Field management device

Abstract

To solve a problem of a conventional weeding-dedicated device for weeding by stirring mud in a paddy field as a muddy water, in which pest insects attached to the crop cannot be removed and which cannot be sufficiently salvaged at the time of grounding.SOLUTION: A roller device is provided on a front side of a management robot which removes pest insects attached to the crop by using a friction with the roller. Also, a rotation of the roller is leveraged to allow the device to salvage at the time of grounding.SELECTED DRAWING: Figure 1

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 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, thereby inhibiting the photosynthesis of weeds underwater 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, rescue work and the like associated with the grounding of the working machine 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 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, which has the function of traveling on water while stirring the mud in a paddy field. The imaging device detects pests and pest eggs attached to crops, and uses the frictional force in contact with a roller device arranged in front of the float to remove pests and pest eggs from the crops.

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

[0009] When the float interferes with the bottom of the field and runs aground, the rotary roller device arranged in front of the float is rotated, and it travels using the frictional force in contact.

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

[0011] Below the float, there is a net-like case for capturing pests and a heater. By passing an electric current through the heater to heat it, it has the function of raising the surrounding water temperature. It has the function of pulling up the net-like case at regular intervals and has the function of capturing pests in the net-like case.

Advantages of the Invention

[0012] From the first invention, pests such as slugs attached to the roots of crops can be removed.

[0013] From the second invention, it is possible to handle the situation when running aground by utilizing the configuration of the first invention.

[0014] From the third invention, it can be equipped with the function of eradicating pests by attracting them.

Brief Description of the Drawings

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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 device shown in FIGS. 1 to 11 shows an example of this embodiment.

[0018] Embodiments of the present invention will be described in detail with reference to the drawings.

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

[0020] 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 transplanting. It is a weeding operation. Conventionally, wild ducks have been released into paddy fields to eat weeds. There are also measures such as using herbicides, but it has been a costly and laborious operation for weed control in the fields.

[0021] In recent inventions, with the invention of the above-mentioned wild duck robot, a measure of preventing weeds by muddying the water in paddy fields after 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 work 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 a 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 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.

[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 showing the inside of this case 23 with the solar panel 21 at the top in FIG. 3 and the top cover of the case 23 removed.

[0025] 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.

[0026] 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.

[0027] The battery 37 is the power source of the field management robot 10, and 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 the arrangement of the aircraft body, it is placed symmetrically with the motors 35 and 36, which are also heavy, at the central part of the aircraft body to balance.

[0028] The motors 35 and 36 are controlled by a BMS (Battery Management System) inside a 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 an inverter to perform voltage control or current value control, and thereby individually controls the rotational speeds of the motors 35 and 36. By having different rotational speeds, turning control can be achieved, or braking control can be achieved by rapidly reversing the rotational speed. Also, acceleration and deceleration are performed by gradually changing the rotational speed.

[0030] 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, and the motor power is linked to the screw rotation in the cases 33 and 34. This connection part is protected by a waterproof seal, and 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 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 generated by the rotation of the screws. 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 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.

[0032] 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 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 a boat structure that floats 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 purpose is to achieve 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 robot can determine its own position in the field. Additionally, by utilizing the Internet environment through data transmission, the position can also be confirmed by an operation unit at a remote location. The inertial positioning device 42 measures inclination. When the robot is traveling on the water surface after rice transplanting in a paddy field, there may be reef areas near the water surface and the mud surface of the field 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 tilted state.

[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 not only captures images of subjects like a CCD camera but also has a stereo function, enabling measurement of the distance to the subject, the size of the subject, and its movement, and can also distinguish colors. Images are taken 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 images at a remote location.

[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, 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 certain size or larger enters within a predetermined range. It can detect situations such as avoiding the edge of the ridge or the presence of large stones in the field, prevent contact, and at the same time, by comparing the obstacle detection data with the field map, information about dangerous objects in the field can be sent to a user at a remote location. 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 obstacle sensors.

[0038] A fertility measuring sensor 61 is located below the float 22 of the farm field management robot 10 in front of it. The sensor is configured to extend downward and contact the soil of the paddy field when fully extended. 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 (including, for example, information on the measured SFV value) is transmitted to the cloud by the fertility measuring sensor 61 at a predetermined time interval. This data is collated with a farm field map, and the fertility distribution of each part of the farm field is displayed.

[0039] Below the float 22 of the farm land management robot 10 is a sonar sensor.

[0040] The sonar sensor can measure the distance from the bottom of the drone to the muddy part of the paddy field. In other words, it detects the height of the water surface, and if it is installed at each corner of the drone, it can detect the condition of the field with unevenness. In Figure 2, sonar 65 is placed at the front left, sonar 66 at the front right, sonar 68 at the rear left, and sonar 67 at the rear right.

[0041] A rotating roller device 170 is also installed at the front of the machine. This rotating roller device uses a rotating roller to crush eggs laid by pests near the parts of the rice plants that are above water, as well as pests that are attached to the rice plants.

[0042] The crushing rollers 171 and 172 have rough surfaces with protrusions, and although they come into contact with each other as they rotate, they can pick up and remove the attached matter. The rubber protrusions are made of a cylindrical structure that is resistant and waterproof, making it an effective material.

[0043] In this mechanism configuration, during driving, as described above, the systems necessary for autonomous driving are deployed, and 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 motor 35 and motor 36 can be changed, or they can be rotated in reverse rotation so as to have the rotational difference required for turning.

[0044] The start and end positions of the work 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 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] 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, while viewing the images of the imaging devices 51 and 52, it is possible to change the rotational speeds of motor 35 and motor 36, or while viewing the position information with the satellite positioning device 41, change the rotational speeds of motor 35 and motor 36. It is a field management robot that enables remote operation in such an environment.

[0046] Figures 4 and 5 show drawings of removing pests and pest eggs attached to rice plants in the front using the roller device 170 described above.

[0047] The rotation of the roller device 170 is performed by the motor unit 173. The motor unit 173 is fixed to the float 22 with a connecting rod, and the roller can be rotated while rotating as shown in Figures 6 to 7. In this figure, the notation of the rotation mechanism is omitted.

[0048] The rotation direction of the roller device 170 rotates in accordance with the traveling direction, rotates in the direction of the illustrated arrow in Fig. 4, and is the direction in which pests and pest eggs are dropped into the water. Also, it is the direction in which the field management robot 10 rides on and easily passes over the crops. The pests and pest eggs that have fallen into the water are stirred by the screw, crushed, and killed.

[0049] Although the crops 121 and 124 are assumed to be rice, other similar crops can also be used. Fig. 5 shows the pest removal operation from the side. In the crop 121, pests and pest eggs often adhere near the point 121Z at the position corresponding to the water surface part. Therefore, the obstacle sensor 43 is used to detect the position of the crop 121, and the imaging device 151 is used to detect an object of a size corresponding to that of pests or pest eggs, such as a blackish object or a white object, against the green color of the crop. In particular, the eggs of the pest Scymnus sauteri (Jumbo ladybug) may change from pink to black just before hatching, so various basic data correspondences are carried out. Also, in some cases, it may rise from the water to the water surface, and corresponding measures are taken for the wide range of living conditions to perform accurate position detection.

[0050] In the detection, if the imaging device 151 has an AI camera function, it can communicate with the cloud data, compare it with the images registered in advance as pests, and make a judgment from the similar ones. Although the shape and color tone are basic, even when the color changes as described above, it can be accurately discriminated, and it can also cope with the difference in the range of living conditions.

[0051] The crushing roller 171 and the crushing roller 172 are rotated by the motor unit 173, and the motor unit 173 also has a braking function. Although pests can be forcibly removed by rotating the motor, by applying a brake to the motor unit 173, the crushing roller 171 and the crushing roller 172 can be fixed, or by applying a weak brake, the pests and pest eggs can be removed by the frictional force generated naturally by using the traveling of the field management robot. In this case, the crops are not damaged, and the pests and pest eggs can be removed.

[0052] However, for pests inside the tillers of crops, it is necessary to completely remove them. In this case, by rotating the motor unit 173 and rotating the crushing rollers 171 and 172, it is possible to increase the removal effect by disposing of the area near the roots of the crops while vibrating them.

[0053] Furthermore, when pests are attached to the point 121Y on the back side of the crop 121, they may not be completely removed even when the crushing rollers are rotated. The confirmation of removal can be determined by analyzing the image data of the imaging device 52 that images the rear after the removal operation. Therefore, if it is determined that the removal has not been successful, at that time, the screw devices of the screws 31 and 32 are rotated in the reverse direction, the traveling direction is changed, and the robot moves backward to handle the corresponding area on the 121Y side of the crop 121. Alternatively, since the field management robot 10 travels in the field many times, the traveling direction can be naturally changed by shifting the traveling lanes after the first time. Therefore, even with only forward traveling, it is possible to handle the corresponding area on the 121Y side.

[0054] This is the first invention. A field management robot can be configured to detect pests and pest eggs attached to crops with an imaging device and remove the pests and pest eggs from the crops using the frictional force in contact with a roller device arranged in front of the float.

[0055] Regarding pests, the slug (Limax maximus) often adheres to the edges of the ridges. The float 22 may collide with the ridge and get stuck near the ridge edge. Therefore, the work is carried out by bringing the float 22 close to the ridge while checking the limit position using the obstacle sensors in four directions. In addition to the obstacle sensors, millimeter-wave sensors and imaging devices are also used. Although the satellite positioning device 41 can confirm the ridges on the map, it cannot detect ridge displacement, etc. Therefore, the use of obstacle sensors is effective.

[0056] FIG. 6 shows a case where there are large unevenness in the field, the bottom 160 of the field rises above the water surface 161, and it bulges completely above the water surface 161 like the point 211. Naturally, at the point 211, the field management robot 10 will run aground. As a countermeasure for this, as shown in FIGS. 7 and 8, the roller device 170 is moved to a position where it contacts the bottom 160 of the field, installed on the roller device 170A, and the crushing roller 171A and the crushing roller 172A are rotated in the reverse direction (in the illustrated direction) compared to the normal pest control operation.

[0057] Due to this, the field management robot 10 will move backward due to the resistance generated between the crushing roller 171, the crushing roller 172, and the bottom of the field, and can escape from running aground.

[0058] In this countermeasure for running aground, similar to the detection of pests, it is necessary to constantly detect the point 211 which is the raised position of the bottom 160 of the field. Therefore, the obstacle sensor 43 is used to detect the position of the part corresponding to the point 211, and the imaging device 151 is used to detect the raised part of the bottom of the field like the point 211.

[0059] In the detection, if the imaging device 151 has an AI camera function, it can communicate with the cloud data, compare with the image registered in advance as the raised position of the bottom of the field, and make a judgment from the similar ones. Although the shape and color tone are basic, it can be accurately discriminated.

[0060] The second invention is that when the float interferes with the bottom of the field and runs aground, it is possible to rotate the rotary roller device arranged in front of the float and travel using the frictional force generated by the contact.

[0061] Figure 9 shows a method of using the roller device 172B in the position where it travels while pressing down small bumps and unevenness on the bottom 160 of the field. The direction of rotation of the roller device 170B at this time is the direction of the arrow in the figure, which is the forward direction of travel. This rotation can also stir up mud from the bottom 160 of the field, so the roller device 172B and the left and right screws stir up the mud, resulting in highly effective weeding work.

[0062] FIG. 10 is a diagram showing another embodiment, in which a cage 221 for catching pests is provided in the center of the farm management device 10C, and is raised and lowered by cylinders 222 and 223. The cage 221 has holes on the surface so that surrounding water can enter. Small pests can also enter through the holes. Inside the cage 221, as shown in FIG. 11, there are heaters 224 and 225, which can raise the water temperature inside the cage 221. The heaters 224 and 225 can also discharge a weak current. The inside of the cage 221, where the water temperature is high and there is a weak current discharge, is an environment that easily attracts pests, and if left for a predetermined time, the pests will enter the cage 221. By moving appropriately, raising and lowering the cage 221 by the cylinders 222 and 223, and leaving the cage 221 in the farm field for a predetermined time, pests can be collected in the cage.

[0063] The third invention is configured so that a mesh case for capturing pests and a heater are installed below the float, and the heater is heated by passing an electric current through it, thereby raising the surrounding water temperature.It also has a function of raising the mesh case at specified time intervals, and a function of capturing pests inside the mesh case.

[0064] Another method of dealing with pests is to use insecticide, which detects their position using an imaging device 51 and sprays insecticide at that position.

[0065] In another embodiment, a water temperature detector is installed to detect the water temperature while weeding. By mapping this data, water temperature management becomes possible. Since the field management robot operates continuously during the day, it can detect a lot of data and achieve high accuracy.

[0066] If the imaging device 151 has an AI camera function, it can communicate with cloud data and detect crop diseases and pest damage. The machine of the present invention is a field management robot, and such data acquisition is also possible.

Explanation of Signs

[0067] 10 Field management robot 11 Plane A 21 Solar panel 22 Float 23 Main body case 33 Case 41 Satellite positioning device 51, 52 Imaging device 71 Left mission case 73 Left front screw 74 Left rear screw 77 Left output shaft 80 Left crawler device 101 Wheel 102 Wheel 170 Roller device 172 Crushing roller 174 Crushing roller 211 Point 221 Basket 224 225 Heater (with electric current discharging function)

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. A pest imaging device detects pests and pest eggs attached to crops. Using the frictional force in contact with a roller device arranged in front of the float. A field management robot that removes pests and pest eggs from crops.

2. The field management robot according to Claim 1, wherein when the float interferes with the bottom of the field and runs aground, a rotary roller device arranged in front of the float is rotated, and it travels using the frictional force in contact.

3. A net-like case for capturing pests and a heater are equipped below the float. It has a function of heating by passing an electric current through the heater and raising the surrounding water temperature. It has a function of pulling up the net-like case at regular intervals. The field management robot according to Claim 1, which has a function of capturing pests in the net-like case.

Images