WO2015083370A1 - Unmanned operation boat for rice paddy weeding, unmanned operation boat for floating object recovery, and method for rice paddy weeding - Google Patents

Abstract

This unmanned operation boat for rice paddy weeding travels at the water surface of a rice paddy and is provided with: a boat main body having a bow and a stern; a rudder disposed at the stern side for altering the orientation of the boat main body; a propulsion device; and a weeding implement containing a chain that droops down in a manner so as to be dragged at the ground surface of the rice paddy during travel. The weeding implement is disposed at a position that is at the bow side of the center of gravity position before mounting the weeding implement when seen in a plan view.

Description

Unmanned driving boat for paddy field weeding, unmanned driving boat for collecting floating substances, and paddy field weeding method

The present invention relates to an unmanned driving boat for paddy field weeding, an unmanned driving boat for collecting floating matter, and a paddy weeding method used for weeding paddy weeds by remote control.

In order to reduce the burden on elderly farmers, various labor-saving efforts for farming have been studied. In rice cultivation in paddy fields, labor saving by mechanization has been put into practical use in the process of spraying agricultural chemicals, rice planting, and rice harvesting. However, weeding work for weeds has not yet been put to practical use with a fully satisfactory mechanized method. Therefore, as the weeding work, a method of weeding by manually dragging a weeding tool such as a weeding tool having a weeding effect is often used.

As a labor-saving paddy field weeding method, a method of performing a weeding operation by an operator driving a riding type or wheelbarrow type machine equipped with a weeding tool in the paddy field is widely known. For example, Patent Document 1 below discloses a weeding device that removes weeds by running a riding rice transplanter in a paddy field so as to drag a large number of metal chains. However, when the riding rice transplanter is driven in the paddy field, the wheels step on the paddy field, and thus there is a problem that irregularities are formed on the paddy field. The formation of such irregularities adversely affects the growth of rice roots. Moreover, according to such a method, since it is necessary to drive | operate in a paddy field, it becomes a severe labor for an operator at the time of high temperature or rainy weather.

As a means for solving the above-mentioned problems, a technique for weeding the weeds in the paddy field while running a small boat on the paddy field has been proposed. For example, Patent Document 2 below discloses a small air boat equipped with a weed generation prevention stirrer that prevents the generation of weeds by freely moving in a paddy field while avoiding an obstacle (rice). Patent Document 3 below discloses a paddy weeding machine that is a floating weeding device having a soft-shaped weeding rotor at the rear, and transmits the engine power to the soft-shaped weeding rotor to remove the streak.

Although not related to weeding, as a labor-saving method of agricultural work using a radio controlled boat, the following Patent Document 4 describes an agrochemical tank for filling a liquid pesticide in the hovercraft body and a spraying device for spraying the pesticide. A radio-controlled hovercraft for spraying agricultural chemicals is disclosed in which the spraying device and the hovercraft body can be operated by remote control.

JP 2000-32804 A JP 2011-205967 A JP 2002-34305 A JP 2009-240242 A

After planting rice, when a worker enters a paddy field and manually weeds or drives a vehicle to remove weeds, the rice roots are rooted by stepping on the ground or the ground is rough. As a result, there was a problem of inhibiting good growth of rice roots.

The present invention is a technique for weeding paddy fields using an unmanned driving boat, and an object thereof is to provide an unmanned driving boat for paddy field weeding having excellent controllability of direction change.

The present inventors tried to mechanize the harsh labor in which an operator drags a weeding tool in a paddy field, and tried to drag the weeding tool in an unmanned driving boat such as a radio controlled boat. In general, when towing cargo or the like with a ship, a rope is fixed to the stern of the ship and another ship or cargo is towed while floating on the water surface. When a heavy weeding device was fixed and dragged to the stern of an unmanned boat in the same way, the direction change was very difficult and impractical. As a result of intensive studies to solve such problems, the present invention has been conceived.

That is, an unmanned operation boat for paddy field weeding according to the present invention is an unmanned operation boat traveling on the surface of a paddy field, a rudder for changing the direction of a boat body having a bow and a stern, a boat body disposed on the stern side, and a propulsion device And a weeding device including a chain that is suspended so as to be dragged on the ground of the paddy field when traveling, the weeding device is located at a position on the bow side of the center of gravity before mounting the weeding device when viewed from above. Arranged, preferably fixed near the bow. According to such a configuration, excellent direction controllability can be realized even when a weeding instrument including a relatively heavy chain is dragged. A rudder that controls the direction of the boat is arranged on the stern side. That is, instead of fixing heavy weeding equipment on the stern side, it is generated by the rudder by fixing the bow side rather than the center of gravity position, moving the center of gravity position to the bow side, and increasing the distance from the center of gravity to the rudder. The rotational moment can be increased. As a result, high steerability can be achieved even when a heavy weeding device is dragged.

The propulsion device is preferably a ducted fan because of its high horsepower.

In addition, an unmanned boat is a radio controlled boat that receives a command transmitted from a transmitter at a receiver and travels on the surface of the water according to the command. It is preferable from the point which can be performed.

Also, the weeding device is preferable because it includes a chain and has high weeding efficiency, and it can be flattened by stirring the ground simultaneously with weeding. Specifically, including a plurality of chains arranged so as to spread in a direction perpendicular to the traveling direction of the boat body, more specifically, the width of the boat body in the vertical direction relative to the traveling direction is set to W1, When the width between the farthest chains is W2, the W2 / W1 is preferably 1 to 5 times, depending on the amount of water, from the viewpoint that a wide range of weeding treatment can be performed by one run.

In addition, it is preferable to further include a pontoon which is a foamed resin molded body on which the boat body is placed because the draft can be easily adjusted. At this time, the weeding device may be disposed at the bow of the trolley.

Further, the paddy field weeding method according to the present invention is a method of weeding paddy field weeds by remotely operating any one of the above-described paddy field weed unmanned operation boats and running on the water surface.

The unmanned operation boat for collecting paddy field suspended matter according to the present invention is an unmanned operation boat that travels on the surface of a paddy field, and is disposed on the stern side for changing the direction of the boat body with a boat body having a bow and a stern. It is equipped with a rudder, propulsion device, and dust collecting (cage-like) floating material collecting device that collects floating material floating on the water surface. The floating material collecting device is an unmanned operation for collecting floating material arranged at the bow. It is a boat. According to such a configuration, excellent direction controllability can be realized even when the suspended matter is recovered and heavier on the water surface.

According to the present invention, an unmanned boat for paddy field weeding having excellent controllability of direction change is provided.

FIG. 1 is a schematic perspective view when a radio control boat 10 for paddy field weeding of this embodiment is viewed from the upper side. FIG. 2 is a schematic perspective view of the radio controlled boat 10 as viewed from the front upper side. FIG. 3 is a schematic diagram of the controller 20 for remotely operating the radio controlled boat 10. FIG. 4 is a schematic front view of the weeding device 6 fixed to the radio-controlled boat 10. FIG. 5 is an explanatory diagram for explaining a state in which weeds of paddy fields are weeded by running the radio controlled boat 10 in the paddy fields. FIG. 6A is an explanatory diagram for explaining a mechanism that exhibits excellent steering performance of the radio controlled boat 10. FIG. 6B is an explanatory diagram for explaining a mechanism that exhibits excellent steering performance of the radio controlled boat 10. FIG. 6C is an explanatory diagram for explaining a mechanism that exhibits excellent steering performance of the radio-controlled boat 10. FIG. 7 is a schematic perspective view of the floating substance recovery radio-controlled boat 30 according to the present embodiment as viewed from the front upper side. FIG. 8 is a schematic perspective view of the radio controlled boat 40 as viewed from the front upper side. FIG. 9 is a schematic perspective view when viewed from the front upper side when the float 22 is mounted on the radio controlled boat 10. FIG. 10 is a schematic perspective view illustrating an example of a radio-controlled boat using the carriage 22. FIG. 11 is a schematic perspective view of the radio controlled boat 41 as viewed from the front upper side.

In the following, as an embodiment of the paddy field weed unmanned operation boat, floating material collection unmanned operation boat and paddy field weeding method according to the present invention, the paddy field weeding radio control boat 10, the floating material collection unmanned operation boat 30 and these were used. The paddy field weeding method will be described.

FIG. 1 is a schematic perspective view of a paddy weeding radio controlled boat (hereinafter, also simply referred to as a radio controlled boat) 10 according to the present embodiment as viewed from above a side surface. FIG. 2 is a perspective view of the radio controlled boat 10 viewed from the upper front side. FIG. 3 is a schematic diagram of a controller 20 that is a transmitter for remotely operating the radio controlled boat 10.

As shown in FIGS. 1 and 2, the radio controlled boat 10 includes a boat body 1, a propeller fan 2 a and a propulsion device 3 including a power device 2 b that rotates the propeller fan 2 a, and a ladder ( Rudder) 4, a receiver 5 that receives a command from the controller 20 as shown in FIG. 3, a chain 7 that is a weeding device, and a fixing jig 6 that fixes the chain 7. The radio controlled boat 10 receives a command from the controller 20 in the direction indicated by the white arrow in FIGS. 1 and 2, and travels according to the command. In each figure, the direction indicated by the white arrow is the traveling direction.

The boat body 1 is a lightweight structural buoyancy body. The propeller fan 2 a and the power unit 2 b are accommodated in a fan duct 8 to form a propeller-propelled ducted fan, and are fixed to the upper portion of the boat body 1. Moreover, the ladder 4 for changing the direction of the boat body 1 is disposed on the stern side. The fixing jig 6 for fixing the chain 7 is fixed in the vicinity of the bow in the traveling direction by fastening means such as bolt tightening. An engine is preferably used as the power unit 2b. The direction of the ladder 4 can be changed by driving a motor (not shown) that moves the ladder shaft, for example.

The radio controlled boat 10 is remotely operated by a controller 20 as shown in FIG. Specifically, in FIG. 3, 11 is a main switch, 12 is an antenna, 13 is a direction control stick for controlling the direction of the ladder 4 of the radio controlled boat 10 in the right (R) direction or the left (L) direction, Reference numeral 14 denotes a speed control stick for controlling the speed by increasing (I) or decreasing (D) the output of the power unit 2b of the radio controlled boat 10.

FIG. 4 is a schematic front view of the chain 7 that is a weeding device fixed to the radio-controlled boat 10 and the fixing jig 6 that fixes the chain 7. As shown in FIG. 4, the fixing jig 6 is arranged so as to spread in the width direction that is a direction perpendicular to the traveling direction of the boat body 1, and fixes the plurality of chains 7 by fastening means such as a bolt-nut structure 6a. . As will be described later, the chain 7 is dragged by the radio controlled boat 10 so as to scoop the ground of the paddy field. Therefore, the length of the chain 7 is adjusted to a length that can be sufficiently dragged to the ground in consideration of the height (water depth) of the water surface from the ground of the paddy field. Specifically, for example, when the water depth is 50 mm and the distance from the water surface to the fixing jig 6 is 100 mm, the length of about 200 to 500 mm is selected in consideration of them. Further, as shown in FIG. 4, four chains 7 are arranged in a row in the fixing jig 6 substantially perpendicular to the traveling direction. Thus, by arranging a plurality of chains 7 in a row, a wide range can be processed at a time. The number of chains is not particularly limited, but is preferably 2 to 40, more preferably 3 to 20, and particularly preferably about 5 to 10. Further, the interval when arranging the plurality of chains 7 in a row is not particularly limited as long as the intervals do not entangle with each other when the radio-controlled boat 10 is running. For example, the interval of about 50 to 200 mm is maintained. Are preferably arranged.

The radio controlled boat 10 receives the operator's command transmitted from the controller 20 by the receiver 5 and travels through the paddy field according to the command. Specifically, the operator instructs the speed and traveling direction of the radio controlled boat 10 by the controller 20. The radio controlled boat 10 receives a signal from the controller 20 by the receiver 5, and according to a command by the signal, the power unit 2 b rotates the propeller fan 2 and moves forward, and by moving the ladder 4, Proceed in the desired direction.

FIG. 5 is a schematic explanatory diagram for explaining a state in which weeds of paddy fields are weeded by running the radio controlled boat 10 in the paddy fields. As shown in FIG. 5, when the radio controlled boat 10 travels in a paddy field, the radio controlled boat 10 travels while dragging the chain 7 fixed by a fixing jig 6 in the vicinity of the bow so as to run over the ground of the paddy field. At this time, when the chain 7 is dragged on the ground of the paddy field, water and mud are agitated, and the weeds 9 rooted in the ground float. And the floating weed 9 floats on the water surface. For example, weeds floating on the surface of the water gather in one place by wind and are collected later as needed. In addition, weeding work is performed before rice planting or at the beginning of rice growth. After the rice grows, weeds become difficult to grow because the rice makes a shadow on the ground. In the weeding work after rice planting, the weed roots are shallower than the rice roots, so that only the weeds are preferentially removed. In addition, mud accumulates on the weeds that did not float, so they cannot grow and die.

6A to 6C are schematic views of the radio controlled boat as viewed from above. FIG. 6A shows a state in which the chain 7 is not attached, FIG. 6B shows a case in which the chain 7 is attached in the vicinity of the stern B, which is behind the center of gravity, and FIG. The radio controlled boats 10 that are mounted in the vicinity of the bow A, which is ahead, are shown. In FIG. 6A, P1 indicates the position of the center of gravity of the radio controlled boat 10 when the chain 7 is not attached. P2 indicates the position of the center of gravity of the radio controlled boat 10 when the chain 7 is mounted in the vicinity of the stern B. P3 indicates the position of the center of gravity of the radio controlled boat 10 when the chain 7 is mounted in the vicinity of the bow A.

As shown in FIG. 6A, when the center of gravity of the radio controlled boat without the chain 7 is P1, the distance from the center of gravity P1 to the ladder 4 is L0. When the chain 7 is fixed in the vicinity of the stern B of such a radio controlled boat, the center of gravity moves to the rear point P2 because the vicinity of the stern B becomes heavy. In this case, since the distance L1 from the center of gravity P2 to the ladder 4 is shorter than L0, the rotational moment generated by the ladder 4 is reduced, and the steering performance is lowered. On the other hand, in the case of the radio-controlled boat 10 according to the present invention in which the chain 7 is mounted in the vicinity of the bow A that is closer to the bow than the center of gravity P1, the center of gravity moves to the forward point P3 because the vicinity of the bow A becomes heavy. In this case, since the distance L2 from the center of gravity P3 to the ladder 4 is longer than L0, the rotational moment generated by the ladder 4 is increased, and excellent steering performance is realized. Thus, according to the radio-controlled boat 10 which fixed the chain 7 which is a weeding tool to the bow side rather than the gravity center P1 before mounting it, it is produced by the rudder by increasing the distance from the center of gravity to the rudder. The rotational moment can be increased. As a result, high steering performance is realized even when a heavy weeding device is dragged.

In addition, as shown in FIG. 5, the weeds 9 extracted by the radio control boat 10 for paddy field weeding float on the water surface. A floating substance collecting radio control boat 30 used as means for collecting the weeds 9 floating on the water surface will be described with reference to FIG. The structure of the radio controlled boat 30 for collecting floating substances is the same as that of the radio controlled boat 10 for paddy field weeding except that instead of the chain 7, a floating object collecting instrument 17 having a dust collecting shape (cage shape) is fixed near the bow. . In such a floating substance recovery radio-controlled boat 30, since the floating substance recovery tool 17 is disposed on the bow side of the center of gravity, the distance from the center of gravity to the rudder can be increased. Therefore, even if the heavy suspended matter collection device 17 that collects garbage such as weed floating on the water surface is provided, high steering performance is realized. Therefore, by using such a floating substance recovery radio-controlled boat 30, the floating substance can be easily recovered without an operator entering the paddy field.

As mentioned above, although one embodiment of the unmanned operation boat for paddy field weeding, the radio control boat for floating substance collection and the paddy field weeding method according to the present invention has been described in detail, the unmanned operation boat for paddy field weeding and the radio control boat for floating substance collection according to the present invention And the paddy field weeding method is not limited to the form as described above, and can be used as appropriate according to the purpose and situation as long as the effects of the present invention are not impaired. The following aspects are illustrated as a specific example.

In the embodiment described above, as shown in FIG. 1, the radio controlled boat 10 is shown in which the fixing jig 6 for arranging a plurality of chains 7 in a range narrower than the width of the boat body 1 is mounted. When the fixing jig 16 having a width wider than the width of the boat main body 1 is mounted on the boat main body 1 and a plurality of chains 7 are mounted so as to be arranged in a wider width as in the radio control boat 40 shown in FIG. Can handle a wider range at once. Specifically, for example, W2 / W1, which is the ratio of the width W2 from the start end to the end of the array having the distance between the furthest chains among the plurality of chains 7 with respect to the width W1 of the boat body 1, is 1 to 5. When the ratio is 1.5 times to 2.5 times, it is preferable from the point that a wider range of weeding treatment can be performed by one run. When W2 / W1 is small, the width that can be processed at a time becomes small.

Also, when the water level of the paddy field is low, the bottom of the ship may come into contact with the bottom of the paddy field because the soil is not flat at all. When the ship bottom comes into contact with the bottom of the paddy field, the steering performance may be reduced. Such a problem is solved by increasing the buoyancy and reducing the draft of the boat. Specifically, for example, as shown in FIG. 9, by attaching a float 21 of a foamed resin molding to the bottom surface of the boat body 1, buoyancy can be increased and draft can be reduced. As another method, for example, as shown in FIG. 10, the boat body 1 is placed on a trolley 22 that is a float that is a molded body of foamable resin and traveled, thereby drastically reducing the draft. can do. The plurality of chains 7 are fixed to the base boat 22 shown in FIG. 10 by fixing jigs 26 that are arranged so as to spread the plurality of chains 7 apart from the bow of the base boat 22. According to such an embodiment, since the plurality of chains 7 are separated from the bow of the carriage 22, it is possible to suppress the chains 7 from being caught in the ship bottom. When the chain 7 is caught in the ship bottom, the chain 7 is rubbed against the bottom of the paddy field, and the steering performance may be lowered. Such a carrier 22 may be integrated with the boat body 1 or may be a separate component independent of each other. In the case where the carriage 22 and the boat body 1 are separate components that are independent of each other, they can be transported separately, so that the transportability is excellent. In such an embodiment, the boat body is configured by combining the carriage 22 and the boat body 1.

Further, in the above-described embodiment, the plurality of chains 7 are fixed to the bow side when viewed from above, and the rotational moment for turning is increased by moving the center of gravity forward. As a method of increasing the rotational moment, for example, by providing a rectifying plate 22 in the fan duct 8 as in the radio control boat 41 of FIG. 11, by adjusting the flow of the air flow so as to discharge the air downward, As indicated by the arrow U, a force tilting forward can be applied. As a result, the center of gravity position can be moved to the bow side. Further, since the plurality of chains 7 have a role like a weight for moving the center of gravity toward the bow side, the position of the center of gravity can also be moved toward the bow side by placing a weight on the front side.

Further, in the above-described embodiment, as a representative example of the unmanned operation boat for paddy field weeding, a radio controlled boat remotely operated by the operation of the controller of the operator is exemplified, but instead, the GPS or the like is used as the unmanned operation boat. It is also possible to use an unmanned driving boat that is provided and travels on a preset route.

Further, in the above-described embodiment, the example in which a ducted fan is configured as the propulsion device 3 is illustrated as a representative example, but instead, a hovercraft type boat, a jet propulsion type boat, an underwater propeller type boat, etc. The mechanism is not particularly limited.

Furthermore, the unmanned operation boat for collecting floating substances is not only used for collecting weeds in paddy fields, but also for collecting general waste that floats while running on the water surface of rivers, ponds, lakes, seas, etc.

According to the unmanned boat for paddy field weeding, the unmanned driving boat for collecting floating substances and the paddy field weeding method of the present invention, weeding of the paddy field and recovery of waste floating on the water surface can be made efficient. In particular, because of the excellent operability of the boat, even a general farmer can easily maneuver without special skills.

DESCRIPTION OF SYMBOLS 1 Boat body 2a Propeller fan 2b Power unit 3 Propulsion device 4 Ladder 5 Receiver 6, 16, 26 Fixing jig 7 Chain (weeding implement)
8 Fan duct 9 Weed 10, 40, 41 Radio control boat 11 for paddy field weeding 11 Main switch 12 Antenna 13 Direction control stick 14 Speed control stick 17 Floating object collecting instrument 20 Controller (transmitter)
21 Float 22 Cargo 30 Radio-controlled boat for floating object collection

Claims (10)

1. In an unmanned driving boat that runs on the surface of a paddy field,
   Weeding including a boat body having a bow and a stern, a rudder disposed on the stern side for changing the direction of the boat body, a propulsion device, and a chain suspended so as to be dragged on the ground of the paddy field when traveling An instrument, and
   The unmanned operation boat for paddy field weeding, wherein the weeding tool is disposed at a position on the bow side of the center of gravity before the weeding tool is mounted when viewed from above.
2. The unmanned operation boat for paddy field weeding according to claim 1, wherein the position closer to the bow than the position of the center of gravity is the bow or a position ahead of the bow.
3. The unmanned operation boat for paddy field weeding according to claim 1, wherein the propulsion device is a ducted fan.
4. The unmanned operation boat for paddy field weeding according to claim 1, wherein the unmanned operation boat is a radio-controlled boat that receives a command transmitted from a transmitter at a receiver and travels on a water surface according to the command.
5. The unmanned operation boat for paddy field weeding according to claim 1, wherein the weeding device includes a plurality of the chains arranged so as to spread in a direction perpendicular to a traveling direction of the boat body.
6. 6. The paddy field according to claim 5, wherein W2 / W1 is 1 to 5 times where W1 is a width in the vertical direction of the boat body with respect to the traveling direction and W2 is a width between the furthest chains among the plurality of chains. Unmanned boat for weeding.
7. The unmanned boat for paddy field weeding according to claim 1, further comprising a pontoon, which is a foamed resin molded body on which the boat body is placed.
8. The unmanned operation boat for paddy field weeding according to claim 7, wherein the weeding device is arranged at the bow of the base boat.
9. A paddy weeding method comprising weeding weeds by remotely operating the paddy weed unmanned operation boat according to any one of claims 1 to 8 and running on the water surface.
10. In an unmanned driving boat that runs on the surface of a paddy field,
    A boat body having a bow and a stern, a rudder disposed on the stern side for changing the direction of the boat body, a propulsion device, and a dust collection-like floating material collecting device for collecting floating materials floating on the water surface And comprising
    An unmanned operation boat for recovering floating floating paddy fields, wherein the floating floating instrument is disposed at the bow.

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