Weeding devices for paddy fields

Abstract

To provide a weed control device for rice paddies that further improves power generation efficiency and prevents a decrease in work efficiency caused by power shortages. [Solution] A weeding device for paddy fields 100 is configured to automatically travel across a field, comprising a float body 101 with a solar panel 102 positioned on its upper part, a screw propulsion mechanism 103 equipped with a screw positioned on its lower part, and further comprising a positioning device s1 for acquiring location information and a timing unit s4 for acquiring timing information, It is equipped with a solar azimuth calculation unit C1 that calculates the sun's azimuth and elevation angle based on acquired location information and timing information. The solar panel 102 is installed at an angle to the float body 101. The above problem is solved by a paddy field weeding device 100 that controls the direction of travel so that the azimuth of the sun SN calculated by the solar azimuth calculation unit C1 and the elevation direction Fg of the solar panel 102 are facing the same direction during automatic driving.

Description

Technical Field

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

Background Art

[0002] Conventionally, the method of raising ducks in paddy fields to weed them is known. However, due to the difficulty of managing organisms, a weeding device for paddy fields (so-called, duck robot) that replaces ducks with robots is known. For example, in Patent Document 1, a weeding device for paddy fields is disclosed 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 on the bottom of the water, and thereby inhibits the photosynthesis of weeds under the water surface and suppresses their growth to perform weeding.

[0003] Furthermore, this weeding device for paddy fields is provided with a solar panel, and is configured to drive the screw propulsion mechanism by the electric power generated by this solar panel to travel on the water.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, according to the conventional weeding device for paddy fields, if the power generation by the solar panel is not sufficient, a power shortage may occur and the driving of the screw propulsion mechanism may stop. As a result, there was a risk that the working efficiency would be significantly reduced. Therefore, it has been desired to further improve the power generation efficiency of the solar panel.

[0006] Therefore, the present invention aims to provide a weed control device for rice paddies that further improves the power generation efficiency of solar panels and prevents a decrease in work efficiency caused by power shortages. [Means for solving the problem]

[0007] To achieve the above objective, the first invention is: A paddy field weeding device is configured to automatically travel across a field based on the acquired position information, comprising a solar panel positioned on the upper part of a buoyant float body, a screw propulsion mechanism with a screw positioned on the lower part, a positioning device for acquiring the machine's location information, and a timing unit for acquiring timing information, the device being configured to automatically travel across a field based on the acquired location information, The aircraft is equipped with a solar azimuth calculation unit that calculates the azimuth and elevation angle of the sun relative to the aircraft based on the acquired position information and timing information. The solar panels are arranged at an angle to the float body, The present invention provides a weeding device for rice paddies, characterized in that, during automatic driving, the driving direction is controlled so that the direction of the sun calculated by the sun direction calculation unit and the elevation direction of the solar panel are facing the same direction.

[0008] According to the first invention described above, By arranging the solar panels at an angle to the float body, power generation efficiency is improved. Furthermore, by controlling the direction of travel so that the direction of the sun calculated by the solar direction calculation unit and the elevation direction of the solar panels are aligned, power generation can be further optimized, thus effectively preventing a decrease in work efficiency due to power shortages.

[0009] The second invention, in addition to the configuration of the first invention, During autonomous driving, the system is configured to repeatedly move in a straight line and turn, The device is characterized by the following configuration: it moves in a straight line and rotates so that the direction of the sun calculated by the solar direction calculation unit and the elevation direction of the solar panel are in the same direction, and then reverses the screw so that it moves backward so that the direction of the sun calculated by the solar direction calculation unit and the elevation direction of the solar panel are in the same direction.

[0010] According to the second invention described above, in addition to the effects of the first invention described above, After turning, the vehicle is configured to reverse so that the elevation direction of the solar panels faces the same direction, making it possible to travel across the field while generating power more efficiently.

[0011] The third invention, in addition to the configuration of the first invention, During autonomous driving, the system is configured to repeatedly move in a straight line and turn, A work efficiency-prioritizing driving system that determines the straight-line direction according to the shape of the field, The system is characterized by being configured to select and execute a power generation efficiency-prioritizing driving mode that determines the direction of straight-line travel so that the direction of the sun calculated by the solar direction calculation unit and the elevation direction of the solar panels face the same direction.

[0012] According to the third invention described above, in addition to the effects of the first invention described above, In cloudy conditions or other situations where power generation efficiency is low, the vehicle can switch between driving modes as needed to achieve more efficient operation. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a weed control device for rice paddies that further improves the power generation efficiency of solar panels and prevents a decrease in work efficiency caused by power shortages. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1 is a block diagram showing an example of the overall configuration of a paddy field weed control system according to an embodiment of the present invention. [Figure 2] Figure 2 is a schematic perspective view of a paddy field weed control system according to an embodiment of the present invention. [Figure 3] Figure 3 is a perspective view of the paddy field weeding device of FIG. 1. [Figure 4] Figure 4 is a perspective view of the paddy field weeding device of FIG. 3 viewed from the rear. [Figure 5] Figure 5 is a perspective view of the paddy field weeding device of FIG. 3 viewed from below. [Figure 6] Figure 6 is a functional block diagram of the paddy field weeding system of FIG. 1. [Figure 7] Figure 7 is a plan view of a field showing an example of a target travel route designed by the travel route design unit of FIG. 6 when the work efficiency priority type travel is selected. [Figure 8] Figure 8 is a plan view of a field showing an example of a target travel route designed by the travel route design unit of FIG. 6 when the power generation efficiency priority type travel is selected. [Figure 9] Figure 9 is a plan view of a field showing an example of another target travel route designed by the travel route design unit of FIG. 6 when the work efficiency priority type travel is selected. [Figure 10] Figure 10 is a schematic configuration diagram of a paddy field weeding device in another embodiment. [Figure 11] Figure 11 is a schematic configuration diagram of a paddy field weeding device in yet another embodiment. [Figure 12] Figure 12 is a schematic configuration diagram of a paddy field weeding device 100 according to another embodiment provided with a storage unit. [Figure 13A] Figure 13A is a perspective view of a paddy field weeding device according to another embodiment provided with a rotatable guard bar. [Figure 13B] Figure 13B is a perspective view of a paddy field weeding device according to the same above-mentioned another embodiment. [Figure 13C] Figure 13C is a perspective view of a paddy field weeding device according to the same above-mentioned another embodiment.

Embodiments for Carrying Out the Invention

[0015] <1. Overall Configuration of Paddy Field Weeding System> Based on the above technical concept, the overall configuration of the paddy field weed control system 1 will be described below with reference to the drawings, showing an embodiment specifically constructed. Figure 1 is a block diagram showing an example of the overall configuration of the paddy field weed control system 1 according to an embodiment of the present invention. Figure 2 is a schematic perspective view of the paddy field weed control system 1 according to an embodiment of the present invention. Note that a paddy field refers to a field filled with water, so in the following description, a paddy field may be referred to as a field.

[0016] As shown in Figure 1, the paddy field weeding system 1 comprises a paddy field weeding device 100 for weeding paddies, a system control device 200 for various controls, and a water supply device 300 for supplying water to the paddies. The system control device 200 is configured to send and receive information bidirectionally with the paddy field weeding device 100 and the water supply device 300, which are connected via a communication network NW. As a result, the system control device 200 is configured to transmit signals including control commands to the paddy field weeding device 100 and the water supply device 300, thereby controlling the operation of these devices.

[0017] Furthermore, the system control unit 200 is an information processing device equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and can be used in applications such as personal computers, server computers, tablet terminals, and smartphones. This system control unit 200 is configured to send and receive information bidirectionally with a mobile information terminal 400 connected to a communication network NW and an external server. The communication network NW is, for example, the internet, but other networks such as cellular networks, Wi-Fi networks, LPWA (Low Power Wide Area), WAN (Wide Area Network), LAN (Local Area Network), or other public or dedicated lines can be used depending on the situation.

[0018] The portable information terminal 400 is a portable information processing device that can receive operations from worker U (hereinafter sometimes referred to as "user") and display information. For example, a smartphone or tablet terminal can be used. While the system control device 200 can be installed in a remote location away from field H, this portable information terminal 400 is intended to be used by user U near field H while checking the work status.

[0019] As shown in Figure 2, the paddy field weeding system 1 has a paddy field weeding device 100 placed in the field H which is the target of weeding (also called the work area), and a water supply device 300 is also installed in field H. The worker U can communicate with the system control device 200 as needed by using (operating) a portable information terminal 400 and send various instruction information. The system control device 200 is configured to control the operation of the paddy field weeding device 100 and the water supply device 300 according to the instruction information obtained from the portable information terminal 400. Details of these operations will be described later. Next, the configuration of each device in the paddy field weeding system 1 will be described in order below.

[0020] <2. Weeding device for rice fields> Figure 3 is a perspective view of the paddy field weeding device 100 shown in Figure 1, Figure 4 is a perspective view of the paddy field weeding device 100 shown in Figure 3 from the rear, and Figure 5 is a perspective view of the paddy field weeding device 100 shown in Figure 3 from below. The paddy field weeding device 100 is intended to be used for a period of about one month from puddling to after rice planting. In the following description, the entire paddy field weeding device 100 may be simply referred to as the "machine."

[0021] As shown in Figures 3 to 5, the paddy field weeding device 100 includes a float body 101 that has buoyancy and is formed in a roughly rectangular frame shape. A solar panel 102 is placed on the upper surface of the float body 101, and a screw propulsion mechanism 103 is placed on the lower part. At the rear is a housing box 105 which houses a control unit C consisting of a battery (not shown) and a control board with information processing functions. At the front are a positioning device s1 for acquiring position information, a soil fertility measuring sensor s2 for measuring soil fertility, and a ridge detection sensor s3 for detecting the ridge.

[0022] The paddy field weeding device 100 floats on the water surface of the field using a float body 101, and travels on the water by rotating a pair of left and right screws 104 of the screw propulsion mechanism 103. The screws 104 are driven using electricity stored in a battery, generated by a solar panel 102. The paddy field weeding device 100 travels by controlling a pair of left and right drive motors 103m (left) and 103m (right), which correspond to the pair of left and right screws 104 (left) and 104 (right), respectively, based on a travel program stored in the control board. As a result, the paddy field weeding device 100 can perform travel operations such as forward, reverse, left and right rotation, 180-degree left and right turns, right turns, and left turns, depending on the control pattern of the drive motors 103m (left) and 103m (right). For details regarding the basic structure of this paddy field weeding device 100, including its water-traveling capabilities, please refer to Japanese Patent Publication No. 7193817. Below, we will focus on explaining the configurations that differ from those described in Japanese Patent Publication No. 7193817.

[0023] The positioning device s1 is equipped with a receiving antenna that receives radio waves from GNSS satellites and measures position information (including, for example, latitude and longitude information) indicating the current position of the rice paddy weeding device 100. Furthermore, it is configured to include an orientation sensor and the like that measures orientation information indicating the orientation of the rice paddy weeding device 100. The position information and orientation information measured by this positioning device s1 at predetermined time intervals are acquired by the control unit C and then transmitted to the system control unit 200, which will be described later.

[0024] The soil fertility sensor s2 is mounted at the front end of the float body 101 so as to extend downward and is configured to contact the soil of the paddy field. This allows a weak electric current to be passed through the soil from the left and right electrode plates, and the soil fertility is measured by the electrical conductivity (electrical resistance) to determine the amount of ions (nutrients) in the soil. More specifically, the SFV value (Soil Fertility Value) is measured as an indicator of soil fertility. This SFV value is a numerical value equivalent to the EC value (Electric Conductivity), and its unit is mS / cm (millisiemens). The soil fertility information (including, for example, the measured SFV value) obtained by the soil fertility sensor s2 at predetermined time intervals is acquired by the control unit C and then transmitted to the system control device 200, which will be described later.

[0025] The ridge detection sensor s3 is an infrared sensor that detects when the paddy field weeding device 100 approaches the ridge, which is the edge of the field. The ridge detection sensor s3 may also be a contact sensor. The detection information that the ridge has been detected by the ridge detection sensor s3 is acquired by the control unit C and then transmitted to the system control unit 200.

[0026] As shown in Figures 3 and 4, the solar panel 102 is inclined so that one end rises upward relative to the horizontal direction of the machine (more specifically, the float body 101). In this embodiment, the solar panel 102 has a downward slope from the right side to the left side of the machine, and the inclination angle α (the internal angle between the float body 101 and the solar panel 102) is designed to be approximately 30 degrees. Here, in the following description, the direction in which the solar panel 102 rises is referred to as the elevation direction Fg. In the illustrated example, the solar panel 102 rises from a horizontal position so that its upper surface faces to the left, so the elevation direction Fg is to the left of the machine. By arranging the solar panel 102 in this inclined manner, the paddy field weeding device 100 in this embodiment is designed to improve the power generation efficiency of the solar panel 102 compared to conventional devices by orienting the elevation direction Fg towards the direction of the sun (SN). As a result, a decrease in work efficiency due to power shortages can be more effectively prevented.

[0027] <3. Water supply device> The water supply device 300 is responsible for supplying water to field H, and as shown in Figure 2, it comprises a water tap control unit 301, a water tap 302 controlled by the water tap control unit 301, and a water level measuring sensor s5 for measuring the water level in the paddy field. A wireless base station NW2 is installed near field H to connect the paddy field weed control device 100, the water tap control unit 301, and the water level measuring sensor s5 to a network, enabling communication with the system control device 200.

[0028] The water tap control unit 301 is a control board equipped with information processing functions and includes a program and circuit for controlling the water tap 302. It also includes a communication unit (not shown) and is configured to connect to a wireless base station NW2. As a result, it receives signals indicating control commands from the system control device 200 and controls the water tap 302 based on these signals.

[0029] The water tap 302 is equipped with a water supply valve (not shown) that can supply water from the water supply channel 303 to the field H by rotational drive, and the water tap control unit 301 can control the amount of water supplied to the field H by controlling the opening degree and rotation of the water supply valve. In addition, the water level measuring sensor s5 measures the water level in the field H at predetermined time intervals, and the measurement information indicating the water level of the paddy field measured by this water level measuring sensor s4 is transmitted to the system control device 200 via the network NW.

[0030] <4. Configuration and Function of Paddy Field Weed Control System> Figure 6 is a functional block diagram of the paddy field weed control system shown in Figure 1. Next, referring to Figure 6, the configuration and function of the paddy field weed control system 1 will be explained, focusing on the control unit C.

[0031] As described above, the paddy field weeding device 100 is equipped with a positioning device s1, a fertility sensor s2, a ridge detection sensor s3, and a timing unit s4. The control unit C is configured to acquire position information and direction information from the positioning device s1, fertility information from the fertility sensor s2, detection information from the ridge detection sensor s3, and timing information from the timing unit s4. The timing unit s4 performs the function of timing time (year, date, and time), and is, for example, a real-time clock. Therefore, the timing information includes information related to time, such as the year, date, and time. The control unit C is also provided to acquire information regarding the amount of power generated by the solar panel 102.

[0032] The control unit C performs the function of controlling the movement of the paddy field weeding device 100 and includes electronic circuits such as a CPU (Central Processing Unit) on the control board, and various programs such as a driving program stored on the control board. The control unit C includes a solar direction calculation unit C1, a driving mode setting unit C2, a driving route setting unit C3, and an autonomous driving processing unit C4 as control programs.

[0033] The solar direction calculation unit C1 is a functional unit that calculates the direction (azimuth and elevation angle) of the sun relative to the machine. While the paddy field weeding device 100 is running, the solar direction calculation unit C1 appropriately calculates the direction (azimuth and elevation angle) of the sun based on the position information and timing information acquired by the control unit C.

[0034] The travel mode setting unit C2 is a functional unit that sets the travel mode of the paddy field weeding device 100. The paddy field weeding device 100 is configured to allow selection and execution of multiple travel modes with different travel methods. The travel modes include, for example, a manual travel mode in which the operator U manually determines the direction of travel, and an automatic travel mode in which the device travels autonomously without manual operation by the operator. The selection and determination of the travel mode can be made as appropriate by operating the portable information terminal 400.

[0035] In manual driving mode, the paddy field weeding device 100 receives instruction information from the portable information terminal 400 to instruct it to move (forward, backward, right turn, left turn, right turn, left turn, right turn, left turn, etc.) and controls the drive of the screw propulsion mechanism 103 according to the instruction information. This allows the operator U to visually confirm the position of the paddy field weeding device 100 and drive the device in the desired direction. In automatic driving mode, the paddy field weeding device 100 obtains position information from the positioning device s1 to determine the position and direction of travel of the machine, and autonomously drives within the field H by repeatedly moving straight and turning. Furthermore, in automatic driving mode, it is possible to select and decide between a driving method that prioritizes work efficiency (work efficiency priority driving) and a priority method that prioritizes power generation efficiency (power generation efficiency priority driving).

[0036] The travel path design unit C3 is a functional unit that designs the target travel path L, which is the path that the paddy field weeding device 100 will automatically travel in automatic travel mode. The target travel path L will be described later. The target travel path L may be designed in advance by the control unit C before the start of automatic travel mode by acquiring information such as the location and shape of the field H from an external server 500, or it may be designed as appropriate by the paddy field weeding device 100 during the execution of automatic travel mode by calculating the shape of the field H based on the detection information from the ridge detection sensor s3.

[0037] The autonomous driving processing unit C4 is a program that enables autonomous driving of the paddy field weeding device 100 (automatic driving without instructions from the portable information terminal 400), and when the automatic driving mode is executed, it automatically controls the drive of the screw propulsion mechanism 103. As a result, the paddy field weeding device 100 can travel along the target travel path L designed by the travel path design unit C3 while acquiring position information.

[0038] The system control device 200 is configured to store various information about the paddy field weeding device 100 and various information about field H, and to provide this information to the paddy field weeding device 100 and the portable information terminal 400. Furthermore, the system acquires location information of the paddy field weeding device 100 as needed, and if the location information does not change for a predetermined time while the paddy field weeding device 100 is automatically traveling, it determines that the paddy field weeding device 100 has run aground, instructs the water supply device 300 to supply water, increases the water level in field H, and controls the paddy field weeding device 100 to escape from being stranded. In addition, the external server 500 is an information providing device configured to send and receive information with the paddy field weeding device 100, the system control device 200, and the portable information terminal 400 via the network NW.

[0039] <5. Target driving route in work efficiency-prioritizing driving> Figure 7 is a field plan showing an example of a target travel route L designed by the travel route design unit C3 in Figure 6 when the work efficiency priority travel option is selected. When selecting the work efficiency priority travel option, as shown in Figure 7, the target travel path L is designed to travel from the work start point Pst, along a straight path (outbound) Lo along the edge of field H from one end to the other, and upon reaching the other end of field H, travel along a turning path Ls, then along a straight path (return) Lo from the other end of field H to the first end, repeating this process until the work end point Ped, thereby traveling across the entire field H.

[0040] <6. Target driving route in power generation efficiency-prioritizing driving> Figure 8 is a field plan showing an example of a target travel route designed by the travel route design unit C3 in Figure 6 when the power generation efficiency priority travel option is selected. When power generation efficiency priority driving mode is selected, the control unit C calculates the sun's azimuth Fs at the start of operation based on the position information and timing information acquired by the paddy field weeding device 100 while it is in motion. Furthermore, as shown in Figure 8, the target driving path L is designed so that from the work start point Pst, the device travels along a straight path (outbound) Lo along the ridge of field H from one end to the other, and upon reaching the other end of field H, it travels along a turning path Ls for turning, and then travels along a straight path (return) Lf from the other end of field H to the first end, repeating this until the work end point Ped, so as to travel across the entire field H. At this time, the straight path (outbound) Lo and the straight path (return) Lf are designed so that the elevation direction Fg of the machine is facing the sun's azimuth Fs. This improves the power generation efficiency of the solar panels 102. Furthermore, when traveling along the straight path (return trip) Lf, the direction of the machine is reversed relative to the direction of travel so that the elevation direction Fg of the machine faces the elevation direction Fg of the machine, and the machine of the rice paddy weeding device 100 is controlled to move in reverse (the screw 104 rotates in the opposite direction). This further improves the power generation efficiency of the solar panel 102.

[0041] <7. Target driving route in power generation efficiency-prioritizing driving (variant example)> Figure 9 is a field plan showing an example of another target travel path L designed by the travel path design unit C3 in Figure 6 when the work efficiency priority travel type is selected. In Figure 3, the elevation direction Fg of the paddy field weeding device 100 was set to the left, but the orientation of the solar panel 102 can also be changed so that the elevation direction Fg is forward. Figure 9 shows an example of the target travel path L of the paddy field weeding device 100 when the elevation direction Fg is forward. As shown in Figure 9, from the work start point Pst, the straight path (outbound) Lo and the straight path (return) Lf are designed so that the elevation direction Fg of the machine faces the azimuth Fs of the sun. Furthermore, when traveling along the straight path (return trip) Lf, the direction of the machine is reversed relative to the direction of travel so that the elevation direction Fg of the machine faces the elevation direction Fg of the machine, and the machine of the paddy field weeding device 100 is controlled to move in reverse (the screw 104 rotates in the opposite direction). This allows for even more efficient power generation while automatically traveling through the field H.

[0042] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. It goes without saying that modifications can be made as appropriate within the scope of the technical idea.

[0043] The paddy field weeding device 100 may be configured such that the four corner supports that support the solar panels 102 are each extendable, allowing for free adjustment of the elevation direction Fg and elevation angle α of the solar panels 102. The control unit C may be configured to calculate and update the target travel path L at regular intervals.

[0044] The fertility sensor s2 may be formed of electrodes and configured to discharge into the water from the electrodes through a predetermined operation, powered by the solar panel 102. This can attract giant apple snails and the like that present in the water.

[0045] The control unit C may be configured to automatically switch from power generation efficiency-prioritizing driving to efficiency-prioritizing driving when the amount of power generated by the solar panels 102 falls below a predetermined amount for a predetermined period of time while power generation efficiency-prioritizing driving is being performed. This allows for more efficient driving when power generation efficiency is low, such as on cloudy days. In addition, the control unit C may receive input of the work time (start time and end time) from the portable information terminal 400 before the start of work, calculate the sun's azimuth Fs at a time midway between the received start and end times (for example, if the start time is 10:00 AM and the end time is 11:00 AM, then 10:30 AM), and design the target driving route L when power generation efficiency-prioritizing driving is selected based on this. This makes it possible to generate power efficiently by taking into account the change in the position of the sun SN over time.

[0046] Figure 10 is a schematic diagram of a paddy field weed control device 100 in another embodiment. In another embodiment shown in Figure 10, the paddy field weeding device 100 is configured to allow the elevation angle α of the solar panel 102 to be changed. More specifically, the solar panel 102 is mounted on the float body 101 so as to be rotatable around a mounting pivot point 102f, and the elevation angle α is changed by rotating the solar panel 102 using an actuator 102a equipped with a telescopic rod 102r that extends and retracts when moved forward and backward, driven by a telescopic motor 102m. The paddy field weeding device 100 may be configured to calculate the altitude of the sun SN from position information and timing information while in motion, and to automatically adjust the elevation angle α to maximize power generation efficiency according to the calculated altitude of the sun SN. In this case, when power generation efficiency priority mode is being performed, if the amount of power generated by the solar panel 102 is below a predetermined amount for a predetermined time, the device may be configured to automatically switch from power generation efficiency priority mode to efficiency priority mode and to position the solar panel 102 horizontally.

[0047] Figure 11 is a schematic diagram of a paddy field weeding device 100 in yet another embodiment. In yet another embodiment of the paddy field weed control device 100 shown in Figure 11, a chemical spraying device 110 is mounted on a float body 101, enabling the spraying of chemical 110y onto the ridges of the field H. The chemical spraying device 110 includes an electric sprayer 110d for dispensing the chemical 110y, a chemical storage tank 110t for storing the chemical 110y, a spray cock 110k for adjusting the dispensing of the chemical 110y, a spraying rod 110s which is a dispensing pipe for the chemical 110y, and a spraying nozzle 110n for spraying the chemical 110y. In this yet another embodiment of the paddy field weed control device 100, the control unit C is capable of executing a chemical spraying travel mode, which is a travel mode for chemical spraying, and in this chemical spraying travel mode, it is preferable that the device is configured to circle the field along the ridges of the field H based on detection information from the ridge detection sensor s3. In this case, the paddy field weeding device 100 may be equipped with a wind speed sensor to measure wind speed, and the control unit C may be configured to automatically stop the discharge of the chemical agent 110y when the wind speed is faster than a predetermined value. The control unit C may be configured to record the sprayed and unsprayed sections of the chemical agent 110y by acquiring position information. When the unsprayed section becomes zero, it may be configured to return to the work start point. The remaining amount in the chemical storage tank 110t may be detected, and it may be configured to automatically start when the remaining amount is above a certain level, and to automatically return to the work start point when it falls below that level.

[0048] Figure 12 is a schematic diagram of a paddy field weeding device 100 according to another embodiment, which includes a storage section. The paddy field weeding device 100 according to another embodiment shown in Figure 12 is equipped with a housing section 120 having a housing space 121a on a float body 101, and is configured to be compact when not in use. More specifically, the housing section 120 is equipped with a box-shaped housing section body 121, and a solar panel 102 is mounted on the housing section body 121 so as to be rotatable in the direction of arrow f1. In addition, rods 122 are arranged at the front and rear of the housing section body 121, inserted and fixed by L-shaped mounting brackets 122t. The height of the rods 122 can be adjusted by selecting the upper and lower mounting holes provided in the L-shaped mounting brackets 122t. Furthermore, the rods 122 are configured to be foldable in the direction of arrow f2, and the total length of the rods 122 is configured to be extendable and retractable. Buoyant rubber tubes 123 are attached to the rods 122 on both the left and right sides by C-shaped mounting brackets 123t.

[0049] Figures 13A to 13C are perspective views of a paddy field weeding device 100 according to another embodiment, which is equipped with a rotating guard bar G. In the paddy field weeding device 100 according to another embodiment shown in Figures 13A to 13C, a rotatable guard bar G is provided to surround the float body 101. The rotatable guard bar G is formed in a frame shape that surrounds the float body 101 and is rotatably attached to the float body 101 over a predetermined range. As a result, the rotatable guard bar G prevents the device from coming into contact with the outside, and when the device is not in use, it can be easily transported by connecting it to an unmanned small aircraft Q with a cable tie G2, as shown in Figure 13C. [Explanation of Symbols]

[0050] 1. Paddy field weed control system 100 Weeding device for paddy fields 101 Float Body 102 Solar Panels 102a Actuator 102m Telescopic Motor 102r Telescopic Rod 102f Mounting pivot point 110 Chemical spraying device 110d Electric Sprayer 110t chemical storage tank 110k spray valve 110s spray rod 110n spray nozzle 110y Pharmaceuticals 103 Screw propulsion mechanism 104 Screw 105 cabinet box 120 Storage Units 121 Storage Unit 121a Containment space 122 Rods 122t L-shaped mounting bracket 123 Rubber tube 123t C-shaped mounting bracket 200 System Control Unit 300 Water supply equipment 301 Water Tap Control Unit 302 Water tap 303 Water supply channel 400 Mobile Information Terminals 500 External Servers C control section C1 Solar direction calculation unit C2 Driving Mode Setting Section C3 Driving Route Setting Unit C4 Autonomous Driving Processing Unit G Rotating Guard Bar G2 Cable Ties NW Network NW2 Wireless Base Station SN Sun s1 Positioning device s2 Fertility Sensor s3 Fridgeline detection sensor s4 clock section s5 Water level measurement sensor U User (Worker) Q Unmanned small aircraft α elevation angle Fg Elevation direction Fs (Sun's azimuth) L Target driving route Ls turning path Lo Straight route (outbound) Lf Straight path (return trip)

Claims

1. A paddy field weeding device is configured to automatically travel across a field based on the acquired position information, comprising a solar panel positioned on the upper part of a buoyant float body, a screw propulsion mechanism with a screw positioned on the lower part, a positioning device for acquiring the machine's location information, and a timing unit for acquiring timing information, the device being configured to automatically travel across a field based on the acquired location information, The aircraft is equipped with a solar azimuth calculation unit that calculates the azimuth and elevation angle of the sun relative to the aircraft based on the acquired position information and timing information. The solar panels are arranged at an angle to the float body, A paddy field weeding device characterized by controlling the direction of travel so that the direction of the sun calculated by the sun direction calculation unit and the elevation direction of the solar panel are facing the same direction during automatic travel.

2. During autonomous driving, the system is configured to repeatedly move in a straight line and turn, The paddy field weeding device according to claim 1, characterized in that it is configured to move in a straight line and rotate so that the direction of the sun calculated by the sun direction calculation unit and the elevation direction of the solar panel are in the same direction, and then reverse the screw so that it moves backward so that the direction of the sun calculated by the sun direction calculation unit and the elevation direction of the solar panel are in the same direction.

3. During autonomous driving, the system is configured to repeatedly move in a straight line and turn, A work efficiency-prioritizing driving system that determines the straight-line direction according to the shape of the field, The paddy field weeding device according to claim 1, characterized in that it is configured to select and execute a power generation efficiency-prioritizing driving mode that determines the direction of straight movement so that the direction of the sun calculated by the sun direction calculation unit and the elevation direction of the solar panel face the same direction.

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