Paddy-field weeding system

Abstract

To provide a paddy-field weeding system capable of improving convenience of work by utilization of a paddy-field weeding device while preventing travel stoppage due to grounding of the paddy-field weeding device.SOLUTION: A paddy-field weeding system 1 includes: a paddy-field weeding device 100 for weeding while traveling on water of a paddy field by a screw; and a system control device 200 configured to be capable of transmitting / receiving information to / from the paddy-field weeding device via a network NW. The paddy-field weeding device includes a positioning device for obtaining position information. The system control device is configured to obtain position information measured by the positioning device. The system control device includes: grounding determination means for determining occurrence of grounding from change of a position indicated by the obtained position information; grounding avoiding means for avoiding grounding by controlling the travel of the paddy-field weeding device if the grounding occurrence is determined by the grounding determination means; and grounding data creation means for creating grounding data indicating a position in a paddy field where the grounding occurs.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a paddy field weeding system for weeding paddy fields. [Background technology]

[0002] Conventionally, the Aigamo farming method of releasing Aigamo ducks into rice paddies to remove weeds has been known, but due to the difficulty of managing the living creatures, a weeding device for rice paddies that replaces the Aigamo ducks with a robot (the so-called Aigamo robot) has been known. For example, Patent Document 1 discloses a weeding device for rice paddies that uses a float body with buoyancy and a screw propulsion mechanism arranged under the float body to automatically travel on the water of a rice paddy (field), stirring up the mud at the bottom of the water, thereby inhibiting the photosynthesis of weeds under the water and suppressing their growth, thereby removing weeds.

[0003] Furthermore, this paddy field weeding device is equipped with a draft adjustment mechanism that allows the screw propulsion mechanism to be slid up and down relative to the float body. This allows the operator to adjust the vertical relative position of the screw propulsion mechanism according to the water depth of the paddy field, thereby addressing problems such as being unable to stir the bottom of the water when the water is deep, or being unable to move forward when the water is shallow due to the large resistance of the mud when stirring. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7193817 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with conventional paddy field weeding devices, when the float body completely runs aground on shallow water (completely stranded), it becomes difficult for the device to escape by itself and travel stops, which may cause an interruption to the progress of work or increase the workload of the workers. Also, there is a need from users to utilize paddy field weeding devices to further improve the convenience of work.

[0006] Therefore, the present invention has been made against this background, and aims to provide a paddy field weeding system that can effectively prevent the paddy field weeding equipment from stopping due to running aground, while improving the convenience of work by utilizing the paddy field weeding equipment. [Means for solving the problem]

[0007] In order to achieve the above object, the first invention provides: A paddy field weeding system comprising a paddy field weeding device that stirs the water while traveling on the water of a paddy field with a screw and removes weeds, and a system control device configured to be able to transmit and receive information to and from the paddy field weeding device via a network, The paddy field weeding system is configured to include a positioning device for acquiring position information of the paddy field weeding device, and the system control device is configured to acquire the position information measured by the positioning device; The system control device provides a paddy field weeding system, characterized in that it comprises a stranding determination means for determining the occurrence of stranding from a change in position indicated by the acquired position information while the paddy field weeding device is traveling, a stranding avoidance means for controlling the traveling of the paddy field weeding device to avoid stranding when the stranding determination means determines that stranding has occurred, and a stranding data creation means for creating stranding data indicating the position within the paddy field where the stranding has occurred, based on the acquired position information.

[0008] According to the first invention, the stranding avoidance means controls the travel of the paddy field weeding equipment to avoid it running aground, thereby effectively preventing the paddy field weeding equipment from stopping due to running aground, while the stranding data creation means creates stranding data indicating the position within the paddy field where the stranding occurred, making it possible to utilize the paddy field weeding equipment and improving the convenience of operation.

[0009] The second invention has the same configuration as the first invention, In addition, it is equipped with a water supply system to supply water to the rice paddies. The system control device is configured to be capable of controlling the amount of water supplied by the water supply device, and is configured to control the water supply device and increase the water level in the rice paddy when the stranding determination means determines that stranding has occurred.

[0010] According to the second invention, in addition to the effects of the first invention, when the paddy field weeding equipment runs aground, the water supply device can raise the water level in the paddy field, thereby enabling the paddy field weeding equipment to easily escape the grounding, and thereby continuing to travel.

[0011] The third invention has the same configuration as the first invention, as well as: The weeding device for paddy fields is equipped with a fertility sensor that measures the fertility of the paddy field, The system control device is configured to acquire, while the paddy field weeding device is traveling, position information measured by the positioning device and fertility information measured by the fertility sensor; a fertility data creation means for creating fertility data indicating a distribution of fertility of paddy fields from the position information and the fertility information, Furthermore, the paddy field weeding device is characterized in that it is configured to travel within a paddy field by repeatedly performing the following cycle: traveling, pausing for a predetermined period of time, measuring the fertility using the fertility sensor, and then resuming traveling.

[0012] According to the third invention, in addition to the effects of the first invention, a user can visually check the distribution of fertility in a field by referring to the fertility data, and the fertility data can be used to analyze changes in fertility due to watering of the field, and can be useful for fertilization work by working machines, etc. Also, since there is a possibility that sediment may be stirred up and mixed in immediately after stirring the soil with a paddy field weeding device, it is possible to perform a more accurate measurement of fertility by pausing the operation and measuring the fertility after the stirring has settled.

[0013] The fourth invention has the same configuration as the first invention, The paddy field weeding device is configured to be able to appropriately switch between a normal driving mode and a measurement mode in which fertility is measured using the fertility sensor while driving, and is characterized in that when the measurement mode is selected, the rotation speed of the screw while driving is reduced by a predetermined amount compared to when the normal driving mode is selected.

[0014] According to the fourth invention, in addition to the effects of the first invention, when the user does not need to measure fertility using a fertility sensor, the normal driving mode can be selected to quickly proceed with weeding work, and when a measurement mode is selected that requires fertility measurement using a fertility sensor, the screw rotation speed is reduced by a predetermined amount compared to the normal driving mode, thereby reducing the amount of mud being stirred up in the soil and improving the accuracy of fertility measurement by the fertility sensor. Effect of the Invention

[0015] According to the present invention, a paddy field weeding system can be provided that can effectively prevent a paddy field weeding device from being stopped due to running aground, while improving the convenience of work by utilizing the paddy field weeding device. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram showing an example of the overall configuration of a paddy field weeding system according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a schematic perspective view of a paddy field weeding system according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a perspective view of the paddy field weeding apparatus of FIG. [Figure 4] FIG. 4 is a perspective view of the paddy field weeding apparatus of FIG. 3 as seen from the rear. [Diagram 5] FIG. 5 is a perspective view of the paddy field weeding device of FIG. 3 as viewed from below. [Figure 6] FIG. 6 is a schematic side view showing the configuration of the water supply device of FIG. [Figure 7] FIG. 7 is a functional block diagram of the paddy field weeding system of FIG. [Figure 8] FIG. 8 is a flowchart showing the processing procedure for the stranding avoidance processing. [Figure 9] Fig. 9(a) is a plan view of a farm field showing an example of a travel route planned by a travel route planning unit, and Fig. 9(b) is an explanatory diagram showing a procedure for creating farm field data. [Figure 10] Fig. 10(a) is a plan view of a farm field showing an example of a travel route planned by a travel route planning unit, Fig. 10(b) is an explanatory diagram showing a procedure for creating farm field data, Fig. 10 is a cross-sectional view taken along line AA in Fig. 9. [Figure 11] Fig. 11(a) is an explanatory diagram showing a procedure for creating stranding data, and Fig. 11(b) is an explanatory diagram showing a procedure for creating fertility data. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] <1. Overall configuration of the paddy field weeding system> The overall configuration of a paddy field weeding system 1 according to an embodiment specifically constructed based on the above technical concept will be described below with reference to the drawings. Fig. 1 is a block diagram showing an example of the overall configuration of a paddy field weeding system 1 according to an embodiment of the present invention. Fig. 2 is a schematic perspective view of a paddy field weeding system 1 according to an embodiment of the present invention. Note that a paddy field refers to a field filled with water, and therefore in the following description, a paddy field may also be referred to as a field.

[0018] As shown in Fig. 1, the paddy field weeding system 1 is configured to include a paddy field weeding device 100 that weeds the paddy fields, a system control device 200 that manages various controls, and a water supply device 300 that supplies water to the paddy fields. The system control device 200 is configured to be able to send and receive information bidirectionally with the paddy field weeding device 100 and the water supply device 300 that are connected via a communication network NW. As a result, the system control device 200 is configured to be able to send signals including control commands to the paddy field weeding device 100 and the water supply device 300 and control the operation of these devices.

[0019] The system control device 200 also includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a The system control device 200 is an information processing device configured with a storage device such as a portable information terminal 400, an external server, and a work vehicle traveling system 500, all of which are connected to a communication network NW, and is equipped with a storage device such as a storage medium (storage device) and a network interface (network) such as a network for storing information on a network. The system control device 200 is an information processing device configured with a storage device (storage device) and a network interface (network) such as a storage medium and a network for storing information on ...

[0020] The mobile information terminal 400 is an easily portable information processing device capable of receiving operations from a worker U (hereinafter sometimes referred to as a user) and displaying information, and may be, for example, a smartphone or a tablet terminal. Note that while the system control device 200 can be installed in a location remote from the field H, it is assumed that the mobile information terminal 400 will be used by the user U near the field H while checking the work status.

[0021] The work vehicle system 500 is a known system that includes a work vehicle 501 capable of automatically traveling in a field, and a work vehicle control device 502 that plans a travel route in the field for the work vehicle 501 and automatically travels the work vehicle 501 based on the planned travel route. Although this work vehicle system 500 will not be described in detail, please refer to, for example, Japanese Patent Application Laid-Open No. 10-066405, Japanese Patent Application Laid-Open No. 2021-089776, and Japanese Patent Application Laid-Open No. 2021-108619.

[0022] As shown in FIG. 2, in the paddy field weeding system 1, a paddy field weeding device 100 is placed in a field H that is to be weeded (or called the work target), and a water supply device 300 is also provided. An operator U can use (operate) a mobile information terminal 400 to communicate with the system control device 200 as appropriate and send various instruction information. The system control device 200 is configured to be able to control the operation of the paddy field weeding device 100 and the water supply device 300 according to the instruction information acquired from the mobile information terminal 400. These operations will be described in detail later. Next, the configuration of each device in the paddy field weeding system 1 will be explained in order below.

[0023] <2. Weeding device for rice fields> Figure 3 is a perspective view of the paddy field weeding apparatus 100 in Figure 1, Figure 4 is a perspective view of the paddy field weeding apparatus 100 in Figure 3 as viewed from behind, and Figure 5 is a perspective view of the paddy field weeding apparatus 100 in Figure 3 as viewed from below. Note that it is assumed that the paddy field weeding apparatus 100 will be used for a period of about one month from plowing to rice planting.

[0024] As shown in Figures 3 to 5, the paddy field weeding device 100 has a float body 101 that has buoyancy and is formed into an approximately rectangular frame shape, with a solar panel 102 arranged on the upper surface of this float body 101 and a screw propulsion mechanism 103 arranged on the lower part, and a housing box 105 arranged at the rear that incorporates a battery (not shown) and a control board with an information processing function, and a positioning device s1 that acquires position information, a fertility measuring sensor s2 that measures the fertility of the soil, and a ridge detection sensor s3 that detects the ridges at the front.

[0025] The paddy field weeding device 100 travels on the water by rotating and driving a pair of left and right screws 104 of a screw propulsion mechanism 103 while floating on the water surface of the field by a float body 101. The screws 104 are driven by electricity generated by a solar panel 102 and stored in a battery. The paddy field weeding device 100 travels by controlling the drive of a pair of left and right drive motors 103m (left) and 103m (right) corresponding to the pair of left and right screws 104 (left) and 104 (right), respectively, based on a travel program stored in a control board. As a result, the paddy field weeding device 100 can travel forward, backward, rotate left and right, turn 180 degrees left and right, turn right, turn left, etc. according to the drive control pattern of the drive motors 103m (left) and 103m (right). Please refer to Japanese Patent No. 7193817 for the basic structure of the paddy field weeding device 100 relating to travel on water, etc. The following will focus on the configuration that differs from the technology described in Japanese Patent No. 7193817.

[0026] The positioning device s1 is equipped with a receiving antenna that receives radio waves from GNSS satellites, and measures position information (including, for example, latitude and longitude information) indicating the current position of the paddy field weeding device 100. Furthermore, it is configured to include an orientation sensor that measures the orientation of the paddy field weeding device 100, and measures orientation information that indicates the orientation of the paddy field weeding device 100. The positioning information and orientation information measured by this positioning device s1 at predetermined time intervals are transmitted to the system control device 200, which will be described later.

[0027] The fertility measuring sensor s2 is provided at the front end of the float body 101 so as to extend downward and is configured to come into contact with the soil of the paddy field. This allows a weak current to flow through the soil from the left and right electrode plates, and the ions (nutrients) in the soil are measured from the electrical conductivity (electrical resistance) to measure the fertility of the soil. More specifically, a soil fertility value (SFV) is measured as an index of fertility. This SFV value is a numerical value equivalent to an electric conductivity (EC) value, and its unit is mS / cm (milli-Siemens). Fertility information indicating the measured fertility (for example, including information on the measured SFV value) is transmitted by this fertility measuring sensor s2 at a predetermined time interval to a system control device 200 described later.

[0028] The ridge detection sensor s3 is an infrared sensor that detects when the paddy field weeding device 100 approaches the ridge, which is the edge of the field. The ridge detection sensor s3 may be configured as a contact sensor. Detection information indicating that the ridge has been detected by the ridge detection sensor s3 is transmitted to the travel control unit C1 of the control board and the system control device 200, which will be described later.

[0029] <3. Water supply device> FIG. 6 is a schematic side view showing the configuration of the water supply device 300 of FIG. The water supply device 300 serves to supply water to the field H, and as shown in Fig. 6, includes a water faucet control unit 301, a water faucet 302 controlled by the water supply line control unit 301, and a water level measurement sensor s4 that measures the water level in the paddy field. Note that a wireless base station NW2 is disposed near the field H, which connects the paddy field weeding device 100, the water faucet control unit 301, and the water level measurement sensor s4 to a network to enable communication with the system control device 200.

[0030] The water tap control unit 301 is a control board with an information processing function, and includes a program and circuit for controlling the water tap 302. It also includes a communication unit (not shown), and is configured to be connectable to the wireless base station NW2. As a result, it is configured to receive a signal indicating a control command from the system control device 200, and control the water tap 302 based on this signal.

[0031] The water faucet 302 is equipped with a water supply valve (not shown) that can supply water from a water supply channel 303 to the field H by being rotated, and the water faucet control unit 301 can control the amount of water supplied to the field H by controlling the opening and rotation of the water supply valve. In addition, a water level measurement sensor s4 measures the water level of the field H at predetermined time intervals, and measurement information indicating the water level of the paddy field measured by this water level measurement sensor s4 is transmitted to the system control device 200 via the network NW.

[0032] <4. Configuration and function of paddy field weeding system> Fig. 7 is a functional block diagram of the paddy field weeding system in Fig. 1. Next, the configuration and functions of the paddy field weeding system 200 will be described with reference to Fig. 7.

[0033] As described above, the paddy field weeding device 100 is equipped with a positioning device s1, a fertility sensor s2, and a ridge-edge detection sensor s3, and the system control device 200 is configured to acquire position information and direction information from the positioning device s1, acquire fertility information from the fertility sensor s2, and acquire detection information from the ridge-edge detection sensor s3. The detection information from the ridge-edge detection sensor s3 is also acquired by a travel control unit C1, which will be described later.

[0034] The travel control unit C1 has a function of controlling the travel of the paddy field weeding device 100, and is a CPU (Central Processing Unit) provided on the control board. The driving control unit C1 is configured by electronic circuits such as an autonomous driving processing unit (APU) and a driving program stored in a control board. The driving control unit C1 includes an autonomous driving processing unit c11 that processes autonomous driving, a remote operation processing unit c12 that processes remote operation, and an avoidance operation processing unit c13 that processes avoidance operations. The autonomous driving processing unit c11, the remote operation processing unit c12, and the avoidance operation processing unit c13 are programs that control the drive of the screw propulsion mechanism 103 using different algorithms, and the driving control unit C1 is capable of selectively executing these.

[0035] The autonomous driving processing unit c11 is a program that enables the paddy field weeding device 100 to drive autonomously (automatic driving without being controlled by the system control device 200 or the mobile information terminal 400), and when autonomous driving is performed, the paddy field weeding device 100 is configured to drive by itself within the field H by repeating straight lines and turns according to predetermined rules. Autonomous driving can be started, for example, by a predetermined operation of the mobile information terminal 400, when an instruction command signal to start autonomous driving is sent to the paddy field weeding device 100.

[0036] The remote operation processing unit c12 is a program that enables remote operation (remote control) of the paddy field weeding apparatus 100, and enables the paddy field weeding apparatus 100 to travel by remote operation. When the remote operation processing unit c12 is executed, the paddy field weeding apparatus 100 obtains instruction information instructing travel (forward, backward, right rotation, left rotation, right turn, left turn, right turn, left turn, etc.) and controls the drive of the screw propulsion mechanism 103 according to the instruction information. The instruction information is configured to be obtained from the system control device 200 or the mobile information terminal 400. In other words, the system control device 200 and the mobile information terminal 400 are configured to be able to remotely control the travel of the paddy field weeding apparatus 100.

[0037] The avoidance operation processing unit c13 is a program that controls the screw propulsion mechanism 103 to travel around the location where the stranding occurred (i.e., perform the avoidance operation). The travel route of the paddy field weeding device 100 during the avoidance operation by the avoidance operation processing unit c13 is shown by the arrow line Lk in Fig. 9(a) or Fig. 10(a), and when performing the avoidance operation, the paddy field weeding device 100 moves a predetermined distance (for example, about the left-right width of the paddy field weeding device 100) to the left or right in the forward direction from the point Pz where the stranding occurred, and then moves forward a predetermined distance (for example, about the front-rear width of the paddy field weeding device 100) to avoid the location where the stranding occurred, and then returns to the original position in the left-right direction (in other words, on an extension of the original travel route before performing the avoidance operation), completes the avoidance operation, and resumes the original travel.

[0038] The screw propulsion mechanism 103 receives a control signal from the driving control unit C1, and based on this, drives the drive motor 103m, which in turn rotates the screw 104, enabling the paddy field weeding device 100 to perform various driving operations.

[0039] The system control device 200 comprises a paddy field weeding device control unit C2 that transmits instruction information related to traveling to the paddy field weeding device 100 to control it, a water supply device control unit C3 that transmits instruction information related to water supply to the water supply device 300 to control it, a data creation unit C4 that creates various data based on information acquired from the paddy field weeding device 100, and a user instruction acceptance unit C5 that acquires instruction information input by a user from a mobile information terminal 400. These functional units are constituted by electronic circuits such as a CPU (Central Processing Unit) provided in the system control device 200 and various programs stored therein.

[0040] The paddy field weeding device control unit C2 includes a driving route planning unit c21 that plans the driving route of the paddy field weeding device 100, a driving instruction unit c22 that transmits driving instruction information to the paddy field weeding device 100, and a stranding avoidance unit c23 that causes the paddy field weeding device 100 to perform stranding avoidance operation.

[0041] The travel route planning unit c21 fulfills the function of planning a travel route in the field H for the paddy field weeding device 100 when weeding. The travel instruction unit c22 transmits instruction information related to travel to the paddy field weeding device 100 so that the paddy field weeding device 100 travels along the travel route planned by the travel route planning unit c21. The instruction information related to travel is acquired by the remote control unit c12 of the paddy field weeding device 100, and as a result, the paddy field weeding device 100 is remotely controlled to travel.

[0042] Here, the planning of a travel route by the travel route planning unit c21 will be described with reference to Fig. 9(a) and Fig. 10(a). Fig. 9(a) and Fig. 10(a) are plan views of a farm field showing an example of a travel route planned by the travel route planning unit c21.

[0043] 9(a) and 10(a) show an example of the outline of the field H, where the round point Pst in the figure indicates the point (start point) where the travel of the paddy field weeding device 100 starts, and the star-shaped point Ped indicates the point (end point) where the travel ends. The arrow line L in the figure indicates the travel route of the paddy field weeding device 100, that is, the target travel trajectory, and the direction of the arrow line L indicates the direction in which the paddy field weeding device 100 advances. The X-shaped point Pz in the figure indicates the point where the stranding occurred, and the arrow line Lk indicates the travel route of the paddy field weeding device 100 when the paddy field weeding device 100 travels to avoid the stranded part (that is, the avoidance operation) by the stranding avoidance section c23 described later.

[0044] During work, the start point Pst is determined when the user U places the paddy field weeding device 100 in the field H and issues a command to start traveling by operating the mobile information terminal 400. In addition, the end point Ped can be determined as the end point Ped when the paddy field weeding device 100 reaches the edge of a ridge in the field H or a point where work has been completed (traveled) and, if it turns right or left, it will move to the point where work has been completed or the edge of the ridge.

[0045] First, in the example of FIG. 9(a), the travel route L by the travel route planning unit c21 is a straight forward In this example, the weeding device 100 is planned to run in the field H in a single stroke, alternately repeating right and left turns at the edge of the field. The travel route is not predetermined before the start of travel, but is planned first as a travel route Lo in which the weeding device 100 runs straight ahead, and when the edge-of-field detection sensor s3 detects the edge of the field, it is determined that the edge of the field has been reached, and the next travel route Lf of turning right or left and running straight is planned. In this manner, the weeding device 100 is planned and updated in real time according to the travel state of the weeding device 100. Furthermore, each time the travel route L is updated, the travel instruction unit c22 transmits travel-related instruction information to the weeding device 100, and the information is reflected in the travel operation of the weeding device 100. In this manner, the travel route L by the travel route planning unit c21 is created interactively while acquiring detection information of the weeding device 100.

[0046] Next, in the example of FIG. 10(a), the travel route L by the travel route planning unit c21 is planned to travel around the headland (outer periphery) of the field H, and then in the inner region of the headland of the field H, alternately repeating straight ahead and right and left turns, and travel in a single stroke through the field H. When traveling around the headland (outer periphery), the travel route Ls is planned to travel along the edge of the ridge based on detection information of the edge of the ridge by the detection sensor s3, and when it is determined that the headland (outer periphery) has been traveled around based on position information by the positioning device s1, the travel route Ln in the inner region is planned based on the position information of the headland (outer periphery) of the field H, so that the travel route Ln in the inner region is planned to alternately repeat straight ahead and right and left turns in the inner region of the headland of the field H.

[0047] 9(a) and 10(a) are merely examples, and any procedure may be used as long as the paddy field weeding device 100 can travel throughout the entire field H, and the travel route L may overlap within the field H during travel. The autonomous travel processing unit c11 of the paddy field weeding device 100 may be configured to substitute for the functions of the travel route planning unit c21 and the travel instruction unit c22.

[0048] Returning to FIG. 7, the stranding avoidance unit c23 has a function of preventing the paddy field weeding apparatus 100 from running aground. The stranding avoidance unit c23 performs a stranding avoidance process, which is a process for preventing the paddy field weeding apparatus 100 from running aground, and includes a stranding determination unit c231, a water increase instruction unit c232, an escape processing unit c233, and a warning output processing unit c234. In the stranding avoidance process, the stranding determination unit c231 determines whether the paddy field weeding apparatus 100 has run aground, the water increase instruction unit c232 transmits instruction information for instructing the water supply apparatus 300 to increase the water level, the escape processing unit c233 transmits instruction information related to the running of the paddy field weeding apparatus 100 so that the paddy field weeding apparatus 100 can escape from running aground, and the warning output processing unit c234 transmits instruction information for causing the mobile information terminal 400 to output a warning.

[0049] The water supply device control unit C3 includes an upper limit water level setting unit c31 that sets an upper limit water level for the field H, a water supply instruction unit c32 that issues water supply instructions to the water supply device 3, and a set water level memory unit c33 that stores the water level set by the upper limit water level setting unit c31.

[0050] The upper limit water level setting unit c31 appropriately acquires information on the setting value of the upper limit water level desired by the user U by acquiring operation information of the mobile information terminal 400, and stores the information in the set water level storage unit c33. That is, the paddy field weeding system 1 displays a setting screen for setting the upper limit water level of the field H on the mobile information terminal 400, and accepts an input operation of the setting value, thereby making it possible to set the upper limit water level.

[0051] The water supply instruction unit c32 transmits instruction information related to water supply to the water supply device 300 at an appropriate timing, and the water supply faucet control unit 301 of the water supply device 300 that receives this information controls the opening and closing of the water supply faucet 302 to supply a predetermined amount of water and increase the water level in the field H. The amount of water supplied to the field H in one water supply can be set by operating the mobile information terminal 400, just like the upper water level limit.

[0052] <5. Stranding prevention measures> FIG. 8 is a flowchart showing the processing procedure for the stranding avoidance processing. When the paddy field layer weeding apparatus 100 starts traveling, the stranding avoidance unit c23 starts the stranding avoidance process shown in Fig. 8. The determination of the start of traveling of the paddy field layer weeding apparatus 100 is performed, for example, when the paddy field layer weeding apparatus 100 travels autonomously, by acquiring a signal indicating that autonomous traveling has started from the mobile information terminal 400 when a signal of an instruction command to start autonomous traveling is transmitted to the paddy field weeding apparatus 100 by a predetermined operation of the mobile information terminal 400. When the paddy field layer weeding apparatus 100 is remotely operated by the system control device 200 to travel, the stranding avoidance process is started when, for example, a predetermined operation of the mobile information terminal 400 starts transmitting instructions related to traveling from the travel instruction unit c22 to the paddy field weeding apparatus 100.

[0053] In the stranding avoidance process, while the paddy field weeding apparatus 100 is traveling, the stranding determination unit c231 determines whether stranding has occurred (step #1). Here, the determination of whether stranding has occurred is made by monitoring the current position of the paddy field weeding apparatus 100 from the position information acquired from the paddy field weeding apparatus 100, and determining that stranding has occurred if there is no change in the position of the paddy field weeding apparatus 100 for a predetermined set time (for example, one minute).

[0054] When the stranding determination unit c231 determines that a stranding has occurred, it causes the travel instruction unit c22 to temporarily stop the travel of the paddy field weeding device 100 in order to prevent breakdowns of the paddy field weeding device 100 and to reduce energy loss (step #2).

[0055] Next, the water increase indicator c232 acquires the measurement information of the water level measuring sensor s4, and refers to the value of the upper limit water level stored in the set water level memory unit c33 to determine whether the current water level of the field H has not reached the upper limit water level, i.e., is equal to or lower than the upper limit water level (step #3). Note that at this time, the condition for the threshold value for the determination may be set to be lower than the upper limit water level.

[0056] If it is determined that the water level is below the upper limit of the water level of the paddy field (Y in step #3), the water increase instruction unit c232 sends instruction information regarding water supply to the water supply device 300, and the water supply device 300 increases the water level in the field H by a predetermined amount (step #4).

[0057] When the increase in water level in the field H is completed, the escape processing unit c233 resumes the traveling of the paddy field weeding apparatus 100 that was temporarily stopped (step #5), and returns to step #1 of determining whether stranding has occurred. As a result, the paddy field weeding apparatus 100 that has escaped from stranding due to the rise in the water level in the field H can continue traveling. On the other hand, if the paddy field weeding apparatus 100 cannot escape from stranding, steps #1 to #5 are repeated until the paddy field weeding apparatus 100 escapes or the water level in the paddy field reaches the upper limit.

[0058] Then, if the water level of the paddy field reaches its upper limit but the paddy field weeding device 100 fails to escape the grounding (N in step #3), the escape processing unit c233 causes the paddy field weeding device 100 to move backwards using the travel instruction unit c22, and determines whether the paddy field weeding device 100 has escaped the grounding, for example, based on whether there has been a change in the position information (step #7).

[0059] When it is determined that the weeding device 100 has escaped the stranding (Y in step #7), the escape processing unit c233 transmits instruction information instructing the weeding device 100 to perform an avoidance operation so as to continue traveling while bypassing the area where the stranding occurred, and the weeding device 100 then executes an avoidance operation by the avoidance operation processing unit c13 to bypass the area where the stranding occurred (step #8). When the avoidance operation is completed, the weeding device 100 resumes traveling (step #5).

[0060] If the escape processing unit c233 fails to escape from the stranding, it determines that the weeding apparatus 100 is completely stranded (N in step #7), and causes the warning output processing unit c234 to transmit instruction information for outputting a warning to the mobile information terminal 400 (step #9). As a result, a warning is output on the mobile information terminal 400 by means of a screen or sound, and the user U can know that the paddy field weeding apparatus 100 has become completely stranded, so that the user U can be prompted to perform rescue work for the paddy field weeding apparatus 100. This makes it possible to prevent a situation in which the user U does not notice the complete stranding and the weeding work is stopped for a long period of time.

[0061] <6. Various data creation and provision functions> Returning to Fig. 7, we will now explain the various data creation and provision functions of the system control device 200. The system control device 200 has a data creation unit C4 that creates various data, and the data creation unit C4 has a field data creation unit c41 that creates field data Dh, a stranding position data creation unit c42 that creates stranding position data Dz indicating stranding positions, a fertility data creation unit c43 that creates fertility data Df indicating fertility, and a created data transmission unit c44 that transmits the created various data.

[0062] The farm field data creation unit c41 creates farm field data Dh indicating the position and shape of the farm field based on the position information acquired from the paddy field weeding device 100. Fig. 9(b) is an explanatory diagram showing the procedure for creating the farm field data Dh.

[0063] In the illustrated example of Fig. 9(b), the procedure for creating the field data Dh is shown when the paddy field weeding device 100 travels through the field H, which shows the procedure for creating the field data, according to the travel route L shown in Fig. 9(a), and in the figure, positions in the virtual space corresponding to the position information of the paddy field weeding device 100 acquired at a predetermined time interval are indicated by circles, and the positions of the circles are given the reference symbol "Pi". That is, the trajectory indicated by the circle Pi corresponds to the travel trajectory of the paddy field weeding device 100 in the field H, and when the paddy field weeding device 100 acquires position information by the positioning device s1 while traveling and transmits it to the system control device 200, one circle Pi is generated in the virtual space based on the position information. Therefore, in the illustrated examples of FIG. 9(a) and FIG. 9(b), when the paddy field weeding device 100 starts traveling from the traveling start point Pst, the field data creation unit c41 sequentially generates circle points Pi as the paddy field weeding device 100 travels along the traveling route L, and ends the generation of the circle points Pi when the paddy field weeding device 100 reaches the traveling start point Ped. Each circle point Pi is associated with and stored with position information acquired by the paddy field weeding device 100 at a position corresponding to the circle point Pi. Furthermore, information on the measurement value of fertility acquired by the fertility measuring sensor s2 at the point where the position information was measured is also associated and stored. The field data creation unit c41 may be configured to determine the start and end of generation of the circle points Pi by acquiring start and end signals from the paddy field weeding device 100.

[0064] When the generation of the circle points Pi is completed, the outer edges of the point group of the circle points Pi are connected in the virtual space to generate the outer shape Hg of the field H, which is stored in a predetermined storage area as field data Dh together with the position information associated with each circle point Pi. The outer shape Hg of the field H may be automatically enlarged and corrected in accordance with the size of the paddy field weeding apparatus 100. The field data Dh generated in this manner accurately records the position and outer shape of the field H based on the position information acquired by the paddy field weeding apparatus 100 and the information on the outer shape Hg of the field H generated from the position information. Therefore, by using the field data Dh, it is possible to improve the accuracy of subsequent work (such as harvesting).

[0065] Once the field data Dh has been created, it is transmitted to and stored in the work vehicle system 500 and the external server 600 by the created data transmission unit c44. This allows the work vehicle system 500 to use the field data Dh to plan a travel route for the work vehicle 501 in the field H. Furthermore, the field data Dh stored in the external server 600 can be acquired by the mobile information terminal 400 accessing the external server 600, and the user U can check the field data Dh as appropriate. Note that although the trajectory of the travel route L is different in Figures 10(a) and 10(b), the method of creating the field data Dh is the same as the examples in Figures 9(a) and 9(b), and therefore a description thereof will be omitted.

[0066] Returning to FIG. 7, the stranding position data creation unit c42 creates stranding position data Dz indicating the stranding position by using the field data Dh created by the field data creation unit c41. FIG. 11(a) is an explanatory diagram showing the creation procedure of the stranding data. When it is determined that stranding has occurred by the stranding avoidance process while the paddy field weeding device 100 is traveling (Y in step #1 in FIG. 8), the stranding position data creation unit c42 stores the position information of the stranding occurrence point acquired from the paddy field weeding device 100 in a predetermined storage area. Then, when the field data creation unit c41 creates the field data Dh, the stranding position data creation unit c42 acquires the created field data Dh, and plots the stranding occurrence point Pz at a corresponding position within the outline Hg of the field H from the stored position information of the stranding occurrence point as shown in FIG. 11(a), and stores it together with the position information of the stranding occurrence point in a predetermined storage area. Furthermore, from the position information of the point cloud of circular points Pi included in the field data Dh (see FIG. 9(b) or FIG. 10(b)), an unworked area Pk where no work (weeding) was performed is calculated, and stranding data Dz is created which includes the position information of the field H, information on the outer shape Hg, the position of the stranding point Pz, and the position and range information of the unworked area Pk. The created stranding data Dz, like the field data Dh, is transmitted to the work vehicle system 500 and the external server 600 by the created data transmission unit c44, and the user can check it as appropriate using the mobile information terminal 400. This allows the user U to visually check the position where the stranding occurred in the field H, and the stranding data Dz can be used to assist in plowing work, etc., at the stranding location using a work machine.

[0067] The fertility data creation unit c42 uses the field data Dh created by the field data creation unit c41 to create fertility data Df indicating the fertility of the field H. Fig. 11(b) is an explanatory diagram showing the procedure for creating fertility data. When the field data Dh is created by the field data creation unit c41, the fertility data creation unit c42 acquires the created field data Dh, divides the field outline Hg into sections Hk of a predetermined size as shown in Fig. 11(b), and creates fertility data Df in which the fertility of each section Hk is evaluated by rank (in the illustrated example, fertility is evaluated in order of decreasing fertility, with A, B, and C). Here, as described above, the field data Dh is stored by linking each circle Pi (see FIG. 9(b) or FIG. 10(b)) with the position information acquired by the paddy field weeding device 100 and the fertility measurement value information acquired by the fertility measurement sensor s2 at the position in the field H corresponding to the circle Pi. Using this, when the field outline Hg is divided into sections Hk of a predetermined size, the fertility data creation unit c42 calculates the average value of the fertility measurement values ​​linked to the circle Pi belonging to each section Hk, and sets the average value as the fertility of the section Hk. Then, for each section Hk, the section Hk is ranked according to the size of the fertility value (average value), and fertility data Dz is created by visualizing this. In the illustrated example, sections Hk in which there is no fertility measurement value due to the avoidance operation of the paddy field weeding device 100 or the like are blank (white) as "no measurement". The created fertility data Dz, like the field data Dh, is transmitted by the created data transmission unit c44 to the work vehicle system 500 and the external server 600, and the user can check it as needed using the mobile information terminal 400. This allows the user U to visually check the distribution of fertility in the field H, and the fertility data Dz can be used to analyze changes in fertility due to watering of the field H, and can be used for fertilization work using work machines, etc.

[0068] <7. Another embodiment (1)> Although the embodiment of the present invention has been described above, the present invention is not limited to the above-mentioned embodiment. It goes without saying that the present invention may be modified as appropriate within the scope of the technical concept. For example, the paddy field weeding device 100 may be provided so that the relative position of the screw propulsion mechanism 103 with respect to the float body 101 can be adjusted up and down. Furthermore, the adjustment of the up and down of the screw propulsion mechanism 103 may be configured so that the position of the screw propulsion mechanism 103 can be adjusted up and down by a lifting mechanism that is provided with a height adjustment motor that can be driven and controlled by instruction information from the system control device 200 and that moves up and down by controlling the forward and reverse rotation of the height adjustment motor (for example, a screw rod is rotated by the height adjustment motor, and the screw propulsion mechanism 103 is disposed on a lifting base that moves up and down according to the rotation direction of the screw rod).

[0069] In this case, if it is determined that stranding has occurred in the stranding avoidance processing (Y in step #1 of Figure 8), the system control device 200 may be configured to first change the position of the screw propulsion mechanism 103 upward within its movable range, and if the stranding cannot be avoided even then (if the position information of the paddy field weeding device 100 has not changed), proceed to step #2 of Figure 8.

[0070] Furthermore, the system control device 200 may be configured to record a history of the control amount of the height of the screw propulsion mechanism 103 together with position information of the paddy field weeding device 100 while the paddy field weeding device 100 is traveling, and the user U may be configured to be able to check the history data by the mobile information terminal 400. Furthermore, when the paddy field weeding device 100 starts traveling, if a history of the control amount of the height of the screw propulsion mechanism 103 has been recorded as a result of the paddy field weeding device 100 having traveled in the field H in the past, the system control device 200 may be configured to control the height of the paddy field weeding device 100 based on the history.

[0071] <8. Another embodiment (2)> The system control device 200 may be configured to plan the travel route L by the travel route planning unit c21, and to remotely operate the paddy field weeding device 100 by the travel instruction unit c22 to travel the travel route L by repeating travel, a pause for a predetermined time (e.g., 30 seconds), measurement of fertility by the fertility sensor s2, and resumption of travel in sequence to travel in the field H. Note that travel can be configured to transition to a pause when a predetermined set time or set distance is reached. As a result, since there is a possibility that sediment is stirred up and mixed in the soil immediately after the paddy field weeding device 100 stirs up the soil, it is possible to perform a more accurate measurement of fertility by stopping the weeding device for about 30 seconds, for example, and measuring the fertility after the stirring has settled. In addition, when the paddy field weeding device 100 autonomously travels within the field H, the autonomous travel processing unit c11 may be configured to travel within the field H by sequentially repeating the cycle of travel, pausing for a predetermined period of time, measuring fertility using the fertility sensor s2, and resuming travel, as described above.

[0072] <9. Another embodiment (3)> In the above embodiment, in the stranding avoidance process (see FIG. 8), the stranding determination unit c231 determines whether the paddy field weeding apparatus 100 has run aground, and the determination is configured to determine whether stranding has occurred based on the presence or absence of a change in the position information acquired from the paddy field weeding apparatus 100. Alternatively, a rotation detection sensor may be provided to detect the rotation speed of the screw 104 of the paddy field weeding apparatus 100, and the system control device 200 may be configured to acquire the detected value, and the occurrence of stranding may be determined on the condition that the rotation speed of the screw 104 of the paddy field weeding apparatus 100 has decreased below a predetermined speed. In other words, when stranding occurs, the rotation of the screw 104 is hindered and the rotation speed of the screw 104 decreases, so that the occurrence of stranding can be appropriately determined by the above method as well.

[0073] <10. Another embodiment (4)> The paddy field weeding device 100 may be configured to be able to appropriately switch between a normal running mode in which the measurement of fertility by the fertility sensor s2 is stopped and the device runs, and a measurement mode in which the device runs while measuring fertility by the fertility sensor s2, by a predetermined operation (for example, a selection operation by the mobile information terminal 400), and may be configured to reduce the number of rotations of the screw 104 by a predetermined amount (which may be a predetermined rate) when the measurement mode is selected in the autonomous running or remotely controlled running. In addition to this, as described above, when the normal running mode is selected, the device may be configured to run in the field H by running continuously, and when the measurement mode is selected, by repeating running, pausing for a predetermined time, measuring fertility by the fertility sensor s2, and resuming running in that order. As a result, when the user U does not need fertility measurement by the fertility sensor s2, he or she can quickly proceed with weeding work by selecting the normal driving mode, and when the measurement mode is selected which requires fertility measurement by the fertility sensor s2, the rotation speed of the screw 104 is reduced by a predetermined amount compared to the normal driving mode, thereby reducing the amount of mud being stirred up in the soil and improving the accuracy of fertility measurement by the fertility sensor s2. [Explanation of symbols]

[0074] 1. Paddy field weeding system 100 Weeding device for paddy fields 101 Float Body 102 Solar Panels 103 Screw propulsion mechanism 104 Screw 105 Housing Box 200 System control device 300 Water supply equipment 301 Water faucet control unit 302 Water tap 303 Water supply channel 400 Mobile Information Terminal 500 Work vehicle driving system 501 Work vehicle 502 Work vehicle control device 600 External Servers C1 Driving control unit C2 Paddy field weeding device control unit C3 Water supply device control section C4 Data Creation Department C5 User instruction reception section Dh Field Data Dz stranding data Df Fertility Data NW Network NW2 wireless base station s1 Positioning device s2 fertility sensor s3 Ridge detection sensor s4 Water level measurement sensor U User (worker)

Claims

1. A paddy field weeding system comprising a paddy field weeding device that stirs the water while traveling on the water of a paddy field with a screw and removes weeds, and a system control device configured to be able to transmit and receive information to and from the paddy field weeding device via a network, The paddy field weeding system is configured to include a positioning device for acquiring position information of the paddy field weeding device, and the system control device is configured to acquire the position information measured by the positioning device; The system control device is a paddy field weeding system characterized by comprising: a stranding determination means for determining the occurrence of stranding from a change in position indicated by the acquired position information while the paddy field weeding device is traveling; a stranding avoidance means for controlling the traveling of the paddy field weeding device to avoid stranding when the stranding determination means determines that stranding has occurred; and a stranding data creation means for creating stranding data indicating the position within the paddy field where the stranding occurred, based on the acquired position information.

2. In addition, it is equipped with a water supply system to supply water to the rice paddies. The paddy field weeding system described in claim 1, characterized in that the system control device is configured to control the amount of water supplied by the water supply device, and is configured to control the water supply device and increase the water level in the paddy field when the stranding determination means determines that stranding has occurred.

3. The weeding device for paddy fields is equipped with a fertility sensor that measures the fertility of the paddy field, The system control device is configured to acquire, while the paddy field weeding device is traveling, position information measured by the positioning device and fertility information measured by the fertility sensor; a fertility data creation means for creating fertility data indicating a distribution of fertility of paddy fields from the position information and the fertility information, The paddy field weeding system described in claim 1, further characterized in that the paddy field weeding device is configured to travel within the paddy field by repeatedly performing the following operations: traveling, pausing for a predetermined period of time, measuring the fertility using the fertility sensor, and resuming traveling.

4. The paddy field weeding device is configured to be able to appropriately switch between a normal driving mode and a measurement mode in which fertility is measured using the fertility sensor while driving, and is characterized in that when the measurement mode is selected, the rotation speed of the screw while driving is reduced by a predetermined amount compared to when the normal driving mode is selected.

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