection unit that detects that the amount of medicine stored in the medicine tank is equal to or less than a predetermined value.
  • a medicine preparation standby state for waiting for a start command to be input, a medicine preparation state for injecting medicine into the medicine tank, and a medicine for which the agricultural machine sprays medicine.
  • the computer program can be provided by download via a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.
  • ⁇ Provide a medicine spraying system that can maintain high safety even during autonomous operation.
  • FIG. 1 It is a top view showing an embodiment of a drone which constitutes a part of the medicine spraying system concerning the present invention. It is a front view of the said drone. It is a right view of the said drone. It is a rear view of the said drone. It is a perspective view of the above-mentioned drone. It is an overall conceptual diagram of the drone system. It is a schematic diagram showing the control function of the drone. It is the schematic diagram showing the structure of the medicine spraying system which the said drone has. It is a functional block diagram which shows the functional part regarding the state transition which each of the said drone which is a component of the drone system containing the said chemical spraying system, a pilot, a base station, and a farming support cloud.
  • FIG. 1 It is a top view showing an embodiment of a drone which constitutes a part of the medicine spraying system concerning the present invention. It is a front view of the said drone. It is a right view of the said drone. It is a rear view of the said drone. It is
  • FIG. 3 is a detailed functional block diagram of the drone.
  • FIG. 4 is a schematic state transition diagram showing a plurality of states to which the drone system transitions. It is a schematic state transition diagram regarding medicine replenishment to which the above-mentioned drone system changes.
  • FIG. 3 is a schematic state transition diagram regarding takeoff diagnosis, to which the drone system transitions.
  • FIG. 4 is a schematic state transition diagram regarding the shutdown of the drone system to which the drone system transitions.
  • FIG. 6 shows an overall conceptual diagram of a system using the embodiment of the drone 100 according to the present invention for spraying medicine.
  • the drone system 500 is a system in which the drone 100, the pilot 401, the base station 404, and the farming support cloud 405 are connected to each other through a network NW and operate in cooperation with each other.
  • Drone 100 is an example of an agricultural machine.
  • Drone system 500 includes a drug delivery system. In the drone system 500, all the components may be directly connected to each other, or each component may be directly connected to at least one component, and may be separately connected via the directly connected component. May be configured to be indirectly connected to the components.
  • Drone system 500 is an example of an agricultural machine system. At least one of the drone 100 and the pilot 401 constituting the drone system 500 determines whether or not the medicine replenishment control system satisfies the condition for state transition.
  • the pilot 401 transmits a command to the drone 100 by an operation of the user 402, and also displays information (for example, a position, a medicine amount, a remaining battery level, a camera image, and the like) received from the drone 100.
  • a portable information device such as a general tablet terminal that runs a computer program.
  • the drone 100 according to the present invention is controlled to perform an autonomous flight, and can perform a manual operation during a basic operation such as takeoff or return, and in an emergency.
  • an emergency pilot having a function dedicated to emergency stop may be used.
  • the emergency pilot is a dedicated device equipped with a large emergency stop button and the like so that an emergency response can be quickly taken.
  • the pilot 401 and the drone 100 perform wireless communication using Wi-Fi or the like.
  • the field 403 is a field or a field to which the drone 100 is to apply the medicine.
  • the terrain of the field 403 is complicated, and there is a case where a topographic map cannot be obtained in advance, or a case where the topographic map differs from the situation of the site.
  • the field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railways, and the like.
  • an obstacle such as a building or an electric wire may exist in the field 403 in some cases.
  • the base station 404 is a device that provides a master device function of Wi-Fi communication and the like, and also functions as an RTK-GPS base station, and can provide an accurate position of the drone 100 (with the master device function of Wi-Fi communication and
  • the RTK-GPS base station may be an independent device).
  • the farming support cloud 405 is typically a group of computers and related software operated on a cloud service, and is wirelessly connected to the pilot 401 by a mobile phone line or the like.
  • the farming support cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the stored topographical information of the field 403 may be provided to the drone 100.
  • the history of the flying and photographed images of the drone 100 may be accumulated, and various analysis processes may be performed.
  • the drone 100 takes off from the departure / departure point 406 outside the field 403 and returns to the departure / departure point 406 after spraying the medicine on the field 403 or when it becomes necessary to replenish or charge the medicine.
  • the flight route (intrusion route) from the departure / arrival point 406 to the target 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.
  • FIG. 1 is a plan view of an embodiment of the drone 100
  • FIG. 2 is a front view thereof (as viewed from the traveling direction)
  • FIG. 3 is a right side view thereof
  • FIG. 4 is a rear view thereof
  • FIG. The figure is shown.
  • the term “drone” refers to a power means (electric power, prime mover, etc.) and a control method (whether wireless or wired, autonomous flight type or manual control type, etc.). In other words, it refers to an entire flying object having a plurality of rotors or flying means.
  • Rotors 101-1a, 101-1b, 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, 101-4b are means for flying drone 100. Eight aircraft (four sets of two-stage rotors) are equipped to balance flight stability, aircraft size, and battery consumption.
  • the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b have rotating blades 101-1a, 101-1b, 101-2a, 101- 2b, means for rotating 101-3a, 101-3b, 101-4a, 101-4b (typically an electric motor, but may be a motor, etc.), one for each rotor Has been.
  • the upper and lower rotors (eg, 101-1a and 101-1b) and their corresponding motors (eg, 102-1a and 102-1b) in one set are used for drone flight stability and the like.
  • the axes are collinear and rotate in opposite directions.
  • the radial member for supporting the propeller guard provided so that the rotor does not interfere with the foreign matter is not horizontal but has a scalloped structure. This is for promoting the member to buckle to the outside of the rotor at the time of collision and preventing the member from interfering with the rotor.
  • the medicine nozzles 103-1, 103-2, 103-3, and 103-4 are means for spraying the medicine downward and are provided with four units.
  • a drug generally refers to a liquid or powder, such as a pesticide, a herbicide, a liquid fertilizer, a pesticide, a seed, and water, which is sprayed on a field.
  • the medicine tank 104 is a tank for storing the medicine to be sprayed, and is provided at a position close to the center of gravity of the drone 100 and lower than the center of gravity from the viewpoint of weight balance.
  • the drug hoses 105-1, 105-2, 105-3, and 105-4 are means for connecting the drug tank 104 and each of the drug nozzles 103-1, 103-2, 103-3, and 103-4. And may also serve to support the drug nozzle.
  • the pump 106 is a unit for discharging a medicine from a nozzle.
  • the drone 100 sprays the medicine stored in the medicine tank 104 downward from the air toward the field.
  • the drone 100 that performs the aerial spraying it is possible to spray the drug more densely on the field than in the case where the spraying is performed by the ground sprayer or the user himself from the ground. Therefore, unlike the case where the water is sprayed from the ground, the water can be sprayed uniformly without being overlapped with the area in the field. Therefore, the medicine stored in the medicine tank 104 has a higher concentration, for example, about 10 times as much as the medicine sprayed from the ground.
  • FIG. 7 is a schematic diagram showing a control function of the embodiment of the medicine spraying drone according to the present invention.
  • the flight controller 501 is a component that controls the entire drone, and may specifically be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 controls the 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, thereby controlling the flight speed of the drone 100.
  • ESC Electronic Speed Control
  • the actual number of revolutions of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b is fed back to the flight controller 501, and normal rotation is performed. It can be monitored whether it is running.
  • the rotation wing 101 may be provided with an optical sensor or the like, and the rotation of the rotation wing 101 may be fed back to the flight controller 501.
  • the software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, protection by encryption, checksum, electronic signature, virus check software, etc. may be performed so that rewriting by unauthorized software is not performed.
  • a part of the calculation processing used by the flight controller 501 for control may be executed by the control device 401, the farming support cloud 405, or another computer existing in another place. Since the flight controller 501 is highly important, some or all of its 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, for example, a rechargeable battery.
  • 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.
  • the battery 502 may be a smart battery having a function of transmitting its internal state (power storage amount, accumulated use time, and the like) to the flight controller 501 in addition to a power supply function.
  • the batteries 502 may be multiplexed, and in this embodiment, have a first battery 502a and a second battery 502b.
  • the first battery 502a and the second battery 502b may be equivalent to each other, may have different battery capacities, or may have different functions.
  • 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 necessary commands from the pilot 401, and transmits necessary information to the pilot 401. Can be sent to 401. In this case, the communication is encrypted so as to prevent eavesdropping, impersonation, hijacking of equipment, and other illegal acts.
  • the base station 404 may have the function of an RTK-GPS base station in addition to the communication function using Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters.
  • the GPS modules 504 are duplicated and multiplexed because of their importance, and each of the redundant GPS modules 504 is controlled to use another satellite in order to cope with the failure of a specific GPS satellite. I have.
  • the six-axis gyro sensor 505 is means for measuring accelerations of the drone body in three directions orthogonal to each other (further, means for calculating a speed by integrating the accelerations).
  • the six-axis gyro sensor 505 is a means for measuring a change in the attitude angle of the drone body in the above three directions, that is, an angular velocity.
  • the geomagnetic sensor 506 is means for measuring the direction of the drone body by measuring geomagnetism.
  • the air pressure sensor 507 is a means for measuring the air 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 body and the ground surface by using the reflection of laser light, and uses, for example, an IR (infrared) laser.
  • the sonar 509 is a unit that measures the distance between the drone body and the surface of the earth using reflection of sound waves such as ultrasonic waves. These sensors may be selected based on the cost objectives and performance requirements of the drone. In addition, a gyro sensor (angular velocity sensor) for measuring the inclination of the aircraft, a wind sensor for measuring wind power, and the like may be added. These sensors are duplicated or multiplexed.
  • the flight controller 501 may use only one of them, and in the event of a failure, may switch to and use an alternative sensor.
  • a plurality of sensors may be used simultaneously, and if the respective measurement results do not match, it may be determined that a failure has occurred.
  • the flow rate sensors 510 are means for measuring the flow rate of the medicine, and are provided at a plurality of locations on the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount.
  • the multispectral camera 512 is a unit that captures an image of the field 403 and acquires data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the lens direction are different from those of the multispectral camera 512, it is preferable that the obstacle detection camera 513 be 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.
  • the obstacle contact sensor 515 is a sensor for detecting that the drone 100, particularly its rotor or propeller guard portion, has come into contact with an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • the cover sensor 516 is a sensor that detects that an operation panel of the drone 100 and a cover for internal maintenance are open.
  • the drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is open. These sensors may be selected and duplicated or multiplexed depending on the cost objectives and performance requirements of the drone.
  • a sensor may be provided in the base station 404, the pilot 401, or another place outside the drone 100, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information on the wind 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, and adjusts the medicine ejection amount and stops the medicine ejection.
  • the current state of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.
  • the LED 107 is display means for notifying the drone operator of the status of the drone.
  • a 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 unit for notifying a drone state (especially an error state) by an audio signal.
  • the Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, separately from the controller 401.
  • 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 instead of or in addition to the Wi-Fi slave function. May be used.
  • the speaker 520 is an output unit that notifies a drone state (especially, an error state) by a recorded human voice, a synthesized voice, or the like. Depending on the weather condition, the visual display of the drone 100 during flight may be difficult to see, and in such a case, voice-based status transmission is effective.
  • the warning light 521 is a display means such as a strobe light for notifying a drone state (especially an 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.
  • the medicine replenishment control system provided in the drone 100 is provided in an agricultural machine that sprays a medicine, particularly, in this example, a medicine spraying drone 100, and controls the ejection of the medicine with high accuracy. Detects abnormal discharge.
  • a medicine discharge abnormality in the case of a “discharge abnormality” of a medicine, a medicine discharge abnormality actually occurs, and in addition to a state in which a medicine exceeding a specified value is being discharged, such a medicine discharge abnormality is caused.
  • the medicine tank 104 is a tank for storing the medicine to be sprayed as described above.
  • the medicine tank 104 is provided with an openable / closable lid for filling the medicine or taking out the stored medicine.
  • An open / close sensor 104a capable of detecting the open / close state is attached to the openable / closable lid.
  • the open / close sensor 104a can be composed of, 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. This makes it possible to determine the open / closed state of the lid so that the user can recognize the open / closed state of the lid, and prevent a situation in which the medicine is sprayed with the lid open.
  • the medicine tank 104 is provided with a medicine type discrimination sensor 104b.
  • the medicine type determination sensor 104b can determine the type of the 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. The measured value of each item and the reference value for each medicine Can be compared to determine the type of drug.
  • the present invention is not limited to this.
  • a cartridge-type medicine tank is used as the medicine tank 104
  • an IC or the like recording the data of the medicine type is attached to the cartridge-type medicine tank, and the IC type or the like is recorded from the IC or the like.
  • the type of medicine can be determined.
  • the medicine tank 104 since a plurality of types of medicines may be used, it is useful to determine whether or not the medicine to be sprayed is stored in the medicine tank 104.
  • the particle size of a drug differs depending on the type, if a drug with a smaller particle size than the drug to be sprayed is erroneously sprayed, the drift (diffusion of the drug to a target other than the target product) may occur. , Adhesion), and cannot be overlooked.
  • the drug tank 104 is provided with a liquid shortage sensor 511 for detecting a liquid shortage of the drug.
  • a liquid shortage sensor 511 for detecting a liquid shortage of the drug.
  • the pump 106 discharges the medicine stored in the medicine tank 104 to the downstream, and through the medicine hoses 105-1, 105-2, 105-3, 105-4, each of the medicine nozzles 103-1 and 103-2, Send to 103-3 and 103-4.
  • the medicine is sent from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, and 103-4.
  • the direction in which the medicine is sent out along this delivery path. May be referred to as the downstream direction, and the opposite direction may be referred to as the upstream direction.
  • the medicine is partly sent out again from the medicine tank 104 to the medicine tank 104 via the three-way valve 122.
  • the three-way valve 122 side is called the downstream direction
  • the medicine tank 104 side is called the upstream direction. I have.
  • the expansion tank 131 is a tank for temporarily storing the medicine delivered from the three-way valve 122 and returning the medicine to the medicine tank 104.
  • a path from the three-way valve 122 to the medicine tank 104 via the expansion tank 131 is a path for removing (defoaming) water or a bubble in the medicine injected into the medicine tank 104. By circulating this path and temporarily storing it in the expansion tank 131, defoaming of water or chemicals can be performed.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, 121-7 deliver the medicine only in a certain direction, and in a direction opposite to the certain direction. This is a valve for preventing the inflow of, ie, backflow.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, and 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 for blocking the ejection of the drug, and if it can play a role of blocking the ejection of the drug, use another mechanism such as an electromagnetic valve as the blocking mechanism. You can also.
  • the check valve 121-1 is provided between the medicine tank 104 and the pump 106, near the medicine discharge port provided in the medicine tank 104, and the check valve 121-2 is provided with the three-way valve 122 and the medicine.
  • the check valves 121-4, 121-5, 121-6, and 121-7 are provided between the nozzles 103-1, 103-2, 103-3, and 103-4. 1, 103a-2, 103a-3, and 103a-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 delivered from the medicine tank 104 to be sent in the downstream direction so that the medicine cannot be returned to the medicine tank 104.
  • the check valve 121-2 controls the medicine sent from the pump 106 to be sent downstream, so that the medicine cannot be returned to the pump 106.
  • the check valve 121-3 controls the medicine delivered from the three-way valve 122 to be delivered in the upstream direction of the expansion tank 131 so that the medicine cannot flow back to the three-way valve 122.
  • the check valves 121-4, 121-5, 121-6, and 121-7 can block the medicine from being discharged from the discharge ports 103a-1, 103a-2, 103a-3, and 103a-4 to the outside. I have to.
  • check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, and 121-7 various types such as a swing type, a lift type, and a wafer type are used. And it is not limited to a particular one. Regardless of the present example, more check valves than in the present example may be provided at appropriate locations.
  • the three-way valve 122 is provided between the pump 106 and the drug nozzles 103-1, 103-2, 103-3, 103-4, and from the pump 106, the drug nozzles 103-1, 103-2, 103-3, A branch point of the path leading to 103-4 and the path leading from the pump 106 to the medicine tank 104 via the expansion tank 131 is formed, and the medicine is sent to each path in accordance with the switching operation.
  • the three-way valve 122 is an example of a valve, and is, for example, a three-way solenoid valve.
  • the path from the pump 106 to the medicine tank 104 via the expansion tank 131 is a path for removing (defoaming) bubbles in the medicine.
  • the flow rate 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 flow rate of the drug being used. Based on the flow rate of the medicine measured by the flow sensor 510, the amount of the medicine sprayed on the field 403 can be grasped.
  • the pressure sensors 111-1 and 111-2 measure the ejection pressure of the medicine at the attachment position.
  • the pressure sensor 111-1 is mounted on the downstream side of the pump 106 and on the upstream side of the check valve 121-2 and the three-way valve 122, and measures the discharge pressure of the medicine discharged downstream.
  • the pressure sensor 111-2 is mounted on the downstream side of the check valve 121-2 and on the upstream side of the medicine nozzles 103-1, 103-2, 103-3, and 103-4, and is provided for the medicine discharged downstream. Measure the discharge pressure.
  • the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6 , 121-7 in a state where the valve is closed obtains the temporal change of the medicine ejection pressure measured by 111-1 and 111-2 of each pressure sensor, and obtains the change over time of the normal medicine ejection pressure.
  • the change with the change it is possible to detect a drug leakage abnormality. For example, when the ejection pressure of the medicine acquired by the pressure sensors 111-1 and 111-2 draws a descending line with time, and this descending line exceeds the range of the error, and is different from the normal state, it may be in the path. It can be inferred that drug leakage may have occurred.
  • the pump sensor 106a measures the number of rotations of a rotor that sucks the medicine from the medicine tank 104 and discharges the medicine downstream in the pump 106.
  • the pump sensor 106a measures the number of revolutions of the rotor of the pump 106, and compares it with the ejection pressure of the medicine measured by the pressure sensors 111-1, 111-2 to determine whether or not the ratio matches the normal ratio. , It is possible to detect a drug leakage abnormality. That is, when the discharge pressure of the medicine according to the rotation speed of the pump 106 is not obtained as compared with the normal state, it is estimated that the leakage of the medicine occurs and the discharge pressure is reduced.
  • the nozzle type determination sensors 114-1, 114-2, 114-3, and 114-4 determine the types of the drug nozzles 103-1, 103-2, 103-3, and 103-4 attached to the drug discharge ports. be able to.
  • the medicine nozzles 103-1, 103-2, 103-3, and 103-4 are usually different depending on the medicine, due to the difference in the particle diameter of each medicine to be sprayed. Therefore, by determining whether or not the type of the drug nozzles 103-1, 103-2, 103-3, and 103-4 is appropriate, it is possible to prevent erroneous drug spraying.
  • a mechanism for fitting or engaging with the medicine nozzles 103-1, 103-2, 103-3, and 103-4 is provided at the discharge port, and the medicine nozzles 103-1 and 103-2 and 103 are provided.
  • -3 and 103-4 are mechanisms that fit or engage with the fitting or engaging mechanism on the spout side, and include a plurality of medicine nozzles 103-1, 103-2, 103-3, and 103-4.
  • a mechanism having a different shape is provided for each.
  • the drug nozzles 103-1, 103-2, 103-3, and 103-4 are attached to the discharge ports, different shapes are identified for each of the drug nozzles 103-1, 103-2, 103-3, and 103-4. By doing so, the type of the medicine nozzles 103-1, 103-2, 103-3, and 103-4 can be determined.
  • an outlet with a cock for discharging the drug stored in the route to the outside (Denoted as “DRAIN” in FIG. 6).
  • DRAIN a cock for discharging the drug stored in the route to the outside.
  • each drug-related sensor included in the drug ejection system that is, the liquid-out sensor 511, the pressure sensors 511-1 and 511-2, and the flow rate sensor 510 operate similarly even when the drug tank 104 is filled with water.
  • the medicine type determination sensor 104b can determine that the medicine tank 104 is filled with water.
  • a gas such as air mainly exists in a path from the medicine tank 104 to the medicine nozzles 103-1, 103-2, 103-3, and 103-4.
  • the gas in the path may be mixed into the drug, and the specified amount of drug may not be refilled.
  • unintended gas may be discharged instead of the medicine, and it is difficult to accurately spray the medicine on the field. is there.
  • the pressure is not applied to the medicine nozzle 103 at a constant level, and the pulsation of the water pressure occurs.
  • the gas is crushed by the pressure, the water pressure is reduced, and the flow rate is reduced, or the flow rate is suddenly increased after the gas is released. This is particularly noticeable when the viscosity of the drug is high relative to the diameter of the path.
  • the flow rate decreases and the particle size of the ejected medicine becomes smaller than the planned particle diameter, the medicine may be scattered by the wind, and the medicine may be sprayed to an unintended location.
  • an increase in the flow rate may result in dropping more medicine than planned. Therefore, when refilling the drug in the drug tank 104, it is desirable that the gas in the path be efficiently exhausted to the outside and the path be filled with the drug. Specifically, it is desirable that the replenishment of the medicine is monitored in a stepwise manner, and the procedure of the replenishment of the medicine is notified to the user at an appropriate timing.
  • the drone system 500 shown in FIG. 9 has a plurality of different states.
  • the drone system 500 transits to another state corresponding to the condition by satisfying the condition defined for each state.
  • the “state of the drone system 500” is a concept indicating a state corresponding to the condition by satisfying a condition for transitioning to another state, and is configured independently of each other in a software system configuration for each state. Or a plurality of states may be configured in the same system configuration.
  • the drone system 500 When belonging to a certain state, the drone system 500 performs an operation determined for each state. If the conditions defined for each state are not satisfied, the drone system 500 remains in that state. Further, there may be a plurality of conditions to be determined, and there may be a state that can transit to a plurality of states.
  • the security of the entire drone system 500 may be threatened. Since the state of the drone system 500 is correctly determined, and the operation is defined according to the determination, the drone 100 is not caused to fly or the medicine is not sprayed when the conditions are not satisfied. That is, the drone system 500 can be operated safely. In particular, the drone 100 can be safely flown to spray the medicine.
  • the drone 100 includes a first state transmission unit 111, a first state reception unit 112, a first state transition determination unit 113, and a first main unit. It has a terminal determination unit 114 and a first state storage unit 115.
  • the pilot 401, the base station 404, and the farming support cloud 405 include the first state transmitting unit 111, the first state receiving unit 112, the first state transition determining unit 113, the first main terminal determining unit 114, and the first It has a configuration corresponding to the state storage unit 115.
  • the pilot 401 includes the second state transmission unit 411, the second state reception unit 412, the second state transition determination unit 413, the second main terminal determination unit 414, and the second state storage unit 415.
  • the base station 404 includes a third state transmitting unit 441, a third state receiving unit 442, a third state transition determining unit 443, a third main terminal determining unit 444, and a third state storing 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 transmit information of the state to which the drone system 500 currently belongs, and terminal information indicating the states of the terminals of the drone 100, the pilot 401, and the base station 404 to other connected terminals. It is a functional unit that transmits to components. Other components here are the drone 100, the pilot 401, the base station 404, or the farming support cloud 405.
  • the terminal information is, for example, power on / off information of each of the drone 100, the pilot 401, and the base station 404, and a numerical value indicating each power supply capacity.
  • the terminal information includes the connection state between the components, the operation history and the maintenance history of each component, the failure information of each component, the information on whether or not the emergency stop is being performed, and the emergency stop.
  • the information may include the history, the type of the water or drug injected into the drug tank 104, the amount thereof, the injection history, and the like.
  • the first to fourth state transmitting 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 of updates of information stored in the farming support cloud 405, that is, the last update date and time, information on the terminal that has performed the update, and the like.
  • the first to fourth state receiving units 112, 412, 442, and 452 provide information on the state to which the drone system 500 currently belongs, and terminal information indicating the states 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 transmitting units 111, 411, 441, and 451. Further, the first to fourth state receiving units 112, 412, 442, 452 may receive the cloud information from another component.
  • the base station 404 transmits the status to which the drone system 500 currently belongs to at least one of the drone 100 and the pilot 401. Further, the base station 404 receives a 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 sets the connection state of the pilot 401 and the base station 404, the connection state of the drone 100 and the base station 404, and at least one of the connection states of the pilot 401 and the drone 100 to the drone 100 and the connection state. Received from at least one of the pilots 401.
  • the base station 404 may transmit and receive the connection state between each component and the farming support cloud 405 to and from at least one other component.
  • each component grasps terminal information and cloud information of other components connected in the drone system 500 mutually. 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 goes out of coordination.
  • 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 the state to which the drone system 500 currently belongs and determine whether a condition for transitioning from the state to which the drone system 500 belongs to another state is satisfied. is there.
  • the first to fourth state transition determination units 113, 413, 443, 453 can make a determination regarding the same condition, and each state transition determination unit can operate as a substitute for another state transition determination unit.
  • the first to fourth state transition determination units 113, 413, 443, and 453 selectively determine whether a condition for transition to another state is satisfied. That is, when one state transition determination unit is making a determination, the other state transition determination units do not make a determination.
  • a component having a state transition determination unit that makes a state transition determination is also referred to as a “main terminal”. According to this configuration, even when the power of 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 cannot be performed, another component is not used.
  • the state transition of the drone system 500 can be transitioned by determining the state transition as the main terminal.
  • the first to fourth main terminal determination units 114, 414, 444, 454 are functional units that determine which component is to be the main terminal based on the information received by the first to fourth state reception units 112, 412, 442, 452.
  • the priority order is determined in advance as to which component becomes the main terminal, that is, which of the first to fourth state transition determination units 113, 413, 443, and 453 determines the state transition. Specifically, when the power of each component is turned on and all components cooperate, the drone 100 becomes the main terminal. When the power of the drone 100 is turned off or the connection with each component of the drone 100 is cut off and the operation as the main terminal is impossible, the first to fourth main terminal determination units 114, 414, 444, 454 determine that the pilot 401 Become the main terminal.
  • the priority 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. Further, the priority order may be fixed or may change. For example, the priorities may vary depending on the state to which the drone system 500 currently belongs.
  • the main terminal determining unit is provided for each component. According to this configuration, the main terminal can be determined even if the connection of any component is disconnected and the coordination is lost. 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 to be the primary terminal. If the drone 100 is out of coordination, the second main terminal determination unit 114 determines that the pilot 401 will be the main terminal based on the information to that effect.
  • the first to fourth state storage units 115, 415, 445, and 455 are function units that store terminal information indicating the state to which the drone system 500 currently belongs, and the states of the drone 100, the pilot 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 constituted 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 the failure information and maintenance history are inherited even when the power is turned on again, repairs and maintenance can be reliably performed even for failures and abnormalities that occurred before the power was turned off, and the drone system 500 Can be used safely.
  • the drone 100 includes a liquid detection unit 31, an air release detection unit 32, and a configuration for managing injection of a drug into the drug tank 104.
  • a leakage abnormality detection unit 33 and a replenishment detection unit 34 are provided.
  • When injecting the medicine into the medicine tank 104 first, a liquid is injected into the medicine tank 104, and this liquid is circulated by the pump 106 to form the medicine tank 104 and each path from the medicine tank 104 to the medicine nozzles 103-1 to 103-4. After bleeding for discharging gas, mainly air, to the outside, the medicine to be sprayed to the field is injected into the medicine tank 104.
  • the liquid detecting unit 31 is a functional unit that detects that the replenishment of the liquid in the medicine tank 104 is completed.
  • the liquid detection unit 31 can be realized by, for example, a determination device that detects that a predetermined amount of liquid is contained in the medicine tank 104 based on a liquid level, a weight, or the like.
  • the liquid detection unit 31 is a functional unit that uses a liquid level meter, a weighing scale, a water pressure sensor, or the like that measures the amount of liquid in the medicine tank 104, and that software-determines that the medicine has reached a predetermined amount. You may.
  • the liquid detection unit 31 detects that the liquid is injected into the medicine tank 104 in such an amount that the liquid remains in the medicine tank even when the liquid enters each path by an air bleeding operation described later. . This is to prevent the water level in the medicine tank 104 from dropping due to the air bleeding operation, and to prevent the liquid in the medicine tank 104 from being emptied.
  • the amount of liquid detected by the liquid detection unit 31 is larger than the total volume of each path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid detection unit 31 may detect, for example, that the liquid is injected at 10% or more of the upper limit of the medicine tank 104.
  • the liquid detected by the liquid detection unit 31 is, for example, water, but may be a medicine to be sprayed on a field, or may be any other appropriate liquid.
  • the air bleeding detection unit 32 completes the air bleeding operation of causing the air inside the medicine tank 104 and the respective paths from the medicine tank 104 to the medicine nozzles 103-1 to 4 shown in FIG. 8 to flow out of the medicine tank 104.
  • This is a functional part that detects that When the three-way valve 122 opens the path on the expansion tank 131 side, the air release detection unit 32 detects 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”). Detects that extraction has been completed.
  • the air release detection unit 32 determines that the path from the three-way valve 122 to the medicine nozzles 103-1 to 10-4 in FIG. It is detected that the air bleeding is completed in the "path".
  • the air bleeding detection unit 32 detects the air bleeding in the upstream 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 111-1 and the flow rate sensor 510. It detects that the air bleeding operation has been completed. In the downstream path, specifically, the air bleeding detection unit 32 calculates the value of 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 release detection unit 32 compares a reference value corresponding to the rotation speed of the pump 106 with at least one of the measured values of the pressure and the flow rate. If the difference is within a predetermined range, the air release detection unit 32 detects that the air release operation has been completed.
  • the air bleed detection unit 32 detects the air bleed 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 sensor 510. Then, it is detected that the air bleeding operation is completed.
  • the air release detection unit 32 stores, as a reference value, at least one of the value of the pressure sensor 111-2 and the value of the flow rate sensor 510 according to the rotation speed of the pump 106 when the air release 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 be used for detecting air bleeding in the downstream path.
  • the air bleed detection unit 32 determines a reference value to be compared with an actually measured value based on information on which path the three-way valve 122 opens.
  • the leakage abnormality detection unit 33 is a functional unit that detects whether or not each component of the drone 100 related to the application of the medicine has an abnormality. Specifically, the leakage abnormality detection unit 33 diagnoses whether there is any abnormality on the route from the medicine tank 104 to the medicine nozzle 103.
  • the abnormality of the path means that the pipe path itself or a shutoff mechanism arranged in the pipe path, specifically, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121 -6, 121-7, etc.
  • the leak abnormality detection unit 33 is configured to close the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121-6, and 121-7, and to close each of the pressure sensors 111-121.
  • the leakage abnormality detection unit 33 measures the rotation speed of the rotor of the pump 106 by the pump sensor 106a, compares it with the discharge pressure of the liquid measured by the pressure sensors 111-1, 111-2, and determines the normal state. By judging whether or not the ratio is equal to the ratio, the liquid leakage abnormality is detected.
  • the replenishment detecting unit 34 is a functional unit that detects that the replenishment of the medicine in the medicine tank 104 is completed.
  • the replenishment detection unit 34 can be realized by, for example, a determination device that detects that a predetermined amount of medicine is in the medicine tank 104 based on the liquid level, weight, or the like.
  • the replenishment detection unit 34 is a functional unit that uses a liquid level meter, a weighing scale, a water pressure sensor, or the like that measures the amount of the medicine in the medicine tank 104, and that software-determines that the medicine has reached a predetermined amount. It may be.
  • the replenishment detection unit 34 can detect not only the case where the medicine is infused up to the upper limit of the medicine tank 104 but also a predetermined amount. For example, the replenishment detection unit 34 may detect that a drug is injected at 10% or more of the upper limit of the drug tank 104.
  • Flight start command receiving unit 51 Flight plan checking unit 52, drone determining unit 53, external environment determining unit 54, base station position checking unit 55, aircraft position checking unit 56, nose checking unit 57, A peripheral confirmation unit 58 and a body visual confirmation unit 59 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 pilot 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 starting from the operation of the user 402.
  • the base station position confirmation unit 55 is a functional unit that confirms whether the position of the base station 404 connected to the drone 100 is within a predetermined range.
  • the aircraft position confirmation unit 56 is a function unit that confirms whether the drone 100 is installed at the departure / arrival point 406.
  • the nose checking unit 57 is a function unit that checks whether the nose of the drone 100 is facing in a normal direction. "The direction of the nose is normal" refers to, for example, that the nose is oriented in a direction where a field where the chemical solution is sprayed is located.
  • the peripheral confirmation unit 58 is a functional unit that confirms whether there is an obstacle such as a person or an object in a predetermined range around the drone 100 around the drone 100.
  • the peripheral confirmation unit 58 may be a functional unit that prompts the user 402 to confirm the presence or absence of an obstacle around the drone 100 by, for example, notification and display by the drone 100 or the pilot 401. After confirming the surroundings of the drone 100, the user 402 inputs the fact that there is no obstacle. When the user 402 finds an obstacle, the user 402 removes the obstacle as appropriate. It should be noted that the input of the result of confirming the surroundings by the user 402 may be input to the drone 100, or may be input via the pilot 401.
  • the peripheral confirmation unit 58 detects an obstacle around the drone 100 using an appropriate camera or sensor mounted on the drone 100, and automatically determines that there is no object within a predetermined range. It may be.
  • the camera may be, for example, a 360-degree camera capable of capturing 360 degrees around the drone 100, or may be configured by a plurality of cameras capable of capturing directions different from each other.
  • the sensor is, for example, an infrared sensor.
  • the aircraft visual confirmation unit 59 is a functional unit that prompts the user 402 to visually confirm the drone 100 and allows the user 402 to input a confirmation result.
  • the aircraft visual confirmation unit 59 prompts the user 402 to confirm the presence or absence of an obstacle around the drone 100 by notification and display by the drone 100 or the pilot 401 or the like. After visually confirming the drone 100, the user 402 inputs the fact if no abnormality is found. In addition, when the user 402 finds an abnormality, the user 402 performs repair or the like as appropriate. It should be noted that the input of the result of confirming the surroundings by the user 402 may be input to the drone 100, or may be input via the pilot 401.
  • the aircraft visual confirmation unit 59 may notify the user 402 of points for visual confirmation or the like through the pilot 401. By specifically instructing the point of visual confirmation, the user 402 can efficiently inspect the drone 100.
  • the flight plan confirmation unit 52 is a functional unit that confirms whether the drone 100 normally has information on the flight plan of the drone 100.
  • the flight plan includes, for example, the position of the field where the chemical solution is sprayed during the 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 position of the designated field.
  • the flight route may be uniquely calculated based on the position of the field, or may be a different flight route calculated every time a flight plan is formulated in consideration of other conditions. Is also good.
  • the drone determining unit 53 is a functional unit that determines that each component of the drone 100 itself operates within a normal range.
  • the components included in the drone 100 itself include, 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 or absence of a disturbance that interferes with the radio waves connecting the components, the GPS reception sensitivity, the temperature, the wind speed around the drone 100, the weather, the geomagnetic state, and the like. This is because, when the wind speed around the drone 100 is equal to or higher than a predetermined value, the drone 100 is blown by the wind or the sprayed medicine is scattered, so that it is difficult to fly properly.
  • takeoff may be prohibited even when there is precipitation or when there is a high possibility of precipitation within a predetermined time. Further, even when the geomagnetism is disturbed, the radio waves connecting the respective components are obstructed, so that takeoff may be prohibited. Furthermore, the number of satellites for which GPS communication has been established may be measured, and if the number is less than a predetermined number, takeoff may be prohibited.
  • the predetermined number may be, for example, five.
  • the external environment determination unit 54 notifies the user 402 of the reason why the external environment is waiting without taking off.
  • the drone 100 further includes a flight preparation unit 60 that determines whether or not the drone 100 is suitable for flight when the drone 100 is hovering.
  • the flight preparation unit 60 performs the diagnosis particularly during hovering performed immediately after the drone 100 takes off, but may perform the diagnosis during hovering performed appropriately after the drone 100 takes off and starts flying.
  • the flight preparation unit 60 includes a strong wind diagnosis unit 61, a thrust diagnosis unit 62, a calibration unit 63, a weight estimation unit 64, and a hovering determination unit 65.
  • the hovering determination unit 65 is a functional unit that determines whether the drone 100 is hovering, that is, makes a hovering determination.
  • Hovering means that when the X and Y coordinates orthogonal to each other on the horizontal plane and the vertical Z coordinate orthogonal to the XY plane are defined, the XYZ coordinates of the drone 100 do not change or swing within a narrow predetermined range. Refers to the moving state. Hovering is a state in which there is no moving speed in any of the XYZ directions.
  • the hovering determination unit 65 detects, for example, that the positioning sitting amount of the RTK-GPS does not change in all of the XYZ directions.
  • the hovering determination unit 65 calculates the position by performing second-order integration of the measured values of the six-axis gyro sensor 505 in the XYZ directions, respectively, and detects that the position in the XYZ directions does not change for a predetermined time. Furthermore, the hovering determination unit 65 calculates the speed by integrating the measured values of the six-axis gyro sensor 505 in the XYZ directions, respectively, and detects that the drone 100 has no speed in the XYZ directions. The hovering determination unit 65 determines that the drone 100 is hovering by combining any one or a plurality of obtained values described above.
  • the strong wind diagnostic unit 61 is a functional unit that measures wind blowing on the drone 100 and diagnoses whether the drone 100 can fly.
  • the measurement of the wind by the strong wind diagnostic unit 61 may be performed by calculating the wind speed by, for example, measuring the stress generated by the wind by a contact detector, or may be calculated by an anemometer such as a cup type or a windmill type. .
  • the strong wind diagnosis unit 61 calculates the attitude angle of the drone 100 by the six-axis gyro sensor 505 while the drone 100 is hovering. When the wind is blowing on the drone 100, the attitude angle is inclined forward to the leeward side in accordance with the strength of the wind. Therefore, when the attitude angle of the drone 100 is equal to or more than the predetermined angle, the strong wind diagnosis unit 61 determines that the wind having the predetermined strength or more is blowing on the drone 100.
  • the strong wind diagnostic unit 61 includes a motor 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 102-4a, 102-4b or a rotating wing 101-1a, 101-1b.
  • 101-2a, 101-2b, 101-3a, 101-3b, 101-4a, and 101-4b may be calculated.
  • the thrust of the rotating blades arranged at two places on the leeward side of the eight rotating blades 101 increases, because a force to tilt the drone 100 toward the leeward side increases, That is, the rotation speed increases, and the thrust of the rotor blades arranged at two locations on the windward side decreases, that is, the rotation speed decreases.
  • the strong wind diagnosis unit 61 determines that the wind having a predetermined intensity or more is blowing on the drone 100.
  • the strong wind diagnosis unit 61 detects a strong wind by using one of the above-described determination based on the attitude angle and the determination based on the difference in the number of rotations, or by combining the determination results.
  • the strong wind diagnostic unit 61 may receive information about the wind from the base station 404 or the drone 100 flying around by communication, and determine whether the drone 100 can fly.
  • the strong wind diagnosis unit 61 notifies the drone system 500 of the fact.
  • the state transition determination unit of the main terminal makes the state of the drone system 500 stand by while hovering. Further, the state transition determination unit of the main terminal may shift the state of the drone system 500 to a flight start standby state (S4) described later and land the drone 100.
  • the thrust diagnosis unit 62 is a functional unit that measures a thrust for flying the drone 100 in flight and diagnoses whether the thrust of the drone 100 is normally exerted.
  • the thrust is obtained by the rotor 101 in the present embodiment.
  • the thrust diagnosis unit 62 indicates a rotation measuring function disposed inside the motor itself that controls the rotation of the rotary wing 101, for example. That is, the thrust measuring unit 244 obtains the rotation speed of the rotary wing 101 controlled by the motor by measuring the rotation speed of the motor.
  • the thrust diagnosis unit 62 may measure the rotation speed of the rotary wing 101 itself.
  • the thrust diagnosis unit 62 may be a non-contact tachometer.
  • the thrust diagnosing unit 62 irradiates the laser to at least one portion of the rotating wing 101 and counts the number of rotations of the rotating wing 101 by measuring the reflected light of the laser from the rotating wing 101.
  • the laser is, for example, an infrared laser.
  • the thrust diagnosis unit 62 may measure the current supplied to the motor.
  • the thrust diagnosis unit 62 may be a functional unit that measures the operating state of the propulsion unit.
  • the thrust diagnosis unit 62 may be a functional unit that measures the pressure of jet injection.
  • the thrust diagnosis unit 62 compares the measured thrust with the command value from the flight controller 501, and when the difference after a predetermined time from the command from the flight controller 501 is within a predetermined threshold, the thrust is Judge that it has been properly demonstrated. If the difference exceeds the threshold, the thrust diagnosis unit 62 notifies the drone system 500 of that fact.
  • the state transition determination unit of the main terminal shifts the state of the drone system 500 to a flight start standby state (S4) described later, and causes the drone 100 to land.
  • the calibration unit 63 performs calibration of at least one of a sensor for measuring the altitude of the drone 100 and a sensor for measuring the speed of the drone 100.
  • Calibration of the sensor includes calibration for correcting the offset of the zero point of the sensor and the gain deviation when the numerical value of the measurement result is high.
  • the calibration by the calibration unit 63 is performed particularly when the drone 100 is hovering.
  • a sensor for measuring the altitude of the drone 100 includes, for example, a laser sensor 508, a sonar 509, a six-axis gyro sensor 505, or a GPS module RTK504-1, 504-2. That is, the calibration unit 63 can calibrate the laser sensor 508, the sonar 509, the six-axis gyro sensor 505, or the GPS modules RTK 504-1 and 504-2 with respect to the altitude calibration.
  • the calibrating unit 63 determines that the hovering is performed with the positioning coordinates in the height direction of the RTK-GPS, that is, the Z coordinates when the sensor is grounded on the ground.
  • the laser sensor 508 and the sonar 509 are calibrated with the difference between the RTK-GPS height direction Z coordinate and the true value of the altitude above ground.
  • the calibrating unit 63 calculates the altitude obtained by the laser sensor 508 and the sonar 509 when hovering is determined as the true value of the ground altitude. Calibrate 505.
  • the calibrating unit 63 calculates the altitude obtained by the laser sensor 508 and the sonar 509 when hovering is determined, as the true value of the ground altitude. Calibrate the positioning coordinates in the Z direction of RTK-GPS by RTK504-1, 504-2.
  • the sensors for measuring the speed of the drone include, for example, the GPS module Doppler 504-3 or the six-axis gyro sensor 505.
  • the calibration unit 63 measures the traveling speed of the drone 100 using the GPS module Doppler 504-3. Since the drone 100 does not move in the hovering state after takeoff and the moving speed is 0 in the XYZ directions, the calibrating unit 63 sets the moving speed in the XYZ directions when it is determined that the hovering is performed. Calibrate the measurement result of the GPS module Doppler 504-3 so that it becomes zero. Further, the calibration unit 63 measures the moving speed of the drone 100 using the first-order integrated value of the value measured by the acceleration sensor. In this case, the calibrating unit 63 calibrates the measured value of the acceleration sensor in the XY direction such that the moving speed in the XYZ directions when the hovering is determined is zero.
  • the weight estimating unit 64 is a functional unit that estimates the weight of the drone 100.
  • the weight estimating unit 64 can estimate the weight of the drone 100 based on the value of the thrust measured by the thrust diagnosis unit 62 during hovering.
  • the drone 100 detects whether or not the amount of drug stored in the drug tank 104 is lower than a predetermined value when the drone 100 is landing or in flight. It further has an amount detection unit 80.
  • the medicine amount detection unit 80 may be realized by sharing the configuration of the replenishment detection unit 34, or may have an independent configuration. Note that, even in the case of an independent configuration, the example of the measuring unit is the same as that of the replenishment detection unit 34.
  • the medicine amount detection unit 80 detects that the medicine amount is equal to or less than a predetermined amount, and notifies the user 402 via the steering device 401 or the like.
  • the medicine amount detection unit 80 When it is detected during the flight of the drone 100 that the medicine amount is equal to or less than the predetermined amount, the medicine amount detection unit 80 notifies the effect to at least one of the first to fourth state transition determination units 113, 413, 443, and 453. By transmitting the information, the drone system 500 may be shifted to a standby state after landing (S7) described later. In other words, the flight controller 501 may cause the drone 100 to perform an evacuation action.
  • the medicine amount detection unit 80 sends at least one of the first to fourth state transition determination units 113, 413, 443, and 453. The fact is transmitted, and the drone system 500 is shifted to a medicine preparation standby state (S2) described later without causing the drone 100 to fly.
  • the drone system 500 in the present embodiment has a stopped state (S0), an initial check state (S1), a medicine preparation standby state (S2), and a medicine preparation state ( S3), flight start standby state (S4), takeoff diagnosis state (S5), flight scattering state (S6), standby state after landing (S7), maintenance state (S8), and shutdown state (S9) And can be taken.
  • the drug preparation standby state (S2) is an example of the “standby state” of the present invention.
  • the flight scattering state (S6) is an example of the “drug spraying state” of the present invention.
  • the stop state (S0) is a state in which the power of the drone 100, the pilot 401, and the base station 404 is off.
  • the drone system 500 transits to the initial check state (S1).
  • the power of each component may be manually turned on by the user 402, or the user 402 operates one component to turn on the power of another component. It may become so.
  • the power of the drone 100 and the base station 404 may be turned on by the user 402 turning on the power of the pilot 401 and starting a dedicated application.
  • the initial check state (S1) is a state in which after starting each component, it is checked whether or not each component is operating normally. In the initial check state, for example, it is checked 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 transits to the medicine preparation standby state (S2).
  • the medicine preparation standby state (S2) is a state in which a command from the user 402 to start the operation of injecting a medicine into the medicine tank 104 of the drone 100, that is, a state in which a medicine injection start instruction is input is waited for. It is.
  • the drone system 500 Upon receiving the medicine injection start command input by the user 402, the drone system 500 transitions to the medicine preparation state (S3).
  • the medicine preparation state (S3) is a state to which the drone system 500 belongs while the operation of injecting the medicine into the medicine tank 104 by the user 402 is performed.
  • the medicine preparation state (S3) includes a liquid standby state (S31), an air release standby state (S32), a spray system diagnosis state (S33), and a medicine standby state (S34). Including.
  • the liquid standby state (S31) is a state in which liquid can be injected into the medicine tank 104.
  • the liquid standby state (S31) is a state that transits from the medicine preparation standby state (S2) based on a medicine injection start command from the user.
  • the drone system 500 notifies the user 402 via the pilot 401 that the liquid needs to be injected into the medicine tank 104.
  • the drone 100 determines whether or not a sufficient amount of liquid has been injected into the medicine tank 104 by the liquid detection unit 31. In this case, the drone system 500 notifies the user via the pilot 401 that a sufficient amount of liquid has been injected into the medicine tank 104.
  • the amount of liquid detected by the liquid detection unit 31 is larger than the total volume of each path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid detection unit 31 detects, for example, that the liquid is injected at 10% or more of the upper limit of the medicine tank 104.
  • the drone system 500 notifies the user 402 via the pilot 401 to close the lid of the medicine tank 104 after the injection is completed or to further lock the lid.
  • the opening and closing of the lid and the locking and unlocking of the lock may be automatically performed by a mechanism provided in the drone 100, respectively.
  • the drone system 500 transitions to the air release standby state (S32).
  • the drone system 500 refers to the determination result of the opening / closing sensor 104a and enters the air release standby state (S32) on condition that the lid of the medicine tank 104 is closed or further locked by an appropriate lock mechanism. It may transition.
  • the air bleeding standby state (S32) is a state in which the pump 106 is driven to bleed air, and waits for air to escape from the inside of the medicine tank 104 and the path from the medicine tank 104 to the medicine nozzles 103-1 to 103-4. .
  • the air release standby state (S32) further includes an upstream air release standby state (S32-1) and a downstream air release standby state (S32-2).
  • the three-way valve 122 is open to the expansion tank 131 side.
  • the air present in the chemical 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.
  • the air bleed detection unit 32 detects the completion of the air bleed operation in the upstream path, the drone system 500 transitions to a downstream air bleed standby state (S32-2).
  • the three-way valve 122 is open to the side of the chemical nozzles 103-1 to 103-1.
  • the air that is mainly present in the downstream path is pushed by the water that is moved by the drive of the pump 106, and is discharged from the nozzle 103 to the outside of the medicine tank 104. That is, the air is removed from the medicine tank 104 in the downstream path.
  • the air bleed detection unit 32 detects the completion of the air bleed operation, the drone system 500 transitions to the medicine standby state (S34).
  • the upstream air bleeding standby state (S32-1) and the downstream air bleeding standby state (S32-2) are completely automatically changed, and there is no condition based on the action of the user 402.
  • the controller 401 may notify that the state has transitioned from the state (S32-1) to the downstream air bleeding standby state (S32-2), and the state may transition based on a confirmation input of the user 402.
  • the user 402 may be configured to notify the user 402 of the state of the drone system 500 via the pilot 401.
  • the spraying system diagnosis state (S33) is a state to which the drone system 500 belongs while diagnosing whether there is any abnormality in each component of the drone 100 related to the medicine spraying.
  • the leakage abnormality detection unit 33 diagnoses whether there is any abnormality on the path from the medicine tank 104 to the medicine nozzle 103.
  • the abnormality of the path means that the pipe path itself or a shutoff mechanism arranged in the pipe path, specifically, the check valves 121-1, 121-2, 121-3, 121-4, 121-5, 121 -6, 121-7, etc.
  • the spraying system diagnosis state (S33) for diagnosing whether there is any abnormality in the configuration related to the drug spraying while the liquid is being injected into the drug tank 104 and the path the discharge pressure applied to the liquid is measured. Therefore, the leakage abnormality can be detected using the liquid.
  • the lid of the water inlet is unlocked, and the medicine can be injected from the water inlet.
  • the drone system 500 notifies the user 402 via the pilot 401 that the medicine needs to be injected into the medicine tank 104.
  • the drone system 500 determines from the replenishment detection unit 34 that a sufficient amount of medicine has been injected into the medicine tank 104, and notifies the user 402 to that effect via the pilot 401.
  • the drone system 500 may notify the user through the pilot 401 to close the lid of the medicine tank 104 after the injection is completed, or to further lock the lid.
  • the drone 100 that performs aerial spraying is capable of precisely spraying a drug on a field, so that compared to a general drug sprayed from the ground by a ground sprayer or the user himself.
  • the medicine With high concentration of drug. That is, it is expensive and may be harmful to the human body and the field as compared with general drugs. Therefore, if the medicine is discharged by the air bleeding operation, it is not preferable in terms of cost and safety.
  • the medicine is replenished after performing the air bleeding operation with water, the amount of the medicine discharged from the nozzle 103 in the medicine ready state (S3) can be suppressed, so that the application to the drone 100 is particularly useful. is there.
  • the first to fourth state storage units 115, 415, 445, and 455 store the state to which the drone system 500 currently belongs.
  • the first to fourth state storage units 115, 415, 445, and 455 store a history of states that have already transitioned in the medicine preparation state (S3). And the steps in this state are omitted.
  • the drone system 500 can transition from each state of the medicine preparation state (S3) to another state on the condition that there is a history of transition, in addition to completing the steps described above.
  • the first to fourth state storage units 115, 415, 445, and 455 store the liquid injection history as “Yes” when transitioning from the liquid standby state (S31) to the upstream air release standby state (S32-1).
  • the first to fourth state storage units 115, 415, 445, 455 store the upstream air bleeding history as "present” when transitioning from the upstream air bleeding standby state (S32-1) to the downstream air bleeding standby state (S32-2).
  • the first to fourth state storage units 115, 415, 445, and 455 store the downstream air bleeding history as “present” when transitioning from the downstream air bleeding standby state (S32-2) to the spraying system diagnostic state (S33).
  • the battery capacity of the drone 100 may become lower than a predetermined value, and it may be necessary to charge or replace the battery.
  • the drone system 500 transitions to the standby state after landing (S7) via the dead battery route (C), and the battery is replaced. Then, the state transits to the medicine preparation standby state (S2) via the medicine exhaustion route (B).
  • the medicine tank 104 When a transition is made from the medicine preparation standby state (S2) to the medicine preparation state (S3), in the liquid standby state (S31), if the liquid injection history, the upstream air bleed history, or the downstream air bleed history is not stored, the medicine tank 104 The user 402 is instructed to inject the liquid to the user. If at least one of the liquid injection history, the upstream air release history, and the downstream air release history is stored, the drone system 500 switches from the liquid standby state (S31) to the upstream air release standby state (S32-1). It is determined that the conditions for the transition are satisfied, and the state transits to the upstream air release standby state (S32-1).
  • the drone system 500 enters the upstream air release standby state (S32-2). It is determined that the condition for transition from -1) to the downstream air bleeding standby state (S32-2) is satisfied, and the state transits to the downstream air bleeding standby state (S32-2).
  • the drone system 500 transitions from the downstream air bleed standby state (S32-2) to the spraying system diagnostic state (S33). Is determined to be satisfied, and the state transits to the spraying system diagnostic state (S33).
  • the first to fourth state storage units 115, 415, 445, and 455 store the history of the state that has already transitioned in the medicine preparation state (S3), and the state in which the state has already transitioned in the state where the storage is held is According to the configuration in which the history is referred to and the step in the state is omitted, the medicine can be replenished in an appropriate procedure even when the operation is interrupted due to a battery exhaustion or the like during the medicine replenishment.
  • 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 in which the user 402 permits the drone 100 to start flying the drone and prompts takeoff.
  • the drone system 500 shifts to a takeoff diagnosis state (S5) in which a necessary takeoff diagnosis is performed before the drone 100 takes off.
  • the takeoff diagnosis state (S5) is a state to which the drone system 500 belongs while the drone 100 safely flies before the takeoff of the drone 100 and diagnoses whether the conditions for performing the spraying of the medicine are in place.
  • 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 the drone determination unit 53 determines that each component of the drone 100 itself operates within a normal range.
  • the drone system 500 transits to the flight plan confirmation state (S52).
  • the flight plan confirmation state (S52) When an abnormality is confirmed by the drone judging unit 53, the fact is displayed on the pilot 401, and after landing, the state transits to the standby state (S7).
  • the flight plan confirmation state (S52) is a state to which the drone system 500 belongs while the flight plan confirmation unit 52 confirms whether or not the drone 100 normally has information on the flight plan of the drone 100.
  • the drone system 500 transitions to the external environment determination state (S53). If the information on the flight plan is not normally stored, the drone system 500 performs an operation of obtaining the information on the flight plan. In this operation, for example, the information may be received from the farming support cloud 405. Further, when a decision by the user 402 is necessary, such as designation of a field where the medicine is to be sprayed, the fact is notified to the user 402 through the controller 401 to prompt the decision.
  • the external environment determination state (S53) is a state to which the drone system 500 belongs while the external environment determination unit 54 mainly determines whether the external environment of the drone 100 is an environment suitable for flying the drone 100. If the external environment determining unit 54 determines that the external environment is suitable for flight, the drone system 500 takes off and transitions to the flying scatter state (S6). Having the take-off diagnosis state (S5) after the flight start command and immediately before take-off allows abnormalities that occurred during other work such as drug injection to be reliably detected, so diagnosis is made at another timing Higher safety can be ensured as compared with a configuration in which the diagnosis is performed and a configuration in which the diagnosis is not performed.
  • the drone 100 stands by while landing. In addition, a message to that effect is displayed on the pilot 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 to confirm and input information indicating that the user 402 has confirmed the condition 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). If the power capacity of the emergency pilot is equal to or less than a predetermined value, the emergency stop command cannot be transmitted in the flight scattering state (S6), which may impair safety. When the power capacity of the emergency pilot is equal to or less than a predetermined value, 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 flight spraying state (S6) is a state to which the drone system 500 belongs while the drone 100 flies and sprays medicine on a field. When the drone 100 lands, it transitions to the standby state (S7) after landing.
  • the evacuation behavior includes, for example, “emergency return” in which the vehicle immediately moves to a predetermined return point on the shortest route.
  • the predetermined return point is a point stored in advance in the flight controller 501, for example, a departure / arrival point 406.
  • the landing point 406 is, for example, a land-based point where the user 402 can approach the drone 100, and the user 402 can inspect the drone 100 that has reached the landing point 406, or manually carry it to another place. can do.
  • ⁇ Evacuation behavior includes landing movement.
  • Landing operation '' means ⁇ normal landing '' that performs normal landing operation, ⁇ emergency landing '' that descends and landing faster than normal landing, and stops all rotors and moves drone 100 downward from the place
  • “emergency stop” to drop on
  • the "emergency landing” includes not only the operation of descending faster than normal landing and landing at the same point as when performing a normal landing while performing the same attitude control as during normal operation, but also the accuracy of attitude control. However, it also includes the action of establishing a landing while slightly distorting the posture. As one specific example, by gradually and uniformly reducing the rotation speed of all motors, it is possible to land while descending accurately but not directly below.
  • the drone 100 receives the power capacity of the pilot 401 from the pilot 401 at least in the flight scattering state (S6).
  • the drone 100 performs an evacuation action. If the power supply capacity of the pilot 401 is low, the flight command of the user 402 cannot be transmitted to the drone 100, making it difficult for the drone 100 to fly safely. Therefore, when the power capacity of the pilot 401 is low, it is preferable that the drone 100 take an evacuation action even when the capacity of the battery 502 of the drone 100 is sufficient.
  • the drone 100 may be made to perform an evacuation action.
  • the drone system 500 Upon receiving the emergency stop command from the pilot 401 or the emergency pilot, the drone system 500 transits to the emergency stop state (S11).
  • the drone system 500 receives the emergency stop command and transmits reception information to the effect that the vehicle has transitioned to the emergency stop state (S11) to the pilot 401.
  • the user 402 can know from the display on the pilot 401 that the drone system 500 has transitioned to the emergency stop state (S11) as intended by the user 402.
  • the standby state after landing is a state to which the drone system 500 belongs while preparing to switch the work after landing.
  • the post-landing standby state is a state in which a transition can be made to a plurality of states based on an operation command from the user 402 while the drone 100 is landing.
  • the drone system 500 sets the designated field switching route (D).
  • the state transits to the flight start standby state (S4) via.
  • the drone system 500 transitions to the maintenance state (S8).
  • the drone system 500 transits to the medicine preparation standby state (S2).
  • the state may be automatically shifted to the medicine preparation standby state (S2). Further, it is configured to notify the user 402 that the storage of the medicine is equal to or less than a predetermined value, and to determine whether to transition to the medicine preparation standby state (S2) based on the input of the user 402. Is also good.
  • the drone system 500 transits to the shutdown state (S9). I do. Further, when the charged amount of the battery 502 is equal to or less than a predetermined value, the state may be automatically shifted to the shutdown state (S9). Further, it is configured to notify the user 402 that the charged amount of the battery 502 is equal to or less than a predetermined value, and determine whether to transition to the shutdown state (S9) based on the input of the user 402. Is also good.
  • the drone system 500 transitions to the maintenance state (S8).
  • the drone system 500 having the standby state after landing (S7) even if the drone 100 that has finished spraying the medicine in one field continues to spray or refill the medicine in another field, the next operation is performed smoothly. Can be transferred to. Specifically, when switching the field and replenishing the medicine, the flight start standby state (S9), the stop state (S0), the initial check state (S1), etc. It can directly transit to S4) and the medicine preparation standby state (S2).
  • the maintenance state (S8) is a state to which the drone system 500 belongs while the drone 100 is performing maintenance on the drone 100 itself.
  • the maintenance includes, for example, an operation of automatically cleaning the outer casing of the drone 100. In addition, the operation of cleaning the route of the medicine of the drone 100 is included.
  • the maintenance includes full maintenance for performing all maintenance that can be performed by the drone 100 and simple maintenance for performing minimum maintenance required when the use of the drone 100 is temporarily suspended.
  • simple maintenance for example, cleaning of a route of a medicine is performed. When spraying is interrupted, solidification, separation, sedimentation, etc. of the drug in the drug route occur immediately, so that appropriate spraying may not be performed after resuming. Therefore, even in the case of simple maintenance, cleaning of the medicine path is required at a minimum.
  • the suspension command input in the standby state after landing (S7) includes a temporary suspension command and a long-term suspension command.
  • the temporary stop instruction is input, for example, when the user 402 takes a break, that is, when the user 402 interrupts within about one hour.
  • the long-term interruption instruction is input, for example, when the operation is to be resumed over several days, that is, when the interruption is for several hours to several days.
  • simple maintenance is performed. Therefore, in order to resume the medicine spraying operation earlier than the long-term suspension instruction, it is sufficient to perform some maintenance.
  • the drone system 500 receives the long-term suspension instruction, it performs full maintenance. According to the configuration in which a plurality of types of maintenance can be selectively executed, power saving and time saving can be achieved.
  • the drone system 500 transitions to the shutdown state (S9).
  • the shutdown state (S9) is a state to which the drone system 500 belongs while disconnecting the drone 100, the pilot 401, and the base station 404 from each other and shutting down the power of the drone 100, the pilot 401, and the base station 404. .
  • the shutdown state (S9) includes a drone shutdown state (S91), a partially cooperative state (S92), and another terminal shutdown state (S93).
  • the drone shutdown state (S91) is a state in which the drone system 500 is in a state where the drone 100 shuts down, that is, prepares for powering off, and the drone 100 shuts down.
  • the drone 100 stores information stored in the first state storage unit 115 in a nonvolatile storage unit. Also, 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. Then, the drone 100 is shut down.
  • the drone system 500 transits to a partially cooperative state (S92).
  • the main terminal shifts to another component, for example, the pilot 401 when the drone 100 is shut down.
  • the first main terminal determination unit 114 may determine the controller 401 as the main terminal before the drone 100 is shut down.
  • the second main terminal determination unit 414 may detect that the power of the drone 100 is off, and determine the pilot 401 as the main terminal.
  • the partially cooperative state (S92) is a state in which the drone 100 is shut down and other components are cooperating with each other. In the partially cooperative state (S92), the battery 502 of the drone 100 can be replaced.
  • the user 402 can select whether to restart the operation after the battery 502 is attached or detached or to shut down other terminals to stop the operation.
  • the partially cooperative state (S92) after the battery 502 is replaced, when the command to restart the drone 100 and restart the operation (hereinafter, also referred to as “restart command”) is input, the drone is started.
  • the system 500 transitions to the initial check state (S1).
  • the drone system 500 In the partial cooperative state (S92), if no restart command is input for a predetermined time, or if a command to shut down other terminals is input, the drone system 500 enters the other terminal shutdown state (S93). Transition.
  • the other terminal shutdown state (S93) is a state to which the drone system 500 belongs until the pilot 401 and the base station 404 shut down.
  • the pilot 401 and the base station 404 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.
  • the drone system 500 stops. That is, the drone system 500 transitions to the stop state (S0).
  • the charged amount of the battery 502 of the drone 100 is less than a predetermined value. If detected, the drone system 500 transits to the standby state (S7) after landing via the dead battery route (C). In the standby state after landing (S7), when the charged amount of the battery 502 is equal to or less than the predetermined amount, the drone system 500 shifts to the shutdown state (S9), and the battery 502 is in a replaceable state. When a plurality of batteries are mounted, when a decrease in the charged amount is detected in one battery, the state transition may be performed using another battery.
  • the drone system 500 transits to the medicine preparation standby state (S2) via the medicine out route (B).
  • the medicine preparation state (S3) that is, when the drone 100 is landing, when the medicine amount detection unit 80 detects that the medicine in the medicine tank 104 is equal to or less than a predetermined amount, the state transits to the flight scattering state (S6). Without taking off, it is possible to transition to the medicine preparation standby state (S2) before takeoff. If the medicine tank 104 is sufficiently filled with medicine in the medicine preparation state (S3), the amount of medicine may be less than a predetermined amount in the flying state of the drone 100 (S6) or in the standby state after landing (S7) after flying. There is.
  • the drone 100 takes an evacuation action from the flight scattering state (S6), lands, transitions to the standby state after landing (S7), and then transitions to the medicine preparation standby state (S2).
  • the drone system 500 can detect the running out of medicine and transition from the two different states to the medicine preparing standby state (S2), so that even when the medicine runs out, the state transition is redundant. The transition to the next state can be made smoothly without any change.
  • the drone, the pilot, the base station, and the farming support cloud are connected to each other, and according to the drone system according to the present invention that operates in cooperation with each other, the connection between any one of the components and the other components is disconnected, Even when the power of any one of the components is turned off, the state of the drone system can be maintained, and the operation as the drone system can be smoothly continued.
  • the agricultural chemical spray drone was described as an example, the technical idea of the present invention is not limited to this, and is applicable to a spray machine, and an agricultural machine having a spray function. . It is also useful for drones that fly autonomously.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un système de pulvérisation de produit chimique qui est susceptible de maintenir une stabilité élevée même durant le fonctionnement autonome. La solution selon l'invention porte sur un système de pulvérisation de produit chimique (500) dans lequel un dispositif de commande (401) et une machine agricole (100) sont reliés à travers un réseau NW pour fonctionner en coopération l'un avec l'autre. Le système de pulvérisation de produit chimique : est susceptible d'adopter une pluralité de différents états ; des transitions vers d'autres états correspondant aux conditions, en satisfaisant les conditions fournies pour chaque état ; des transitions depuis un état de préparation de produit chimique (S3) vers un état de veille (S7) sur la base de la détection par une unité de détection de la quantité de produit chimique (80) dans l'état de préparation de produit chimique ; et des transitions depuis un état de pulvérisation de produit chimique (S6) vers l'état de veille sur la base de la détection par l'unité de détection de la quantité de produit chimique dans l'état de pulvérisation de produit chimique.
PCT/JP2019/025091 2018-06-28 2019-06-25 Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique WO2020004367A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020527534A JP6901187B2 (ja) 2018-06-28 2019-06-25 薬剤散布システム、薬剤散布システムの制御方法、および、薬剤散布システム制御プログラム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018123321 2018-06-28
JP2018-123321 2018-06-28

Publications (1)

Publication Number Publication Date
WO2020004367A1 true WO2020004367A1 (fr) 2020-01-02

Family

ID=68986597

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/025091 WO2020004367A1 (fr) 2018-06-28 2019-06-25 Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique

Country Status (2)

Country Link
JP (1) JP6901187B2 (fr)
WO (1) WO2020004367A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112425589A (zh) * 2020-11-12 2021-03-02 重庆凯创荣智能科技有限公司 一种无人机专用农药喷洒结构及使用方法
RU2811604C1 (ru) * 2023-10-03 2024-01-15 Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) Беспилотный летательный аппарат для внесения пестицидов в промышленном садоводстве и питомниководстве

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08317712A (ja) * 1996-04-17 1996-12-03 Yanmar Agricult Equip Co Ltd 作業車両における運行制御装置
JPH11168930A (ja) * 1997-12-15 1999-06-29 Yanmar Agricult Equip Co Ltd 薬剤散布装置
JP2006001485A (ja) * 2004-06-21 2006-01-05 Yanmar Co Ltd 無人ヘリコプターの監視装置
US20080128528A1 (en) * 2006-11-28 2008-06-05 Alongi Salvatore A Fluid spraying system
JP2011067109A (ja) * 2009-09-24 2011-04-07 Agritecno Yazaki Co Ltd 土壌消毒機
JP2013021945A (ja) * 2011-07-19 2013-02-04 Chuo Green System:Kk 噴霧システム
JP2013051930A (ja) * 2011-09-05 2013-03-21 Agritecno Yazaki Co Ltd 土壌消毒機
JP2016037108A (ja) * 2014-08-06 2016-03-22 八洲電業株式会社 飛行体、及びバッテリユニット収納システム
JP2017144811A (ja) * 2016-02-16 2017-08-24 株式会社ナイルワークス 無人飛行体による薬剤散布方法、および、プログラム

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08317712A (ja) * 1996-04-17 1996-12-03 Yanmar Agricult Equip Co Ltd 作業車両における運行制御装置
JPH11168930A (ja) * 1997-12-15 1999-06-29 Yanmar Agricult Equip Co Ltd 薬剤散布装置
JP2006001485A (ja) * 2004-06-21 2006-01-05 Yanmar Co Ltd 無人ヘリコプターの監視装置
US20080128528A1 (en) * 2006-11-28 2008-06-05 Alongi Salvatore A Fluid spraying system
JP2011067109A (ja) * 2009-09-24 2011-04-07 Agritecno Yazaki Co Ltd 土壌消毒機
JP2013021945A (ja) * 2011-07-19 2013-02-04 Chuo Green System:Kk 噴霧システム
JP2013051930A (ja) * 2011-09-05 2013-03-21 Agritecno Yazaki Co Ltd 土壌消毒機
JP2016037108A (ja) * 2014-08-06 2016-03-22 八洲電業株式会社 飛行体、及びバッテリユニット収納システム
JP2017144811A (ja) * 2016-02-16 2017-08-24 株式会社ナイルワークス 無人飛行体による薬剤散布方法、および、プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112425589A (zh) * 2020-11-12 2021-03-02 重庆凯创荣智能科技有限公司 一种无人机专用农药喷洒结构及使用方法
RU2811604C1 (ru) * 2023-10-03 2024-01-15 Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) Беспилотный летательный аппарат для внесения пестицидов в промышленном садоводстве и питомниководстве

Also Published As

Publication number Publication date
JPWO2020004367A1 (ja) 2020-12-17
JP6901187B2 (ja) 2021-07-14

Similar Documents

Publication Publication Date Title
JP7009005B2 (ja) ドローンシステム
JP6777923B2 (ja) ドローンシステム、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JP6829453B2 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
JP6803592B2 (ja) ドローンシステム、ドローン、操縦器、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
JP6749626B2 (ja) 薬剤の吐出制御システム、方法、及びコンピュータプログラム
CN111566010B (zh) 无人机、无人机控制方法和计算机可读取记录介质
JP6727525B2 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
WO2019168045A1 (fr) Drone, procédé de commande et programme associés
JP6913978B2 (ja) 故障検知システム、方法、及びコンピュータプログラム
JP6745519B2 (ja) ドローン、ドローンの制御方法、および、ドローン制御プログラム
JP6837254B2 (ja) ドローンシステム、ドローン、ドローンシステムの制御方法、および、ドローンシステム制御プログラム
WO2020004367A1 (fr) Système de pulvérisation de produit chimique, procédé de commande de système de pulvérisation de produit chimique, et programme de commande de système de pulvérisation de produit chimique
JP6746157B2 (ja) 薬剤の補充制御システム、噴霧機、ドローン、薬剤補充システムの制御方法、および、薬剤補充システム制御プログラム
JP6746126B2 (ja) 薬剤の漏出防止システム及び方法
CN111670418B (zh) 无人机及其控制方法以及计算机可读取记录介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19826277

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020527534

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19826277

Country of ref document: EP

Kind code of ref document: A1

点击 这是indexloc提供的php浏览器服务，不要输入任何密码和下载