Transport work vehicle

Abstract

To solve the problems in which insect pests and weeds occur in rice paddies and cause damage to crops, but it is difficult to work in the paddies, pesticides as countermeasures cause problems in environmental responses, and the rice-duck farming has the problem of raising ducks.SOLUTION: A self-driving transport vehicle is equipped with a function of collecting unwanted objects in rice paddies and of stirring up mud in rice paddies.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an unmanned work vehicle that collects and transports foreign objects (vermin, stones, garbage, etc.) found in rice paddies. [Background technology]

[0002] There is a work vehicle that acquires its own position and travels automatically, equipped with a unit for collecting agricultural pests and a unit for destroying the pests (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-25517 Summary of the Invention [Problem to be solved by the invention]

[0004] In a conventional technique, a large-scale transport conveyor is installed in front of a work vehicle, and the material is transported to the top of the vehicle and crushed using a rotating body.

[0005] However, if the collection conveyor is placed near the soil, it will not only collect pests from the field but also scoop up mud, etc., which not only places a heavy load on the power, but also makes it difficult to destroy the pests as the mud acts as a protective material, and there is a risk of blockages occurring in the discharge route.

[0006] The present invention provides In the required position Only the foreign objects are collected, transported to a designated location, and then discarded. The goal is to . [Means for solving the problem]

[0007] The first aspect of the present invention is achieved by the following technical means.

[0008] On the car body satellite positioning device and Equipped with an inertial positioning device, of the car body Equipped with multiple wheels at the bottom, it can run automatically and Autopilot is performed, Multiple wheels Between the wheels, a hand arm A (11) equipped with a bucket (12) having a width smaller than that of the wheels is placed, and a tank (14) for storing collected foreign objects such as pests, stones, and garbage is placed at the rear of the vehicle body, and the tank (14) is turned upside down and placed outside the vehicle body by a hand arm B (26). While traveling along a pre-set work route, it collects foreign matter in the water in the field. and It has the function of storing and discharging foreign matter from the tank (14) at a predetermined location.

[0009] The second invention is solved by the following technical means.

[0010] The bucket (12) at the tip of the hand arm (11) has a mesh-like bottom and is fixed at a position where it comes into contact with the ground of the paddy field or at a height close to that position. In this state As it moves, it stirs up the mud on the surface of the rice paddy fields, muddying the water inside.

[0011] The third aspect of the invention is solved by the following technical means.

[0012] The work route, the position on the work route where the bucket (12) is used to collect foreign matter, and the position where the collected foreign matter is to be discharged are registered in advance on the farmland map, and predetermined work is carried out at each position, and the satellite positioning device and The vehicle drives automatically while checking its own position using an inertial positioning device.

[0013] The fourth aspect of the present invention is achieved by the following technical means.

[0014] An imaging device (30) is provided, Foreign bodies and If a foreign object similar to the registered image data is detected, the hand arm (11) by Foreign object scoop up Do the work . [Effects of the Invention]

[0015] The first invention is configured to operate with less labor, and can automatically remove pests and foreign matter that occur in the field by using sunlight.

[0016] According to the second aspect of the present invention, the bucket 12 can be used as a weeding machine for paddy fields.

[0017] The third invention enables automatic driving, automatic steering, and automatic operation.

[0018] The fourth invention adds a step of detecting foreign matter with an imaging device and appropriately collecting it, thereby enabling more accurate removal of foreign matter. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a perspective view of a work vehicle according to an embodiment of the present invention, viewed from the left front. [Figure 2] 1 is a perspective view showing a state in which a work vehicle scoops up a foreign object with a bucket 12 in an embodiment of the present invention. [Figure 3] 1 is a perspective view showing a state in which a work vehicle uses a bucket 12 to store foreign objects in a tank 14 in an embodiment of the present invention. [Figure 4] 1 is a perspective view showing a state in which a work vehicle is discharging foreign matter from a tank 14 in an embodiment of the present invention. [Figure 5] FIG. 3 is a left side view showing the movable range of the tank 14 in the embodiment of the present invention. [Figure 6] FIG. 3 is a left side view showing the range of movement of the bucket 12 in the embodiment of the present invention. [Figure 7] FIG. 2 is a perspective view from the left front showing a steering state during a left turn in the embodiment of the present invention. [Figure 8] 1 is a flowchart showing the operation of setting up a pest control operation according to the present invention; [Figure 9] 1 is a flowchart showing the operation of the present invention when setting up weed control. [Figure 10] Block diagram of electrical components of the present invention [Figure 11] FIG. 1 is an external view of a work machine using an extermination box recovery system according to another embodiment of the present invention. [Figure 12] FIG. 1 is an external view of a wind-powered agricultural chemical spraying implement according to another embodiment of the present invention. [Figure 13] An external view of a drone that muddies a field in another embodiment of the present invention. [Figure 14] FIG. 10 is a perspective view of an entire farm field showing a method of using a drone in the field to muddy the field in another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] The present invention will be described below with reference to the embodiments shown in the drawings.

[0021] The work vehicle shown in FIGS. 1 to 10 shows an example of this embodiment.

[0022] The background of the present invention will be explained.

[0023] After rice planting, pests such as apple snails (giant apple snails) appear in paddy fields and cause damage by eating the rice, or harmful foreign objects can get into the field and cause damage. However, bringing farm machinery into the field when the seedlings are still young is likely to hinder the growth of the seedlings. For these reasons, there is a high demand for farm machinery that is small and lightweight and can remove foreign objects.

[0024] On the other hand, weeding also requires a great deal of man-hours. Apple snails (giant apple snails) are sometimes used to control weeds because they eat weeds, but as mentioned above, they can also harm rice. Animals such as ducks can also be used to control pests and weeds, but many users complain about the difficulties of using animals.

[0025] Given this background, there is a need for small, lightweight work vehicles that can be driven autonomously to perform pest control and weeding tasks.

[0026] The work vehicle of the present invention will now be described.

[0027] The main body of the work vehicle is made of lightweight metal, primarily aluminum alloy, as shown in Figure 1-1. Because it is lightweight, it can run with less power. Also, because it is made of aluminum alloy, there is no need to worry about rust forming even in humid rice paddies, and the main body will not deteriorate due to corrosion.

[0028] A solar panel 2 is installed on the top of the main body, and generates electricity by receiving sunlight. As shown in Figure 1, the solar panel 2 is curved rather than flat. This allows it to receive more sunlight even when the sun is tilting. Also, if water droplets or dust in the air adhere to the solar panel, they would accumulate if it were flat, but the curved design of this proposal allows the water droplets to flow off and the dust to peel off, resulting in a configuration that allows for stable reception of sunlight.

[0029] The most inexpensive method is to store the electricity generated by sunlight in a storage device such as a small capacitor and use it to power the electric motor. In this invention, since automatic driving, automatic operation, and automatic work require control of each motor, a small battery (15) is provided as a storage device.

[0030] The work vehicle is a four-wheeled vehicle. As the entire top surface of the body is made of solar panels, the four wheels are fixed to the edges of the solar panels, and the wheels are provided to prevent vibration and stress from occurring on the solar panels.

[0031] The wheels used for running include a right front wheel 3, a left front wheel 4, a right rear wheel 5, and a left rear wheel 6. Each wheel is equipped with an in-wheel motor, which is a right front wheel motor 7, a left front wheel motor 8, a right rear wheel motor 9, and a left rear wheel motor 10.

[0032] As shown in FIG. 2, the front axle 27 has a right front damper 22 and a left front damper 23, and at the rear there are a right rear damper 24 and a left rear damper 25 to respond to vibrations and tilts of the vehicle body.

[0033] Each damper and each in-wheel motor are connected through each connecting case. For the front wheels, the right front damper 22 is inserted into the right front connecting case 22A but can rotate at the insertion site. The left front damper 23 is inserted into the left front connecting case 23A but can rotate at the insertion site.

[0034] This configuration allows steering of the front wheels as shown in Fig. 7. Note that steering is possible by changing the rotation speed of the left and right wheels, and the insertion points of each damper are free to rotate without any rotation control.

[0035] By setting the rotation speed of the right front wheel 3 higher than the rotation speed of the left front wheel 4, the position of the right front wheel 3A and the left front wheel 4A in Figure 7 is achieved, enabling left turning. Note that by changing the rotation speed of the rear wheels as well, four-wheel steering is possible. In this embodiment, the rotation speed of the rear wheels is not controlled, and they can also be controlled to rotate freely or in a free state. However, to take slippage in the field into consideration, the right rear damper 24 is inserted into the right front connecting case 24A but is rotatable at the insertion position. The left front damper 25 is inserted into the left rear connecting case 25A but is rotatable at the insertion position, and slight steering is used to deal with slippage and emphasize straight-line driving.

[0036] A bent hand arm A11 is attached to the lower center section of the main body 1, and by pulling a wire from a hand arm motor 13, the clutches of each rotating part are activated, controlling the rotation of the bucket 12 and the movement of the hand arm A. Figure 2 shows the work vehicle scooping up foreign objects with the bucket 12. The bucket A is lowered below the lowest point of the wheels and moves as if to scoop up foreign objects on the ground in the field. Figure 3 shows the bucket 12 storing foreign objects in a tank 14.

[0037] The bottom of bucket 12 is meshed, so that when it is scooped up in the field, water and mud flow away, leaving only the targeted foreign matter. The drain holes of this bucket can be round or square, regardless of mesh shape, or can be made partially of a material that allows water to pass through, as long as it can remove water and mud from the bucket and leave foreign matter of a specified size or larger inside the bucket.

[0038] In order to drain the water and mud from the bucket 12, it is necessary to hold the bucket in place for a certain period of time after scooping up the material, rather than immediately dumping the bucket into the tank 14. Alternatively, it is also effective to control the bucket 12 to promote draining by shaking or vibrating it to the extent that foreign objects do not fly out.

[0039] The movement of the hand arm 11 is controlled by the amount of wire wound up by the hand arm motor 13, but there is also a method of providing an angle sensor at the fulcrum of the arm to detect a predetermined position and perform feedback control.

[0040] Next, we will explain the tank 14. The foreign objects collected by the bucket 12 are temporarily stored in this tank 14 while they are being transported to a designated registered location. If the tank has a small hole that only allows water to escape, it can gradually drain water while traveling, making it lighter.

[0041] The movement of the tank 14 will now be described. The position shown by the tank 14A in Figure 3 is for retrieving foreign objects from the bucket 12. Foreign objects inside the bucket can be removed by lifting the bucket 12A above the tank 14 and pointing the edge of the bucket 12A downward. The width of the bucket 12A is narrower than the opening of the tank 14A, and the bucket 12A can be securely stored inside the tank by inserting it into the opening of the tank 14A.

[0042] Figure 4 shows the work vehicle discharging foreign objects from tank 14. Tank 14 moves to the position of tank 14B. To move, a small motor on hand arm B26 is rotated. There are pre-set positions for the discharging work and the vehicle moves to that position before carrying out the discharging work. Generally, the discharging position is set on a ridge, and the vehicle enters the discharging position from the rear, brings the rear wheels up to the edge of the ridge, and moves from tank 14A to tank 14B as shown in Figure 5, and operates tank B upside down to dispose of the foreign objects.

[0043] The foreign objects to be collected are mainly pests. In rice paddies, there is the apple snail (Pomacea canaliculata). It is considered a pest because it feeds on young rice seedlings after planting. Adults are 50 to 80 mm in size, slightly larger than a pebble. Since pebbles are rarely found in fields immediately after rice planting, it is safe to assume that objects of this size are pests. As snails have a very fast walking speed, if they are spotted with an imaging device, collection work must be carried out quickly. Since it is expected that they will move away from the direction of movement of the work vehicle, collection can be more reliable if the bucket 12 is moved forward in the direction of travel.

[0044] Furthermore, even if the animal is temporarily trapped in the tank 14, there is a high possibility that it will climb out of the tank, so the opening of the tank 14 has a folded portion.

[0045] It is also necessary to collect pebbles and other debris of a similar size as foreign objects. Immediately after rice planting, there are few pebbles or debris, but in subsequent management, there are problems with debris being kicked up by cars along roads or blown into the field by the wind. Some debris contains harmful substances, so it needs to be removed from the field as soon as possible. The implement of the present invention has a foreign object removal function that makes this possible.

[0046] As shown in Figures 1 and 10, the work vehicle is equipped with a satellite positioning device 16 (referred to as GNSS in Figure 10) and an inertial positioning device 17 (referred to as IMU in Figure 10). These allow the vehicle's position to be confirmed using latitude and longitude. In addition, external data, such as a field map 35, i.e., map data of the field to be worked on, is obtained via cloud 36 to a portable operating device 37. This portable operating device can be a tablet PC or a mobile phone, and its purpose is to reduce the calculation load on the vehicle ECU 32, which corresponds to the CPU of the work vehicle.

[0047] Portable operating device 37 uses a field map 35 to register the route to be traveled, the locations to stop at, and the locations to discharge collected foreign matter in order to perform route setting 38. Because the work vehicle is operated by portable operating device 37, not only is remote operation possible, but the calculation load on the work vehicle itself can also be reduced.

[0048] The configurations and operations described in Figures 1, 2, 3, 4, 7, and 10 can be summarized as follows:

[0049] This work vehicle is equipped with solar panels, a satellite positioning device, and an inertial positioning device on the top surface of the body, wheels on all four sides of the body, and uses power obtained from the solar panels for automatic driving and automatic steering. Hand arms A11 equipped with buckets 12 that are narrower than the wheels are located between the wheels on all four sides, and a tank 14 for storing collected foreign matter such as pests, stones, and garbage is located at the rear of the body. The tank 14 is operated by hand arms B26 to turn the tank 14 upside down on the outside of the body, and while traveling along a pre-set work route, it collects and stores foreign matter in the water in the field, and has the function of discharging the foreign matter from the tank 14 at a predetermined position.

[0050] This work vehicle can be used not only to remove foreign objects and pests, but also for weeding. Its structure is explained using Figures 2 and 6. Bucket 12 has a mesh-like structure with holes that not only drain water from scooped-up materials, but also allows the vehicle to stir up mud in the field and generate muddy water by touching the ground or fixing it in a position slightly above the ground and moving the vehicle in that state. The position of bucket 12 in Figure 6 is the position for collecting foreign objects, and it is fixed in position 12C when traveling.

[0051] By traveling with the bucket in the 12C position, the clear water in the field turns into muddy water, dramatically reducing the amount of sunlight that penetrates to the ground in the field. This action suppresses the growth of weeds in the field and improves weeding work.

[0052] The mesh effect of the bucket 12 is that when it moves in water, water and mud pass through, reducing the load during movement. In addition, water passing through the mesh forms a vortex, which is advantageous in that it is more likely to generate mud, making the second invention easier to implement.

[0053] The optional setting parts and functions of this proposal will be explained below. This function is related to the fourth invention, and when an image capturing device 30 is installed and a foreign object similar to pre-registered image data is detected, the hand arm will perform an additional scooping operation at a pre-set position in the field to pick up the foreign object.

[0054] The omnidirectional imaging device (LIDAR) 30 shown in Figure 7 has the function of estimating and determining the nature of an object by comparing registered data based on surrounding images, the distance between the object, its color, and the object's movement speed. Using this device, it is also possible to analyze the location of people and animals near the work equipment, ridges, utility poles, waterways, other work equipment, crops such as seedlings, and fields. Images can be sent to a portable operating device 37, allowing users to observe images of the work equipment's surroundings from a remote location.

[0055] The imaging capabilities of the omnidirectional imaging device (LIDAR) 30 are improved if it is positioned high in the center of the vehicle. When imaging forward, the device captures the surrounding area while capturing a portion of the front of the vehicle. Similarly, when imaging backward, the device captures the surrounding area while capturing a portion of the rear of the vehicle. This method clarifies the distance to the work vehicle. Furthermore, by positioning the device above the center of the solar panel 2, it is possible to prevent interference with power generation due to blocking sunlight and to prevent erroneous recognition by the omnidirectional imaging device (LIDAR) 30 due to diffuse reflection from the solar panel 2.

[0056] Furthermore, by arranging obstacle sensors in all directions, it is possible to adjust the working speed and continue autonomous driving work even if communication with the satellite positioning device 16 is interrupted. By arranging a front obstacle sensor 18, a rear obstacle sensor 19, a right obstacle sensor 20, and a left obstacle sensor 21, the robot will stop if an obstacle is detected, enabling safe driving.

[0057] Figure 10 shows a block diagram of the electrical components. The aforementioned global navigation satellite system (GNSS) 16, inertial measurement unit (IMU) 17, omnidirectional image capture device (LIDAR) 30, front obstacle sensor 18, rear obstacle sensor 19, right obstacle sensor 20, and left obstacle sensor 21 are managed by a sensor ECU 31. Meanwhile, the aforementioned portable control device 37 obtains data for a field map 35 from a cloud 36, and has data already obtained from the cloud 36 registered in a data storage unit 39, and data is cross-checked with the work vehicle via a communication ECU 34.

[0058] For example, when checking images captured by the omnidirectional imaging device (LIDAR) 30 and the movement of objects in the images, the second data calculation unit 35 only serves to extract the necessary data from each sensor, and that data analysis is performed by the data calculation unit 40 of the portable operation device 37. The data calculation unit 40 uses artificial intelligence to repeatedly compare the data from the data storage unit 39 with approximate data, thereby analyzing the objects shown in the images of the work vehicle. This calculation is heavy in load, so it is performed externally by the portable operation device 37.

[0059] The data is obtained from the cloud 36, but is also connected to the user's management terminal 41 via the cloud 36, which not only exchanges data but also receives abnormal signals from the work equipment, allowing not only the work vehicle operating the terminal to share information, but also to improve data accuracy and respond quickly to emergencies.

[0060] The vehicle ECU 32 is the vehicle's overall CPU and controls each function of the work vehicle. Typical control functions include the drive unit for the hand arm A11, the drive unit for the hand arm B26, the in-wheel motors 7, 8, 9, and 10 that serve as the travel drive units, a travel speed detector that detects speed from the motors, and in this proposal, the front wheels are steered, so steering sensors 28 and 29 are provided to confirm the steering angle. It also controls the illumination of the steering indicator lights 20 and 21.

[0061] This control is mainly performed by automatic driving, but it is also operated from a mobile terminal device 37, and immediate response is required. 5G is used for communication lines, and the sensor ECU 31, vehicle ECU 32, communication ECU 34, second data calculation unit 35, and battery management system (BMS) 33 communicate via CAN, improving the speed and responsiveness of two-way communication.

[0062] The steering sensor 28 described above is located inside the right front connecting case 22A in Fig. 7, and the steering sensor 29 is located inside the left front connecting case 23A, and they detect the steering angle. The steering angle detection controls the blinking of steering indicator lights 31, 32. The left and right steering indicator lights are different colors; for example, if the right steering indicator light 31 is red and the left steering indicator light 32 is green, the direction of travel can be confirmed even from a distance. Furthermore, by blinking the steering side when steering, the steering point becomes clear and it is easy to confirm from a distance the difference between this and discharge work.

[0063] The battery management system (BMS) 33 manages the storage of electricity from sunlight emitted by the solar panel 2 in the battery and controls the in-wheel motors that are the driving devices. By individually controlling the rotation speed, rotation direction, and ON / OFF, it controls the drive of the motors so that the vehicle can travel along the route it is intended to travel by adjusting the traveling speed, controlling turning, moving forward and backward, and stopping.

[0064] The third invention will be described with reference to the flow chart of FIG. 8 showing the operation and control involved when setting up a pest control operation.

[0065] This method involves registering the work route, the location on the work route where foreign objects are collected using the bucket 12, and the location where the collected foreign objects are discharged on a field map in advance, and then performing the specified work at each location, while automatically driving the vehicle while checking its own position using a satellite positioning device and an inertial positioning device.

[0066] The work vehicle of the present invention is capable of performing pest control work and weeding work. In the pest control work setting S8-1, four items are set as subsequent settings.

[0067] Setting the work conditions S8-2 determines the interval at which foreign objects are scooped up by the bucket 12. If scooping is done continuously, pests can be thoroughly eliminated at the location where the work is completed, but the work takes time. There is also the possibility that the pests will move, reducing the efficiency of collection. For this reason, work efficiency is improved by performing the work several times at regular intervals. The work speed of the work vehicle can be set S8-7. In addition to increasing the vehicle speed, the number of scooping times at that location can be set.

[0068] In the imaging device setting S8-3, the omnidirectional imaging device (LIDAR) 30 is set. In the detection object setting S8-8, the target object is selected. Images of representative target objects are registered in the data storage unit 39. For example, if apple snails are the target, multiple images of apple snails from larvae to adults, as well as images of different varieties and colors, can be registered, and the target object can be automatically identified by comparing these images. This image matching and detection level setting S8-9 adjusts sensitivity to detect the target foreign object. Therefore, by adding a foreign object detection task to the automatic operation process calculation S8-11, which performs foreign object collection work at regular distances or regular times, or by adding a detection task to the regular work, the accuracy of pest removal work can be improved.

[0069] Setting the detection level S8-9 requires the field map setting S8-4. Work efficiency can be improved by carefully configuring which areas to focus on. Setting a uniformly high detection accuracy would result in longer work times, so this setting is also important for incorporating work know-how.

[0070] Drone data usage settings S8-5 are also possible. Before work begins, a drone takes images of the field conditions and detects obstacles and foreign objects. The work route settings S8-10 analyze the data using more methods, improving the accuracy of the automatic driving process calculation S8-13. The work vehicle of the present invention has similar functions, but the effectiveness can be enhanced by adding optional functions.

[0071] In this way, standard work involves tasks performed at regular locations, but by using optional equipment such as imaging devices and drones, steps that can supplement automated driving are incorporated into S8-13 to S8-18.

[0072] In the work route correction pattern, there may be cases where the tank 14 becomes full and work can no longer be continued. In this case, the user may be notified of a change in work route, and steps S8-13 are performed. For example, when the work vehicle detects that the tank 14 is full, it sends a signal to the user tablet to notify the user of a change in work route. If the user allows the change, the vehicle will move to the registered nearest discharge destination, discharge the foreign objects, and once that work is complete, return to the location where work was interrupted and resume work. In this case, the location where work was interrupted must be registered. If the setting is such that work is performed multiple times as standard, it is also possible to start work on the work route beyond the discharge destination without returning to the location where work was interrupted.

[0073] Another work path modification pattern is a forced change response from the user, and S8-18 monitors for signals from external communications.

[0074] FIG. 9 illustrates a flow chart related to the control of the weeding operation.

[0075] The field map setting S9-3 and drone data usage setting S9-4 are the same as the pest control work settings in Figure 8, but the work condition setting S9-2 is different. The working height setting S9-5 sets the height of the bucket 12 and determines the standard for mud plowing. The work speed setting S9-6 only sets the vehicle speed, but the field map S9-3 is used to set the speed, such as making the speed faster in this area and slower in that area. In other words, the speed itself is controlled as the work speed.

[0076] The work route can be changed either by the field map S9-3 or by user instructions, and can be handled by steps S9-10 to S9-16.

[0077] Another embodiment of the present invention will now be described.

[0078] In Figure 11, pests are dealt with by using a work vehicle 100 to set up extermination boxes 101 at predetermined intervals in a field, and then using the work vehicle 100 to collect the extermination boxes 101. In the configuration of the work vehicle of this invention, the central lower part is open, and the extermination boxes 101 are collected using a work arm 103 and then stacked and collected at the position of the extermination box 102. Although not shown in the figure, solar panels are installed on the top of the work vehicle, and the method of driving the in-wheel motors of each wheel is the same as for the work vehicle 1 of this embodiment.

[0079] Figure 12 is an external view of a work vehicle 110 used to spray pesticides to kill weeds in fields. The vehicle floats on the surface of the paddy field on floats 116, using the wind power of right and left fans 111 and 112 to propel it. The vehicle is steered by changing the fan rotation speeds of the right and left fans 111 and 112 to balance the wind power between the left and right. Therefore, it is difficult to reliably travel along the work route, and the vehicle generally performs automatic travel during the task of spraying herbicides. When chemicals are placed in the chemical tank 113, the chemicals are sprayed from nozzles 114. An obstacle sensor 115 is installed at the front to detect ridges, other working equipment, etc., and to avoid collisions.

[0080] Figure 13 shows a weeding vehicle that uses a drone. The drone rotates a windmill and uses wind power to float up. This wind power is strong enough to float the vehicle, so by using this wind power to hit the water surface in the field, the water surface is rippled, stirring up mud in the field and creating muddy water.

[0081] The system is a combination of two drones. The mud-generating drone 120 generates mud by rotating the lower blade 121. On the other hand, the upper flying drone 130 is a drone for flying in the sky, and can fly by connecting the mud-generating drone 120 to the lower drone.

[0082] Figure 14 is a perspective view of an entire farm field showing how a drone for generating muddy water is used in the field in another embodiment of the present invention. As shown in the upper left figure, a mud-generating drone 120 is connected to and flies below a flying drone 130.

[0083] The mud-generating drone 120 is detached from the field and the blades of the mud-generating drone 120 are rotated to generate mud. If the rotation speed is low, the mud-generating drone 120 can be used without lifting up, but if work is urgent, the mud-generating drone 120 must also be used at a high rotation speed. In this case, since the drone may lift up, the flying drone 130 must be left on top to work, or in some cases, the direction of the wind on the flying drone 130 can be reversed and the drone operated in a direction that presses the drone down against the field to prevent the mud-generating drone 120 from lifting up. [Explanation of symbols]

[0084] 1 Work vehicle 2. Solar panels 11 Hand Arm A 12 buckets 14 Tank 15 Battery 16. Global Navigation Satellite System (GNSS) 17 Inertial Measurement Unit (IMU) 30 Omnidirectional imaging device (LIDAR) 35 Field Map 37 Portable control device 39 Data storage unit

Claims

1. A vehicle body is equipped with a satellite positioning device and an inertial positioning device, Equipped with multiple wheels on the bottom of the vehicle, it drives and steers automatically. A hand arm A (11) equipped with a bucket (12) having a width smaller than that of the wheels is disposed between the wheels, a tank (14) for storing collected foreign matter such as pests, stones, and garbage is disposed at the rear of the vehicle body, and the tank (14) is turned upside down to the outside of the vehicle body by a hand arm B (26). This work vehicle has the function of collecting and storing foreign matter in water in a field while traveling along a predetermined work route, and discharging the foreign matter from a tank (14) at a predetermined position.

2. The work vehicle of claim 1, wherein the bucket (12) at the tip of the hand arm (11) has a mesh-like bottom and is fixed at a position where it contacts the ground of the rice paddy or at a nearby height while traveling, thereby stirring up mud on the surface of the ground in the rice paddy and muddying the water in the rice paddy.

3. A work vehicle according to claim 1 or claim 2, wherein a work route, a position on the work route where foreign objects are collected using a bucket (12), and a position where the collected foreign objects are discharged are registered in advance on a field map, and the work vehicle performs predetermined work at each position and automatically travels while checking its own position using a satellite positioning device and an inertial positioning device.

4. 4. The work vehicle according to claim 3, further comprising an imaging device (30) and, when a foreign object similar to image data registered in advance as a foreign object is detected, the hand arm (11) scoops up the foreign object.

Images