Paddy field farmwork machine

Abstract

A paddy field farmwork device 10 comprises one or a plurality of working robots 11 each including: a robot body 12 including a moving means 22 for moving in a paddy field; a rocking stirring means 13 attached to the bottom portion of the robot body 12 and stirring the water in the paddy field; and right and left rotary stirring means 14 attached to both side portions in the width direction of the robot body 12 to stir the water in the paddy field. The working robot 11 performs a weeding operation by stirring the water of the paddy field using the rocking stirring means 13 and the rotary stirring means 14 while moving on the water using the moving means 22.

Description

Agricultural equipment for rice fields

[0001] The present invention relates to an agricultural work device for paddy fields that carries out agricultural work in paddy fields on behalf of a worker.

[0002] Traditionally, various types of devices or vehicles have been developed to reduce the burden on workers in rice paddy farming, and workers operate these devices or vehicles to perform the work. While chemical weeding methods using herbicides have been the norm for weeding, in recent years, there has been growing interest in reduced or no pesticide use due to health and environmental concerns. Cultivation methods that reduce the frequency or amount of herbicide use and herbicide-free cultivation have become popular, leading to the use of various weeding machines. Walk-behind (hand-pushed) weeders reduce the burden on workers compared to manual weeding, but they require workers to move (walk) with the weeder, which requires physical strength, especially when working under the hot sun, and is more labor-intensive than conventional farming methods that use herbicides. Riding-type weeders significantly reduce the labor required by workers, but are more expensive than walk-behind types, making their introduction difficult. Therefore, various rice paddy weeding robots that autonomously navigate within rice paddies to remove weeds have been proposed (e.g., Patent Documents 1 to 3). These paddy field weeding robots mainly remove weeds by scraping the soil with rotating fins to remove a portion of the soil along with the weeds, or by crushing the weeds with crawlers and weeding rollers. This requires a large amount of power, resulting in a large overall robot size. Furthermore, these paddy field weeding robots are designed to weed both sides of rice rows while straddling them. Therefore, they require ingenuity to avoid crushing the rice plants when changing direction or turning or moving to the next rice row, resulting in a complex mechanism and cumbersome control. Meanwhile, Patent Document 4 discloses a paddy field weeding device that includes a float body and a screw that extends into the water from the underside of the float body. While floating on the water with the float body, the device propels the screw to agitate the water or mud in the paddy field, stirring up the mud and creating a mud curtain, which inhibits the photosynthesis of weeds below the water surface, thereby preventing or suppressing weed growth.

[0003] JP 2011-120573 A JP 2015-43718 A JP 2011-229463 A Japanese Patent No. 7193817

[0004] However, in Patent Document 4, the water or mud is stirred while moving on the water using only two screws, one on the left and one on the right, that extend into the water from the underside of the float body, so the range that can be stirred is limited, the driving force is small, it is difficult to precisely control the direction of movement, it takes time to change direction, it is not maneuverable, and work efficiency is low. The present invention has been made in consideration of these circumstances, and its object is to provide an agricultural work device for paddy fields that is simple in configuration and has excellent labor-saving properties, which can effectively suppress or prevent the growth and proliferation of weeds by moving while efficiently stirring the water in the paddy field, and which can reduce the work burden on workers when working in the paddy fields.

[0005] The agricultural work device for paddy fields according to the present invention, which meets the above-mentioned objectives, comprises one or more work robots that have a robot body with a moving means for moving through the paddy field, and a rocking stirring means attached to the bottom of the robot body for stirring the water in the paddy field, and that perform weeding work by moving over the water using the moving means and stirring the water in the paddy field with the rocking stirring means.

[0006] In the paddy field agricultural work device according to the present invention, the working robot preferably has left and right rotary stirring means attached to both sides in the width direction of the robot body for stirring the water in the paddy field.

[0007] In the paddy field agricultural work equipment of the present invention, the oscillating stirring means has a pair of left and right bottom scrapers arranged along the width direction of the robot body and oscillating in the front-to-back direction of the robot body, and it is preferable that each of the rotary stirring means has a rotating shaft arranged along the width direction of the robot body, a plurality of scraper support parts arranged radially on the outer periphery of the rotating shaft, and side scrapers attached to the tip of each scraper support part.

[0008] In the paddy field agricultural work apparatus according to the present invention, the working robot may have a movement path storage means and a collision prevention sensor mounted on the robot body, and may be capable of autonomous movement.

[0009] The paddy field agricultural work apparatus according to the present invention may also have an operating means for remotely operating one or more of the work robots.

[0010] In the paddy field agricultural work apparatus according to the present invention, the working robot may be capable of switching between autonomous movement and movement by remote control.

[0011] In the agricultural work apparatus for paddy fields according to the present invention, it is preferable that a solar panel is attached to the robot body.

[0012] In the paddy field agricultural work apparatus according to the present invention, the working robot may be provided with sowing means, instead of the rocking agitation means, that is provided on the robot body and has a seed rice storage section for storing seed rice, and a seed rice discharge section for discharging the seeds stored in the seed rice storage section. Here, the shape, size, number, arrangement, etc. of the seed rice storage section and the seed rice discharge section are selected as appropriate.

[0013] In the paddy field agricultural work apparatus according to the present invention, the working robot may be provided with chemical application means, instead of the oscillating agitation means, which includes a chemical storage unit provided on the robot body for storing chemicals, and a chemical discharge unit for discharging the chemicals stored in the chemical storage unit. The shape, size, number, and arrangement of the seed rice storage unit and the seed rice discharge unit may be selected as appropriate. Chemicals include fertilizers, pesticides, and pesticides or repellents for pests and diseases. The chemicals may be in the form of a powder (solid) or liquid, and are discharged (dropped), dripped, scattered, or sprayed depending on the form.

[0014] In the paddy field agricultural work device of the present invention, the working robot has a swinging mixing means attached to the bottom of the robot body, which allows it to easily change direction and turn with a small turning radius, and it can mix the water throughout the paddy field evenly while moving between the rice plants. In particular, by using multiple working robots at the same time, water can be mixed simultaneously (in parallel) in multiple places in the paddy field, and the water throughout the paddy field can be mixed efficiently in a short amount of time, improving work efficiency and weed prevention effects.

[0015] In the agricultural work equipment for paddy fields according to the present invention, when the work robot has left and right rotary stirring means attached to both sides of the width of the robot body to stir the water in the paddy field, the driving force is large, and the operation of the oscillating stirring means and the rotary stirring means are combined, so that operations such as changing direction and turning can be performed smoothly in a short time, and the work robot can efficiently stir the surrounding water while moving across the entire paddy field in a short time.

[0016] In the paddy field agricultural work device of the present invention, when the oscillating stirring means has a pair of left and right bottom scrapers arranged along the width direction of the robot body and oscillating in the front and back direction of the robot body, and each rotary stirring means has a rotating shaft arranged along the width direction of the robot body, a plurality of scraper support parts arranged radially on the outer periphery of the rotating shaft, and side scrapers attached to the tip of each scraper support part, it is possible to effectively stir the water in the paddy field in a short period of time, and it has a fast moving speed, and by selectively driving the left and right bottom scrapers, it is possible to smoothly adjust the direction of travel, turn right or left (change direction), and turn, and it is also possible to selectively drive the left and right rotary stirring means or switch the direction of rotation to quickly change direction and turn, thereby improving work efficiency.

[0017] In the paddy field agricultural work equipment of the present invention, if the work robot has a movement path memory means and a collision prevention sensor mounted on the robot body and is capable of autonomous movement, there is no need for the worker to operate the work robot from the outside (give instructions to the work robot), which is highly labor-saving.

[0018] In the paddy field agricultural work device according to the present invention, if an operating means for remotely operating one or more work robots is provided, the worker can move the work robots while selecting (changing) the movement route according to the situation, thereby performing work reliably.

[0019] In the paddy field agricultural work device of the present invention, if the work robot can switch between autonomous movement and remotely controlled movement, even if the work robot becomes unable to move during autonomous movement due to getting stuck or other reasons, or if a malfunction causes the work robot to move on an incorrect route or run out of control, the worker can quickly resume the movement of the work robot by remote control, rescue it, or correct its route.

[0020] In the paddy field agricultural work device of the present invention, if a solar panel is attached to the robot body, the necessary electricity can be generated by solar power, and if the battery is charged in advance on a sunny day, work can be carried out continuously for long periods of time regardless of the weather, allowing work to be carried out in a planned manner without being affected by the weather.

[0021] In the paddy field agricultural work device of the present invention, if the work robot is equipped with a sowing means, instead of a rocking stirring means, that has a seed rice storage section that is provided on the robot body and that stores seed rice, and a seed rice discharge section that discharges the seed rice stored in the seed rice storage section, the same work robot can be used to perform sowing work in addition to weed control work, further reducing the burden on the worker.

[0022] In the paddy field agricultural work equipment of the present invention, if the work robot is equipped with a chemical application means, instead of a rocking stirring means, which has a chemical storage section provided on the robot body for storing chemicals and a chemical discharge section for discharging the chemicals stored in the chemical storage section, the same work robot can be used to perform chemical application work in addition to weed prevention work, further reducing the burden on the worker.

[0023] It is a block diagram showing the configuration of an agricultural work apparatus for paddy fields according to one embodiment of the present invention. It is a perspective view showing a work robot of the agricultural work apparatus for paddy fields. It is a front view showing the work robot of the agricultural work apparatus for paddy fields. It is a side view showing the work robot of the agricultural work apparatus for paddy fields.

[0024] Next, with reference to the accompanying drawings, embodiments of the present invention will be described to aid in understanding the present invention. Fig. 1 shows a paddy field agricultural work apparatus 10 according to one embodiment of the present invention, which uses a work robot 11, shown in Figs. 2 to 4, to suppress or prevent the growth and proliferation of weeds in paddy fields. As shown in Figs. 2 to 4, the work robot 11 has a robot main body 12, a rocking agitation means 13 attached to the bottom of the robot main body 12 for agitating the water in the paddy field, and left and right rotary agitation means 14 attached to both widthwise sides of the robot main body 12 for agitating the water in the paddy field. The rocking agitation means 13 and the rotary agitation means 14 agitate the water in the paddy field, enabling weeding work to be performed.

[0025] The external shape of the robot body 12 is preferably formed to resemble the body shape of a duck or spot-billed duck, but the shape is not particularly limited. The oscillating agitator 13 has a pair of left and right bottom scrapers 15a, 15b arranged along the width of the robot body 12 and oscillating in the front-to-back direction of the robot body 12. These bottom scrapers 15a, 15b correspond to the left and right feet (flippers) of a duck or spot-billed duck. Each rotary agitator 14 also has a rotating shaft 17 (see FIG. 3) arranged along the width of the robot body 12, multiple scraper support members 18 (six in this example) arranged radially around the outer periphery of the rotating shaft 17, and side scrapers 19 attached to the tips of each scraper support member 18.

[0026] As shown in FIG. 1 , the robot body 12 incorporates a rocking agitator drive unit 20 and a rotary agitator drive unit 21, which drive the rocking agitator 13 (bottom scrapers 15a, 15b) and the rotation of the rotary agitator 14 (side scrapers 19). Motors are preferably used as the rocking agitator drive unit 20 and the rotary agitator drive unit 21. As shown in FIGS. 1 to 4 , the robot body 12 also includes a moving unit 22 for moving through the rice paddy. In this embodiment, as shown in FIG. 3 , the moving unit 22 is configured to have one propeller attached to each side of the robot body 12, allowing the robot body 12 floating on the water to move using wind power. However, the moving unit is not particularly limited, and its configuration, number, and arrangement may be selected as appropriate. For example, a moving unit that moves using water power via a screw attached to the bottom of the robot body 12 may also be used.

[0027] The water in the paddy field can be effectively stirred by swinging the swinging stirring means 13 (bottom scrapers 15a, 15b) and rotating the rotary stirring means 14 (side scrapers 19) while the robot body 12 is moving or stopped. The swinging stirring means drive unit 20 and the rotary stirring means drive unit 21 can also assist in adjusting the direction of travel of the robot body 12, making right or left turns (direction changes), and rotating by selectively swinging either one of the bottom scrapers 15a, 15b and rotating one of the left and right rotary stirring means 14 forward and the other backward. In particular, if a rotary agitator drive unit 21 is provided for each of the left and right rotary agitators 14 and the rotation shafts 17 of the left and right rotary agitators 14 are independent, it is possible to rotate only one of the left and right rotary agitators 14 forward or backward while stopping the other, or to rotate the left and right rotary agitators 14 at different rotation speeds (rotational speeds), enabling more complex and precise operations. The shape and size of the bottom scraper and the number, shape, size, and arrangement of the side scrapers can be selected as appropriate. In this embodiment, each scraper support 18 is composed of two support arms 18a, and both sides of the width of the side scraper 19 are sandwiched and fixed between the two support arms 18a. However, the structure of the scraper support and the method of fixing the side scrapers to the scraper support can also be selected as appropriate. For example, the scraper support may be configured to hold the side scraper with a single support arm.

[0028] As shown in FIG. 1 , the work robot 11 is capable of autonomous movement and has a movement path storage means 23 and a collision prevention sensor 24 mounted on the robot body 12. Therefore, if a movement path is stored in the movement path storage means 23 in advance, the work robot 11 can perform mixing tasks while moving along the stored movement path. The movement path storage means 23 also stores the operation of the oscillating mixer driver 20 and the rotary mixer driver 21 (e.g., control data such as motor rotation speed, rotation time, stop time, and rotation direction) in chronological order, corresponding to the movement path. The oscillating mixer 13 and the rotary mixer 14 are driven accordingly. Even though the work robot 11 is capable of autonomous movement, the collision prevention sensor 24 mounted on the robot body 12 reliably prevents the work robots 11 from colliding with each other when multiple work robots 11 are used simultaneously in a single rice paddy.

[0029] In this embodiment, as shown in Figures 2 to 4, a collision prevention sensor 24 is attached to the front (chest) of the robot main body 12. However, the collision prevention sensor 24 may be any sensor capable of detecting the approach of another work robot 11 and preventing a collision, and the detection method, number, and placement of the sensor may be selected as appropriate. For example, if a collision prevention sensor that detects metal is used, the collision prevention sensor can detect the approach of the robot main body if at least a portion of the robot main body (housing) is made of metal or if metal is embedded in the robot main body. Therefore, a collision can be avoided by, for example, temporarily stopping the oscillating stirring means and the rotary stirring means based on a signal from the collision prevention sensor. Furthermore, a dedicated chip that can be detected by the collision prevention sensor (and can communicate with the collision prevention sensor) embedded in the robot main body instead of metal can also enable the above-described collision avoidance operation.

[0030] Furthermore, as shown in FIG. 1 , the paddy field agricultural work apparatus 10 can have an operating means 25 for remotely operating one or more work robots 11. The operating means 25 is preferably one that issues instructions to the work robot 11 via wireless communication. The robot body 12 is equipped with an operating signal receiving means 26, which receives instructions (operation signals) from the operating means 25 and issues the instructions (operation signals) to the oscillating agitator drive unit 20, the rotary agitator drive unit 21, and the moving means 22, causing the work robot 11 to perform a predetermined (instructed) operation. The operating means 25 may be a manual type in which a worker (operator) manually operates a lever, handle, joystick, or the like to issue instructions to the work robot 11, or an automatic type in which an operating program for moving the work robot 11 along a predetermined movement path is stored and instructions are issued to the work robot 11 according to the operating program. The manually operated type requires more effort from the worker than the automatic type, but the work robot 11 can be operated remotely, which significantly reduces the worker's workload compared to when the worker moves around with a walk-behind (hand-pushed) weeder. Also, with the manually operated type, the worker can operate the work robot 11 while checking on a monitor at hand the images captured by the camera mounted on the robot body 12.

[0031] When multiple work robots 11 are used simultaneously in one rice paddy, if the operation means 25 is a manually operated type, there must be a one-to-one correspondence between the work robots 11 and the operation means 25 (an operation means must be provided for each work robot 11), but if it is an automatically operated type, multiple work robots 11 can be operated with a single operation means 25. For example, to prevent the work robots 11 from interfering with each other (clashing), operation programs created with different movement paths for each work robot 11 can be stored in a single operation means, and instructions can be given to each work robot 11 from the operation means, allowing multiple work robots 11 to work together efficiently.

[0032] Furthermore, it is preferable that the work robot 11 be able to switch between autonomous and remotely controlled movement. This allows workers to select either autonomous or remotely controlled movement as appropriate, depending on the size of the rice paddy, the number of work robots 11 being used simultaneously, the number of workers, and other factors. As shown in Figures 2 to 4, a solar panel 27 is attached to the top surface of the robot body 12. This allows the robot to generate the necessary power through solar power generation, thereby reducing the amount of commercial power used. Furthermore, as shown in Figure 1, the robot body 12 is equipped with a built-in battery 28. By pre-charging the battery 28 with solar power generated on a sunny day, the robot can continue working for long periods of time regardless of the weather, allowing work to proceed according to plan without being affected by the weather. The mounting angle of the solar panel 27 (the angle between the horizontal plane and the surface of the solar panel 27) can be selected as appropriate, but it may be variable or fixed. The shape, size, number, and placement of the solar panel can also be selected as appropriate.

[0033] The dimensions of the work robot 11 are, for example, approximately 400 mm in total length (length in the front-to-back direction) and width (length in the left-to-right direction). Because the work robots 11 are so small, workers can use multiple work robots 11 at the same time in one rice paddy, making it possible to efficiently stir the water in the entire paddy field in an extremely short time, improving work efficiency and significantly reducing work time. The dimensions of the work robots 11 are not limited to the above dimensions and can be selected as appropriate.

[0034] Although the present invention has been described above by way of an embodiment, it is not limited to the configurations described in the above embodiment and includes other embodiments and modifications conceivable within the scope of the claims. The housing of the robot body is preferably made of synthetic resins such as polyethylene, ABS resin, and polyamide, but is not limited to these. Furthermore, the work robot is designed to float on water, but key points are waterproofed with gaskets or the like to prevent the electrical system inside the robot body from getting wet. The bottom scraper and side scraper may be made of synthetic resin or rigid rubber. The battery built into the robot body may be rechargeable from a commercial power source.

[0035] If the work robot is driven (operated) solely by remote operation using the operating means, the movement path storage means of the robot body may be omitted. Furthermore, if the operating means is an automatic operation type that stores an operating program for moving the work robot along a preset movement path and issues instructions to the work robot in accordance with that operating program, the operating means itself also functions as the movement path storage means. While the above embodiment describes a case in which the work robot has a rocking stirring means and a rotary stirring means, the rotary stirring means may be omitted. Furthermore, the collision prevention sensor is not an essential component and may be omitted.

[0036] In the above embodiment, we have described weed control work using a work robot. However, by equipping the work robot with a sowing means and / or chemical application means instead of the oscillating agitation means, the work robot can also be used for sowing and / or chemical application. For example, if the work robot has, as sowing means, a seed storage unit mounted on the robot body for storing seeds and a seed discharge unit for discharging the seeds stored in the seed storage unit, the work robot can directly sow seeds while moving over the water in a paddy field. Furthermore, if the work robot has, as chemical application means, a chemical storage unit mounted on the robot body for storing chemicals and a chemical discharge unit for discharging the chemicals stored in the chemical storage unit, the work robot can discharge the chemicals while moving over the water in a paddy field. The intervals (time intervals and distance intervals) at which the seeds and chemicals are discharged can be selected as appropriate and may be equal or unequal intervals. In particular, a work robot in which an oscillating stirring means, a sowing means, and a chemical application means can be interchangeably attached to the robot body can perform multiple agricultural tasks with a single unit, and is highly versatile and multifunctional, making it possible to improve the efficiency and reduce labor required for agricultural work.

[0037] By providing a highly labor-saving agricultural work device for paddy fields that can automate or semi-automate agricultural work in paddy fields and reduce the workload of workers, it is possible to alleviate labor shortages at farms and contribute to a stable supply of agricultural products and lower costs.

[0038] 10: Paddy field agricultural work device, 11: Work robot, 12: Robot body, 13: Oscillating agitation means, 14: Rotating agitation means, 15a, 15b: Bottom scraper, 17: Rotating shaft, 18: Scraper support part, 18a: Support arm, 19: Side scraper, 20: Oscillating agitation means drive part, 21: Rotating agitation means drive part, 22: Moving means, 23: Moving path memory means, 24: Collision prevention sensor, 25: Operating means, 26: Operating signal receiving means, 27: Solar panel, 28: Battery

Claims

1. Agricultural work equipment for paddy fields, characterized in that it is equipped with one or more work robots having a robot body with moving means for moving over paddy fields, and oscillating mixing means that agitates the water in the paddy field with a pair of left and right bottom scrapers that are attached to the bottom of the robot body, arranged along the width direction of the robot body, and oscillate in the front-to-back direction of the robot body, and which perform weeding work by moving over the water on the moving means and agitating the water in the paddy field with the oscillating mixing means.

2. 2. The paddy field agricultural work apparatus according to claim 1, wherein the work robot has left and right rotary stirring means attached to both sides of the robot body in the width direction for stirring the water in the paddy field.

3. In the paddy field agricultural work device described in claim 2, each of the rotary stirring means has a rotating shaft arranged along the width direction of the robot body, a plurality of scraper support parts arranged radially on the outer periphery of the rotating shaft, and side scrapers attached to the tip of each scraper support part.

4. 2. The paddy field agricultural work apparatus according to claim 1, wherein the working robot has a movement path storage means and a collision prevention sensor mounted on the robot body, and is capable of autonomous movement.

5. 2. The agricultural work apparatus for paddy fields according to claim 1, further comprising an operating means for remotely operating one or more of said work robots.

6. 2. The agricultural work apparatus for paddy fields according to claim 1, wherein the working robot is capable of switching between autonomous movement and movement by remote control.

7. 2. The agricultural work apparatus for paddy fields according to claim 1, wherein a solar panel is attached to the robot body.

8. 2. The agricultural work device for paddy fields according to claim 1, wherein the working robot is equipped with a sowing means, instead of the oscillating stirring means, that has a seed rice storage section provided on the robot body in which seed rice is stored, and a seed rice discharge section that discharges the seed rice stored in the seed rice storage section.

9. In the paddy field agricultural work device described in claim 1, the working robot is equipped with a chemical application means, instead of the oscillating stirring means, which has a chemical storage section provided on the robot body in which chemicals are stored, and a chemical discharge section that discharges the chemicals stored in the chemical storage section.