Farm field management device

Abstract

To solve a problem that a device that performs weeding work by agitating mud in a rice paddy to generate muddy water is a machine exclusive for weeding, and a growth state of crop plants cannot be checked and a fertilizing work cannot be performed.SOLUTION: A fertility degree detection device, an imaging device and a satellite positioning device are installed in a weeding device to observe and analyze growth of crop plants, and a fertilizing device is arranged.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a small robot capable of remote operation that performs field management work mainly for weeding work in paddy fields after rice transplanting.

Background Art

[0002] Conventionally, the combined duck farming method of releasing combined ducks into paddy fields for weeding is known. However, due to the difficulty of managing organisms, a paddy field weeding device (so-called, aigamo robot) that replaces combined ducks with a robot is known. For example, Patent Document 1 discloses a paddy field weeding device that automatically travels on the water surface of a paddy field (field) by a float body having buoyancy and a screw propulsion mechanism disposed below the float body, stirs the mud at the bottom of the water, thereby inhibiting the photosynthesis of weeds under the water surface and suppressing their growth to perform weeding. (Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, for a device that suppresses weeds by turning the water in a paddy field into muddy water, it is a dedicated machine for weeding work and cannot perform paddy field management work.

[0005] In consideration of the above-described conventional problems, the present invention provides a weed generation suppression machine that can improve usability, and also provides a device that can be used for multiple purposes as a field management device by being able to handle not only weed suppression but also general-purpose work.

Means for Solving the Problems

[0006] The first invention is solved by the following technical means.

[0007] A screw device is arranged on a float that floats on water, which has the function of traveling on water while stirring the mud in paddy fields. The position and traveling speed of the robot in the field are calculated from a satellite positioning device. In a no-load state where it does not travel over the crops, a speed corresponding to the screw rotation speed of the screw device is registered as a reference speed. From the reduction rate of the speed when traveling over the crops and the relationship between the preset speed reduction rate and the growth degree of the crops, it has the function of calculating the growth degree of the crops.

[0008] The second invention is solved by the following technical means.

[0009] It is equipped with an imaging device, detects the tillering of crops during traveling, calculates the growth degree of the crops, and corrects the calculated value of the growth degree due to traveling resistance.

[0010] The third invention is solved by the following technical means.

[0011] A fertilizer application device is provided behind the float that floats on water, and fertilizer is sprayed at the position where the detected growth degree of the crops is low.

[0012] The fourth invention is solved by the following technical means.

[0013] A plant diagnosis device is provided behind the float that floats on water. At night, the chloroform of the leaves of the crops is measured to correct the growth degree of the crops.

Advantages of the Invention

[0014] From the first invention, it becomes possible to measure the growth degree of the crops.

[0015] From the second and fourth inventions, it becomes possible to further improve the accuracy of the growth degree of the first invention.

[0016] From the third invention, it is possible to perform a fertilization operation by concentrating on the places where the growth degree is low.

Brief Description of the Drawings

[0017]

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Embodiments for Carrying Out the Invention

[0018] Hereinafter, the present invention will be described based on the embodiments shown in the drawings.

[0019] The management device shown in FIGS. 1 to 13 shows an example of this embodiment.

[0020] Embodiments of the present invention will be described in detail with reference to the drawings.

[0021] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0022] The management device of the present invention can be used for multiple purposes by deploying the devices described later, and can be used as a field management robot. As a role of the field management robot 10, there is a role of preventing the growth of weeds that occur in paddy fields after rice transplanting. This is a weeding operation. Conventionally, wild ducks have been released into paddy fields to eat weeds. There are also measures using herbicides, but these are operations that are costly and time-consuming for weed control in the fields.

[0023] In recent inventions, with the invention of the aforementioned wild duck robot, a measure of preventing weeds by muddying the water in paddy fields after rice transplanting is being used. The present invention is a configuration for using this wild duck robot for weed control in general work, and is an invention as a small unmanned working machine equipped with functions as a paddy field management robot.

[0024] The configuration of the field management robot 10 of the present invention will be described with reference to FIGS. 1, 2, and 3.

[0025] The float 22 has the role of floating the field management robot 10 on the water surface of the paddy field. It may be formed with a resin material to form the outer shape, with air trapped inside and a structure that does not allow water to enter, or it may simply be formed with a material lighter than water.

[0026] The main body case 23 is connected to the part where the center of this float 22 is cut out. The main body case 23 is waterproof and is a box that does not allow water or dust to enter inside. There is a figure in FIG. 3 showing the inside with the solar panel 21 at the top and the top cover of the case 23 removed.

[0027] A battery 37 charged by solar power generation using a solar panel 21 is arranged forward from the central part of the aircraft body. Behind it, there are a motor 35 and a motor 36, which operate using the electric power stored in the battery 37.

[0028] The battery 37 is mainly charged by the electric power of solar power generation from the solar panel 21, but it can also be charged using a charger from a household power source.

[0029] The battery 37 is the power source of the field management robot 10 and must store enough power to operate during the day. Therefore, it needs to be sized to fit the size and workload of the field management robot 10. For this reason, the battery 37 is large and heavy. In the arrangement of the aircraft body, it is balanced by placing it at a symmetric position with the motor 35 and the motor 36, which are also heavy objects, at the central part of the aircraft body.

[0030] The motor 35 and the motor 36 are controlled by a BMS (Battery Management System) inside the control box 38. Similarly, the external charging of the battery 37 is managed by the BMS inside the control box 38.

[0031] The BMS manages the inverter to perform voltage control or current value control, thereby controlling the rotational speeds of the motor 35 and the motor 36 individually. By having different rotational speeds, it is possible to perform turning control or braking control by rapidly reversing the rotational speed. Also, acceleration and deceleration are performed by gradually changing the rotational speed.

[0032] The motor 35 and the motor 36 are linked to the screw devices of the screw 31 and the screw 32 by a transmission structure such as an electric shaft, a chain, a belt, etc. and bearings in the cases 33 and 34 to link the motor power to the screw rotation. This connection part is protected by a waterproof seal, and water will not enter the cases 33 and 34. The case 23, which is the main case of the cases 33 and 34, is completely waterproof, and the electrical equipment will not be invaded by water or dust.

[0033] The screw devices of the screw 31 and the screw 32 are devices for moving the field management robot 10 on the water surface. The main operation is to stir up the mud in the field by the water flow caused by the rotation of the screw. In the clear paddy field, sunlight reaches the mud, which becomes a factor for the germination of weed seeds in the mud. Therefore, this is a mechanism to prevent germination by blocking sunlight by making the water muddy. Therefore, the screw has a short pitch and a slow forward movement relative to the running.

[0034] The solar panel 21 is on the upper surface of the central part of the field management robot 10 and inside the outer periphery of the float 22. When it contacts an external obstacle, the float 22 contacts first to protect the solar panel 21.

[0035] Since the field management robot 10 is configured like a boat floating on the water surface of the paddy field, a handle is required when pulling it out of the field, and the handles 24 and 25 are provided.

[0036] With this configuration, it is possible to function as a weeding device for paddy fields. However, in the present invention, the purpose is unmanned, automated, and remote operation, and the configuration that satisfies this function will be described.

[0037] The field management robot 10 is equipped with a satellite positioning device 41 and an inertial positioning device 42. By transmitting and receiving GNSS signals, the position of the robot (the vehicle itself) in the field can be determined not only by the field management robot 10 itself but also by an operation unit at a remote location through data transmission using the Internet environment. The inertial positioning device 42 measures inclination. When traveling on the water surface after rice transplanting in a paddy field, there may be reef areas in regions where the water surface and the muddy surface of the field are close or at the edge of the ridge. If the field management robot 10 rides onto a reef area, the body may tilt, and the inertial positioning device 42 can detect the tilting state.

[0038] The field management robot 10 is equipped with an imaging device 51 at the front and an imaging device 52 at the rear. This imaging device not only captures an image of a subject like a CCD camera but also has a stereo function, enabling measurement of the distance to the subject, the size and movement of the subject, and discrimination of color. Images are captured at predetermined intervals and automatically transmitted to the cloud, allowing a user at a remote location to view the images immediately. Both still images and moving images are possible, and it is also possible to perform driving operations and work operations while viewing moving image on a remote location.

[0039] The field management robot 10 is equipped with an obstacle sensor 43 at the front part of the float 22, an obstacle sensor 44 on the left side, an obstacle sensor 45 on the right side, and an obstacle sensor 46 at the rear part. This obstacle sensor uses infrared rays and detects an abnormality when an object of a predetermined size or larger enters within a predetermined range. It detects cases such as avoiding the edge of the ridge or the presence of large stones in the field, prevents contact, and at the same time collates the obstacle detection data with the field map to provide information to a user at a remote location about the detection of dangerous objects in the field. However, the judgment criterion is that it does not detect objects smaller than a certain size determined by the size of the crop. Note that ultrasonic waves or millimeter-wave radars can also be used as the obstacle sensor.

[0040] Below the front of the float 22 of the field management robot 10, there is a fertility measurement sensor 61. The sensor operates to extend downward and is configured to contact the paddy soil when fully extended. In this way, a weak current is passed through the soil from the left and right electrode plates, and the fertility of the soil is measured by measuring the ions (nutrients) in the soil from its electrical conductivity (electrical resistance). More specifically, the SFV value (Soil Fertility Value) is measured as an indicator of soil fertility. This SFV value is a numerical value corresponding to the EC value (Electric Conductivity), and the unit is mS / cm (millisiemens). The fertility information indicating the measured fertility (for example, information including the measured SFV value) measured at predetermined time intervals by this fertility measurement sensor 61 is transmitted to the cloud. This data is compared with the field map, and the fertility distribution of each part of the field is displayed.

[0041] Below the float 22 of the field management robot 10, there is a sonar sensor.

[0042] The sonar sensor can measure the distance from below the body to the mud part of the paddy field. That is, it detects the height of the water surface. If it is installed at each corner of the body, the state of the uneven field can also be detected. In FIG. 2, a sonar 65 is arranged at the front left, a sonar 66 at the front right, a sonar 68 at the rear left, and a sonar 67 at the rear right.

[0043] By deploying the systems necessary for automatic driving as described above, it is possible to operate based on a preset driving route. By determining the outer peripheral points of the field map and setting it to turn at that position, the driving operation program required for turning is activated before driving at that point. The rotational speeds of the motor 35 and the motor 36 can be changed, or it can be rotated in reverse rotation so as to have the rotation difference required for turning.

[0044] The start and end positions of the operation are set. When it moves to that position, it enters a predetermined work program and, as long as no abnormality is detected, it is a robot that performs automatic work up to the end position. Since it is small and can be remotely operated, it is an ideal robot configuration for managing paddy fields after transplanting.

[0045] In addition, the data of each detection device such as BMS inside the control box 38 that manages the power supply status by the satellite positioning device, imaging device, fertility sensor, obstacle sensor, sonar device, and solar panel is equipped with a transceiver in the satellite positioning device 41, and is cloud-managed through the Internet, and the information is transmitted to the user's operation terminal. Also, from the operation terminal, it is possible to change the rotation speeds of the motors 35 and 36 while viewing the images of the imaging devices 51 and 52, or to change the rotation speeds of the motors 35 and 36 while viewing the position information with the satellite positioning device 41. It is a field management robot that enables remote operation in such an environment.

[0046] In FIG. 4, the first invention will be described.

[0047] The field management robot 10 travels on water by the rotation of a certain screw during travel. The screw devices of the screws 31 and 32 change the rotation speeds and rotation directions of the screws 31 and 32 respectively under driving conditions such as turning, stopping, and decelerating, but the travel while stirring the mud is at the same rotation speed.

[0048] However, as shown in FIG. 4, when traveling over the rice planted in the paddy field while pushing down the rice, it receives a running resistance. The crops 121 and 124 are being knocked down by the float 22, but in this case, the speed decreases compared to a state where there is no resistance at all.

[0049] Regarding the speed, it is observed by the satellite positioning device 41, and the speed detection per unit time is carried out. This speed data is registered in the field map, and the working speed is registered for each part of the field.

[0050] Also, the difference in speed is the resistance when passing through the crops. This resistance is related to the growth of the crops. When the full length is long, well-branched and firmly rooted, or when the foliage is thick, the resistance increases. If the screw rotation speed is the same, the passing resistance increases, resulting in a decrease in speed. By utilizing this relationship, it is determined that the position where the speed slows down in the field map indicates good crop growth.

[0051] However, it is necessary to consider the field conditions. As shown in FIG. 5, there is an effective water surface height 162, which is the distance from the water surface 161 of the paddy field to the bottom position 160 where a person in the field can step without sinking. If it is within the general water level range of 150 mm to 300 mm, since it presses the soft leaf part of the crops, the correlation with the growth difference is strong, and the degree of growth can be judged.

[0052] FIG. 6 shows the case where the effective water surface height is 162A and the water level range is low. At this water level, the float presses the part near the roots of the crops, and it becomes the limit state where the growth of the leaf part of the crops can be judged.

[0053] As shown in FIG. 7, when the water surface 161B reaches the effective water surface height 162B within the general water level range, instead of the leaf part, the solid part is measured at the root part of the crops. This is no longer a condition where growth can be measured.

[0054] Since it is a criterion that is affected by the water level in this way, the front left sonar 65, the front right sonar 66, the rear left sonar 68, and the rear right sonar 67, which are sensors for measuring the effective water level, are used, and only the case where the effective water surface height 162 is within the general water level range is the measurement target. Note that the effective water surface height 162 can be adjusted within the range of dimensions effective for growth and can be set arbitrarily.

[0055] Even when the effective water surface height 162 is within a general water level range, since the resistance to passing over the crops changes with the water level difference, it may be appropriate to separately provide a correction coefficient based on the effective water surface height. As shown in Fig. 8, a correction coefficient is applied such that the reference speed decreases as the height of the effective water surface decreases. In one example, if the height of the effective water surface is 300 mm, the correction coefficient is 1.0, which is the reference speed of 100%. However, when the effective water surface height becomes 150 mm, the correction coefficient is 0.7, which is the reference speed of 70%.

[0056] Also, by using the front obstacle sensor 43, the left side obstacle sensor 44, the right side obstacle sensor 45, and the rear obstacle sensor 46, the ridge is detected. Since the float 22 receives the resistance of the water surface running near the ridge, this running data at the edge of the ridge is also excluded. Alternatively, by collating the image data of the front imaging device 51 and the rear imaging device 52 with the field map from the satellite positioning device 41, it is also possible to perform the detection and exclusion of the edge of the ridge. By removing the locations to be excluded in this way, the growth data of the crops is estimated and calculated using the speed change from other parts. In particular, by managing the same part daily, accurate data can be detected.

[0057] By excluding the correction based on the aforementioned effective water surface height and the measurement at the edge of the ridge, it becomes possible to determine the degree of decrease in speed due to the resistance of the crops in the present invention. In this proposal, since the rotation speed of the screw during the working travel is constant, this growth detection can be easily performed. However, if the rotation speed of the screw is changed, the speed will change. Therefore, it is necessary to register the relationship between the rotation speed of the screw and the speed in a no-load state where the vehicle only travels on the water surface that does not pass over the crops in advance and determine the reference speed. In this way, the rotation speed of the screw and the speed in the no-load state are registered, and the rate of decrease in speed when traveling over the crops is calculated with respect to this speed.

[0058] On the one hand, there is a system that registers the relationship between the rate of speed reduction and the degree of crop growth. Figure 9 shows the registration of this relationship. In this figure, the degree of growth is divided into five levels, with level 1 being poor, levels 2 to 4 being standard, and level 5 being good. Based on the rate of speed reduction described above, the evaluation can be carried out. The determination is that the greater the rate of speed reduction, the better the degree of growth.

[0059] This standard is continuously detected based on the driving route, and the detection data is transmitted to the user's terminal through the cloud. The transmitted data is registered for each area in the field map that manages the driving route. When the user views the field map, they can check the growth status of each field area and also manage the driving route of the field management robot.

[0060] In the state of rice seedlings in paddy fields, it is difficult to run a large management machine. Also, it is difficult to detect the degree of growth up and down by imaging from above with a drone. The present invention is a small field management robot that travels on water and measures the entire field area in order to calculate from its traveling speed. Also, because it travels and measures several times a day, it can detect a more accurate degree of growth.

[0061] The first invention is a field management robot that has a function of traveling on water while stirring the mud in a paddy field by arranging a screw device inside a float that floats on water. From a satellite positioning device, the position and traveling speed of the robot in the field are calculated. When the value of the sensor that measures the effective water level is within a preset range, in a no-load state where it does not travel over the crop, a speed corresponding to the screw rotation speed of the screw device is registered as the reference speed. Also, correction is applied so that the lower the water level, the lower the reference speed, based on the value of the sensor that measures the effective water level. From the rate of speed reduction from the reference speed when traveling over the crop, and from the relationship between the preset rate of speed reduction and the degree of crop growth, it has a function of calculating the degree of crop growth.

[0062] As shown in Fig. 4, an imaging device 51 is arranged at the front and an imaging device 52 is arranged at the rear. With the front imaging device 51, crops such as crop 121 and crop 124 are in a state of being knocked down by a float. In this state, it is easy to check the tillering state of the crops. When there is a lot of tillering, it is in a state of good growth. Therefore, the growth degree calculated from the above-mentioned speed reduction rate can be corrected. It is judged that the higher the tillering, the better the growth degree, and the growth degree is corrected.

[0063] The imaging device 51 is an AI camera, an imaging device with an artificial intelligence function. If a video serving as a basis for showing the tillering state is registered in the cloud in advance, the tillering state is estimated and judged from a similar image by comparing it with this image.

[0064] In the reference tillering state, good tillering is evaluated in three levels: 120%, standard tillering 100%, and poor tillering 50%. From the speed reduction rate compared with the reference speed when traveling on the crop obtained in the first invention, and from the relationship between the preset speed reduction rate and the crop growth degree, the function of calculating the crop growth degree is to correct the calculated value of the growth degree due to running resistance, which is the second invention.

[0065] Fig. 10 is a diagram of a field management robot equipped with a fertilizer application device. The float 22A extends backward to increase buoyancy. The fertilizer tank 130 of the fertilizer application device is installed at the extended part of the float. A spiral for forcibly feeding a predetermined amount of fertilizer is provided at the fertilizer discharge port 131, and a designated appropriate amount is discharged.

[0066] The discharge pipe 132 has a function of being able to expand and contract. As shown in Fig. 11, when discharging, it becomes a part that enters the water, and by taking an action of driving into the ground of the paddy field, fertilizer is put into the bottom of the paddy field. By immediately pulling it up after input, water intrusion into the discharge pipe 132 is prevented. Also, the control of fertilizer application can be carried out by using the function of measuring the soil fertility by the fertility measurement sensor 61.

[0067] With this device, fertilization can be carried out by focusing on the poorly growing parts, and efficiency can be improved through reasonable operations. If fertilization is carried out uniformly, a large amount of fertilizer is required. For those with good growth conditions, it will be in an excessive fertilization state, and in some cases, there will be problems such as withering.

[0068] The judgment of good or bad growth is made by the first and second inventions, and they correspond to the judgment criteria. In the first invention, the speed reduction is small, and in the second invention, if a defect determination is made by correction due to tillering, the degree of growth is extremely poor. Fertilization is applied to that area by the fertilization device described above to promote growth.

[0069] Although the field management robot can determine whether fertilization is necessary by the fertility measurement sensor 61, the growth in the field is not only related to the fertility conditions but also to water temperature and sunlight. Therefore, it is also good to make a comprehensive judgment using the fertility measurement sensor 61 in the first and second inventions.

[0070] The third invention is equipped with a fertilization device behind the float that floats on water, and by spraying fertilizer at the position where the detected growth degree of the crop is low, the growth is made uniform.

[0071] Figure 12 is an arrangement diagram equipped with the plant diagnosis device 110. The plant diagnosis device 110 has a function of measuring the chloroform of the crop leaves. Although it is measured during the night time zone, if it is in the front part of the field management robot 10, accurate judgment may not be possible due to receiving dust of water droplets when knocking down the crop, etc., so it is provided behind the field management robot 10.

[0072] From the measurement of chloroform, the photosynthesis amount is estimated and calculated by a predetermined calculation, and the growth degree is calculated. The growth degree calculated from this photosynthesis amount is also effective information. From the relationship between the speed reduction rate of the first invention and the growth degree of the crop, the value for calculating the growth degree of the crop, or an imaging device is provided to detect the tillering of the crop during traveling and compare it with the value calculated for the growth degree of the crop, or it can also be used as a correction coefficient.

[0073] When using a correction coefficient, for those with a large photosynthetic amount, increase the correction coefficient to achieve a corresponding measure of good growth degree.

Explanation of symbols

[0074] 10 Field management robot 21 Solar panel 22 Float 23 Main body case 31 Screw 32 Screw 43 Obstacle sensor 51 Imaging device 52 Imaging device 61 Fertility measurement sensor 65, 66, 67, 68 Sonar 110 Plant diagnosis device 130 Fertilizer tank 161 Water surface 162 Effective water surface height

Claims

1. A screw device is arranged on a float that floats on water, and it has a function of traveling on the water while stirring the mud in a paddy field. Based on a satellite positioning device, the position and traveling speed of the robot in the field are calculated. In a no-load state where it does not travel over the crops, a speed corresponding to the screw rotation speed of the screw device is registered as a reference speed. From the rate of speed reduction when traveling over the crops and the relationship between the preset rate of speed reduction and the degree of crop growth, a field management robot having a function of calculating the degree of crop growth.

2. The field management robot according to claim 1, comprising an imaging device, detecting the tillering of crops during traveling, calculating the degree of crop growth, and correcting the calculated value of the degree of growth due to traveling resistance.

3. The field management robot according to claims 1 and 2, comprising a fertilizer application device behind the float that floats on water, and spraying fertilizer at a position where the detected degree of crop growth is low.

4. The field management robot according to claim 1 or claim 2, comprising a plant diagnosis device behind the float that floats on water, measuring the chlorophyll of crop leaves at night, and correcting the degree of crop growth.

Images