paddy field weeding device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- ISEKI & CO LTD
- Filing Date
- 2024-01-19
- Publication Date
- 2026-07-31
Smart Images
Figure 0007898078000001 
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Abstract
Description
Technical Field
[0001] The present invention relates to a paddy field weeding device for weeding paddy fields.
Background Art
[0002] Conventionally, the duck farming method of releasing ducks into paddy fields for weeding has been known. However, due to the difficulty of managing organisms, in recent years, a paddy field weeding device (so-called, aigamo robot) that replaces ducks with robots has been known. For example, in Patent Document 1, a paddy field weeding device 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 arranged below the float body, stirs the mud at the bottom of the water, thereby inhibiting the photosynthesis of weeds underwater and suppressing their growth to perform weeding.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, the conventional paddy field weeding device is limited to the function of weeding paddy fields and lacks versatility. In addition, there are user needs to utilize the paddy field weeding device to further improve the convenience of work.
[0005] Therefore, the present invention has been made under such a background, and an object thereof is to provide a paddy field weeding device that can improve the versatility of the paddy field weeding device and the convenience of users.
Means for Solving the Problems
[0006] To achieve the above object, a first invention is, A paddy field weeding device that uses a screw to travel over the water in a paddy field and agitate the water to remove weeds, The paddy field weeding device comprises a hull for traveling on water, and the hull is equipped with a seedling loading section for placing seedling mats, a seedling planting section for planting seedlings in the paddy field, and a control device for controlling each section. The present invention provides a paddy field weeding device characterized in that the seedling loading section is equipped with a seedling mat transport mechanism that transports the placed seedling mats and supplies them to the seedling planting section.
[0007] According to the first invention described above, the seedling planting unit for planting seedlings in paddy fields improves the versatility of the paddy field weeding device and enhances user convenience. Furthermore, the seedling mat transport mechanism enables smooth planting of seedlings.
[0008] The second invention, in addition to the configuration of the first invention, The seedling planting unit comprises a transmission case housing a drive motor which is the drive source, a rotary case connected to the rotating shaft of the transmission case and rotated, and a pair of planting rods attached to the two eccentric support shafts of the rotary case, which remove seedlings from the seedling mat placed on the seedling support unit and plant them in the paddy field. The seedling planting device is characterized by being equipped with a reciprocating slide mechanism that slides the seedling planting device back and forth relative to the hull.
[0009] According to the second invention described above, in addition to the effects of the first invention described above, The seedling planting device can evenly (without bias) remove seedlings from the seedling mat, resulting in a stable planting operation and efficient planting.
[0010] The third invention, in addition to the configuration of the second invention described above, The seedling planting unit is characterized by being equipped with a seedling quantity adjustment mechanism for adjusting the amount of seedlings picked up by the seedling planting device.
[0011] According to the third invention described above, in addition to the effects of the second invention described above, the seedling quantity adjustment mechanism allows the amount of seedlings to be picked to the operator's desired level, thereby improving convenience.
[0012] The fourth invention, in addition to the configuration of any of the first to third inventions described above, The vessel is characterized by having an ultrasonic generator that irradiates ultrasonic waves into the water on the underside of the hull.
[0013] According to the fourth invention described above, in addition to the effects of any of the first to third inventions described above, it becomes possible to exterminate giant apple snails using an ultrasonic generator while simultaneously weeding.
[0014] The fifth invention is a paddy field weeding system comprising a paddy field weeding device according to the first invention, a water supply device for supplying water to a paddy field, and a system control unit configured to send and receive information via a network with the paddy field weeding device and the water supply device, The system control unit is configured to acquire information regarding the load value of the motor that drives the screw from the paddy field weeding device, and to control the water supply device to supply water to the paddy field when the acquired motor load value exceeds a predetermined threshold.
[0015] According to the fifth invention described above, in addition to the effects of the first invention described above, it is possible to effectively prevent the paddy field weeding device from running aground. [Effects of the Invention]
[0016] According to the present invention, it is possible to provide a paddy field weeding device that improves the versatility of the device and enhances user convenience. [Brief explanation of the drawing]
[0017] [Figure 1] Figure 1 is a perspective view of a paddy field weeding device according to a preferred embodiment of the present invention. [Figure 2] Figure 2 is an exploded perspective view of the paddy field weeding device shown in Figure 1. [Figure 3] Figure 3 is an exploded perspective view of the seedling tray in Figure 1. [Figure 4]Fig. 4(a) is a side view of the seedling receiving plate in Fig. 1, and Fig. 4(b) is a plan view of the same. [Figure 5] Fig. 5(a) is a side view of the reciprocating slide mechanism in Fig. 1, Fig. 5(b) is a plan view of the same, and Fig. 5(c) is a bottom view of the same. [Figure 6] Fig. 6(a) is a side view of the main part around the seedling taking amount adjusting mechanism 53 (extended state) in Fig. 1, and Fig. 6(b) is a side view of the main part around the same seedling taking amount adjusting mechanism 53 (contracted state). [Figure 7] Fig. 7 is a plan view of the main part around the seedling planting and planting device. [Figure 8] Fig. 8 is a side view of the main part of the same. [Figure 9] Fig. 9 is a block diagram centered on the control device of the paddy field weeding device. [Figure 10] Figs. 10(a) to 10(c) are explanatory diagrams for explaining the procedure of creating the resistance value map. [Figure 11] Fig. 11 is a schematic perspective view of the paddy field weeding system according to the embodiment of the present invention. [Figure 12] Figs. 12(a) and 12(b) are schematic side views of the paddy field weeding device according to another embodiment.
Embodiments for Carrying Out the Invention
[0018] <1. Overall Configuration of the Paddy Field Weeding Device> Regarding the embodiment specifically configured based on the above technical idea, the configuration of the paddy field weeding device 1 will be described below with reference to the drawings. Figure 1 is a perspective view of a paddy field weeding device 1 according to a preferred embodiment of the present invention, and Figure 2 is an exploded perspective view of the paddy field weeding device 1 of Figure 1. Note that known parts of the configuration of the paddy field weeding device 1 will not be described in detail, but please refer to, for example, Japanese Patent No. 7193817. In the following description, the paddy field weeding device 1 will be referred to simply as the "machine." Furthermore, for convenience of explanation, in the following description, the direction of the arrow X shown in Figure 1 will be defined as the "front" of the machine, the opposite direction as the "rear," the direction of the arrow Y perpendicular to the arrow X in the horizontal plane as the "left," the opposite direction as the "right," the direction of the arrow Z perpendicular to the arrow X in the vertical plane as the "up," and the opposite direction as the "down." Note that a paddy field refers to a field filled with water; therefore, in the following description, a paddy field will also be referred to as a field.
[0019] As shown in Figures 1 and 2, a paddy field weeding device 1 according to a preferred embodiment of the present invention includes a hull section 10 for traveling on water, and the hull section 10 is equipped with a positioning device 20 for acquiring the position information of the machine, a power generation unit 30 for generating electricity using sunlight, a seedling loading unit 40 for placing seedling mats M, a seedling planting unit 50 for planting seedlings in the field, and a control device C for controlling each unit. The following describes each component. For the sake of understanding, the power generation unit 30 is shown detached from the hull section 10 in Figure 1 as well.
[0020] The hull section 10 includes a float body 11 which is formed in a roughly rectangular plate shape by filling the inside with a buoyancy material such as sponge and covering its surface with a resin member. The float body 11 is able to travel on the water by the propulsion force of a screw propulsion mechanism 12 provided at its lower part.
[0021] The screw propulsion mechanism 12 allows the float body 11 (in other words, the paddy field weeding device 1) to move forward, backward, rotate left and right, and turn left and right by rotating a pair of left and right screws 12a, 12a, each having spiral blades formed along its longitudinal direction, using left and right screw motors 12m, 12m. The operation of the left and right screw motors 12m, 12m is controlled by a control device C, which will be described later.
[0022] The positioning device 20 is installed at an appropriate position on the upper surface of the float body 11 (for example, at a corner of the float body 11, as shown in the illustrated example). This positioning device 20 is equipped with a receiving antenna 21 that receives radio waves from GNSS satellites, thereby measuring position information (for example, including latitude and longitude information) indicating the current position of the paddy field weeding device 1. The positioning device 20 is also configured to include an orientation sensor (not shown) that measures the orientation of the paddy field weeding device 1, thereby measuring orientation information indicating the orientation of the paddy field weeding device 1. The position information and orientation information measured by this positioning device 20 are transmitted to the control device C, which will be described later, at predetermined time intervals. As a result, the control device C can calculate the position of the paddy field weeding device 1.
[0023] The power generation unit 30 consists of a solar panel 31 positioned above the float body 11 and a support member 32 that supports the solar panel 31 in a roof-like manner. Power is supplied to the charge controller 33 by the power generated by the solar panel 31, and the power supplied to the charge controller 33 is used to charge the battery 34 (see Figure 9). The battery 34 then supplies the necessary power to each part of the paddy field weed control device 1.
[0024] <2. Configuration of the seedling loading section 40> The seedling loading section 40 is located on the upper part of the float body 1 and includes a seedling platform 41 on which the seedling mat M is placed, and a seedling transport belt 42 for transporting the seedling mat M placed on the seedling platform 41. Thus, the seedling loading section 40 performs the function of transporting the seedling mat M placed on the seedling platform 41 by the seedling transport belt 42 and supplying it to the seedling planting section 50, which will be described later. Next, the seedling mat transport mechanism 40a that transports the seedling mat M placed on the seedling loading section 40 will be described in detail.
[0025] Figure 3 is an exploded perspective view of the seedling holder 40 shown in Figure 1. The seedling conveying belt 42 is an endless belt made of rubber or the like, formed to match the width of the seedling mat M (for example, about 28 cm). A drive shaft 43 is inserted through one end of the folded ends, and a driven shaft 44 is inserted through the other end, thereby tensing the belt. The drive shaft 43 and driven shaft 44 are inserted through mounting holes 45a of a rectangular frame-shaped support base 45 equipped with four legs, and are pivotally supported. In order to prevent slack in the seedling conveying belt 42, multiple driven shafts 44 may be provided.
[0026] One end of the drive shaft 43 has a pinion gear integrally formed with it, and this pinion gear and the pinion gear of the output shaft of the conveying motor m2 are wound around a pinion gear belt 46. As a result, when the conveying motor m2 is driven, the rotation of the drive shaft 43 causes the seedling conveying belt 42 to rotate, and the seedling mat M on the seedling conveying belt 42 is conveyed. The seedling mat M is set on the seedling conveying belt 42 in advance by the operator, and is supplied onto the seedling conveying belt 42 as needed during operation. The conveying motor m2 is, for example, a stepping motor, and is configured to convey the seedling mat M toward the seedling planting unit 50 (Y direction in Figure 3) by rotating a predetermined number of steps at predetermined time intervals in time with the timing of seedling planting by the seedling planting unit 50. More specifically, the seedling planting device 54, using a reciprocating slide mechanism 52, moves the seedling planting device 54 on the forward path of one reciprocating motion (because seedlings are removed from the seedling mat M in the width direction of the seedling mat M, creating a gap between the end of the plate portion 51a and the plate portion 51a), and then moves the seedling mat M a predetermined distance, bringing the end of the seedling mat M into contact with the end of the plate portion 51a. Subsequently, when the seedling planting device 54 moves on the return path of one reciprocating motion, it repeats the same operation of moving the seedling mat M a predetermined distance. This makes it possible to feed seedlings so that the end of the seedling mat M faces the seedling opening 51c in a good manner. As described above, the seedling mat conveying mechanism 40a is composed of a seedling conveying belt 42, a drive shaft 43, a driven shaft 44, a conveying motor m2, and a pinion gear belt 46. The seedling mat conveying mechanism 40a enables smooth seedling planting.
[0027] <3. Composition of the seedling planting section 50> The seedling planting section 50 includes a seedling receiving plate 51 that receives the ends of the seedling mat M, a seedling planting device 54 for planting seedlings in the field, a reciprocating slide mechanism 52 that slides the seedling planting device 54 back and forth relative to the float body 11 (hull section 10), and a seedling quantity adjustment mechanism 53 for adjusting the amount of seedlings picked by the seedling planting device 54. Each component will be described below.
[0028] Figure 4(a) is a side view of the seedling support plate 51 shown in Figure 1, and Figure 4(b) is a plan view of the same. As shown in Figures 4(a) and 4(b), the seedling receiving plate 51 comprises a plate portion 51a that receives and holds the end of the seedling mat M, and a support stay 51b that supports the plate portion 51a. The plate portion 51a is formed in a substantially L-shape in cross-section, and a seedling opening 51c is provided in a portion of the plate portion 51a that is cut out within a predetermined range, allowing the seedling planting device 54 to remove the seedlings from the held seedling mat M. The lower part of the support stay 51b is formed to bend toward the float body 11, and its tip is attached to a reciprocating slide mechanism 52, which will be described later, so that the seedling receiving plate 51 slides back and forth together with the seedling planting device 54.
[0029] Figure 5(a) is a side view of the reciprocating slide mechanism 52 of Figure 1, Figure 5(b) is a top view of the same, and Figure 5(c) is a bottom view of the same. The reciprocating slide mechanism 52 includes a slide stage 52b that can slide along the rail 52a, and the slide stage 52b is configured to clamp the rail 52a with bearing rollers 52c provided on its upper surface. A mounting opening 52d is formed on the side of the slide stage 52a to which the tip of the support stay 51b described above is attached and fixed. The rail 52a is fixed to the lower surface of the float body 11 by a fixing means such as a resin adhesive.
[0030] As the screw shaft 53e, which screws into and passes through the slide stage 52b, rotates, the slide stage 52b moves back and forth along the rail 52a, guided by the bearing roller 52c, in the front-rear direction as shown in Figure 1. The screw shaft 53e is configured to rotate in both forward and reverse directions when driven by the slide motor m3. This slide motor m3 is driven and controlled by the control device C, which will be described later, and this mechanism causes the slide stage 52b to slide back and forth. With this reciprocating slide mechanism 52, the seedling planting device 54 can pick up seedlings evenly (without bias) from the seedling mat M, and as a result, the planting operation can be stabilized and planting can be done efficiently.
[0031] Figure 6(a) is a side view of the main parts around the seedling quantity adjustment mechanism 53 (extended state) of Figure 1, and Figure 6(b) is a side view of the main parts around the same seedling quantity adjustment mechanism 53 (shortened state). As shown in Figures 6(a) and 6(b), the seedling quantity adjustment mechanism 53 has the configuration of a so-called robot arm and comprises a base 53a fixed to the lower surface of the slide stage 52b by a fixing means such as a resin adhesive, a housing 53b integrally formed with the base 53a, a fixed arm 53c fixed to the housing 53b, and a sliding arm 53d that is slidable relative to the fixed arm 53c.
[0032] Furthermore, the seedling quantity adjustment mechanism 53 has a push rod 53e that extends and retracts when driven by an arm extension / retraction motor m4, which is disposed within the fixed arm 53c and the sliding arm 53d. As the push rod 53e extends and retracts, the sliding arm 53d slides relative to the fixed arm 53c in the left-right direction as shown in Figure 1, and the overall length of the seedling quantity adjustment mechanism 53 (i.e., the total length of the housing 53b, fixed arm 53c, and sliding arm 53d) is extended or retracted. Here, the transmission case 55 of the seedling planting device 54 is attached to the tip of the sliding arm 53d, and as the overall length of the seedling quantity adjustment mechanism 53 extends or retracts, the distance between the float body 11 and the seedling planting device 54 is changed (the seedling planting device 54 moves in the left-right direction as shown in Figure 1), thereby allowing adjustment of the seedling quantity. In other words, as the distance between the float body 11 and the seedling planting device 54 increases, the amount of seedlings to be taken decreases, and as they get closer, the amount of seedlings to be taken increases. Furthermore, the amount of seedlings to be picked can be adjusted as needed, for example, by the control device C receiving instruction information from the portable information terminal 4 (described later) via the communication unit 60 to instruct the adjustment of the amount of seedlings to be picked. In this way, the amount of seedlings to be picked can be adjusted to the operator's desired amount by the seedling amount adjustment mechanism 53, improving convenience.
[0033] <4. Configuration of the seedling planting device 54> Figure 7 is a plan view of the main parts around the seedling planting device 54, and Figure 8 is a side view of the same main parts. The seedling planting device 54 comprises a transmission case 55 housing a drive motor m5, which is the drive source for the seedling planting device 54; a rotary case (rotating body) 56 connected to the rotating shaft 55a of the transmission case 55 and rotated; and a pair of planting rods 57 attached to its two eccentric support shafts 56a, 56a, respectively. The transmission case 55 may be provided with a buoyancy member on its upper surface to prevent the machine from tilting.
[0034] Here, the two eccentric support shafts 56a, 56a perform the function of oscillating the mounting rod 57 in accordance with the rotation of the rotary case 56. That is, the two eccentric support shafts 56a, 56a are connected to a stationary eccentric sun gear 56b installed inside the rotary case 56 and a transmission system 56c consisting of an eccentrically meshing unequal-speed transmission gear train, thereby configuring the mounting rod 57 to oscillate within a predetermined angular range.
[0035] The planting rod 57 consists of a case member 57a fixed to an eccentric support shaft 56a, a fork-shaped seedling retrieval claw 57b attached to the outside of the case member 57a and placed on the seedling holding section 40, which takes out and holds a portion of the seedling mat M held on the seedling receiving plate 51, and a slide member 57c and an extrusion member 57d at its tip that are attached to move back and forth along the seedling retrieval claw 57b and are biased in the direction of pushing out the held seedling.
[0036] The seedling planting device 54, configured as described above, rotates the rotary case 56 by the drive motor m5, causing the planting rod 57 on the eccentric support shaft 56a to revolve, and swings within a predetermined angular range by a transmission system installed inside the rotary case 56, so that the tip of the seedling catching claw 57b passes along a predetermined trajectory T to scrape a portion of the seedling mat M from the seedling opening 51c of the seedling receiving plate 51, and then plants it in the soil of the field below. Subsequently, the planting rod 57 at the opposite end of the rotary case 56 similarly plants with a half-turn delay. Regarding the mechanism for revolving the planting rod 57 in this way, known technologies can be applied; for example, please refer to Japanese Patent Application Publication No. 2007-89515.
[0037] <5. Configuration of Control Device C> Next, the control system of the paddy field weeding device 1, centered on the control device C, will be explained with reference to Figure 9. Figure 9 is a block diagram of the paddy field weeding device 1, centered on the control device C. The control device C is an information processing device that controls each part of the paddy field weeding device 1 by electronic control. Although not shown, it is configured to include a CPU (Central Processing Unit) that performs calculations and a memory that can read and write information necessary for calculations. The configuration shown as a functional block in Figure 9 is realized by the CPU operating according to various programs stored in the memory. In the diagram, the symbol I represents various signals, and the arrow indicates the direction of transmission.
[0038] As shown in Figure 9, a positioning device 20 is connected to the input side of the control device C, and position information and direction information can be acquired from the positioning device 20. Furthermore, the control device C is connected to a communication unit 60 that performs wireless communication with external devices, thereby enabling the transmission and reception of various information with external devices via the wireless base station NW2, which will be described later. The screw propulsion mechanism 12, seedling mat transport mechanism 40a, reciprocating slide mechanism 52, seedling amount adjustment mechanism 53, and seedling planting device 54 are connected to the output side, and the control device C is configured to transmit signals I, including control commands, to these devices to control their operation. The control device C is also connected to a charge controller 33, enabling control of the charging and discharging of the battery 34.
[0039] Furthermore, the control device C includes a travel control unit c1 that controls the movement of the machine, a seedling planting operation control unit c2 that controls the seedling planting operation by the seedling planting device 54, a screw motor m1 during travel, a resistance value recording unit c3 that records the resistance value of m1, a resistance value map creation unit c4 that creates a resistance value map based on the resistance value recording data acquired by the resistance value recording unit c3, and a work information storage unit c5 that stores various information related to the work.
[0040] The travel control unit c1 is a program that controls the movement of the machine, and controls the screw propulsion mechanism 12 (more specifically, the screw motors m1, m1) based on a predetermined algorithm. In other words, the travel control unit c1 performs the function of making the paddy field weeding device 1 autonomously travel (also called self-propulsion), and when autonomous travel is performed, the travel control unit c1 acquires position information and direction information from the positioning device 20 at predetermined time intervals, and is configured to make the machine self-propel over the entire field H by repeatedly moving in a straight line and turning according to predetermined rules. At that time, it refers to field information which includes information on the position and area of field H, determines the position of the machine while it is traveling as appropriate, and travels along the planned route. The field information may be stored in advance in the work information storage unit 4, or it may be acquired from an external device via the communication unit 60. Alternatively, the paddy field weeding device 1 may be configured to create the field information from position information acquired by traveling within field H (for example, traveling along the outer perimeter of field H to make one circuit of the field). The start and stop of autonomous driving are performed, for example, by receiving instruction information from the portable information terminal 4 (described later) via the communication unit 60 to support the start or stop of autonomous driving.
[0041] The seedling planting operation control unit c2 is a program that performs the function of controlling the seedling planting operation by the seedling planting device 54. Based on a predetermined algorithm, it controls the seedling mat transport mechanism 40a (more specifically, the transport motor m2), the reciprocating slide mechanism 52 (the slide motor m3), the seedling picking amount adjustment mechanism 53 (more specifically, the arm extension / retraction motor m4), and the seedling planting device 54 (more specifically, the drive motor m5). The seedling planting operation control unit c2 starts the seedling planting operation by the seedling planting device 54 when it receives instruction information to start the planting operation from, for example, the portable information terminal 4 via the communication unit 60. In detail, the seedling planting operation control unit c2 controls the seedling planting operation by the seedling planting device 54. The seedling mat transport mechanism 40a transports the seedling mat M toward the seedling planting device 54 at predetermined time intervals, while the reciprocating slide mechanism 52 moves the seedling planting device 54 back and forth. The planting rod 57 of the seedling planting device 54 revolves to scoop up a portion of the seedling mat M from the seedling take-up opening 51c and plant it in the field H. When the operator operates the portable information terminal 2 and receives instruction information to adjust the amount of seedlings to be taken, the seedling planting operation control unit c2 controls the seedling amount adjustment mechanism 53 and adjusts the amount of seedlings to be taken as appropriate.
[0042] The resistance value recording unit c3 is a program that records the resistance values of the screw motors m1, m1 during operation. While the machine is being driven by the driving control unit c1, the resistance value recording unit c3 acquires information regarding the resistance values of the screw motors m1, m1 from the screw propulsion mechanism 12 at predetermined time intervals, and also acquires location information of the acquired points from the positioning device 20, links the resistance value information and location information, and stores it in the work information storage unit c3. As a result, when the paddy field weeding device 1 travels through field H, information indicating the points traveled through field H and the resistance values of the screw motors m1, m1 measured at those points is generated as resistance value recording data. This resistance value recording data is also transmitted to the system control unit 2 in the paddy field weeding system described later.
[0043] The resistance value map creation unit c4 is a program that performs the function of creating a resistance value map, which maps the recorded resistance values based on the recorded resistance value data acquired by the resistance value recording unit c3. Figures 10(a) to 10(c) are explanatory diagrams for explaining the procedure for creating a resistance value map. First, as shown in Figure 10(a), the paddy field weeding device 1 travels along a travel path L1 that repeatedly alternates between straight travel and turning in a specific direction of field H, and the resistance value recording unit c3 generates recorded resistance value data. Next, as shown in Figure 10(b), the paddy field weeding device 1 travels along a travel path L2 that repeatedly alternates between straight travel and turning in a direction perpendicular to the specific direction of field H, under the control of the travel control unit c1, and the resistance value recording unit c3 generates recorded resistance value data. At this time, the resistance value map creation unit c4 calculates the intersection points Pi of the travel path L1 and travel path L2, calculates the average resistance value for each intersection point Pi, and creates a resistance value map by recording this along with the location information. Subsequently, each time a new travel is performed, the average resistance value is calculated for the new intersection point Pi, recorded along with the location information, and the resistance value map is updated. The resistance value map may be configured such that, as shown in Figure 10(c), the area of field H is divided into sections K consisting of predetermined size sections, and the average resistance value is recorded for each intersection point Pi in each section K. The resistance value map can be visually confirmed by the operator U using the portable information terminal 4 described later. With this configuration, which records and maps the resistance value for each point in field H, the operator U can use it to determine the undulations and elevation differences of field H. That is, points with high resistance values can be determined to be areas where the screw propulsion mechanism 12 is in contact with the ground and the field surface is high.
[0044] <6. Paddy field weed control system> Figure 11 is a schematic perspective view of a paddy field weeding system according to an embodiment of the present invention. The paddy field weeding system using the paddy field weeding device 1 will now be described. As shown in Figure 11, the paddy field weeding system comprises a paddy field weeding device 1 that weeds the paddy field, a system control unit 2 that controls various equipment and devices constituting the paddy field weeding system, and a water supply device 3 that supplies water to the paddy field. The system control unit 2 is configured to send and receive information bidirectionally with the paddy field weeding device 1 and the water supply device 3, which are connected via a communication network NW. As a result, the system control unit 2 is configured to transmit signals including control commands to the paddy field weeding device 1 and the water supply device 3, and to control the operation of these devices.
[0045] As shown in Figure 11, the paddy field weeding system 1 consists of a paddy field weeding device 1 placed in the field H to be weeded (also referred to as the work area), and water supply devices 3 installed at appropriate locations in field H. Furthermore, the worker U can communicate with the system control unit 2 as needed and send various instruction information by using (operating) a portable information terminal 4. The portable information terminal 4 can also send various instruction information directly to the paddy field weeding device 1 without going through the system control unit 2. The system control unit 2 is configured to control the operation of the paddy field weeding device 1 and the water supply devices 3 according to the instruction information received from the portable information terminal 4.
[0046] System control unit 2 includes a CPU (Central Processing Unit) and ROM (Read Only). This information processing device is configured with memory, RAM (Random Access Memory), etc., and can be used in personal computers, server computers, tablet terminals, smartphones, etc. The system control unit 2 is configured to send and receive information bidirectionally with a mobile information terminal 400 connected to a communication network NW, an external server, and a work vehicle driving system 500. The communication network NW is, for example, the internet, but can also be a cellular network, Wi-Fi network, LPWA (Low Power Wide Area), WAN (Wide Area Network), LAN (Local Area Network), or other public lines or dedicated lines, depending on the situation.
[0047] The water supply device 3 is responsible for supplying water to field H, and as shown in Figure 11, it comprises a water tap control unit 3a, a water tap 3b controlled by the water line control unit 3a, and a water level measuring sensor S for measuring the water level in the paddy field. A wireless base station NW2 is installed near field H, which connects the paddy field weeding device 1, the water tap control unit 3a, the water level measuring sensor S, and the portable information terminal 4 to a network NW, enabling communication with the system control unit 2.
[0048] The water tap 3b is equipped with a water supply valve (not shown) that can supply water from the water supply channel to field H by rotational drive, and the water tap control unit 3a can control the amount of water supplied to field H by controlling the opening degree and rotation of the water supply valve. In addition, the water level measuring sensor S measures the water level in 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 S is transmitted to the system control unit 2 via the network NW.
[0049] The portable information terminal 4 is a portable information processing device capable of receiving operations from the worker U (also called the user) and displaying information. For example, a smartphone or tablet device can be used. While the system control unit 2 can be installed in a remote location away from the field H, the portable information terminal 4 is intended to be used by the user U near the field H while checking the work status.
[0050] In this paddy field weeding system, the system control unit 2 acquires resistance value data from the resistance value recording unit c3 of the paddy field weeding device 1 via the network NW each time. If there are points in field H where the resistance value is greater than a predetermined threshold, the system control unit 2 notifies the portable information terminal 4 that there are areas in field H that are shallower than the appropriate water depth, and displays a warning on the display unit of the portable information terminal 4. At this time, the location of areas in field H that are shallower than the appropriate water depth may be visually displayed using a resistance value map created by the resistance value map creation unit c4. Furthermore, the system control unit 2 automatically supplies a predetermined amount of water by controlling the water supply device 3 (however, the system control unit 2 may also be configured to immediately perform automatic water supply if the acquired resistance value is greater than (exceeds) a threshold based on information about the resistance value acquired from the paddy field weeding device 1 at predetermined time intervals). This effectively prevents the paddy field weeding device 1 from running aground. Furthermore, the timing of stopping automatic water supply may be configured such that the system control unit 2 monitors the recorded resistance data of the paddy field weeding device 1 and stops water supply when the resistance value falls below a predetermined threshold. Alternatively, a drainage mechanism controlled by the system control unit 2 may be installed in field H, and the system control unit 2 may monitor the recorded resistance data of the paddy field weeding device 1 and, if the resistance value remains constant for a predetermined set time, determine that the screw propulsion mechanism 12 is too far from the paddy field ground, and automatically drain a predetermined amount of water using the drainage mechanism.
[0051] <7. Another Embodiment (1)> Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. Needless to say, modifications can be made as appropriate within the scope of the technical idea. Figures 12(a) and 12(b) are schematic side views of a paddy field weeding device 1 according to another embodiment. Figures 12(a) and 12(b) show a shellfish removal device 71 for scooping up apple snails (official name: Pomacea canaliculata) mounted on the float body 11 of the paddy field weeding device 1. For the sake of clarity, components other than the float body 11, screw propulsion mechanism 12, and shellfish removal device 71 of the paddy field weeding device 1 are not shown in the illustrations. The shellfish extermination device 71 is preferably positioned at the rear of the float body 11 in the direction of travel of the paddy field weeding device 1, as shown in Figures 12(a) and 12(b). Driven by a motor (preferably driven and controlled by a control device C), the rotating stay 70a is rotated regularly up and down (oscillating motion), and the rake 70b provided at the tip of the rotating stay 70a is used to scoop up and exterminate giant apple snails from the paddy field. In addition, as the rotating stay 70a rotates, the link stay 71c is configured to open and close the lid member 71b at the top of the containment box 71a that contains the giant apple snails. That is, when the rake 70b rotates downward, the lid member 71b is closed, and when it rotates upward, it is open. This makes it convenient because when the rake 70b is rotated upward to transfer the scooped apple snails to the storage box 71a, the lid member 71b automatically opens. Alternatively, an ultrasonic generator may be installed on the underside of the float body 11 of the hull 10, and the system may be configured to emit ultrasonic waves into the water to eliminate the apple snails. This makes it possible to eliminate apple snails while simultaneously removing weeds.
[0052] <8. Another Embodiment (2)> In this embodiment, the paddy field weeding device 1 has a seedling planting device 54 located to the side of the machine body with respect to the direction of travel. Although the system is configured to plant seedlings, it is also possible to configure the system to plant seedlings at the rear of the machine using a seedling planting device 54. For example, as a simple solution, by changing the orientation of the screw propulsion mechanism 12 relative to the float body 11 by 90 degrees from the above embodiment, the direction of travel (forward direction) of the machine is changed by 90 degrees, so that the system can be configured to plant seedlings at the rear of the machine using a seedling planting device 54. Furthermore, in the paddy field weeding system, the system control unit 2 may acquire position information and resistance value information from the paddy field weeding device 1 at predetermined time intervals, and the system control unit 2 may be configured to perform the function of the resistance value map creation unit c4. That is, by the system control unit 2 creating a resistance value map, it becomes possible to improve work efficiency, for example, by running multiple paddy field weeding devices 1 in one field H and quickly creating a resistance value map. [Explanation of symbols]
[0053] 1 Weeding device for paddy fields 2. System Control Unit 3 Water supply device 4. Mobile Information Terminals 5. External Servers 10 Hull 11 Float Body 12. Screw propulsion mechanism 12a Screw 12m screw motor 1 20 Positioning device 21 Receiving antenna 30 Power Generation Department 31 Solar panels 32 Support member 40 Seedling Department 41 Seedling stand 42 Seedling conveying belt 43 Drive shaft 44 Driven axis 45 Support stand 46 Pinion Gear Belt 50 Seedling planting department 51 Seedling support plate 52 Reciprocating slide mechanism 53 Seedling amount adjustment mechanism 54 Seedling planting device 55 Transmission Case 56 Rotary Case (Rotating Body) 57 Studded rod
Claims
1. A paddy field weeding device that travels on the surface of a paddy field using a screw and agitates the water to remove weeds, The paddy field weeding device comprises a hull for traveling on water, and the hull is equipped with a seedling loading section for placing seedling mats, a seedling planting section for planting seedlings in the paddy field, and a control device for controlling each section. The seedling loading section is equipped with a seedling mat transport mechanism that transports the placed seedling mats and supplies them to the seedling planting section. The seedling planting unit comprises a transmission case housing a drive motor which is the drive source, a rotary case connected to the rotating shaft of the transmission case and rotated, and a pair of planting rods attached to the two eccentric support shafts of the rotary case, which remove seedlings from the seedling mat placed on the seedling support unit and plant them in the paddy field. A paddy field weeding device characterized by comprising a reciprocating sliding mechanism that slides the seedling planting device back and forth relative to the hull.
2. The paddy field weeding device according to claim 1, characterized in that the seedling planting section is equipped with a seedling amount adjustment mechanism for adjusting the amount of seedlings to be taken by the seedling planting device.
3. The paddy field weeding device according to claim 1 or 2, characterized in that an ultrasonic generating device for irradiating ultrasonic waves into the water is provided on the lower surface of the hull. To provide.