Paddy field weeding device

Abstract

To provide a paddy field weeding device capable of improving the versatility and user convenience of the paddy field weeding device.SOLUTION: The paddy field weeding device 1 weeds by agitating water while traveling on the water surface of a paddy field with a screw 12a. A hull section 10 for traveling on water is provided with a seedling tray section 40 for placing seedling mats, a seedling planting section 50 for planting seedlings in the paddy field, and a control device C for controlling each section. The seedling tray section 40 is equipped with a seedling mat conveying mechanism 40a for conveying and supplying the placed seedling mats to the seedling planting section.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a paddy field weeding device for weeding paddy fields.

Background Art

[0002] Conventionally, the combined duck farming method of releasing combined ducks into paddy fields for weeding has been known. However, due to the difficulty of managing organisms, in recent years, a paddy field weeding device (so-called, aigamo robot) that replaces combined ducks with a robot has been 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.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the conventional paddy field weeding device is limited to the function of weeding paddy fields and lacks versatility. In addition, there are user needs to utilize the paddy field weeding device to further improve the convenience of work.

[0005] Therefore, the present invention has been made under such a background, and an object thereof is to provide a paddy field weeding device that can improve the versatility of the paddy field weeding device and improve the convenience of users.

Means for Solving the Problems

[0006] In order to achieve the above object, a first invention is A paddy field weeding device that stirs water while traveling on the water surface of a paddy field with a screw to remove weeds, The paddy field weeding device includes a hull part for traveling on the water surface, and on the hull part, a seedling placing part for placing a seedling mat, a seedling planting part for planting seedlings in the paddy field, and a control device for controlling each part are provided, The seedling placing part is provided with a seedling mat conveying mechanism for conveying the placed seedling mat and supplying it to the seedling planting part, and a paddy field weeding device is provided.

[0007] According to the first invention above, the versatility of the paddy field weeding device can be improved by the seedling planting part for planting seedlings in the paddy field, and the convenience for the user can be improved. In addition, the seedling mat conveying mechanism enables smooth seedling planting.

[0008] The second invention, in addition to the configuration of the first invention, The seedling planting part includes a transmission case in which a driving motor as a driving source is housed, a rotary case that is connected to the rotating shaft of the transmission case and is rotationally driven, and a pair of planting rods respectively attached to two eccentric support shafts of the rotary case. A seedling planting device for taking out seedlings from the seedling mat placed on the seedling placing part and planting them in the paddy field is provided. Further, It is characterized by including a reciprocating slide mechanism for slidingly moving the seedling planting device back and forth with respect to the hull part.

[0009] According to the second invention above, in addition to the effects of the first invention, The seedling planting device can take out seedlings evenly (without bias) from the seedling mat, and as a result, the planting operation can be stabilized and planting can be performed efficiently.

[0010] The third invention, in addition to the configuration of the second invention, The seedling planting part is characterized by including a seedling taking amount adjusting mechanism for adjusting the seedling taking amount of the seedling planting device.

[0011] According to the third invention above, in addition to the effects of the second invention, the seedling taking amount adjusting mechanism can adjust to the desired seedling taking amount of the operator, improving convenience.

[0012] The fourth invention is characterized in that, in addition to the configuration of any one of the first to the third inventions described above, an ultrasonic generator for irradiating ultrasonic waves into water is provided on the lower surface of the hull portion.

[0013] According to the fourth invention described above, in addition to the effects of any one of the first to the third inventions, it is possible to exterminate giant ferns by the ultrasonic generator while weeding.

[0014] The fifth invention is a paddy field weeding system including a paddy field weeding device according to the first invention, a water supply device for supplying water to a paddy field, and a system control unit configured to be able to transmit and receive information to and from the paddy field weeding device and the water supply device via a network, wherein the system control unit acquires information regarding the load value of the motor that drives the screw from the paddy field weeding device, and controls the water supply device to supply water to the paddy field when the acquired load value of the motor exceeds a predetermined threshold value, and provides a paddy field weeding system characterized by this.

[0015] According to the fifth invention described above, in addition to the effects of the first invention, it is possible to preferably prevent the paddy field weeding device from running aground.

Advantages of the Invention

[0016] According to the present invention, it is possible to provide a paddy field weeding device that improves the versatility of the paddy field weeding device and improves the convenience for users.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0018] <1. Overall Configuration of Paddy Field Weeding Device> Regarding the embodiment specifically configured based on the above technical idea, the configuration of the paddy field weeding device 1 will be described below with reference to the drawings. FIG. 1 is a perspective view of a paddy field weeding device 1 according to a preferred embodiment of the present invention, and FIG. 2 is an exploded perspective view of the paddy field weeding device 1 of FIG. 1. Among the configurations of the paddy field weeding device 1, for known parts, they will not be described in detail. For example, refer to Japanese Patent No. 7193817. In the following description, the paddy field weeding device 1 is referred to, and sometimes simply referred to as the machine body. Also, in the following description, for convenience of explanation, in the direction of the arrow X shown in FIG. 1, it is defined as the "front" of the machine body, the opposite direction as the "rear", in the horizontal plane, the direction of the arrow Y perpendicular to the arrow X direction as the "left", the opposite direction as the "right", in the vertical plane, the direction of the arrow Z perpendicular to the arrow X direction as the "up", and the opposite direction as the "down". Note that since the paddy field refers to a field in a state where water is flooded, in the following description, the paddy field is also referred to as the field.

[0019] As shown in FIGS. 1 and 2, the paddy field weeding device 1 according to a preferred embodiment of the present invention includes a hull portion 10 for traveling on water. On the hull portion 10, a positioning device 20 for acquiring the position information of the machine body, a power generation unit 30 for generating electricity by sunlight, a seedling placing portion 40 for placing the seedling mat M, a seedling planting portion 50 for planting seedlings in the field, and a control device C for controlling each part are provided. Hereinafter, each configuration will be described. For convenience of understanding, the power generation unit 30 is also shown in a state of being removed from the hull portion 10 in FIG. 1.

[0020] The hull portion 10 includes a float body 11 formed in a substantially rectangular plate shape by filling a buoyant material such as sponge inside and covering its surface with a resin member. The float body 11 can travel on water by the driving force of a screw propulsion mechanism 12 provided at its lower portion.

[0021] The screw propulsion mechanism 12 rotates a pair of left and right screws 12a, 12a in which spiral blades are formed along the longitudinal direction of a cylindrical body, respectively, by left and right screw motors 12m, 12m, so that operations such as forward movement, backward movement, left and right rotation, and left and right turning of the float body 11 (in other words, the paddy field weeding device 1) are possible. Note that the left and right screw motors 12m, 12m are respectively controlled in operation by a control device C described later.

[0022] The positioning device 20 is provided at an appropriate position on the upper surface of the float body 11 (for example, at the corner of the float body 11 as shown in the illustrated example). This positioning device 20 includes a receiving antenna 21 that receives radio waves from GNSS satellites, and thereby measures position information indicating the current position of the paddy field weeding device 1 (for example, information including latitude and longitude). Further, the positioning device 20 includes an azimuth sensor or the like (not shown) that measures the azimuth of the paddy field weeding device 1, and measures azimuth information indicating the azimuth of the paddy field weeding device 1. The position information and azimuth information measured by this positioning device 20 are transmitted to a control device C described later at predetermined time intervals. Thereby, the control device C can calculate the position of the paddy field weeding device 1.

[0023] The power generation unit 30 is composed of a solar panel 31 disposed above the float body 11 and a support member 32 that supports the solar panel 31 in a roof shape. By the power generation of the solar panel 31, power is supplied to a charge controller 33, and the power supplied to the charge controller 33 is charged to a battery 34 (see FIG. 9). Note that power necessary for each part of the paddy field weeding device 1 is supplied from the battery 34.

[0024] <2. Configuration of the seedling placement unit 40> The seedling placement unit 40 is provided on the upper part of the float body 1, and includes a seedling placement table 41 on which a seedling mat M is placed, and a seedling conveyor belt 42 that conveys the seedling mat M placed on the seedling placement table 41. Thereby, the seedling placement unit 40 functions to convey the seedling mat M placed on the seedling placement table 41 by the seedling conveyor belt 42 and supply it to a seedling planting unit 50 described later. Next, the seedling mat conveying mechanism 40a that conveys the seedling mat M placed on the seedling placement unit 40 will be described in detail.

[0025] FIG. 3 is an exploded perspective view of the seedling placement unit 40 of FIG. 1. The seedling conveying belt 42 is an endless belt made of rubber or the like formed according to the width of the seedling mat M (for example, about 28 cm). One end of the folded-back both ends is inserted with a drive shaft 43, and the other end is inserted with a driven shaft 44 to be stretched. The drive shaft 43 and the driven shaft 44 are inserted into the mounting holes 45a of a rectangular frame-shaped support base 45 having four legs and are rotatably supported. Note that a plurality of driven shafts 44 may be provided to prevent the seedling conveying belt 42 from sagging.

[0026] One end of the drive shaft 43 is integrally formed with a pinion gear, and the pinion gear and the pinion gear on the output shaft of the conveying motor m2 are wound around with a pinion gear belt 46. Thus, when the conveying motor m2 is driven, the rotation of the drive shaft 43 causes the seedling conveying belt 42 to rotate, and the seedling mat M on the seedling conveying belt 42 is conveyed. The seedling mat M is set in advance on the seedling conveying belt 42 by an operator and is supplied to the seedling conveying belt 42 as needed during operation. The conveying motor m2 is, for example, a stepping motor, and rotates a predetermined number of steps at a predetermined time interval in accordance with the timing of seedling planting by the seedling planting unit 50, so as to convey the seedling mat M by a predetermined distance toward the seedling planting unit 50 side (Y direction in FIG. 3). More specifically, when the seedling planting device 54 moves in the forward path of one reciprocation by the reciprocating slide mechanism 52 (since the seedlings on the seedling mat M are taken out in the width direction of the seedling mat M and a gap is generated between the end of the plate portion 51a and the plate portion 51a), the seedling mat M is fed a predetermined distance, and the end of the seedling mat M is brought into contact with the end of the plate portion 51a. Subsequently, when the seedling planting device 54 moves in the return path of one reciprocation, similarly, the operation of feeding the seedling mat M a predetermined distance is repeated. As a result, the seedling feeding can be performed so that the end of the seedling mat M faces the seedling taking port 51c favorably. As described above, the seedling mat conveying mechanism 40a includes the seedling conveying belt 42, the drive shaft 43, the driven shaft 44, the conveying motor m2, and the pinion gear belt 46. According to the seedling mat conveying mechanism 40a, smooth seedling planting is possible.

[0027] <3. Configuration of the seedling planting unit 50> The seedling planting section 50 includes a seedling receiving plate 51 that receives the end of the seedling mat M, a seedling planting device 54 that plants seedlings in the field, a reciprocating slide mechanism 52 that slidably moves the seedling planting device 54 back and forth with respect to the float body 11 (hull section 10), and a seedling taking amount adjusting mechanism 53 that adjusts the seedling taking amount of the seedling planting device 54. Each component will be described below.

[0028] Fig. 4(a) is a side view of the seedling receiving plate 51 in Fig. 1, and Fig. 4(b) is a plan view of the same. As shown in Figs. 4(a) and 4(b), the seedling receiving plate 51 includes a plate portion 51a that receives and holds the end of the seedling mat M, and a support stay 51b that supports the plate portion 51a. The plate portion 51a is formed in a substantially L-shaped cross section, and a seedling taking opening 51c is provided so as to notch a part of the plate portion 51a within a predetermined range for the seedling planting device 54 to take out the seedlings of the held seedling mat M. The lower part of the support stay 51b is formed to bend toward the float body 11, and its tip is attached to a reciprocating slide mechanism 52 described later, and the seedling receiving plate 51 is configured to reciprocally slide together with the seedling planting device 54.

[0029] Fig. 5(a) is a side view of the reciprocating slide mechanism 52 in Fig. 1, Fig. 5(b) is a plan view of the same, and Fig. 5(c) is a bottom view of the same. The reciprocating slide mechanism 52 includes a slide stage 52b that is slidable along a rail 52a, and the slide stage 52b is configured to sandwich the rail 52a by a bearing roller 52c provided on the upper surface. An attachment port 52d to which the tip of the above-described support stay 51b is attached and fixed is formed on the side surface of the slide stage 52a. The rail 52a is fixed to the lower surface of the float body 11 by fixing means such as a resin adhesive.

[0030] When the screw shaft 53e that penetrates while screwing the slide stage 52b rotates, the slide stage 52b advances and retreats in the front - rear direction of FIG. 1 along the rail 52a while being guided by the bearing roller 52c. Also, the screw shaft 53e is configured to be rotatable forward and backward by the drive of the slide motor m3. This slide motor m3 is driven and controlled by a control device C described later, and thereby, the slide stage 52b reciprocates in a sliding manner. According to the reciprocating slide mechanism 52 configured in this way, the seedling planting device 54 can take out seedlings evenly (without bias) from the seedling mat M. As a result, the planting operation can be stabilized and planting can be performed efficiently.

[0031] FIG. 6(a) is a side view of the main part around the seedling taking amount adjusting mechanism 53 (extended state) in FIG. 1, and FIG. 6(b) is a side view of the main part around the same seedling taking amount adjusting mechanism 53 (contracted state). As shown in FIGS. 6(a) and 6(b), the seedling taking amount adjusting mechanism 53 has a configuration of a so - called robot arm, and includes a base 53a fixed to the lower surface of the above - mentioned slide stage 52b by fixing means such as a resin adhesive, a housing 53b integrally formed with the base 53a, a fixed arm 53c fixed to the housing 53b, and a sliding arm 53d slidable with respect to the fixed arm 53c.

[0032] Furthermore, in the seedling take-up amount adjustment mechanism 53, a push rod 53e that extends and contracts by driving a motor m4 for extending and contracting the arm is disposed within a fixed arm 53c and a sliding arm 53d. By the extension and contraction of the push rod 53e, the sliding arm 53d slides in the left-right direction of FIG. 1 with respect to the fixed arm 53c, and the overall length of the seedling take-up amount adjustment mechanism 53 (that is, the total length of the housing 53b, the fixed arm 53c, and the sliding arm 53d) is extended and contracted. Here, a transmission case 55 of the seedling planting device 54 is attached to the tip of the sliding arm 53d. When the overall length of the seedling take-up amount adjustment mechanism 53 is extended and contracted, the distance between the float body 11 and the seedling planting device 54 is changed (the seedling planting device 54 moves in the left-right direction of FIG. 1), thereby enabling adjustment of the seedling take-up amount. That is, when the distance between the float body 11 and the seedling planting device 54 increases, the seedling take-up amount decreases, and when they approach, it increases. Also, the adjustment of the seedling take-up amount is appropriately performed, for example, when the control device C receives instruction information to instruct the adjustment of the seedling take-up amount from the portable information terminal 4 described later via the communication unit 60. In this way, the seedling take-up amount adjustment mechanism 53 can adjust to the desired seedling take-up amount of the operator, improving convenience.

[0033] <4. Configuration of the seedling planting device 54> FIG. 7 is a plan view of the main part around the seedling planting device 54, and FIG. 8 is a side view of the main part thereof. The seedling planting device 54 includes a transmission case 55 that houses a drive motor m5 which is a drive source of the seedling planting device 54, a rotary case (rotating body) 56 that is connected to a rotary shaft 55a of the transmission case 55 and is rotationally driven, and a pair of planting rods 57 respectively attached to two eccentric support shafts 56a, 56a thereof. Note that the transmission case 55 may be provided with a buoyancy member having buoyancy on the upper surface to prevent the inclination of the machine body.

[0034] Here, the two eccentric support shafts 56a, 56a function to swing the planting rod 57 in accordance with the rotation of the rotary case 56. That is, the two eccentric support shafts 56a, 56a are connected to a stationary eccentric gear 56b provided inside the rotary case 56 and a transmission system 56c by an inconstant velocity transmission gear train that meshes eccentrically, and are configured to be able to swing the planting rod 57 within a predetermined angular range.

[0035] The planting rod 57 is composed of a case member 57a fixed to the eccentric support shaft 56a, a fork-shaped seedling picking claw 57b that is attached to the outside of the case member 57a, placed on the seedling placing part 40, and picks up and holds a part of the seedling mat M held by the seedling receiving plate 51, and a slide member 57c that is attached so as to be able to move forward and backward along the seedling picking claw 57b and is biased in the direction of extruding the held seedling, and an extrusion member 57d at its tip.

[0036] The seedling planting device 54 configured as described above rotates the rotary case 56 by driving the drive motor m5, revolves the planting rod 57 on the eccentric support shaft 56a, and swings within a predetermined angular range by the conduction system provided inside the rotary case 56. As a result, the tip position of the seedling picking claw 57b scrapes a part of the seedling mat M from the seedling picking opening 51c of the seedling receiving plate 51 through a predetermined locus T, then plants it in the cultivated soil of the lower field, and then the planting rod 57 at the opposite end of the rotary case 56 performs planting in the same manner with a half-cycle delay. Note that for the mechanism that revolves the planting rod 57 in this way, a known technique can be applied. For example, refer to JP-A-2007-89515.

[0037] <5. Configuration of the control device C> Next, with reference to FIG. 9, the control system of the paddy field weeding device 1 centered on the control device C will be described. FIG. 9 is a block diagram centered on the control device C of the paddy field weeding device 1. The control device C is an information processing device that controls each part of the paddy field weeding device 1 by electronic control. Although not shown, it is configured to include a CPU (Central Processing Unit) that performs arithmetic processing and a memory that can read and write information necessary for arithmetic processing. The CPU operates according to various programs stored in the memory, and thus the configuration described as functional blocks in FIG. 9 is realized. Also , the symbol I in the figure indicates various signals and shows the direction in which they are transmitted by the arrow lines.

[0038] As shown in FIG. 9, a positioning device 20 is connected to the input side of the control device C, and it is possible to acquire position information and azimuth information from the positioning device 20. Further, the control device C is connected to a communication unit 60 that performs wireless communication with an external device, and thereby, various information can be transmitted and received with the external device via a wireless base station NW2 described later. On the output side, a screw propulsion mechanism 12, a seedling mat conveyance mechanism 40a, a reciprocating slide mechanism 52, a seedling take amount adjustment mechanism 53, and a seedling planting device 54 are connected, and a signal I including a control command is transmitted to these to control their operations. Note that the control device C is connected to a charge controller 33 and can control charging and discharging of the battery 34.

[0039] Also, the control device C includes a travel control unit c1 that controls the travel of the machine body, a seedling planting operation control unit c2 that controls the seedling planting operation by the seedling planting device 54, a resistance value recording unit c3 that records the resistance values of the screw motors m1 during travel, a resistance value map creation unit c4 that creates a resistance value map in which the recording of the resistance values is mapped based on the recording data of the resistance values acquired by the resistance value recording unit c3, and a work information storage unit c5 that stores various information related to the work.

[0040] The traveling control unit c1 is a program that performs the function of controlling the traveling of the aircraft body. Based on a predetermined algorithm, it controls the screw propulsion mechanism 12 (more specifically, the motors m1, m1 for the screw). That is, the traveling control unit c1 performs the function of causing the paddy field weeding device 1 to perform autonomous traveling (also referred to as self-driving). When autonomous traveling is executed, the traveling control unit c1 acquires position information and azimuth information from the positioning device 20 at predetermined time intervals, and is configured to cause the aircraft body to self-drive throughout the entire paddy field H by repeating straight-ahead traveling and turning of the aircraft body according to a predetermined rule. At that time, it refers to the paddy field information including information on the position and area of the paddy field H, appropriately determines the position of the aircraft body during traveling, and travels along the planned route. The paddy field information may be stored in advance in the work information storage unit 4, or may be acquired from an external device via the communication unit 60. Also, it may be configured to be created by the paddy field weeding device 1 from the position information acquired by traveling within the paddy field H (for example, traveling around the paddy field along the outer periphery of the paddy field H). Note that the start and stop of autonomous traveling are performed, for example, by receiving instruction information indicating support for the start or stop of autonomous traveling from the portable information terminal 4 described later via the communication unit 60.

[0041] The seedling planting operation control unit c2 is a program that functions to control the seedling planting operation by the seedling planting device 54. Based on a predetermined algorithm, it controls the seedling mat conveying mechanism 40a (more specifically, the conveying motor m2), the reciprocating slide mechanism 52 (the slide motor m3), the seedling taking amount adjusting mechanism 53 (more specifically, the arm telescoping motor m4), and the seedling planting device 54 (more specifically, the driving motor m5). The seedling planting operation control unit c2 starts the seedling planting operation by the seedling planting device 54, for example, by receiving instruction information to start the planting operation from the portable information terminal 4 via the communication unit 60. Specifically, in controlling the seedling planting operation by the seedling planting device 54, the seedling planting operation control unit c2 conveys the seedling mat M to the side of the seedling planting device 54 at predetermined time intervals by the seedling mat conveying mechanism 40a, and while reciprocally sliding the seedling planting device 54 by the reciprocating slide mechanism 52, it revolves the planting rod 57 of the seedling planting device 54 to scrape a part of the seedling mat M from the seedling taking port 51c and plant it in the field H. At this time, when the operator operates the portable information terminal 2 and the seedling planting operation control unit c2 receives instruction information to adjust the seedling taking amount, it controls the seedling taking amount adjusting mechanism 53 and appropriately adjusts the seedling taking amount.

[0042] The resistance value recording unit c3 is a program that functions to record the resistance values of the screw motors m1, m1 during traveling. The resistance value recording unit c3 acquires information regarding the resistance values of the screw motors m1, m1 from the screw propulsion mechanism 12 at predetermined time intervals during the traveling of the machine body by the traveling control unit c1. Further, it acquires the position information of the acquired point from the positioning device 20, associates the information regarding the resistance value with the position information, and stores it in the work information storage unit c3. Thereby, when the paddy field weeding device 1 travels in the field H, information indicating the point where it has traveled in the field H and the resistance values of the screw motors m1, m1 measured at that point is generated as the resistance value recording data. The resistance value recording data is also transmitted to the system control unit 2 in the paddy field weeding system described later.

[0043] The resistance value map creation unit c4 is a program that functions to create a resistance value map by mapping the recorded resistance value data acquired by the resistance value recording unit c3. FIGS. 10(a) to 10(c) are explanatory diagrams for explaining the creation procedure of the resistance value map. First, as shown in FIG. 10(a), it is assumed that the paddy field weeding device 1 travels along a travel path L1 that repeats straight travel and turning in a specific one direction of the field H, and the resistance value recording data is generated by the resistance value recording unit c3. Next, as shown in FIG. 10(b), the paddy field weeding device 1 travels along a travel path L2 that repeats straight travel and turning in a direction orthogonal to a specific one direction of the field H under the control of the travel control unit c1, and it is assumed that the resistance value recording data is generated by the resistance value recording unit c3. At this time, the resistance value map creation unit c4 calculates the intersection point Pi of the travel path L1 and the travel path L2, calculates the average value of the resistance values for each intersection point Pi, and creates a resistance value map in which this is recorded together with the position information. Thereafter, each time a new travel is performed, the average value of the resistance values is calculated for a new intersection point Pi, and this is recorded together with the position information to update the resistance value map. Note that, as shown in FIG. 10(c), the resistance value map may be configured to divide the area of the field H into sections K each consisting of section areas of a predetermined size, and record the average value of the resistance values for each intersection point Pi for each section K. Note that the resistance value map can be visually confirmed by the operator U using the portable information terminal 4 described later. Thus, according to the configuration in which the resistance value at each point in the field H is recorded and mapped, the operator U can use it to discriminate the undulations and height differences in the field H. That is, it can be determined that a point with a large resistance value is a location where the screw propulsion mechanism 12 contacts the ground and the field surface is high.

[0044] <6. Paddy Field Weeding System> FIG. 11 is a schematic perspective view of a paddy field weeding system according to an embodiment of the present invention. A paddy field weeding system using the paddy field weeding device 1 will be described. As shown in FIG. 11, the paddy field weeding system includes a paddy field weeding device 1 for weeding a paddy field, a system control unit 2 that controls various operations of devices and apparatuses constituting the paddy field weeding system, and a water supply device 3 for supplying water to the paddy field. The system control unit 2 is configured to be able to transmit and receive information bidirectionally with the paddy field weeding device 1 and the water supply device 3 connected via the communication network NW. Thereby, the system control unit 2 is configured to be able to transmit a signal including a control command to the paddy field weeding device 1 and the water supply device 3 and control the operations of these devices.

[0045] Also, as shown in FIG. 11, in the paddy field weeding system 1, the paddy field weeding device 1 is put into a field H to be weeded (or also referred to as a work target), and the water supply device 3 is disposed at an appropriate location in the field H. Further, the operator U can appropriately communicate with the system control unit 2 and send various instruction information by using (operating) the portable information terminal 4. Note that the portable information terminal 4 can also directly send various instruction information to the paddy field weeding device 1 without going through the system control unit 2. The system control unit 2 is configured to be able to control the operations of the paddy field weeding device 1 and the water supply device 3 according to the instruction information acquired from the portable information terminal 4.

[0046] The system control unit 2 includes a CPU (Central Processing Unit), a ROM (Read Only An information processing apparatus configured to include a memory such as a hard disk drive (HDD) and a random access memory (RAM). For example, a personal computer, a server computer, a tablet terminal, a smartphone, or the like can be applied. This system control unit 2 is configured to be capable of bidirectionally transmitting and receiving information to and from a mobile information terminal 400, an external server, and a work vehicle driving system 500 connected to a communication network NW. Note that the communication network NW is, for example, the Internet, but other networks such as a cellular network, a Wi-Fi network, a low power wide area (LPWA) network, a wide area network (WAN), a local area network (LAN), or other public or dedicated lines can be applied according to the situation.

[0047] The water supply device 3 functions to supply water to the farmland H. As shown in FIG. 11, the water supply device 3 includes a water tap control unit 3a, a water tap 3b controlled by the water supply line control unit 3a, and a water level measurement sensor S for measuring the water level of the paddy field. Note that a wireless base station NW2 is disposed near the farmland H to connect the paddy field weeding device 1, the water tap control unit 3a, the water level measurement sensor S, and the mobile information terminal 4 to the network NW so as to be able to communicate with the system control unit 2.

[0048] The water tap 3b includes a water supply valve (not shown) that can supply water from the water supply path to the farmland H by rotational drive. The water tap control unit 3a can control the amount of water supplied to the farmland H by controlling the opening degree and rotation of the water supply valve. Further, the water level measurement sensor S measures the water level of the farmland H at a predetermined time interval, and measurement information indicating the water level of the paddy field measured by the water level measurement sensor S is transmitted to the system control unit 2 via the network NW.

[0049] The portable information terminal 4 is a portable information processing device capable of receiving operations from and displaying information to the operator U (also referred to as the user). For example, a smartphone, a tablet terminal, or the like can be applied. Note that while the system control unit 2 can be installed at a remote location from the field H, this portable information terminal 4 is assumed to be used by the user U near the field H while checking the working conditions.

[0050] In the paddy field weeding system configured as described above, the system control unit 2 acquires the recorded resistance value data from the resistance value recording unit c3 of the paddy field weeding device 1 via the network NW each time. When there is a point in the field H where the resistance value is greater than a predetermined threshold value, the system control unit 2 notifies the portable information terminal 4 that there is a location shallower than the appropriate water depth in the field H, and causes a warning to be displayed on the display unit of the portable information terminal 4. At this time, the position of the location shallower than the appropriate water depth in the field H may be visually displayed using the resistance value map created by the resistance value map creation unit c4. Further, the system control unit 2 automatically performs a predetermined amount of water supply by controlling the water supply device 3 (Note that a configuration may also be adopted in which automatic water supply is immediately executed when the acquired resistance value is greater than (exceeds) the threshold value based on the information regarding the resistance value acquired from the paddy field weeding device 1 at a predetermined time interval.). Thereby, grounding of the paddy field weeding device 1 can be prevented well. Note that the timing of stopping the automatic water supply may be configured such that the system control unit 2 monitors the recorded resistance value data of the paddy field weeding device 1 and stops the water supply when the resistance value becomes lower than the predetermined threshold value. Further, a drainage mechanism for controlling the drainage of the paddy field may be provided in the field H by the system control unit 2, and the system control unit 2 monitors the recorded resistance value data of the paddy field weeding device 1. When the resistance value is constant for a predetermined set time, it is determined that the screw propulsion mechanism 12 and the ground of the paddy field are too far apart, and the drainage mechanism may be configured to automatically drain a predetermined amount of water.

[0051] <7. Another Embodiment (1)> As described above, embodiments of the present invention have been explained. However, the present invention is not limited only to the above-described embodiments. Needless to say, it can be appropriately changed within the scope of the technical idea. FIGS. 12(a) and 12(b) are schematic side views of a paddy field weeding device 1 according to another embodiment. FIGS. 12(a) and 12(b) show a shellfish extermination device 71 for scooping up apple snails (official name: Pomacea canaliculata, scientific name: Pomacea canaliculata) disposed on the float body 11 of the paddy field weeding device 1. Note that, for the sake of convenience of explanation, illustration of the configuration other than the float body 11, the screw propulsion mechanism 12, and the shellfish extermination device 71 of the paddy field weeding device 1 is omitted. As shown in FIGS. 12(a) and 12(b), the shellfish extermination device 71 is preferably disposed at the rear part of the float body 11 with respect to the traveling direction of the paddy field weeding device 1, and is driven (preferably driven and controlled by a control device C) by a motor (not shown). While regularly rotating the rotating stay 70a up and down (head shaking operation), the apple snails are scooped up and exterminated from the paddy field by the joren 70b provided at the tip of the rotating stay 70a. Further, as the rotating stay 70a rotates, the link stay 71c is configured to open and close the lid member 71b at the upper part of the storage box 71a for storing apple snails. That is, when the joren 70b rotates downward, the lid member 71b is in a closed state, and when it rotates upward, it is in an open state. Thereby, when the joren 70b is rotated upward to transfer the scooped apple snails to the storage box 71a, the lid member 71b automatically opens, which is convenient. Further, an ultrasonic generator may be provided on the lower surface of the float body 11 of the hull portion 10 to irradiate ultrasonic waves into the water to exterminate apple snails. Thereby, it becomes possible to exterminate apple snails while weeding.

[0052] <8. Another Embodiment (2)> The paddy field weeding device 1 according to the present embodiment is, with respect to the traveling direction, on the side of the machine body, at the seedling planting device 54 Accordingly, although it is configured to plant seedlings, it can also be configured to plant seedlings by the seedling planting device 54 at the rear of the machine body. For example, simply by changing the direction of the screw propulsion mechanism 12 by 90 degrees from the above-described embodiment with respect to the float body 11, the traveling direction (forward direction) of the machine body is changed by 90 degrees. Therefore, at the rear of the machine body, it can be configured to plant seedlings by the seedling planting device 54. Further, in the paddy field weeding system, the system control unit 2 may be configured to acquire information regarding the position information and the resistance value from the paddy field weeding device 1 at predetermined time intervals, and assume the function of the resistance value map creation unit c4. That is, by the system control unit 2 creating a resistance value map, for example, it becomes possible to improve work efficiency such as driving a plurality of paddy field weeding devices 1 in one field H to quickly create a resistance value map.

Explanation of Signs

[0053] 1 Weeding device for paddy fields 2 System control unit 3 Water supply device 4 Portable information terminal 5 External server 10 Hull part 11 Float body 12 Screw propulsion mechanism 12a Screw 12m Motor 1 for screw 20 Positioning device 21 Receiving antenna 30 Power generation part 31 Solar panel 32 Support member 40 Seedling mounting part 41 Seedling mounting table 42 Seedling conveying belt 43 Drive shaft 44 Driven shaft 45 Support stand 46 Pinion gear belt 50 Seedling planting part 51 Seedling receiving plate 52 Reciprocating slide mechanism 53 Seedling taking amount adjusting mechanism 54 Seedling planting device 55 Transmission case 56 Rotary case (rotating body) 57 Planting rod

Claims

1. A paddy field weeding device that stirs water while traveling on the water surface of a paddy field by means of a screw to perform weeding, wherein the paddy field weeding device includes a hull portion for traveling on the water surface, and provided on the hull portion are a seedling placing portion for placing a seedling mat, a seedling planting portion for planting seedlings in the paddy field, and a control device for controlling each part, and the seedling placing portion is characterized by comprising a seedling mat conveying mechanism for conveying the placed seedling mat and supplying it to the seedling planting portion.

2. The seedling planting portion includes a transmission case in which a driving motor as a driving source is housed, a rotary case that is connected to the rotating shaft of the transmission case and is rotationally driven, and a pair of implanting rods respectively attached to two eccentric support shafts of the rotary case, and a seedling planting device for taking out seedlings from the seedling mat placed on the seedling placing portion and planting them in the paddy field. Further, the paddy field weeding device according to claim 1, characterized in that it comprises a reciprocating slide mechanism for slidingly moving the seedling planting device reciprocally with respect to the hull portion.

3. The paddy field weeding device according to claim 2, characterized in that the seedling planting portion comprises a seedling taking amount adjusting mechanism for adjusting the seedling taking amount of the seedling planting device.

4. The paddy field weeding device according to any one of claims 1 to 3, characterized in that an ultrasonic generator for irradiating ultrasonic waves into the water is provided on the lower surface of the hull portion.

5. A paddy field weeding system comprising the paddy field weeding device according to claim 1, a water supply device for supplying water to the paddy field, and a system control unit configured to be able to transmit and receive information to and from the paddy field weeding device and the water supply device via a network, wherein the system control unit is configured to acquire information regarding the load value of the motor for driving the screw from the paddy field weeding device, and to control the water supply device to supply water to the paddy field when the acquired load value of the motor exceeds a predetermined threshold value.

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