JP7747451B2 - agricultural machinery - Google Patents

Description

The present invention relates to agricultural machinery.

Patent Document 1 discloses a fertilization map generation system that generates a fertilization map that defines the amount of fertilizer to be applied (planned supply amount) for each mesh of a field based on data obtained by remote sensing of the field. The agricultural machine travels while changing the amount of fertilizer supplied to the field so that the planned supply amount is equal to the amount defined in the fertilization map.

JP 2011-254711 A

However, if the planned supply amount specified in the fertilization map exceeds the limit that the agricultural machine can supply, it is difficult for the agricultural machine to supply an amount exceeding the limit to the field.

The purpose of this invention is to supply agricultural materials to a field as planned, regardless of the supply limits of agricultural machinery.

The agricultural work machine according to the present invention comprises a traveling unit, a speed acquisition unit, a position acquisition unit, a supply unit, a memory unit, and a control unit. The speed acquisition unit acquires the traveling speed of the traveling unit. The position acquisition unit acquires position information of the traveling unit using positioning satellites. The supply unit is supported by the traveling unit and supplies agricultural materials to the field. The memory unit stores supply amount plan information in which a planned supply amount of agricultural materials is defined for each of a plurality of zones into which the field is divided. The control unit acquires the planned supply amount for the zone corresponding to the position information from the supply amount plan information, and, if the acquired planned supply amount is within the supply unit's supply range, executes a first control mode in which the supply amount of the supply unit is controlled based on the traveling speed of the traveling unit so as to match the planned supply amount. If the planned supply amount is outside the supply range, executes a second control mode in which the traveling speed of the traveling unit is changed so as to match the planned supply amount.

This invention allows agricultural materials to be supplied to the field as planned, regardless of the supply limits of the agricultural machinery.

FIG. 1 is a left side view showing a rice transplanter according to a first embodiment. FIG. 1 is a top view showing the area around the driver's seat of the rice transplanter according to the first embodiment. FIG. 1 is a block diagram showing the configuration of a rice transplanter according to a first embodiment. FIG. 4 is a diagram illustrating an example of supply amount plan information according to the first embodiment. 1 is a flowchart showing the operation of the rice transplanter according to the first embodiment. FIG. 2 is a diagram showing an example of a screen displayed by a display unit of the rice transplanter according to the first embodiment.

Embodiments of the present invention will be described with reference to the drawings. Note that the same or equivalent parts in the drawings will be designated by the same reference symbols and will not be described repeatedly.

<Embodiment 1>
A rice transplanter 1 according to a first embodiment will be described with reference to Figures 1 to 6. Figure 1 is a left side view showing the rice transplanter 1 according to the first embodiment. The rice transplanter 1 is an example of an agricultural machine. In the first embodiment, the direction of travel of the rice transplanter 1 is the left direction on the paper surface of Figure 1. In the following description, the left side of the direction of travel of the rice transplanter 1 may be referred to as the left, and the right side of the direction of travel of the rice transplanter 1 may be referred to as the right.

As shown in FIG. 1, the rice transplanter 1 includes a traveling section 2, a fertilizer applicator 3, a positioning unit 4, a display section 5, a planting section 6, an engine 10, a transmission case 11, front wheels 12, rear wheels 13, a driver's seat 14, a steering wheel 15, pedals 16, a hood 17, and a dashboard 18.

The traveling unit 2 is configured as the body of the rice transplanter 1. The traveling unit 2 travels in the field using power from the engine 10. The traveling unit 2 is equipped with a traveling controller 41 and a servo motor 42 (see Figure 3). The servo motor 42 changes the traveling speed of the traveling unit 2 by rotating a speed change input lever provided in the transmission case 11. The traveling controller 41 controls the traveling speed of the traveling unit 2 by controlling the rotation of the servo motor 42.

The front wheels 12 and rear wheels 13 support the running unit 2. The front wheels 12 and rear wheels 13 are provided in pairs on the left and right sides of the running unit 2. In embodiment 1, a vehicle speed sensor 19 is disposed on the axle of the front wheels 12. The vehicle speed sensor 19 detects the rotation of the axle to detect the running speed of the running unit 2. Note that the vehicle speed sensor 19 may be disposed in a position different from the front wheels 12. The vehicle speed sensor 19 is an example of a vehicle speed acquisition unit that acquires the running speed of the running unit 2.

The engine 10 is supported on the front side of the traveling section 2. The engine 10 is covered by a hood 17. The hood 17 is configured to be openable and closable. The engine 10 functions as a power source for the rice transplanter 1.

The power of the engine 10 is input to the transmission case 11. The power of the engine 10 is changed in speed by the transmission case 11 and transmitted to the front wheels 12 and rear wheels 13. The power of the engine 10 is also transmitted to the planting section 6 via the transmission case 11.

The operator of the rice transplanter 1 sits in the driver's seat 14. The driver's seat 14 is located between the front wheels 12 and rear wheels 13 in the longitudinal direction of the traveling part 2. A dashboard 18 and a display unit 5 are located in front of the driver's seat 14. A steering wheel 15 is located on the dashboard 18.

The display unit 5 is composed of a display such as a liquid crystal display or an organic EL (Electro Luminescence) display. Alternatively, the display unit 5 may be composed of a liquid crystal display or the like and a touch panel integrated into the surface of the liquid crystal display or the like. The display unit 5 displays, for example, various information related to the rice transplanter 1.

Figure 2 is a top view showing the area around the driver's seat 14 of the rice transplanter 1 according to the first embodiment. In the example shown in Figure 2, the display unit 5 is attached to the right side of the handle 15 by a holder 7. The location of the display unit 5 is not limited to this, and it need only be placed in a position that can be seen by an operator seated in the driver's seat 14.

The steering wheel 15 is attached to a steering column located in front of the driver's seat 14. By gripping and turning the steering wheel 15 with one hand, the operator can instruct the traveling unit 2 to move straight or turn.

The pedal 16 is positioned so that it protrudes upward from the floor in front of the driver's seat 14. The operator operates the pedal 16 by stepping on it with their foot. The pedal 16 is also fitted with a return spring (not shown) that returns the pedal 16 when the operator releases their foot from the pedal 16.

The operator commands the traveling unit 2 to move by depressing the pedal 16 with their foot. Specifically, the operator commands the traveling unit 2 to increase or decrease its speed by changing the depth to which the operator depresses the pedal 16. On the other hand, the operator commands the traveling unit 2 to stop moving by removing their foot from the pedal 16. As will be described later, the traveling unit 2 can increase or decrease its speed not only in response to an instruction from the operator, but also in response to an instruction from the control unit 21.

The planting section 6 is located behind the traveling section 2. The planting section 6 plants seedlings in the field. The planting section 6 is connected to the traveling section 2 via a lifting link mechanism 61. The planting section 6 includes, for example, a planting unit 62 and a seedling carrier 63. A seedling mat is placed on the seedling carrier 63. The seedlings in the seedling mat placed on the seedling carrier 63 are supplied to the planting unit 62. The planting unit 62 plants the seedlings in the field.

A lifting cylinder 64 is disposed on the running section 2. The lifting cylinder 64 extends and retracts to raise and lower the planting section 6 relative to the running section 2.

The fertilizer applicator 3 includes a fertilizer tank 31, a feed unit 32, an electric motor 33 (see Figure 3), a conveying hose 34, a blower 35, a feed body 36, and a fertilizer controller 37 (see Figure 3). In the first embodiment, the fertilizer applicator 3 includes multiple fertilizer tanks 31 and the same number of feed units 32 as the fertilizer tanks 31. The fertilizer applicator 3 is an example of a supply unit that supplies agricultural materials to a field.

The fertilizer tank 31 is located between the driver's seat 14 and the seedling carrier 63 in the fore-and-aft direction of the traveling section 2. In embodiment 1, the fertilizer tank 31 stores, for example, powdered fertilizer. Powdered fertilizer is an example of agricultural materials.

The delivery unit 32 is connected to the bottom of the fertilizer tank 31. The delivery unit 32 delivers a predetermined amount of fertilizer supplied from the fertilizer tank 31 downward.

A path (not shown) is arranged inside the dispensing unit 32 through which fertilizer can pass. A roughly disc-shaped dispensing body 36 is rotatably arranged in this path. That is, the dispensing unit 32 includes the dispensing body 36. The dispensing body 36 has multiple dispensing recesses (not shown) formed in it, each capable of holding a predetermined amount of fertilizer. By rotating the dispensing body 36, the fertilizer held in the dispensing recesses is dispensed downstream of the path.

The electric motor 33 functions as a drive source for rotating the dispensing body 36 of the dispensing unit 32. The electric motor 33 is attached at an appropriate position on the fertilizer applicator 3.

The conveying hose 34 is connected downstream of the path located inside the payout unit 32. The conveying hose 34 is a flexible, elongated tubular member.

The blower 35 is positioned at an appropriate location near the dispensing unit 32. The blower 35 generates an air flow and sends it through a path inside the dispensing unit 32. As a result, the fertilizer dispensed downstream of the path through the conveying hose 34 is supplied (applied) to the field.

The fertilizer controller 37 controls the electric motor 33 to change the operating speed of the delivery body 36, thereby changing the amount of fertilizer delivered to the conveying hose 34 per unit time.

The positioning unit 4 acquires position information indicating the position of the rice transplanter 1. The positioning unit 4 includes, for example, a positioning antenna and a position information receiver. The positioning antenna receives signals from positioning satellites that make up a positioning system such as a Global Navigation Satellite System (GNSS). The positioning signals received by the positioning antenna are input to the position information receiver. The position information receiver processes the input positioning signals to acquire position information indicating the position of the rice transplanter 1. The positioning unit 4 is an example of a position acquisition unit that acquires position information of the traveling unit 2.

Figure 3 is a block diagram showing the configuration of the rice transplanter 1 according to the first embodiment. In addition to the traveling unit 2, the fertilizer applicator 3, the positioning unit 4, and the display unit 5, the rice transplanter 1 also includes a control unit 21, a memory unit 22, and a communication unit 23.

The control unit 21 has a processor such as a CPU (Central Processing Unit). The processor executes computer programs stored in the storage unit 22 to perform various processes defined by the computer programs. Details of the control unit 21 will be described later.

The memory unit 22 has memory such as a ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive). The memory unit 22 stores computer programs executed by the control unit 21. The memory unit 22 also stores supply amount plan information received by the communication unit 23. The memory unit 22 also stores information regarding the supply range of the fertilizer applicator 3. The supply amount plan information and the supply range will be described later.

The communication unit 23 communicates wirelessly with the communication unit 71 of the server 70. The communication unit 23 receives supply volume plan information created by the supply volume plan unit 72 of the server 70 from the communication unit 71 and outputs it to the control unit 21. The control unit 21 stores the supply volume plan information received by the communication unit 23 from the server 70 in the memory unit 22.

The server 70 includes a communication unit 71 and a supply amount planning unit 72. The communication unit 71 communicates wirelessly with the communication unit 23 of the rice transplanter 1. The communication unit 71 transmits the supply amount plan information created by the supply amount planning unit 72 to the communication unit 23.

The supply amount planning unit 72 creates supply amount plan information that defines the planned supply amount of agricultural materials for each of the multiple areas (meshes) into which the field is divided. That is, the supply amount plan information includes location information indicating the multiple areas set by dividing the field, and the supply amount (planned supply amount) defined for each area. The supply amount planning unit 72 may create the supply amount plan information using well-known technology. For example, the supply amount planning unit 72 determines the planned supply amount of fertilizer for each area based on the fertility of the soil, the previous year's harvest, etc.

The control unit 21 shown in FIG. 3 is configured to store the supply amount plan information received from the server 70 in the memory unit 22, but is not limited to this. For example, the control unit 21 may read the supply amount plan information stored in a storage medium such as a USB (Universal Serial Bus) memory and store it in the memory unit 22. Also, for example, the rice transplanter 1 may have the same function as the supply amount plan unit 72, and the supply amount plan information created by the rice transplanter 1 may be stored in the memory unit 22.

Figure 4 is a diagram showing an example of supply amount plan information 100 in embodiment 1. The supply amount plan information 100 shown in Figure 4 is a fertilization map that defines the amount (supply plan amount) of fertilizer, an example of agricultural material, to be applied to each of areas A1 to A20. For example, the supply plan amount defined for area A1 is 60 kg/10a, and the supply plan amount defined for area A2 is 80 kg/10a.

The maximum and minimum supply amounts that the fertilizer applicator 3 can supply are primarily determined by the maximum and minimum rotational speeds of the electric motor 33 and the maximum and minimum speeds of the traveling unit 2. In embodiment 1, the supply range of the fertilizer applicator 3 is assumed to be 30 to 90 kg/10a. In this case, the planned supply amounts set for areas A3 to A8 in the supply amount planning information 100 are greater than the maximum supply range of 90 kg/10a. Conversely, the planned supply amounts set for areas A19 and A20 in the supply amount planning information 100 are less than the minimum supply range of 30 kg/10a. In the supply amount planning information 100 shown in Figure 4, areas where the planned supply amount is within the supply range are shown in white, and areas where the planned supply amount is outside the supply range are shown in diagonal lines.

Next, variable fertilization work will be described as an example of work performed by the rice transplanter 1. The control unit 21 acquires from the memory unit 22 the planned supply amount set for the area in the supply amount plan information 100 corresponding to the position of the traveling unit 2 detected by the positioning unit 4. The control unit 21 also acquires the supply range of the fertilizer applicator 3 from the memory unit 22. If the planned supply amount for the area corresponding to the position of the traveling unit 2 is within the supply range of the fertilizer applicator 3, the control unit 21 executes a first control mode in which the supply amount of the fertilizer applicator 3 is controlled based on the travel speed of the traveling unit 2 so that the planned supply amount is achieved. On the other hand, if the planned supply amount for the area corresponding to the position of the traveling unit 2 is outside the supply range of the fertilizer applicator 3, the control unit 21 executes a second control mode in which the travel speed of the traveling unit 2 is changed so that the planned supply amount is achieved.

More specifically, in the first control mode, the control unit 21 increases the amount of fertilizer applied by the fertilizer applicator 3 as the traveling speed of the traveling unit 2 increases. Furthermore, the control unit 21 decreases the amount of fertilizer applied by the fertilizer applicator 3 as the traveling speed of the traveling unit 2 decreases. Therefore, when the traveling speed of the traveling unit 2 increases, the amount of fertilizer supplied per unit time by the fertilizer applicator 3 increases. On the other hand, when the traveling speed of the traveling unit 2 decreases, the amount of fertilizer supplied per unit time by the fertilizer applicator 3 decreases. As a result, whether the traveling speed of the traveling unit 2 increases or decreases, the amount of fertilizer supplied per unit area to one area remains constant.

In the second control mode, if the planned supply amount is greater than the maximum amount in the possible supply range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the maximum amount in the possible supply range and decelerates the traveling unit 2. By slowing the traveling speed of the traveling unit 2 while maintaining the supply amount of the fertilizer applicator 3 at its maximum, the amount of fertilizer supplied per unit area increases. As a result, the amount of fertilizer supplied per unit area to one area becomes greater than the maximum amount in the possible supply range.

On the other hand, in the second control mode, if the planned supply amount is less than the minimum amount within the supplyable range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the minimum value within the supplyable range and increases the speed of the traveling unit 2. By increasing the traveling speed of the traveling unit 2 while maintaining the supply amount of the fertilizer applicator 3 at the minimum, the amount of fertilizer supplied per unit area decreases. As a result, the amount of fertilizer supplied per unit area to one area becomes less than the minimum amount within the supplyable range.

The first and second control modes will be described in detail with reference to Figure 5. Figure 5 is a flowchart showing the operation of the rice transplanter 1 according to the first embodiment.

In step S11, the control unit 21 acquires the position of the traveling unit 2 from the positioning unit 4. The control unit 21 acquires the supply plan amount Sp for the area corresponding to the position of the traveling unit 2 (hereinafter referred to as the "target area") from the memory unit 22.

In step S12, the control unit 21 refers to the supply range of the fertilizer applicator 3 stored in the memory unit 22 and compares the planned supply amount Sp with the maximum amount Smax of the supply range. If the planned supply amount Sp is equal to or less than the maximum amount Smax of the supply range (step S12; Yes), the control unit 21 proceeds to step S13. On the other hand, if the planned supply amount Sp is greater than the maximum amount Smax of the supply range (step S12; No), the control unit 21 proceeds to step S17.

In step S13, the control unit 21 compares the planned supply amount Sp with the minimum amount Smin of the supplyable range. If the planned supply amount Sp is equal to or greater than the minimum amount Smin of the supplyable range (step S13; Yes), the control unit 21 proceeds to step S14. On the other hand, if the planned supply amount Sp is less than the minimum amount Smin of the supplyable range (step S13; No), the control unit 21 proceeds to step S19.

If the planned supply amount Sp is within the possible supply range, in step S14, the control unit 21 executes the first control mode. Specifically, the control unit 21 sets the planned supply amount Sp as the instructed supply amount S for the fertilizer applicator 3. The control unit 21 notifies the fertilization controller 37 of the instructed supply amount S. Furthermore, while the first control mode is being executed, the control unit 21 notifies the fertilization controller 37 of the traveling speed V of the traveling unit 2 detected by the vehicle speed sensor 19. The fertilization controller 37 increases or decreases the amount of fertilizer supplied by controlling the electric motor 33 based on the instructed supply amount S and traveling speed V notified by the control unit 21.

If the planned supply amount Sp is greater than the maximum amount Smax of the possible supply range, in steps S17 and S18, the control unit 21 executes the second control mode (deceleration). Specifically, in step S17, the control unit 21 sets the maximum amount Smax of the possible supply range as the supply instruction amount S for the fertilizer applicator 3. In step S18, the control unit 21 sets a speed instruction value that reduces the traveling speed V of the traveling unit 2 detected by the vehicle speed sensor 19 in accordance with the proportion of the excess supply amount.

The control unit 21 notifies the fertilization controller 37 of the supply instruction amount S (= Smax) and the running speed V before deceleration. The fertilization controller 37 controls the electric motor 33 based on the supply instruction amount S (= Smax) and the running speed V before deceleration notified by the control unit 21. As a result, the supply amount per unit area based on the supply instruction amount S and the decelerated speed instruction value is greater than the supply amount per unit area based on the supply instruction amount S and the actual running speed V of the running unit 2.

The control unit 21 also notifies the travel controller 41 of the speed command value. The travel controller 41 controls the servo motor 42 based on the speed command value notified by the control unit 21, thereby reducing the travel speed of the travel unit 2. As the travel unit 2 decelerates, the supply amount per unit area increases.

Here, the second control mode of steps S17 and S18 will be explained using an example in which area A3 shown in Figure 4 is the target area. Assume that the traveling speed V of the traveling unit 2 is 1.8 m/s, and the maximum amount Smax of the fertilizer applicator 3's supply range is 90 kg/10a. The planned supply amount Sp for area A3 is 120 kg/10a, which exceeds the maximum amount Smax of 90 kg/10a by 30 kg/10a. In this case, the control unit 21 sets a speed instruction value of 1.35 m/s, which is obtained by slowing the traveling speed V of the traveling unit 2 to 3/4 (= 1 - (120 - 90) / 120).

The fertilizer applicator controller 37 controls the electric motor 33 assuming that the travel speed V is 1.8 m/s before deceleration and the supply command amount S is the maximum amount Smax of 90 kg/10a. The travel controller 41 controls the servo motor 42 so that the travel speed V of the travel unit 2 becomes the speed command value of 1.35 m/s. As a result, the fertilizer applicator 3 can apply 120 kg/10a of fertilizer to area A3, which is more than the supply range.

If the planned supply amount Sp is less than the minimum amount Smin of the possible supply range, in steps S19 and S20, the control unit 21 executes the second control mode (speed increase). Specifically, in step S19, the control unit 21 sets the minimum amount Smin of the possible supply range as the supply instruction amount S for the fertilizer applicator 3. In step S20, the control unit 21 sets a speed instruction value that is increased by the traveling speed V of the traveling unit 2 detected by the vehicle speed sensor 19 in accordance with the proportion of the supply shortage.

The control unit 21 notifies the fertilization controller 37 of the supply instruction amount S (= Smin) and the running speed V before the speed increase. The fertilization controller 37 controls the electric motor 33 based on the supply instruction amount S (= Smin) and the running speed V before the speed increase notified by the control unit 21. As a result, the supply amount per unit area based on the supply instruction amount S and the increased speed instruction value is less than the supply amount per unit area based on the supply instruction amount S and the actual running speed V of the running unit 2.

The control unit 21 also notifies the travel controller 41 of the speed command value. The travel controller 41 increases the travel speed of the travel unit 2 by controlling the servo motor 42 based on the speed command value notified by the control unit 21. As the travel unit 2 increases in speed, the supply amount per unit area decreases.

Here, the second control mode of steps S19 and S20 will be explained using an example in which area A19 shown in Figure 4 is the target area. Assume that the traveling speed V of the traveling unit 2 is 1.8 m/s, and the minimum amount Smin of the fertilizer applicator 3's supply range is 30 kg/10a. The planned supply amount Sp for area A19 is 20 kg/10a, which is 10 kg/10a less than the minimum amount Smin of 30 kg/10a. In this case, the control unit 21 sets a speed instruction value of 2.4 m/s, which increases the traveling speed V of the traveling unit 2 to 4/3 (= 1 + (30 - 20)/30).

The fertilizer applicator controller 37 controls the electric motor 33 assuming that the travel speed V is 1.8 m/s (before acceleration) and the supply instruction amount S is the minimum amount Smin of 20 kg/10a. The travel controller 41 controls the servo motor 42 so that the travel speed V of the travel unit 2 becomes the speed instruction value of 2.4 m/s. As a result, the fertilizer applicator 3 can apply 20 kg/10a of fertilizer to area A19, which is less than the supply range.

In step S15, the control unit 21 acquires the position of the traveling unit 2 from the positioning unit 4 and determines whether the position of the traveling unit 2 has moved out of the target area, i.e., whether fertilization of the target area has finished. If fertilization of the target area has finished (step S15; Yes), the control unit 21 proceeds to step S16. If fertilization of the target area has not finished (step S15; No), the control unit 21 repeats the process of step S15.

In step S16, the control unit 21 determines whether fertilization has been completed in all areas of the field. If fertilization has been completed in all areas (step S16; Yes), the control unit 21 ends its processing. If there are any areas in which fertilization has not been completed (step S16; No), the control unit 21 returns to step S11.

Next, with reference to FIG. 6, a screen displayed by the display unit 5 will be described. FIG. 6 is a diagram showing an example of a screen displayed by the display unit 5 of the rice transplanter 1 according to the first embodiment. The display unit 5 displays a screen 200 as shown in FIG. 6 based on instructions from the control unit 21. The screen 200 shown in FIG. 6 displays an image 100a corresponding to the supply amount plan information 100 stored in the memory unit 22, an icon 201 indicating the rice transplanter 1, and an arrow indicating the travel path 202 of the rice transplanter 1. The icon 201 indicating the rice transplanter 1 indicates the position of the rice transplanter 1 in the field. The control unit 21 displays the icon 201 indicating the rice transplanter 1 on the image 100a based on the position of the travel unit 2 acquired by the positioning unit 4.

The control unit 21 may display marks 211-214 on the image 100a to indicate the position where the second control mode is executed. Alternatively, the control unit 21 may change the display mode so that the area where the second control mode is executed can be distinguished from the area where the first control mode is executed. For example, the control unit 21 determines the area where the first control mode is executed and the area where the second control mode is executed based on the supply range of the fertilizer applicator 3 and the supply amount plan information 100, and displays marks 211 and 213 as the start position of the second control mode on the travel path 202, and marks 212 and 214 as the end position.

In the example of FIG. 6 , the second control mode (deceleration) is executed on travel path 202 from star-shaped mark 211 to mark 212. The second control mode (acceleration) is executed on travel path 202 from star-shaped mark 213 to mark 214. The control unit 21 may distinguish whether the second control mode is deceleration or acceleration by changing the display mode of marks 211, 212 and marks 213, 214. This allows the operator of rice transplanter 1 to recognize the position in the field where the travel speed V of traveling unit 2 changes. As a result, the operator's discomfort caused by a sudden change in travel speed V of traveling unit 2 can be reduced compared to when the operator cannot recognize the position where the travel speed V of traveling unit 2 changes.

The display unit 5 may also indicate at least the position where the second control mode will most recently be executed. In this case, only the mark 211 closest to the icon 201 of the rice transplanter 1 is displayed. This allows the operator to more reliably recognize the position where the traveling speed V of the traveling unit 2 will most recently change.

As described above with reference to Figures 1 to 6, the rice transplanter 1 comprises the traveling unit 2, a speed sensor 19, a positioning unit 4, the fertilizer applicator 3, a memory unit 22, and a control unit 21. The speed sensor 19 acquires the traveling speed V of the traveling unit 2. The positioning unit 4 acquires position information of the traveling unit 2 using positioning satellites. The fertilizer applicator 3 is supported by the traveling unit 2 and supplies agricultural materials to the field. The memory unit 22 stores supply amount plan information 100 in which a planned supply amount Sp of agricultural materials is defined for each of a plurality of zones into which the field is divided. The control unit 21 acquires the planned supply amount Sp for the zone corresponding to the position information from the supply amount plan information 100, and, if the acquired planned supply amount Sp is within the supply range of the fertilizer applicator 3, executes a first control mode in which the supply amount of the fertilizer applicator 3 is controlled based on the traveling speed V of the traveling unit 2 so as to achieve the planned supply amount Sp. On the other hand, if the planned supply amount Sp is outside the supply range, the control unit 21 executes a second control mode in which the travel speed V of the traveling unit 2 is changed so that it matches the planned supply amount Sp. By changing the travel speed V of the traveling unit 2 when the planned supply amount Sp is outside the supply range, agricultural materials can be supplied to the field as planned, regardless of the supply limit of the fertilizer applicator 3.

In the second control mode, if the planned supply amount Sp is greater than the maximum amount Smax within the possible supply range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the maximum amount Smax within the possible supply range and decelerates the traveling unit 2. This allows agricultural materials to be supplied to the field as planned, regardless of the upper limit of the amount that the fertilizer applicator 3 can supply.

In the second control mode, if the planned supply amount Sp is less than the minimum amount Smin of the possible supply range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the minimum amount Smin of the possible supply range and increases the speed of the traveling unit 2. This allows agricultural materials to be supplied to the field as planned, regardless of the lower limit of the supply capacity of the fertilizer applicator 3.

The rice transplanter 1 is equipped with a display unit 5. The display unit 5 distinguishes between the first control mode and the second control mode being executed for each area of the field. This allows the operator of the rice transplanter 1 to recognize the position in the field where the traveling speed V of the traveling unit 2 changes, reducing any discomfort felt by sudden changes in the traveling speed V of the traveling unit 2.

The display unit 5 distinguishes between decelerating and accelerating the traveling unit 2 in the second control mode. This allows the operator of the rice transplanter 1 to recognize the positions in the field where the traveling speed V of the traveling unit 2 decelerates and accelerates, reducing any sense of discomfort caused by a sudden deceleration or acceleration of the traveling speed V of the traveling unit 2.

In order to make the drawings easier to understand, the drawings mainly show each component in a schematic manner. Therefore, the thickness, length, etc. of each component shown in the drawings may differ from the actual size due to the nature of the drawings.

The present invention can be applied to agricultural machinery such as rice transplanters and tractors.

1. Rice transplanter (agricultural machine)
2 Traveling part 3 Fertilizer applicator (supply part)
4. Positioning unit (position acquisition unit)
5 Display unit 6 Planting unit 7 Holder 10 Engine 11 Transmission case 12 Front wheels 13 Rear wheels 14 Driver's seat 15 Steering wheel 16 Pedals 17 Hood 18 Dashboard 19 Vehicle speed sensor (vehicle speed acquisition unit)
21 Control unit 22 Memory unit 23 Communication unit 31 Fertilizer tank 32 Feed unit 33 Electric motor 34 Conveying hose 35 Blower 36 Feed body 37 Fertilization controller 41 Travel controller 42 Servo motor 61 Lifting link mechanism 62 Planting unit 63 Seedling carrier 64 Lifting cylinder 70 Server 71 Communication unit 72 Supply amount planning unit 100 Supply amount planning information 100a Image 200 Screen 201 Icon 202 Travel route 211 to 214 Marks A1 to A20 Area

Claims (4)

A running part;
a vehicle speed acquisition unit that acquires a traveling speed of the traveling unit;
a position acquisition unit that acquires position information of the traveling unit using a positioning satellite;
a supply unit supported by the traveling unit and configured to supply agricultural materials to a field;
a storage unit that stores supply amount plan information in which a planned supply amount of agricultural materials is determined for each of a plurality of areas obtained by dividing the farm field into a plurality of areas;
a control unit that acquires a planned supply amount for an area corresponding to the location information from the supply amount plan information, and executes a first control mode to control the supply amount of the supply unit based on the travel speed of the traveling unit so that the planned supply amount is achieved when the acquired planned supply amount is within a supply range of the supply unit, and executes a second control mode to change the travel speed of the traveling unit so that the planned supply amount is achieved when the planned supply amount is outside the supply range ,
In the second control mode, when the planned supply amount is greater than the maximum amount of the possible supply range, the control unit sets the supply amount of the supply unit to the maximum amount of the possible supply range and decelerates the traveling unit . A running part;
a vehicle speed acquisition unit that acquires a traveling speed of the traveling unit;
a position acquisition unit that acquires position information of the traveling unit using a positioning satellite;
a supply unit supported by the traveling unit and configured to supply agricultural materials to a field;
a storage unit that stores supply amount plan information in which a planned supply amount of agricultural materials is determined for each of a plurality of areas obtained by dividing the farm field into a plurality of areas;
a control unit that acquires a planned supply amount for an area corresponding to the location information from the supply amount plan information, and, if the acquired planned supply amount is within a supplyable range of the supply unit, executes a first control mode to control the supply amount of the supply unit based on the traveling speed of the traveling unit so that the planned supply amount is achieved, and, if the planned supply amount is outside the supplyable range, executes a second control mode to change the traveling speed of the traveling unit so that the planned supply amount is achieved;
Equipped with
In the second control mode, when the planned supply amount is less than the minimum amount of the possible supply range, the control unit sets the supply amount of the supply unit to the minimum amount of the possible supply range and increases the speed of the traveling unit. The agricultural work machine according to claim 1 or 2 , further comprising a display unit that displays, for each area of the field, whether the control mode to be executed is the first control mode or the second control mode. The agricultural work machine according to claim 3 , wherein the display unit distinguishes between decelerating and accelerating the traveling unit in the second control mode.