Rice cultivation system and rice cultivation method

Abstract

To provide a future type farm work support robot system which achieves rice culture by labor force equal to or less than labor force required for large scale farm work in a flatland, for achieving persistence of rice culture in a secluded place in the mountain.SOLUTION: There is provided a rice culture system comprising: a rail 10 arranged in the surrounding of a rice field F; and rice culture robots 21, 22 capable of self traveling along the rail 10, where the rice culture robots 21, 22 comprise robot arms 21a, 22a, respectively. In the system, by using the robot arms 21a, 22a, a plurality of work processes in the rice culture can be executed. The system is configured so that almost all of various work processes which were performed by rice farmers, in prior arts, the rice culture robots 21, 22 self traveling along the rail 10, can execute full automatically or semi automatically. Therefore, without preparing a machine or a robot for each work process, rice culture can be executed while saving labor, efficiently, at less cost.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a rice cultivation system for reducing labor in rice cultivation. The present invention also relates to a rice cultivation method using the rice cultivation system. [Background technology]

[0002] The number of people working in agriculture in Japan is decreasing year by year, and the labor shortage is particularly noticeable in the field of rice cultivation. Many current rice farmers are considering quitting farming due to the heavy physical burden of the job. For this reason, there is an urgent need to introduce so-called smart agriculture to reduce labor, automate, and streamline rice cultivation.

[0003] In light of this situation, various manufacturers have been proposing rice transplanters (for example, the rice transplanter 1 described in Patent Document 1) and combine harvesters (for example, the combine harvester 1 described in Patent Document 2) with automatic operation functions. However, since operating rice transplanters and combine harvesters is a task that involves relatively little physical strain among the various tasks in rice cultivation, automating these tasks does not sufficiently reduce the burden on farmers. In conventional rice cultivation, the major burden on farmers is rather the processes other than rice planting, tilling, and harvesting, such as "carrying seedling boxes," "arranging seedling boxes," "cutting ridges," "spreading fertilizer," and "spraying pesticides."

[0004] In this regard, Patent Document 3 describes an equipment that performs "seedling box transportation" using a belt conveyor and a robot. In this equipment, seedling boxes C sown in a seeding equipment 41 (see FIG. 10 in the same document) are transported to positions A1 and A2 by a seeding seedling box supply conveyor 2 as shown in FIG. 1 in the same document. Next, a seeding seedling box stacking robot 8 lifts up the seedling boxes C at positions A1 and A2 and transfers them to a seedling box discharge conveyor 4 adjacent to the seeding seedling box supply conveyor 2. The seedling boxes C transferred to the seedling box discharge conveyor 4 are transported to the end of the seedling box discharge conveyor 4, and then transported to a germination chamber 48 by a forklift as shown in FIG. 10 in the same document, and arranged in the germination chamber 48. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-097678 [Patent Document 2] JP 2021-185852 A [Patent Document 3] JP 2015-226508 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the equipment described in Patent Document 3, despite the high cost of introduction, still could not sufficiently reduce the burden on rice farmers. This is because, although the equipment may be able to automatically perform the work of sowing seeds into the seedling boxes C in the seeding equipment 41 and the work of transporting the seedling boxes C from the seeding equipment 41 to the end of the seedling box carrying conveyor 4 after sowing, the work of transporting the seedling boxes C to the germination chamber 48 with a forklift and the "seedling box arrangement" of unloading the seedling boxes C from the forklift and arranging them in the germination chamber 48 must be performed by humans. And if new robots or machines are introduced to automate these tasks, the costs will increase even more. In other words, if a robot or machine is prepared for each work process as in the same document, it will cost a huge amount of money to save labor in the entire rice cultivation.

[0007] In addition, more than 40% of rice-growing land in Japan is not in plains but in mountainous areas, and many of them are operated by small-scale rice farmers. For such small-scale farmers, there is very little benefit in introducing large-scale equipment such as that described in Patent Document 3. In addition, such small-scale farmers often do not have the land or funds to introduce large-scale equipment. However, if rice cultivation in mountainous areas is left unattended without being made smart and eventually becomes abandoned farmland, rice production in Japan will suffer fatal damage. Therefore, in order to make rice cultivation in mountainous areas sustainable, it is necessary to realize market-in smart agriculture that can meet the expectations of small-scale farmers and make it possible to cultivate rice with the same or less labor force as large-scale agriculture in plains.

[0008] The present invention has been made to solve the above problems, and aims to provide a rice cultivation system that can efficiently reduce the labor required for rice cultivation at low cost and that can be easily introduced to small-scale rice farmers in mountainous areas. Another object of the present invention is to provide a rice cultivation method using this rice cultivation system. [Means for solving the problem]

[0009] The above issues are: Rails are installed around the rice fields (ridges), A rice farming robot capable of self-propelling along the rails; Equipped with The rice cultivation robot has a robotic arm and can perform multiple work processes in rice cultivation using the robotic arm. Rice Cultivation System This is solved by providing

[0010] As will be explained in detail later, in this rice cultivation system, various work processes in rice cultivation (such as "weeding on the ridges," "spreading fertilizer," "spraying pesticides," etc.) that were previously performed by rice farmers themselves can be performed fully or semi-automatically by the rice cultivation robot. This means that there is no need to prepare a machine or robot for each work process, making rice cultivation more efficient and labor-saving at low cost. Here, "semi-automatically" means that work processes are performed by humans and the rice cultivation system sharing or collaborating with each other. The same applies hereinafter.

[0011] In the above rice cultivation system, it is preferable that the rails are also installed along the seedbed, and the rails are connected between the portion installed around the rice field and the portion installed along the seedbed, so that the rice cultivation robot can move between the portion around the rice field and the portion along the seedbed. This allows the rice cultivation robot to perform various tasks in the seedling raising process, such as "carrying seedling boxes", "arranging seedling boxes", and "watering seedlings", fully or semi-automatically. Therefore, there is no need to prepare a separate large-scale device for seedling raising, and rice cultivation can be made more labor-saving at a lower cost. Here, "interconnecting" one part and another part of the rail includes both the case where the one part and another part are "continuous" and the case where the one part and another part are "not continuous but directly or indirectly connected". The same applies hereinafter.

[0012] In the above rice cultivation system, it is preferable that the rails are also provided at locations along the seeding field for sowing seeds into seedling boxes, and that the portions of the rails provided around the rice field, along the seedbed, and along the seeding field are connected or linked to each other, so that the rice cultivation robot can move between the periphery of the rice field, the locations along the seedbed, and the locations along the seeding field. This allows the rice cultivation robot to perform tasks such as "sowing" fully or semi-automatically, and also smoothly transport seedling boxes that have been "sowed" to the seedbed N as they are. Therefore, there is no need to prepare separate large-scale equipment for these tasks, and rice cultivation can be made more labor-saving at a lower cost. The seeding field may be provided in the open field, but it is preferable to provide it inside a building or the like, as described later.

[0013] In the above rice cultivation system, it is preferable to further include a transport cart that can move along the rails independently of the rice cultivation robot and can carry and transport the transported object. This makes it possible to carry out, for example, a work process that requires the transportation of a large amount of luggage more efficiently.

[0014] The above rice cultivation system may be provided with only one rice cultivation robot. However, it is preferable to provide a first rice cultivation robot and a second rice cultivation robot that can move independently. This allows the two rice cultivation robots to work together, for example by having the first rice cultivation robot and the second rice cultivation robot hold both ends of a long powder spreader that is several meters to several tens of meters long and spray the powder. Therefore, even work that is difficult to perform automatically with a single rice cultivation robot can be performed fully or semi-automatically.

[0015] In the above rice cultivation system, it is preferable that the rice cultivation robot has movable support legs, and the support legs are not in contact with the ground when the rice cultivation robot is moving, and are in contact with the ground when the rice cultivation robot is stopped, so that the rice cultivation robot can be stabilized. This allows the rice cultivation robot to be structured so that it can stand on its own when the support legs are in contact with the ground. Therefore, the rice cultivation robot can be made less likely to wobble, for example, when operating a heavy object.

[0016] In the above rice cultivation system, it is preferable to provide a transport pipe that can transport liquid, solid, or gaseous materials along the rail. This makes it possible to easily transport, for example, fertilizers, pesticides, etc., together with water to the surroundings of the rice paddy or into the field. In addition, harvested rice can be transported directly from the field to the rice threshing dryer by air transport.

[0017] In the above rice cultivation system, the types of work processes that the rice cultivation robot can perform are not particularly limited. The multiple work processes can include, for example, a ridge weeding process for weeding the ridges around the rice field, and a power spraying process or power spraying process for spraying or spraying fertilizer or pesticide on the rice field.

[0018] As the material for the rails, it is possible to use cheap iron to keep costs down, but in that case, there is a risk that it will be difficult to increase the durability of the rails. For this reason, it is preferable to use stainless steel as the material for the rails. This will dramatically improve durability, and the depreciation period of the rails can be extended to, for example, 50 years or more. Effect of the Invention

[0019] As described above, the present invention makes it possible to provide a rice cultivation system that can efficiently reduce the labor required for rice cultivation at low cost and that can be easily introduced to small-scale rice farmers in mountainous areas. It also makes it possible to provide a rice cultivation method using this rice cultivation system. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing a schematic diagram of an entire rice cultivation system according to an embodiment of the present invention. [Diagram 2] A diagram showing a first rice farming robot, a second rice farming robot, and a transport cart. [Diagram 3] This is a diagram showing a portion of the rails arranged around a rice field. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA in FIG. [Diagram 5] FIG. 2 is an enlarged view of an intersection of rails. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Preferred embodiments of the present invention will be described in more detail with reference to the drawings. However, the technical scope of the present invention is not limited to the embodiments described below.

[0022] 1. Overview Fig. 1 is a schematic diagram showing the entire rice cultivation system of this embodiment. As shown in Fig. 1, the rice cultivation system of this embodiment includes a rice field F, a seedbed N, rails 10, rice cultivation robots (a first rice cultivation robot 21 and a second rice cultivation robot 22), a transport cart 30, and a building 40. The rails 10 are arranged around the rice field F, along the seedbed N, and inside the building 40. The rails 10 surrounding the rice field F, the rails 10 arranged along the seedbed N, and the rails 10 inside the building 40 are continuous or connected to each other. Within the building 40, there is a space 41 for transporting agricultural materials, etc., a seeding area 42 for sowing seeds into seedling boxes, and a storage area 43 for storing agricultural materials, etc., and the rails 10 within the building 40 are arranged along the space 41 for transporting agricultural materials, the seeding area 42, and the storage area 43.

[0023] The first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30 can move independently along the rails 10. Therefore, the first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30 can freely move between the periphery of the rice field F, the area along the seedbed N, and the inside of the building 40 (the area along the loading and unloading space 41, the area along the seeding field 42, and the area along the storage section 43), and as described below, many work processes in rice cultivation can be performed fully or semi-automatically (hereinafter, sometimes simply expressed as "performed automatically" or "automated"). Therefore, even if there is no need to prepare individual automatic devices for each work process, by connecting each farm work area with rails, it is possible to automate almost all work processes and perform most of them completely unmanned.

[0024] The rice cultivation system of this embodiment further includes a control unit (not shown). This control unit is for controlling the first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30. The first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30 are each equipped with a real-time kinematic (RTK) GPS, and the control unit is able to receive position information from these. This allows the control unit to grasp the positions of the first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30 with high accuracy. It is preferable that the control unit is equipped with artificial intelligence (AI), and all systems are operated by voice instructions from the farmer.

[0025] The rice field F may be a paddy field or a dry field, but in this embodiment, it is a paddy field. The rice field F shown in FIG. 1 is substantially rectangular, but the shape of the rice field F is not particularly limited. The rice field F surrounded by the rail 10 may be only one section (one sheet). In this embodiment, as shown in FIG. 1, each of the rice fields F of multiple sections is surrounded by the rail 10 that is continuous or connected to each other. This allows the first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30 to move around the multiple rice fields F, and various tasks in the multiple rice fields F can be automated. Therefore, one rice cultivation system can cover more fields, and cost performance can be improved. In FIG. 1, two sections of rice fields F are surrounded by the rail 10, but the rice fields F surrounded by the rail 10 may be three or more sections.

[0026] The rails 10 installed around the rice field F are not limited in the extent to which they are installed along the periphery of the rice field F. However, if the area in which the rails 10 are installed is too small, it may be difficult to adapt to a variety of tasks. For this reason, the rails 10 installed around the rice field F are preferably installed in more than 30% of the areas along the periphery of the rice field F, more preferably in more than 50%, and even more preferably in more than 70%. In this embodiment, as shown in FIG. 1, the rails 10 are installed in more than 90% of the areas along the periphery of the rice field F.

[0027] However, in this case, it may be difficult for agricultural vehicles such as tractors and combines to enter and exit the rice field F. For this reason, in this embodiment, as shown in FIG. 1, vehicle entrances α, β for allowing agricultural vehicles to enter and exit are provided in a part of the rail 10 surrounding the rice field F. The specific configuration of the vehicle entrances α, β is not particularly limited. The vehicle entrances α, β may be formed by not providing the rail 10 on a part of the periphery of the rice field F, for example, as in the vehicle entrance α shown in FIG. 1. Alternatively, as in the vehicle entrance β shown in FIG. 1, a part of the rail 10 may be configured to be removable or flip-up, so that it is formed only when necessary. In this case, the work of removing or flipping up a part of the rail 10 can be performed automatically by, for example, rice cultivation robots 21, 22.

[0028] The seedbed N may be formed either in the open field or in a greenhouse. When the seedbed N is formed in a greenhouse, the rail 10 is also disposed in the greenhouse. The building 40 shown in FIG. 1 is a single-story building, but the building 40 may have a multi-story structure. In this case, it is preferable to provide the storage section 43 on the second or higher floor.

[0029] 2. Rice farming robot FIG. 2 is a diagram showing the first rice cultivation robot 21, the second rice cultivation robot 22, and the transport cart 30. The number of rice cultivation robots used in the rice cultivation system is not particularly limited, and may be only one. However, some tasks in rice cultivation may be difficult to automate with only one rice cultivation robot. For this reason, it is preferable that the number of rice cultivation robots is two or more. However, if the number of rice cultivation robots is too large, the cost may increase. For this reason, it is preferable that the number of rice cultivation robots is four or less, and more preferably three or less. In this embodiment, two rice cultivation robots, the first rice cultivation robot 21 and the second rice cultivation robot 22, are used as rice cultivation robots.

[0030] As shown in FIG. 2, the first rice farming robot 21 includes a robot arm 21a, a robot support 21b for supporting the robot arm 21a, and a holding means 21c for holding the robot support 21b on the rail 10. The holding means 21c is provided with a driving means (not shown), and the first rice farming robot 21 can move on the rail 10 by itself using the driving force of the driving means. Various types of attachments can be attached to the tip of the robot arm 21a depending on the work content. Note that "attaching an attachment to the tip of the robot arm" also includes a case where a robot hand is provided to the tip of the robot arm 21a and the robot hand grasps and holds an attachment tool. The same applies hereinafter.

[0031] The method by which the robot support part 21b supports the robot arm 21a is not particularly limited. The robot support part 21b in this embodiment is formed in the shape of a table having a substantially flat upper surface, and supports the robot arm 21a by loading and fixing the robot arm 21a on the upper surface. The relative positional relationship between the robot support part 21b and the holding means 21c is also not particularly limited. In this embodiment, the holding means 21c is provided below the robot support part 21b.

[0032] The specific type of the robot arm 21a of the first rice farming robot 21 is not particularly limited. It is preferable to adopt a vertical articulated robot as the robot arm 21a. This makes it easier to flexibly adapt to various tasks. In this case, the number of axes of the vertical articulated robot is not particularly limited. Considering the balance between cost and task adaptability, it is preferable that the number of axes of the vertical articulated robot is 5 axes or more and 7 axes or less. In this embodiment, a 6-axis vertical articulated robot is adopted as the robot arm 21a of the first rice farming robot 21.

[0033] The maximum arm length (hereinafter, sometimes simply referred to as "arm length") and maximum payload (hereinafter, sometimes simply referred to as "payload") of the robot arm 21a of the first rice-farming robot 21 are not particularly limited. However, if the arm length is too short, it may be difficult to adapt to various tasks. For this reason, the arm length of the robot arm 21a is preferably 1000 mm or more, more preferably 1500 mm or more, and even more preferably 2000 mm or more. However, the price of the robot arm tends to increase as the arm length increases, and if the arm length of the robot arm 21a is too long, the cost may increase. For this reason, the arm length of the robot arm 21a is preferably 3000 mm or less, and more preferably 2500 mm or less. Also, if the payload of the robot arm 21a is too small, it is difficult to adapt to various tasks. On the other hand, if the payload is too large, the price of the robot increases, and the cost may increase. For this reason, the payload of the robot arm 21a is preferably about 5 to 50 kg, and more preferably about 10 to 30 kg.

[0034] The second rice farming robot 22, like the first rice farming robot 21, is equipped with a robot arm 22a, a robot support 22b, and a holding means 22c, and can move on the rails 10 by itself using a driving means (not shown) provided on the holding means 22c. Various types of attachments can be attached to the tip of the robot arm 22a. The configurations of the robot support 22b and the holding means 22c can be the same as those already described for the robot support 21b and the holding means 21c of the first rice farming robot 21, respectively.

[0035] The type of the robot arm 22a of the second rice cultivation robot 22 is not particularly limited. The robot arm 22a may have the same configuration as that already described for the robot arm 21a of the first rice cultivation robot 21. The robot arm 22a of the second rice cultivation robot 22 may be the same type as the robot arm 21a of the first rice cultivation robot 21, or may be a different type. In this embodiment, a six-axis vertical articulated robot is used as the robot arm 22a of the second rice cultivation robot 22.

[0036] The arm length and payload of the robot arm 22a of the second rice cultivation robot 22 may be similar to those of the robot arm 21a of the first rice cultivation robot 21. However, the second rice cultivation robot 22 in this embodiment employs a robot arm 22a having a shorter arm length than the robot arm 21a of the first rice cultivation robot 21. This makes it possible to keep costs lower. Even in this case, if tasks requiring a long arm length are concentrated in the first rice cultivation robot 21 and the second rice cultivation robot 22 supports the first rice cultivation robot 21, the work adaptability of the entire rice cultivation system can be maintained at a high level.

[0037] The first rice cultivation robot 21 and the second rice cultivation robot 22 may always be supported only by the rail 10. However, in this case, for example, when operating a very heavy weight, the first rice cultivation robot 21 and the first rice cultivation robot 22 may be easily wobbled. For this reason, although not shown in FIG. 2, the robot support parts 21b, 22b and the holding means 21c, 22c of the rice cultivation robots 21, 22 may be provided with movable (for example, foldable or extendable) support legs. When the rice cultivation robots 21, 22 move, the support legs are folded or contracted so that the support legs do not touch the ground. This makes it possible to prevent the support legs from interfering with the movement of the rice cultivation robots 21, 22. When the rice cultivation robots 21, 22 arrive at a place to perform work and stop, the support legs are extended and their tips are grounded. This makes it possible to make the rice cultivation robots 21, 22 self-supporting and less likely to wobble.

[0038] However, if the ground on which the support legs are to be grounded is muddy, it may be difficult to stabilize the rice farming robots 21, 22. For this reason, it is preferable to provide a robot scaffold for grounding the support legs at locations along the rail 10 where the rice farming robots 21, 22 may operate heavy objects. The material of the robot scaffold is not particularly limited, and it can be made of concrete, metal, resin, wood, etc., for example, but it is preferable to use concrete in terms of the balance between cost and strength. By grounding the support legs on this robot scaffold, the rice farming robots 21, 22 can be firmly stabilized regardless of the condition of the ground.

[0039] There is no particular limitation on the method of supplying power to the rice cultivation robots 21, 22. For example, a power generation cart (not shown) that can carry a generator and move along the rail 10, or a battery cart (not shown) that can carry a storage battery and move along the rail 10, or the like can be provided, and power can be supplied to the rice cultivation robots 21, 22 from these generators and storage batteries. In this case, it is preferable to also install an RTKGPS on the power generation cart or battery cart. Alternatively, as another power supply method, a power supply function can be added to the rail 10.

[0040] 3.Transport cart The transport cart 30 is for carrying and transporting objects (for example, soil, seedling boxes, fertilizer, pesticides, etc.). As shown in FIG. 2, the transport cart 30 in this embodiment is provided with a loading platform 31 for carrying the objects, and a holding means 32 for holding the loading platform 31 on the rail 10. The holding means 32 is provided with a driving means (not shown), and the transport cart 30 can move on the rail 10 by itself by the driving force of the driving means. The loading platform 31 is not particularly limited in shape. In this embodiment, the loading platform 31 is formed in a table shape having a substantially flat upper surface. This makes it easier for the rice farming robots 21 and 22 to load and unload the objects to be transported onto the loading platform 31. The position of the holding means 32 is not particularly limited, but in this embodiment, the holding means 32 is provided below the loading platform 31.

[0041] The transport cart 30 may be integrated with the first rice farming robot 21 or the second rice farming robot 22. In other words, the first rice farming robot 21 or the second rice farming robot 22 may be provided with a loading platform on which the transported object can be loaded.

[0042] 4. Rails FIG. 3 is a diagram showing a part of the rail 10 arranged around the rice field F. FIG. 4 is a cross-sectional view taken along line AA in FIG. 3. The rail 10 can be a multi-rail having two or more rails, but in this embodiment, as shown in FIG. 3, it is a monorail having only one rail. This reduces the restrictions on the installation location of the rail 10. It also makes it easier to install and maintain the rail 10. The rail 10 in this embodiment is formed in a tubular shape having a hollow portion 10a. This allows the rail 10 to be made lighter.

[0043] The method of installing the rail 10 is not particularly limited. For example, the rail 10 can be installed by placing it directly on the ground G (in contact with the ground G). However, in this case, the rail 10 may be covered with soil or entangled with grass, which may cause problems in the movement of the rice farming robots 21, 22 and the transport cart 30. In addition, the rail 10 is likely to undulate up and down along the unevenness of the ground G, which may cause the transport cart 30 to sway when it moves on the rail 10, which may cause the load loaded on the transport cart 30 to fall off. For this reason, in this embodiment, the rail 10 is supported at a position higher than the ground G (in a state not in contact with the ground G) by the rail support means 11 intermittently provided along the rail 10. This makes it possible to prevent the rail 10 from being covered with soil or entangled with grass. In addition, even if the ground G is uneven, the rail 10 can be easily kept approximately horizontal. Furthermore, by providing the rail support means 11, it becomes easier to install the rails 10 not only on the upper surface of the ridge but also on the slopes, which has the advantage of making it easier to accommodate a variety of rice paddies in mountainous areas.

[0044] The specific configuration of the rail support means 11 is not particularly limited. As shown in FIG. 3, the rail support means 11 in this embodiment is formed in a long and thin rod shape and is erected substantially vertically on the ground G. The rail 10 is supported from below by the upper end of the rail support means 11. The method of erecting the rail support means 11 on the ground G is also not particularly limited. In this embodiment, as shown in FIG. 4, the rail support means 11 is erected by burying the lower part of the rail support means 11 in the ground G. Since the lower end of the rail support means 11 is provided with a sharp pointed part 11a, the lower part of the rail support means 11 can be easily buried by driving the rail support means 11 into the ground G like a stake.

[0045] In the case where the rod-shaped rail support means 11 is buried and erected, the length W1 (FIG. 4) of the part of the rail support means 11 buried in the ground G in the approximately vertical direction is not particularly limited. However, if the length W1 is too short, the rail support means 11 may be easily wobbly and may not be able to stably support the rail 10. For this reason, the length W1 is preferably 50 cm or more, more preferably 70 cm or more. On the other hand, if the length W1 is too long, the work of driving the rail support means 11 into the ground G may be difficult. For this reason, the length W1 is preferably 150 cm or less, more preferably 120 cm or less. In this embodiment, the length W1 is set to about 100 cm. When the rail 10 is arranged in the building 40, in addition to the method of burying the lower part of the rail support means 11 in the floor, a method of fixing the lower part of the rail support means 11 to a base member (for example, a weight placed on the floor) arranged near the floor surface may also be adopted.

[0046] The material of the rail 10 is not particularly limited. The rail 10 can be made of, for example, metal, resin, etc. From the viewpoint of strength, it is preferable to make the rail 10 of metal. It is preferable to adopt a type of metal that is not easily corroded. For example, stainless steel, aluminum alloy, titanium alloy, nickel alloy, etc. can be adopted as the metal. The rail 10 in this embodiment is made of stainless steel and has high strength and corrosion resistance. This can extend the service life of the rail 10, and the rail 10 can be used not only as a tool but also as an asset.

[0047] As shown in FIG. 1, the rail 10 in this embodiment has an intersection γ. FIG. 5 is an enlarged view of the intersection γ of the rail 10. The intersection γ is provided with a switching mechanism for switching the connection state of the rail 10 at the intersection γ. The specific configuration of the switching mechanism is not particularly limited. As shown in FIG. 5, the switching mechanism in this embodiment includes a switching member 10b supported in a state in which it can rotate around a substantially vertical axis L1. The switching member 10b is formed in a rod shape having a cross section substantially the same as that of the rail 10, and both ends of the switching member 10b can be connected to the rail 10. By rotating the switching member 10b as shown by the double-headed arrow in FIG. 5, the connection state of the rail 10 at the intersection γ can be switched. In addition, when the switching member 10b is switched (rotated) with the rice cultivation robots 21, 22 and the transport cart 30 on the switching member 10b, it is also possible to switch the traveling direction of the rice cultivation robots 21, 22 and the transport cart 30. A positioning means is provided at the connecting portion γ1 between the switching member 10b and the rail 10 to align the end of the switching member 10b with the end of the rail 10. In this embodiment, as the positioning means, a permanent magnet is attached to one of the end of the switching member 10b and the end of the rail 10, and a permanent magnet or a magnetic body is attached to the other, and the connecting portion γ1 is aligned by magnetic force.

[0048] The method of switching (rotating) the switching member 10b is not particularly limited. In this embodiment, the switching member 10b can be switched by the robot arms 21a, 22a of the rice cultivation robots 21, 22. This allows the switching member 10b to be automatically switched without a separate power source or control device for the switching member 10b. In addition, the rice cultivation robots 21, 22 support the switching of the transport cart 30 and the power generation cart. However, when there is an intersection γ that requires frequent switching, it may be inefficient to have the rice cultivation robots 21, 22 switch each time. In this case, it is preferable to use an actuator such as an electric, pneumatic, or hydraulic actuator as a means for switching such a switching member 10b.

[0049] The rail 10 in this embodiment also has a branching portion δ (FIG. 1). The branching portion δ is also provided with a switching mechanism (not shown) similar to the switching mechanism at the intersection γ.

[0050] 5.Transport pipe In this embodiment, as shown in FIG. 3, a transport pipe 12 is provided along the rail 10. This transport pipe 12 is for transporting the transported object along the rail 10. Although only one transport pipe 12 is provided in FIG. 3, two or more transport pipes 12 may be provided. The installation method of the transport pipe 12 is not particularly limited. As shown in FIG. 4, the transport pipe 12 in this embodiment is firmly fixed to the rail support means 11, and its lower surface is in contact with the ground G (ridge). This makes it difficult for the rail support means 11 to sink into the ground G even if a heavy object passes over the rail 10. In other words, the transport pipe 12 also functions as a foundation to prevent the rail support means 11 from being buried. As the foundation of the rail support means 11, a foundation made of concrete or the like is usually provided below the rail support means 11, but by using the transport pipe 12 as the foundation, it is not necessary to provide a concrete foundation, and therefore the cost can be reduced. From the viewpoint of enhancing the function as a foundation, it is preferable that the transport pipe 12 is grounded to the ground over as large an area as possible.

[0051] The method of fixing the transport pipe 12 to the rail support means 11 is not particularly limited. In this embodiment, as shown in FIG. 3, the transport pipe 12 is fixed to the rail support means 11 using a transport pipe fixing device 12a (U-bolt and metal plate in the example of FIG. 3) that can be tightened or loosened. This allows the vertical height of the transport pipe 12 relative to the rail support means 11 to be freely adjusted. Therefore, even if the ground G is uneven, the transport pipe 12 can be easily aligned with the ground G. In addition, it is also possible to readjust the height of the transport pipe 12 after installation. A wedge-shaped member may be driven between the rail 12 and the transport pipe fixing device 12a to increase the fixing force of the transport pipe fixing device 12a.

[0052] The type of the transported object transported by the transport pipe 12 is not particularly limited. The transported object can be a liquid, solid, or gas, or a mixture of at least two of these. Examples of liquid transported objects include water, liquid fertilizer, and liquid pesticides. Examples of solid transported objects include compost, compost, soybean waste, rice husks, and rice husk charcoal. When transporting solid transported objects, the transported object can be blown or sucked up in the transport pipe 12 using air pressure from a roots blower or turbo blower (not shown). This makes it possible, for example, to directly feed rice grains immediately after harvesting into the dryer, and the harvesting work that previously required two or more people can now be done by one person.

[0053] The transport pipe 12 is provided with a transported object outlet 13 for taking out the transported object. By connecting a sprinkler, sprayer, or spreader to this transported object outlet 13, water, fertilizer, rice husks, and the like transported through the transport pipe 12 can be spread on the rice field F (the rice growing there) in FIG. 1. Only one transported object outlet 13 may be provided on one transport pipe 12, but typically multiple transported object outlets 13 are provided at intervals. The transport pipe 12 and the transported object outlet 13 may be provided not only in the portion of the rail 10 arranged around the rice field F, but also in the portion along the seedbed N. This allows the water, fertilizer, and the like transported through the transport pipe 12 to be spread on the seedbed N (the seedlings growing there).

[0054] The transported object removal port 13 in FIG. 3 is provided with a transported object removal valve 13a. By opening and closing this transported object removal valve 13a, removal of the transported object from the transported object removal port 13 can be started and stopped. The transported object removal valve 13a may be an automatic valve such as an electric valve, but in that case, the equipment itself is expensive and it is necessary to prepare a power source and a control signal for opening and closing the transported object removal valve 13a, which results in huge costs. In addition, the structure of the transported object removal valve 13a becomes complicated and the frequency of breakdowns increases. For this reason, it is preferable to adopt a non-electric valve (for example, a general manual valve) that can be opened and closed by the robot arms 21a, 22a of the rice farming robots 21, 22 as the transported object removal valve 13a. This allows the transported object removal valve 13a to be automatically opened and closed without the need for a separate power source and control device. In addition, the structure of the transported object removal valve 13a can be simplified.

[0055] Although not shown in the figure, a transported object input port is provided in a portion of the transport pipe 12 arranged around the rice field F, for inputting transported objects into the transport pipe 12. A transported object input device (e.g., a hopper, etc.) can be connected to this transported object input port. This allows, for example, rice harvested by a combine to be input into the transport pipe 12 using the transported object input device, and then transported to a rice dryer through the transport pipe 12. Therefore, even if the harvested rice does not need to be transported in a separate container or the like, the entire process from transporting the harvested rice to inputting it into the dryer can be carried out completely unmanned and fully automatic.

[0056] 5.How to use When using the rice cultivation system of this embodiment, first, the rice cultivation robots 21, 22 and the transport cart 30 are taught. This allows the programs required to make the rice cultivation robots 21, 22 and the transport cart 30 perform specific tasks to be stored in a control unit (not shown). Teaching can also be offline teaching. However, since the shapes of rice fields F and seedbeds N are often indefinite, it is preferable to use online teaching, which is performed while actually moving the rice cultivation robots 21, 22 and the transport cart 30 using a teaching pendant. Alternatively, a method of performing online teaching after performing a simulation offline in advance is also preferable. For this reason, it is preferable to select the first rice cultivation robot 21 and the second rice cultivation robot 22 that are capable of online teaching.

[0057] There is no particular limitation on the method of instructing the rice cultivation robots 21, 22 and the transport cart 30 after the teaching. For example, the work instructions may be given by manually operating an electronic terminal such as a smartphone or tablet that can directly or indirectly communicate with the control unit (not shown). However, in this case, there is a risk that the instructor cannot give work instructions when his / her hands are full (for example, when the instructor is also working). For this reason, it is preferable that the rice cultivation robots 21, 22 and the transport cart 30 are provided with a smart microphone and a smart speaker that can directly or indirectly communicate with the control unit (not shown) to enable work instructions by voice. This allows the instructor to give work instructions in a timely and easy manner even when his / her hands are full.

[0058] 6. Working example Due to the above-mentioned configuration, the rice cultivation system of this embodiment can perform a plurality of work processes in rice cultivation fully or semi-automatically. For example, in the "unloading" process, the first rice cultivation robot 21 transfers agricultural materials (e.g., seedling soil, fertilizer, etc.) that have been purchased by a human and transported to the loading / unloading space 41 in the building 40 (FIG. 1) by a light truck or the like from the loading platform of the light truck to the transport cart 30. In the following "storage" process, the transport cart 30 transports the agricultural materials to the vicinity of the storage section 43 of the building 40, and the first rice cultivation robot 21 unloads the agricultural materials from the transport cart 30 and stores them in the storage section 43. In the "removal" process, the first rice cultivation robot 21 loads the agricultural materials stored in the storage section 43 onto the transport cart 30, and the transport cart 30 transports the agricultural materials to a predetermined location. In this way, when using the rice cultivation system of this embodiment, there is no need for humans to lift or carry heavy agricultural materials, etc., so the physical burden on farmers can be effectively reduced. At this time, it is desirable to fully utilize the smart microphones and smart speakers of the rice cultivation robots 21, 22 and the transport cart 30, as well as the AI ​​functions of the control unit, to enable inventory management by asking the robots about the names, quantities, receipt dates, expiration dates, suppliers, images, etc. of the products in stock, and by having the robots request tasks (photographing, etc.) from the farmers.

[0059] In the "seeding work" of sowing rice seeds in seedling boxes, a seeding machine 42a placed in a seeding field 42 in a building 40 is used. The materials used in the "seeding work", such as empty seedling boxes, fertilizer, and seedling soil, are transported by the transport cart 30 to the vicinity of the seeding machine 42 by the "unloading from the warehouse" process described above, and the first rice farming robot 21 temporarily places them around the seeding machine 42a. (The arrangement at this time is stored by a control unit (not shown).) The first rice farming robot 21 holds the temporarily placed materials in a lifted state, and a human being sets them in the seeding machine 42a at the request of the robot by voice (for example, a human being takes seedling boxes out of a box and sets them in a predetermined position, or a human being cuts a bag with a knife or the like and puts seedling soil into the hopper of the seeding machine). The setting of the rice seeds in the seeding machine 42a may be performed by a human being alone or by the first rice farming robot 21. After the "sowing operation", the seeded seedling boxes may be immediately lined up on the seedbed N, or may be placed in a germination machine (not shown) to germinate the seeds and then lined up on the seedbed.

[0060] In the "first seedling box transport" process, the first rice cultivation robot 21 places the seedling boxes that have completed the sowing work on the transport cart 30, and the transport cart 30 transports them near the seedbed N. In the subsequent "sown seedling box arrangement" process, the first rice cultivation robot 21 takes the seedling boxes off the transport cart 30 one by one or several by one and arranges them on the seedbed N. There is no limitation on the attachment attached to the first rice cultivation robot 21 at this time, but a suction-type attachment (not shown) is used in this case. Among the various work processes in rice cultivation, this seedling box arrangement is a work that places a particularly large physical burden on the farmer. In the rice cultivation system of this embodiment, this seedling box arrangement can be completely automated, so the burden on the farmer can be greatly reduced. In addition, it becomes easy to accurately grasp the placement location of each seedling box, which makes it easy to investigate not only the type of seed but also the growth state of seeds with different conditions such as salt water selection, soaking, germination, dehydration, and drying.

[0061] The first rice cultivation robot 21 and the second rice cultivation robot 22 work together to "lay the seedling sheet" and "remove the seedling sheet." A resin sheet is laid over the sown seedling boxes arranged in seedbed N to keep them warm and moist. A human holds the tip of the sheet at the starting point of seedbed N, while the two rice cultivation robots support both ends of the sheet winding roll, rewinding the sheet while measuring the tension, and performing the sheet laying work. In the seedling sheet removal work, a human fixes the sheet to the winding roll, and then the two rice cultivation robots work together to wind it up while measuring the tension. At this time, by making the diameter of the winding roll wider toward the center than at both ends, meandering and wrinkles in the sheet can be improved.

[0062] In the "seedling watering" process, the first rice cultivation robot 21, which is equipped with a seedbed watering attachment (not shown), waters the seedlings in the seedling boxes arranged in the seedbed N. The water used here may be transported by the transport pipe 12 (Fig. 3) and taken out from the transported object outlet 13 (Fig. 3), but fertilizer and pesticides can be sprayed at the same time by carrying a powered sprayer and a water tank on the transport cart 30. In the "seedling rolling" process, the first rice cultivation robot 21, which is equipped with a roller attachment (not shown), rolls the seedlings in the seedbed N. This makes the seedlings stronger. In the "seedling growth inspection" process, the first rice cultivation robot 21, which is equipped with a seedling sensor attachment (not shown), inspects the growth of the seedlings in the seedbed N. As the sensor attachment, for example, a camera attachment (for inspecting growth by image), a non-contact sensor attachment (for inspecting seedling height), an infrared sensor attachment (for inspecting seedling surface temperature), etc. can be used.

[0063] In the "second seedling box transportation" process, the first rice cultivation robot 21 places the seedling boxes that have finished growing in the seedbed N on the transport cart 30, and the transport cart 30 transports them near the rice field F. At this time, the seedlings are inserted into a dedicated seedling storage box (not shown) and loaded onto the cart. In the following "seedling loading" process, the first rice cultivation robot 21 removes the seedling storage box from the transport cart 30 and loads it onto a rice planter (not shown) in the rice field F (FIG. 1). After that, a human drives the rice planter to plant the rice. Before the seedlings run out during rice planting, the cart 30 is stopped at the most efficient location and the rice planter is stopped next to the transport cart 30. Then, the first rice cultivation robot 21 moves the empty seedling boxes from the rice planter to the transport cart 30, and loads new seedling storage boxes from the transport cart 30 onto the rice planter. In this way, the first rice cultivation robot 21 can lift heavy seedling storage boxes and reduce the physical burden on the farmer, while the rice transplanter, which is not a big burden for the farmer, can be operated by a human, which can reduce costs and labor efficiently. Of course, in the future, the rice transplanter will also be fully automated.

[0064] In the "power spray" process, the first rice cultivation robot 21, equipped with a spray attachment, sprays liquid fertilizers and pesticides on the rice field F. At this time, the power sprayer and water tank are placed on the transport cart 30 used for "seedling watering". The rice cultivation robot prepares the necessary types and quantities of pesticides and fertilizers in advance from storage boxes stored in a designated place in the building 40. Following instructions from the rice cultivation robot, humans pour each fertilizer and pesticide into the water tank. The system measures the amount of water, and the appropriate amount is automatically poured in using a high-precision flow meter. At this time, the weight of each fertilizer and pesticide storage box is checked before and after use before and after the work of pouring into the water tank to check for human errors in the work.

[0065] In the "powered spraying" process, the first rice farming robot 21 holds one end of a long spraying attachment that crosses the rice field F, and the second rice farming robot 22 holds the other end, and sprays solid fertilizer, pesticides, etc., over the rice field F. Conventional backpack-type powered sprayers could only effectively spray granular fertilizers and pesticides, but the use of such a long spraying attachment makes it possible to use powdered fertilizers and pesticides, etc., which reduces the cost of fertilizers and pesticides, while also improving the effectiveness of the fertilizers and pesticides, etc. Also, the first rice farming robot 21 can operate the spray nozzle by placing the conventional backpack-type powered sprayer and large hopper on a transport cart 30.

[0066] In "transport pipe spreading," a hose is attached to the transported material outlet 13, and the first rice cultivation robot 21 and the second rice cultivation robot each operate the end of the hose by teaching, and the transported material transported by the transport pipe 12 is dispersed in the rice field F (Figure 1). For example, compost, bokashi, soybean waste, rice husks, rice husk charcoal, etc. can be used as the transported material to be dispersed at this time.

[0067] In the "rice field irrigation" process, water transported by a transport pipe 12 (Fig. 3) is taken out from a transported object outlet 13 and supplied to the rice field F. The timing and amount of irrigation are preferably determined automatically based on, for example, water level data of the rice field F measured by a first rice cultivation robot 21 equipped with a water level sensor attachment, weather forecast data obtained from the Internet, etc. Automatic water level gauges have become cheaper in recent years, so a water level gauge may be installed in each individual field.

[0068] In the "rice field drainage" process, the water in the rice field F is drained by opening a water gate installed at the drainage outlet (not shown) of the rice field F (FIG. 1) with the robot arms of the rice cultivation robots 21, 22. This makes it possible to automatically open and close the water gate without using an electric water gate (even if a non-electric water gate is used).

[0069] In the "rice field watering" process, rice cultivation robots 21, 22 equipped with rice field watering attachments water the rice fields F. This allows the rice to be cooled when it is overheated. The water used here is preferably transported by the transport pipe 12 and taken out from the transported material outlet 13. It is also preferable that the transported material outlet 13 is equipped with a device to assist in dispersion, such as a scrinkler.

[0070] In the "paddy recovery" process, paddy harvested by a combine is fed into the transport pipe 12 from a hopper-shaped transported material feeding device (not shown) connected to the transport pipe 12. The paddy fed into the transport pipe 12 is moved inside the transport pipe 12 by air pressure using suction means such as a roots blower or turbo blower (not shown) or air pressure supply, and is automatically transported to the paddy dryer. The hopper-shaped transported material feeding device is moved on a transport cart 30, and when in use, it is preferable that it has a structure in which it can stand on its own by extending its support legs, similar to the rice cultivation robots 21 and 22. At this time, it is preferable to utilize the first rice cultivation robot 21 equipped with a screw-shaped hand to assist in discharging paddy from the paddy hopper.

[0071] In the "ridge weeding" process, the first rice farming robot 21, fitted with a grass-cutting attachment, cuts the grass on the ridges. The structure of the grass-cutting attachment is not specified, but a clipper-like attachment was used this time. The slopes of the ridges are often uneven, and the shape varies from place to place, but by carrying out the teaching described above, it is possible to cut the grass while firmly aligning the grass-cutting attachment to the slope. (This also serves as a measure against harmful birds and animals, especially when carried out at night.)

[0072] In the "ditch cleaning" process, rice cultivation robots 21, 22 clean the ditches using two types of high-pressure water, one from a power spray and one from a transport pipe. If a large amount of soil and sand accumulates in the ditches, it becomes difficult to remove it automatically, so it is preferable to perform the "ditch cleaning" process frequently (especially at night, which also serves as a measure against harmful birds and animals). The shape of the ditches is often irregular, just like the shape of the slopes of the ridges, but by performing the teaching described above, ditch cleaning can be automated.

[0073] In the "bait rice pest suction" process, the roots blower, turbo blower, etc. used in the "husk recovery" process are used. Rice cultivation robots 21, 22 equipped with a suction attachment suck up the pests attached to the bait rice. The sucked up pests may be collected in a container attached to the suction attachment, but it is preferable to connect the suction attachment to a transport pipe 12 (Figure 3) and transport them through the transport pipe 12.

[0074] In the "harmful bird and animal extermination" process, a transport cart 30 carrying a cage containing a deterrent animal (such as a dog) travels around the rice fields F and seedbeds N. This makes it possible to more effectively prevent damage caused by harmful birds and animals than by setting up scarecrows, for example. This harmful bird and animal control method is particularly effective at night when scarecrows are difficult to see. [Explanation of symbols]

[0075] 10 Rail 10a Hollow part 10b Switching parts 11 Rail support means 11a Sharp part 12 Transport pipe 12a Transport pipe fixture 13 Transported object outlet 13a Valve for removing transported goods 21 First Rice Farming Robot 21a Robot Arm 21b Robot support part 21c Retaining means 22 Second rice farming robot 22a Robot Arm 22b Robot support part 22c Retaining means 30 Transport Cart 31 Cargo area 32 Holding means 40 Building 41 Loading / unloading space 42 Seeding field 42a Seeding machine 43 Storage area F. Inada N Nursery G ground α Vehicle entrance / exit β Vehicle entrance / exit γ Intersection γ1 connection part δ Branch

Claims

1. The rails surrounding the rice fields, A rice farming robot capable of self-propelling along the rails; Equipped with The rice cultivation robot has a robot arm and can perform a plurality of work processes in rice cultivation using the robot arm; The rice cultivation robot is equipped with a real-time kinematic GPS. A vehicle entrance / exit for agricultural vehicles to cross the rails and enter / exit the rice field is provided in a part of the rails surrounding the rice field, or is formed by not providing the rails in a part of the periphery of the rice field. Rice cultivation system.

2. The rails are also disposed at locations along the seedbed, The rails are connected to each other in the portion around the rice field and the portion along the seedbed, The rice-growing robot can move around the perimeter of the rice field and along the seedbed. The rice growing system according to claim 1 .

3. The rails are also provided at locations along the seeding field for sowing seeds into seedling boxes, The rails are connected to each other in the sections arranged around the rice field, along the seedbed, and along the seeding field, The rice farming robot can move around the rice field, along the seedbed, and along the seeding area. The rice cultivation system according to claim 2.

4. The rice cultivation system according to claim 1 , further comprising a transport cart capable of moving along the rails independently of the rice cultivation robot and capable of carrying and transporting an object to be transported.

5. The rice cultivation system according to claim 1, comprising a first rice cultivation robot and a second rice cultivation robot each capable of moving independently.

6. The rice cultivation robot has movable support legs, When the rice cultivation robot is moving, the support legs are not in contact with the ground. When the rice-growing robot is stopped, the support legs can be placed on the ground to stabilize the robot. The rice growing system according to claim 1 .

7. The rice cultivation system according to claim 1 , further comprising a transport pipe capable of transporting a liquid, solid or gaseous material along the rail.

8. The plurality of work steps include: a ridge weeding process for weeding the ridges around the rice fields; A power spray process or power spray process for spraying or scattering fertilizer or pesticides on rice fields; The rice growing system according to claim 1 .

9. A rice cultivation method using the rice cultivation system according to any one of claims 1 to 8.

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