JP2020111217A - Buoyancy body for spraying granular material - Google Patents

Abstract

To provide a buoyancy body for spraying granular materials which can spray granular materials on a farm field without risk of falling in such a manner that a flying body such as drone or the like is connected to the buoyancy body which can travel on water surface.SOLUTION: A buoyancy body 2, which is movable on water surface W in a front-back direction and a horizontal direction, is provided, a wireless-controlled flying body 4 (drone or the like) is connected to a supporter 3 on a top face of the buoyancy body 2 via connection means 5, and the floating body 4 is so configured as to be capable of being angularly changed by the connection means with respect to the buoyancy body 2. A sprayer 6 for spraying granular materials into water, is fixed to the buoyancy body 2. The flying body 4 flies by wireless control in the state of being connected to the buoyancy body 2, and thus, in the state where the buoyancy body 2 is floated on water W, the flying can propel in the front-back direction and so on while spraying the granular materials.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a buoyancy body for spraying particulate matter, which can travel on the water surface to perform direct seeding of water.

Conventionally, for example, some methods have been proposed as a method for spraying granular materials such as seeds in a field.

For example, as a device for direct seeding cultivation in a submerged area, having a wheel for traveling in the field, a rear part of a traveling machine on which a person rides and operates, a seeding device having a seed feeding mechanism is installed, and the above traveling is performed. A flooded direct sowing device has been proposed in which seeds are sprayed by the sowing device while traveling in a field with a machine body (for example, Patent Document 1).

Further, as a method of spraying pesticides on paddy fields, etc., a pesticide spraying device is attached to a small hovercraft or a small boat floating on a paddy field, and a device for spraying pesticides while wirelessly controlling the hovercraft or boat is known. (For example, Patent Document 2).

Further, there has been proposed a device that uses a radio-controlled flying vehicle such as a radio-controlled helicopter to spray particulate matter such as fertilizer from the air in a field (Patent Document 3).

JP, 9-28124, A JP, 2017-29012, A JP, 2018-43696, A

By the way, in the device of Patent Document 1, for example, since it is necessary to drive a traveling machine body having wheels into a field that has been drained after substituting, the fields will disturb the field to some extent, and the traveling route of the wheels must be ensured. Therefore, there is a problem that the field cannot be effectively used because seeding cannot be performed on the traveling route.

In spraying pesticides and the like by the hovercraft or boat of Patent Document 2 described above, it is difficult to drive the hovercraft or boat in a straight line, and the turning operation needs to be performed in a large arc. However, there is a problem that it is not suitable for a device that seeds in a plurality of rows.

Since the radio-controlled aircraft of Patent Document 3 above has a risk of crashing and the total weight of the aircraft is regulated, the weight of the particulate matter loaded on the aircraft is limited, and a large amount of particulate matter is sprayed at once. There is a problem that you cannot do it.

The present invention has been made in view of the above conventional problems, by connecting a flying body such as a drone to a buoyant body capable of traveling on the water surface, without the risk of a fall, the granular material in a straight line in the field An object of the present invention is to provide a buoyancy body for spraying particulate matter that can be sprayed along.

In order to achieve the above object, the present invention provides
Firstly, a buoyant body that can move in the front-rear direction and the left-right direction on the water surface is provided, and a radio-controlled flight object is connected to an upper part of a support provided on the upper surface of the buoyant body through a connecting means. The flying body is configured to be capable of changing its angle with respect to the buoyant body by the connecting means, and a spraying machine for sprinkling particulate matter into water is fixed to the buoyant body, and the flying body is the buoyant body. It is composed of a buoyancy body for dispersal of particulate matter that can be propelled in the front-back direction or the left-right direction in a state where the buoyancy body is floated on the water surface by flying by radio control while being connected to To be done.

The connecting means can be composed of, for example, the connecting portion (5). The air vehicle can use, for example, a radio-controlled drone (4). With this configuration, when a buoyant body is floated on a paddy field as a field and the flying body is made to fly in the front-rear direction or the left-right direction by radio control, the buoyant body connected to the flying body and the buoyancy body in the front-back direction or the left-right direction on the water surface. By directing the sprayer while driving the buoyant body above the water surface, for example, direct flooding can be performed.

Secondly, since the connecting means can move the flying body in the front-back direction, the flying body can take a forward tilted posture or a backward tilted posture in the pitch direction with respect to the buoyant body, and the flying body is In order to move in the left-right direction, the flying body is configured so that it can take a left tilted posture or a right tilted posture in the roll direction with respect to the buoyant body, and the granular material spraying according to the above-mentioned first feature. Buoyant body for use.

Therefore, for example, when the aircraft is a drone (4) (for example, one having two rotor blades on the front side and two rotor blades on the rear side), when moving forward or backward, the rotor blades on the rear side (27c , 27d) or the rotational speed of the front rotor blades (27a, 27b) higher than that of the front rotor blades or the rear rotor blades, and tilting the aircraft forward or backward to adjust the forward or backward direction. Propulsive force can be exerted, and in the case of advancing to the left or right, the rotational speed of the right rotary blade (27a, 27d) or the left rotary blade (27b, 27c) is set to be lower than that of the left or right rotary blade. It is possible to obtain propulsive force for leftward movement or rightward movement by tilting the vehicle to the left or to the right by increasing the height to a higher value.

Thirdly, the connecting means has a first axis orthogonal to the front-rear direction, which is the traveling direction of the buoyancy body, and a second axis orthogonal to the left-right direction, which is the traveling direction of the buoyancy body. However, the aircraft is supported by the first shaft via the first connecting portion, so that the first shaft is supported while being prevented from rotating in the yaw direction when traveling in the front-rear direction. The forward leaning posture or the backward leaning posture can be taken as the center, and the flying body is pivotally supported by the second shaft via the second connecting portion, so that the flying body rotates in the yaw direction when moving in the left-right direction. The buoyancy body for spraying particulate matter according to the first or second aspect, which is configured to be capable of taking the left tilted posture or the right tilted posture about the second axis in a state in which the above is blocked. It

The first connecting portion can be configured by, for example, the bearing plates (22a, 22b), the U-shaped member (23), the second shaft (R), the rotation support member (24), and the like. The second connecting portion can be configured by, for example, the bearing plates (23a, 23b), the rotation support member (24), the first shaft (P), the bearing plates (22a, 22b), and the like. With this configuration, by making the flying body, for example, a drone, the flying body is prevented from rotating in the yaw direction with respect to the buoyancy body, and is prevented from tilting forward or backward or rotating in the yaw direction. In this state, the buoyant body can move forward or backward with good straightness when the granular material is scattered, and the straightness can be ensured even when moving left and right. ..

Fourthly, the spraying machine includes a tank for storing the granular material, a rotating body provided at a lower portion of the tank and provided with a plurality of recesses for conveying the granular material, and a drive for rotationally driving the rotating body. The first to third units configured to be capable of spraying particulate matter into the water from the discharge port by rotating the rotating body while the buoyant body is moving in the front-rear direction. It is constituted by the buoyancy body for spreading the granular material according to any one of the above.

The rotating body may be, for example, a plate (16), and the recess may be, for example, a through hole (18). The drive means may be composed of a drive motor (M). With such a configuration, in combination with the straightness of the buoyancy body, for example, direct seeding of rice in a paddy field can be performed with good linearity.

Fifth, the buoyancy body for spraying particulate matter is constituted by the buoyancy body for dusting particulate matter according to any one of the first to fourth aspects, in which a camera for displaying the front and the rear is installed.

According to this structure, the operator can confirm the state of the field by the image of the camera on the display of the radio controller or the like, and can easily grasp whether or not the farm arrives at the opposite bank.

Sixth, the flying body is composed of the buoyancy body for spraying particulate matter according to any one of the first to fifth aspects, which is a flying body having four rotors at positions corresponding to the corners of the main body.

The flying body may use, for example, a drone having four rotors.

Seventhly, the battery of the flying body is composed of the buoyancy body for dispersing particulate matter according to any one of the first to sixth aspects, which is provided in the buoyancy body.

According to this structure, by placing a relatively heavy battery on the buoyancy body, it is possible to lower the center of gravity of the buoyancy body and perform stable traveling.

As described above, the present invention floats a buoyant body on a paddy field as a field, and when the flying body is made to fly in the front-rear direction by radio control, both the buoyant body connected to the flying body and the floating state on the water surface, It can be propelled in the front-rear direction or the left-right direction, and for example, direct watering can be performed by driving the spreader while propelling the buoyancy body above the water surface.

Further, it is possible to eliminate accidents and dangers caused by dropping the flying body, and since the flying body does not fly in the air, it is not necessary to consider, for example, the total weight limit at the time of spraying in the air.

Further, unlike the conventional vehicle with wheels, the seed mud can be sown accurately without stirring.

In addition, when advancing or retreating an air vehicle (for example, a drone), the propulsive force of the buoyancy body in the forward direction or the backward direction can be exerted by tilting the air vehicle forward or backward. Alternatively, when traveling to the right, the propulsive force for moving the buoyancy body to the right or to the left can be obtained by tilting the air vehicle to the right or left. Therefore, it is not necessary to make a turn at the end part of the field after receding straight, and the vehicle can immediately move rightward or leftward from straight (reverse), so that it is not necessary to make a large turn unlike a conventional hovercraft or boat.

In addition, the flying body (for example, a drone) leans forward or backward with respect to the buoyancy body in a state where rotation in the yaw direction is blocked, or leans left or right with the rotation in the yaw direction blocked. Therefore, the buoyancy body can move forward or backward with good straightness when the granular material is sprayed, and the straightness can be ensured even when moving left and right. Therefore, seeds and the like can be sprayed accurately along the straight line.

Further, the operator can confirm the state of the field by the image of the camera on the display of the radio controller or the like, and can easily grasp whether or not the farm arrives at the opposite bank.

Further, by placing a relatively heavy battery on the buoyancy body, the center of gravity of the buoyancy body can be lowered and stable traveling can be performed.

It is a side view of the buoyancy body for granular material spraying concerning the present invention. It is a top view of a buoyant body same as the above. It is a rear view of a buoyancy body same as the above. It is a perspective view of a buoyant body same as the above. The figure shows a spreader of a buoyant body, where (a) is a partial cross-sectional side view of the spreader and (b) is a plan view of a plate. FIG. 3 is a block diagram of a radio controller used for the buoyancy body. FIG. 3 is a block diagram of a control system of a flying body portion of the buoyant body. FIG. 3 is a plan view of the field showing the movement of the buoyancy body on the field. It is a top view which shows other embodiment of a buoyancy body same as the above.

Hereinafter, the buoyancy body for spraying particulate matter according to the present invention will be described in detail.

In the following description, in FIG. 1, the left side toward the paper surface is the “forward direction” and the “arrow A direction”, and the right side toward the paper surface is the “backward direction”, the “arrow A′ direction”, and the forward direction (arrow A direction). ) Is defined as "left direction", "arrow B direction", and right when facing forward direction (arrow A direction) is defined as "right direction", "arrow B'direction" (other Also in the figure).

As shown in FIGS. 1 to 3, the buoyancy body 1 for dispersing particulate matter according to the present invention has a forward direction (arrow A direction), a backward direction (arrow A′ direction), and a water surface W (for example, a water depth of about 10 cm). A buoyant body 2 that is linearly movable in the left direction (arrow B direction) and the right direction (arrow B'direction), and a connecting portion 5 (connecting means) on an upper portion of a support body 3 provided on the upper surface of the buoyant body 2. ) Via a radio-controlled flying body 4 (a drone in this embodiment) provided so as to be able to change the angle with respect to the buoyancy body 2. As the drone, for example, one having two (27a, 27b) rotor blades on the front side and two (27c, 27d) rotor blades on the rear side can be used.

The buoyant body 2 is fixed with a spreader 6 (four in the present embodiment, see FIG. 2) for spraying particulate matter into the water, and the flying body 4 flies by radio control so that the water surface The buoyant body 2 floating on W is configured to be propellable in the front-rear direction or the left-right direction. Further, the buoyancy body 1 for spraying particulate matter has a symmetrical shape in the front-rear direction as a whole, and is configured to be able to travel forward and backward on the water surface W without resistance.

The connecting portion 5 moves forward or backward of the flying body 4 so that the flying body 4 moves forward or backward, with respect to the buoyancy body 2. (Inclination in the direction of the pitch) (inclination in the pitch direction), and the flight body 4 moves in the left-right direction. The connecting joint 5'is capable of taking an attitude (inclined in the arrow D'direction in FIG. 3) (inclined attitude in the roll direction).

The connecting joint 5′ is orthogonal to the front-rear direction of the buoyancy body 2 and a first axis P (pitch direction axis) which is the central axis of the forward or backward tilt of the flying body 4 and the buoyancy body 2. It has a second axis R (roll direction axis) which is orthogonal to the left-right direction and serves as a central axis of the left tilted posture or the right tilted posture of the flying body 4.

More specifically, the buoyant body 2 (see FIG. 4) includes a buoyant portion 7a on the right side, a buoyant portion 7b on the left side, and a plurality of buoyant portions 7a, 7b (in the present embodiment, 4 The connection plate 8 is made up of one sheet. The left and right buoyancy portions 7a and 7b are made of a material that floats on water, such as Styrofoam or hollow plastic. These buoyancy portions 7a and 7b have the same shape and are symmetrical in the front-rear direction, and the front and rear portions have an inclined portion 9a having the same inclination angle θ from the horizontal upper surface (from front to rear). Slope) and an inclined portion 9b (inclination from rear to front) are formed, and both are configured so that the buoyancy body 2 can smoothly advance forward or backward on the water surface. There is.

Further, the left and right buoyancy portions 7a and 7b are respectively formed with front horizontal portions 10a and 10a on the front side and rear horizontal portions 10b and 10b on the rear side, and the horizontal portion 10a is provided between the horizontal portions 10a and 10b. , 10b, which is one step lower than the lower surface portions 10c, 10c, and is elongated in the front-rear direction. The lower surface portions 10c, 10c are connected to each other by the connecting plate 8. The center of gravity of the buoyant body 2 is configured to be as low as possible by providing the support 3 and the sprayer 6 on the lower surface portions 10c and 10c.

The lower ends of the two supporting rods 3a and 3a' are fixed on the lower surface portion 10c of the right buoyancy portion 7a, and the two supporting rods 3b and 3b are attached on the lower surface portion 10c of the left buoyancy portion 7b. The lower ends of 3b' are fixed, and the upper ends of the support rods 3a, 3a' and the support rods 3b, 3b' are inclined at the same angle in the direction of the central axis Q of the buoyancy body 1 for spreading particulate matter, The connection portion 5 is connected and fixed to a horizontal substrate 5a having, for example, a square shape having a small area of the connecting portion 5 centered on the central axis Q. In this way, the support body 3 composed of the support rods 3a, 3a', 3b, 3b' is formed in the shape of a quadrangular pyramid turret with the central axis Q as the center. At a low position, a support plate 11 for supporting the spreader 6 is horizontally fixed to each rod portion of the support rods 3a, 3a', 3b, 3b'.

Four spreaders 6 are fixed to the support plate 11 at predetermined intervals (see FIG. 3). Since all of these sprayers 6 have the same configuration, only one of them will be described. As shown in FIG. 5, the spreader 6 includes a tank 12 for storing granular materials (for example, rice seeds), and a cylindrical portion 13 continuously provided below the tank 12 via a hopper 12′. A fixed bottom plate 14 provided in the lower portion of the cylindrical portion 13 and having a discharge port 14a for the particulate matter at one place; and a fixed central shaft 15 provided in the central portion of the cylindrical portion 13 on the fixed bottom plate 14. The center shaft 15 is rotatably provided with a perforated plate 16 as a rotating body, and a discharge chute 17 provided below the discharge port 14a.

As shown in FIG. 5B, the plate 16 is provided with a plurality of through holes 18 radially on its plate surface, and is placed on the bottom plate 14 to form a recess for carrying the granular material. Is formed. Then, the granular material charged into the tank 12 is charged into the through hole 18 (recess). A gear portion (not shown) is formed on the outer peripheral portion of the plate 16 over the entire circumference thereof, and an intermediate gear 19 meshes with the gear portion, and the drive gear 20 of the drive motor M is engaged with the intermediate gear 19. Are in mesh. The drive gear 20 is connected to a pulley 21 of the drive motor M, and by driving the drive motor M, the plate 16 is fixed to the fixed central shaft 15 via the drive gear 20 and the intermediate gear 19. It is configured so that it can be rotationally driven about.

Therefore, when the granules thrown into the through hole 18 (recess) reach the opening 14a by rotating the perforated plate 16, the granules pass through the opening 14a and the discharge chute 17. It will be dropped and supplied downward.

As shown in FIGS. 2 and 3, four spreaders 6 having such a structure are fixed to the support plate 11. The leftmost spreader 6 is fixed to an outer position of the left buoyancy portion 7b, and the granular material is sprayed downward at the outer position, and the two spreaders 6 and 6 in the central portion are the left and right. Are fixed at an intermediate position between the buoyancy portions 7a, 7b at a predetermined interval, and at the intermediate position, the granular material is sprinkled downward from between the central connecting plates 8 and 8 and the rightmost spreader 6 Is fixed to the outer side position of the right buoyancy portion 7a, and is configured so that the granular material can be sprayed downward at the outer side position.

The four sprayers 6 are fixed on the support plate 11 on the same straight line in the left-right direction at equal distances or substantially equal distances from each other. As a result, by linearly advancing the buoyancy body 1 for spraying particulate matter, the particulate matter is sprayed linearly along the four straight lines L1, L2, L3, L4 at substantially equal distances. Is what you can do. Each sprayer 6 is fixed to the support plate 11 by a fixing member 11a (see FIG. 5).

The connection portion 5 is provided on the horizontal substrate 5a. In this connecting portion 5, two bearing plates 22a and 22b parallel to the front-rear direction for supporting both ends of the first shaft (pitch direction axis) P are erected in the left-right direction on the horizontal substrate 5a. It is fixed (see FIG. 3 ), and both ends of the first shaft P in the left-right direction are axially supported and fixed between the bearing plates 22 a and 22 b.

Further, the first axis P between the bearing plates 22a and 22b is a U-shape including two bearing plates 23a and 23b parallel to the left-right direction and a front-rear connecting portion 23c that connects these bearing plates 23a and 23b. The U-shaped member 23 is inserted in the left-right direction at the center position in the front-rear direction of the front-rear connecting portion 23c of the member 23, so that the U-shaped member 23 has an arrow C direction and an arrow C′ centered on the first axis P. It is configured so that it can freely rotate in any direction.

Further, since the first axis P in the left-right direction is fixed to the bearing plates 22a and 22b fixed to the horizontal substrate 5a, the U-shaped member 23 moves in the directions of the arrows C and C'. It is configured such that it can be tilted but cannot rotate in the rotation direction (yaw direction) about the upright central axis Q. Therefore, the flying body 4 can also be tilted in the directions of the arrows C and C', but is not rotated in the yaw direction.

Further, above the first axis P, between the two front and rear bearing plates 23a, 23b parallel to the left-right direction of the U-shaped member 23, a front-back direction orthogonal to the first axis P is provided. Both ends of the second shaft (roll-direction shaft) R are pivotally supported and fixed. A square rotation support member 24 is fixed between the bearing plates 23a and 23b and is fixed to the lower surface of the main body 25 of the flying body 4. The rotation support member 24 has a center in the left-right direction. At the position, the second shaft R is inserted in the front-rear direction, and the rotation support member 24 is freely rotatable about the second shaft R in the arrow D direction and the arrow D′ direction (see FIG. 3). Is configured to be able to.

The second axis R in the front-rear direction is fixed to the U-shaped member 23 axially supported by the bearing plates 22a and 22b fixed to the horizontal base plate 5a with the first axis P. Therefore, the rotation support member 24 pivotally supported by the second axis R can only be tilted in the direction of the arrow D or D′, and the rotation direction about the central axis Q which is upright. It is configured so that it cannot rotate in the (yaw direction). Therefore, the flying body 4 can also be tilted in the directions of the arrows D and D', but is not rotated in the yaw direction.

When the flying body 4 including the main body 25 fixed to the U-shaped member 23 and the rotating member 24 is advanced in the arrow A direction by the configuration of the connecting portion 5 (connection joint 5′) as described above. Is a forward tilted posture in the direction of arrow C in which the front side rotates downward about the first shaft (pitch direction axis) P, or when retracting in the direction of arrow A′, the first shaft ( The second axis (roll direction axis) R in the case of moving backward in the arrow C'direction in which the rear side rotates downward about the pitch axis P) and in the direction of arrow B (left direction). In the case of a left tilted posture in the direction of arrow D in which the left side rotates downward with respect to the center, and when proceeding in the direction of arrow B'(right direction), the right side is downward with respect to the second axis (roll direction axis) R It is configured so that it can take a rightward inclined posture in the direction of the arrow D′ that rotates.

With the configuration of the connecting portion 5 as described above, the flying body 4 is configured so as not to rotate in the yaw direction about the central axis Q in the vertical direction.

The flying body 4 is a so-called radio-controlled drone in the present embodiment, and extends along the main body 25 and the diagonal line of the main body 25 provided at the four square corners (corners or corners) of the main body 25. Four support rods 26, drive motors Ma, Mb, Mc, Md fixed to the tip of each support rod 26, and rotary vanes 27a, 27b, 27c, 27d connected to each pulley of these drive motors. It is composed by. Further, the battery 28 for driving each of the motors may be built in the main body 25, but in order to lower the center of gravity of the buoyancy body 2, the battery 28 is provided in the central portion of the connection plate 11 and is connected to the battery 28. The main body 25 may be connected by a line 29 (see FIG. 1).

In addition, a front camera 35a that projects the front is provided on the front side of the lower portion of the horizontal substrate 5a above the support body 3 of the buoyancy body 1 for dispersing particulate matter, and a rear is provided on the rear side of the lower portion of the horizontal substrate 5a. The rear camera 35b that projects images is fixed.

Next, the configuration relating to the radio control of the self-propelled vehicle 4 of the present invention will be described below.
FIG. 6 shows the radio controller 30 of the above-mentioned self-powered vehicle 4, which includes a power switch 31f, a forward switch 31a, a reverse switch 31b, a right move switch 31c, a left move switch 31d, a camera changeover switch 31e, and An operation unit 31 having a spreader drive switch 31g, a display 32 for displaying an image from a camera, an operation signal recognition means 33a for recognizing which operation signal is operated, and rotary blades 27a to 27d corresponding to the operation signal. Drive units 33b, 33c, 33d, 33e for each drive motor for transmitting a drive signal to each drive motor, a camera switching unit 33h for transmitting a camera switching signal, and a drive signal for each drive motor M of the spreader. The drive unit 33i for transmitting, the signal from each drive unit and the camera switching signal are transmitted to the flying body 4, while the video signal from the camera of the flying body 4 is received and transmitted to the video processing unit 33f. The control unit 33 includes a transmission/reception unit 33g and an image processing unit 33f for processing an image from the camera and displaying the image on the display 32.

On the other hand, the flying body 4 includes a control unit 34 as shown in FIG. That is, a transceiver 34a for receiving various signals from the radio controller 30 and transmitting a video signal from a camera to the radio controller 30, and a predetermined signal based on various signals demodulated by the transceiver 34a. Of the drive motors Ma to Md, the operation signal recognition means 34b for driving and controlling the spreader drive motor M, the cameras 35a and 35b, and the video switching means for transmitting the video signal of the switched cameras to the transmission/reception means 34a. The control unit 34 is configured by 34c. The operation signal recognition means 34b is connected to the drive motors Ma to Md and the drive motors M (four) of the spreader, and the image switching means 34c is connected to the cameras 35a and 35b.

Since the present invention is configured as described above, the operation of the buoyancy body 1 for dispersing particulate matter of the present invention will be described next. Here, it is considered that rice seeds are directly sown as granular material in a flooded paddy field as a field. Therefore, rice seeds are loaded into the hoppers 12 of the above-mentioned four sprayers 6, the loaded seeds are filled up to above the eye plate 16, and a plurality of seeds are loaded into the respective through holes 18. I shall. The distance from the bottom of the field to the water surface W is about 10 cm, but shallower water depth or deeper water depth may be used. It is assumed that the paddy field is a rectangular farm field 36 as shown in FIG. The shape of the field 36 is not limited to a square, but may be various shapes.

Next, the buoyancy body 1 for spraying particulate matter according to the present invention is floated on the water surface W at the position K1 at the left corner of the farm field 36 so that the front (direction of arrow A) is the front. At this time, the flying body 4 moves in the arrow C or C′ direction or the arrow D or D′ direction with respect to the buoyancy body 2 about the first axis P or the second axis R. It is in a tilted state (that is, a state in which the main body 25 is not horizontal). The camera changeover switch 31e is assumed to be switched to the front camera 35a. In addition, the operator is assumed to be near the field 36 with the radio controller 30.

The operator turns on the power switch 31f of the wireless control device 30 and turns on the spreader drive switch 31g to drive the drive motor M of each spreader 6 to set the pan 16 of each spreader 6 to a rotating state. Be present. Therefore, when the through hole 18 reaches the discharge port 14a due to the rotation of the eye plate 16, the seed in the through hole 18 will drop downward.

Then, when the operator turns on the power switch 31f, a drive signal is sent from the control unit 33 (transmission/reception unit 33g) to the control unit 34 (transmission/reception unit 34a) of the flying vehicle 4, and each is transmitted via the operation signal recognition unit 34b. A drive signal is transmitted to the drive motors Ma to Md, and as a result, the rotary blades 27a to 27d start rotating at the same rotation speed T. At this time, as shown in FIG. 2, the rotary blades 27a and the rotary blades 27c on the diagonal line rotate in the same direction (the arrow H direction), and the rotary blades 27b and the rotary blades 27d on the other diagonal line move to the arrow H direction. Rotate in the opposite direction (arrow I direction), a uniform lift is produced, and the main body 25 of the flying body 4 is in the horizontal state from the tilted state, and is in the horizontal state of FIGS. 1 to 3.

It should be noted that when the number of rotations of each of the rotor blades 27a to 27d is increased, the flying body 4 can also raise the buoyancy body 1 (buoyancy body 2) for spraying particulate matter itself from the water surface W, but up to that point. The number of revolutions is not increased, and the number of revolutions T in which the body 25 of the flying body 4 is kept horizontal is set in advance and the number of revolutions T is maintained.

Further, the video signal from the camera 35a is modulated and transmitted by the transmission/reception unit 34a via the video signal switching unit 34c, received by the transmission/reception unit 33g of the wireless control device 30 and demodulated, and the video processing unit 33f. After being subjected to image processing at, the image is sent to the display 32. Therefore, on the display 32, an image of the farm field 36 viewed from the front side is displayed from the front side camera 35a.

After that, the operator may press the forward button 31a of the operation unit 31 while watching the image on the display 32. Then, the control unit 33 (operation signal recognition means 33a) drives the Mc drive units 33d and Md with a command to make the rotational speeds of the rear rotor blades 27c and 27d higher than the front rotor blades 27a and 27b. To the section 33e. Then, the Mc drive unit 33d and the Md drive unit 33e transmit a forward signal to the transmission/reception unit 33g to make the rotation speeds of the drive motor Mc and the drive motor Md higher than the rotation speeds T of the drive motor Ma and the drive motor Mb. To do. Then, the forward signal is modulated by the transmitter/receiver 33g and wirelessly transmitted, received by the controller 34 (transmitter/receiver 34a) of the flying object 4 and demodulated, and sent to the operation signal recognition means 34b.

The operation signal recognition means 34b recognizes that the forward drive signal has been sent, and sends a drive signal for increasing the rotation speed to the rear drive motors Mc and Md. Then, the rotational speed T′ of the rear-side rotary blades 27c and 27d becomes higher than the rotational speed T of the front-side rotary blades 27a and 27b (T′>T), and therefore the front-side rotary blade 27a, The lift force by the rear rotor blades 27c, 27d becomes larger than the lift force by 27b, and as a result, the aircraft 4 tilts forward in the arrow C direction about the first axis P (pitch direction axis) and in the forward tilted posture. As a result, the flying body 4 exerts a propulsive force that horizontally advances forward (in the direction of arrow A).

Then, the buoyancy force of the flying body 4 causes the buoyancy body 1 for spraying particulate matter to be propelled forward (in the direction of arrow A) on the water surface W while floating on the water surface W, and then to the straight line N1 in FIG. It goes straight along.

At this time, since the flying body 4 cannot rotate in the yaw direction (horizontal direction centering on the central axis Q) due to the structure of the connecting portion 5, it is possible to exhibit stable straightness, and the buoyancy force for sprinkling the granular material. The body 1 can advance linearly on the water surface along the straight line N1. Further, since the buoyant body 2 has a catamaran structure including the two buoyant portions 7a and 7b, it is possible to exhibit good straightness.

In this forward state, since the pan 16 of each sprayer 6 is rotating, every time the through-hole 18 reaches the discharge port 14a, a plurality of seeds drop downward at regular intervals, and the dropped seeds are discharged. It passes through the chute 17 and is scattered on the ground G below the water surface W. Therefore, rice seeds can be directly sown at a predetermined interval along the straight line N1 along the four straight lines (straight lines L1 to L4). The seeds are preferably seeds coated with iron or the like, and the coated seeds do not sink and float on the ground G in the water.

When the operator recognizes that the buoyancy body 1 for spraying particulate matter is approaching the opposite bank while looking at the image on the display 32, that is, the buoyancy body 1 is located at the position K2 (see FIG. 8), the operation unit The sprayer drive switch 31g of 31 is turned off and the camera changeover switch 31e is pushed to change over the cameras. Then, the control unit 33 (operation signal recognition unit 33a) recognizes that the spreader drive switch 31g is turned off and the camera changeover switch 31e is pressed, and the spreader 6 is operated via the drive unit 33i. The drive stop signal of the drive motor M and the camera switching signal via the switching unit 33h are transmitted to the flying body 4 via the transmitting/receiving unit 33g.

The control unit 34 (transmission/reception unit 34a) of the aircraft 4 receives the drive stop signal and the camera switching signal, the drive stop signal is transmitted to the operation signal recognition unit 34b, and the camera switching signal is transmitted to the video signal switching unit 34c. It Therefore, the rotation of the drive motor M is stopped by the signal from the operation signal recognition means 34b, the spraying of the seeds is stopped, and the camera is switched from the front side to the rear side camera 35b by the switching signal of the video signal switching means 34c. After switching, the rear side video signal from the camera 35b is sent to the transmitting/receiving unit 34a via the video signal switching means 34c.

The transmitter/receiver 34a modulates the rear video signal and wirelessly transmits it to the transmitter/receiver 33g of the radio controller 30, and the transmitter/receiver 33g demodulates the received video signal and sends it to the video processor 33f. The video processing means 33f performs image processing on the video signal and then sends it to the display 32. As a result, a rear video image is displayed on the display 32 by the rear camera 35b.

The operator then presses the right move button 31c. Then, the control unit 33 (operation signal recognition unit 33a) once transmits to the flying body 4 a command for returning the rotation speeds of the drive motors of all the rotary blades 27a to 27d to the initial rotation speed T. Therefore, since the rotational speeds of all the rotary blades once return to T, the flying body 4 returns to the horizontal attitude.

After that, the operation signal recognition means 33a sends a command to the rotation speeds of the left rotary blades 27b and 27c to be higher than the rotation speed T of the right rotary blades 27a and 27d to the Mb drive portion 33c and Mc drive portion 33d. Then, the Mb drive unit 33c and the Mc drive unit 33d send a right movement signal to the transmission/reception unit 33g to make the rotation speeds of the drive motor Mb and the drive motor Mc higher than the rotation speeds T of the drive motor Ma and the drive motor Md. Send. Then, the right movement signal is modulated by the transmission/reception unit 33g and wirelessly transmitted, received by the transmission/reception unit 34a of the flying object 34, demodulated, and sent to the operation signal recognition unit 34b.

The operation signal recognition means 34b recognizes that the right movement signal has been sent, and sends a drive signal for increasing the rotation speed to the left drive motors Mb, Mc. Then, the rotation speed T'of the left rotary blade 27b and the rotary blade 27c becomes higher than the rotation speed T of the right rotary blade 27a, 27d (T'>T). Therefore, the lift force by the right rotary blade 27a, 27d is increased. As a result, the lift force by the left rotor blades 27b, 27c becomes large, and as a result, the flying body 4 takes a right tilted posture with the second axis R (roll direction axis) as the center and the right tilt in the arrow D'direction. As a result, the flying body 4 exerts a propulsive force that horizontally advances in the right direction (arrow B'direction).

Then, due to the propulsive force of the flying body 4, the buoyancy body 1 for spraying particulate matter moves laterally on the water surface W in the right direction (direction of arrow B′) while facing the front side. It laterally moves linearly along the arrow B'direction in FIG.

At this time, since the flying body 4 cannot rotate in the yaw direction (the rotation direction around the central axis Q) due to the structure of the connecting portion 5, it exhibits stable straightness in the right direction (arrow B'direction). The buoyancy body 1 for spraying particulate matter can move laterally linearly on the water surface along the arrow B′.

When the operator looks at the display 32 and confirms that the buoyancy body 1 for spraying the granular material has moved laterally by a predetermined distance (see position K3 in FIG. 8), the operator pushes the sprayer drive switch 31g and also moves the reverse switch 31b. Just press. Then, the spreader drive signal is received by the transmitter/receiver 34a of the flying body 4 from the wireless steering machine 30 through the same transmission/reception route (from the wireless steering machine 30 to the flying body 4), and each drive motor M of the spreading machine 6 is received. Starts driving. At the same time, the control unit 33 (operation signal recognition unit 33a) of the radio controller 30 once transmits a command for returning the rotation speeds of the drive motors of all the rotor blades to the initial rotation speed T to the flying body 4. Therefore, the rotational speeds of all the rotor blades 27a to 27d once return to T, and the flying body 4 becomes horizontal.

After that, the operation signal recognizing means 33a sends a backward command to the Ma drive unit 33b and the Mb drive unit 33c so that the rotational speeds of the front rotor blades 27a and 27b are higher than the rear rotor blades 27c and 27d. .. Then, the Ma drive unit 33b and the Mb drive unit 33c send a retreat signal to the transmission/reception unit 33g to make the rotation speeds of the drive motor Ma and the drive motor Mb higher than the rotation speeds T of the drive motor Mc and the drive motor Md. To do. Then, the retreat signal is modulated by the transmitting/receiving unit 33g and wirelessly transmitted, received by the transmitting/receiving unit 34a of the flying object 34, demodulated, and sent to the operation signal recognition unit 34b.

The operation signal recognizing means 34b recognizes that the backward signal has been sent, and sends a drive signal for increasing the rotational speed to the front drive motors Ma and Mb. Then, the rotational speed T'of the front rotary blades 27a and 27b becomes higher than the rotational speed T of the rear rotary blades 27c, 27d (T'>T), and therefore the rear rotary blades 27c, 27d. The lift force of the front rotor blades 27a and 27b becomes larger than the lift force of the aircraft. As a result, the aircraft 4 tilts backward in the direction of the arrow C′ about the first axis P (pitch direction axis) and in the backward tilted posture. As a result, the flying body 4 exerts a propulsive force that horizontally advances in the backward direction (arrow A'direction).

Then, as shown in FIG. 8, the buoyancy body 1 for spraying particulate matter spreads along the straight line N2 in the backward direction (arrow A'direction) by the propulsive force of the flying body 4 as it is facing forward. ) On the water surface W, and recedes linearly along the straight line N2 in FIG.

At this time, since the flying body 4 cannot rotate in the yaw direction (the rotation direction around the central axis Q) due to the structure of the connecting portion 5, it exhibits stable straightness in the backward direction (arrow A'direction). The buoyancy body 1 for spraying particulate matter can recede linearly on the water surface along the arrow A′.

Further, in this retracted state, since the pan 16 of each spreader 6 is rotating, every time the through-hole 18 reaches the discharge port 14a, a plurality of seeds drop downward at regular intervals, and the dropped seeds are dropped. Passes through the discharge chute 17 and is scattered on the ground G below the water surface W. Therefore, the rice seeds can be directly sown at predetermined intervals along the straight line N2 along the four straight lines (straight lines L1 to L4).

After that, the operation of the operator after the buoyancy body 1 for spraying particulate matter reaches the position on the opposite bank (position K4 in FIG. 8) may be the same as the operation when reaching the position K2. That is, when the operator recognizes from the image on the display 32 that the position K4 (opposite shore) has been reached, the spreader drive switch 31g is turned off to stop the operation of the spreader 6, and the camera changeover switch 31e is turned on. Press to switch the camera to the front camera 35a.

Thereafter, the operator pushes the right side movement button 31c to laterally move the buoyancy body 1 for spraying particulate matter in the direction of the arrow B'. When the right side movement button 31c is pressed, similarly to the above, once the rotational speeds of all the rotor blades of the flying body 4 have returned to the initial rotational speeds T, the rotational speeds T'of the left rotor blades 27b and 27c are changed. It becomes higher than the rotation speed T of the right rotor blades 27a, 27d, and as a result, the flying body 4 tilts in the direction of the arrow D'about the second axis R (roll axis), which causes the rightward propulsion. A force is generated, and the buoyancy body 1 for spraying particulate matter linearly moves on the water surface W in the right direction (arrow B'direction).

When the operator looks at the display 32 and confirms that the buoyancy body 1 for spraying the granular material has moved laterally by a predetermined distance (see position K5 in FIG. 8), the sprayer drive switch 31g is pressed and the forward switch 31a is pressed. Just press. After that, by the same operation, the buoyancy body 1 for spraying granular material can be linearly advanced along the straight line N3, and similarly, rice can be directly sown over four rows.

After that, by the same operation, arrow B', straight line N4 (arrow A'), arrow B'direction, straight line N5 (arrow A), arrow B'direction, straight line N6 (arrow A'), arrow B from position K6 are operated. The rice can be directly sown on the paddy field by moving the rice field along the straight line N7 (arrow A). In order to move the buoyancy body 1 for spraying particulate matter to the left, by pressing the left movement switch 31d in the same manner as described above, the rotational speeds of the right rotor blades 27a, 27d are the same as those of the left rotor blades 27b, 27c. Since the rotational speed becomes higher than T and the lift force by the rotary blade on the right side becomes large, the flying body 4 is tilted to the left in the direction of arrow D, thereby generating a propulsive force in the left direction, and similarly, scattering the particulate matter. The buoyancy body 1 can be moved leftward (direction of arrow B).

FIG. 9 shows another embodiment of the buoyancy body 1 for dispersing particulate matter according to the present invention. In the above embodiment, one of the flying bodies 4 (for example, drones) is connected to the center of the buoyancy body 2. In this embodiment, four buoyant bodies 2 are connected to four flying bodies 4 (for example, four drones). Four connecting portions 5 are provided between each flying body 4 and the support body 3 of the buoyancy body 2, and each flying body 4 is individually inclined in the front-rear direction or the left-right direction. Is configured to be able to. In this way, the granular material buoyancy body of the present invention can be constructed by using four flying bodies (drones).

As described above, according to the present invention, when the buoyancy body 2 is floated on a paddy field or the like and the flying body 4 is made to fly in the front-back direction by radio control, both the buoyancy bodies 2 connected to the flying body 4 and the water surface W are moved. It can be propelled in the front-rear direction or the left-right direction, and by driving the spreader 6 while propelling the buoyant body 2 in a state of floating above the water surface W, for example, direct flooding can be performed.

Further, it is possible to eliminate accidents and dangers caused by dropping the flying body 4, and since the flying body 4 does not fly in the air, it is not necessary to consider, for example, the total weight limit at the time of spraying in the air.

Further, since there is no conventional wheeled vehicle or screw, it is possible to accurately sow the mud in the field without stirring.

When the aircraft 4 (for example, a drone) is moved forward or backward, the propulsion force in the forward direction or the backward direction can be exerted by tilting the aircraft 4 forward or backward. When traveling to the right, the propulsive force for rightward or leftward movement can be obtained by tilting the aircraft to the right or left. Therefore, it is not necessary to make a turn at the terminal end after going straight back, and it is possible to go straight (reverse) to the right or left at a substantially right angle (horizontal movement) immediately, making a large turn like a conventional hovercraft or boat. It is not necessary to do so, and efficient seeding can be performed effectively using the field.

Further, the flying body 4 (for example, a drone or the like) leans forward or backward with respect to the buoyancy body 2 in a state in which rotation in the yaw direction is blocked, or leans left or in a state in which rotation in the yaw direction is blocked. Since it is inclined to the right, the buoyancy body 2 can be moved forward or backward with good straightness when the granular material is sprayed, and the straightness can be ensured even when moving left and right. Therefore, seeds and the like can be sprayed accurately along the straight line.

Further, the operator can confirm the state of the field by the image of the camera on the display 32 of the radio controller 30 or the like, and can easily grasp whether or not the farm arrives at the opposite bank.

Further, by placing a relatively heavy battery on the buoyancy body 2, the center of gravity of the buoyancy body 2 can be lowered and stable traveling can be performed.

Although the number of the spreaders 6 is four in the above embodiment, the number of the spreaders 6 is arbitrary, and may be smaller (3, 2 or the like) or larger (5, 6 or the like). .. Further, although the rotating body of the spreader 6 is constituted by the eyelet 16, it is not limited to the eyelet 16 and may be a roll-shaped granular material feeding mechanism in which a plurality of recesses are formed on the outer circumference of the cylindrical body.

Further, in the above-described embodiment, when the flying body 4 moves rightward (horizontally moves) after going straight or backward, the number of rotations of the four rotors is once returned to T, and then moved to the right. However, the rotational speed may be immediately moved to the right without returning to the rotational speed T from the straight traveling direction or the backward moving direction.

Further, the configuration of the connecting portion 5 is not limited to that of the above-described embodiment as long as the flying body 4 can be tilted in the pitch direction or the roll direction while the rotation of the flying body 4 is blocked in the yaw direction. It may be a connection portion (connection joint) having the above structure.

The buoyant body 2 is a catamaran including the buoyant portions 7a and 7b, but is not limited to this and may be a wide buoyant body having an integral structure or a buoyant body having three-point support, four-point support, or the like. Although the bottom surface of the buoyant bodies 7a and 7b in water has a rectangular cross section (see FIG. 3), the left and right edges of the bottom surface are formed in an arc shape in the cross section so as to facilitate lateral movement. May be.

Further, in the above embodiment, the drone is used as the flying body 4, but the flying body is not limited to the drone and may be a radio controlled helicopter or the like. Further, a GPS receiver capable of receiving radio waves of GPS satellites is provided in the control unit of the flying body 4, and the control unit of the flying body 4 grasps its own position, and the route shown in FIG. It can also be configured to fly by itself.

According to the buoyancy body for spraying particulate matter of the present invention, for example, direct seeding work in flooded water can be performed extremely efficiently.

1 Buoyancy body for spraying granular material 2 Buoyancy body 3 Support body 4 Flying body 5 Connection part (connection means)
6 Disperser 12 Tank 14a Discharge port 16 Plate (rotating body)
18 Through hole (recess)
25 main body 27a-27d rotary wing 28 battery 30 radio operator 35a, 35b camera A, A'front and back direction B, B'left and right direction C, C'forward tilt, backward tilt (pitch direction)
D, D'Left tilt, Right tilt (roll direction)
P First axis R Second axis W Water surface M Drive motor

Claims (7)

A buoyant body that can move the water surface forward and backward and left and right is provided,
A flying body operated by radio control is connected to an upper portion of a support body provided on the upper surface of the buoyancy body via a connecting means,
The flying body is configured so that the angle can be changed with respect to the buoyancy body by the connecting means,
On the buoyant body, a spraying machine for spraying particulate matter into water is fixed,
The flying body is capable of propelling in the front-back direction or the left-right direction in a state where the buoyancy body is suspended on the water surface by flying by radio control while being connected to the buoyancy body. A buoyant body for material distribution. The connecting means allows the flying body to move in the front-rear direction, so that the flying body can take a forward tilting posture or a backward tilting posture in the pitch direction with respect to the buoyancy body, and the flying body moves in the left-right direction. Therefore, the buoyancy body for spraying particulate matter according to claim 1, wherein the flying body is configured so as to be able to take a left tilt posture or a right tilt posture in the roll direction with respect to the buoyancy body. The connecting means has a first axis that is orthogonal to the front-rear direction that is the traveling direction of the buoyancy body, and a second axis that is orthogonal to the left-right direction that is the traveling direction of the buoyancy body.
The aircraft is rotatably supported by the first shaft via the first connecting portion, and is prevented from rotating in the yaw direction when traveling in the front-rear direction. In addition to being able to take the forward leaning posture or the backward leaning posture,
The aircraft is rotatably supported on the second shaft via the second connecting portion, and is prevented from rotating in the yaw direction when traveling in the left-right direction, and is centered on the second shaft. The buoyancy body for spraying particulate matter according to claim 1 or 2, wherein the buoyancy body is configured so that it can take the left tilted posture or the right tilted posture. The above-mentioned spraying machine is composed of a tank for storing the granular material, a rotating body provided under the tank and provided with a plurality of recesses for transporting the granular material, and a drive means for rotationally driving the rotating body. Is
The granular material according to any one of claims 1 to 3, wherein the granular material can be dispersed from the discharge port into the water by rotating the rotating body while the buoyant body moves in the front-rear direction. A buoyant body for material distribution. The buoyancy body for dispersing particulate matter according to any one of claims 1 to 4, wherein a camera for displaying the front and the rear is installed on the buoyancy body for dispersing the particulate matter. The buoyancy body for dispersing particulate matter according to any one of claims 1 to 5, wherein the flight body is a flight body having four rotary wings at positions corresponding to corners of the main body. The buoyancy body for dispersing particulate matter according to any one of claims 1 to 6, wherein the battery of the flying body is provided on the buoyancy body.

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