Work equipment

Abstract

To provide a work machine which is enabled to automatically travel with imaging means, a reception unit device of GPS and an inertial measurement device IMU and automatically perform the work at a position where an object is confirmed by the imaging means, and which corresponds to a seedling thinning-out robot if a seedling with defective growth is registered as the object and corresponds to a pest control robot if a pest is registered as the object.SOLUTION: Imaging means, a reception unit device of GPS and an inertial measurement device IMU in an electric work machine detect a position of the own vehicle and detect a target object. Removal of a seedling with defective growth and pest control are automatically performed by attaching a unit of a suction device and an air blowing device or a unit in which an ultrasonic wave generation device and an irradiation plate that receives the ultrasonic wave vertically move to a work part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a working machine capable of automatic traveling for removing poorly grown seedlings and pests from agricultural fields in agriculture. [Background Art]

[0002] There is known a traveling vehicle for thinning that cuts and removes seedlings at regular intervals from seedlings planted at predetermined intervals on ridges, or detects poorly grown seedlings and cuts and removes them. (Patent Document 1) [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 5-308804 [Summary of the Invention] [Problems to be Solved by the Invention]

[0004] The thinning working machine in the above-mentioned prior art uses a cutting blade to cut seedlings, but the cut seedlings are scattered in the field. To address this problem, a configuration for sucking seedlings with air has been devised. However, when suction is applied, surrounding soil is also sucked at the same time, which causes failure of the air compressor, so a corresponding configuration is required.

[0005] In the present invention, by disposing the air compressor at a high ground height and the working unit at a low ground height, and utilizing gravity fall, it is possible to address the failure of the air compressor caused by suction of soil. Furthermore, by using an imaging means, it is also possible to detect pests, and the present invention can also be used for pest control. [Means for Solving the Problems]

[0006] The first invention is solved by the following technical means.

[0007] An auxiliary battery (120) is positioned at the front of the aircraft, and behind the auxiliary battery (120) are the main battery (130) and an electric motor (140) equipped with an external fan (141), arranged in parallel in the front-to-back direction. An HST (Hydraulic Continuously Variable Transmission) (150) is installed on the rear side of the vehicle body of the electric motor (140). Power is input from the electric motor (140), and power is distributed from the output shaft of the HST (150) to the axle of the running system (190), hydraulic pump (200), and air compressor (210). The air compressor (210) is positioned higher above the ground than the HST (150), the axle of the running system (190), and the hydraulic pump (200), while the main body of the work equipment device (220) that utilizes the air compressor (210) is positioned lower above the ground than the HST (150), the axle of the running system (190), and the hydraulic pump (200). 、 The vehicle is equipped with an imaging device for sensing, a GPS receiver (310), and an inertial measurement unit (IMU) (320) to enable automatic driving. The work machine device (220) is equipped with a suction nozzle (350) and a blower pipe (380), and the suction nozzle (350) and blower pipe (380) are activated at a preset position or at a position where the imaging device for sensing detects a target object. .

[0008]

[0009]

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

[0011] The imaging means for sensing calculates the height and width of the target object, and the target object is set. size In all other cases, the control system is configured to not activate the suction nozzle 350 and the blower piping 380. 。

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

[0018] [Effects of the Invention]

[0019] In the first invention, since an electric motor 140 with an external fan 141 is used, heat accumulation does not occur in the electric motor 140 and the main battery 130. Furthermore, power is transmitted linearly from the HST 150 to the axle 190 of the traveling system, the hydraulic pump 200, and the air compressor 210, thereby achieving a configuration with no transmission loss, and a configuration in which the lower portion is open to outside air can be adopted, so that heat accumulation does not occur in mechanisms subsequent to the HST 150 either. Furthermore, by disposing the air compressor 210 above the working implement device 220, a configuration that prevents damage caused by dust during suction is also achieved.

[0020] Also , the present machine is capable of automatic operation, and when a target is a poorly grown seedling, only the poorly grown seedling can be pulled out without damaging well-grown seedlings.

[0021] second of the invention, by correctly determining the growth state, selection of seedlings to be thinned can be reliably performed 。

[0022]

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] [Figure 1] Right side view of the working machine according to an embodiment of the present invention [Figure 2] Cross-sectional view of the left side of the working machine according to an embodiment of the present invention [Figure 3] Cross-sectional view of the front left side of the working machine according to an embodiment of the present invention [Figure 4] Perspective view from below of the working machine when responding to pests according to the present invention [Figure 5] Internal view from the right side according to an embodiment of the present invention [Figure 6] Peripheral view of the front working unit and suction nozzle according to an embodiment of the present invention [Figure 7] Arrangement diagram and setting example diagram of the thinning seedling setting device [Figure 8] Diagram illustrating the actual work process for thinning seedlings. [Figure 9] Left side view with the pest control unit installed. [Figure 10] Cross-sectional view of the left side in a state where pests are being attracted. [Figure 11] Cross-sectional view of the left side showing the state of pests being pulverized by ultrasonic irradiation. [Figure 12] Configuration diagram of the remote control device equipped with the pest control unit. [Figure 13] Diagram showing the situation of pests breeding in the field. [Figure 14] Work equipment diagram for engine specifications [Modes for carrying out the invention]

[0025] The present invention will be described below based on the embodiments shown in the drawings.

[0026] The implements shown in Figures 1 to 14 are examples of implements in this embodiment.

[0027] The power transmission flow of the present invention will be described below.

[0028] As shown in Figures 1 and 2, inside the hood 110 at the front of the machine, there is an auxiliary battery 120 running horizontally in front of the machine, a main battery 130 running vertically behind it, and an electric motor 140 running vertically next to the main battery 130, which serves as a power source for operating the machine body and work equipment using the power from the main battery 130.

[0029] The electric motor 140 is equipped with an external fan 141 at its rear end, which is linked to the motor shaft. While the motor is operating, the fan 141 generates airflow that cools the motor, auxiliary battery 120, and main battery 130. The heated air is discharged to the outside through the mesh 111 of the grille at the front of the hood 110 or from the lower front of the hood. The hood 110 is also designed to completely cover the electric motor 140, auxiliary battery 120, and main battery 130, providing protection against rain and car washes, as well as adequate dust protection.

[0030] As shown in Figure 2, the electric motor 140 has its output shaft on the rear side in the longitudinal direction of the vehicle body and powers the HST 150 located behind it. The power transmission method may be by connecting pulleys on each shaft with a belt, or the electric motor 140 and the HST shaft may be directly connected. In the case of belt drive, the shafts of the electric motor 140 and the input and output shafts of the HST 150 are parallel to each other, and the power mechanism is in series and transmits power without bending, resulting in less loss and allowing for a compact arrangement.

[0031] By positioning the output shaft of the electric motor 140 at the rear of the vehicle body and connecting it to the HST 150, compatibility with the engine 650 configuration is easily achieved. The heavy main battery 130 and electric motor 140 are placed in the hood 110, bringing the weight close to that of the engine 650, thus ensuring that there is no balance difference between the electric motor 140 specification and the engine specification. By removing the BMS and inverter 160 from the hood 110 and placing them behind the seat 170, maintenance and heat buildup can be addressed.

[0032] The electric motor 140 rotates continuously at a fixed speed, but it may also be inverter-controlled so that its rotation can be varied according to the required power. In this embodiment of the present invention, the rear part of the machine is equipped with a BMS and an inverter 160, and the system controls the rotation speed of the electric motor 140 via the BMS and inverter 160 in response to commands from the control unit 180 of the machine. In the system control, when the machine stops moving and the work equipment is also stopped, the rotation speed of the electric motor 140 can be reduced to a range in which the reference hydraulic pressure of the HST 150 can be generated.

[0033] As shown in Figure 14, when using engine 650 as the power source, the main battery 130, electric motor 140, BMS and inverter 160 are swapped, and the auxiliary battery 120 serves as the battery for the engine, so the configuration changes between the two specifications are small. The muffler 660 is located where the main battery 130 is, and the radiator 670 and radiator fan 680 are located behind the engine 650. As with the configuration when using electric motor 140, heat is drawn in from the rear and lower part of the hood 110 to cool the radiator 670, engine 650 and auxiliary battery 120, and the heat is discharged to the outside through the mesh part 111 of the grille in front of the hood 110 and from the front and lower part of the hood.

[0034] The mechanism of the HST150 and later models of the present invention will be described below.

[0035] While directly receiving the rotation of the electric motor 140 would result in less power loss for the HST150, housing the electric motor 140 within the front hood 110 and using the external fan 141 attached to the electric motor 140 to exhaust heat requires positioning it in the central part of the hood 110 in terms of height. Furthermore, to prevent combustion buildup in the HST150, heat needs to be dissipated to the outside air. While a dedicated fan would be effective, to maintain a compact configuration, the HST150 is mounted below the main frame, open to the outside air.

[0036] Therefore, because there is a vertical misalignment between the electric motor 140 and the HST 150, power is transmitted via belt 141. However, since they are connected in series, power loss is minimal. Similarly, as shown in Figure 3, the axle 190 of the running system, the hydraulic pump 200, and the air compressor 210 are arranged in series, resulting in a configuration with minimal power loss, including the work equipment.

[0037] In this configuration, the power system consists of electric motors 140 and air compressors 210 arranged in series, and to prevent heat buildup, they are mounted on electric belts on all sides (up, down, left, and right). Furthermore, by positioning the air compressor 210 above the work machine 220, it is possible to prevent damage from dust during suction.

[0038] The present invention will now be described.

[0039] The machine's movement and the operation of its implements are performed by the HST150, and the power source can be either the electric motor 140 or the engine 650. The output shafts from either the electric motor 140 or the engine 650 are located at the same HST input point, and the HST150 is operated by the power from this input shaft. The HST150 uses hydraulics to output at the desired rotational speed, and the travel speed can be changed.

[0040] In this embodiment, in addition to changing the travel speed, it is also possible to change the output rotation of the PTO230 if a work implement is attached to the rear. Similarly, it can also be used to change the rotational speed of the operating parts.

[0041] Furthermore, as shown in Figure 4, this machine has a structure that allows for four-wheel steering. By receiving the rotation of the output shaft from the HST150, the rotation speed of each of the four wheels (front right, front left, rear right, and rear left) can be individually changed by the gears, the interlocking shaft group 240, and the brake system 250, enabling forward and backward movement, turning, and diagonal movement.

[0042] The hydraulic pump 200 of the present invention will now be described.

[0043] Rotational power is obtained from the output shaft of the HST150 to operate the hydraulic pump 200, which in turn operates the hydraulic actuator 260. The hydraulic actuator 260 is connected to the hydraulic piping 270. In this invention, an embodiment is shown in which an electric motor 280 is used for operation, but a configuration using a small hydraulic motor is also possible.

[0044] The air compressor 210 of the present invention will now be described.

[0045] An air compressor 210 is positioned under the seat 170 via the output of the HST150. By positioning it above each workpiece within the machine, it is possible to sort dust and debris by weight during suction. Details regarding its placement and function in relation to the workpieces will be described in a later section.

[0046] I will now explain how to attach the work equipment.

[0047] In this invention, a work machine 220 for sucking up seedlings can be installed at the front, a work machine 290 for eliminating pests such as screaming snails can be installed at the lower center of the machine as shown in Figure 5, and a sprayer can be installed at the rear of the machine.

[0048] This section explains autonomous driving and manual driving.

[0049] This machine is a robotic work machine 100, capable of automatic operation based on pre-configured settings. It can also be remotely controlled via a remote control.

[0050] This vehicle is equipped with a ROPS 300 to counter tipping, positioned behind the seat 170. The ROPS 300 also has a GPS receiver 310 and an inertial measurement unit (IMU) 320 at its upper tip to confirm and correct the vehicle's position. By utilizing this receiver, the vehicle can accurately determine its own position, enabling autonomous driving.

[0051] It is also possible to operate the vehicle manually while seated. The vehicle is equipped with a seat 170 and a steering wheel 171 in the center for human operation, and by switching to automatic operation mode, it is possible for a person to operate the vehicle while seated.

[0052] The dimensions of the machine shown in the examples are enlarged because they also show a configuration where a person is seated and manually operating the machine. However, if we limit ourselves to fully robotic and remotely operated types, the size of the machine can be reduced to about the width of one furrow.

[0053] This section describes the driver's seat display 330 control panel.

[0054] When driving manually, the battery capacity, vehicle speed, main and sub-transmission settings, GNSS sensitivity, the status of the vehicle's driving line and target line, and the fuel gauge (if using an engine) are displayed, and these settings can be adjusted on the display 330 using various levers and dials. The same functions can also be displayed and adjusted using the remote control.

[0055] The operation system control device 340 will now be described.

[0056] The implement can be operated using the control device 340 located to the right of the driver's seat. The control device 340 is equipped with a large display that shows images captured by imaging means A410, B411, C412, and D413, allowing for the operation and settings of the implement. The display settings screen and the functions of the control levers and switches change depending on the implemented implement. Detailed settings screens will be described later.

[0057] This section explains the structure of the suction system for defective seedlings and the thinning process.

[0058] As shown in Figure 6, a suction nozzle 350 is positioned at the front of the machine. The suction nozzle 350 uses suction air to draw poorly growing seedlings in the field into the nozzle. To appropriately move to the location of the seedlings in the field and perform suction, the suction nozzle 350 is designed to move up and down and left and right.

[0059] Vertical movement is performed by a hydraulic cylinder 260. Lateral movement is controlled by an electric motor 280, which moves along a rail that spans both sides. Furthermore, forward and backward movement is handled by an electric motor 350.

[0060] The tip of the suction nozzle 350 has a partition plate 351 attached to the side of its lower end. The lower end of the partition plate is located below the lowest end of the nozzle, and it serves to protect adjacent plants from being sucked in. The area around the movable part of the suction nozzle 350 is a suction hose 360, which is designed to be flexible and responsive to movement.

[0061] The suction force of the suction nozzle 350 is generated by an air compressor 210 located under the seat. The air compressor 210 is powered via a belt from the output shaft of the HST150 and is a device that compresses air using rotational force. It has an internal tank and is always in a state of constant pressure reduction.

[0062] The seedling suction system of the work machine 220 proposed in this invention is characterized by the provision of a seedling tank 370 for storing defective seedlings that have been picked, between the suction pipes 211 and 360 that connect the suction nozzle 350 and the air compressor 210. In each figure, the top surface of the seedling tank 370 has been removed for clarity, but in reality it is a sealed tank and the inside of the tank is under reduced pressure. In the seedling tank 370 under reduced pressure, the suction hose 360 ​​on the suction nozzle side and the suction pipe 211 on the air compressor side are arranged at a distance from each other. Because the inside of the tank is sealed, when suction is applied through the pipe on the air compressor side, the inside of the tank becomes depressurized and suction is drawn in through the suction hose 360 ​​on the suction nozzle side.

[0063] By mounting the suction pipe 211 vertically to the seedling tank 370 and vertically to the ground, defective seedlings sucked up from the suction nozzle 350 are drawn in through the pipe on the suction nozzle side, allowing the defective seedlings and any soil sucked up at the same time to fall into the seedling tank 370. The depressurized suction air, from which the defective seedlings and soil have been removed, enters the suction pipe 211 on the air compressor side and is sucked into the depressurized tank of the air compressor 210, but without drawing dust into the air compressor 210. The air that has passed through the air compressor 210 becomes pressurized air and is discharged from the air compressor 210. The discharged air flows into the blower pipe 380. The blower pipe 380 is equipped with an air damper and an air filter device 390. The blower pipe 380 extends to the front of the machine and is located near the suction nozzle. Air is blown out from the blower pipe. This air blower piping is also connected to the suction nozzle system, maintaining a constant distance from the suction nozzle and moving up, down, left, and right in conjunction with the movement of the suction nozzle.

[0064] By utilizing the airflow from this ventilation piping, the surrounding seedlings 401 and 402 of the defective seedling 400 can be suppressed, making it easier to suck up the target seedling. Leaves of nearby seedlings that are growing well may cover the poorly growing seedlings, and without a ventilation system, these covering leaves may be mistakenly sucked up, resulting in the misapplication of healthy seedlings that were not the target. The airflow can also be turned ON, OFF, and the suction force adjusted by opening and closing the air damper 391 of the aforementioned air damper and air filter device 390. The air damper 391 and air filter device 390 also have an air outlet 392 to the outside air, which acts as a relief valve. If only the suction nozzle 350 is operating when airflow is not needed, the air outlet 392 to the outside air is opened, and air is blown in from here to maintain the performance of the air compressor 210.

[0065] As a safety control measure for the seedling suction system, a pressure sensor 352 is installed in the piping between the suction nozzle and the seedling tank. If high pressure persists for a long period during seedling transport, the control unit 180 determines that the seedlings are clogged and intermittently opens and closes an air damper 353 installed between the suction nozzle and the seedling tank to change the pressure and address the blockage.

[0066] Furthermore, the seedling tank 370 is equipped with a sensor 371 that signals full when a certain amount of defective seedlings accumulate, preventing the tank from becoming clogged.

[0067] In the arrangement of the suction nozzle 350, seedling tank 370, and air compressor 210, the order of increasing height from the suction nozzle 350 to the seedling tank 370 and then to the air compressor 210 ensures that the sucked-up seedlings and soil fall into the tank and are not carried to the air compressor. While a shorter distance is preferable, given the configuration of this machine, the most effective location for the air compressor 210 is under the seat.

[0068] Alternatively, instead of the 210 air compressor, a large turbo-type blower would have sufficient suction power to draw the seedlings into the fan, and it would also be possible to install a seedling tank on the discharge side of the fan.

[0069] This section explains how to verify seedlings using imaging techniques.

[0070] At the front of the unit, an imaging device A410 for imaging seedlings is positioned facing downwards. In addition to being used as a measuring device to measure the distance between the suction nozzle 350 and the seedling, it is also capable of measuring the size of the seedling.

[0071] When the suction nozzle 350 is raised to a predetermined position, the imaging means A410 is also raised upwards, and an image of the seedling at this position is registered. The image area is calculated by color discrimination to estimate the size. If the suction nozzle 350 moves, the calculation is recalculated according to the distance moved.

[0072] The imaging means B411, C412, and D413 are located at the front of the unit, above imaging means A. The height of the seedlings is calculated by comparing the images from imaging means B411, C412, and D413 with the images from imaging means A410, using pre-registered image data. Imaging means C412 and D413 detect the spread of the seedlings and simultaneously detect the adjacent furrows, assisting the inertial measurement unit IMU320 and simultaneously detecting obstacles.

[0073] The control unit 180 determines which seedlings should be removed based on the imaging data from the imaging means A410, B411, C412, and D413, and further determines the displacement of the seedlings to be removed in the front-to-back direction and the left-to-right direction based on that imaging data.

[0074] This section explains how to set up the seedling thinning function on this machine.

[0075] To the right of this machine is the operating device 340 for the thinning system. As this machine is an automated robot system, it is pre-configured and operates according to these settings.

[0076] First, the starting position of the machine is determined. As shown in Figure 7, pressing the start switch on the display of the control unit 340 registers this position as the reference point. The latitude and longitude of the machine's position are confirmed and registered using the GNSS 310 and the inertial measurement unit IMU 320. In addition, the front-to-back direction of the machine is treated as a single axis, and this axis is recognized as the direction of the machine, and the direction it is facing relative to its latitude and longitude is also recognized.

[0077] Let's explain how to set the spacing between plants. As shown in the middle of Figure 7, press the plant spacing setting switch 344 to set the spacing between plants. The value will change by pressing the + increase switch 345 and the - decrease switch 346. Once you reach the target value, press the set switch 343 to register it.

[0078] Let's explain the setting for the first plant. When the switch 347 for setting the first plant is pressed, the image from the imaging means A410 is displayed on the image display unit 348 of the operating device 340. The image is a magnified view of the seedling, generally from directly above. The image display unit 348 is provided with a reference frame 349, and by pressing the forward 341 and reverse 342 switches mentioned above, the suction nozzle 350 moves back and forth to adjust the position of the seedling that fits within this range.

[0079] For left / right detection, the electric motor 280 automatically sets the suction nozzle 350 so that the seedling is centered, based on the imaging data from imaging means A410, B411, C412, and D413.

[0080] Subsequently, as shown in the lower part of Figure 7, sample images of the seedling size used as a standard for thinning, and the placement angle of the seedlings in the field are displayed sequentially. It is also possible to overlay the images that were actually displayed earlier. Representative examples of OK and NG images are displayed, so select and set them using switches 343, 345, and 346. If there are no mistakes in the judgment criteria, press the OK349A switch to register the final criteria.

[0081] This explains the automatic determination of when to thin out seedlings.

[0082] Determining the size of seedlings can be difficult even when the driver is seated and visually inspecting them. Figure 8 shows how to handle this situation. A method 440 is used to determine the corresponding seedling 430 based on the set spacing between plants, and then to consider all three plants, including the one immediately before and after it. The size of the three plants is determined by image, and the control system removes the remaining two plants by sucking them up, leaving the largest and most healthy seedling. If the seedlings actually thinned out differ from the set spacing using this control system, the measurement criteria can be reset, and the spacing between plants can be measured again from that point.

[0083] The machine then moves to the next space between plants. If there are seedlings in that space, they are all removed by suction, regardless of their size, as shown in section 441 of Figure 8. This automatic control makes it possible to perform thinning that is appropriate for the set spacing between plants.

[0084] This section describes how to use a fan to suck up the seedlings in question.

[0085] The suction nozzle 350 has a partition plate 351 at its tip, which is configured to push aside the surrounding seedlings 401 and 402 and cover the target seedling 400 while sucking it up. However, if the seedlings are growing well, their leaves are long and hard, making it difficult to push aside and suck up small, poorly growing seedlings. Therefore, by using the air compressor 210, the seedlings in front of and behind the target seedling 400 are pushed together by the force of the airflow, making it easier to suck up the target seedling 400 and thus ensuring a successful outcome. The air supply piping 380 is the exhaust air from the air compressor 210 that generates the suction for the suction nozzle 350, and it is possible to supply pressurized air. At close range, it is possible to blow away the soil in the field, and it is quite possible to push small seedlings together, making it a more reliable solution than blowers such as fans.

[0086] The airflow from the air compressor 210 can be adjusted in terms of both air pressure and airflow volume by opening and closing the aforementioned air damper and the air damper 391 of the air filter device 390. For example, if the target seedling is difficult to remove because there are other seedlings nearby, the airflow pressure can be set lower, and by controlling the airflow volume and pressure, it is possible to push only the other seedlings towards it. With automatic control, if there are seedlings near the seedling to be sucked up, the airflow can be automatically reduced. The suction pressure of the suction nozzle 350 can also be adjusted by automatically adjusting the air damper 353.

[0087] We will explain how to deal with pest control.

[0088] The present invention allows the work machine to be converted into a pest control work machine by removing the thinning unit consisting of the suction nozzle 350 and the piping 360 connected to the nozzle, and the piping 211 from the seedling tank 370 to the air compressor, and by attaching the pest control unit 290.

[0089] The pest control unit will now be described. The pest targeted in this embodiment of the present invention is the apple snail (Pomacea canaliculata), which feeds on rice. Figures 10 and 11 are cross-sectional views of the unit. A material 510 for attracting apple snails is placed in the center, and a rotatable circular irradiation plate 500 forms the base. An actuator 520 that extends and retracts vertically is located in the center of the irradiation plate 500, and a motor 530 that rotates the actuator 520 is located at the top. The irradiation plate 500 has radially arranged partition plates 540, and when the irradiation plate 500 rotates, anything placed inside on the plate is struck against the radial partition plates 540 and is forcefully thrown outwards in the direction of centrifugal force.

[0090] In another configuration, the attractive material portion in the center of the irradiation plate 500 may be equipped with a negative electrode for direct current. Apple snails have a tendency to be attracted to negative electrodes, and this property is utilized.

[0091] The system will be described based on the operating procedure. This machine detects the relevant apple snail using imaging means A410, B411, C412, and D413. The shape of the apple snail is registered, and the machine stops moving when a similar object is detected. After stopping, the irradiation plate 500 is lowered downwards as shown in Figures 9 and 10 and touches the ground in the field. After that, the machine stops operating in that state for a predetermined time. The irradiation plate 500 has an attractant material 510 in the center, and the apple snail enters the inside of the irradiation plate 500. After the predetermined time has elapsed, the machine's actuator 520 is activated and the irradiation plate 500 is raised upwards.

[0092] As shown in Figure 5, above the irradiation plate 500 is a tank 290 with a hole in the center, and an ultrasonic generator 291 is installed on the top surface of the tank. As shown in Figure 11, when the irradiation plate 500 is raised to the top, ultrasonic waves are emitted. Apple snails are vulnerable to ultrasonic waves and can be killed by them. By applying ultrasonic waves for a predetermined time, most of the apple snails become inactive, but in order to kill them completely, the irradiation plate 500 is rotated at high speed, and the snails are crushed to death by colliding with the outer circumference 292 due to centrifugal force. Since the outer circumference 292 is the height of several apple snails, after several collisions, the damaged snails collide with the outer wall 293 of the tank and accumulate in the tank 290 as debris.

[0093] This process is repeated each time imaging means A410, B411, C412, and D413 detect something, or at predetermined intervals or distances, thereby automatically eliminating apple snails.

[0094] Let's explain the autonomous driving route.

[0095] The work machine of the present invention is a robotic work machine capable of automatic operation. As shown in Figure 12, a mapping diagram 610 that overlays the shape of the field with its latitude and longitude is registered in advance. These are registered for each field, and by reading the corresponding field data, the shape of the field and the work path can be used as basic data for automatic operation.

[0096] Pests can breed in specific locations, and by setting areas to focus on during autonomous operation, effective pest control can be ensured.

[0097] As shown in Figure 13, apple snails appear in specific areas every year. Therefore, the degree of eradication is specified to be changed for each location in the field using a remote control device. In this invention, the degree of eradication is determined by the stopping interval of the machine. In the "normal" setting 613, the machine stops at 3m intervals, but in the "high eradication" setting 611, which increases the degree of eradication, it stops at 1.5m intervals. Conversely, when the degree of eradication is reduced and the work is performed quickly, the "low eradication" setting 612 uses a 5m interval.

[0098] In addition to the above, there is an auto function 614 that stops when the imaging means A410, B411, C412, and D413 recognize a shape that appears to be that of an apple snail. When this auto function 614 is turned ON, it takes precedence over the extermination level of the aforementioned 611, 612, and 613. Therefore, even when the setting is low extermination and stops at 5m intervals, if the imaging means detect a shape that appears to be that of an apple snail, it will stop and take extermination action even if the distance is less than 5m.

[0099] In addition to setting the stopping distance interval, it is also possible to set the degree of image consistency. This is set based on the degree of consistency with the shape of the basic pest. For high-performance pest control 611, a consistency of 30% or less is required for recognition as a pest; for normal-performance pest control 613, it is required for 50% or less; and for low-performance pest control 612, it is required for recognition at a consistency of 51% or more.

[0100] The aforementioned detection level settings are registered in the mapping diagram of the remote control device, as shown in Figure 12. When the user selects a field, the mapping diagram 610 appears. This mapping diagram 610 contains finely divided block areas. The detection level can be selected for each block, and by setting the detection level, it becomes possible to take time to thoroughly eradicate pests in areas requiring meticulous treatment, while prioritizing work efficiency in areas requiring normal or low levels of eradication, thereby enabling effective pest control through automated operation.

[0101] Furthermore, when automatically traveling along routes 1) to 3) as shown in Figure 13, it is possible to perform work along that route by arranging the fields in the order of travel using the field names shown in Figure 12. [Explanation of symbols]

[0102] 100 work machines 1 Main Battery 140 Electric Motors 141 Outside fan 150 HST 190 Running axles 200 Hydraulic pump 210 Air Compressor 220 Work equipment 290 tank 291 Ultrasonic generator 310 GPS 320 IMU 350 Suction Nozzle 370 seedling tanks 380 Air supply piping 410 Imaging means A 500 irradiation plate 610 Mapping Diagram

Claims

1. An auxiliary battery (120) is positioned at the front of the aircraft, and behind the auxiliary battery (120) are the main battery (130) and an electric motor (140) equipped with an external fan (141), arranged in parallel in the front-to-back direction. An HST (Hydraulic Continuously Variable Transmission) (150) is provided on the rear side of the vehicle body of the electric motor (140). Power is input from the electric motor (140), and power is distributed from the output shaft of the HST (150) to the axle of the running system (190), hydraulic pump (200), and air compressor (210). The air compressor (210) is positioned higher above the ground than the HST (150), the axle of the running system (190), and the hydraulic pump (200), while the main body of the work equipment device (220) that utilizes the air compressor (210) is positioned lower above the ground than the HST (150), the axle of the running system (190), and the hydraulic pump (200). The machine is equipped with an imaging means for sensing, a GPS receiver (310), and an inertial measurement unit (IMU) (320) to enable automatic driving, and the work machine device (220) is provided with a suction nozzle (350) and a blower pipe (380), and the work machine operates the suction nozzle (350) and the blower pipe (380) at a preset position or at a position where a target object is detected by the imaging means for sensing.

2. The work machine according to claim 1, wherein the imaging means for sensing calculates the height and width of the target object, and if the target object is of a size other than that set, the suction nozzle (350) and the blower piping (380) are not activated.

Images