Farm field management device

Abstract

To provide a farm field management device capable of solving problems for example, in a device performing weeding work by agitating mud in water in a paddy field to make the mud and the water into muddy water, measurement of turbidity is not performed, therefore, uniform turbidity cannot be maintained in the farm field, and in weeding effect, a sufficient effect cannot be achieved in some regions.SOLUTION: A farm field management device has a turbidity detection unit, And, while managing a turbidity state, determines a travel route of a management robot so that a state in a whole farm field is a uniform state.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a small robot capable of remote operation that performs field management work mainly including 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 arranged 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 aims to provide a weed generation suppression mechanism that can improve usability, and also aims to be a field management device that can handle general work by performing field area analysis in addition to weed suppression.

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 a function of traveling on water while stirring the mud in a paddy field, and is equipped with a device for detecting the degree of turbidity of the paddy field generated by the stirring. The degree of turbidity is registered as data for each predetermined area in a field map, which is a map for a paddy field, and a traveling route is set based on the data registered in the field map.

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

[0009] It has a function of changing the traveling route so as to increase the number of traveling times in the area where the degree of turbidity is determined to be low.

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

[0011] When plowing the soil with a tillage machine using the turbidity data registered in the field map, the tillage depth in the area where the degree of turbidity is low is set deeper.

Advantages of the Invention

[0012] According to the first and second inventions, it becomes possible to set a traveling route according to the degree of turbidity, and the weeding operation can be performed uniformly.

[0013] According to the third invention, it can be used for controlling the tillage operation.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

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 12 shows an example of this embodiment.

[0017] While referring to the drawings, the 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] 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. It is a weeding operation. Conventionally, mallards have been released into paddy fields and the weeds have been eaten to deal with this. There are also measures such as using herbicides, but it has been 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 utilized. 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 working 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 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.

[0023] 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 body 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.

[0024] A battery 37 that is charged by solar power generation using the solar panel 21 is arranged 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.

[0025] The battery 37 is mainly charged by the electric power generated by 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 terms of the arrangement of the machine body, it is balanced by placing it at a position symmetric to the motors 35 and 36, which are also heavy, at the center of the machine body.

[0027] The motors 35 and 36 are inside the control box 38 and are controlled by a BMS (Battery Management System). Similarly, the 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 the motors 35 and 36. By having different rotational speeds, it is possible to perform turning control or braking control by suddenly reversing the rotational speed. Also, acceleration and deceleration are performed by gradually changing the rotational speed.

[0029] 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, and belts, and bearings, so that 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.

[0030] 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 caused by the rotation of the screw. In a clear paddy field, 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 traveling.

[0031] 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.

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

[0033] Although this configuration enables the function as a weeding device for paddy fields, in the present invention, the aim is for unmanned, automated, and remote operation, and a configuration that satisfies this function 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, and by using the Internet environment through data transmission, the position can also be confirmed by an operation unit in a remote location. The inertial positioning device 42 measures the inclination. When traveling on the water surface after 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. When the field management robot 10 rides on a reef area, the body may tilt, and the inclination state can be detected by the inertial positioning device 42.

[0035] 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 images of subjects 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 users 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 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 when avoiding the edge of a ridge or when there are large stones in the field, etc., prevents contact, and at the same time collates the obstacle detection data with the field map to send information about dangerous objects in the field to users located remotely. However, the judgment criterion is that it does not detect objects smaller than the size of the crop. Note that ultrasonic waves and millimeter-wave radars can also be used as the obstacle sensor.

[0037] 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 soil of the paddy field 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 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.

[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 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.

[0040] By deploying the systems necessary for automatic driving as described above, it is possible to operate based on a preset driving route. Determine the outer peripheral points of the field map and set it to turn at that position. Then, before driving to that point, activate the driving operation program required for turning. The rotation speeds of the motor 35 and the motor 36 can be changed, or it can be rotated in reverse rotation to have the required rotation difference for turning.

[0041] The start position and end 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 the inside of a paddy field after transplanting.

[0042] 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.

[0043] Figure 4 is a side view showing how muddy water is generated in the present invention. The imaging devices 51 and 52 detect the turbidity of water in the front and rear fields. When the imaging device is a stereo camera, by imaging the same area from different angles such as imaging 51A and imaging 51B, imaging 52A and imaging 52B, it is also possible to correct the color change due to the reflection condition of light on the water surface.

[0044] Also, the positional relationship from the imaging device can be clearly determined. In the image range 240, since the screw device 33 has not yet performed the mud mixing operation, the water is in a clear state. The image range 241 is a range where imaging cannot be performed directly under the field management machine 10. The image range 242 is directly below the rear of the screw device composed of the screws 31 and 32, but since the water surface 161 is rippling, color selection may not be possible in some cases. Therefore, evaluation is performed in the image ranges 243 and 244. If the difference between the state of the image 243 and the image range 244 is large, it is estimated that the diffusion of mud is fast and the time to maintain the muddy water state is short. Conversely, if the difference is small, it is estimated that there is a high possibility that the current state can be maintained for a long time because the diffusion of mud is slow. The image range 245 is a stable area and is used as an area for comparing the reference color.

[0045] Reference images of the degree of contamination of muddy water in the basic field are registered in the imaging devices 51 and 52. For example, in a light water color, it is a clear state 1. When the water color fades and a tea-colored part appears, it is a slightly clear state 2. When it is only tea-colored water and a muddy water state 3 where an effect can be expected. When it becomes dark tea-colored water, it is a muddy water state 4 with an effect. When the water also contains black, it is a sufficient muddy water state 5. Such evaluation is determined by the imaging device.

[0046] The imaging device can be an AI camera, which has artificial intelligence capabilities and can verify the degree of color in the projected image. The stages are divided into several levels, but broadly speaking, there are three levels: a state where it cannot be determined as muddy water, a state where mud is generated and a weeding effect is recognized, but the effect of muddy water does not persist and it is necessary to drive again, and a state where it is sufficiently muddy water and has an effect for some time, and there is a time margin for driving again. Since the AI camera is also sensitive to the degree of change and can also make estimations, it is possible to estimate the degree of diffusion and stabilization time of muddy water from the changes in images of the same area.

[0047] In this embodiment, the imaging device is used to calculate the turbidity state of the water in the field. As other turbidity detection devices, there is also a method of detecting the light transmittance. It determines what percentage of the received light amount reaches with respect to the reference light amount and detects the turbidity.

[0048] There is also a method of using a turbidity meter for sewage in the measuring instrument. In addition to light, there are also devices that use methods of determining the amount of electricity conduction or special chemicals, and it is also possible to use the data thereof.

[0049] Figure 5(A) shows the driving route of the field management device 10 registered on the field map.

[0050] Although the field management device 10 continuously acquires a lot of data, it divides the data for each predetermined area and registers it on the field map. Alternatively, for those that acquire data intermittently, the data may be acquired and registered for each predetermined area.

[0051] The area 250 shown in Figures 5(A), 5(B), and 5(C) represents this predetermined area. This area is in a plurality of grid shapes and covers the entire field map. Specifically, each area 250 is assigned an address, and the acquired data of the field management device 10 is registered for each grid number.

[0052] The data to be registered includes the degree of water turbidity, the degree of fertility (such as EC value), imaging images such as the state of tillage, analysis data from the imaging images, water temperature, air temperature, and position information. Among these, the imaging images are sent to the cloud for data transmission, and based on this, the growth degree of the crops, the determination of the attachment of pests and diseases, the determination of foreign objects, etc. are also carried out, and the determined data may be registered in each area 250.

[0053] Subsequently, regarding the travel route, a travel route is registered in the field map in advance. This travel route is detected by the satellite positioning device 41 of the field management device 10, and the travel is carried out by controlling the rotation of the left and right screws. In Fig. 5(A), it starts from point 251, passes through point 252 along the route of the one-turn chain line, and reaches point 253. Point 252 is making a sharp turn. In this case, the spin turn is performed by rotating the screws 31 and 32 in the reverse direction. However, when turning gently like the harvesting method of a combine harvester in a circumferential cutting manner, or when assuming that the field is circled several times, the travel route may be set with a widened travel interval during turning. By registering data in the area of the field map corresponding to the area passed through according to this travel route, a map showing the state of the field can be created.

[0054] Fig. 5(B) shows the registration of the muddy water state of the field in the field map based on the data of the imaging devices 51 and 52. The data registration in the field map is performed in area 250.

[0055] In the ranges of areas 255A, 255B, 255C, and 255D, from the data of the previous travel, a slightly clarified state 2 with a part having a faded water color and a tea-like color is registered. When such data is registered, similar area data in the surrounding areas is detected and represented by a smooth line 255 in the turbidity data notation diagram, and this unified area is represented as a slightly clarified state 2. This smooth line also represents the flow of mud to the outside and expands the area linearly assuming that it also affects the surrounding areas.

[0056] In the ranges of areas 254A, 254B, and 254C, a muddy water state 3 that can be expected to have an effect with only tea-based water is registered. From this, similar surrounding area data is detected and represented by a smooth line 254 in the turbidity data representation diagram, and this unified area is where the muddy water state 3 is represented.

[0057] In other areas, it is a muddy water state 4 with an effect using dark tea-based water. In this way, a field map of the degree of muddy water is completed. Then, the subsequent driving route is determined.

[0058] In this determination, areas 254 and 255 do not reach the evaluation of the muddy water state 4 and are judged to have a low degree of turbidity. Therefore, the subsequent driving route is changed to increase the number of driving times at this part for countermeasures.

[0059] Figure 5(C) is a field map of the muddy water degree just now, further combined with past field map data, analyzes the state of the field, and automatically sets the driving route. Since the driving route did not run aground, it is determined as the shortest route using point 251 which is the starting point. In this case, after passing point 253, it runs at point 256, forms a route to reach point 257, changes the driving route of areas 254 and 255 to a 90-degree driving route, and performs driving that also changes the generation of mud in the field and the relationship with the crops. The final point is set as 258, but it may also run to point 253 which is the conventional end point.

[0060] Thus, the first invention is a field management robot that has a screw device arranged on a float floating on water, has a function of traveling on water while stirring the mud in a paddy field, is equipped with a device for detecting the degree of turbidity of the paddy field generated by the stirring, registers data for each predetermined area in a field map which is a map for a paddy field, and sets a driving route based on the data registered in the field map.

[0061] Also, like the second invention, it has a function of changing the driving route so as to increase the number of driving times in an area judged to have a low degree of turbidity.

[0062] Figure 6(A) is a synthesis of the data in Figures 5(B) and 5(C). It is for analyzing the characteristics of the field from this field map. In this way, there are regions 255 and 254 with a low degree of turbidity. Operations were carried out on the additional driving route from point 256 to point 258. If such data continues several times, it is judged that this region may have a shallow tillage state. Alternatively, it is also estimated that the soil quality is different and is judged as a special region. That is, considering the state of mud generation, it is also possible to use it as data information indicating the region where the method of next tillage should be changed in the field map.

[0063] It is considered that the way of mud generation is also related to the tillage state. It is speculated that the regions where mud generation is difficult to occur have a shallow tillage state. Utilizing this, automatic control is performed such that region 259 in Figure 6(B) corresponding to regions 254 and 255 in Figure 6(A) has a tillage depth slightly deeper than the standard during tillage.

[0064] Thus, the third invention is such that when plowing the soil with a tillage machine using the turbidity data registered in the field map, the tillage depth of the region with a low degree of turbidity is set deeper.

[0065] Figure 7 shows that in order to enhance the mud generation ability of the field management device 10 in Figure 1, guides 260 and 261 are attached to the screw device. By attaching the guides, the force of each screw pushing water is strengthened in the downward direction. Thereby, a strong water flow can be generated up to the mud part at the bottom of the field, and it is possible to strongly generate mud.

[0066] The gap between each screw and the guide is important. If the gap is too tight, driving will become difficult. Therefore, measures such as partially removing the guide in the front - rear direction or widening the gap later are taken.

[0067] FIG. 8 shows a configuration for continuously measuring the fertility of a farm field. In the basic configuration diagrams of FIGS. 1 and 2, a fertility measurement sensor 61 is equipped. This sensor pierces the farm field with the fertility measurement sensor 61 at predetermined intervals and calculates the EC value using the current value between its electrodes. However, when piercing and pulling out of the farm field, there may be a slight impact with the farm field and the running may be disrupted. Here, the electrodes are changed to a rotary roller and are always installed on the bottom surface 162 of the farm field to continuously measure the EC value. The vertical directions of sensors 271 and 272 use a damper device to absorb even slight fluctuations, freely change the length, and have an extremely small resistance in contact with the bottom surface of the farm field.

[0068] The structure of the contact parts of sensors 271 and 272 with the bottom surface 162 of the farm field is of a rotating body structure. A microcurrent flowing through the bottom surface 162 of the farm field is continuously measured while running by inserting a part or the whole of this rotating body slightly into the bottom 162 of the farm field, or by running in a way that pulls a fixed curved rod-shaped object, or by running while contacting a large-diameter wheel.

[0069] FIGS. 9, 10, 11, and 12 show a configuration in which a drone is used to lift a farm field management device during the flight of the drone and move between farm fields. Bumper guards 311 and 321 are arranged in advance outside the float 22 on the farm field management device 10. This bumper guard is a guide for ensuring a distance to prevent the farm field management device 10 from getting too close to the ridge edge and running aground.

[0070] On the other hand, in order to lift this farm field management device 10 from the water surface of the farm field, surface tension acts between the water surface and the float 22. Therefore, to lift it with a drone, not only the lifting force to lift the weight of the vehicle itself and the farm field management device 10 but also the lifting force to separate the surface tension between the water surface and the float 22 is required. Since the float 22 has a large area, it is more difficult to lift than a ship bottom in the shape of a ship.

[0071] Taking these factors into account, devise a method for effectively using this guide. While the field management device 10 maintains a distance from the vicinity during travel, by lowering the bumper guards 311 and 321 downward as shown in Fig. 11, they are installed at the bottom of the field, serving as legs to overcome the surface tension acting between the water surface and the float 22 and pull the field management device 10 out of the water surface.

[0072] Utilize the landing load of the drone 300 for the operation of lowering the bumper guards 311 and 321 downward. Figs. 9 and 10 show the state of the drone descending. The legs 301 and 302 of the drone 300 enter between the guides 313 and 323 and gradually descend, widening the space between the guides 313 and 323. By widening this space between the guides, the bumper guards 311 and 321 will descend downward as shown in Figs. 11 and 12, and as shown in Fig. 12, the bumper guards 311 and 321 will contact the bottom surface 162 of the field, pulling the field management device 10 above the water surface 161.

[0073] When the drone 300 descends to the position of the drone 300A in Fig. 12 and enters the points 312A and 322A that hold the guide position, although the illustration is omitted, the holding guides are overlapped and completely aligned, and the drone and the field management device become integrated.

[0074] In this state, the field management device has risen above the water surface, and the drone has generated lift sufficient to pull up the weight of the field management device and itself, so it becomes possible to lift off and fly away from the field.

Explanation of Reference Numerals

[0075] 10 Field management robot 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 242 Image range 243 Image range 244 Image range 250 Region (reference) 254 Region 255 Region 259 Region

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 paddy fields, equipped with a device for detecting the degree of turbidity of the paddy field generated by stirring, registering the degree of turbidity data for each predetermined area in a field map, which is a map for paddy fields, a field management robot that sets a travel route based on the data registered in the field map.

2. The field management robot according to Claim 1, which has a function of changing the travel route so as to increase the number of travel times in an area where the degree of turbidity is determined to be low.

3. The field management robot according to Claim 1, wherein when plowing the soil with a tillage machine using the turbidity data registered in the field map, the tillage depth in an area where the degree of turbidity is low is set deeper.

Images