JP2016052276A - Weeder - Google Patents

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JP2016052276A
JP2016052276A JP2014179426A JP2014179426A JP2016052276A JP 2016052276 A JP2016052276 A JP 2016052276A JP 2014179426 A JP2014179426 A JP 2014179426A JP 2014179426 A JP2014179426 A JP 2014179426A JP 2016052276 A JP2016052276 A JP 2016052276A
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weeder
wheel
weed control
control machine
wire
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一久 池田
Kazuhisa Ikeda
一久 池田
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Abstract

PROBLEM TO BE SOLVED: To solve a problem that a high level technique of a worker is required for steering a weeder, a headland is required for turnaround, and a self-travelling weeder travels along a rice row and leaves a not-traveled area in a not-aligned planting having not-uniform interrow space directions.SOLUTION: A weeder floats and travels between rows/plants by a water proof case 1 and a floating body 2, stirs mud on a soil surface of a paddy field by an agitation wire 4 arranged on a wheel 3 to generate turbidity, blocks sunlight, and thereby suppresses germination and growth of weed. The wheel including a plate-shaped paddle allows the weeder to travel not only by floating but also by contacting ground, regardless of a water level. Right/left wheels are reversely rotated to perform an ultra-pivotal turn (on-the-spot turn), thereby a headland being not required. The weeder autonomously travels in the whole area of the paddy field in an inter-row/inter-plant space direction while not going along a rice row. Accordingly, the weeder can weed the paddy field by traveling in the whole area even in a not-aligned planting.SELECTED DRAWING: Figure 1

Description

本発明は、圃場内を走行し、農作物の防除草作業の軽減を図った防除草機に関するものである。   The present invention relates to a weed control machine that travels in a field and reduces the amount of herbicidal work for agricultural products.

水田の土壌に生える雑草類の除草方法として、下記の方法が知られている。
１．手作業によって一本々々雑草類を取り除く方法
２．中耕除草機によって雑草類を取り除く方法
３．土壌面に敷草などを敷いて、光を遮ることにより、雑草類の成長を抑制する方法
４．アイガモや鯉などの生物によって、雑草類を取り除く方法。
５．除草剤を土壌に散布して雑草類を抑制又は枯死させる方法 The following methods are known as weeding methods for weeds that grow on paddy soil.
1. 1. Method to remove weeds one by one by hand 2. 2. A method for removing weeds with a medium-plow weeder. 3. Method of suppressing the growth of weeds by laying grass on the soil surface and blocking light. A method of removing weeds by organisms such as aigamo and moths.
5). Method of controlling or killing weeds by spraying herbicide on soil

しかし、１ 〜 ３の方法は、多くの労力を要し、生産性の面から有効な方法ではない。
４の方法は、生物の管理や除草後の利用が困難であり、問題が多い。
一方、５の除草剤を用いる方法は、労力が少なくて効果的ではあるが、環境保全の面から、好ましくない。 However, methods 1 to 3 require a lot of labor and are not effective in terms of productivity.
The method 4 has many problems because it is difficult to manage organisms and use after weeding.
On the other hand, the method using the herbicide 5 is effective because it requires less labor, but is not preferable from the viewpoint of environmental conservation.

中耕除草機では、土壌の表層を掻き回すことにより、発芽した雑草を浮かせたり、土壌中に埋め込むことにより除草する。 In the mid-plow weeding machine, weeded weeds by floating or embedding them in the soil by stirring the surface layer of the soil.

一方、非特許文献１や非特許文献２のとおり、田面水を濁らせることで雑草の発芽・生育を抑制する方法が知られている。 On the other hand, as described in Non-Patent Document 1 and Non-Patent Document 2, a method for suppressing germination and growth of weeds by turbidizing the surface water is known.

一方、特許文献６に記載の再生紙マルチ直播シートにより、太陽光を遮光することで、雑草の発芽を阻害する防除草方法や、浮遊性繊維により雑草の本葉を圧倒し枯死させる方法があるが、設置に労力および費用がかかる。 On the other hand, there is a method of controlling weeds that inhibits germination of weeds by shading sunlight, and a method of overwhelming the true leaves of weeds with free-floating fibers by shading sunlight with the recycled paper multi-direct sowing sheet described in Patent Document 6. However, it takes labor and cost to install.

従来の水田用除草機には、特許文献５記載の植え付け苗条の間で作用する条間除草機構と、植え付け苗条における株間に作用する株間除草機構からなる除草装置を、乗用走行体の後部に昇降自在に連結してなる乗用型除草機がある。
なお、条間とは田植え機の幅方向の苗間隔であり、北海道では３３ｃｍ、北海道以外では３０ｃｍが一般的である。また、株間とは田植え機の進行方向の苗間隔であり、１５ｃｍ〜１８ｃｍが一般的であるが、省力・低コスト栽培を目指した株間３０ｃｍの疎稙栽培が普及し始めている。 In a conventional paddy weeding machine, a weeding device comprising a streak weeding mechanism that acts between planted shoots described in Patent Document 5 and a weeding mechanism that works between plants in planted shoots is raised and lowered to the rear of the riding body. There is a riding type weeder that is freely connected.
In addition, the streak is the seedling interval in the width direction of the rice planting machine, and is generally 33 cm in Hokkaido and 30 cm outside Hokkaido. Moreover, between plants is a seedling interval in the direction of progress of the rice planting machine, and is generally 15 cm to 18 cm, but sparse cultivation of 30 cm between plants aimed at labor-saving and low-cost cultivation has begun to spread.

また、小型の防除草機としては、特許文献１〜３に記載の車輪やキャタピラを用いて自走して、防除草を行うことが出来る、自走式防除草機がある。 Moreover, as a small weed control machine, there exists a self-propelled weed control machine which can self-propell using the wheel and caterpillar of patent documents 1-3, and can perform a weed control.

また、条間・株間を浮遊して除草する、特許文献４に記載の移動型除草機がある。 In addition, there is a mobile weeding machine described in Patent Document 4 that performs floating weeding between streaks and strains.

特開２０１１−１２０５７３号公報JP 2011-120573 A 特許第５４２０２９７号公報Japanese Patent No. 5420297 特開２０１１−０１９５１１号公報JP 2011-019511 A 特開２００９−２７８９６７号公報JP 2009-278967 A 特許３９６５４２９号公報Japanese Patent No. 3965429 特開平１０−５２１７６号公報Japanese Patent Laid-Open No. 10-52176

雑草研究 2003年4月 第48巻別号「田面水の撹拌が雑草の発生に及ぼす影響」Weeds Research April 2003, Volume 48, No. "Effects of agitation of surface water on weed generation" 雑草研究 1998年3月 第43巻別号「水田雑草の発生に及ぼす田面水の濁りの影響」Weeds Research March 1998, Volume 43, No. "Effect of Turbidity on Paddy Field Weeds"

以上に述べた乗用型除草機では、作業部分が条間を上手に通らなければ稲苗を痛めてしまうため、作業員の高度な技術が必要であった。   In the above-described riding type weeder, if the working part does not pass through the striations well, the rice seedlings will be damaged, and therefore, high skill of workers is required.

また、以上に述べた乗用型除草機および自走式防除草機では、作物の植え付け面の外側に、図４のような方向転換用の枕地が必要であり、導入が可能な水田が制限されていた。   In addition, the riding type weeder and the self-propelled weeding machine described above require a headland for changing direction as shown in Fig. 4 outside the crop planting surface, and the paddy fields that can be introduced are limited. It had been.

以上に述べた自走式防除草機では、稲列に沿って走行するため、図４のような条間方向が一定しない不整列な植え付けには対応できない問題があった。   Since the above-described self-propelled weeding machine travels along the row of rice, there is a problem that it cannot cope with unaligned planting in which the direction of the streak is not constant as shown in FIG.

以上に述べた自走式防除草機では、図4のような農作物を跨ぐ門型の形状を有するため、使用可能な水深および草丈の範囲に制限がある。   Since the self-propelled weeding machine described above has a gate-like shape straddling agricultural products as shown in FIG. 4, there are limitations on the range of usable water depth and plant height.

以上に述べた移動型除草機は、移動範囲が限定的であり、水田全域を移動することできない。   The moving weeder described above has a limited moving range and cannot move the entire paddy field.

本発明は、このような問題を解決しようとするものであり、水田全域を図５のごとく、条間方向・株間方向に自律走行し、濁りを発生させることにより雑草の発芽および生育を抑制することを目的とする。   The present invention is intended to solve such a problem, and as shown in FIG. 5, autonomously travels across the paddy field in the direction of the streak and the direction of the strain, thereby suppressing the weed germination and growth by generating turbidity. For the purpose.

発明１に係る防除草機は、水面上を浮上走行することで防除草を行う装置であって、防水性のある本体ケースにモーター、電源装置が収納されており、モーターで駆動される車輪を備えている。
電源装置から供給される電力によりモーターが回転し、車輪により走行することおよび撹拌ワイヤーにより土壌表層の泥を撹拌することを特徴とする。 The weed control machine according to the first aspect of the present invention is a device for controlling weeds by levitating on the surface of a water, wherein a motor and a power supply device are housed in a waterproof main body case, and wheels driven by the motor are mounted. I have.
A motor rotates by the electric power supplied from a power supply device, it travels with a wheel, and the soil mud of a soil surface is stirred with a stirring wire.

発明２に係る防除草機は、発明１に記載の防除草機において、方向転換する際に車輪の右側と左側を逆方向に回転させ、超信地旋回（その場旋回）を行うことを特徴とする。   The weed control machine according to the invention 2 is characterized in that, in the weed control machine according to the invention 1, when the direction is changed, the right side and the left side of the wheel are rotated in the opposite directions, and a super-trust turn (in-situ turn) is performed. And

発明３に係る防除草機は、発明１に記載の防除草機において、水深よりも長い撹拌ワイヤーを使用することで水田の水深にかかわらず土壌表層の泥を撹拌出来、撹拌ワイヤーが接地走行時でも車輪から飛び出さない程度の柔軟性を持つことを特徴とする。   The weed control machine according to the invention 3 is the weed control machine according to the invention 1, wherein the agitation wire that is longer than the water depth can be used to agitate the mud on the soil surface regardless of the water depth of the paddy field, and the agitation wire is in contact with the ground. However, it is characterized by its flexibility enough not to jump out of the wheels.

発明４に係る防除草機は、発明１に記載の防除草機において、車輪に板状の水掻きを備えており、その内側・外側に異物巻き込み防止用円盤を備え、浮上走行および接地走行が出来ることを特徴とする。   A weed control machine according to a fourth aspect of the present invention is the weed control apparatus according to the first aspect, wherein the wheels are provided with a plate-like water scraper and are provided with a foreign material entrapment prevention disk on the inner side and the outer side thereof so as to be able to float and ground. It is characterized by that.

発明５に係る防除草機は、撹拌ワイヤーが車輪に設置されたことを特徴とする。   The weed control machine according to the invention 5 is characterized in that the stirring wire is installed on the wheel.

本発明の防除草機は、水田の水を濁らせることにより、太陽光を遮光して雑草の発芽および生育を抑制する。
条間方向に依存せずに作物間を走行する方式のため、四角形以外の水田における、不整列な植え付けにも対応できる。
また、自律走行するため、防除草機の操縦が不要になる。
また、旋回時に超信地旋回するため、作物を植付ける際に枕地を設けるなどの制限が不要である。
また、水陸両用の走行機構にて作物間を走行する方式のため、水深や作物の草丈の影響を受けない。 The weed control machine of the present invention suppresses the germination and growth of weeds by shading sunlight by shielding the water in paddy fields.
Because it is a method of traveling between crops without depending on the direction of the streak, it can cope with non-aligned planting in paddy fields other than square.
In addition, since it travels autonomously, it is not necessary to control the weed control machine.
In addition, since turning around is superb when turning, there is no need for restrictions such as providing a headland when planting crops.
In addition, it is not affected by water depth or crop height because it is a system that travels between crops using an amphibious travel mechanism.

本発明の実施形態を示す防除草機の概略斜視図Schematic perspective view of a weed control machine showing an embodiment of the present invention 本発明の実施形態を示す防除草機の概略平面図Schematic plan view of a weed control machine showing an embodiment of the present invention 本発明の実施形態を示す防除草機の概略斜視図Schematic perspective view of a weed control machine showing an embodiment of the present invention 従来の自走式防除草機の水田内での軌跡例を示す図The figure which shows the example of a locus in the paddy field of the conventional self-propelled weed control machine 本発明の防除草機の水田内での軌跡例を示す図The figure which shows the example of a locus | trajectory in the paddy field of the weed control machine of this invention

以下、本発明の実施の形態を図に基づいて説明する。尚、対象とする農作物は、水田で栽培される水稲やい草などを想定しているが、ここでは水稲を例に説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. The target crop is assumed to be paddy rice or grass grown in paddy fields. Here, paddy rice will be described as an example.

図１および図２において、防水性のある本体ケース１に右モーター５及び左モーター６、電源装置７、制御装置８、方位センサー９が収納されており、モーターで駆動される車輪３には撹拌ワイヤー４を備えている。   1 and 2, a waterproof main body case 1 contains a right motor 5 and a left motor 6, a power supply device 7, a control device 8, and a direction sensor 9, and the wheels 3 driven by the motor are agitated. A wire 4 is provided.

本体ケース１および本体ケース１に取り付けられた浮体２により水面を浮遊する。
浮体は、車輪に取り付けても良いし、中空タイヤなどの様に車輪と兼用しても良い。 The water surface is floated by the main body case 1 and the floating body 2 attached to the main body case 1.
The floating body may be attached to a wheel, or may be used as a wheel like a hollow tire.

本体ケース１の前面にはバンパー１３が設けられ、畦・稲株センサー１０、右稲株センサー１１、左稲株センサー１２を備えている。
畦・稲株センサー１０、稲株センサー１１および１２にはタッチセンサーを使用しているが、他の物体センサーや全方位カメラを使用しても良い。 A bumper 13 is provided on the front surface of the main body case 1 and includes a straw / rice sensor 10, a right rice sensor 11, and a left rice sensor 12.
The touch sensor is used for the paddy-rice sensor 10 and the rice sensors 11 and 12, but other object sensors and omnidirectional cameras may be used.

電源装置７より供給された電力は制御装置８に送られ、制御装置によって制御された電力は、右モーター５及び左モーター６に伝わる。モーターの動力は連結された車輪３に伝えられ、車輪３が回転する。   The power supplied from the power supply device 7 is sent to the control device 8, and the power controlled by the control device is transmitted to the right motor 5 and the left motor 6. The power of the motor is transmitted to the connected wheel 3 and the wheel 3 rotates.

車輪３及び車輪３に設置した撹拌ワイヤー４が回転することにより、土壌表層の泥を撹拌して水を濁らせる。
撹拌ワイヤー４は車輪に設置されることが望ましいが、図３の様に別の撹拌用モーター１４で駆動しても良い。 As the stirring wire 4 installed on the wheel 3 and the wheel 3 rotates, the mud on the soil surface layer is stirred to make the water cloudy.
The stirring wire 4 is preferably installed on a wheel, but may be driven by another stirring motor 14 as shown in FIG.

電源装置７は、充電電池を使用するが、太陽電池などによる充電機構を設けても良い。   Although the power supply device 7 uses a rechargeable battery, a charging mechanism such as a solar battery may be provided.

モーターは左右各１台備えることが望ましいが、左右の車輪を独立して制御可能であれば、１台でも複数台（図１の例では左右各２台を使用）でもよい。   Although it is desirable to provide one motor for each of the left and right motors, one or a plurality of motors (two left and right in the example of FIG. 1 are used) may be used as long as the left and right wheels can be controlled independently.

制御装置８は左右のモーターに、前進、後進、右折、左折、180度旋回に必要な電力を供給する。モーターはDCモーターを使用し、PWM制御を行うが、サーボモータやパルスモーターなどを使用して、回転を制御してもよい。   The control device 8 supplies electric power necessary for forward, backward, right turn, left turn and 180 degree turn to the left and right motors. The motor uses a DC motor and performs PWM control, but rotation may be controlled using a servo motor or pulse motor.

撹拌ワイヤー４は充分な柔軟性を備えているので、稲苗に接触しても傷つけることは少ない。
撹拌ワイヤーは棒状の軟質ナイロンが望ましいが、接地走行を妨げない柔軟性を有する材質であれば、他の材質でもよく、形状は棒状でも、板状でもよい。 Since the stirring wire 4 has sufficient flexibility, it is less likely to be damaged even if it contacts the rice seedlings.
The stirrer wire is preferably a rod-like soft nylon, but any other material may be used as long as it is a material that does not hinder the grounding travel, and the shape may be a rod or a plate.

本防除草機は、方位センサー９と畦・稲株センサー１０、稲株センサー１１および１２を用いて、図５のように水田全域の走行及び障害物回避動作を行うが、この動作は本発明の主体ではないので省略する。   This weed control machine uses the azimuth sensor 9, the paddy / rice sensor 10, and the rice sensors 11 and 12 to run the entire paddy field and avoid obstacles as shown in FIG. Because it is not the subject of

実施例２では図３のごとく、撹拌用モーター１４にて撹拌用回転プレート１５を介して回転する撹拌ワイヤー４を備える。
実施例１の撹拌ワイヤー４が設置された車輪３と組み合わせてもよい。 In Example 2, as shown in FIG. 3, a stirring wire 4 that is rotated by a stirring motor 14 through a rotating plate 15 for stirring is provided.
You may combine with the wheel 3 in which the stirring wire 4 of Example 1 was installed.

水田や湿地など、水辺における雑草の防除草機に適用できる。   It can be applied to weed control machines for weeds in paddy fields and wetlands.

本発明に、カメラと分光装置を組み込むことにより、作物の生育状況および病虫害の状況を監視・観測する装置に適用できる。   By incorporating a camera and a spectroscopic device into the present invention, the present invention can be applied to an apparatus for monitoring and observing crop growth conditions and disease and pest damage conditions.

１ 本体ケース
２ 浮体
３ 車輪
４ 撹拌ワイヤー
５ 右モーター
６ 左モーター
７ 電源装置
８ 制御装置
９ 方位センサー
１０ 畦・稲株センサー
１１ 右稲株センサー
１２ 左稲株センサー
１３ バンパー
１４ 撹拌用モーター
１５ 撹拌用回転プレート DESCRIPTION OF SYMBOLS 1 Main body case 2 Floating body 3 Wheel 4 Stirring wire 5 Right motor 6 Left motor 7 Power supply device 8 Control device 9 Direction sensor 10 Rice paddy rice sensor 11 Right rice plant sensor 12 Left rice plant sensor 13 Bumper 14 Stirring motor 15 For stirring Rotating plate

Claims (5)

水面を浮上走行することで防除草を行う装置であって、防水性のある本体ケースにモーター、電源装置が収納されており、モーターで駆動される車輪および撹拌ワイヤーを備え、電源装置から供給される電力によりモーターが回転し、車輪により走行することおよび撹拌ワイヤーにより土壌表層の泥を撹拌することを特徴とする防除草装置。   A device for controlling weeds by levitating on the surface of the water. A motor and a power supply unit are housed in a waterproof main body case, equipped with wheels and a stirring wire driven by the motor, and supplied from the power supply unit. A herbicidal device characterized in that the motor rotates with electric power, travels with wheels, and stirs mud on the soil surface with a stirring wire. 方向転換する際に車輪の右側と左側を逆方向に回転させ、超信地旋回（その場旋回）を行う、請求項１に記載の防除草機。   The weed control machine according to claim 1, wherein when the direction is changed, the right side and the left side of the wheel are rotated in opposite directions to perform supersound turning (in-situ turning). 水深よりも長い撹拌ワイヤーにより、水田の水深にかかわらず土壌表層の泥を撹拌出来、撹拌ワイヤーが設置走行時に車輪から飛び出さない程度の柔軟性を持つ、請求項１に記載の防除草機。   The weed control machine according to claim 1, wherein the agitation wire longer than the water depth can agitate the mud on the soil surface regardless of the water depth of the paddy field, and the agitation wire is flexible enough not to jump out of the wheel during installation. 車輪に板状の水掻きを備えており、その内側・外側に異物巻き込み防止用円盤を備え、浮上走行および接地走行が出来る、請求項１に記載の防除草機。   The weed control machine according to claim 1, wherein the wheel is provided with a plate-shaped water scraper, and a foreign matter entanglement preventing disk is provided inside and outside the wheel so as to be able to fly and ground. 前記撹拌ワイヤーが車輪に設置された、請求項１に記載の防除草機。   The weed control machine according to claim 1, wherein the stirring wire is installed on a wheel.
JP2014179426A 2014-09-03 2014-09-03 Weeder Pending JP2016052276A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018130088A (en) * 2017-02-17 2018-08-23 フィールド開発株式会社 Grass treading machine
CN110134129A (en) * 2019-05-24 2019-08-16 华南理工大学 The paddy field weed-killer machine automatic seedling avoiding system controlled based on deep learning and ADRC
WO2021033668A1 (en) * 2019-08-21 2021-02-25 有機米デザイン株式会社 Rice paddy weed-killing apparatus and rice paddy weed-killing method using same, cultivated crop-producing method and navigation program
CN115251028A (en) * 2022-06-23 2022-11-01 中国科学院烟台海岸带研究所 Method for treating spartina alterniflora by using broken grass

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018130088A (en) * 2017-02-17 2018-08-23 フィールド開発株式会社 Grass treading machine
CN110134129A (en) * 2019-05-24 2019-08-16 华南理工大学 The paddy field weed-killer machine automatic seedling avoiding system controlled based on deep learning and ADRC
WO2021033668A1 (en) * 2019-08-21 2021-02-25 有機米デザイン株式会社 Rice paddy weed-killing apparatus and rice paddy weed-killing method using same, cultivated crop-producing method and navigation program
JPWO2021033668A1 (en) * 2019-08-21 2021-02-25
CN114258262A (en) * 2019-08-21 2022-03-29 有机米设计股份有限公司 Weeding device for paddy field, weeding method for paddy field using same, cultivation method for cultivated crop, and navigation program
KR20220047776A (en) 2019-08-21 2022-04-19 유키마이 디자인 가부시키가이샤 Hydrangea weeding device, weeding method of faucet using same, and method of preparing cultivated crops
KR20220047777A (en) 2019-08-21 2022-04-19 유키마이 디자인 가부시키가이샤 Weeding device for irrigation and weeding method of swamp using same, method for preparing cultivated crops, and navigation program
JP7291425B2 (en) 2019-08-21 2023-06-15 有機米デザイン株式会社 Weeding device for paddy field, method for weeding paddy field using same, method for creating cultivated crops, and navigation program
CN114258262B (en) * 2019-08-21 2023-08-22 有机米设计股份有限公司 Weeding device for paddy field, weeding method for paddy field and cultivation method for cultivated crops
CN115251028A (en) * 2022-06-23 2022-11-01 中国科学院烟台海岸带研究所 Method for treating spartina alterniflora by using broken grass
CN115251028B (en) * 2022-06-23 2024-05-10 中国科学院烟台海岸带研究所 Method for treating spartina alterniflora through broken grass

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