Farm field management device

Abstract

To solve the problem with a conventional device for performing weeding work in which mud in a rice paddy is stirred and turned into muddy water that since such a device is dedicated for weeding, it is not possible to exterminate insect pests adhering to crops, and in the case of being stranded, it is not possible to take sufficient measures to escape from a stranded state.SOLUTION: A management robot is equipped with an air tank, and piping is installed for discharging air emitted from the air tank. Extermination of insect pests can be achieved by travelling with pressure air discharged from the piping and by spraying the pressure air to the insect pests.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 transplantation.

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, mallard 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 devices that suppress weeds by turning the water in paddy fields into muddy water, rescue work and the like associated with the grounding of work machines may be frequently required, and complete automation of robot work operation has not necessarily been achieved.

[0005] In consideration of the above-described conventional problems, the present invention provides a weed generation suppression mechanism 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 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, and it has the function of traveling on water while stirring the mud in a paddy field. An air tank is installed on the float, and a pipe is installed that can discharge the air discharged from the air tank in the forward and backward directions of the traveling direction, and the traveling is performed by the pressured air discharged from this pipe.

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

[0009] By spraying the pressured air discharged from the pipe that can discharge the air discharged from the air tank onto the pests attached to the crops and the eggs of the pests, a pest control function is provided.

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

[0011] A time chart is determined so that the time for storing the air filled in the air tank is managed during time zones other than the working hours using the solar panel.

Advantages of the Invention

[0012] From the first invention, even in an area where the water level of the paddy field is low and there is a possibility of running aground, auxiliary traveling using air can be performed, so traveling can be performed even when escaping from running aground or when traveling is insufficient due to the resistance of the crops.

[0013] From the second invention, not only weed control work but also pest control work can be performed.

[0014] From the third invention, by setting a time chart for improving the second invention, the operation of a day can be performed well.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0016] Hereinafter, the present invention will be described based on the embodiments shown in the drawings.

[0017] The management devices shown in FIGS. 1 to 6 show an example of the present embodiment.

[0018] Referring to the drawings, the embodiments of the present invention will be described in detail.

[0019] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0020] The management device of the present invention can be used for multiple purposes by deploying the equipment described later and can be used as a field management robot. As the role of the field management robot 10, there is a role of preventing the growth of weeds generated in paddy fields after rice transplanting. It is a weeding operation. Conventionally, wild ducks have been released into paddy fields to eat weeds to deal with this. There are also measures such as using herbicides, but it was a costly and laborious operation for weed control in the fields.

[0021] 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 general work, and is an invention as a small unmanned working machine equipped with functions as a paddy field management robot.

[0022] The configuration of the field management robot 10 of the present invention will be described with reference to FIGS. 1, 2, and 3.

[0023] 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 for its 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.

[0024] 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 removed and the top cover of the case 23 removed.

[0025] A battery 37 charged by solar power generation using the solar panel 21 is deployed from the central part of the aircraft to the front. Behind it, there are a motor 35 and a motor 36, which operate using the electric power stored in the battery 37.

[0026] The battery 37 is mainly charged with the electric power generated by the solar panels 21, but it can also be charged from a household power source using a charger.

[0027] The battery 37 is the power source of the field management robot 10. Since it must store enough power to operate during the day, it needs to be sized to fit the size and workload of the field management robot 10. Therefore, the battery 37 is large and heavy, so in terms of the arrangement of the machine body, it is placed symmetrically at the center of the machine body with the motors 35 and 36, which are also heavy, to balance the weight.

[0028] The motors 35 and 36 are controlled by a BMS (Battery Management System) inside the control box 38. Similarly, the external charging of the battery 37 is also managed by the BMS inside the control box 38.

[0029] The BMS manages the inverter to perform voltage control or current value control, thereby individually controlling the rotational speeds of the motors 35 and 36. 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.

[0030] The motors 35 and 36 are linked to the screw devices of the screws 31 and 32 through transmission components such as electric shafts, chains, belts, and bearings, and the motor power is linked to the screw rotation. This connection part is protected by a waterproof seal, so water does 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 water and dust do not enter the electrical equipment.

[0031] The screw device of screw 31 and screw 32 is a device for moving the field management robot 10 on the water surface. However, the main operation is to stir up the mud in the field by the water flow generated by the rotation of the screw. In clear paddy fields, sunlight reaches the mud, which becomes a factor for the germination of weed seeds in the mud. Therefore, it is a mechanism to block sunlight and prevent germination by making the water muddy. Therefore, the screw has a short pitch and a slow forward movement relative to traveling.

[0032] The solar panel 21 is on the upper surface of the central part of the field management robot 10 and is inside the outer periphery of the float 22. When it comes into contact with an external obstacle, the float 22 contacts first to protect the solar panel 21.

[0033] Since the field management robot 10 has the structure of 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.

[0034] With this configuration, it is possible to function as a weeding device for paddy fields. However, in the present invention, the aim is for unmanned, automated, and remote operation, and the configuration that satisfies this function will be described.

[0035] 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 field management robot 10 itself can determine its own position in the field. Also, by using the Internet environment through data transmission, the position can be confirmed at the remote operation unit. The inertial positioning device 42 measures the 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 mud 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 inclination state can be detected by the inertial positioning device 42.

[0036] 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 can not only capture an image of a subject like a CCD camera, but also has a stereo function, enabling it to measure the distance to the subject, the size and movement of the subject, and to distinguish colors. Images are captured at predetermined intervals and automatically transmitted to the cloud, allowing a user located remotely 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 site.

[0037] 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 surface, an obstacle sensor 45 on the right side surface, 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 when avoiding the edge of a ridge or when there are 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 located remotely 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 and millimeter-wave radars can also be used as the obstacle sensor.

[0038] There is a fertility measurement sensor 61 below the front of the float 22 of the field management robot 10. The sensor operates so as to extend downward and is configured to contact the paddy soil when fully extended. Thereby, 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 the electrical conductivity (electrical resistance). More specifically, the SFV value (Soil Fertility Value) is measured as an index of 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 collated with the field map, and the fertility distribution of each part of the field is displayed.

[0039] Below the float 22 of the field management robot 10, there is a sonar sensor.

[0040] The sonar sensor can measure the distance from below the airframe to the mud part of the paddy field. That is, it detects the water surface height. If it is arranged at each corner of the airframe, 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.

[0041] 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 rotation 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.

[0042] The start position and end of the work are set. When it moves to that position, it enters a predetermined work program from there, and as long as there is no abnormality detection, it is a robot that performs automatic work to the end position. Since it is small and can be remotely operated, it is an ideal robot configuration for managing the inside of a paddy field after rice transplanting.

[0043] The data of each detection device such as the 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 such that a transmission and reception device is deployed in the satellite positioning device 41, and it is cloud-managed through the Internet, and the information is transmitted to the user's operation terminal. Also, it is possible to change the rotation speeds of the motor 35 and the motor 36 while viewing the images of the imaging devices 51 and 52 from the operation terminal, or to change the rotation speeds of the motor 35 and the motor 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.

[0044] Figures 4, 5, and 6 show the case where the air tank 140 is provided.

[0045] The air tank 140 can store air and discharge pressurized air. The air tank 140 may be a container with a simple structure, or it may be an air tank with an air compressor equipped with a motor.

[0046] The left traveling assist pipe 141 and the right traveling assist pipe 142 are provided, and each discharges pressurized air individually. The discharge of this pressurized air can assist the traveling of the field management robot 10 floating on the water surface.

[0047] When the field management robot 10 gets on a reef, by discharging pressurized air from the assist pipe on the side of the boarding direction, it can be turned to deal with the grounding.

[0048] Also, this air tank 140 discharges pressurized air to the front left side with the left front pipe 143 and the left direction switching device 144, changing the discharge direction and the amount. Similarly, the right front pipe 145 and the right direction switching device 146 discharge pressurized air to the front right side, changing the discharge direction and the amount.

[0049] With this mechanism, when getting on a reef in the front and it is impossible to escape by turning, by discharging pressurized air from the front, it can move backward and escape.

[0050] Furthermore, as shown in Figure 6, when pests or pest eggs are attached to the front crops 121A and 124A, using the imaging device 52 to confirm the positional relationship and changing the directions of the left direction switching device 144 and the right direction switching device 146, pressurized air can be discharged toward the corresponding position to blow away the pests and pest eggs. After they fall into the water, they can be stirred with the screw to kill them.

[0051] The left and right direction switching valves have a universal joint structure, can freely change directions left, right, up, and down, and also have valves to control the intake and exhaust of pressurized air. By utilizing the degree of opening and closing of these valves, it is also possible to change the air discharge amounts of the left driving assist pipe 141 and the right driving assist pipe 142 to change the driving direction and driving speed.

[0052] Also, although the forward direction has been described using the left front pipe 143 and the right front pipe 145, it may be provided at the rear. Since the imaging device 52 is also arranged at the rear, this imaging device can be used to detect pests, pest eggs, etc. in the same way as in the front, perform pressurized air discharge towards the corresponding position, blow away the pests and pest eggs, and after they fall into the water, stir them with a screw to kill them. In particular, since the back side of the crop, which is different from the front, can be confirmed, it can be dealt with only by traveling in one direction.

[0053] The power used for the traveling of the field management robot 10 to perform the weeding operation is provided by the power source using the solar panel 21, so it is a daytime operation. Also, since this pest control operation is also detected by the imaging device, it is a daytime operation. However, since the power used for filling the air into the air tank is large, it cannot be covered by the solar panel 21, so a household power source is used as an alternative power source to deal with it.

[0054] However, a corresponding amount of time is required to fill the air tank with air, and if it is not used for a long time after filling, the air will naturally leak out. Therefore, it is better to set a daily time chart to deal with this. The third invention is an invention that defines a time chart so as to manage the time for storing the air filled in the air tank during the time zones other than the working hours using the solar panel.

[0055] At night, the field management robot 10 that runs on the power of the solar panel 21 is stopped. Therefore, it uses the time period when it cannot be charged or work with sunlight to store the air for filling the air tank. In an example of automation, around 18:00, it finishes the work of the day and moves to a specific working position. The working position takes up space in a corner within the field. When the field management robot 10 is stored in the predetermined position, it supplies power to the air tank, the compressor attached to the air tank operates, and the air tank is filled with air.

[0056] Since the filling time varies, a time chart is determined to ensure full filling aiming at the operating time of the next day. If it takes 3 hours for filling and it is to operate from 9:00 in the morning, the air filling work is carried out from before 6:00 in the morning. After the filling is completed, it immediately starts working, which is the operation method determined by the time chart.

[0057] Another embodiment of the present invention will be described.

[0058] It is a collaborative work with a drone. If it is a drone equipped with a green scanner, it can calculate the water depth from the difference between the round-trip time of the pulse reflected by the water surface and the round-trip time of the pulse transmitted through the water and reflected by the bottom of the water, and simultaneously perform three-dimensional measurement of the terrain on land and at the bottom of the water.

[0059] Thus, the field management robot 10 can confirm in advance the positions where it is likely to run onto the reef. Therefore, when determining the operation route by excluding the positions where it is likely to run onto the reef or when running at that position, the sensitivity of the sonar of the field management robot 10 is improved, the running speed is reduced, and when the detection value of the sonar is dangerous, emergency stop or the auxiliary running with air as described above is performed as a countermeasure.

Explanation of Reference Numerals

[0060] 10 Field management robot 21 Solar panel 22 Float 23 Main body case 33 Case 140 Air tank 141 Left traveling auxiliary pipe 142 Right traveling auxiliary pipe 143 Left front pipe 145 Right front pipe

Claims

1. A screw device is arranged on a float that floats on water, and it has a function of traveling on water while stirring the mud in paddy fields. An air tank is installed on the float, and a pipe is installed that can discharge the air discharged from the air tank in the forward and backward directions of the traveling direction. A field management robot that travels by the pressure air discharged from this pipe.

2. The field management robot according to Claim 1, which has a pest control function by blowing the pressure air discharged from a pipe that can discharge the air discharged from the air tank onto pests and pest eggs attached to crops.

3. The field management robot according to Claim 1 or Claim 2, wherein a time chart is determined so as to manage the time for storing the air filled in the air tank during a time zone other than the working time using a solar panel.

Images