JP6962601B2 - Real-time management system for paddy fields, floating air-cushion boats for spraying chemicals, control terminals, real-time management methods, programs, and recording media - Google Patents

Description

The present invention relates to a real-time management system for paddy fields, a water-cushion boat for spraying chemicals, a control terminal, a real-time management method, a program, and a recording medium.

A drone that can be operated remotely is used to spray chemicals on paddy fields. However, in a country such as Japan where the area of each agricultural land is small, there is a risk that the chemicals will be washed away by the wind when sprayed in the air from the drone, and the chemicals will be sprayed to the adjacent agricultural land. For example, in recent years when health consciousness is widespread, some farmers place importance on increasing the commercial value of agricultural products by thoroughly selecting the type of drug to be used and limiting the amount used. However, as mentioned above, if the drug flows out, even if the farmland is managed, it may be affected by the spraying of the drug in the neighborhood.

In addition, the drug does not necessarily have to be sprayed over the entire paddy field, and pinpoint spraying may be sufficient. However, it is very difficult to find a place in a paddy field where chemicals need to be sprayed from the sky and spray it pinpointly by using a drone that flies by air.

In addition, a boat for spraying chemicals operated by a controller has also been reported, but it is only possible to control the boat within the range that the operator can see, and it is similarly difficult to spray it pinpointly at a necessary place (Patent Document 1). ).

Japanese Unexamined Patent Publication No. 2015-149570

Therefore, an object of the present invention is to provide a new system capable of managing paddy fields in real time and spraying chemicals as needed by using an unmanned aerial vehicle operated by remote control instead of an aerial flight drone. ..

In order to achieve the above object, the system of the present invention is a real-time management system for paddy fields.
Includes a water-cushion air-cushion boat for spraying chemicals and a control terminal for operating the air-cushion boat.
The air cushion boat and the control terminal can be connected via a communication network;
The air cushion boat
It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit senses environmental factors around the air cushion boat, and the sensor unit senses the environmental factors around the air cushion boat.
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the maneuvering control data from the maneuvering terminal, transmits the imaging data by the imaging unit and the sensing data by the sensor unit to the maneuvering terminal, and then transmits the sensing data.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data;
The control terminal is
It has a transmission / reception, analysis unit, storage unit, and display unit.
The transmission / reception unit receives the imaging data and the sensing data from the air cushion boat, and transmits the maneuvering control data to the air cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit is characterized in that the map data of the paddy field and the analysis data are linked and displayed.

The water-based air cushion boat for spraying chemicals of the present invention
It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit senses environmental factors around the air cushion boat, and the sensor unit senses the environmental factors around the air cushion boat.
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the maneuvering control data from the maneuvering terminal, transmits the imaging data by the imaging unit and the sensing data by the sensor unit to the maneuvering terminal, and receives the maneuvering control data.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data.
It is characterized in that it can be connected to the control terminal via a communication network.

The control terminal of the present invention is a control terminal for a water-cushion boat for spraying chemicals.
It has a transmitter / receiver, an analysis unit, a storage unit, and a display unit.
The receiving unit receives the imaging data and the sensing data from the air-cushion boat, and transmits the maneuvering control data to the air-cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit displays the map data and the analysis data in association with each other.
It is characterized in that it can be connected to the air cushion boat via a communication network.

The method of the present invention is a real-time management method for paddy fields.
Using the water air cushion boat for spraying chemicals of the present invention and the control terminal of the present invention,
The air cushion boat and the control terminal are connected via a communication network;
A transmission step of transmitting control control data to the air cushion boat by the transmission / reception unit of the control terminal.
A receiving process for receiving the control control data from the control terminal by the transmission / reception unit of the air cushion boat.
An imaging step of imaging the surroundings of the air-cushion boat by the imaging unit of the air-cushion boat.
A sensing process in which the sensor unit of the air-cushion boat senses environmental factors around the air-cushion boat.
A navigation process in which the air-cushion boat is navigated by the navigation unit of the air-cushion boat.
A step of spraying the chemicals mounted on the air-cushion boat by the chemical spraying portion of the air-cushion boat.
A process of receiving control control data from the control terminal by the transmission / reception unit of the air cushion boat.
A process of controlling the maneuvering of each part based on the maneuvering control data by the maneuvering control unit of the air cushion boat.
A step of transmitting imaging data by the imaging unit and sensing data by the sensor unit to the control terminal by the transmission / reception unit of the air cushion.
A step of receiving the imaging data and the sensing data from the air cushion by the transmission / reception unit of the control terminal.
A step of analyzing the imaging data and the sensing data by the analysis unit of the control terminal and associating them with the map data of the paddy field.
A step of storing the map data of the paddy field, the data received from the air cushion boat, and the analysis data analyzed by the analysis unit by the storage unit of the control terminal.
The display unit of the control terminal includes a step of associating and displaying the map data of the paddy field and the analysis data.

The program of the present invention is characterized in that the real-time management method of the paddy field of the present invention can be executed on a computer.

The computer-readable recording medium of the present invention is characterized in that the program of the present invention is recorded.

According to the present invention, for example, since information on a paddy field can be acquired while navigating a water air cushion boat for spraying chemicals in a paddy field, the paddy field can be managed in real time. Then, based on the information of the paddy field in real time, for example, it is possible to determine whether or not the chemicals need to be sprayed, the area where the chemicals need to be sprayed, and the like. Therefore, it is possible to easily manage paddy fields and adjust the spraying of chemicals.

FIG. 1 is a block diagram showing an example of a paddy field real-time management system according to the first embodiment of the present invention. FIG. 2 is a block diagram showing another example of the real-time management system according to the first embodiment of the present invention. FIG. 3 is a flowchart showing an example of the real-time management method according to the first embodiment of the present invention. FIG. 4 is a block diagram showing an example of a real-time management system according to the second embodiment of the present invention. FIG. 5 is a block diagram showing an example of the hardware configuration of the control terminal in the real-time management system according to the first embodiment of the present invention. FIG. 6 is a block diagram showing an example of the hardware configuration of the chemical spraying air cushion boat in the real-time management system according to the first embodiment of the present invention.

An embodiment of the present invention will be described with reference to the drawings. The present invention is not limited or limited by the following embodiments. In each of the following figures, the same parts are designated by the same reference numerals. Unless otherwise specified, the explanations of the respective embodiments can be referred to each other's explanations. Further, the configurations of the respective embodiments can be combined unless otherwise specified.

[Embodiment 1]
The first embodiment relates to a real-time management system, a water-cushion boat for spraying chemicals, a control terminal, and a real-time management method of the present invention.

FIG. 1 shows a block diagram of the real-time management system according to the present embodiment. As shown in FIG. 1, the real-time management system 1 of the present embodiment includes a control terminal 10 and a water air cushion vehicle 20 for spraying chemicals (hereinafter, referred to as ACV (Air cushion vehicle) or hovercraft). Then, as shown in FIG. 2, the control terminal 10 and the ACV 20 can be connected to each other via the communication network 30.

The communication network 30 is not particularly limited, and a known computer network can be used. For example, wireless is preferable. Examples of the network include LAN (Local Area Network) and WiFi.

The ACV 20 may be connected to the control terminal 10 via the communication network 30, can be operated by the control terminal 10, and can navigate the paddy field. The levitation method of the ACV 10 is not particularly limited, and examples thereof include a suppression type air levitation, a dynamic pressure type air levitation, a pressurized air levitation, and a negative pressure type air levitation.

The ACV 20 includes a transmission / reception unit (reception unit 201, transmission unit 202), an imaging unit 203, a sensor unit 204, a navigation unit 205, a drug spraying unit 206, and a steering control unit 207. The ACV 20 has, for example, a CPU (Central Processing Unit). The CPU includes, for example, a steering control unit 207. In the ACV 20, the receiving unit 201, the transmitting unit 202, and the steering control unit 207 may be incorporated in, for example, a data processing unit (data processing device) which is hardware, or software or hardware in which the software is incorporated. good. The data processing unit may include a CPU or the like. Each part of the ACV 20 is electrically connected, for example.

The receiving unit 201 of the ACV 20 receives the maneuvering control data from the maneuvering terminal 10. The maneuvering control data is, for example, a maneuvering control signal of the ACV 20. The maneuvering control signal includes, for example, an ACV 20 control signal, an imaging unit 203 control signal, a sensor unit 204 control signal, a navigation unit 205 control signal, a drug spraying unit 206 control signal, and the like. The control signal of the ACV 20 is, for example, a signal for controlling ON-OFF of the activation of the ACV 20. The control signal of the imaging unit 203 is, for example, a signal for controlling ON-OFF of imaging, imaging conditions, and the like. The control signal of the sensor unit 204 is, for example, a signal for controlling ON-OFF of sensing, sensing conditions, and the like. The control signal of the navigation unit 205 is, for example, a signal for controlling forward, reverse, turning to the left or right, stopping, speed, and the like. The control signal of the drug spraying unit 206 is, for example, a signal for controlling the start and stop of drug spraying, the spraying amount, and the like.

The imaging unit 203 of the ACV 20 images the surroundings of the ACV 20. Examples of the imaging unit 203 include a camera. The type of the camera is not particularly limited, and for example, a high-resolution camera for image analysis can be used. The number of imaging units 203 mounted on the ACV 20 is not particularly limited. In the real-time management system 1 of the present embodiment, it is preferable to obtain imaging data such as the growth state of crops and the underwater condition of the paddy field, and the imaging unit 203 is, for example, an imaging unit so that the surface, water, etc. in the paddy field can be imaged. It is preferable to provide 203.

The sensor unit 204 of the ACV 20 senses environmental factors around the ACV 20. The type of the sensor unit 204 is not particularly limited, and can be appropriately selected according to the type of crop in the paddy field, the season, and the like. Examples of the sensor unit 204 include a water level sensor, a temperature sensor, a pH sensor, a nitrogen concentration sensor, a phosphorus concentration sensor, a urea concentration sensor, and the like. The type and number of the sensor units 204 mounted on the ACV 20 are not particularly limited, and may be, for example, one type, two or more types, one type, or two or more types.

The navigation unit 205 of the ACV 20 navigates the ACV 20. The navigation unit 205 includes, for example, a levitation unit that floats on water by the levitation method described above, a propeller, a propeller, a screw, a propulsion unit such as a front rotor, or the like. It is preferable that the front rotor has, for example, a right rotor and a left rotor, and the rotation speed can be controlled separately by a transmission gear. In this way, the ACV 20 can be turned by controlling the right rotor and the left rotor separately.

The drug spraying unit 206 of the ACV 20 sprays the drug mounted on the ACV 20. Examples of the chemical spraying unit 206 include a dropping nozzle and an injection nozzle.

The maneuvering control unit 207 of the ACV 20 controls the maneuvering of each unit, for example, the imaging unit 203, the sensor unit 204, the navigation unit 205, and the drug spraying unit 206, based on the maneuvering control data received by the receiving unit 201.

The transmission unit 202 of the ACV 20 transmits the image pickup data by the image pickup unit 203 and the sensing data by the sensor unit 204 to the control terminal 10.

The ACV 20 may further include GPS (Global Positioning System), for example. The ACV 20 can acquire map data around the ACV 20 via the communication network 30 by, for example, GPS. The map data acquired by the GPS of the ACV 20 may be transmitted from the transmission unit 202 to the control terminal 10 via, for example, the communication network 30. The map data is, for example, the position coordinates of the ACV 20 on the map.

The control terminal 10 has a transmission unit 101, a reception unit 102, an analysis unit 103, a storage unit 104, and a display unit 105. The transmission unit 101, the reception unit 102, and the analysis unit 103 may be incorporated into, for example, a data processing unit (data processing device) which is hardware, or software or hardware in which the software is incorporated. The data processing unit may include a central processing unit (CPU) or the like. Each part of the control terminal 10 is electrically connected, for example.

The control terminal 10 is not particularly limited, and examples thereof include a radio, a smartphone, and a tablet. According to the real-time management system 1, a smartphone, a tablet, or the like can be used as the control terminal 10, so that the ACV 20 can be easily operated while viewing the display contents of the display unit 105, for example.

The transmission unit 101 of the control terminal 10 transmits the control control data to the ACV 20. The maneuvering control data is, for example, as described above.

The receiving unit 102 of the control terminal 10 receives the imaging data of the imaging unit 203 and the sensing data of the sensor unit 204 from the ACV 20. The imaging data and the sensing data are, for example, as described above.

The analysis unit 103 of the control terminal 10 analyzes the imaging data and the sensing data and associates them with the map data of the paddy field. The map data of the paddy field can be acquired by GPS of ACV20 as described above. The association between the imaging data and the sensing data means, for example, associating the map data of the paddy field with the imaging data corresponding to each region of the paddy field and the sensing data. The imaged data is classified into, for example, a growth target (for example, rice seedling, rice leaf sheath, etc.) and a removal target (for example, weed, etc.) in a paddy field by performing image analysis by the analysis unit 103, and the removal target. It is possible to classify whether or not there are many things.

The storage unit 104 of the control terminal 10 stores the map data of the paddy field, the data received from the ACV 20 (including the imaging data and the sensing data), and the analysis data analyzed by the analysis unit 103. Examples of the storage unit 104 include a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk (HD), an optical disk, a floppy (registered trademark) disk (FD), and the like. The storage unit 104 may be built in the control terminal 10 or may be externally attached to the control terminal 10, for example.

The display unit 105 of the control terminal 10 displays the map data of the paddy field and the analysis data in association with each other. The display unit 105 is, for example, a display. On the display unit 105, for example, a map of the paddy field can be displayed, and further, by associating with each area of the paddy field, the actual imaging data of each area and the sensing data indicating the state of each area can be displayed.

Further, FIGS. 5 and 6 illustrate block diagrams of the hardware configurations of the control terminal 10 and the ACV 20 in the real-time management system 1, respectively.

As shown in FIG. 5, the control terminal 10 includes, for example, a CPU (central processing unit) 11, a memory 12, a bus 13, an input device 14, a display 15, a communication device 16, a storage device 17, and the like. In the hardware configuration, the parts are connected to each other via the bus 13 by, for example, their respective interfaces (I / F).

The CPU 11 is responsible for controlling the entire control terminal 10. In the control terminal 10, for example, the program 18 of the present invention and other programs are executed by the CPU 11, and various information is read and written. Specifically, in the control terminal 10, for example, the CPU 11 functions as the analysis unit 103.

The control terminal 10 can be connected to a communication network by, for example, a communication device 16 connected to the bus 13, and an external device such as an ACV 20 can also be connected via the communication network. The connection method between the control terminal 10 and the external device is not particularly limited, and for example, wireless connection is preferable as described above. The wireless connection may be, for example, a connection using a communication network or a connection using wireless communication. The communication line network is not particularly limited, and for example, a known communication line network can be used, which is the same as described above.

The memory 12 includes, for example, a main memory, and the main memory is also referred to as a main storage device. When the CPU 11 performs processing, for example, the memory 12 reads a program 18 including an operation program such as the program of the present invention stored in an auxiliary storage device described later, and the CPU 11 receives data from the memory 12. And execute the program. The main memory is, for example, a RAM (random access memory). The memory 12 further includes, for example, a ROM (read-only memory).

The storage device 17 is also referred to as a so-called auxiliary storage device with respect to the main memory (main storage device), for example. The storage device 17 includes, for example, a storage medium and a drive for reading and writing to the storage medium. The storage medium is not particularly limited, and may be an internal type or an external type, for example, HD (hard disk), FD (floppy (registered trademark) disk), CD-ROM, CD-R, CD-RW, MO, etc. Examples thereof include a DVD, a flash memory, a memory card, and the like, and the drive is not particularly limited. Examples of the storage device 17 include a hard disk drive (HDD) in which a storage medium and a drive are integrated, a solid state drive (SSD), and the like. The storage device 17 stores, for example, a program 18 such as the program of the present invention. The storage device 17 is a storage unit 104, and stores, for example, the map data 191 of the paddy field, the received data 192 received from the ACV 20, the analysis data 193 analyzed by the analysis unit 103, and the like as described above.

The control terminal 10 has a display 15 as a display unit 105, and examples thereof include an LED display and a liquid crystal display. The control terminal 10 may further include an input device 14, for example, a touch panel, a keyboard, and the like.

As shown in FIG. 6, the ACV 20 includes, for example, a CPU 21, a memory 22, a bus 23, an input device 24, a camera 25, a sensor 26, a navigation unit 205, a drug spraying unit 206, a communication device 27, a storage device 28, and the like. In the hardware configuration, the parts are connected to each other via the bus 23, for example, by their respective interfaces (I / F).

The CPU 21 is responsible for overall control of the ACV 20. In the ACV 20, for example, the program 18 of the present invention and other programs are executed by the CPU 21, and various information is read and written. Specifically, in the ACV 20, for example, the CPU 21 functions as the steering control unit 207.

The ACV 20 can be connected to the communication network by, for example, the communication device 27 connected to the bus 23, and can be connected to the control terminal 10 via the communication network. The connection method between the ACV 20 and the control terminal 10 is not particularly limited and is as described above.

The memory 22 includes, for example, a main memory, and the main memory is also referred to as a main storage device. When the CPU 21 performs processing, for example, the memory 22 reads a program 18 including an operation program such as the program of the present invention stored in an auxiliary storage device described later, and the CPU 21 receives data from the memory 22. And execute the program. The example of the main memory is the same as the example in the control terminal 10, for example.

The ACV 20 has, for example, a camera 25 as an imaging unit 203 and various sensors 26 as a sensor unit 204. The navigation unit 205 and the drug spraying unit 206 are, for example, the same as described above. The camera 25, the sensor 26, the navigation unit 205, and the drug spraying unit 206 are controlled by the CPU 21 functioning as a steering control unit and a 207, respectively.

The storage device 28 is also referred to as a so-called auxiliary storage device with respect to the main memory (main storage device), for example. The example of the main memory is the same as the example in the control terminal 10, for example. The storage device 28 is a storage unit, and stores, for example, imaging data 291 captured by the camera 25, sensing data 292 acquired by the sensor 26, and the like.

The ACV 20 may further include, for example, an input device 24, a display as a display unit, and the like. Examples of the input device 24 include a touch panel and a keyboard, and examples of the display include an LED display and a liquid crystal display.

Next, FIG. 3 shows a flowchart of the real-time management method of the paddy field in the present embodiment. The real-time management method of the present embodiment is implemented as follows, for example, by using the real-time management system 1 of FIGS. 1 and 2.

As shown in FIG. 3, the real-time management method of the present embodiment includes a control control data transmission step (S100), an acquisition data reception step (S104), an analysis step (S105), a display step (S106), and a control terminal 10. It has a data storage process (S107), and uses an ACV20 to control control data reception process (S101), imaging process (S102-1), sensing process (S102-2), navigation process (S102-3), and chemical spraying process (S102-3). S102-4), the acquisition data transmission step (S103) is included. In FIG. 3, the thick frame process is a process by the control terminal 10, and the thin frame process is a process by ACV20. In the present embodiment, each process by the control terminal 10 and each process by the ACV 20 may be performed sequentially or in parallel.

First, the control terminal 10 transmits the control control data to the ACV 20 (S100). The maneuvering control data includes, for example, data for controlling navigation of ACV20, imaging by ACV20, sensing, and drug spraying.

Then, the ACV 20 receives the maneuvering control data (S101) from the maneuvering terminal 10, and based on the received maneuvering control data, the maneuvering control unit 207 of the ACV 20 has an imaging unit 203, a sensor unit 204, and a navigation unit 205. , And control the maneuvering of the drug spraying unit 206 to perform each step.

That is, the imaging unit 203 of the ACV 20 images the surroundings of the ACV 20 (S102-1), the sensor unit 204 of the ACV 20 senses environmental factors around the ACV 20 (S102-2), and the navigation unit 205 of the ACV 20 detects the environmental factors around the ACV 20. , ACV20 is navigated (S102-3), and the drug loaded on the ACV20 is sprayed on the paddy field by the drug spraying unit 206 of the ACV20 (S102-4).

Next, the ACV 20 transmits the acquired data (the imaging data and the sensing data) to the control terminal 10 (S103), and the control terminal 10 transmits the acquisition data (the imaging data and the sensing data) from the ACV 20. Receive (S104).

Then, the analysis unit 103 of the control terminal 10 analyzes the acquired data (the imaging data and the sensing data), and associates the analysis data with the map data of the paddy field (S105). The map data of the paddy field may be stored in the control terminal 10 in advance, for example. The association of the analysis data with the map data of the paddy field can be performed by, for example, mounting GPS on the ACV20 and GPS mapping.

Then, the map data of the paddy field, the data received from the ACV 20, and the analysis data analyzed by the analysis unit 103 are stored (S107).

Further, the display unit 105 of the control terminal 10 displays the map data of the paddy field and the analysis data in association with each other (S106). In this way, the display unit 105 displays the actual imaging data of each area of the paddy field and the sensing data indicating the state of each area in association with the map data of the paddy field, so that the operator Can grasp the state of paddy fields in real time. Therefore, the operator can determine, for example, the necessity of spraying the drug, the spraying amount, etc. for each area of the paddy field based on the real-time information while observing the display of the display unit 105.

Specifically, according to the present embodiment, the operator can further determine the navigation direction, navigation speed, etc. of the ACV 20 based on the display content of the display unit 105 of the control terminal 10, for example, the image around the ACV 20. .. Specifically, for example, if there is an obstacle in the traveling direction in the image, the ACV20 is navigated in a direction that bypasses the obstacle, or if there are weeds in the surroundings in the image, chemical treatment is performed. In order to do this effectively, the navigation speed of the ACV 20 may be reduced. Then, the determined navigation conditions are transmitted from the control terminal 10 to the ACV 20 as control control data (S100). On the other hand, the ACV 20 receives the maneuvering control data (S101) and navigates based on the maneuvering control data (S102-03).

Similarly, the operator can further determine whether or not the drug is sprayed from the ACV 20, the amount of the drug sprayed, and the like, based on the display content of the display unit 105 of the control terminal 10, for example, the image around the ACV 20. Specifically, for example, when there are no weeds in the surroundings in the image, the chemical spraying is turned off, and when there are weeds in the surroundings in the image, the chemical spraying is turned on, depending on the amount of the weeds. , Change the amount of chemicals sprayed, etc. Then, the determined spraying conditions are transmitted from the control terminal 10 to the ACV 20 as control control data (S100). On the other hand, the ACV 20 receives the maneuvering control data (S101) and sprays the drug based on the maneuvering control data (S102-4).

Further, the operator senses various data while navigating the ACV 20 (S102-2). This sensing data is real-time information indicating the state of the paddy field. Therefore, the state of the paddy field can be managed in real time by performing the analysis, linking it to the map data of the paddy field (S105), and displaying the analysis result together with the image (S106).

As described above, according to the present invention, it is possible to acquire imaging data of each region of the paddy field and sensing data indicating the state of each region while navigating the ACV in the paddy field. Then, by associating the imaging data and the sensing data with the map data of the paddy field, the operator can grasp the state of the paddy field in real time, so that appropriate drug spraying becomes possible.

Specifically, for example, if the object to be removed (for example, weeds, etc.) is not confirmed in the imaging data, the drug may not be sprayed, and the drug may be sprayed only when the object to be removed is confirmed. It is possible to spray the above-mentioned pinpoint chemicals. Further, based on the imaging data, the amount of the drug to be sprayed can be adjusted according to the amount of the object to be removed. Further, for example, when a growth target (for example, rice seedling, rice leaf sheath, etc.) is confirmed in the imaging data, the ACV is navigated based on the imaging data so as not to hit the growth target. It is also possible to adjust. Moreover, since the ACV is used instead of the flying drone, unnecessary diffusion of the drug in the air can be prevented.

In addition, the state of the paddy field can be grasped by acquiring the sensing data. By accumulating such data on the state of the paddy field, it is possible to reflect it in, for example, a future growth plan for the growth object. Specific examples include plans for drug selection, fertilizer selection, disinfection necessity, and the like.

According to the present invention, from the above-mentioned effects, for example, at the same time as collecting and analyzing detailed field management data for paddy field management of farmers, the herbicide spraying work is streamlined and contributes to pesticide-reducing farming methods. Therefore, it is expected that the cost of pesticides will be reduced and the efficiency of weeding of pesticides will be improved.

[Embodiment 2]
The second embodiment exemplifies a more specific mounting function and a process relationship with respect to the terminal 10 and the ACV 20 in the first embodiment.

Table 1 below exemplifies the functions provided by the terminal 10 and the functions provided by the ACV 20.

Further, FIG. 4 shows the process relationship between the terminal 10 having these functions and the ACV 20.

[Embodiment 3]
The program of this embodiment is a program that can execute the above-mentioned real-time management method on a computer. The program of this embodiment may be recorded on a computer-readable recording medium, for example. The recording medium is not particularly limited, and examples thereof include a random access memory (RAM), a read-only memory (ROM), a hard disk (HD), an optical disk, a floppy (registered trademark) disk (FD), and the like.

Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the structure and details of the present invention within the scope of the present invention.

This application claims priority on the basis of Japanese application Japanese Patent Application No. 2017-254592 filed on December 28, 2017, and incorporates all of its disclosures herein.

Some or all of the above embodiments may be described as, but not limited to, the following appendices.

[Appendix 1]
Includes a water-cushion air-cushion boat for spraying chemicals and a control terminal for operating the air-cushion boat.
The air cushion boat and the control terminal can be connected via a communication network;
The air cushion boat
It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit senses environmental factors around the air cushion boat, and the sensor unit senses the environmental factors around the air cushion boat.
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the maneuvering control data from the maneuvering terminal, transmits the imaging data by the imaging unit and the sensing data by the sensor unit to the maneuvering terminal, and then transmits the sensing data.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data;
The control terminal is
It has a transmitter / receiver, an analysis unit, a storage unit, and a display unit.
The transmission / reception unit receives the imaging data and the sensing data from the air cushion boat, and transmits the maneuvering control data to the air cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit is a paddy field real-time management system characterized in that the map data of the paddy field and the analysis data are linked and displayed.
[Appendix 2]
The paddy field real-time management system according to Appendix 1, wherein the imaging unit is a high-resolution camera for image analysis.
[Appendix 3]
The real-time management of paddy fields according to Appendix 1 or 2, wherein the sensor unit is at least one selected from the group consisting of a water level sensor, a temperature sensor, a pH sensor, a nitrogen concentration sensor, a phosphorus concentration sensor, and a urea concentration sensor. system.
[Appendix 4]
The paddy field real-time management system according to any one of Appendix 1 to 3, wherein the control terminal is a smartphone or a tablet.
[Appendix 5]
It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit senses environmental factors around the air cushion boat, and the sensor unit senses the environmental factors around the air cushion boat.
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the maneuvering control data from the maneuvering terminal, transmits the imaging data by the imaging unit and the sensing data by the sensor unit to the maneuvering terminal, and receives the maneuvering control data.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data.
A water air cushion boat for spraying chemicals, which can be connected to the control terminal via a communication network.
[Appendix 6]
The water-based air cushion boat for spraying chemicals according to Appendix 5, wherein the imaging unit is a high-resolution camera for image analysis.
[Appendix 7]
The chemical spraying water according to Appendix 5 or 6, wherein the sensor unit is at least one selected from the group consisting of a water level sensor, a temperature sensor, a pH sensor, a nitrogen concentration sensor, a phosphorus concentration sensor, and a urea concentration sensor. Air cushion boat.
[Appendix 8]
It has a transmitter / receiver, an analysis unit, a storage unit, and a display unit.
The receiving unit receives the imaging data and the sensing data from the air cushion boat, and transmits the maneuvering control data to the air cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit displays the map data and the analysis data in association with each other.
A control terminal for a water air cushion boat for spraying chemicals, which can be connected to the air cushion boat via a communication network.
[Appendix 9]
The control terminal for a water air cushion boat for spraying chemicals according to Appendix 8, wherein the control terminal is a smartphone or a tablet.
[Appendix 10]
Using the water-based air-cushion boat for spraying chemicals according to any one of Appendix 5 to 7 and the control terminal according to Appendix 8 or 9, use the control terminal.
The air cushion boat and the control terminal are connected via a communication network;
A transmission step of transmitting control control data to the air cushion boat by the transmission / reception unit of the control terminal.
A receiving process for receiving the control control data from the control terminal by the transmission / reception unit of the air cushion boat.
An imaging step of imaging the surroundings of the air-cushion boat by the imaging unit of the air-cushion boat.
A sensing process in which the sensor unit of the air-cushion boat senses environmental factors around the air-cushion boat.
A navigation process in which the air-cushion boat is navigated by the navigation unit of the air-cushion boat.
A step of spraying the chemicals mounted on the air-cushion boat by the chemical spraying portion of the air-cushion boat.
A process of receiving control control data from the control terminal by the transmission / reception unit of the air cushion boat.
A process of controlling the maneuvering of each part based on the maneuvering control data by the maneuvering control unit of the air cushion boat.
A step of transmitting imaging data by the imaging unit and sensing data by the sensor unit to the control terminal by the transmission / reception unit of the air cushion.
A step of receiving the imaging data and the sensing data from the air cushion by the transmission / reception unit of the control terminal.
A step of analyzing the imaging data and the sensing data by the analysis unit of the control terminal and associating them with the map data of the paddy field.
A step of storing the map data of the paddy field, the data received from the air cushion boat, and the analysis data analyzed by the analysis unit by the storage unit of the control terminal.
A real-time management method for a paddy field, which comprises a step of associating and displaying the map data of the paddy field and the analysis data by the display unit of the control terminal.
[Appendix 11]
The real-time management method according to Appendix 10, wherein the imaging data is image data of a high-resolution camera for image analysis.
[Appendix 12]
The real-time management method according to Appendix 10 or 11, wherein the sensing data is at least one selected from the group consisting of water level data, temperature data, pH data, nitrogen concentration data, phosphorus concentration data, and urea concentration data.
[Appendix 13]
The real-time management method according to any one of Appendix 10 to 12, wherein the control terminal is a smartphone or a tablet.
[Appendix 14]
A program characterized in that the real-time management method for paddy fields according to any one of Appendix 10 to 13 can be executed on a computer.
[Appendix 15]
A computer-readable recording medium comprising recording the program according to Appendix 14.

According to the present invention, for example, since information on a paddy field can be acquired while navigating a water air cushion boat for spraying chemicals in a paddy field, the paddy field can be managed in real time. Then, based on the information of the paddy field in real time, for example, it is possible to determine whether or not the chemicals need to be sprayed, the area where the chemicals need to be sprayed, and the like. Therefore, it is possible to easily manage the paddy field and adjust the spraying of chemicals.

1 Real-time management system 10 Control terminal 20 Water air cushion boat for chemical spraying 101 Transmitter 102 Receiver 103 Analytical unit 104 Storage 105 Display 201 Receiver 202 Transmitter 203 Imaging unit 204 Sensor unit 205 Navigation unit 206 Chemical spraying unit 207 Steering control unit

Claims (10)

Includes a water-cushion air-cushion boat for spraying chemicals and a control terminal for operating the air-cushion boat.
The air cushion boat and the control terminal can be connected via a communication network;
The air cushion boat
It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit senses environmental factors around the air cushion boat, and the sensor unit senses the environmental factors around the air cushion boat.
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the maneuvering control data from the maneuvering terminal, transmits the imaging data by the imaging unit and the sensing data by the sensor unit to the maneuvering terminal, and then transmits the sensing data.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data;
The control terminal is
It has a transmitter / receiver, an analysis unit, a storage unit, and a display unit.
The transmission / reception unit receives the imaging data and the sensing data from the air cushion boat, and transmits the maneuvering control data to the air cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit is a paddy field real-time management system characterized in that the map data of the paddy field and the analysis data are linked and displayed. The real-time management system for paddy fields according to claim 1, wherein the imaging unit is a high-resolution camera for image analysis. The real-time paddy field according to claim 1 or 2, wherein the sensor unit is at least one selected from the group consisting of a water level sensor, a temperature sensor, a pH sensor, a nitrogen concentration sensor, a phosphorus concentration sensor, and a urea concentration sensor. Management system. The real-time management system for paddy fields according to any one of claims 1 to 3, wherein the control terminal is a smartphone or a tablet. It has a transmitter / receiver, an analysis unit, a storage unit, and a display unit.
The transmission / reception unit receives imaging data and sensing data from the air-cushion boat, and transmits steering control data to the air-cushion boat.
The analysis unit analyzes the imaging data and the sensing data, associates them with the map data of the paddy field, and links them to the map data of the paddy field.
The storage unit stores the map data of the paddy field, the received data received from the air cushion boat, and the analysis data analyzed by the analysis unit.
The display unit displays the map data and the analysis data in association with each other.
A control terminal for a water air cushion boat for spraying chemicals, which can be connected to the air cushion boat via a communication network. It has a transmission / reception unit, an imaging unit, a sensor unit, a navigation unit, a drug spraying unit, and a steering control unit.
The imaging unit captures the surroundings of the air cushion boat.
The sensor unit includes at least one selected from the group consisting of a water level sensor, a temperature sensor, a pH sensor, a nitrogen concentration sensor, a phosphorus concentration sensor, and a urea concentration sensor, and senses environmental factors around the air cushion boat. death,
The navigation unit navigates the air-cushion boat,
The drug spraying portion sprays the drug mounted on the air cushion, and then sprays the drug.
The transmission / reception unit receives the control control data from the control terminal according to claim 5 , and transmits the image capture data by the image pickup unit and the sensing data by the sensor unit to the control terminal.
The maneuvering control unit controls the maneuvering of each unit based on the maneuvering control data.
Said steering device, characterized in that it is connected via a communication network
For drug agents sprayed water air cushion boat. The water-based air cushion boat for spraying chemicals according to claim 6 , wherein the imaging unit is a high-resolution camera for image analysis. Using the water-based air-cushion boat for spraying chemicals according to claim 6 or 7 , and the control terminal according to claim 5,
The air cushion boat and the control terminal are connected via a communication network;
A transmission step of transmitting control control data to the air cushion boat by the transmission / reception unit of the control terminal.
A receiving process for receiving the control control data from the control terminal by the transmission / reception unit of the air cushion boat.
An imaging step of imaging the surroundings of the air-cushion boat by the imaging unit of the air-cushion boat.
A sensing process in which the sensor unit of the air-cushion boat senses environmental factors around the air-cushion boat.
A navigation process in which the air-cushion boat is navigated by the navigation unit of the air-cushion boat.
A step of spraying the chemicals mounted on the air-cushion boat by the chemical spraying portion of the air-cushion boat.
A process of receiving control control data from the control terminal by the transmission / reception unit of the air cushion boat.
A process of controlling the maneuvering of each part based on the maneuvering control data by the maneuvering control unit of the air cushion boat.
A step of transmitting imaging data by the imaging unit and sensing data by the sensor unit to the control terminal by the transmission / reception unit of the air cushion.
A step of receiving the imaging data and the sensing data from the air cushion by the transmission / reception unit of the control terminal.
A step of analyzing the imaging data and the sensing data by the analysis unit of the control terminal and associating them with the map data of the paddy field.
A step of storing the map data of the paddy field, the data received from the air cushion boat, and the analysis data analyzed by the analysis unit by the storage unit of the control terminal.
A real-time management method for a paddy field, which comprises a step of associating and displaying the map data of the paddy field and the analysis data by the display unit of the control terminal. A program for causing a computer to execute each step of the real-time management method for paddy fields according to claim 8. A computer-readable recording medium comprising recording the program according to claim 9.

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