JP2019149998A - Unmanned ship for agriculture - Google Patents

Abstract

To provide an unmanned ship for agriculture capable of spraying a particulate matter uniformly in a prescribed range.SOLUTION: An unmanned ship 1 for agriculture has a hull, propulsion means constituted of a propeller 18 connected to the shaft of a motor, storage means 14 for storing a particulate matter, and discharge means 30 for discharging the particulate matter, in which the discharge means 30 is formed in such a shape as to regulate a discharge direction and discharge speed of the particulate matter.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an agricultural unmanned vessel.

  2. Description of the Related Art Conventionally, there has been proposed a drug spraying boat that is composed of a rubber boat and uses a propeller and an engine as propulsion means (for example, Patent Document 1).

JP 2017-29012 A

  In the above-described technique, in order to reduce the variation in the spray concentration of the medicine, the discharge amount of the medicine is adjusted according to the moving speed. By the way, even if the discharge amount of the medicine is adjusted according to the moving speed, the degree of uniform medicine spraying is not sufficient unless the direction and speed in which the medicine is discharged are controlled.

  An object of the present invention is to provide an unmanned agricultural ship capable of uniformly dispersing a particulate material in a predetermined range.

  A first invention is an unmanned agricultural ship having propulsion means composed of a propeller connected to a shaft of a motor, storage means for storing particulate matter, and discharge means for discharging particulate matter, The shape of the inner surface of the discharge means is an unmanned agricultural ship that is formed in a shape that regulates the discharge direction and discharge speed of the particulate matter.

  According to the structure of 1st invention, the agricultural unmanned ship can regulate the discharge direction and discharge speed of a granular material by a discharge means. Thereby, a granular substance can be uniformly distributed over a predetermined range.

  According to a second invention, in the configuration of the first invention, the discharge means includes a ceiling portion and a bottom plate portion, and the particulate matter is discharged to the outside from a space between the ceiling portion and the bottom plate portion. The inner surface of the ceiling part is formed as an upper curved surface that becomes lower from the rear to the front, and the particulate material contacts the inner surface of the ceiling part, and the discharge direction is controlled. An agricultural unmanned vessel configured to be

  According to a third aspect of the present invention, in the configuration of the second aspect, the inner surface of the bottom plate portion is formed as a lower curved surface that rises from the rear toward the front, and the discharge direction of the granular material in contact with the bottom plate portion is An agricultural unmanned vessel configured to be controlled upward.

  According to a fourth invention, in the configuration of the second invention or the third invention, the inner surface of the ceiling portion is formed as a concave surface that increases from the side toward the center, and the width increases from the rear toward the front. It is formed as a narrow curved surface, and the particulate matter is an unmanned marine vessel configured to come into contact with the inner side surface of the ceiling portion and the discharge direction is controlled in the central direction.

  According to a fifth invention, in any one of the configurations of the second invention to the fourth invention, the invention has a pair of sleeve portions that are continuous with the ceiling portion and extend in the direction of the bottom plate portion. The side surface is formed as an inclined surface toward the center as it goes from the rear to the front, and the unmanned marine vessel is configured such that the discharge direction of the granular material in contact with the sleeve is controlled in the central direction. It is.

  According to a sixth aspect of the present invention, in the structure according to any one of the second to fifth aspects, the length from the rear to the front of the ceiling portion is longer in the central direction of the ceiling portion. It is an unmanned ship.

  According to a seventh invention, in any one of the first to sixth inventions, the discharge means is disposed in front of the agricultural unmanned vessel and discharges a liquid substance. Is an agricultural unmanned ship arranged in a rear portion of the agricultural unmanned ship.

  In an eighth aspect based on the seventh aspect, the hull is composed of a pair of floats and a structure connected to the pair of floats, and the liquid substance is stored inside the float. An agricultural unmanned vessel in which storage means is arranged.

  According to a ninth aspect of the present invention, in the configuration according to any one of the first to eighth aspects, the agricultural unmanned ship stops the discharge of the particulate matter while changing the traveling direction. It is an unmanned ship.

  ADVANTAGE OF THE INVENTION According to this invention, the agricultural unmanned ship which can control the discharge direction of a granular material can be provided.

It is the schematic which shows the effect | action of the agricultural unmanned ship in embodiment of this invention. It is a schematic perspective view which shows the outer surface of an agricultural unmanned ship. It is a conceptual diagram which shows the function structure of the agricultural unmanned ship by a side view. It is a conceptual diagram which shows the function structure of the agricultural unmanned ship by planar view. It is the schematic which shows the flow of a granular material. It is the schematic which shows the structure of a sending part. It is the schematic which shows the structure of a sending part. It is the schematic which shows the structure of a sending part. It is the schematic which shows a mode that a delivery part accelerates a granular material. It is the schematic which shows a mode that a delivery part accelerates a granular material. It is the schematic which shows a mode that a delivery part accelerates a granular material. It is the schematic which shows a mode that a delivery part accelerates a granular material. It is a conceptual diagram which shows the flow of the granular material in a discharge part. It is a conceptual diagram which shows the structure of a discharge part. It is a conceptual diagram which shows the flow of the granular material in a discharge part. It is a conceptual diagram which shows the flow of the granular material in a discharge part.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail. In the following description, the same reference numerals are given to the same components, and the description thereof is omitted or simplified. Note that description of configurations that can be appropriately implemented by those skilled in the art will be omitted, and only the basic configuration of the present invention will be described.

  As shown in FIG. 1, the unmanned agricultural ship 1 of the present embodiment (hereinafter referred to as “ship 1”) moves in the direction of the arrow x1 while floating on the water stretched on the rice field, for example. Apply granular fertilizer. Fertilizer is an example of a particulate material. The particulate material is not limited to fertilizers, and may be a chemical such as an agricultural chemical or a seed such as cocoon. The ship 1 discharges the fertilizer from the front part as shown by the arrow B3, and uniformly spreads the fertilizer on the region S1 where the crops 200 are located. The ship 1 also discharges liquid fertilizer from the rear part as shown by an arrow D1, and sprays the liquid fertilizer on the region S1 where the crops 200 are located. Liquid fertilizer is an example of a liquid substance. The liquid substance is not limited to liquid fertilizer and may be a chemical such as an agricultural chemical. The area S1 is defined as an area in a predetermined range where the fertilizer effectively acts on the crop 200.

  As shown in FIG. 2, the ship 1 is a catamaran having a pair of floats 10A and 10B. For this reason, for example, the fertilizer can be sprayed in a state where rice seedlings are sandwiched between the floats 10A and 10B. Moreover, since the seedlings can pass under the housing 12, it is possible to spray fertilizers up to one month after rice planting (in the above-described conventional technique, 10 days after rice planting). ). For this reason, not only herbicides but also medicines such as pest control agents conventionally sprayed in the air can be sprayed. In addition, the drug drift can be reduced by spraying the drug by the ship 1 instead of in the air.

  As shown in FIG. 2, a housing 12 is disposed on the floats 10A and 10B. The floats 10A and 10B are examples of hulls. A tank 14 for storing granular fertilizer is disposed on the top of the housing 12. The tank 14 is an example of a storage unit. A motor storage portion 16 is formed at the rear portion of the housing 12, and a motor (not shown) for navigating force is stored in the motor storage portion 16. A propeller 18 is connected to the rotating shaft of the motor. The propeller 18 is an example of a propulsion unit.

  On the rear side of the propeller 18, rudder 20A and 20B and a track stabilizing plate 22 are arranged. By turning the rudder 20A and 20B in the horizontal direction, the direction of the airflow generated from the propeller 18 can be controlled, and the traveling direction of the ship 1 can be controlled. The track stabilizing plate 22 can efficiently use the airflow generated from the propeller 18 and stabilize the traveling direction of the ship 1.

  A discharge portion 30 is formed at the front portion of the housing 12. The discharge unit 30 is an example of a discharge unit. A tube 46 for discharging liquid manure is disposed behind the housing 12. The tube 46 is an example of a liquid material discharge unit. The above-described casing 12, tank 14, rudder 20A and 20B, and track stabilizer 22 are examples of structures.

  3 and 4 are conceptual diagrams showing the functional configuration of the ship 1, and the configuration stored inside is also shown by a solid line. In FIG. 4, a part of the tank 14, the motor storage unit 16, and the like are omitted. Liquid fertilizer tanks 40A and 40B are disposed inside the floats 10A and 10B, respectively. The liquid fertilizer tanks 40A and 40B are an example of storage means for storing a liquid substance. Tubes 44A and 44B are connected to the liquid fertilizer tanks 40A and 40B, respectively, and the tubes 44A and 44B are connected to the pump 42. A tube 46 for discharging liquid fertilizer to the outside is connected to the pump 42. The liquid manure stored in the liquid fertilizer tanks 40A and 40B is sucked by the pump 42 through the tubes 44A and 44B, and discharged from the tube 46 to the outside.

  A control unit 50 and a battery 52 are arranged in the upper part of the floats 10 </ b> A and 10 </ b> B and stored inside the housing 12. The control unit 50 controls the operation of each part such as a motor connected to the propeller 18 and the rudder 20A and 20B. The battery 52 is a battery for supplying power to each unit, and is, for example, a lithium ion battery. The tank 14 includes a tank body 14a, a buffer part 14b, and an outlet part 14c. An opening / closing part (not shown) is disposed in the buffer part 14b, and the amount of granular fertilizer supplied from the tank body 14a to the outlet part 14c is adjusted by controlling the degree of opening / closing. While the ship 1 is changing the traveling direction, the control unit 50 performs control so as to stop the discharge of the particulate material and the liquid material.

  A delivery part 32 is arranged between the outlet part 14 c and the discharge part 30. The delivery unit 32 includes a rotating plate connected to a motor (not shown) as a main component. The fertilizer is supplied from the inclined surface of the outlet portion 14 c to the delivery unit 32, and the fertilizer accelerated by the delivery unit 32 is sent to the discharge unit 30.

  As shown in FIG. 5A, the inner side surface of the ceiling portion 30a (see FIG. 13) of the discharge unit 30 is formed as an upper curved surface that becomes lower from the rear toward the front (in the direction indicated by the arrow y1). When the fertilizer falls from the tank 14 to the delivery part 32 as shown by the arrow C1 and the delivery part 32 rotates in the direction of the arrow A1 (see FIG. 5B), the fertilizer is accelerated, and the delivery part as shown by the arrow B1. 32, the predetermined kinetic energy is lost while coming into contact with the inner surface of the ceiling portion 30a, and the discharge direction is controlled (changed) downward (in the direction of arrow B2 in FIG. 5A). In addition, since a fertilizer is comprised from many granular fertilizers, when describing the motion of a fertilizer and each particle | grain in this specification, suppose that such a motion is demonstrated.

  As shown in FIG. 6, the delivery unit 32 includes a disc-shaped rotating plate 32a, a shaft portion 32b connected to a motor (not shown), and a plate-shaped blade portion 32c1 arranged in the shape of the rotating plate 32a. , 32c2, 32c3. The rotating plate 32a rotates with the shaft portion 32b as a rotating shaft.

  FIG. 7A is a view of the delivery unit 32 and the cover 34 as viewed from the front (the direction opposite to the arrow y1 direction in FIG. 5A). As shown in FIG. 7A, the sending part 32 is covered with a cover 34. The cover 34 includes a ceiling part 34a and a peripheral wall part 34b. In the cover 34, the part facing the ceiling part 34a is opened, and the front side of the page is also opened.

  FIG. 7B is a plan view of the sending part 32 and the cover 34. The sending section 32 covered with the cover 34 is indicated by a dotted line. An opening 34aa for introducing fertilizer is formed in the ceiling 34a of the cover 34.

  FIG. 8 is a view showing the delivery part 32 and the peripheral wall part 34 b of the cover 34. The peripheral wall portion 34b includes a circular portion 34b1 and left and right straight portions 34b2L and 34b2R (portions surrounded by dotted lines in FIG. 8).

  A state in which the fertilizer 100 is accelerated by the delivery unit 32 and delivered from the delivery unit 32 will be described with reference to FIGS. 9 to 12. There are actually a large number of particulate materials constituting the fertilizer 100, but only three are shown for convenience of explanation. As shown in FIG. 9A and the like, the rotating plate 32a rotates at a predetermined rotation speed in the direction of the arrow A1. When the fertilizer 100 is introduced onto the rotating plate 32a from the opening 34aa (see FIG. 9A), the fertilizer 100 contacts the blade portion 32c1 by the rotation of the rotating plate 32a (see FIG. 9B). The fertilizer 100 is given kinetic energy and accelerated by being in contact with the blade portion 32c1 and the like. By controlling the rotation speed of the rotating plate 32a, the extent to which the fertilizer 100 is accelerated, that is, the speed at which the fertilizer 100 is delivered from the delivery unit 32 is adjusted.

  When the rotating plate 32a further rotates (FIG. 10 (a)), the fertilizer 100 moves outward by centrifugal force, but the outward movement is restricted by the circular portion 34b1 (see FIG. 8) of the peripheral wall portion 34b. ing. When the rotating plate 32a further rotates and the blade portion 32c1 reaches the straight portion 34b2L (see FIG. 8) of the peripheral wall portion 34b (see FIG. 10B) (FIG. 10B), there is no structure that obstructs the centrifugal force applied to the fertilizer 100. Jumps out in the direction of centrifugal force (FIG. 11 (a)). Depending on the direction in which the fertilizer 100 jumps out (for example, the direction indicated by the arrow B0), the fertilizer 100 collides with the straight portion 34b2L and changes the direction (for example, changes to the direction indicated by the arrow B1a). In this case, a part of the kinetic energy when the fertilizer 100 jumps out of the rotating plate 32a is lost due to the collision with the straight portion 34b2L, and the speed is reduced.

  When the rotating plate 32a further rotates, the fertilizer 100 sequentially jumps in the direction of the centrifugal force (FIGS. 11B and 12). Depending on the direction in which the fertilizer 100 jumps out (for example, the direction indicated by the arrow B1b in FIG. 11B), the fertilizer 100 does not collide with the straight portion 34b2L and does not lose kinetic energy. For this reason, the speed of the fertilizer 100 delivered from the rotating plate 32a is not uniform.

  Moreover, as shown in FIG. 13, the fertilizer 100 jumps out in the direction of the arrow B1, but since the fertilizer 100 is a large number of granular materials, as a result of collision of the granular materials on the rotating plate 32a, all the fertilizers 100 are It is not necessarily sent in the horizontal direction, and may be sent in a direction having a directional component in the vertical direction (that is, obliquely upward) with a larger kinetic energy than the other fertilizer 100. The fertilizer 100 comes into contact with the ceiling portion 30a, loses a part of kinetic energy, and the flight direction is controlled downward, and is discharged from the discharge portion 30 at an angle indicated by an arrow B3 (an angle in the vertical direction). And the larger the directional component in the vertical direction, the longer the distance that can be in contact with the ceiling portion 30a and the longer the time tm that can be in contact with the ceiling portion 30a, so that much kinetic energy is lost. Thereby, the speed of the fertilizer 100 is averaged. The time tm does not necessarily mean a continuous contact time, and in the case of intermittent contact, means a total contact time. The angle shown by the arrow B3 means an angle within a predetermined range. The angle of the predetermined range is, for example, a range of 10 degrees up and down with respect to the horizontal direction.

  As shown in FIG. 13, the inner side surface of the bottom plate portion 30 b is formed as a lower curved surface that increases from the rear toward the front. Since the fertilizer 100 delivered from the delivery unit 32 is composed of a large number of granular substances, the direction may be changed downward by a collision with each other. However, when the fertilizer 100 comes into contact with the bottom plate 30b, the predetermined kinetic energy is lost and the flight direction Is controlled (changed) upward (in the direction indicated by the arrow B2d). And it discharges from the discharge part 30 in the direction and speed which are shown to arrow B3.

  FIG. 14 is a plan view showing the discharge unit 30. The discharge part 30 is comprised from the ceiling part 30a, the baseplate part 30b, and a pair of sleeve parts 30a2A and 30a2B. The pair of sleeve portions 30a2A and 30a2B are integrally formed continuously with the protruding portion 30a1 of the ceiling portion 30a and extend in the direction of the bottom plate portion 30b. It is comprised so that the fertilizer 100 may be discharged outside from the space between the ceiling part 30a and the baseplate part 30b.

  The sleeve portions 30a2A and 30a2B are formed as inclined surfaces that go to the center from the rear toward the front. For example, as shown in FIG. 16, when the fertilizer 100 jumps out in the direction indicated by the arrow B3a and contacts the sleeve 30a2A, the predetermined kinetic energy is lost and the traveling direction is controlled (changed) in the central direction indicated by the arrow B3b. The Thereby, it is preventing that the fertilizer 100 spreads beyond the range of area | region S1.

  Adjustment of the direction of the horizontal direction in the discharge part 30 is demonstrated with reference to FIG.15 and FIG.16. The inner side surface of the projecting portion 30a1 of the ceiling portion 30a is formed as a concave surface that increases from the side toward the center, and is formed as a curved surface that decreases in width from the rear toward the front. When the fertilizer 100 contacts the inner surface of the protrusion 30a1, the fertilizer 100 loses a predetermined kinetic energy and the flight direction is controlled (changed) in the central direction. Thereby, although the fertilizer 100 goes to a center direction, a flight direction has a different direction component for every particle | grain. For this reason, the direction in which the fertilizer 100 is discharged does not diffuse and does not concentrate too much in a specific direction, and is uniformly distributed in the region S1 within a predetermined range (see FIG. 15).

  As shown in FIG.15 and FIG.16, the length which goes to the front from the back of the ceiling part 30a is formed so that the center part is long. That is, the shape of the protrusion 30a1 protrudes at the center in plan view. When attention is paid to the region U1, it is formed in the shape of an isosceles triangle having an obtuse angle. The length in the center part of the ceiling part 30a is length L1, and the length in a side part is length L2. L1> L2.

  The fertilizer 100 that has jumped out from the sending part 32 to the upper center part of the ceiling part 30a may come into contact with the ceiling part 30a over the length L1, the vertical flying direction is controlled downward, and the horizontal flying direction. Is maintained. Here, the fertilizer 100 that has jumped out near the lower portion of the central portion of the ceiling portion 30a does not contact the ceiling portion 30a over the length L1, but contacts the ceiling portion 30a at a distance shorter than the length L1. The fertilizer 100 that has jumped out near the lower part of the center of the ceiling 30a originally has a relatively small kinetic energy. Such a fertilizer 100 is, for example, particles that collide with the linear portion 34b2L or 34b2R of the delivery unit 32 and change the direction to the central direction. In the fertilizer 100 that has jumped out to the upper part of the central part of the ceiling part 30a and the fertilizer 100 that has jumped out to the vicinity of the lower part, when leaving the discharge part 30, the speed difference becomes small.

  The fertilizer 100 that has jumped out from the delivery portion 32 to the side portion of the ceiling portion 30a does not travel straight, and the flight direction is controlled (changed) in the central direction. For this reason, even if it is the fertilizer 100 which protruded to the side most, the distance (time) which contacts the ceiling part 30a is longer than the length L2. The fertilizer 100 that has jumped out from the sending part 32 to the upper part of the center part of the ceiling part 30a is in contact with the ceiling part 30a over the length L1 and loses a predetermined kinetic energy to control the jumping speed v1 to the outside. And the fertilizer 100 which jumped out from the sending part 32 to the upper part of the side part of the ceiling part 30a loses kinetic energy while coming into contact with the ceiling part 30a and the flight direction is controlled in the central direction, and the jumping speed v2 to the outside is obtained. Be controlled. Here, the difference between the speed v1 and the speed v2 is controlled within a predetermined range. The predetermined range is, for example, within 10% of the average speed. If the ceiling part 30a does not have the protruding part 30a1 and the length L2 is the same length as the length L1, the fertilizer 100 jumping out to the side part of the ceiling part 30a loses kinetic energy excessively. The difference between the speed v1 and the speed v2 cannot be controlled within a predetermined range. In this respect, since the protrusion 30a1 of the ceiling 30a is formed in an isosceles triangle having an obtuse angle in plan view, the fertilizer 100 that has jumped out to the side of the ceiling 30a has the flight direction in the center. Even if it changes, it will not lose kinetic energy excessively.

  The ship 1 discharges the fertilizer 100 while proceeding in the direction of the arrow y1 in FIG. The ship 1 continuously discharges the fertilizer 100. For example, if the times at intervals of the time interval Δt are time t1 to t5, the fertilizer 100 is supplied to the regions S1a to S1e at the respective times. Discharge. If the region S (see FIG. 1) is configured by the regions S1a to S1e, the fertilizer 100 is uniformly discharged in each region S1a and the like, and thus the fertilizer 100 is also uniformly discharged in the region S1.

  Note that the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Agricultural unmanned ship 10A, 10B Float 12 Case 14 Tank 16 Motor storage part 20A, 20B Rudder 22 Orbit stabilization board 30 Discharge part 32 Delivery part 34 Cover

Claims (9)

The hull,
Propulsion means composed of a propeller connected to the shaft of the motor;
Storage means for storing particulate matter;
Discharging means for discharging particulate matter;
An agricultural unmanned vessel having
The inner surface shape of the discharge means is
An agricultural unmanned ship formed in a shape that regulates the discharge direction and discharge speed of the particulate matter. The discharge means is
Having a ceiling and a bottom plate,
The particulate matter is configured to be discharged from the space between the ceiling and the bottom plate,
The inner surface of the ceiling part is formed as an upper curved surface that decreases from the rear toward the front,
The particulate material is configured to come into contact with the inner surface of the ceiling portion and to control the discharge direction.
An agricultural unmanned ship according to claim 1. The inner surface of the bottom plate portion is formed as a lower curved surface that increases from the rear toward the front,
It is configured such that the discharge direction of the granular material in contact with the bottom plate portion is controlled upward.
An agricultural unmanned ship according to claim 2. The inner surface of the ceiling part is formed as a concave surface that increases from the side toward the center, and is formed as a curved surface that decreases in width from the rear toward the front,
The granular material is configured to come into contact with the inner surface of the ceiling portion, and the discharge direction is controlled in the central direction.
An agricultural unmanned ship according to claim 2 or claim 3. Continuing on the ceiling, and having a pair of sleeves extending in the direction of the bottom plate
The inner surface of the sleeve is formed as an inclined surface that goes to the center as it goes from the rear to the front,
The discharge direction of the granular material in contact with the sleeve is configured to be controlled in the center direction.
The unmanned agricultural ship according to any one of claims 2 to 4. The length in the direction from the rear to the front of the ceiling part is formed so as to be longer toward the center of the ceiling part.
The agricultural unmanned ship according to claim 4 or 5. The discharge means is disposed in a front portion of the agricultural unmanned ship,
Liquid material discharge means for discharging the liquid material is disposed in the rear part of the agricultural unmanned ship,
The unmanned agricultural ship according to any one of claims 1 to 6. The hull is composed of a pair of floats and a structure connected to the pair of floats,
Storage means for storing the liquid substance inside the float is disposed.
The agricultural unmanned ship according to claim 7. The agricultural unmanned ship according to any one of claims 1 to 8, wherein the agricultural unmanned ship stops the discharge of the particulate matter while the traveling direction is changed.