Paddy direct seeding device

Abstract

The rice direct seeding device can finish seeding in a short time regardless of grain types even in areas where agricultural machinery is difficult to carry. The rice direct seeding device (4) is installed on the unmanned aerial vehicle (1) and is provided with an implanting part, the implanting part sprays rice seeds along a plurality of parallel virtual lines at certain intervals and implants the rice seeds into the soil, and the plurality of lines are determined according to the shape of a shot paddy field (area).

Description

TECHNICAL FIELD

[0001] The present application relates to a rice live-planting device. BACKGROUND

[0002] It is known to use an aircraft such as a drone in crop planting. For example, it is known that an aircraft control system that controls an aircraft that sprays a pesticide in a field includes a quality information acquisition section that acquires quality information associated with a region in a manner that relates to a quality of a crop harvested in the region from a quality measuring machine that measures the quality of the crop, and a plan calculation section that calculates a spraying plan of the pesticide and a flight plan of the aircraft based on the quality information and the region, the aircraft spraying the pesticide in the field according to the spraying plan and the flight plan, the aircraft control system further including a storage section that stores a spraying management table that associates and stores the spraying plan sprayed on the harvested crop each time the crop is harvested and the quality information of the harvested crop, the plan calculation section calculating the flight plan by referring to the spraying management table and referring to a trend of the quality information and the spraying plan of the past harvested crops by region.

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2023-058235 SUMMARY

[0004] In recent years, due to global warming, some areas that have traditionally been considered as grain production areas are gradually losing conditions suitable for grain growth. In particular, high temperatures in summer hinder the development of grain ears, resulting in a decrease in harvest.

[0005] Therefore, the planting of grains in mountainous areas where the air temperature is relatively low is being reconsidered.

[0006] However, due to the large undulations of the terrain, narrow roads, and the like in mountainous areas, it is difficult to transport machinery for sowing and harvesting.

[0007] On the other hand, an object of the present application is to enable sowing to be completed in a short time regardless of the type of grain even in areas where agricultural machines are difficult to transport.

[0008] To achieve the above object, a rice live-planting device is provided. The rice live-planting device is installed on an unmanned aerial vehicle type flight body, and has a spraying section that sprays and plants rice seeds in soil along parallel virtual lines spaced apart at a certain interval, the lines being determined in accordance with the shape of a region that is photographed.

[0009] In one embodiment, sowing is enabled to be completed in a short time regardless of the type of grain even in areas where agricultural machines are difficult to transport.

[0010] The above and other objects, features and advantages of the present application will become more clearly understandable from the following description of the present application taken in conjunction with the accompanying drawings, which illustrate a preferred embodiment of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a diagram showing a system of the embodiment.

[0012] Figure 2 is a diagram showing hardware possessed by a drone of the embodiment.

[0013] Figure 3 is a diagram showing a rice direct seeding device of the embodiment.

[0014] Figure 4 is a diagram showing a method of calculating a landing point and a landing number of rice seeds by a drone control section.

[0015] Figure 5 is a diagram showing an action of the D rice direct seeding device.

[0016] Figure 6 is a front view showing a harvesting device of the embodiment.

[0017] Figure 7 is a side view showing the harvesting device of the embodiment.

[0018] Figure 8 is a diagram showing harvesting of the embodiment.

[0019] Figure 9 is a diagram showing a hardware structure of a management server of the embodiment.

[0020] Figure 10 is a block diagram showing the management server of the embodiment.

[0021] Figure 11 is a diagram showing information stored in a paddy field information storage section of the embodiment.

[0022] Figure 12 is a diagram showing information stored in a rice seed information storage section of the embodiment.

[0023] Figure 13 is a diagram showing information stored in a rice seed direct seeding initial information storage section of the embodiment.

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

[0025] Figure 15 is a diagram showing information stored in a harvesting information storage section of the embodiment.

[0026] Figure 16 is a diagram that explains information stored in the harvesting information storage section of the embodiment.

[0027] Figure 17 is a diagram that shows one example of a method of calculating the coordinates of the vertices of an n-sided paddy field.

[0028] Figure 18 is a diagram that explains the rice seed information setting process.

[0029] Figure 19 is a flowchart that explains the direct seeding operation of the embodiment.

[0030] Figure 20 is a flowchart that explains the rice seed dropping process.

[0031] Figure 21 is a flowchart that explains the rice seed dropping process.

[0032] Figure 22 is a flowchart that explains the harvesting operation of the embodiment.

[0033] Figure 23 is a flowchart that explains the harvesting process.

[0034] Figure 24 is a flowchart that explains the harvesting process.

[0035] Figure 25 is a diagram that explains the drone collision avoidance process. DETAILED DESCRIPTION

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

[0037] In the following drawings and the like, the positions, sizes, shapes, ranges, and the like of the respective configurations shown are sometimes not actual positions, sizes, shapes, ranges, and the like, and the purpose is to facilitate understanding of the present application. Therefore, the present application is not necessarily limited to the positions, sizes, shapes, ranges, and the like shown in the drawings and the like.

[0038] In the embodiment, unless explicitly indicated in the text, a component expressed in the singular form should also include the plural form.

[0039] EMBODIMENT

[0040] Figure 1 is a diagram that shows the system of the embodiment.

[0041] The system 100 of the embodiment is, for example, a system for planting rice seeds in a paddy field and harvesting grown rice panicles. The rice explained in the embodiment is one example of a cereal, and the system 100 of the embodiment can also be applied to other cereals other than rice.

[0042] The system 100 includes a drone (flying body) 1, a management server 2, a terminal device 3, a live device 4, and a harvesting device 5.

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

[0044] Figure 2 FIG. 1 is a diagram illustrating hardware of the drone according to an embodiment.

[0045] The drone 1 according to the present embodiment has a housing 1a and a rotating blade 1b for flight. The housing 1a and the rotating blade 1b are fixed by a fixed shaft 1c.

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

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

[0048] As the accessories, for example, there are 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 measuring module 106. As the GPS module 102, it can be of a serial connection type or a USB connection type.

[0049] The drone 1 continuously acquires position information using the GPS module 102 during flight. In addition, the drone 1 activates the camera module 103 at a prescribed time to take still images and moving images. In addition, the drone 1 also transmits and receives data with the management server 2 at a prescribed time through the communication module 104. As the communication method, there is no particular limitation, and for example, it can be communication using Wi-Fi or communication through a satellite Internet service. In addition, the communication timing is not particularly limited, and it can be real-time communication or communication at a prescribed time.

[0050] In addition, the drone 1 can also flash the LED warning light 105 according to an instruction from the management server 2.

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

[0052] In addition, the drone 1 is provided with a battery 108 that supplies power to the flight and various control components.

[0053] In addition, an accessory 1d provided to 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 with the direct seeding device 4 mounted will be referred to as the "D rice direct seeding device". As its name suggests, the D rice 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 condition for making the rice seeds easily enter the grooves of the rotating cylinder 441 from the upper part of the housing 42, i.e., the rotation speed of the rotating cylinder 441, the rotation stop, etc., is comprehensively adjusted by the drone control unit 11 as the seed dropping structure.

[0069] The rice seed dropping cover 45 is arranged at the lower part of the housing 42 at the connection with the dropping pipe 43. The rice seed dropping cover 45 is applied with an external force by the coil 451 towards a position for inhibiting the dropping of the rice seeds (hereinafter referred to as position A).

[0070] The spraying part 46 sprays compressed air according to the instruction of the drone control unit 11. The sprayed compressed air is sent into the lower part of the housing 42 through the air flow pipe 47.

[0071] The dropping pipe 43 is located at the lower part of the housing 42. The front end part 43a of the dropping pipe 43 is in a sharp shape, forming a shape easy to pierce into the soil. The dropping pipe 43 forms a passage for guiding the rice seeds shot from the housing 42 into the soil.

[0072] The side part of the base end side of the dropping pipe 43 is arranged with a rice direct seeding sensor 43b. The rice direct seeding sensor 43b is used for counting the rice seeds passing through the dropping pipe 43.

[0073] Hereinafter, one example of the action of the direct seeding device 4 will be described.

[0074] When three rice seeds pass through the grooves 441a of the rotating cylinder 441, and the rotating sensor 442 recognizes the image of the rice seeds falling on the rice seed dropping cover 45, the drone control unit 11 sends a signal to the spraying part 46 to make it spray air. The spraying air sprayed by the spraying part 46 and passing through the air flow pipe 47 has sufficient air pressure. Therefore, the lower part of the housing 42 is filled with high-pressure air as a whole. Under the pushing of part of the spraying air, the rice seed dropping cover 45 at position A is pressed to position B after rotating 90 degrees clockwise against the external force from the coil 451.

[0075] Through the high-pressure air flowing into the dropping pipe 43, the rice seeds slide into the dropping pipe 43, and the sharp front end part 43a pierces into the field soil. The rice seed dropping cover 45 pressed to position B drops to 1 atmosphere pressure due to the air pressure flowing into the dropping pipe 43, and is bounced back to position A by rotating 90 degrees counterclockwise against the external force from the coil 451. This structure is the same as the principle of a gas gun firing a bullet.

[0076] Although the upper part of the housing 42 is filled with rice seeds, it is not in a sealed state, so the problem of being difficult to drop due to blockage is solved by sending part of the spraying air to the upper part of the rotating cylinder 441 to push the blocked seeds upwards. Therefore, it makes each rice seed more easily enter the grooves of the rotating cylinder 441.

[0077] In the rice transplanting, there is a dry field direct seeding method in which the field is not previously watered. Even in this case, if the D rice direct seeding device 4 accelerates the lowering speed, the front end of the dropping tube 43 is inserted into the dry field soil at a greater depth, so that the rice seeds can be placed underground rather than on the surface. Therefore, the dry field direct seeding can also operate as in the paddy field direct seeding.

[0078] Next, the rice seed dropping point of the D rice direct seeding device 4 will be described.

[0079] Figure 4 is a diagram illustrating a method of calculating the dropping point and the dropping amount of the rice seeds by the drone control section.

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

[0081] Figure 4 (b) of

[0082] First, the D rice direct seeding device 4 is caused to fly over a paddy field in which direct seeding is to be performed (hereinafter referred to as "the paddy field"). By the GPS module 102 and the camera module 103 provided in the drone 1, an image of the shape of the paddy field (in this figure, the inside of the four dotted lines) and the shape of the dike (in this figure, the east-west-north-south) are captured.

[0083] Considering the growth of rice, the rice seedlings are usually planted in the north-south direction toward the sun. Therefore, from the shape of the dike, if the boundary between the west dike in this figure and the field water surface is set as the 0 bar line (reference line) L0, the drone control section 11 will draw a virtual 1 bar line L1 parallel to the 0 bar line L0 at a distance of 1 / 2N cm on the left side of the 0 bar line L0 on the field water surface. N cm is, for example, 20 cm to 25 cm. If an arbitrary value is previously input in the bar line interval n of the drone control section 11, the drone control section 11 will perform the calculation to draw M virtual bar lines on the field water surface, and save these data in the storage medium of the drone control section 11.

[0084] This is a diagram for clearly showing the distance between a rice seed that has fallen adjacent to a rice seed on the same line L, and the distance between seeds that have fallen on lines adjacent to the line L. If the angle between the north side of the field bank and the west side of the field bank, that is, the position at which the D rice planter 4 starts to plant rice seeds, is set as the first seed drop base point P0, the distance between the base point P0 and the angle between the north side of the field bank and the west side of the field bank is approximately the radius R = 1 / 2N cm. Once the base point P0 is determined, the drone control section 11 can calculate the precise position and the maximum number of rice seeds that fall on M lines (L1, L2, L3,..., Ln) based on the field shape data taken from above the field. Figure 4 The left side of (b) is an enlarged view of the rice seed continuous drop area.

[0085] Figure 5 This is a diagram showing the operation of the D rice planter.

[0086] First, the D rice planter 4 inserts the drop tube 43 into the field soil under the water of the field at the first rice seed drop base point, and drops a rice seed (rice seed drop position #1). The D rice planter 4 immediately rises and moves to the right (flight position #1). The D rice planter 4 again inserts the drop tube 43 into the field soil under the water of the field, and drops a rice seed (rice seed drop position #2). The D rice planter 4 then repeatedly performs the flight movement and the rice seed drop operation on one line until the flight position #n or the rice seed drop position #n.

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

[0088] Figure 6 This is a front view showing the harvesting device of the embodiment. Figure 7 This is a side view showing the harvesting device of the embodiment. Figure 8 This is a diagram showing the harvesting of the embodiment.

[0089] The harvesting device 5 is detachably attached to the drone 1 by the fitting 1d.

[0090] The harvesting device 5 has a harvesting upper portion 51, a tip end guiding portion 52, and a harvesting lower portion 53.

[0091] The blower 51a, the ear suction port 51b, and the internal sensor 51c are arranged in the harvesting upper portion 51.

[0092] The internal sensor 51c detects whether the ear taken into the harvesting device 5 is above a prescribed amount.

[0093] A cutting rotary blade 52a, a drive motor 52b, a guide plate 52c, 52c, and a guide plate support portion 52d, 52d are provided on the ear guiding portion 52. The cutting rotary blade 52a is rotated by the drive of the drive motor 52b, and thus the ear can be cut. In addition, the ear is schematically indicated by an arrow in Figure 7 and Figure 8 . The guide plate 52c, 52c, and the guide plate support portion 52d, 52d are partially provided outside the harvesting lower portion 53. The guide plate 52c, 52c is in a V shape, and guides the ear to the cutting rotary blade 52a. The guide plate support portion 52d supports the guide plate 52c.

[0094] A storage ear layer 53a that stores the ears of rice is provided inside the harvesting lower portion 53. The harvesting lower portion 53 is one example of a storage portion.

[0095] In addition, the side surface 53b and the joint portion 53d of the side surface 53b of the harvesting lower portion 53 are convex. Since the joint portion 53d is formed in a bow shape, and the side surface 53b and the side surface 53b are formed in a ship side shape, the stem of the harvested rice is separated left and right by the convex portion of the joint portion 53d, and is pushed away to the rear while sliding on the side surface of the side surface 53b and the side surface 53b.

[0096] A discharge portion 53c is provided at the bottom of the harvesting lower portion 53. The discharge portion 53c is opened and closed according to the instruction of the drone control portion 11. When the discharge portion 53c is opened, the ears of rice stored in the storage ear layer 53a are discharged to the outside of the harvesting device 5 through the discharge portion 53c.

[0097] Figure 7 The side view of the harvesting device 5 shown in FIG. 6 shows a state in which the harvesting device 5 is harvesting the ear of grain.

[0098] Hereinafter, one example of the operation of the harvesting device 5 will be described.

[0099] In the present embodiment, the grain is described using rice and ears of rice. Assuming that a plurality of rows (columns) of rice are planted in a field, the operation of the harvesting device to harvest one ear of rice will be described.

[0100] When the D-ear harvesting device 5 moves in the traveling direction (right direction in Figure 7 , the camera module 103 reads the image of the height, inclination, and ear drop of the ear and the stem in the uncut state before the ear enters the V-shaped opening portion 52c1 of the guide plate 52c (refer to Figure 8 ).

[0101] The drone 1 is moved to a position at which the cutting rotary blade 52a can reliably cut the ear of rice below the ear by the drone control portion 11 processing the data of the read image by a program.

[0102] When the uncut state ear a4 and stem s4 enter the V-shaped opening portion 52c1 of the V-shaped guide plate 52c (in the cut state) Figure 7 When the uncut state ear a4 and stem s4 enter the V-shaped opening portion 52c1 of the V-shaped guide plate 52c (in the cut state)

[0103] The ear falls to the bottom of the ear storage layer 53a by the contact resistance with the rotary blade (same state as the rotary mower) and the wind force from the blower 51a located at the upper portion of the ear taking inlet, and is stacked as the stored ear. The ear a1, the ear a2, and the ear a3 are non-continuous images of the ears that fell to the ear storage layer by the cutting rotary blade 52a before the ear a4. The ear a5 (stem s5), the ear a6 (stem s6), and the ear a7 (stem s7) are uncut state ears of the same line as the ear a4 (stem s4) that are guided to the cutting rotary blade 52a by the guide plate 52c after the ear a4 (stem s4).

[0104] Just like the waves that are separated by the bow and the left and right sides of the ship when the ship advances on the sea surface, the stem s4 that has been cut off the ear a4 is cut off by the side surface 53b and the joint portion (convex portion) 53d of the side surface 53b. Then, the divided stem s4 is pulled flat while being bent in the left and right lower directions as the drone 1 moves to the right direction of the paper, and moves to the rear direction while expanding the division surface, because the resistance along the side surface 53b of the harvesting lower portion 53 and the surface (curved surface: equivalent to the side of the ship) of the side surface 53b is small.

[0105] When the internal sensor 51c detects that the ear storage layer 53a is filled with the harvested ears, the drone control portion 11 moves the D-ear harvesting device 5 to the discharge site located at another site not shown.

[0106] For example, when the limit position of the amount of the ears that are cut off and stacked on the ear storage layer 53a reaches approximately the same height as the cutting rotary blade 52a, the internal sensor 51c determines that the harvested ears are filled. Thus, it is possible to suppress the occurrence of the case where the ears that are stored in excess in the ear storage layer 53a come into contact with the cutting rotary blade 52a and the rice is broken.

[0107] When the D-ear harvesting device 5 reaches the discharge site, the drone control portion 11 opens the discharge portion 53c, and discharges the ears stored in the ear storage layer 53a. The discharged ears are moved to the thresher. The ears moved to the thresher are threshed into rice.

[0108] Although it is not as integrated as the combine harvester that integrates the harvesting, threshing, and sorting functions, the device provided by the present application is easier to operate, and is equipped with the drone control portion 11, so it is possible to realize the unmanned harvesting of the grain ears regardless of where the farmland is, and it is particularly excellent in terms of economy.

[0109] In the present embodiment, harvesting of 1 row of grain is explained, but compared to changing the configuration of the ear tip guide 52 so as to be able to cope with 2-row harvesting and 3-row harvesting like a combine harvester, increasing the number of D-ear harvesting devices 5 operating is more effective and economical. For this reason, it is preferable to mount a collision avoidance program on each drone 1, and a plurality of D-ear harvesting devices 5 can operate simultaneously. The collision avoidance program will be described later.

[0110] The longitudinal width of the fixed side (proximal end side) of the V-shaped guide plate 52c, 52c on the D-ear harvesting device 5 is shorter than the longitudinal width of the protruding front end (distal end side), and the lower side of the guide plate 52c, 52c is inclined toward the proximal end side. This is because, when the stem s4 of which the ear a4 is cut off is pressed by the side surface 53b and the joint (projection) 53d of the side surface 53b, it can be bent downward more smoothly without being hooked on the guide plate 52c, 52c.

[0111] The protruding degree of the cutting rotary blade 52a is adjusted so that the uncut state of the rice ear a4 and the stem s4 is cut at a slightly forward position at the deepest part of the V-shaped guide plate 52c, 52c in the present embodiment, as shown in FIG. 6. Figure 7

[0112] Next, the management server 2 will be described.

[0113] Figure 9 is a diagram showing the hardware structure of the management server of the embodiment.

[0114] The management server 2 controls the entire device by the CPU (Central Processing Unit) 201. The RAM (Random Access Memory) 202 and a plurality of peripheral devices are connected to the CPU 201 via the bus 208.

[0115] The RAM 202 serves as the main storage device of the management server 2. In the RAM 202, at least a part of the program of the OS (Operating System) or the application program executed by the CPU 201 is temporarily stored. In addition, various data used in the processing of the CPU 201 are stored in the RAM 202.

[0116] The bus 208 is connected with the hard disk drive (HDD: Hard Disk Drive) 203, the graphics processing device 204, the input interface 205, the drive device 206, and the communication interface 207.

[0117] ​The hard disk drive 203 magnetically performs data writing and reading with respect to an internal disk. The hard disk drive 203 functions as a secondary storage device of the management server 2. In the hard disk drive 203, an OS program, an application program, and various data are stored. Alternatively, a semiconductor storage device such as a flash memory can be used as the secondary storage device.

[0118] The display 204a is connected to the graphic processing device 204. The graphic processing device 204 displays an image on a screen of the display 204a based on a command from the CPU 201. As the display 204a, for example, a display device using a CRT (Cathode Ray Tube), a liquid crystal display device, or the like can be used.

[0119] The keyboard 205a and the mouse 205b are connected to the input interface 205. The input interface 205 transmits a signal transmitted from the keyboard 205a or the mouse 205b to the CPU 201. In addition, the mouse 205b is an example of a pointing device, and other pointing devices can be used. As the other pointing devices, for example, a touch panel, a tablet, a touch pad, a trackball, or the like can be used.

[0120] The drive device 206 reads data recorded in a portable recording medium such as an optical disk on which data can be read by reflection of light, a USB (Universal Serial Bus) memory, or the like. For example, in a case where the drive device 206 is an optical drive device, reading of data recorded in the optical disk 200 is performed by laser light or the like. The optical disk 200 includes a Blu-ray (registered trademark), a DVD (Digital Versatile Disc), a DVD-RAM (DVD Random Access Memory), a CD-ROM (Compact Disc Read Only Memory), a CD-R (Recordable) / RW (Re Writable), or the like.

[0121] The communication interface 207 is connected to the network 50. The communication interface 207 transmits and receives data between other computers or communication devices via the network 50.

[0122] By the hardware structure described above, the processing function of the present embodiment can be implemented.

[0123] Figure 10 is a block diagram illustrating the management server of the embodiment.

[0124] The management server 2 has a processing section 21, a paddy field information storage section 22, a rice seed information storage section 23, a rice seed direct seeding initial information storage section 24, a rice seed direct seeding information storage section 25, and a harvest information storage section 26.

[0125] The processing section 21 interacts with the drone 1. In addition, the processing section 21 displays various information stored in the management server 2 on the display of the terminal device 3 according to a request from the terminal device 3.

[0126] Figure 11 is a diagram illustrating information stored in the paddy field information storage section of the embodiment.

[0127] In Figure 11 , information is expressed in tabular form.

[0128] In the paddy field information table T1, there are provided columns of record ID, paddy field ID, name, paddy field coordinates, image, corner coordinates, R, start point, strip interval, registration date, transplanting flag (TF), transplanting date and time, harvesting flag (HF), harvesting date and time, and error flag (EF). Information arranged in the horizontal direction is associated with each other.

[0129] In the record ID column, a value identifying the record is set.

[0130] In the serial number (paddy field) column, a string identifying the paddy field is set.

[0131] In the paddy field name column, a string identifying the paddy field is set. The photographing date and time can be set as an initial value.

[0132] In the paddy field coordinates column, the GPS coordinates of the drone 1 at the time of photographing of the paddy field are set.

[0133] In the paddy field image column, the file name of the photograph taken by the drone 1 is set.

[0134] In the corner coordinates column, the corner coordinates of the paddy field are set.

[0135] In the R column, the radius (unit: cm) of a circle with the rice seed drop base point P0 as the center point is set.

[0136] In the start point column, the start point of the virtual strip (i.e., the strip start position from the ridge north, unit: cm) is set.

[0137] In the strip interval column, the interval (unit: cm) between adjacent virtual strips is set.

[0138] In the registration date column, the date and time at which the paddy field information was registered are set.

[0139] In the transplanting flag column, a value identifying the transplanting state is set. In the present embodiment, "0" indicates non-processing, "1" indicates transplanting possible, "2" indicates transplanting in progress, and "3" indicates transplanting complete. The initial value is "0".

[0140] In the transplanting date and time column, the transplanting date and time are set.

[0141] In the harvesting flag column, a value that identifies the harvesting state is set. In the present embodiment, "0" indicates unprocessed, "1" indicates in the middle of harvesting, and "2" indicates the end of harvesting. The initial value is "0".

[0142] In the harvesting date and time column, the date and time at which harvesting is performed are set.

[0143] In the error flag column, a value that identifies the error category is set. In the present embodiment, "0" indicates normal, "1" indicates a comparison inconsistency (at the time of transplanting), "2" indicates an error of the rotation sensor 442, "3" indicates an error of the rice seed live broadcast sensor 43b, and "4" indicates a comparison inconsistency (at the time of harvesting).

[0144] Figure 12 is a diagram that explains information stored in the rice seed information storage section of the embodiment.

[0145] In Figure 12 , information is expressed in tabular form.

[0146] In the rice seed information table T2, columns of a record ID, a paddy field ID, a strip number, a rice seed sequence ID, a rice seed drop position (GPS coordinates), a transplanting completion flag (TCF), a transplanting date and time, a harvesting completion flag (HCF), a harvesting date and time, and an error flag are provided. Information arranged in the horizontal direction is associated with each other. Among these pieces of information, the paddy field ID, the transplanting date and time, the harvesting date and time, and the error flag are the same as the above-described paddy field information, and thus the explanation thereof is omitted.

[0147] In the record ID column, a value that identifies the record is set.

[0148] In the strip number column, a number of a strip calculated on the basis of a ridge or strip interval is set.

[0149] In the rice seed sequence ID column, a character string that identifies a number of a rice seed is set.

[0150] In the rice seed drop position (GPS coordinates) column, a character string that identifies a rice seed drop position calculated on the basis of a ridge, a strip interval, and R is set.

[0151] In the transplanting completion flag (TCF) column, a value that identifies a transplanting state is set. In the present embodiment, "0" indicates unprocessed, and "1" indicates the completion of transplanting.

[0152] In the harvesting completion flag (HCF) column, a value that identifies a harvesting state is set. In the present embodiment, "0" indicates unprocessed, and "1" indicates the end of harvesting.

[0153] Figure 13 This is a diagram illustrating the information stored in the initial information storage unit for direct rice seed distribution in the embodiment.

[0154] exist Figure 13 In this context, information is presented in tabular form.

[0155] 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.

[0156] In the Record ID field, set the value that identifies the record.

[0157] In the descent distance field, set the descent distance (unit: cm) when rice seeds are dropped from the D rice direct seeding device 4.

[0158] In the "Rice Count" column, set the number of rice grains that fall in one instance.

[0159] In the Error Number column, set the allowable error number relative to the number of rice grains dropped.

[0160] The initial information for direct seeding of rice can be set by the user at any time by operating the terminal device 3.

[0161] Figure 14 This is a diagram illustrating the information stored in the rice seed direct seeding information storage unit of the embodiment.

[0162] The rice seed direct seeding information is stored for each individual paddy field.

[0163] exist Figure 14 In this context, information is presented in tabular form.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] Figure 15 This diagram illustrates the information stored in the harvesting information storage unit of the implementation method.

[0168] exist Figure 15 In this context, information is presented in tabular form.

[0169] In the harvesting information table T5, a column of a record ID, a comparison image of a panicle, and a discharge site is provided. Information arranged in the horizontal direction is associated with each other.

[0170] In the record ID column, a value for identifying the record is set.

[0171] In the column of the comparison image of the panicle, a file name of an image for making a judgment of the panicle harvesting is set. The image can use an image captured by the camera module 103 of the unmanned aerial vehicle 1.

[0172] In the column of the discharge site, a position coordinate of the discharge site of the panicle stored in the panicle storage layer 53a is set. The position coordinate can use a position coordinate obtained by the GPS module 102 of the unmanned aerial vehicle 1.

[0173] In the system 100 of the present embodiment, when live broadcasting is performed, information related to the paddy field is acquired by the unmanned aerial vehicle 1.

[0174] Figure 16 is a flowchart illustrating the paddy field registration processing of the present embodiment. In addition, the order of the processing illustrated in the flowchart of the present embodiment is merely an example, a part of the processing can be replaced with other processing, a part of the order of the processing can be changed, and other processing can be added.

[0175] In the paddy field registration processing, the unmanned aerial vehicle 1 continuously acquires position information of the unmanned aerial vehicle 1 itself by the GPS module 102.

[0176] Step S1: The unmanned aerial vehicle control section 11 activates the camera module 103 after reaching the paddy field, and captures an image of the entire paddy field. At this time, the unmanned aerial vehicle 1 also calculates the coordinates of the ridge.

[0177] Step S2: The unmanned aerial vehicle control section 11 transmits the coordinates of the ridge and the image of the paddy field to the management server 2 via the communication module 104. The management server 2 refers to the paddy field information table T1, and automatically sets a non-repeated record ID and a paddy field ID, respectively. In addition, the captured date and time of the received paddy field image is set in the name column. In addition, the coordinates of the ridge are set in the paddy field coordinates column. In addition, the file name of the received image is set in the image column. In addition, the date and time of the received coordinates of the ridge and the image of the paddy field are set in the registration date column.

[0178] Step S3: The unmanned aerial vehicle control section 11 measures the vertex coordinates of the corners of the paddy field using the GPS module 102, and transmits 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 corners of the paddy field in the corner coordinates column.

[0179] However, the shape of the paddy field is various, and in Figure 1In the case of the illustrated quadrangular paddy field, the coordinates of the four vertices are sent to the management server 2, and in the case of the hexagonal paddy field, the coordinates of the six vertices are sent to the management server 2.

[0180] Figure 17 is a diagram showing one example of a method of finding the coordinates of the vertices of an n-sided paddy field.

[0181] The coordinates of the vertices are found by drawing a plurality of vertical lines and horizontal lines that intersect at right angles at regular intervals like a squared paper, based on the north-south baseline and the east-west baseline.

[0182] The user operates the terminal device 3 to log in to the R, the start point, and the strip interval of the paddy field information table Tl by accessing the management server 2.

[0183] Next, the control section 21 sets the rice seed information.

[0184] Figure 18 is a diagram showing the rice seed information setting process.

[0185] Step Sll: The control section 21 sets the paddy field ID of the paddy field information table Tl set in step S2 in the paddy field ID column of the rice seed information table T2.

[0186] Step S12: The control section 21 connects the angle coordinates with lines to construct a virtual paddy field.

[0187] Step S13: The control section 21 sets the positions where the distances between the north-south ridges and the distances between the east-west ridges of the virtual paddy field constructed in step S12 are the longest as the baselines.

[0188] Step S14: The control section 21 refers to the column of the strip interval of the paddy field information table Tl, and draws lines parallel to the baselines at the strip interval.

[0189] Step S15: The control section 21 numbers the lines drawn in step S14 in order from the east side of the ridge, and sets them in the strip number column of the rice seed information table T2. The places where the east-west and north-south lines intersect are the rice seed drop positions. The control section 21 sets the rice seed drop positions in the column of the rice seed drop positions of the rice seed information table T2. In addition, the control section 21 sets an inherent rice seed sequence ID for each record. At this time, for the records having the same strip number, it is preferable that the same number be assigned to a part of the rice seed sequence IDs as well.

[0190] Next, the direct seeding action of the system 100 will be described using a flowchart. In the following description, the action when a paddy field is seeded with rice panicles will be described, but the type of the grain panicles is not limited to rice panicles. In addition, the cultivation site of the grain is not limited to a paddy field.

[0191] Figure 19 is a flowchart showing the direct seeding action of the embodiment.

[0192] Preprocessing: The user operates the terminal device 3 to determine a paddy field in which live planting is intended. The management server 2 refers to the determined paddy field information table T1, and sets the transplanting flag (TF) of the record having the paddy field ID of the determined paddy field to "1".

[0193] Step S21: The drone control section 11 refers to the paddy field information table T1, and determines a record in which the transplanting flag (TF) is "1".

[0194] Step S22: The drone 1 refers to the paddy field coordinates of the record determined in step S21 (hereinafter referred to as this record), and acquires position information of the paddy field.

[0195] Step S23: The D rice live planting device 4 flies to the paddy field based on the paddy field coordinates acquired in step S22.

[0196] Step S24: The D rice live planting device 4 that has arrived at the corresponding paddy field is photographed by the camera module 103, and the photographed image is transmitted to the management server 2. The management server 2 compares the image of the paddy field corresponding to the file name of the paddy field image of this record and the received image. The comparison can be performed by AI determination.

[0197] The management server 2 sets the column of the transplanting flag of this record to "2" in a case where it is determined that the image of the paddy field corresponding to the file name of the paddy field image and the received image are identical (YES in step S24), and shifts to step S25. The management server 2 feeds back an error in a case where it is determined that the image of the paddy field corresponding to the file name of the paddy field image and the received image are not identical (NO in step S24), and shifts to step S26.

[0198] Step S25: The D rice live planting device 4 performs rice seed dropping processing. The rice seed dropping processing will be discussed later. When the rice seed dropping processing ends, the live planting operation ends. Figure 19

[0199] Step S26: The management server 2 sets "1" in the column of the error flag of this record, and displays a warning in the terminal device 3. In addition, an instruction to make the warning light blink is transmitted to the D rice live planting device 4.

[0200] Figure 20 and Figure 21 is a flowchart illustrating the rice seed dropping processing.

[0201] Step S25a: The management server 2 transmits the record of the rice seed information table T2 having the paddy field ID identical to the paddy field ID of this record, and the record of the rice seed live planting information table T4 to the D rice live planting device 4.

[0202] ​Step S25b: The D rice seed broadcast device 4 selects a record to be processed upon receiving the record of the rice seed information table T2 transmitted in step S25a. For example, a record with the smallest rice seed sequence ID is selected as the record to be processed first. Thereafter, the processing proceeds to step S25c.

[0203] Step S25c: The D rice seed broadcast device 4 moves to the rice seed drop position on the virtual strip line based on the rice seed drop position included in the record selected in step S25b.

[0204] Step S25d: The D rice seed broadcast device 4 prepares the rice seeds to be dropped based on the number of rice seeds recorded in the rice seed broadcast information table T4 received. Thereafter, the processing proceeds to step S25e.

[0205] Step S25e: The D rice seed broadcast device 4 monitors the image by the rotation sensor 442. Thereafter, the processing proceeds to step S25f.

[0206] Step S25f: The D rice seed broadcast device 4 determines whether the number of rice seeds set in step S25d is identical to the number set in the rice seed number column of the rice seed broadcast information table T4 based on the monitoring result of the rotation sensor 442. In the case where the number of rice seeds set in step S25d is identical to the number set in the rice seed number column of the rice seed broadcast information table T4, or in the case where the number of rice seeds set in step S25d is not identical to the number set in the rice seed number column of the rice seed broadcast information table T4 but the non-identical number is within the range of the number set in the error number column (YES in step S25f), the processing proceeds to step S25g. In the case where the number of rice seeds set in step S25d is not identical to the number set in the rice seed number column of the rice seed broadcast information table T4 and the non-identical number is outside the range of the number set in the error number column (NO in step S25f), the processing proceeds to step S25n.

[0207] Step S25g: The D rice seed broadcast device 4 lowers the D rice seed broadcast device 4 by the amount of the number set in the lowering distance column of the rice seed broadcast information table T4. Thereafter, the processing proceeds to step S25h.

[0208] Step S25h: After the lowering, the ejection section 45 ejects compressed air based on the instruction of the drone control section 11. Thereby, the rice seed drop cover 44 is pressed down, and the rice seeds are dropped into the soil through the drop pipe 43.

[0209] Step S25i: The sensor 43b for the rice seedling counts the number of rice seeds that have passed through the drop tube 43. In the case where the number of counted rice seeds coincides with the number set in the field number column of the rice seedling information table T4, or in the case where the number of counted rice seeds does not coincide with the number set in the field number column of the rice seedling information table T4 but is within the range of the number set in the error number column (YES in step S25i), the process proceeds to step S25j. In the case where the number of counted rice seeds does not coincide with the number set in the field number column of the rice seedling information table T4 and is outside the range of the number set in the error number column (NO in step S25i), the process proceeds to step S25p.

[0210] Step S25j: The rice seedling device 4 sets the record of the rice seedling information table T2 to "1" in the transplant completion flag (TCF) column. Thereafter, the process proceeds to step S25k.

[0211] Step S25k: The rice seedling device 4 determines whether there is a record that has not been processed in the records of the rice seedling information table T2 received in step S25b. Specifically, the rice seedling device 4 determines whether the next record of the record of the rice seedling information table T2 selected in step S25b has a transplant completion flag of "0". In the case where the transplant completion flag is "0" (YES in step S25k), the next record is selected. Thereafter, the process proceeds to step S25d, and the process after step S25d is performed. In the case where all the records have been processed, that is, in the case where all the records of the rice seedling information table T2 received in step S25b have a transplant completion flag of "1" (NO in step S25k), the process proceeds to step S25m.

[0212] Step S25m: The rice seedling device 4 transmits the rice seedling information table T2 to the management server 2 and returns. The management server 2 updates the contents of the rice seedling information table T2 received. In addition, in the case where all the records of the rice seedling information table T2 received have a transplant completion flag of "1", the management server 2 sets "3" in the transplant flag column of the record of the paddy field information table T1 having the same paddy field ID as the paddy field ID of the rice seedling information table T2. In addition, the management server 2 sets the transplant date and time in the transplant date and time column of the paddy field information table T1 and the rice seedling information table T2.

[0213] 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).

[0214] 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).

[0215] In addition, Figure 20 and Figure 21 In 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.

[0216] 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.

[0217] Figure 22 This is a flowchart illustrating the harvesting action of the implementation method.

[0218] 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".

[0219] Step S31: Drone 1 refers to the paddy field information table T1 to determine the record marked with "1" for harvesting.

[0220] Step S32: UAV 1 obtains the location information of the paddy field by referring to the recorded paddy field coordinates determined in step S31.

[0221] Step S33: The D-ear cutting device 5 flies to the paddy field according to the position information of the paddy field acquired in step S32.

[0222] Step S34: The D-ear cutting device 5 that has arrived at the corresponding paddy field is photographed by the camera module 103 via the camera 102, and the photographed image is sent to the management server 2. The management server 2 compares the image of the paddy field corresponding to the file name of the recorded paddy field image determined in step S31 with the received image. The comparison can be made by AI determination.

[0223] The management server 2 sets the column of the recorded cutting flag to “2” in the case where it is determined that the image of the paddy field corresponding to the file name of the paddy field image is identical to the received image (YES in step S34), and shifts to step S35. The management server 2 feeds back an error in the case where it is determined that the image of the paddy field corresponding to the file name of the paddy field image is not identical to the received image (NO in step S34), and shifts to step S36.

[0224] Step S35: The D-ear cutting device 5 performs the cutting process. The cutting process will be described below. When the cutting process ends, the cutting operation ends. Figure 22

[0225] Step S36: The management server 2 sets “1” in the recorded error flag column determined in step S31, and displays a warning in the terminal device 3. In addition, an instruction to make the warning light blink is sent to the D-ear cutting device 5.

[0226] Figure 23 and Figure 24 is a flowchart illustrating the cutting process.

[0227] Step S35a: The management server 2 sends the record of the rice seed information table T2 having the paddy field ID identical to the paddy field ID determined in step S31, and the record of the rice seed direct seeding information table T4 to the D-ear cutting device 5.

[0228] Step S35b: The D-ear cutting device 5 selects a record to be processed when receiving the record of the rice seed information table T2 sent in step S35a. For example, a record having the smallest rice seed sequence ID is selected as a record to be processed first. Thereafter, the process shifts to step S35c.

[0229] Step S35c: The D-ear cutting device 5 moves to the ear position on the virtual bar line according to the rice grain drop position included in the record selected in step S35b.

[0230] ​Step S35d: The D-ear cutting device 5 is photographed by the camera module 103 at the ear position on the virtual strip line to which it has moved, and the photographed image is sent to the management server 2. The management server 2 compares the cutting comparison image of the cutting information table T5 and the received image, and determines whether or not cutting can be performed. The comparison can be performed by AI determination.

[0231] The management server 2 shifts to step S35e in the case where it determines that cutting can be performed (YES in step S35d). The management server 2 shifts to step S35h, for example, in the case where it determines that the growth of the ears is insufficient and cutting cannot be performed (NO in step S35d).

[0232] Step S35e: The management server 2 sends a cutting instruction to the D-ear cutting device 5.

[0233] Step S35f: The D-ear cutting device 5 performs cutting in the above-described manner. In the case where the cutting is completed, the cutting completion flag of the seed information table T2 is set to "1".

[0234] Step S35g: After the cutting is completed, the D-ear cutting device 5 determines whether or not the ears in the ear storage layer 53a have reached a certain amount by the internal sensor 51d. In the case where there is a surplus in the ear storage layer 53a and the ears have not reached a certain amount (YES in step S35g), the process shifts to step S35h. When the ears in the ear storage layer 53a have reached a certain amount (NO in step S35g), the process shifts to step S35j.

[0235] Step S35h: The D-ear cutting device 5 determines whether or not there is an unprocessed record in the records of the seed information table T2 received in step S35b. Specifically, the D-ear cutting device 5 determines whether or not the cutting completion flag of the next record of the record of the seed information table T2 selected in step S35b is "0". In the case where the cutting completion flag is "0" (YES in step S35h), the next record is selected. Thereafter, the process shifts to step S35c, and the processing after step S35c is performed. In the case where all the records are processed, that is, in the case where the column of the cutting completion flag of the records of the seed information table T2 received in step S35b is all "1" (NO in step S35h), the process shifts to step S35i.

[0236] Step S35i: The D-ear cutting device 5 transmits the rice seed information table T2 to the management server 2 and returns. The management server 2 updates the contents of the received rice seed information table T2. In addition, in a case where all of the columns of the harvest completion flag of the received rice seed information table T2 are "1", the management server 2 sets "3" in the column of the harvest flag of the record of the paddy field ID of the paddy field information table T1 having the same paddy field ID as that of the rice seed information table T2. In addition, the management server 2 sets the date and time of harvest in the columns of the date and time of harvest of the paddy field information table T1 and the rice seed information table T2.

[0237] Step S35j: The D-ear cutting device 5 moves to the discharge site of the cutting information table T5 and discharges the ears. After that, it flies to the paddy field based on the position information of the paddy field acquired in step S32 and shifts to step S35h.

[0238] Regarding collision avoidance of the unmanned aerial vehicle

[0239] So far, the operation of one unmanned aerial vehicle 1 has been described, but a case where live broadcasting or harvesting is performed using a plurality of unmanned aerial vehicles 1 can be considered. In this case, each unmanned aerial vehicle control section 11 causes the unmanned aerial vehicles 1 to avoid collision with each other.

[0240] Figure 25 is a diagram illustrating collision avoidance processing of the unmanned aerial vehicle.

[0241] Step S41: The management server 2 determines whether there is another unmanned aerial vehicle at the flight destination based on the position information transmitted from the GPS module 102 of each unmanned aerial vehicle 1. In a case where there is no other unmanned aerial vehicle at the flight destination (YES in step S41), the processing shifts to step S42. In a case where there is another unmanned aerial vehicle at the flight destination (NO in step S41), the flight is stopped.

[0242] Step S42: The management server 2 allows the unmanned aerial vehicle 1 to fly. The unmanned aerial vehicle 1 allowed to fly starts flying and heads for the destination.

[0243] Step S43: The unmanned aerial vehicle 1 activates the distance measurement module 106 during flight and confirms whether there is another flying object within a predetermined distance range. In a case where there is no other flying object within the predetermined distance range (YES in step S43), the processing shifts to step S44. When there is another flying object within the predetermined distance range (NO in step S43), the processing shifts to step S45.

[0244] Step S44: The unmanned aerial vehicle 1 continues flying. After reaching the destination, the processing ends. Figure 25

[0245] ​As described above, according to the system 100 of the embodiment, the live device 4 is installed on the drone 1 and has an implanting portion that sprays and implants rice seeds into the soil along a plurality of virtual parallel lines spaced apart at intervals, the plurality of lines being determined in accordance with the shape of the paddy field (area) captured. In the embodiment, the rice seed drop tube 43, the rice seed drop rotating device 44, the rice seed drop cover 45, and the spraying portion 46 form the main part of the implanting portion.

[0246] Therefore, even in areas where agricultural machines are difficult to move, seeding can be completed in a short time regardless of the type of grain.

[0247] Seeding of grains has three types of broadcast seeding, row seeding, and spot seeding, but with the D rice live device 4 of the embodiment, seeding can be performed in a short time regardless of the type of grain.

[0248] Now, almost all farmers use agricultural machines such as combine harvesters when harvesting grains such as rice, wheat, and buckwheat, but moving a heavy combine harvester is not an easy task in terraced fields with uneven terrain in the mountains.

[0249] In addition, the D ear harvesting device 5 can reduce the labor of farmers and shorten the work time when harvesting grains in agricultural land with a difference in elevation such as paddy fields in mountainous areas. Furthermore, if part of the components of the D rice live device 4 and the D ear harvesting device 5 are replaced, both can be used, so it is not necessary to prepare a variety of tools according to the work, which is economically superior.

[0250] In recent years, it has been reported that due to the large-scale eruption of Mount Fuji, volcanic ash may fall on the metropolitan area. Depending on the wind direction, the volcanic ash may not necessarily fall on the city center, but on the contrary, if the eruption continues for a long time, it can be difficult to escape the disaster of ash falling on the metropolitan area.

[0251] If the eruption occurs before the rice is harvested, in the case of the most serious stage 4 (30 cm or more), it is not possible to put a combine harvester in the paddy field buried in ash to harvest rice, and it can be considered that all of it is a manual work.

[0252] If it is the D ear harvesting device 5 of the embodiment, the ash covering the ear is dispersed by the descending wind (the wind force can be adjusted by rotating the blades) from the drone 1, and if the ash does not bury the entire rice, the ear that protrudes upward from the ash can be harvested.

[0253] During the ash fall, it is difficult to operate because the front cannot be seen when moving the combine harvester to cut the rice.

[0254] Of course, as with radio interference in snowfall, it is more difficult to receive GPS signals.

[0255] In addition, the processing by the management server 2 can be distributed among a plurality of devices.

[0256] The above describes the rice direct seeding device according to the illustrated embodiment of the present application, but the present application is not limited thereto, and the structure of each part can be replaced with any structure having the same function. In addition, any other arbitrary constituent or process can be added to the present application.

[0257] In addition, the present application can combine any two or more structures (features) of the above-described embodiments.

[0258] The above merely indicates the principles of the present application. Furthermore, many modifications, changes, and substitutions are possible by those skilled in the art without departing from the spirit and scope of the present application, and the present application is not limited to the precise construction and application shown and described herein, all such modifications and changes and equivalents thereof are intended to be within the scope of the present application according to the appended claims.

[0259] In addition, the above-described 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 the program on a computer, the above-described processing functions are implemented on the computer. The program describing the processing content can be recorded in a computer-readable recording medium. As the computer-readable recording medium, a magnetic storage device, an optical disk, a magneto-optical recording medium, a semiconductor memory, and the like can be cited. The magnetic storage device includes a hard disk drive, a floppy disk (FD), a magnetic tape, and the like. The optical disk includes a DVD, a DVD-RAM, a CD-ROM, a RW, and the like. The magneto-optical recording medium includes an MO (Magneto-Optical disk), and the like.

[0260] In the case of selling the program, for example, a portable recording medium such as a DVD, a CD-ROM, or the like on which the program is recorded is sold. In addition, the program can be stored in a storage device of a server computer, and the program can be transmitted from the server computer to another computer via a network.

[0261] The computer executing the program stores the program recorded in the portable recording medium or the program transmitted from the server computer in its own storage device, for example. Then, the computer reads the program from its own storage device and executes the processing according to the program. In addition, the computer can directly read the program from the portable recording medium and execute the processing according to the program. In addition, the computer can sequentially execute the processing according to the received program each time the program is transmitted from the server computer connected via a network.

[0262] In addition, at least a part of the above processing function can also be realized by an electronic circuit such as a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and the like.

[0263] [Explanation of Symbols]

[0264] 1 unmanned aerial vehicle (flying body)

[0265] 1a housing

[0266] 1b rotating blade

[0267] 1c fixed shaft

[0268] 1d accessory

[0269] 11 unmanned aerial vehicle control section

[0270] 2 management server

[0271] 21 processing section

[0272] 22 paddy field information storage section

[0273] 23 rice seed information storage section

[0274] 24 rice seed direct seeding initial information storage section

[0275] 25 rice seed direct seeding information storage section

[0276] 26 harvesting information storage section

[0277] 3 terminal device

[0278] 4 direct seeding device

[0279] 41 rice seed storage section

[0280] 42 housing

[0281] 43 drop tube

[0282] 43a front end portion

[0283] 43b rice direct seeding sensor

[0284] 44 rice drop rotating device

[0285] 441 rotating cylinder

[0286] 441a groove

[0287] 442 rotating sensor

[0288] 443 drive motor

[0289] 444 shaft

[0290] 45 rice falling cover

[0291] 451 coil

[0292] 46 injection part

[0293] 47 air flow pipe

[0294] 5 harvesting device

[0295] 51 harvesting upper portion

[0296] 51a blower

[0297] 51b ear opening

[0298] 51c internal sensor

[0299] 52 ear tip guide

[0300] 52a cutting rotary blade

[0301] 52b drive motor

[0302] 52c guide plate

[0303] 52c1 V-shaped opening part

[0304] 52d guide plate support part

[0305] 53 harvesting lower portion

[0306] 53a ear storage layer

[0307] 53b side surface

[0308] 53c discharge part

[0309] 100 system

[0310] 101 Raspberry Pi 5

[0311] 102 GPS module

[0312] 103 camera module

[0313] 104 communication module

[0314] 105 LED warning light

[0315] 106 distance measurement module

[0316] T1 paddy field information table

[0317] T2 rice seed information table

[0318] T3 rice seed broadcast initial information table

[0319] T4 rice seed broadcast information table

[0320] T5 harvest information table

Claims

1. A direct-seeding device for rice, characterized in that, Mounted on a drone-type flying body, and equipped with an implantation unit, it sprays rice seeds along multiple parallel, virtual lines spaced at regular intervals and implants them into the soil. These lines are determined based on the shape of the area being filmed. The implantation portion has: A configuration unit for positioning the rice seeds onto a falling cover subjected to an external force; The tube section, which is connected to the configuration section; and The jetting section overcomes the external force by jetting compressed air, causing the drop cover to move into the tube, thereby allowing the rice seedlings to be planted in the soil through the tube.

Images