JP7080192B2 - Agricultural material supply management system - Google Patents

Description

The present invention relates to an agricultural material supply management system for a field work machine that supplies agricultural materials to a field while traveling along a traveling route set in the field.

Patent Document 1 describes a field work machine that supplies agricultural materials to a field. This field work machine is a field work device that performs farm work on a field, a work setting unit that sets a running start point and a running end point, and work in a crossing direction with respect to a running direction of field information including at least topographical data and a running direction. A route calculation unit that calculates a travel route including a non-working route with a change of direction of the traveling aircraft based on the width, a traveling start point, and a traveling end point, and a working traveling route for performing traveling work using a field work device. It also has a driving support unit that provides driving support based on the driving route and the positioning data from the GPS module. When the remaining amount of agricultural materials supplied to the field work falls below the threshold level, the driving support unit notifies that fact and stops the automatic driving. The route calculation unit can calculate an emergency travel route for the traveling aircraft to automatically travel to a nearby ridge in order to replenish necessary materials.

Japanese Unexamined Patent Publication No. 2015-112071

In the field work machine described in Patent Document 1, the material supply time is when the remaining amount of the material falls below the threshold level. Therefore, when the remaining amount of the agricultural material loaded in the field work machine reaches the threshold level, the field work machine travels to the replenishment position suitable for the replenishment work. At the same time, the worker performing the replenishment work needs to carry the agricultural materials for replenishment to the replenishment position. Since the timing and amount of replenishment of agricultural materials are not known in advance, there is a problem that the replenishment work takes time.

In view of such circumstances, an object of the present invention is to provide an agricultural material supply management system that enables the necessary agricultural materials to be prepared at an appropriate supply position before the agricultural materials need to be replenished. be.

The agricultural material supply management system according to the present invention is a system for a field work machine that supplies agricultural materials to the field while traveling along a traveling route set in the field, and the agricultural material per unit mileage. A unit input amount calculation unit that calculates the unit input amount, which is the input amount of the farm material, a capacity calculation unit that calculates the capacity of the agricultural material stored in the field work machine, and the field in the peripheral area of the field. A supply position calculation unit that calculates a supply position for supplying the agricultural material to the work machine based on the travel route, the unit input amount, and the accommodation amount, and the agricultural material to be loaded into the field work machine at the supply position. It is equipped with a loading amount calculation unit that calculates the loading amount of
The traveling route includes an outer peripheral traveling route for traveling around the outer peripheral region of the field and a central traveling route for U-turn reciprocating traveling in the central region inside the outer peripheral region. It has a first replenishment position calculation unit for calculating the replenishment position when traveling on the outer peripheral travel route and a second replenishment position calculation unit for calculating the replenishment position when traveling on the central travel route. The replenishment position when traveling on the central traveling path is the peripheral region facing the central traveling path, and the loading amount calculation unit calculates the loading amount on the outer peripheral traveling path. It has a calculation unit and a second loading amount calculation unit for calculating the loading amount in the central traveling route .

In this agricultural material supply management system, agricultural materials are replenished to the field work machine based on the amount of agricultural material stored in the field work machine, the unit input amount of agricultural material by the field work machine, and the traveling route. The replenishment position for replenishment and the loading amount for replenishment are calculated. Since this replenishment position is the area around the field (shore or farm road), the amount of agricultural material calculated at this replenishment position can be placed in advance. Since agricultural materials in the required loading amount are pre-located in positions suitable for replenishment, labor and resource waste in the material replenishment work is small, and the efficiency of the entire work is improved.

In field work (agricultural material supply work) using a field work machine, the field is divided into an outer peripheral area (also called a headland) and a central area inside it, and the field work is first performed on the central area, and then the central area. Field work is done on the area. In the central region, a traveling route including a linear round-trip traveling route and a U-turn route (set in the outer peripheral region) connecting the round-trip traveling routes is set. In the outer peripheral region, a circuit traveling route of 2 or 3 laps is set. This avoids trampling the worked area with a field work machine. From this, in one of the preferred embodiments according to the present invention, the traveling path is a U-turn reciprocating traveling on the outer peripheral traveling path for traveling around the outer peripheral region of the field and the central region inside the outer peripheral region. The replenishment position calculation unit includes a first replenishment position calculation unit for calculating the replenishment position in the outer peripheral travel path and a second replenishment position for calculating the replenishment position in the central travel path. It has a calculation unit, and the loading amount calculation unit has a first loading amount calculation unit that calculates the loading amount in the outer peripheral traveling route and a second product that calculates the loading amount in the central traveling route. It has a loading amount calculation unit. The route for U-turn reciprocating travel and the route for lap travel have a completely different positional relationship with the area around the field where the supply position is located. In this configuration, the supply position and loading amount for each travel are calculated. Is performed independently, so that the optimum supply position and loading amount can be calculated for each.

The fields are bounded by shores and farm roads, but in fields where self-propelled field work machines are introduced, at least the shores that make up one side of the field are wide enough for the field work machines to run. Is secured. Therefore, this shore is the best place to store agricultural materials. From this, in one of the preferred embodiments according to the present invention, the replenishment position is limited to the shores constituting one side of the field, and the shores are at the end of the return path of the U-turn reciprocating travel. Facing each other. In this configuration, since the shore faces the end of the return route of the U-turn round-trip travel, there is an advantage that the mileage when leaving the U-turn round-trip travel and heading for the supply position is shortened.

In one of the preferred embodiments of the present invention, a display processing unit for generating an input screen and an output screen is provided, and the input screen includes a field information input field for inputting a field shape and the agricultural material. A work equipment specification input field for inputting the specifications of the work equipment to be supplied to the field and a work specification input field for inputting the work specifications for supplying agricultural materials are arranged, and the supply amount at the start of work is displayed on the output screen. The start replenishment amount output column indicating the above, the first output column indicating the replenishment position and the loading amount during the U-turn reciprocating travel, and the second replenishment position and the loading amount indicating the lap traveling. The output field is arranged. By providing such a graphic input / output interface, if the field shape and the specifications of the work equipment are input through one input screen, the supply amount at the start of work, the U-turn reciprocating run, and the work specifications can be input to one output screen. The replenishment position and replenishment amount during lap running are displayed. As a result, the data related to the supply of agricultural materials is displayed on the output screen by simply inputting the necessary data through the input screen before the actual work of the agricultural material supply plan. Workers can grasp the replenishment work through the output screen, and the replenishment work of agricultural materials becomes more efficient.

Before performing the agricultural material supply work, an accurate unit input amount is required in order to accurately calculate the supply position and the loading amount suitable for the supply of agricultural materials. However, the unit input amount calculated in advance due to disturbances such as the condition of the field, the condition of the work equipment for supplying agricultural materials, the deviation of the traveling route, etc., and the unit input amount at the time of the actual traveling work by the field work machine are It's different. If this difference becomes large, the calculated replenishment position and loading amount will be inappropriate. In order to avoid this problem, when there is a large difference between the unit input amount obtained during the actual driving work (actual unit input amount) and the pre-calculated unit input amount, the actual unit input amount is used. , It is necessary to correct the supply position and loading amount. From this, in one of the preferred embodiments of the present invention, the replenishment position and the loading are based on the actual unit input amount, which is the unit input amount acquired during the actual work running of the field work machine. The amount is corrected and the content of the correction is notified.

It is a schematic diagram which shows the schematic structure of the agricultural material supply management system for the field work machine which supplies agricultural material to the field. It is a schematic diagram which shows the traveling path of the field work machine set in the field. It is a schematic diagram which shows the supply position for the supply of agricultural materials set in the field. It is a side view of the rice transplanter with a fertilizer application function which is an example of the field work machine which can run automatically. It is a schematic diagram which shows the schematic structure of the seedling amount adjustment mechanism and the feeding amount adjustment mechanism. It is a functional block diagram which shows the control system of the agricultural material supply management system rice transplanter. It is explanatory drawing for demonstrating the traveling direction of a rice transplanter in a corner of a field. It is a screen diagram which shows the input screen of the agricultural material supply management system. It is a screen diagram which shows the output screen of the agricultural material supply management system. It is a schematic diagram which shows the supply position in a U-turn reciprocating run. It is a schematic diagram which shows the supply position in the lap running.

The outline of the agricultural material supply management system according to the present invention will be described with reference to FIG. The agricultural material supply management system described here is mainly used for rice seedling planting work and fertilization work, but can also be used for other agricultural crops. The agricultural material supply management system is used to manage the agricultural material supply work by the field work machine, and the computer system installed in the field work machine, the computer system owned by the farmer, or a large number of farmers participate. It is built on a cloud computer system.

The farming system, which is a higher-level system of the agricultural material supply management system, includes a farming database 100, a work plan creation unit 103, and the like. From the farming database 100, the field information (field map, etc.) regarding the field subject to the agricultural material supply work such as seedling planting work, and the specifications (work width, etc.) of the field work machine used for the work are the agricultural material supply management system. Will be sent to. The work plan creation unit 103 sends the drafted work plan for the agricultural material supply work to the agricultural material supply management system.

This agricultural material supply management system includes a material supply management unit 70, a travel route generation unit 71, a unit input amount calculation unit 73, a capacity calculation unit 74, a supply position calculation unit 75, a loading amount calculation unit 76, and an actual unit input amount. The calculation unit 65 is provided.

The material supply management unit 70 manages the data flow and data processing in the agricultural material supply management system. The travel route generation unit 71 creates a travel route for traveling in the field where the field work vehicle is the work target, based on the field information and the work plan.

The unit input amount calculation unit 73 is the input amount of the agricultural material per unit mileage in the field to be worked, based on the work plan of the agricultural material supply work and the specifications of the field work machine that carries out this work. Calculate the unit input amount. The accommodation amount calculation unit 74 calculates the accommodation amount of the agricultural material stored in the field work machine. The capacity calculation unit 74 subtracts the input amount of the agricultural material after replenishment into the field from the amount of agricultural material loaded in the field work machine after replenishment, thereby determining the capacity in the running field work machine. Can be calculated. The input amount is obtained by multiplying the mileage in the work travel from the start of travel by the unit input amount.

The supply position calculation unit 75 calculates a supply position for supplying agricultural materials to the field work machine based on the traveling route, the unit input amount, and the capacity. This replenishment position is not in the field, but in the area around the field where the field work equipment can approach, preferably a farm road facing one side of the field. The loading amount calculation unit 76 calculates the loading amount of agricultural materials to be loaded into the field work machine at the supply position. The calculation of the supply position and the calculation of the loading amount are linked to each other, and it is an essential condition that the capacity of the field work machine does not become zero while the field work machine is running and carrying out the agricultural material supply work. Become.

The actual unit input amount calculation unit 65 is provided in a field work machine that performs agricultural material supply work. Therefore, the actual unit input amount calculation unit 65 calculates the actual unit input amount, which is the input amount of the agricultural material per unit mileage in the actual travel, based on the data detected during the actual work travel.

Since the unit input amount calculation unit 73 calculates the input amount of agricultural materials per unit mileage of the field work machine by the estimation calculation, it includes some error. On the other hand, the actual unit input amount by the actual unit input amount calculation unit 65 is a real value, and there is substantially no error. From this, if there is a large difference between the input amount calculated by the unit input amount calculation unit 73 and the actual unit input amount calculated during actual work driving, replenishment is performed based on this actual unit input amount. The position calculation unit 75 recalculates the replenishment position, and the loading amount calculation unit 76 recalculates the loading amount, and corrects the previously calculated replenishment position and loading amount. The content of this modification is notified to the driver and the operator.

The field information, work plan, traveling route, unit input amount, accommodation amount, supply position, loading amount, etc. managed by the material supply management unit 70 are displayed on the display 7b via the display processing unit 7a. The display processing unit 7a also manages the graphic input / output interface of this agricultural material supply management system, and generates an input screen and an output screen of the agricultural material supply management system. The generated input screen and output screen are displayed on the display 7b.

FIG. 2 shows an example of a travel route created by the travel route generation unit 71. The fields are bounded by peripheral areas such as shores and fields (indicated by diagonal lines in FIG. 2). In creating a travel route, the field is divided into an outer peripheral region located inside the field boundary and a central region located inside the outer peripheral region. The outer peripheral region is the region where the orbital travel route is set, and the central region is the region where the round-trip travel route is set. When the field work machine is a rice transplanter, the rice transplanter first performs seedling planting work on the central region along the reciprocating travel route, and then performs seedling planting work on the outer peripheral region along the circuit travel route.

The orbital travel route consists of an orbital straight line that extends parallel to the field boundary (farm road or shore) and a turning route that incorporates forward and reverse directions to connect the orbital straight lines. The reciprocating travel path consists of a large number of reciprocating straight paths parallel to each other and a turning path (U-turn path) connecting the reciprocating linear paths. A transition route for transitioning from a round-trip travel route to a circuit travel route is also created. In this example, the transition path is similar to the turning path. The spacing between adjacent circular straight paths and the spacing between adjacent round-trip straight paths are determined based on the working width and overlap of the field work equipment. In FIG. 2, the entrance / exit of the field working machine to the field is indicated by reference numeral 90. The travel route from the entrance / exit 90 to the travel start end of the round-trip straight route is called a start guide route. In the turning route, the turning route, the start guidance route, and the transition route, the field work machine travels without any work, so these routes are shown by dotted lines. In the circular straight route and the round-trip straight route, since the field work machine travels while performing the work, these routes are shown by solid lines.

The travel route generation unit 71 (see FIG. 1) calculates a circular travel route, a round-trip straight route, and a start guide route based on field characteristic data including the field shape and entrance / exit positions, past results, and route conditions.

The basic steps for generating a travel route by the travel route generation unit 71 are as follows.
(A) The outer peripheral region is calculated based on the field shape, the route condition, and the working width of the field working machine.
(B) An orbital travel route covering the outer peripheral region is calculated.
(C) The central region located inside the outer peripheral region defined by the orbital travel path is calculated.
(D) A round-trip straight route covering the central region is calculated.
(E) A start guide route connecting the entrance / exit 90 and the travel start position S of the round-trip straight route is calculated.
(F) Calculate a transition route for transitioning from a round-trip straight route to a circular traveling route.

In FIG. 3, the supply position of the agricultural material calculated by the supply position calculation unit 75 is indicated by four black circles, and the reference numerals P1, P2, P3, and P4 are given. As the traveling route in FIG. 3, the traveling route shown in FIG. 2 is diverted. The loading amount calculated by the loading amount calculation unit 76 is given to this supply position. In FIG. 3, the supply position is limited to the farm road as a shore constituting one side of the field, and the farm road faces the end of the return route of the U-turn round trip. As a result, the field work machine faces the farm road when the return route in the U-turn round-trip travel is completed, so that there is no waste in traveling to the supply position.

Since the running pattern is completely different between the lap running and the U-turn reciprocating running, the replenishment position and the loading amount calculation algorithm are different. Therefore, the replenishment position calculation unit 75 has a first replenishment position calculation unit 751 for calculating the replenishment position in the outer peripheral traveling path and a second replenishment position calculation unit 752 for calculating the replenishment position in the central traveling path. The loading amount calculation unit 76 has a first loading amount calculation unit 761 for calculating the loading amount in the outer peripheral traveling route and a second loading amount calculating unit 762 for calculating the loading amount in the central traveling route.

Next, as an example of the agricultural material supply work managed by the agricultural material supply management system according to the present invention, the seedling planting work in rice cultivation will be described. For the seedling planting work, a passenger-type rice transplanter shown in FIG. 4 is used as a field work machine. In addition, this rice transplanter can carry out fertilization work at the same time as seedling planting work.

As shown in FIG. 4, the rice transplanter is equipped with a passenger-type, four-wheel drive type traveling machine (hereinafter referred to as machine 1). The machine body 1 has a parallel quadruple link type link mechanism 11 connected to the rear part of the machine body 1 so as to be able to move up and down, a hydraulic lift cylinder 11a for swinging the link mechanism 11, and a rear end portion of the link mechanism 11. It includes a seedling planting device 3 that is rotatably connected, and a fertilizer application device 4 that is erected from the rear end of the machine body 1 to the seedling planting device 3. The seedling planting device 3 and the fertilizer application device 4 are examples of working devices. The seedling planting work here includes the work of directly sowing seeds in the field, and the rice transplanter here can be replaced with a direct sowing machine.

The airframe 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as a mechanism for traveling. The wheels 12 have left and right front wheels 12A that can be steered and left and right rear wheels 12B that cannot be steered. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the machine body 1. The power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B, and the like via the continuously variable transmission 14 and the like.

The seedling planting device 3 is configured as an eight-row planting type as an example. The seedling planting device 3 includes a seedling stand 31, a planting mechanism 32 for eight rows, and the like. The seedling planting device 3 can be changed to a form such as 2-row planting, 4-row planting, 6-row planting, etc. by controlling each row clutch (not shown).

The seedling pedestal 31 is a pedestal on which eight mat-shaped seedlings are placed. The seedling stand 31 reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedling, and the vertical feed mechanism 33 moves on the seedling stand 31 each time the seedling stand 31 reaches the left and right stroke ends. Each mat-shaped seedling is vertically fed at a predetermined pitch toward the lower end of the seedling stand 31. The eight planting mechanisms 32 are rotary type and are arranged in the left-right direction at regular intervals corresponding to the spaces between the planting rows. Then, each planting mechanism 32 cuts one seedling from the lower end of each mat-shaped seedling placed on the seedling stand 31 by the power from the machine body 1 and plants it in the mud portion after leveling. As a result, in the operating state of the seedling planting device 3, seedlings can be taken out from the mat-shaped seedlings placed on the seedling stand 31 and planted in the mud portion of the paddy field.

As shown in FIG. 5, the seedling planting device 3 is provided with a seedling picking amount adjusting mechanism 30 for adjusting the seedling picking amount by the planting mechanism 32. The planting mechanism 32 takes out and plants one seedling by passing through the seedling take-out port formed on the guide rail 31a that slides and guides the lower end of the seedling loading table 31. The amount of seedlings to be taken is adjusted by changing the positions of the guide rails 31a that slide and guide the lower ends of the seedling mounting table 31 and the seedling loading table 31 up and down.

The seedling amount adjusting mechanism 30 is attached to a seedling amount adjusting motor 36 with a deceleration mechanism, which is an actuator for changing the positions of the seedling loading table 31 and the guide rail 31a up and down, and the output shaft of the seedling amount adjusting motor 36. It includes a fan-shaped gear 35 that meshes with the provided pinion gear. Further, the seedling amount adjusting mechanism 30 includes a support arm 301 inserted in the front portion of the guide rail 31a and a support shaft 302 that swingably supports the support arm 301. The support arm 301 and the fan-shaped gear 35 are linked by a connecting arm 303. The rotation shaft 304 of the fan-shaped gear 35 is provided with a seedling amount sensor 305 that detects the rotation angle (seedling amount) of the fan-shaped gear 35. By driving the seedling amount adjusting motor 36 in one direction, the seedling loading table 31 and the guide rail 31a move to the ascending side, and by driving the seedling collecting amount adjusting motor 36 in the other direction, the seedling loading table 31 and the guide rail 31a move. Move to the descending side. The amount of seedlings taken is changed by moving the seedling stand 31 and the guide rail 31a up and down.

As shown in FIG. 4, the fertilizer application device 4 includes a horizontally long hopper 41, a feeding mechanism 42, an electric blower 43, a plurality of fertilizer application hoses 44, and a groove grooving device 45 provided for each row. .. The hopper 41 stores granular or powdery fertilizer. The feeding mechanism 42 is operated by the power transmitted from the engine 13 and feeds out two rows of fertilizer from the hopper 41 in predetermined amounts.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind for transporting the fertilizer delivered by each feeding mechanism 42 toward the mud surface of the field. The fertilizer application device 4 can switch between an operating state in which a predetermined amount of fertilizer stored in the hopper 41 is supplied to the field and a non-operating state in which the supply is stopped by an intermittent operation of the blower 43 or the like.

Each fertilizer application hose 44 guides the fertilizer conveyed by the transport wind to each groove grooving device 45. Each groover 45 is deployed on each leveling float 15. Then, each groover 45 moves up and down together with each leveling float 15 to form a fertilizer groove in the mud portion of the paddy field and guide the fertilizer into the fertilizer groove during the work running when each leveling float 15 touches the ground.

As shown in FIG. 5, the fertilizer applying device 4 is provided with a feeding amount adjusting mechanism 40 capable of changing and adjusting the feeding amount of fertilizer by the feeding mechanism 42. The feeding amount adjusting mechanism 40 includes a screw shaft 403 that displaces the adjusting body 402 for adjusting the feeding amount in the feeding mechanism 42, and a fertilizer adjusting motor 404 that rotates the screw shaft 403 in the forward and reverse directions via a gear. It also has a position detection sensor 405 and the like for detecting the displacement position of the adjusting body 402 based on the rotation of the screw shaft 403.

As shown in FIG. 4, the airframe 1 is provided with a driving unit 20 on the rear side. The driving unit 20 includes a steering wheel 21 for steering the front wheels, a main shift lever 22 that adjusts the vehicle speed by performing a shift operation of the continuously variable transmission 14, an auxiliary shift lever 23 that enables a shift operation of the auxiliary transmission, and a seedling. A general-purpose terminal having a work operation lever 25 that enables an ascending / descending operation of the planting device 3 and switching of an operating state, a touch panel that displays (notifies) various information to notify the operator, and accepts input of various information. 7 and a driver's seat 16 for an operator and the like are provided. Further, a spare seedling frame 17 for accommodating the spare seedling is provided in front of the driving unit 20.

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted through the rotation operation of the steering wheel 21. Further, as shown in FIG. 5, a steering motor M1 is also connected to the steering mechanism, and the steering motor M1 operates based on a command from the control unit 6 during automatic driving, so that the steering angle of the front wheels 12A is adjusted. Be adjusted. Further, a shift operation motor M2 for automatically operating the main shift lever 22 is also provided, and during automatic traveling, the shift operation motor M2 operates based on a command from the control unit 6 to steplessly operate the shift operation motor M2. The shift position of the transmission 14 is adjusted.

FIG. 6 shows a control block diagram showing a control system of the rice transplanter. In this embodiment, the farming database 100 and the work plan creation unit 103 described above are built in the external computer system CS. The farming database 100 includes a field information storage unit 101 that stores field information, and a work machine information storage unit 102 that stores work machine information such as work machine specifications. The agricultural material supply management system is built on the general-purpose terminal 7 equipped on the rice transplanter. The general-purpose terminal 7 includes a material supply management unit 70, a traveling route generation unit 71, a unit input amount calculation unit 73, a capacity calculation unit 74, a supply position calculation unit 75, and a loading amount calculation unit 76 as application programs. .. The touch panel provided in the general-purpose terminal 7 is used as the display 7b of the agricultural material supply management system, and the touch panel controller of the general-purpose terminal 7 is used as the display processing unit 7a.

The control unit 6, which forms the core of the rice transplanter's control system, is connected to the general-purpose terminal 7 via an in-vehicle LAN. Further, the control unit 6 can exchange data with an external computer including an external computer system CS and a smartphone via a communication unit (not shown). Signals from the positioning unit 8, the automatic changeover switch 27, the travel sensor group 28, and the work sensor group 29 are input to the control unit 6. The control signal from the control unit 6 is output to the traveling equipment group 1A and the working equipment group 1B.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the aircraft 1. The automatic changeover switch 27 is a switch for selecting between an automatic traveling mode in which the machine body 1 is automatically traveled and a manual traveling mode in which the aircraft 1 is manually traveled. The travel sensor group 28 includes various sensors that detect states such as steering angle, vehicle speed, and engine speed, and set values for them. The work sensor group 29 includes various sensors that detect the state of the link mechanism 11, the seedling planting device 3, the fertilizer application device 4, and the set values for them.

The traveling equipment group 1A includes, for example, a steering motor M1 and a speed change operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control unit 6. The vehicle speed is adjusted by controlling the speed change operation motor M2.

The working equipment group 1B includes, for example, an elevating cylinder 11a, a seedling picking amount adjusting mechanism 30, and a feeding amount adjusting mechanism 40. Based on the control signal from the control unit 6, the seedling amount adjustment motor 36 (see FIG. 5) is controlled to adjust the seedling amount, and the fertilizer adjustment motor 404 (see FIG. 5) is controlled. The amount of fertilizer applied is adjusted.

The control unit 6 includes a travel control unit 61, a work control unit 62, a vehicle position calculation unit 63, a work parameter setting unit 64, an actual unit input amount calculation unit 65, and a notification processing unit 66.

The own vehicle position calculation unit 63 calculates the map coordinates (own vehicle position) of the aircraft 1 based on the satellite positioning data sequentially sent from the positioning unit 8. This rice transplanter is capable of automatic traveling and manual traveling, and the traveling control unit 61 includes an automatic traveling control unit 611 and a manual traveling control unit 612. The travel control unit 61 sets either an automatic travel mode in which automatic travel is performed or a manual travel mode in which manual travel is performed, based on a command from the automatic changeover switch 27.

In the automatic driving mode, the automatic driving control unit 611 calculates the lateral deviation and the directional deviation by comparing the target traveling route received from the traveling route generation unit 71 with the own vehicle position received from the own vehicle position calculation unit 63. Further, the automatic traveling control unit 611 calculates the steering control amount so that the lateral deviation and the directional deviation are reduced based on the calculated lateral deviation and the directional deviation. The steering motor M1 is controlled based on the steering control amount, and the steering angle of the front wheels 12A is adjusted. In the manual driving mode, the manual driving control unit 612 calculates the steering control amount based on the operation amount of the steering wheel 21, the steering motor M1 is controlled based on the steering control amount, and the steering angle of the front wheel 12A is adjusted. Will be done. In the manual travel mode, the target travel route received from the travel route generation unit 71 can be used for driving support.

When the work parameter for rice planting work and fertilization work is sent from the external computer system CS together with the traveling route, the work parameter setting unit 64 uses the work parameter to adjust the seedling amount adjusting mechanism 30 and the feeding amount adjusting mechanism. Set the adjustment amount of 40.

The actual unit input amount calculation unit 65 uses the seedling planting amount per unit mileage as the actual unit input amount based on the signal from the seedling harvesting amount adjusting mechanism 30 and the signal from the vehicle speed detector (not shown). calculate.

As described above, when the replenishment position or the loading amount is corrected, the notification processing unit 66 notifies the driver or the operator of the correction contents through the notification device 26. Since the notification device 26 includes a speaker, a display, a lamp, a buzzer, and the like, the notification processing unit 66 generates a signal for notifying the driver and the operator of various other information.

Next, an example of an algorithm for calculating the supply position and the loading amount (distribution amount to the supply position) of the agricultural material (seedling) by the agricultural material supply management system will be schematically described.

In this example, the following (a) and (b) are set as restrictions.
(A) The shape of the field to be handled is almost rectangular as shown in FIG. In FIG. 7, the four corners of the field are indicated by the symbols C1, C2, C3 and C4.
(B) The orbital direction of the orbital running shall be clockwise or counterclockwise, but the shore (farm road) of the seedling supply shall be between the corner: C1 and the corner: C2. That is, the supply position is set in the area between the corner: C1 and the corner: C2. Doorways 90 are set at corners: C1 and corners: C2. The exit direction of the rice transplanter at each entrance / exit 90 depends on the orbital direction of the orbital traveling. In FIG. 7, the exit direction in the clockwise orbital travel is indicated by the reference numeral CW, and the exit direction in the counterclockwise orbital travel is indicated by the reference numeral CCW.

The input parameters in this arithmetic algorithm are input as follows using the input screen shown in FIG. On the input screen shown in FIG. 8, a field information input field for inputting a field shape and a work equipment specification input field (equipment information input field) for inputting specifications of work equipment for supplying agricultural materials (seedlings) to the field. And a work specification input field (planting condition input field) for inputting work specifications for agricultural material supply are arranged.
(1) When the field information downloaded from the external computer system CS includes latitude / longitude data, the latitude paths of the four corners of the field are input. Alternatively, the vertical and horizontal length of the field is input.
(2) The shore to be used for seedling supply is input (in this example, it is defined as the shore between corner: C1 and corner: C2).
(3) The entrance / exit 90 where the rice transplanter exits and the exit direction are input.
(4) The planting width (number of planting rows) as the working width is input. In the rice transplanter, the preset planting width can be changed, so that it can be changed during the work as needed.
(5) The amount of seedlings (accommodation amount) that can be accommodated in the rice transplanter is input in units of seedling boxes.
(6) As the planting conditions, the number of plants to be planted, the number of plants, the number of rows, and the number of seedling boxes per predetermined area are also input.

Next, the content of the operation output of this operation algorithm will be described using the output screen shown in FIG. On the output screen shown in FIG. 9, the supply amount output column at the start showing the supply amount at the start of work, and the first supply position and loading amount (replenishment amount) during the U-turn reciprocating run in the central region are shown. An output column and a second output column indicating a replenishment position and a loading amount (replenishment amount) during lap running in the outer peripheral region are arranged.
(1) At the start of seedling planting work Assuming that the number of seedling boxes that can be loaded first is loaded, the number of seedling boxes replenished (loading amount) is calculated and displayed.

(2) Replenishment during seedling planting work in the central area The initial replenishment position (distance from the corner) and the number of replenishment seedling boxes (loading amount: distribution amount) are calculated and displayed. It is not necessary if the number of planting lines (round-trip straight route) is even, but if it is odd, it is necessary to consider whether or not replenishment is necessary in the first reciprocating straight route, so the initial replenishment position is calculated separately. The second and subsequent replenishment positions are calculated and displayed as relative distances from the previous replenishment position. The loading amount (distribution amount) at the replenishment position is calculated and displayed based on the number of replenishment seedling boxes. The second and subsequent replenishment positions are at regular intervals, and the loading amount is a constant number of replenishment seedling boxes. At that time, for example, assuming that 12.5 boxes of seedlings are supplied to the field, the replenishment is in box units, so the loading amount is calculated by rounding down to 12 boxes. Finally, the replenishment position and the number of replenishment seedling boxes (loading amount) when a reciprocating straight route less than the number of non-replenishment round trips remains are calculated and displayed. However, for example, if the number of round trips to and from the round-trip straight route without replenishment is 1, the loading is not performed, and if the number of round trips is 2 and the last round trip is left, only one round trip is loaded. The number of round trips that require replenishment (loading) is displayed as the number of non-replenishment round trips. In the case where the seedling planting work was performed only in 2 or 4 rows in the final round-trip straight route, or when adjusting the fraction by the above-mentioned rounding calculation, the amount for adjusting it is the number of adjusted seedling boxes. Is calculated and displayed as. Finally, the total number of seedling boxes replenished (loading amount) in the central area is calculated and displayed.

(3) Replenishment during seedling planting work in the outer peripheral area The number of seedling boxes required for seedling planting work in the outer peripheral area is calculated for each round (inner circumference and outermost circumference), and the number of seedling boxes is the maximum number of rice planting machines. When the number of boxes is less than or equal to the possible number, the number of replenished seedling boxes (loading amount) is calculated and displayed so that the capacity of the rice planting machine at the start of traveling on the outer circumference is the required number of seedling boxes. The number of replenishment seedling boxes displayed will be loaded at the start of running on the outer circumference. For example, a rice transplanter that makes two laps in the outer peripheral region in a running pattern that shifts from inner lap running to outer lap running can run to the end position (doorway 90) of the inner outer lap running when seedlings need to be replenished in the inner lap running. Make sure that the number of seedling boxes is replenished. Then, at the start of the outer lap running, the number of replenished seedling boxes (loading amount) is calculated and displayed so that the capacity is the number of seedling boxes required for the outer lap running.

The calculation result of the replenishment position and the loading amount is displayed on the display 7b in a tabular format as shown in FIG. Further, the calculation result can be displayed in a map format in which the supply position and the loading amount are shown on the field map including the traveling route. FIG. 10 schematically shows the replenishment position when traveling on the central travel route, and FIG. 11 schematically shows the replenishment position when traveling on the outer peripheral travel route.

The reciprocating travel path shown in FIG. 10 includes a large number of reciprocating linear paths parallel to each other and a turning path (U-turn path) connecting the reciprocating linear paths. R3 is assigned to the round-trip straight path, and the symbol R5 is assigned to the turning path. The orbital traveling route shown in FIG. 11 is an orbiting straight line consisting of an orbiting straight line extending parallel to the field boundary line (shore) and a turning route incorporating forward and reverse directions to connect the orbiting straight lines. The reference numeral R1 is assigned to the path, and the reference numeral R2 is assigned to the direction change path. In FIGS. 5 and 6, the reference numeral R4 is assigned to the transition route for transitioning from the reciprocating travel route to the circular travel route. In this example, the transition path is similar to the turning path. Further, in FIGS. 10 and 11, the working width of the rice transplanter is indicated by the reference numeral W, and the entrance / exit 90 of the rice transplanter to the field is drawn by diagonal lines. FIG. 6 shows a start guide route (with reference numeral R6) from the entrance / exit 90 to the travel start position S of the round-trip travel route. In the turning route, turning route, start guidance route, and transition route, the rice transplanter travels without any work, so these routes are shown by dotted lines. In the circular straight route and the round-trip straight route, the rice transplanter travels while performing work, so these routes are shown by solid lines.

Note that the examples of FIGS. 10 and 11 do not correspond to the calculation results of the replenishment position and the loading amount on the output screen of FIG. In FIG. 10, the replenishment positions are indicated by P11, P12, P13, P14, and each replenishment position is indicated by the corner of the field: distance from C2: D1 and the distance from the adjacent replenishment position: D2. ing. In FIG. 11, the replenishment positions are indicated by P21 and P22, and each replenishment position is indicated by the corner of the field: distance from C2: L1 and the distance from the adjacent replenishment position: L2. The loading amount at the replenishment position is displayed in a pop-up by clicking the black circle indicating the replenishment position.

Further features of this agricultural material supply management system are summarized below.
(1) Calculation of the timing (replenishment position) and required material amount (loading amount) when agricultural materials need to be replenished from the capacity at the beginning of work based on information such as field information and field work machine information. It has an algorithm. The field information includes the field shape, the position of the entrance / exit 90, the direction of entry / exit, the shore suitable for replenishing agricultural materials (seedlings, fertilizers, chemicals, fuel, seed paddy, etc.) and the shores of farm roads. .. In the field work machine information, the maximum capacity of agricultural materials, the mountable amount (calculated from the mountable amount of the seedling stand 31, the number of spare seedling stands, the hopper capacity, the tank capacity, etc.), and each clutch are taken into consideration. The work width (number of rows), inter-row, vertical feed amount, seedling scraping amount, horizontal feed frequency, inter-strain, sowing amount, spray amount, fuel consumption, etc. are included.
(2) A calculation mode that minimizes the number of replenishments is provided.
(3) A calculation algorithm that takes into account work information for the outer peripheral region is also possible, and can be adapted to an arbitrary number of laps of lap running in the outer peripheral region.
(4) When working using U-turn reciprocating travel, it is possible to perform calculations that correspond to the same number of outbound and inbound routes (even number of round-trip linear routes) and different numbers (odd number of round-trip linear routes). Is. When the number of outbound and inbound routes of the round-trip straight route is different (the number of round-trip straight routes is odd), the agricultural material supply prediction calculation considering one outbound route is performed.
(5) In the calculation algorithm for work using U-turn reciprocating travel, the calculated agricultural material supply amount (loading amount) this time and the actual agricultural material consumption from the previous agricultural material supply to the next agricultural material supply timing. If the quantity is different, there is a calculation mode to adjust the difference.
(6) Different arithmetic algorithms that can be linked to each other are used for the work in the lap run for the outer peripheral region and the work in the U-turn reciprocating run for the central region. It is possible to match the supply shore in the work in the orbit with respect to the outer peripheral region.
(7) If there is a high possibility that the work width will be changed during the work, the calculation is performed using the median value of the work width statistically obtained accordingly.
(8) The calculation of the supply position and the loading amount is changed in conjunction with the operation of changing the consumption of agricultural materials (vertical feeding amount, seedling scraping amount, horizontal feeding frequency, inter-strain, sowing amount, spraying amount, etc.).
(9) A calculation mode is provided in which the unit input amount, the accommodation amount, the replenishment position, the loading position, etc. are manually input, and the optimum solution is obtained based on the manual input.

[Another embodiment]
(1) In many field work machines that supply agricultural materials to the field, an appropriate supply position and loading amount are required in order to efficiently supply agricultural materials during the work. However, in the case of a rice transplanter, since the replenishment amount (loading amount) is approximately obtained by the number of planting rows, it is possible to eliminate the need to calculate the loading amount. That is, the amount of seedlings (loading amount) consumed between the adjacent supply positions can be obtained from the distance (number of planting rows) of the adjacent supply positions. Therefore, in the agricultural material supply management system for rice transplanters, the supply position calculation unit 75 can also serve as the loading amount calculation unit 76, so that the loading amount calculation unit 76 can be omitted.
(2) The fuel and battery capacity of the field work machine are also included in the agricultural materials in the present invention.
(3) In the above-described embodiment, a rice transplanter equipped with a fertilizer application device is adopted as a field work machine, but a single-function rice transplanter, a fertilizer-dedicated machine, or the like can also be incorporated into the farming system of the present invention. Furthermore, combines and tractors can also be incorporated into the farming system as field work machines in the same field.
(4) The field shape and running locus in the work carried out on the same field work machine or different field work machines up to the previous year are uploaded to the external computer system CS or cloud service, and when the work is carried out in the same field. , The field shape and running locus of the corresponding field are diverted or referred to. The number of diversions or references to the field shape or travel locus that has been diverted or referenced is recorded, and evaluation points are given.
(5) The traveling route of the rice transplanter is determined so as to follow the traveling locus and the strip in the harvesting work by the combine carried out in the same field.
(6) In the embodiment shown in FIG. 6, the functional units built in the external computer system CS and the general-purpose terminal 7 can be replaced with each other.
(7) In the description of the above-described embodiment, the term linear path is used, but the linear path here also includes a curved line path, a zigzag path, and a meandering path indicated by a curved line having a large radius of curvature. ing.

INDUSTRIAL APPLICABILITY The present invention can be applied to an agricultural material supply management system for a field work machine that supplies agricultural materials to a field while traveling along a traveling route set in the field.

6: Control unit 65: Actual unit input amount calculation unit 7: General-purpose terminal 70: Material supply management unit 71: Travel route generation unit 73: Unit input amount calculation unit 74: Capacity calculation unit 75: Supply position calculation unit 751: First 1 Replenishment position calculation unit 752: 2nd replenishment position calculation unit 76: Loading amount calculation unit 761: 1st loading amount calculation unit 762: 2nd loading amount calculation unit 7a: Display processing unit 7b: Display 30: Seedling picking Amount adjustment mechanism 40: Delivery amount adjustment mechanism 100: Farming database 101: Field information storage unit 102: Work machine information storage unit 103: Work plan creation unit CS: External computer system

Claims (5)

It is an agricultural material supply management system for a field work machine that supplies agricultural materials to the field while traveling along a traveling route set in the field.
A unit input amount calculation unit that calculates the unit input amount, which is the input amount of the agricultural material per unit mileage,
A capacity calculation unit that calculates the capacity of the agricultural material stored in the field work machine, and
A supply position calculation unit that calculates a supply position for supplying the agricultural material to the field work machine in the peripheral area of the field based on the traveling route, the unit input amount, and the accommodation amount.
A loading amount calculation unit for calculating the loading amount of the agricultural material to be loaded into the field work machine at the supply position is provided .
The traveling route includes an outer peripheral traveling route for traveling around the outer peripheral region of the field and a central traveling route for U-turn reciprocating traveling in the central region inside the outer peripheral region. It has a first replenishment position calculation unit for calculating the replenishment position when traveling on the outer peripheral travel route and a second replenishment position calculation unit for calculating the replenishment position when traveling on the central travel route. The replenishment position when traveling on the central traveling path is the peripheral region facing the central traveling path, and the loading amount calculation unit calculates the loading amount on the outer peripheral traveling path. An agricultural material supply management system having a calculation unit and a second loading amount calculation unit for calculating the loading amount in the central traveling route . The agricultural material supply management system according to claim 1 , wherein the supply position is limited to a shore that constitutes one side of the field, and the shore faces the end of the return path of the U-turn round trip. A display processing unit that generates an input screen and an output screen is provided, and in the input screen, a field information input field for inputting a field shape and specifications of a work device for supplying the agricultural material to the field are input. A work equipment specification input field for inputting work equipment specifications and a work specification input field for inputting work specifications for supplying agricultural materials are arranged. Claim 1 or claim 1 in which a first output column indicating the replenishment position and the loading amount during the turn reciprocating travel and a second output column indicating the replenishment position and the loading amount during the lap travel are arranged. Agricultural material supply management system according to 2 . From claim 1, the replenishment position and the loading amount are corrected based on the actual unit input amount, which is the unit input amount acquired during the actual work running of the field work machine, and the correction content is notified. Agricultural material supply management system according to any one of 3 . It is an agricultural material supply management system for a field work machine that supplies agricultural materials to the field while traveling along a traveling route set in the field.
A unit input amount calculation unit that calculates the unit input amount, which is the input amount of the agricultural material per unit mileage,
A capacity calculation unit that calculates the capacity of the agricultural material stored in the field work machine, and
A supply position calculation unit that calculates a supply position for supplying the agricultural material to the field work machine in the peripheral area of the field based on the traveling route, the unit input amount, and the accommodation amount.
A loading amount calculation unit for calculating the loading amount of the agricultural material to be loaded into the field work machine at the supply position is provided.
Agricultural material supply management in which the supply position and the loading amount are corrected based on the actual unit input amount, which is the unit input amount acquired during the actual work running of the field work machine, and the corrected content is notified. system.

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