Grain ear harvesting device

Abstract

The grain ear harvesting device can complete harvesting in a short time regardless of grain types even in areas where agricultural machinery is difficult to carry. The grain ear harvesting device (5) is mounted on a drone (1) and is provided with: a cutting rotary blade (52a) for cutting ears and stems of grain in an uncut state in accordance with the movement of the drone (1) that moves to a position at which the ears and stems of the grain are cut in accordance with an image of the rice ears in the uncut state; an ear storage layer 53a for storing the cut ears; and a blower (51a) for moving the cut rice ears to the ear storage layer (53a) by blowing air.

Description

Technical Field

[0001] This invention relates to a grain ear harvesting device. Background Technology

[0002] Unmanned aerial vehicles (UAVs) and other aircraft are known to be used in crop cultivation. For example, an aircraft control system is known to control an aircraft spraying pesticides in a field. This control system includes: a quality information acquisition unit that acquires quality information related to the measured quality and the region from a quality measuring machine that measures the quality of harvested crops within a designated area of ​​the field; and a planning calculation unit that calculates a pesticide spraying plan and an aircraft flight plan based on the quality information and the region. The aircraft sprays pesticides in the field according to the spraying plan and the flight plan. The control system also includes a storage unit for storing a spraying management table that associates and stores the spraying plan sprayed on the harvested crops each time they are harvested with the quality information of the harvested crops. The planning calculation unit calculates the flight plan by referring to the spraying management table and by referring to the trends of past harvested crop quality information and spraying plans by region.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2023-058235 Summary of the Invention

[0004] In recent years, due to global warming, some regions traditionally considered grain-producing areas are gradually losing their suitable conditions for grain growth. In particular, high temperatures in summer hinder the development of grain ears, leading to a decrease in harvest yield.

[0005] Therefore, we need to re-examine grain cultivation in mountainous areas where temperatures are relatively low.

[0006] However, the mountainous terrain and narrow roads make it difficult to transport machinery used for sowing and harvesting.

[0007] On the one hand, the purpose of this invention is to enable harvesting of grains in a short time, even in areas where agricultural machinery is difficult to transport, regardless of the type of grain.

[0008] To achieve the above objectives, a grain harvesting device is provided. This grain harvesting device is mounted on an unmanned aerial vehicle (UAV) and includes: a cutting section that cuts the uncut ears and stems of grain as the UAV moves; a storage section that stores the cut ears of grain; a control section that moves the UAV to a position where the cutting section can cut the ears based on an image of the uncut ears; and a blower section that moves the cut ears of grain toward the storage section by blowing air.

[0009] In one implementation, even in areas where agricultural machinery has difficulty transporting crops, harvesting can be completed in a short time regardless of the type of grain.

[0010] The above and other objects, features and advantages of the present invention will become more apparent from the following description in conjunction with the accompanying drawings, which illustrate preferred embodiments as examples of the invention. Attached Figure Description

[0011] Figure 1 This is a diagram illustrating the system implementation.

[0012] Figure 2 This is a diagram illustrating the hardware of the drone used in the implementation method.

[0013] Figure 3 This is a diagram illustrating a rice direct seeding apparatus for an embodiment.

[0014] Figure 4 This diagram illustrates the method by which the drone control unit calculates the drop point and number of rice seeds.

[0015] Figure 5 This is a diagram illustrating the operation of the D-type rice direct seeding device.

[0016] Figure 6 This is a front view illustrating the harvesting apparatus of the embodiment.

[0017] Figure 7 This is a side view illustrating the harvesting apparatus of the embodiment.

[0018] Figure 8 This is a diagram illustrating the harvesting process of the implementation method.

[0019] Figure 9 This is a diagram showing the hardware structure of the management server in the implementation method.

[0020] Figure 10 This is a block diagram illustrating the management server used in the implementation method.

[0021] Figure 11 This is a diagram illustrating the information stored in the paddy field information storage unit in the implementation method.

[0022] Figure 12 This is a diagram illustrating the information stored in the rice seed information storage unit of the embodiment.

[0023] Figure 13 This is a diagram illustrating the information stored in the initial information storage unit for direct rice seed distribution in the embodiment.

[0024] Figure 14 This is a diagram illustrating the information stored in the rice seed direct seeding information storage unit of the embodiment.

[0025] Figure 15 This diagram illustrates the information stored in the harvesting information storage unit of the implementation method.

[0026] Figure 16 This diagram illustrates the information stored in the harvesting information storage unit of the implementation method.

[0027] Figure 17 This is a diagram illustrating an example of how to determine the coordinates of the vertices of an n-sided paddy field.

[0028] Figure 18 This diagram illustrates the setting and processing of rice seed information.

[0029] Figure 19 This is a flowchart illustrating the live streaming action of the implementation method.

[0030] Figure 20 This is a flowchart illustrating the process of rice seed delivery.

[0031] Figure 21 This is a flowchart illustrating the process of rice seed delivery.

[0032] Figure 22 This is a flowchart illustrating the harvesting action of the implementation method.

[0033] Figure 23 This is a flowchart illustrating the harvesting process.

[0034] Figure 24 This is a flowchart illustrating the harvesting process.

[0035] Figure 25 This diagram illustrates the collision avoidance handling process for drones. Detailed Implementation

[0036] Hereinafter, the system of this embodiment will be described in detail with reference to the accompanying drawings.

[0037] In the following figures and other accompanying drawings, the positions, sizes, shapes, and extents of the various structures shown do not always represent actual positions, sizes, shapes, or extents; their purpose is to facilitate understanding of the invention. Therefore, the invention is not necessarily limited to the positions, sizes, shapes, and extents shown in the figures and other accompanying drawings.

[0038] In implementation, unless otherwise expressly stated in the text, elements expressed in the singular form should also include the plural form.

[0039] Implementation

[0040] Figure 1 This is a diagram illustrating the system implementation.

[0041] The system 100 described in this embodiment is, for example, a system for planting rice seeds in paddy fields and harvesting grown rice ears. The rice described in this embodiment is an example of a grain, but the system 100 can also be applied to other grains besides rice.

[0042] System 100 includes: a drone (flying vehicle) 1, a management server 2, a terminal device 3, a live streaming device 4, and a harvesting device 5.

[0043] The drone 1, management server 2, and terminal device 3 are connected via network 50.

[0044] Figure 2 This is a diagram illustrating the hardware of the drone used in the implementation method.

[0045] The drone 1 of this embodiment has a shell 1a and a rotating blade 1b for flight. The shell 1a and the rotating blade 1b are fixed by a fixed shaft 1c.

[0046] Inside the casing 1a, a Raspberry Pi 5:101 is installed. The drone 1 is controlled by this Raspberry Pi 5:101.

[0047] In the Raspberry Pi 5:101, various accessories are connected via interface 107.

[0048] As accessories, there are, for example, a GPS (Global Positioning System) module 102, a camera module 103, a communication module 104, an LED (Light Emitting Diode) warning light 105, and a distance measurement module 106. The GPS module 102 can be of serial connection type or USB connection type.

[0049] During flight, the drone 1 continuously acquires location information using the GPS module 102. Additionally, the drone 1 activates the camera module 103 at designated times to capture still and moving images. Furthermore, the drone 1 also transmits and receives data with the management server 2 via the communication module 104 at designated times. The communication method is not particularly limited; for example, it can use Wi-Fi or satellite internet services. The timing of communication is also not particularly restricted; it can be real-time or at designated times.

[0050] In addition, the drone 1 can also flash LED warning lights 105 according to the instructions of the management server 2.

[0051] In addition, the drone 1 can use the distance measurement module 106 to measure the distance to other objects.

[0052] In addition, the drone 1 is equipped with a battery 108 that powers flight and various control components.

[0053] Additionally, an accessory 1d, which is installed on the harvesting device 5, is provided at the bottom of the housing 1a.

[0054] In addition, drones equipped with cameras can also be used as long as the images of the ears of grain can be analyzed.

[0055] Return to Figure 1 Please provide an explanation.

[0056] Management server 2 stores the information acquired from drone 1. Furthermore, management server 2 performs various processes based on the information acquired from drone 1 and issues instructions to drone 1.

[0057] Terminal device 3 can access various information by visiting management server 2.

[0058] The direct seeding device 4 is mounted on the drone 1. Hereinafter, the drone 1 equipped with the direct seeding device 4 will be referred to as the "D rice direct seeding device". As its name suggests, the direct seeding device 4 can directly sow rice seeds into paddy fields (or dry fields) without the need for a seedbed.

[0059] Harvesting device 5 is mounted on drone 1. Harvesting device 5 is used to harvest and collect ears of grain. Hereinafter, drone 1 with harvesting device 5 mounted will be referred to as "ear harvesting device 5".

[0060] Figure 3 This is a diagram illustrating a rice direct seeding apparatus for an embodiment.

[0061] exist Figure 3 In the middle, the drone control unit 11 is implemented using a Raspberry Pi 5:101.

[0062] The live streaming device 4 is controlled by the drone control unit 11.

[0063] The live broadcast device 4 includes: a rice seed storage section 41, a shell 42, and a dropping tube 43.

[0064] Rice seed storage section 41 is used to store rice seeds.

[0065] The housing 42 is equipped with a rice falling and rotating device 44, a rice falling cover 45, and a spraying part 46.

[0066] The rice dropping and rotating device 44 includes: a rotating cylinder 441 with a groove 441a, a rotation sensor 442, and a drive motor 443. The rotating cylinder 441 is supported by a shaft 444.

[0067] When a rice seed enters the slot (see enlarged view) 441a of the rotating cylinder 441 of the rice dropping and rotating device 44, the rotation sensor 442 drives the motor 443, for example, to cause three rice seeds to fall onto the rice dropping cover 45 at the lower part of the housing 42. The rotation sensor 442 controls the rotation and stopping of the drive motor 443 to cause three rice seeds to fall. Three seeds are just an example, and there can be an error of plus or minus one seed.

[0068] The conditions that make it easy for rice seeds to enter the groove of the rotating cylinder 441 from the upper part of the shell 42, namely the rotation speed of the rotating cylinder 441 and the stopping of rotation, are comprehensively adjusted by the UAV control unit 11 as a grain-falling structure.

[0069] The rice seed drop cover 45 is located at the lower part of the housing 42, at the connection point with the drop tube 43. The rice seed drop cover 45 is subjected to an external force via a coil 451 toward a position that inhibits the rice seed from falling (hereinafter referred to as position A).

[0070] The jetting unit 46 injects compressed air according to the instructions of the UAV control unit 11. The injected compressed air passes through the air flow pipe 47, and a portion of it is sent into the lower part of the housing 42.

[0071] The drop tube 43 is located at the lower part of the shell 42. The front end 43a of the drop tube 43 is pointed, forming a shape that facilitates penetration into the soil. The drop tube 43 forms a channel for introducing rice seeds ejected from the shell 42 into the soil.

[0072] A rice direct seeding sensor 43b is disposed on the side of the base end of the drop tube 43. The rice direct seeding sensor 43b is used to count the rice seeds passing through the drop tube 43.

[0073] The following is an example illustrating the operation of the live streaming device 4.

[0074] When three rice seeds pass through the slot 441a of the rotating cylinder 441, and the rotation sensor 442 detects an image of the rice seeds falling onto the rice drop cover 45, the UAV control unit 11 sends a signal to the jet unit 46 to eject air. The ejected air, which passes through the air flow pipe 47, has sufficient pressure. Therefore, the lower part of the housing 42 is filled with high-pressure air. Driven by a portion of the ejected air, the rice drop cover 45, located at position A, overcomes the external force from the coil 451 and is pressed to position B, which has been rotated 90 degrees clockwise.

[0075] High-pressure air flows into the drop tube 43, causing the rice seed to slide into it, with its sharp tip 43a piercing the soil. The rice seed, pressed to position B, is then dropped onto the drop tube 45. Due to the reduced air pressure (to one atmosphere) caused by the air flowing into the drop tube 43, the seed is forced to rotate 90 degrees counterclockwise by the external force from the coil 451 and spring back to position A. This structure operates on the same principle as firing a bullet from an air gun.

[0076] Although the upper part of the shell 42 is filled with rice seeds, it is not sealed. Therefore, by delivering some of the injected air to the upper part of the rotating cylinder 441, the blocked seeds are pushed upwards, solving the problem of difficulty in falling out due to blockage. This makes it easier for each rice seed to enter the slot of the rotating cylinder 441.

[0077] In rice transplanting, there is a method of direct seeding in dry land without pre-irrigating the field. Even in this case, if the rice direct seeding device 4 increases the descent speed, the depth to which the tip of the drop tube 43 penetrates the dry soil will increase, thus allowing the rice seed to be placed underground rather than on the surface. Therefore, direct seeding in dry land can operate in the same way as direct seeding in paddy fields.

[0078] Next, we will explain the rice seed drop point of the D rice direct seeding device 4.

[0079] Figure 4 This diagram illustrates the method by which the drone control unit calculates the drop point and number of rice seeds.

[0080] like Figure 4 As shown in (a), if the position of the rice seed to be dropped is set as point P, then the number of rice seeds that fall on all n columns can be defined based on the line L passing through point P and the rice seed dropping area AR formed by the circle with radius R centered at point P.

[0081] Figure 4 (b) is a diagram illustrating the virtual stripes and the location where the rice seeds fall.

[0082] First, the D-type rice direct seeding device 4 is flown over the paddy field (hereinafter referred to as "the paddy field") to be directly seeded. Using the GPS module 102 and camera module 103 of the UAV 1, images of the paddy field's ridges (in this figure, east, west, north, and south) and the shape of the paddy field (in this figure, inside the four dotted lines) are captured.

[0083] Considering the growth of rice, rice seedlings are usually planted facing north or south towards the sun. Therefore, judging from the shape of the paddy field ridges, if the boundary between the western paddy field ridge and the water surface in this diagram is set as line 0 (baseline) L0, then the UAV control unit 11 will draw a virtual line L1 parallel to L0 and spaced 1 / 2N cm away from it on the water surface to the left of L0. N cm is, for example, 20 cm to 25 cm. If any value is pre-input into the line interval n of the UAV control unit 11, the UAV control unit 11 will calculate and draw M virtual lines with the maximum value on the water surface, and save these data in the storage medium of the UAV control unit 11.

[0084] This is a diagram used to clearly illustrate the distance between rice seeds falling adjacent to each other on the same line L as a single rice seed, and the distance between seeds falling on lines adjacent to line L. If we define the angle between the north and west sides of the paddy field ridge, i.e., the position where the rice direct seeding device 4 begins directing the rice seeds, as the first rice seed landing base point P0, then the distance between this base point P0 and the angle between the north and west sides of the paddy field ridge is approximately a radius R = 1 / 2N cm. Once this base point P0 is determined, the UAV control unit 11 can calculate the precise location and maximum number of rice seeds falling on the M lines (L1, L2, L3…Ln) based on the paddy field shape data captured from above. Figure 4 The left side of (b) is an enlarged view of the area where rice grains continuously fall.

[0085] Figure 5 This is a diagram illustrating the operation of the D-type rice direct seeding device.

[0086] First, the D-type rice direct seeding device 4 inserts its drop tube 43 into the underwater soil of the paddy field at the first seed drop point, causing the rice seed to fall (rice drop position #1). The D-type rice direct seeding device 4 then immediately rises and moves to the right (flight position #1). The D-type rice direct seeding device 4 then inserts its drop tube 43 into the underwater soil of the paddy field again, causing the rice seed to fall (rice drop position #2). Afterward, the D-type rice direct seeding device 4 repeatedly performs flight movement and rice drop actions along a line until it reaches either flight position #n or rice drop position #n.

[0087] Next, the harvesting device 5 of the embodiment will be described.

[0088] Figure 6 This is a front view illustrating the harvesting apparatus of the embodiment. Figure 7 This is a side view illustrating the harvesting apparatus of the embodiment. Figure 8 This is a diagram illustrating the harvesting process of the implementation method.

[0089] The harvesting device 5 can be detachably mounted on the drone 1 via accessory 1d.

[0090] The harvesting device 5 has an upper harvesting part 51, a tip guide part 52, and a lower harvesting part 53.

[0091] The upper part 51 of the harvester is equipped with a blower 51a, a heading opening 51b, and an internal sensor 51c.

[0092] The internal sensor 51c detects whether the number of ears of grain taken into the harvesting device 5 is above the specified amount.

[0093] A cutting rotating blade 52a, a drive motor 52b, guide plates 52c, 52d, and guide plate support portions 52d are arranged on the ear tip guide portion 52. Driven by the drive motor 52b, the cutting rotating blade 52a rotates, thereby cutting off the ear tip. Furthermore, Figure 7 and Figure 8 In the diagram, the ear tip is symbolically indicated by an arrow. Guide plates 52c, 52c and guide plate supports 52d, 52d are partially positioned outside the harvesting lower section 53. Guide plates 52c, 52c are V-shaped, guiding the ear tip to the cutting rotary blade 52a. Guide plate supports 52c.

[0094] Inside the lower harvest section 53, there is a storage layer 53a for storing rice ears. The lower harvest section 53 is an example of a storage section.

[0095] Furthermore, the side 53b and the joint 53d of the lower harvesting part 53 are convex. Since the joint 53d is shaped like the bow of a ship, and the side 53b and the side 53b are shaped like the gunwale of a ship, the stalks of the harvested rice are separated from the left and right by the convex part of the joint 53d, and are pushed backward while sliding on the sides of the side 53b and the side 53b.

[0096] A discharge section 53c is provided at the bottom of the harvesting lower part 53. The discharge section 53c opens and closes according to the instructions of the UAV control unit 11. When the discharge section 53c is open, the rice ears stored in the ear storage layer 53a are discharged to the outside of the harvesting device 5 through the discharge section 53c.

[0097] Figure 7 The side view of the harvesting device 5 shown indicates the state of the harvesting device 5 harvesting ears of grain.

[0098] The following is an example illustrating the operation of the harvesting device 5.

[0099] In this embodiment, rice grains and rice ears are used to illustrate grains. Assuming that multiple rows of rice grains are planted in a field, this embodiment explains how the harvesting device harvests one rice ear.

[0100] When the D-ear harvesting device 5 moves in the direction of travel (in) Figure 7When the rice ear moves to the right (as shown in the middle), it enters the V-shaped opening 52c1 of the guide plate 52c (refer to...). Figure 8 Before that, the camera module 103 reads images of the height, tilt, and droop of the rice ears and stems in the uncut state.

[0101] Based on the data from the image read by the UAV control unit 11, the UAV 1 is moved to a position where the cutting rotating blade 52a can reliably cut the rice ears.

[0102] When the uncut rice panicle a4 and stem s4 enter the V-shaped opening 52c1 ( Figure 7 (In the already cut state), the drone 1 moves further to the right in the direction of travel, so that the unseparated rice ears a4 and stems s4 come into direct contact with the cutting rotating blade 52a, and the stems s4 and ears a4 are cut off instantly.

[0103] The panicles, through contact resistance with the rotating blade (similar to a rotary grass cutter) and the airflow from the blower 51a located above the panicle inlet, reliably fall to the bottom of the panicle storage layer 53a, becoming stored panicles and accumulating. Pans a1, a2, and a3 are discontinuous images of panicles that fell to the panicle storage layer after being cut by the cutting rotating blade 52a before panicle a4. Pans a5 (stem s5), a6 (stem s6), and a7 (stem s7) are uncut panicles of the same line guided by the guide plate 52c to the cutting rotating blade 52a after panicle a4 (stem s4).

[0104] Just as waves separate a ship's bow and the port and starboard sides as it moves across the sea, similarly, the stalk s4, with the ear of grain a4 cut off, strikes the junction (protrusion) 53d of the side 53b and the side 53b and is cut off. Then, as the drone 1 moves to the right of the plane of the paper, the cut stalk s4, due to the low resistance along the side 53b and the surface (curved surface: equivalent to the ship's side) of the harvested lower part 53, is bent in the left-right-down direction while being flattened and its segmented surface widened, and simultaneously moves backward.

[0105] When the internal sensor 51c detects that the ear storage layer 53a is filled with harvested ears, the UAV control unit 11 will move the ear harvesting device 5 to a discharge location located in another place not shown.

[0106] For example, when the maximum amount of rice ears that have been cut and piled on the storage layer 53a reaches approximately the same height as the cutting rotary blade 52a, the internal sensor 51c determines that the harvested ears are full. This prevents excessive accumulation of ears in the storage layer 53a from contacting the cutting rotary blade 52a and causing the rice grains to break.

[0107] When the D-ear harvesting device 5 arrives at the discharge site, the UAV control unit 11 opens the discharge section 53c, discharging the rice ears stored in the ear accumulation layer 53a. The discharged rice ears are then transferred to the threshing machine. The rice ears transferred to the threshing machine are threshed into paddy rice.

[0108] Although it does not integrate harvesting, threshing, and sorting functions like a combine harvester, the device provided by this invention is easier to operate and is equipped with an unmanned aerial vehicle (UAV) control unit 11. Therefore, it can achieve unmanned harvesting of grain ears in any location with farmland, which makes it particularly economical.

[0109] This embodiment describes the harvesting of one row of grain. However, compared to modifying the structure of the ear tip guide 52 to handle two-row and three-row harvesting as in a combine harvester, increasing the number of operating D-ear harvesting devices 5 is more efficient and economical. Therefore, it is preferable to equip each drone 1 with a collision prevention program, allowing multiple D-ear harvesting devices 5 to operate simultaneously. The collision prevention program will be described later.

[0110] The longitudinal width of the side (base end side) of the V-shaped guide plates 52c, 52c fixed to the ear harvesting device 5 is shorter than the longitudinal width of the protruding front end (front end side), and the lower side of the guide plates 52c, 52c is inclined towards the base end side. This is because when the stem s4 of the ear a4 that has been cut is pressed by the side 53b and the joint (protrusion) 53d of the side 53b, it can bend downward more smoothly without getting hooked on the guide plates 52c, 52c.

[0111] The extent to which the cutting rotating blade 52a extends, in this embodiment, is as follows: Figure 7 As shown, the rice ears a4 and stems s4 in their uncut state are cut slightly forward at the deepest point of the V-shaped guide plates 52c, 52c.

[0112] In addition, such as Figure 7 As shown, the harvesting device 5 and the direct seeding device 4 can also be integrated. In this case, the grain ears stored in the ear storage layer by the harvesting device 5 can also be directly seeded by the direct seeding device 4 as rice seeds.

[0113] Next, we will explain management server 2.

[0114] Figure 9 This is a diagram showing the hardware structure of the management server in the implementation method.

[0115] The management server 2 is controlled by the CPU (Central Processing Unit) 201. The RAM (Random Access Memory) 202 and multiple peripheral devices are connected to the CPU 201 via the bus 208.

[0116] RAM 202 serves as the main storage device for the management server 2. At least a portion of the OS (Operating System) programs or applications executed by the CPU 201 are temporarily stored in RAM 202. Additionally, various data used in the processing of the CPU 201 are stored in RAM 202.

[0117] Bus 208 is connected to a hard disk drive (HDD) 203, a graphics processing device 204, an input interface 205, a drive device 206, and a communication interface 207.

[0118] The hard disk drive 203 magnetically writes and reads data from its built-in disk. The hard disk drive 203 serves as a secondary storage device for the management server 2. It stores the operating system program, applications, and various data. Alternatively, semiconductor storage devices such as flash memory can also be used as secondary storage devices.

[0119] The display 204a is connected to the graphics processing device 204. The graphics processing device 204 displays images on the screen of the display 204a based on commands from the CPU 201. The display 204a may be, for example, a display device using a CRT (Cathode Ray Tube), a liquid crystal display device, etc.

[0120] Keyboard 205a and mouse 205b are connected to input interface 205. Input interface 205 sends signals from keyboard 205a or mouse 205b to CPU 201. Mouse 205b is one example of a pointing device; other pointing devices can also be used. Examples of other pointing devices include touch panels, tablets, touchpads, and trackballs.

[0121] The drive device 206 reads data recorded on portable recording media such as optical discs or USB (Universal Serial Bus) memory, which contain data that can be read through light reflection. For example, if the drive device 206 is an optical drive device, data recorded on the optical disc 200 can be read using a laser or the like. The optical disc 200 includes Blu-ray (registered trademark), DVD (Digital Versatile Disc), DVD-RAM (DVD Random Access Memory), CD-ROM (Compact Disc Read Only Memory), CD-R (Recordable) / RW (Rewritable), etc.

[0122] Communication interface 207 is connected to network 50. Communication interface 207 sends and receives data between other computers or communication devices via network 50.

[0123] The processing function of this embodiment can be realized through the hardware structure described above.

[0124] Figure 10 This is a block diagram illustrating the management server used in the implementation method.

[0125] The management server 2 has a processing unit 21, a paddy field information storage unit 22, a rice seed information storage unit 23, a rice seed direct seeding initial information storage unit 24, a rice seed direct seeding information storage unit 25, and a harvesting information storage unit 26.

[0126] The processing unit 21 interacts with the drone 1. Additionally, based on requests from the terminal device 3, the processing unit 21 displays various information stored in the management server 2 on the display of the terminal device 3.

[0127] Figure 11 This is a diagram illustrating the information stored in the paddy field information storage unit in the implementation method.

[0128] exist Figure 11 In this context, information is presented in tabular form.

[0129] The paddy field information table T1 contains columns for record ID, paddy field ID, name, paddy field coordinates, image, angular coordinates, R, start location, bar spacing, registration date, transplanting flag (TF), transplanting date and time, harvesting flag (HF), harvesting date and time, and error flag (EF). The horizontally arranged information is interconnected.

[0130] In the Record ID field, set the value that identifies the record.

[0131] In the Serial Number (Paddy Field) field, set the string to identify the paddy field.

[0132] In the field for the name of the paddy field, set a string to identify the paddy field. You can also set the shooting date and time to the initial value.

[0133] In the paddy field coordinates field, set the GPS coordinates of drone 1 for the time of the photo shoot.

[0134] In the paddy field image section, set the filename for the images taken by drone 1.

[0135] In the angular coordinates field, set the angular coordinates of the paddy field.

[0136] In column R, set the radius (in cm) of the circle centered at the rice seed drop point P0.

[0137] In the "Starting Location" field, set the starting location of the virtual line (i.e., the starting position of the line from the north of the ridge, unit: cm).

[0138] In the bar spacing section, set the spacing (unit: cm) between adjacent virtual bars.

[0139] The "Registration Date" field specifies the date and time the paddy field information was registered.

[0140] In the rice planting indicator section, a value is set to identify the rice planting status. In this embodiment, "0" indicates no processing, "1" indicates rice planting is possible, "2" indicates rice planting in progress, and "3" indicates rice planting is complete. The initial value is "0".

[0141] In the rice planting date and time field, set the rice planting date and time.

[0142] In the harvest indicator field, a value is set to identify the harvesting status. In this embodiment, "0" indicates no processing, "1" indicates harvesting in progress, and "2" indicates harvesting completed. The initial value is "0".

[0143] In the Harvest Date and Time field, set the date and time for harvesting.

[0144] In the error flag column, set the value for identifying the error category. In this embodiment, "0" indicates normal, "1" indicates inconsistency (during rice transplanting), "2" indicates an error in the rotation sensor 442, "3" indicates an error in the direct seeding sensor 43b, and "4" indicates inconsistency (during harvesting).

[0145] Figure 12 This is a diagram illustrating the information stored in the rice seed information storage unit of the embodiment.

[0146] exist Figure 12 In this context, information is presented in tabular form.

[0147] The rice seed information table T2 includes columns for record ID, paddy field ID, strip number, rice seed sequence ID, rice planting location (GPS coordinates), transplanting completion marker (TCF), transplanting date and time, harvesting completion marker (HCF), harvesting date and time, and error flag. The horizontally arranged information is interconnected. Among this information, the paddy field ID, transplanting date and time, harvesting date and time, and error flag are the same as those in the paddy field information above, therefore, explanations are omitted.

[0148] In the Record ID field, set the value that identifies the record.

[0149] In the bar number field, set the bar number based on the field ridges or bar intervals.

[0150] In the rice seed sequence ID field, set a string to identify the rice seed number.

[0151] In the "Rice Drop Location (GPS Coordinates)" field, set a string to identify the rice drop location calculated based on the field ridges, line intervals, and R.

[0152] In the Transplanting Completion Flag (TCF) field, a value is set to identify the transplanting status. In this embodiment, "0" indicates no processing and "1" indicates transplanting is complete.

[0153] In the Harvest End Flag (HCF) field, set a value to identify the harvesting status. In this embodiment, "0" indicates no processing and "1" indicates harvesting is complete.

[0154] Figure 13 This is a diagram illustrating the information stored in the initial information storage unit for direct rice seed distribution in the embodiment.

[0155] exist Figure 13 In this context, information is presented in tabular form.

[0156] The initial information table T3 for direct rice seeding includes columns for record ID, descent distance, number of rice seeds, and error count. The horizontally arranged information is interconnected.

[0157] In the Record ID field, set the value that identifies the record.

[0158] In the descent distance field, set the descent distance (unit: cm) when rice seeds are dropped from the D rice direct seeding device 4.

[0159] In the "Rice Count" column, set the number of rice grains that fall in one instance.

[0160] In the Error Number column, set the allowable error number relative to the number of rice grains dropped.

[0161] The initial information for direct seeding of rice can be set by the user at any time by operating the terminal device 3.

[0162] Figure 14 This is a diagram illustrating the information stored in the rice seed direct seeding information storage unit of the embodiment.

[0163] The rice seed direct seeding information is stored for each individual paddy field.

[0164] exist Figure 14 In this context, information is presented in tabular form.

[0165] The rice seed direct seeding information table T4 includes columns for record ID, paddy field ID, descent distance, number of rice grains, and error count. The horizontally arranged information is interconnected.

[0166] Except for setting the paddy field ID, the rice seed direct seeding information table T4 is the same as the initial rice seed direct seeding information table T3.

[0167] When setting the initial information for rice seed direct seeding, the system automatically sets the descent distance, rice count, and error count for each paddy field ID. Users can modify the descent distance, rice count, and error count in the rice seed direct seeding information table T4 at any time.

[0168] Figure 15 This diagram illustrates the information stored in the harvesting information storage unit of the implementation method.

[0169] exist Figure 15 In this context, information is presented in tabular form.

[0170] The harvest information table T5 includes columns for record ID, comparison image of harvested ears, and discharge location. The horizontally arranged information is interconnected.

[0171] In the Record ID field, set the value that identifies the record.

[0172] In the section for comparing harvested ears, set the filename of the image used for judging rice ear harvesting. This image can be one captured by the camera module 103 of the drone 1.

[0173] In the discharge location field, the location coordinates of the discharge location of the rice ears stored in the ear storage layer 53a are set. These location coordinates can be obtained using the GPS module 102 of the UAV 1.

[0174] When broadcasting live in the system 100 of this embodiment, information related to paddy fields is acquired by drone 1.

[0175] Figure 16This is a flowchart illustrating the paddy field registration process of the implementation method. Furthermore, the processing order shown in the flowchart of this implementation method is merely an example; some processes can be replaced with others, the order of some processes can be changed, and other processes can be added.

[0176] During the registration and processing of paddy fields, the drone 1 continuously obtains its own location information through the GPS module 102.

[0177] Step S1: After arriving at the paddy field, the UAV control unit 11 activates the camera module 103 to capture an image of the entire paddy field. At this time, the UAV 1 also calculates the coordinates of the field ridges.

[0178] Step S2: The UAV control unit 11 sends the coordinates of the paddy field ridges and an image of the paddy field to the management server 2 via the communication module 104. The management server 2, referring to the paddy field information table T1, automatically sets unique record IDs and paddy field IDs. Additionally, it sets the date and time of the received paddy field image capture in the name field. Furthermore, it sets the coordinates of the paddy field ridges in the paddy field coordinates field. Additionally, it sets the filename of the received image in the image field. Finally, it sets the date and time of the received paddy field ridge coordinates and the paddy field image in the login date field.

[0179] Step S3: The UAV control unit 11 uses the GPS module 102 to determine the vertex coordinates of the corner of the paddy field, and sends the vertex coordinates of the paddy field to the management server 2 via the communication module. The management server 2 refers to the paddy field information table T1 and sets the vertex coordinates of the corner of the paddy field in the corner coordinate column.

[0180] However, paddy fields come in various shapes and sizes. Figure 1 In the case of a quadrilateral paddy field, the coordinates of 4 vertices are sent to management server 2; in the case of a hexagonal paddy field, the coordinates of 6 vertices are sent to management server 2.

[0181] Figure 17 This is a diagram illustrating an example of how to determine the coordinates of the vertices of an n-sided paddy field.

[0182] Based on the north-south and east-west baselines, draw multiple vertical and horizontal lines that intersect at right angles at certain intervals, like on graph paper, to determine the vertex coordinates.

[0183] The user operates the terminal device 3 and accesses the management server 2 to log in to the R, start location and bar interval of the paddy field information table T1.

[0184] Next, the control unit 21 sets the rice seed information.

[0185] Figure 18 This diagram illustrates the setting and processing of rice seed information.

[0186] Step S11: The control unit 21 sets the paddy field ID of the paddy field information table T1 set in step S2 in the paddy field ID column of the rice seed information table T2.

[0187] Step S12: The control unit 21 connects the angular coordinates with lines to construct a virtual paddy field.

[0188] Step S13: The control unit 21 uses the longest distance between the north and south paddy field ridges and between the east and west paddy field ridges of the virtual paddy field constructed in step S12 as the baseline.

[0189] Step S14: The control unit 21 refers to the column of the paddy field information table T1 and draws parallel lines along the baseline, with the line intervals between the lines.

[0190] Step S15: The control unit 21 sequentially numbers the parallel lines drawn in step S14 from the east side of the paddy field ridge and sets them in the line number column of the rice seed information table T2. The intersection of the east-west and north-south lines is the rice planting position. The control unit 21 sets the rice planting position in the rice planting position column of the rice information table T2. In addition, the control unit 21 assigns a unique rice seed sequence ID to each record. At this time, for records with the same line number, it is preferable to also assign a portion of the same number to the rice seed sequence ID.

[0191] Next, a flowchart will be used to illustrate the live streaming actions of System 100. The following description will focus on the actions performed when rice ears are sown in paddy fields, but the type of grain ear is not limited to rice. Furthermore, the cultivation site for grains is not limited to paddy fields.

[0192] Figure 19 This is a flowchart illustrating the live streaming action of the implementation method.

[0193] Pre-processing: The user operates the terminal device 3 to determine the paddy field for which they want to conduct live streaming. The management server 2 refers to the determined paddy field information table T1 and sets the transplanting flag (TF) of the record with the paddy field ID of the determined paddy field to "1".

[0194] Step S21: The UAV control unit 11 refers to the paddy field information table T1 and determines the record with the rice transplanting mark (TF) as "1".

[0195] Step S22: UAV 1 obtains the location information of the paddy field by referring to the paddy field coordinates determined in step S21 (hereinafter referred to as the record).

[0196] Step S23: The rice direct seeding device 4 flies to the paddy field according to the paddy field coordinates obtained in step S22.

[0197] Step S24: The D-type rice direct seeding device 4, upon reaching the corresponding paddy field, captures an image using the camera module 103 and sends the captured image to the management server 2. The management server 2 compares the image of the paddy field corresponding to the filename of the recorded image with the received image. AI-based comparison can be used for this comparison.

[0198] If the management server 2 determines that the paddy field image corresponding to the filename of the paddy field image is consistent with the received image ("Yes" in step S24), it sets the rice planting mark field of the record to "2" and proceeds to step S25. If the management server 2 determines that the paddy field image corresponding to the filename of the paddy field image is inconsistent with the received image ("No" in step S24), it reports an error and proceeds to step S26.

[0199] Step S25: The rice seed directing device 4 performs the rice seed placement process. The rice seed placement process will be discussed later. The process ends when the rice seed placement is complete. Figure 19 The live broadcast actions.

[0200] Step S26: The management server 2 sets "1" in the error flag field of the record and displays a warning on the terminal device 3. Additionally, it sends an instruction to the D-rice direct seeding device 4 to flash the warning light.

[0201] Figure 20 and Figure 21 This is a flowchart illustrating the process of rice seed delivery.

[0202] Step S25a: The management server 2 sends the record of rice seed information table T2, which has a paddy field ID that matches the record, and the record of rice seed direct seeding information table T4 to the rice seed direct seeding device 4.

[0203] Step S25b: When the rice seed direct seeding device 4 receives the records from the rice seed information table T2 sent in step S25a, it selects the records to be processed. For example, the record with the smallest rice seed sequence ID is selected as the first record to be processed. Then, the process proceeds to step S25c.

[0204] Step S25c: The rice direct seeding device 4 moves to the rice seed placement position on the virtual line according to the rice placement position included in the record selected in step S25b.

[0205] Step S25d: The rice seed directing device 4 prepares the rice seeds to be sown according to the number of rice seeds recorded in the received rice seed directing information table T4. Then, proceed to step S25e.

[0206] Step S25e: The rice direct seeding device 4 monitors the image via the rotation sensor 442. Then, proceed to step S25f.

[0207] Step S25f: Based on the monitoring results of the rotation sensor 442, the rice direct seeding device 4 determines whether the quantity of rice seeds set in step S25d is consistent with the quantity set in the rice seed quantity column of the rice direct seeding information table T4. If the quantity of rice seeds set in step S25d is consistent with the quantity set in the rice seed quantity column of the rice seed direct seeding information table T4, or if the quantity of rice seeds set in step S25d is inconsistent with the quantity set in the rice seed quantity column of the rice seed direct seeding information table T4 but the inconsistent quantity is within the range of the quantity set in the error number column (step S25f "Yes"), proceed to step S25g. If the quantity of rice seeds set in step S25d is inconsistent with the quantity set in the rice seed quantity column of the rice seed direct seeding information table T4, and the inconsistent quantity is outside the range of the quantity set in the error number column (step S25f "No"), proceed to step S25n.

[0208] Step S25g: The rice direct seeding device 4 lowers itself by the amount set in the descent distance column of the rice seed direct seeding information table T4. Then, proceed to step S25h.

[0209] Step S25h: After descent, the jet unit 45 jets compressed air according to the instructions of the UAV control unit 11. As a result, the rice drop cover 44 is pressed down, and the rice seeds are dropped into the soil through the drop pipe 43.

[0210] Step S25i: The rice seed direct seeding sensor 43b counts the number of rice seeds passing through the drop tube 43. If the counted number of rice seeds matches the number set in the rice seed direct seeding information table T4 (rice seed count column), or if the counted number of rice seeds does not match the number set in the rice seed direct seeding information table T4 but is within the range set in the error count column (step S25i "Yes"), proceed to step S25j. If the counted number of rice seeds does not match the number set in the rice seed count column of the rice seed direct seeding information table T4 and is outside the range set in the error count column (step S25i "No"), proceed to step S25p.

[0211] Step S25j: The rice seed direct seeding device 4 sets the transplanting completion flag (TCF) of the record in the rice seed information table T2 to "1". Then, proceed to step S25k.

[0212] Step S25k: The D-type rice direct seeding device 4 determines whether there are any unprocessed records in the rice seed information table T2 received in step S25b. Specifically, the D-type rice direct seeding device 4 determines whether the transplanting completion flag of the next record in the rice seed information table T2 selected in step S25b is "0". If the transplanting completion flag is "0" ("Yes" in step S25k), the next record is selected. Then, the process proceeds to step S25d for processing after step S25d. If all records have been processed, that is, if all the transplanting completion flag columns of the records in the rice seed information table T2 received in step S25b are "1" ("No" in step S25k), the process proceeds to step S25m.

[0213] Step S25m: The rice seed direct seeding device 4 sends the rice seed information table T2 to the management server 2 and returns it. The management server 2 updates the contents of the received rice seed information table T2. Additionally, if all the fields indicating transplanting completion in the received rice seed information table T2 are "1", the management server 2 sets "3" in the field indicating transplanting completion for records in paddy field information table T1 that have the same paddy field ID as the rice seed information table T2. Furthermore, the management server 2 sets the transplanting date and time in the transplanting date and time fields of both the paddy field information table T1 and the rice seed information table T2.

[0214] Step S25n: The D-rice direct seeding device 4 sets "2" in the error flag column of the record. Additionally, the D-rice direct seeding device 4 causes the LED warning light 105 to flash. Furthermore, the D-rice direct seeding device 4 sends a message to the management server 2 indicating that "2" has been set in the error flag column of the record. The management server 2 sets "2" in the error flag column of the record that has the same paddy field ID as the paddy field ID in paddy field information table T1 as the paddy field ID in rice seed information table T2. Additionally, the management server 2 displays a warning on the screen of the terminal device 3. Afterwards, proceed to step S25d (try again).

[0215] Step S25p: The D-rice direct seeding device 4 sets "3" in the error flag column of the record. Additionally, the D-rice direct seeding device 4 causes the LED warning light 105 to flash. Furthermore, the D-rice direct seeding device 4 sends a message to the management server 2 indicating that "3" has been set in the error flag column of the record. The management server 2 sets "3" in the error flag column of the record that has the same paddy field ID as the paddy field ID in paddy field information table T1 as the paddy field ID in rice seed information table T2. Additionally, the management server 2 displays a warning on the screen of the terminal device 3. Afterwards, proceed to step S25c (try again).

[0216] In addition, Figure 20 and Figure 21In the process, an error flag is immediately established when an error occurs, but it is not limited to this. If the number of errors is less than a certain number, the process can proceed to step S25d for retrying without establishing an error flag. An error flag is established when the number of errors exceeds a certain number.

[0217] Next, a flowchart will be used to illustrate the harvesting action of system 100. The following description illustrates the actions of harvesting rice ears from paddy fields, but the type of grain ear is not limited to rice ears. Furthermore, the cultivation site for grains is not limited to paddy fields.

[0218] Figure 22 This is a flowchart illustrating the harvesting action of the implementation method.

[0219] Pre-processing: The user operates the terminal device 3 to determine the paddy field to be harvested. The management server 2 refers to the specific paddy field information table T1 and sets the harvest flag (HF) of the record with the paddy field ID of the determined paddy field to "1".

[0220] Step S31: Drone 1 refers to the paddy field information table T1 to determine the record marked with "1" for harvesting.

[0221] Step S32: UAV 1 obtains the location information of the paddy field by referring to the recorded paddy field coordinates determined in step S31.

[0222] Step S33: The ear harvesting device 5 flies to the paddy field according to the location information of the paddy field obtained in step S32.

[0223] Step S34: The D-ear harvesting device 5, upon reaching the corresponding paddy field, captures an image via camera module 103 and sends the captured image to management server 2. Management server 2 compares the received image with the paddy field image whose filename was determined in step S31. This comparison can be performed using AI-based judgment.

[0224] If the management server 2 determines that the paddy field image corresponding to the filename of the paddy field image is consistent with the received image ("Yes" in step S34), it sets the harvest mark field of the record to "2" and proceeds to step S35. If the management server 2 determines that the paddy field image corresponding to the filename of the paddy field image is inconsistent with the received image ("No" in step S34), it reports an error and proceeds to step S36.

[0225] Step S35: Harvesting device 5 performs the harvesting process. The harvesting process is described below. When the harvesting process is completed, the process ends. Figure 22 The harvesting action.

[0226] Step S36: The management server 2 sets "1" in the error flag column of the record determined in step S31, and displays a warning on the terminal device 3. Additionally, it sends an instruction to the ear-harvesting device 5 to flash the warning light.

[0227] Figure 23 and Figure 24 This is a flowchart illustrating the harvesting process.

[0228] Step S35a: The management server 2 sends the records of the rice seed information table T2, which has a paddy field ID that is consistent with the paddy field ID determined in step S31, and the records of the rice seed direct seeding information table T4 to the D-ear harvesting device 5.

[0229] Step S35b: When the D-ear harvesting device 5 receives the records from the rice seed information table T2 sent in step S35a, it selects the record to be processed. For example, the record with the smallest rice seed sequence ID is selected as the first record to be processed. Then, the process proceeds to step S35c.

[0230] Step S35c: The D-ear harvesting device 5 moves to the position of the rice ear on the virtual bar according to the rice dropping position included in the record selected in step S35b.

[0231] Step S35d: The harvesting device 5 takes a picture of the rice ear position on the virtual line it has moved to, using the camera module 103, and sends the picture to the management server 2. The management server 2 compares the harvest comparison image in the harvest information table T5 with the received image to determine whether harvesting can proceed. This comparison can be made using AI.

[0232] If the management server 2 determines that harvesting can proceed ("Yes" in step S35d), it proceeds to step S35e. If, for example, the management server 2 determines that the rice ears are not sufficiently grown and cannot be harvested ("No" in step S35d), it proceeds to step S35h.

[0233] Step S35e: The management server 2 sends a harvesting instruction to the ear harvesting device 5.

[0234] Step S35f: The ear harvesting device 5 harvests the rice according to the method described above. After harvesting is completed, the harvesting completion flag in the rice seed information table T2 is set to "1".

[0235] Step S35g: After harvesting, the D-ear harvesting device 5 uses its internal sensor 51d to determine whether the amount of rice ears in the ear storage layer 53a has reached a certain level. If there is a surplus in the ear storage layer 53a but the amount of rice ears has not reached a certain level ("Yes" in step S35g), the process moves to step S35h. When the amount of rice ears in the ear storage layer 53a reaches a certain level ("No" in step S35g), the process moves to step S35j.

[0236] Step S35h: The D-ear harvesting device 5 determines whether there are any unprocessed records in the rice seed information table T2 received in step S35b. Specifically, the D-ear harvesting device 5 determines whether the harvest completion flag of the next record in the rice seed information table T2 selected in step S35b is "0". If the harvest completion flag is "0" ("Yes" in step S35h), the next record is selected. Then, the process proceeds to step S35c for processing after step S35c. If all records have been processed, that is, if all the columns of the harvest completion flags in the rice seed information table T2 received in step S35b are "1" ("No" in step S35h), the process proceeds to step S35i.

[0237] Step S35i: The D-ear harvesting device 5 sends the rice seed information table T2 to the management server 2 and returns it. The management server 2 updates the contents of the received rice seed information table T2. Additionally, if all the fields for the harvest completion flag in the received rice seed information table T2 are "1", the management server 2 sets "3" in the field for the record with the same paddy field ID as the rice seed information table T1. Furthermore, the management server 2 sets the harvest date and time in the harvest date and time fields of both the paddy field information table T1 and the rice seed information table T2.

[0238] Step S35j: The D-ear harvesting device 5 moves to the discharge location of the harvesting information table T5 and discharges the rice ears. Afterwards, it flies to the paddy field according to the location information of the paddy field obtained in step S32 and transfers to step S35h.

[0239] Regarding preventing drone collisions

[0240] So far, the operation of one drone 1 has been described, but the scenario of using multiple drones 1 for live streaming or harvesting can be taken into account. In this case, each drone control unit 11 ensures that the drones 1 avoid colliding with each other.

[0241] Figure 25 This diagram illustrates the collision avoidance handling process for drones.

[0242] Step S41: Based on the location information sent from the GPS modules 102 of each UAV 1, the management server 2 determines whether there are other UAVs at the flight destination. If there are no other UAVs at the flight destination (Yes in step S41), proceed to step S42. If there are other UAVs at the flight destination (No in step S41), stop the flight.

[0243] Step S42: Management server 2 grants permission for drone 1 to fly. Drone 1, now permitted to fly, begins its flight and heads towards its destination.

[0244] Step S43: The UAV 1 activates the distance measurement module 106 during flight to confirm whether there are other flying objects within the specified distance range. If there are no other flying objects within the specified distance range (Yes in step S43), proceed to step S44. If there are other flying objects within the specified distance range (No in step S43), proceed to step S45.

[0245] Step S44: Drone 1 continues flying. Upon reaching the destination, the process ends. Figure 25 The processing.

[0246] As described above, in the system 100 according to the embodiment, the harvesting device 5 is mounted on the drone 1 and includes: a cutting rotating blade 52a, which cuts the ears and stems of the uncut rice as the drone 1 moves to the position of cutting the ears and stems of the rice based on an image of the uncut rice ears; a ear storage layer 53a, which stores the cut ears; and a blower 51a, which moves the cut rice ears toward the ear storage layer 53a by blowing air.

[0247] Therefore, even in areas where agricultural machinery has difficulty transporting grains, harvesting can be completed in a short time, regardless of the type of grain.

[0248] Furthermore, the drone control unit 11 moves the cutting rotating blade 52a to the position to cut the panicle and stem based on images of the height, tilt, and drooping of the uncut rice panicle group. This allows for reliable cutting of the panicle and stem.

[0249] There are three types of grain sowing: broadcasting, row sowing, and spot sowing. However, using the D rice direct sowing device 4 of the implementation method, sowing can be carried out in a short time regardless of the type of grain.

[0250] Nowadays, almost all farmers use combine harvesters and other agricultural machinery when harvesting grains such as rice, wheat, and buckwheat. However, moving heavy combine harvesters in the uneven terraced fields in the mountains is not an easy task.

[0251] Furthermore, the D-ear harvesting device 5 can reduce the labor intensity and shorten the operation time when harvesting grains in farmland with elevation differences, such as paddy fields in mountainous areas. Moreover, by replacing some parts of the D-rice direct seeding device 4 and the D-ear harvesting device 5, it can be used for both purposes, so there is no need to keep a variety of agricultural tools for different agricultural tasks, which is economical.

[0252] In recent years, there have been reports that the Tokyo metropolitan area may be covered in volcanic ash due to the large-scale eruption of Mount Fuji. However, due to wind direction, the volcanic ash may not necessarily fall into the city center; conversely, if the eruption is prolonged, the entire metropolitan area may not escape the ashfall disaster.

[0253] If the eruption occurs before rice harvesting, and in the most severe stage 4 (above 30cm), combine harvesters cannot be used to harvest rice in paddy fields buried under ash, so it can be considered that all operations are done manually.

[0254] If it is the harvesting device 5 of embodiment D, the ash covering the ears is dispersed by the descending wind from the drone 1 (the wind force can be adjusted by rotating the blades). If the ash does not bury the entire rice, the ears extending upward from the ash can be harvested.

[0255] During the ash removal process, it is difficult to operate because the mobile combine harvester cannot see ahead when cutting rice.

[0256] Of course, just like the radio wave obstruction caused by snowfall, receiving GPS signals is even more difficult.

[0257] In addition, the processing performed by management server 2 can also be distributed among multiple devices.

[0258] In addition, some of the functions of the drone control unit 11 can also be provided by the live streaming device 4 or the harvesting device 5.

[0259] The above description of the grain ear harvesting apparatus of the present invention is based on the illustrated embodiments. However, the present invention is not limited thereto, and the structure of each part can be replaced with any structure having the same function. In addition, other arbitrary components or processes can be added to the present invention.

[0260] In addition, the present invention can also combine any two or more structures (features) in the above embodiments.

[0261] The foregoing merely illustrates the principles of the invention. Furthermore, many modifications and alterations are possible for those skilled in the art, and the invention is not limited to the precise constructions and applications shown and described above; all corresponding modifications and equivalents are considered to be within the scope of the invention according to the appended claims and their equivalents.

[0262] Alternatively, the aforementioned processing functions can be implemented by a computer. In this case, a program describing the processing content of the functions possessed by the management server 2 is provided. By executing this program on a computer, the aforementioned processing functions are implemented on the computer. The program describing the processing content can be recorded on a computer-readable recording medium. Examples of computer-readable recording media include magnetic storage devices, optical discs, magneto-optical recording media, and semiconductor memories. Magnetic storage devices include hard disk drives, floppy disks (FD), and magnetic tapes. Optical discs include DVDs, DVD-RAMs, CD-ROMs, and RWs. Magneto-optical recording media include MO (Magneto-Optical disk).

[0263] In the case of selling the program, for example, selling portable recording media such as DVDs or CD-ROMs containing the program. Alternatively, the program can be stored on the storage device of a server computer and transferred from the server computer to other computers via a network.

[0264] The computer executing the program stores, for example, a program recorded on a portable recording medium or a program transmitted from a server computer, in its own storage device. The computer then reads the program from its own storage device and executes the processing according to the program. Alternatively, the computer can directly read the program from a portable recording medium and execute the processing according to that program. Furthermore, whenever a program is transmitted from a server computer connected via a network, the computer can sequentially execute the processing according to the received program.

[0265] In addition, at least some of the above processing functions can also be implemented by electronic circuits such as DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and PLD (Programmable Logic Device).

[0266] [Symbol Explanation]

[0267] 1. Unmanned Aerial Vehicle (UAV)

[0268] 1a shell

[0269] 1b Rotating Blade

[0270] 1c fixed shaft

[0271] 1D accessories

[0272] 11 Unmanned Aerial Vehicle Control Department

[0273] 2 Management Server

[0274] 21 Processing Department

[0275] 22 Paddy Field Information Storage Department

[0276] 23 Rice Seed Information Storage Department

[0277] 24 Rice Seed Direct Seeding Initial Information Storage Department

[0278] 25 Rice Seed Direct Seeding Information Storage Department

[0279] 26 Harvesting Information Storage Department

[0280] 3 terminal devices

[0281] 4 live streaming devices

[0282] 41 Rice Seed Storage Department

[0283] 42 housing

[0284] 43 drop pipe

[0285] 43a front end

[0286] 43b Sensor for direct rice seeding

[0287] 44 Rice dropping and rotating device

[0288] 441 Rotating Cylinder

[0289] 441a slot

[0290] 442 Rotary Sensor

[0291] 443 drive motor

[0292] 444 axis

[0293] 45 rice grains fell and covered

[0294] 451 coil

[0295] 46 jet section

[0296] 47 Airflow pipe

[0297] 5 Harvesting Device

[0298] 51 Harvesting the upper part

[0299] 51a blower

[0300] 51b heading mouth

[0301] 51c internal sensors

[0302] 52 spikelet tip guide

[0303] 52a Cutting Rotary Blade

[0304] 52b drive motor

[0305] 52c boot board

[0306] 52c1 V-shaped opening

[0307] 52d guide plate support

[0308] 53 Harvest the lower part

[0309] 53a ear storage layer

[0310] 53b side view

[0311] 53c discharge section

[0312] 100 System

[0313] 101 Raspberry Pi 5

[0314] 102 GPS module

[0315] 103 camera module

[0316] 104 communication module

[0317] 105 LED warning light

[0318] 106 Distance Measurement Module

[0319] T1 Paddy Field Information Sheet

[0320] T2 Rice Seed Information Sheet

[0321] T3 Rice Seed Direct Seeding Initial Information Table

[0322] T4 Rice Seed Direct Seeding Information Sheet

[0323] T5 Harvesting Information Sheet

Claims

1. A grain harvesting device, mounted on an unmanned aerial vehicle (UAV), characterized in that it comprises: The cutting section, which moves with the flight body according to the image of the uncut ear of grain to the position of cutting the ear and stem of grain, cuts the ear and stem of grain in the uncut state; Storage department, which stores cut ears of grain; as well as The blower section moves the cut ears of grain toward the storage section by blowing air.

2. The grain ear harvesting device according to claim 1, characterized in that, Based on images of the height, tilt, and droop of the uncut grain ear, the cutting section is moved to the position where the ear and stem are cut.

3. The grain ear harvesting device according to claim 1, characterized in that, The storage section has a convex joint for dividing the cut ear of stem to the left and right, and the side of the storage section is formed in the shape of a ship's side, so that the divided stem is pushed backward while sliding on the side of the storage section.

4. The grain ear harvesting device according to claim 1, characterized in that, have: A V-shaped guide plate guides the tip of the grain ear to the cut section, with its front end positioned externally and its lower side inclined toward the base end.

Images