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 such a device can be used only in a rice paddy filled with water.SOLUTION: A mechanism to take out power from a screw is added, and the power is transmitted to a wheel device so that a farm field management device can be used in a farm field other than a rice paddy.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 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 living 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, and thereby inhibits the photosynthesis of weeds under the water surface and suppresses 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 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 cope not only with weed suppression but also with general work.

Means for Solving the Problems

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

[0007] A screw device is arranged inside the float 22 floating on water such that the screw rotation axis direction is parallel to the direction of plane A(11) with the front-rear direction as the plane, having the function of traveling on water while stirring the mud in paddy fields. The screw device is provided with a transmission case between the screws and is equipped with a power shaft that rotates in a direction perpendicular to the direction of plane A(11), which is different from the screw rotation axis direction. By attaching a traveling device that changes the rotation of the power shaft into the rotation power in the front-rear direction of the field management robot, it becomes possible to travel on the ground.

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

[0009] The traveling device is configured as wheels, and is arranged such that the lower ends of the wheels of the traveling device are lower than the lower end of the float 22.

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

[0011] A screw device is arranged inside the float 22 floating on water such that the screw rotation axis direction is parallel to the direction of plane A(11) with the front-rear direction as the plane, having the function of traveling on water while stirring the mud in paddy fields. However, the screw device is provided with wheels having a diameter larger than the outer shape of the screw at both ends, facing in the direction parallel to plane A(11). When the wheels contact the bottom of the paddy field at a position where the water depth of the paddy field decreases, it moves according to the rotation direction of the screw.

Effects of the Invention

[0012] From the first invention, it becomes possible to use it not only in paddy fields with standing water but also in fields such as dry fields.

[0013] From the second and third inventions, even when the water in the paddy field decreases and the vehicle runs aground, it is possible to travel by the wheels and escape from the grounding.

Brief Description of the Drawings

[0014]

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Mode for Carrying Out the Invention

[0015] Hereinafter, the present invention will be described based on the embodiments shown in the drawings.

[0016] The management device shown in FIGS. 1 to 14 shows an example of the present embodiment.

[0017] While referring to the drawings, embodiments of the present invention will be described in detail.

[0018] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0019] The management device of the present invention can be used for multiple purposes by equipping the devices 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, and conventionally, mallards have been released into paddy fields and weeds have been eaten to deal with it. There are also measures such as using herbicides, but it is a costly and laborious operation for dealing with weeds in the field.

[0020] In recent inventions, with the invention of the aforementioned mallard 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 mallard robot for weed control in general work, and is an invention as a small unmanned work machine equipped with functions as a paddy field management robot.

[0021] The configuration of the field management robot 10 of the present invention will be described with reference to FIGS. 1, 2, and 3.

[0022] The float 22 has the function of floating the field management robot 10 on the water surface of a paddy field. It may be formed of a resin material with an outer shape that traps air inside and has a structure that does not allow water to enter, or it may simply be formed of a material that is lighter than water.

[0023] The main body case 23 is connected to a portion where the center of the float 22 is cut out. The main body case 23 is waterproof and is a box that prevents water and dust from entering inside. There is a figure in FIG. 3 that shows the inside with the solar panel 21 at the top removed and the top cover of the case 23 removed.

[0024] A battery 37 charged by solar power generation using the solar panel 21 is arranged from the central part to the front of the aircraft body. Behind it are a motor 35 and a motor 36, which operate using the electric power stored in the battery 37.

[0025] 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.

[0026] The battery 37 is the power source of the field management robot 10 and must store enough power to operate during the day, so it needs to be sized to fit the size and workload of the field management robot 10. Therefore, since 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 motors 35 and 36, which are also heavy, at the central part of the aircraft body.

[0027] The motors 35 and 36 are controlled by a BMS (Battery Management System) inside the control box 38. Similarly, external charging of the battery 37 is also managed by the BMS inside the control box 38.

[0028] The BMS manages the inverter to perform voltage control or current value control, thereby individually controlling the rotational speeds of motor 35 and motor 36. By having different rotational speeds, it is possible to perform turning control or braking control by rapidly reversing the rotational speed. Additionally, acceleration and deceleration are also achieved by gradually changing the rotational speed.

[0029] Motors 35 and 36 are linked to the screw rotation of the screw device of screw 31 and screw 32 through a transmission structure such as an electric shaft, chain, or belt and bearings, and are interlocked with the motor power in cases 33 and 34. This connection part is protected by a waterproof seal, preventing water from entering cases 33 and 34. Case 23, which serves as the main case of cases 33 and 34, is completely waterproof, ensuring that no water or dust enters the electrical equipment.

[0030] The screw device of screw 31 and screw 32 is a device 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 generated by the rotation of the screws. In a clear paddy field, sunlight reaches the mud, which becomes a factor for the germination of weed seeds in the mud. Therefore, this mechanism blocks sunlight by making the water muddy to prevent germination. Thus, the screws have a short pitch and a slow forward movement relative to traveling.

[0031] The solar panel 21 is located on the upper surface of the central part of the field management robot 10, inside the outer periphery of the float 22. When it comes into contact with external obstacles, the float 22 contacts first to protect the solar panel 21.

[0032] Since the field management robot 10 is configured like a boat that floats on the water surface of the paddy field, handles are required when pulling it out of the field, and handles 24 and 25 are provided.

[0033] 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 a configuration that satisfies such functions will be described.

[0034] 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 by an operation unit at a remote location. The inertial positioning device 42 measures inclination. When traveling on the water surface after rice transplanting in a paddy field, there may be areas where the water surface and the muddy surface of the field are close or at the edge of the ridge where there are reef-like parts. If the field management robot 10 rides onto a reef-like part, the body may tilt, and the inertial positioning device 42 can detect the tilted state.

[0035] The field management robot 10 is equipped with an imaging device 51 in the front and an imaging device 52 in 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 tone. 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 traveling operations and work operations while viewing moving image at a remote location.

[0036] 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 and avoids contact with the edge of the ridge or when there is a large stone in the field, and at the same time, by comparing the obstacle detection data with the field map, it can also send information about the detection of dangerous objects in the field to a user at a remote location. However, the judgment criterion is that it does not detect objects smaller than the size of the crop. Note that ultrasonic waves or millimeter-wave radars can also be used as the obstacle sensor.

[0037] 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.

[0038] Below the float 22 of the field management robot 10, there is a sonar sensor.

[0039] 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.

[0040] By deploying the systems necessary for automatic driving as described above, it is possible to operate based on a pre-set 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 rotational difference required for turning.

[0041] The start and end positions of the operation are set. When it moves to those positions, it enters a predetermined work program, and as long as there is no abnormality detected, 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 paddy field after rice transplanting.

[0042] In addition, the data of each detection device such as BMS inside the control box 38 that manages the power status by the satellite positioning device, imaging device, fertility sensor, obstacle sensor, sonar device, and solar panel is equipped with a transmission and reception device 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.

[0043] The first invention will be described with reference to FIGS. 4, 5, 6, 7, and 8.

[0044] In the screw configuration shown in Fig. 4, it is different from the conventional type in that power can be taken out from the central part of the screw to the outside. A left transmission case 71 is provided between the left front screw 73 and the left rear screw 74, and a left screw device is provided that outputs power from the left output shaft 77 in a direction different from the screw rotation axis direction 79. This rotation direction is toward the direction of plane A with the front-rear direction of the field management robot 10 as the plane, and performs forward rotation and reverse rotation. On the opposite side, a right transmission case 72 is provided between the right front screw 75 and the right rear screw 76, and a right screw device is provided that outputs power from the right output shaft 78 in a direction different from the screw rotation axis direction 79A. This rotation direction is toward the direction of plane A with the front-rear direction of the field management robot 10 as the plane, and performs forward rotation and reverse rotation. The left and right transmission cases are connected to the main body case 23, and the cases 33 and 34 are configured as bearings to rotate each screw. Inside, bevel gears and the like are used to change the power direction and the rotation speed while providing waterproof and dustproof protection. Therefore, the left output shaft 77 and the right output shaft 78 can enter the water in an exposed state and rotate.

[0045] The configuration of Fig. 4 satisfies the functions of the configuration of Fig. 2 and at the same time has the function of taking out power from the left output shaft 77 and the right output shaft 78. That is, in the configuration of Fig. 4, when stirring mud in paddy fields, the left output shaft 77 and the right output shaft 78 are idling in the water.

[0046] By taking out power from the screw in Fig. 4, it is possible to change to a field management robot 100 that can be used in dry fields, wet fields, fields, farm roads, warehouses, etc., other than paddy fields with standing water, by installing the equipment shown in Fig. 5.

[0047] As a configuration for mounting as an option device, the left crawler device 80 has a pulley 83 connected to the left output shaft 77 which is the power output shaft of the aforementioned left mission case 71. It is transmitted by the left crawler 84 and supports the wheels 81 and 82 with the frame 85 to constitute a traveling device. Also, the right crawler device 90 has a pulley 93 connected to the left output shaft 78 which is the power output shaft of the aforementioned right mission case 72. It is transmitted by the right crawler 94 and supports the wheels 91 and 92 with the frame 95 to constitute a traveling device.

[0048] Figure 6 is a view with plane A as the front. By switching the rotation directions of the left front screw 73 and the left rear screw 74, and the rotation directions of the pulley 83, the wheel 81, and the wheel 82 to different directions, it can be seen that it is configured to be able to travel in the front-rear direction either by the screw on water or by the crawler on the ground.

[0049] Figure 4 shows the state of traveling on the water in a paddy field, and Figures 5, 6, 7, and 8 show the state of traveling on the ground in a state without water such as in a field. Although the functional equipment is the same, it is a mechanism that enables the same robot to travel on water and on the ground by changing the traveling means.

[0050] Regarding the running resistance, in water travel, the left output shaft 77 and the right output shaft 78 will rotate idly, and in ground travel, there is no resistance to the screw and it is in an idling state.

[0051] Figure 8 shows the state of traveling straddling between the left crawler device 80 and the right crawler device 90 when the crops grow and become the crops 127 and 128. By making the left crawler device 80 and the right crawler device 90 crawlers with different heights, it is possible to respond according to the growth of the crops.

[0052] In the first invention, a screw device is arranged inside a float 22 that floats on water such that the screw rotation axis direction is parallel to the direction of plane A(11) with the front-rear direction as the plane, having the function of traveling on water while stirring the mud in a paddy field. The screw device is provided with a mission case between the screws and has a power shaft that rotates in a direction perpendicular to the direction of plane A(11), different from the screw rotation axis direction. By attaching a traveling device that changes the rotation of the power shaft into the rotation power in the front-rear direction of the field management robot, it becomes possible to travel on the ground.

[0053] Figure 12 shows that power is taken out from the screw device in two places for each screw device. While traveling on the water surface with the screw device, at the same time, the four wheels also rotate. When contacting the bottom surface of the field, it travels with the wheels.

[0054] In front of the left screw 195, there is a left front mission case 181 that transmits power to the axle 186 and rotates the left front wheel 191. Behind the left screw 195, there is a left rear mission case 182 that transmits power to the axle 187 and rotates the left rear wheel 192.

[0055] Similarly, on the right side, in front of the right screw 196, there is a right front mission case 183 that transmits power to the axle 188 and rotates the right front wheel 193. Behind the right screw 196, there is a right rear mission case 184 that transmits power to the axle 189 and rotates the right rear wheel 194.

[0056] The power sources are the motors 35 and 36 shown in Figure 3, and through a transmission configuration such as an electric shaft, chain, belt, etc. and bearings, it is configured to transmit to the left screw 195 and the right screw 196 through the cases 33 and 34 shown in Figure 12.

[0057] For the wheels 191, 192, 193, 194, the surface of the wheel 191 has protrusions 191A. This part serves as a water scooping function in water, and when contacting the bottom surface of the field, it catches on the soil of the bottom surface, increasing the grip force.

[0058] By adopting this configuration, as shown in Fig. 13, the four wheels always rotate in a lifted state even when traveling on water, serving as a water scooping function and assisting the screw. In this figure, the water surface 195 and the bottom surface 201 of the field are demarcated. The bottom surface of the field starts to rise from point 203, and point 202 is the highest.

[0059] Here, the problems of the conventional type are shown. When entering this point, the outer periphery of the left screw 195 contacts and runs aground at point 202.

[0060] As a countermeasure, by providing the wheels 191, 192, 193, and 194 of each wheel as described above, each wheel contacts the bottom surface of the field and travels by the wheels, thus overcoming point 202 and traveling by wheels up to point 204. After that, the wheels disengage from the contact with the bottom surface of the field and travel by the screw.

[0061] Fig. 14 shows a case where only the left front wheel 191 and the left rear wheel 192 contact the bottom surface of the field. When the left front wheel 191 enters the travel at point 202A, the right wheels do not contact the bottom surface of the field. Therefore, during this period, it travels without running aground but travels in a serpentine manner to the right.

[0062] In this way, when there are irregularities on the bottom surface of the field, in the prior art, it runs aground and cannot move, resulting in a state where a person enters the field to rescue it. However, according to the present invention, the problem of not being able to move is eliminated. However, there is serpentine movement when escaping from running aground, and it travels while returning the route while detecting the position with a satellite positioning device.

[0063] In the second invention, the traveling device is configured as a wheel structure, and by arranging the lower end of the wheel of the traveling device to be lower than the lower end of the float 22, it is possible to cope with running aground.

[0064] Fig. 9 is an embodiment in which the screw device is changed to another form. The left screw 103 is provided with wheels having a diameter larger than the outer shape of the screw at both ends. In the front-rear direction of the field management robot 100A, a wheel 101 is provided at the front and a wheel 102 is provided at the rear.

[0065] The right screw 106 also has wheels with a diameter larger than the outer shape of the screw at both ends. In the front-rear direction of the field management robot 100A, it has a wheel 104 at the front and a wheel 105 at the rear.

[0066] FIG. 10 is a view of the field management robot 100A seen from the front. The position of the bottom that is under the mud of the paddy field and does not sink even when stepped on by a human is indicated by line 131. At this line position, the left screw 103 and the right screw 106 travel while agitating water. However, when the position of the bottom that does not sink even when stepped on by a human rises to the position of line 132, it comes into contact with the wheels 101 and 104. This is the case where there are irregularities in the paddy field and even though there is water, the bottom of the field is partially raised and there is a waterless area. A conventional weeding device using a screw shows a state of running aground when it enters this reef area.

[0067] In the present invention, as a countermeasure against running aground in such a case, wheels 101, 102, 104, and 105 are provided. As described above, when the position of the bottom that does not sink even when stepped on by a human rises to the position of line 132, it comes into contact with the wheels 101 and 104, and the field management robot 100A moves laterally to either the left or the right according to the rotation direction of the screw. The screw is above the water surface and has no propulsive force even when rotating, and moves in the traveling direction of the wheels. By this countermeasure, the field management robot 100A can move by the rotation of the wheels until the contact of the wheels stops, and then can travel by the screw. With such a configuration, a configuration for dealing with running aground becomes possible.

[0068] In the third invention, a screw device is arranged inside the float 22 that floats on water such that the screw rotation axis direction is parallel to the direction of plane A(11) with the front-rear direction as the plane, and it has the function of traveling on water while stirring the mud in paddy fields. The screw device faces in the direction parallel to plane A(11) and is equipped with wheels at both ends having a diameter larger than the outer shape of the screw. When the wheels contact the bottom of the paddy field at a position where the water depth in the paddy field decreases, it moves according to the rotation direction of the screw.

[0069] Figure 11 is a side view of the field management robot 100A. It is shown that the wheels 101 and 102 are below the screw 103, the fertility measurement sensor 61, and the case 33 and can move laterally.

Explanation of Reference Numerals

[0070] 10, 100, 100A, 100B Field management robots 11 Plane A 21 Solar panel 22 Float 23 Main body case 33 Case 71 Left mission case 73 Left front screw 74 Left rear screw 77 Left output shaft 80 Left crawler device 101 Wheel 102 Wheel 191 Wheel 191A Protrusion

Claims

1. A screw device is arranged inside a float (22) floating on water such that the screw rotation axis direction is parallel to the direction of plane A (11) with the front-rear direction as the plane, and it has the function of traveling on water while stirring the mud in paddy fields. The screw device is provided with a transmission case between the screws and is equipped with a power shaft that rotates in a direction perpendicular to the direction of plane A (11), which is different from the screw rotation axis direction. A field management device that enables traveling on the ground by attaching a traveling device that changes the rotation power of the power shaft into the rotation power of the field management robot in the front-rear direction.

2. The field management device according to Claim 1, wherein the traveling device is configured as wheels, and the wheels of the traveling device are arranged so that the lower ends of the wheels are lower than the lower end of the float (22).

3. A screw device is arranged inside a float (22) floating on water such that the screw rotation axis direction is parallel to the direction of plane A (11) with the front-rear direction as the plane, and it has the function of traveling on water while stirring the mud in paddy fields. The screw device has wheels with a diameter larger than the outer shape of the screw at both ends, facing in the direction parallel to plane A (11). A field management device that moves according to the rotation direction of the screw when the wheels contact the bottom of the paddy field at a position where the water depth of the paddy field decreases.

Images