JP6550617B2 - Agricultural work vehicle - Google Patents

Description

  The present invention relates to an agricultural work vehicle, wherein the host computer calculates an optimum work from weather information and work information as being communicable with the host computer, and transmits the optimum work instruction to the agricultural work vehicle to control the agricultural work vehicle Related to technology to

  Conventionally, the host control unit holds machine repair information, machine performance information, crop growth information, work information, weather information, map information, etc. as a database in the host control unit, enabling transmission and reception to the tractor via a communication line and manually operating the tractor Alternatively, techniques for enabling automatic operation are known (see, for example, Patent Document 1).

JP 2002-34308 A

  In the above technology, data stored as a database is in the past. For example, weather information is the amount of rainfall, sunshine, temperature, etc. in the past, land information is the hardness of soil, etc. Based on this data, assuming the hardness of the field, the viscosity of the soil of the field is large As it is assumed, the amount of increase of the working machine is increased or increased at high speed. However, past information alone may have a hardness different from that of the actual field, and when combined with past results in actual tilling work, deep tilling could result in large loads and poor work efficiency. . In addition, it was working on the premise that the weather is good, so that the past results are good to reproduce the working condition, but it may be long rain in the medium to long-term weather forecast, work in the working form with good weather, Then it continued to rain, and there was a possibility that the yield would decrease.

  The present invention has been made in view of the above circumstances, and at the time of work, the host computer reads the current field condition and weather information in real time, calculates the optimum work form, and executes the optimum work form. Try to control agricultural work vehicles.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, according to the present invention, the agricultural work vehicle can communicate with the host computer through the communication device and can be steered by the remote control device, and the storage device of the host computer can record past weather information. , Current weather information, field information, work information, work machine information, crop information are stored, and the agricultural work vehicle is a position calculating means for positioning the position of the machine using a satellite positioning system, and a control device And the optimum traveling speed of the agricultural work vehicle calculated based on the past weather information, current weather information, field information, work information, work machine information, and crop information from the host computer and the work machine of the agricultural work vehicle. optimal operation drive values for operating is transmitted to the control device of the agricultural working vehicles, via the control device of the agricultural working vehicle, based on the optimum running speed and the optimum working drive value Control to work out a serial agricultural work vehicle along the set travel route is performed, when working by run together the agricultural working vehicle with two front and rear, the detection value prior agricultural work vehicle will detect the field of state Is sent to the host computer, and the correction value of the optimum work drive value calculated based on the detected value from the host computer is sent to the control device of the preceding agricultural work vehicle and the control device of the subsequent agricultural work vehicle. The correction control is performed so that the work by the preceding agricultural work vehicle and the subsequent agricultural work vehicle can be optimally performed through the control device of the preceding agricultural work vehicle and the control device of the subsequent agricultural work vehicle. It is a thing.

  In the second aspect, the hardness of the overhead scene is determined by calculating the slip rate from the set traveling speed of the set traveling route of the agricultural work vehicle and the actual traveling speed and the traveling distance calculated by the satellite positioning system. The set travel speed is corrected from the surface hardness.

In Claim 3, the work height of the said working machine as said optimal work drive value is correct | amended from the hardness of the said field scene.

By using the above-mentioned means, agricultural work vehicles can calculate and operate optimum conditions while communicating with the host computer in real time, and at the optimum operation speed from the weather information and the hardness of soil in the field While traveling, it is possible to work under the optimum conditions in accordance with the work machine, and work efficiency can be improved. Also, the host computer can manage weather information, field information, work information, work machine information and crop information in an integrated manner, can combine field and work information, and can be widely applied to future work.
In addition, when working with two agricultural vehicles in parallel, the preceding agricultural vehicle detects the field and transmits the detection value to the host computer, and the host computer sends the detected value to the preceding agricultural vehicle and the subsequent agricultural The correction value can be sent to the work vehicle so that it matches the actual field conditions and feedback can be made in real time, enabling accurate correction control and improving the working efficiency of the preceding and subsequent work vehicles. it can.

The schematic side view which shows an agricultural work vehicle, a GPS satellite, and a reference station. Control block diagram. Schematic which shows communication with a host computer, an agricultural work vehicle, and a remote control. The figure which shows the state which works with 2 units | sets.

  An embodiment will be described in which an agricultural work vehicle 1 that can be automatically driven unattended is used as a tractor, and the agricultural work vehicle 1 is provided with a rotary tiller as a work machine. However, the agricultural work vehicle 1 is not limited to the tractor, and may be a combine or the like, and the work machine is not limited to the rotary tiller, and a setting machine, a mower, a rake, a sowing machine, a fertilizing machine or the like A wagon or the like may be used.

  In FIG. 1 and FIG. 2, an overall configuration of a tractor serving as the agricultural work vehicle 1 will be described. An engine 3 is provided in the hood 2, a dashboard 14 is provided in a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as steering operation means is provided on the dashboard 14. The turning of the steering wheel 4 turns the direction of the front wheels 9 and 9 via the steering device. The steering direction of the agricultural work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering wheel 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the control device 30.

  A driver's seat 5 is disposed behind the steering wheel 4, and a transmission case 6 is disposed below the driver's seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The speed change means 44 is connected to the control device 30. The rotational speed of the rear wheel 10 is detected by a vehicle speed sensor 27 and is input to the control device 30 as a traveling speed. However, the detection method of the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

  A PTO clutch and a PTO transmission are accommodated in the transmission case 6, the PTO clutch is turned on and off by the PTO on-off means 45, and the PTO on-off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.

  A front axle case 7 is supported on a front frame 13 supporting the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is composed of The front wheels 9 and 9 are steering wheels, and can be turned by the turning operation of the steering handle 4, and the front wheels 9 and 9 are turned by the steering actuator 40 composed of a power steering cylinder serving as a steering drive means. It is possible. The steering actuator 40 is connected to the control device 30 and driven by automatic travel control.

  An engine controller 60 serving as an engine rotation control means is connected to the control device 30, and an engine rotation number sensor 61, a water temperature sensor, an oil pressure sensor, etc. are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set number of revolutions and the actual number of revolutions and controls so as not to be overloaded, and transmits the state of the engine 3 to the remote control device 112 described later so that it can be displayed on the display 113 There is.

  Further, a level sensor 29 for detecting the liquid level of fuel is disposed in the fuel tank 15 disposed below the step and connected to the control device 30, and the display means 49 provided on the dashboard of the agricultural work vehicle 1 has residual fuel A fuel gauge for displaying the quantity is provided and connected to the control device 30. Then, information regarding the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining fuel amount and workable time are displayed on the display 113 of the remote operation device 112.

  On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, a set value, and the like are arranged.

  Further, a rotary tiller 24 is installed as a work machine behind the tractor body via a work machine mounting device 23 so as to be able to move up and down to perform the tilling work. A lift cylinder 26 is provided on the transmission case 6, and by extending and retracting the lift cylinder 26, a lift arm constituting the work implement mounting device 23 is turned to be able to lift and lower the rotary cultivator 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the controller 30.

  A mobile receiver 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile receiver 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile receiver 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (US), precise positioning can be performed using satellite positioning systems (GNSS) such as Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia), but in this embodiment, GPS is used. explain.

  The agricultural work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from position measurement of GPS, the azimuth sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the inclination (pitch) in the longitudinal direction of the vehicle of the agricultural work vehicle 1, the angular velocity of the inclination (roll) in the lateral direction of the vehicle, and the angular velocity of turning (yaw). By integrating the three angular velocities, it is possible to obtain the tilt angle in the front-rear direction and the left-right direction, and the turning angle of the machine body of the agricultural work vehicle 1. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30, and inputs information on the three angular velocities into the control device 30.

  The direction sensor 32 detects the direction (traveling direction) of the agricultural work vehicle 1. A specific example of the direction sensor 32 includes a magnetic direction sensor. The orientation sensor 32 is connected to the control device 30, and inputs information on the orientation of the machine to the control device 30.

  In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the direction sensor 32 by the attitude and direction calculation means, and the attitude of the agricultural work vehicle 1 (direction, inclination in the longitudinal direction of the machine and lateral direction of the machine, turning direction) Ask for

  Next, a method for acquiring the position information of the agricultural work vehicle 1 using the GPS (Global Positioning System) will be described. GPS is a system originally developed for supporting the navigation of aircraft, ships, etc., and has twenty-four GPS satellites (four arranged on six orbital planes), which orbit about 20,000 kilometers above, GPS satellites The control station performs tracking and control, and the receiver of the user to perform positioning. Positioning methods using GPS include various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIG. 1 and FIG.

  In RTK-GPS (Real-Time Kinematic-GPS) positioning, GPS observation is simultaneously performed by the reference station whose position is known and the mobile station whose position is to be determined, and the data observed by the reference station is wirelessly measured by the mobile station In real time, and the position of the mobile station is determined in real time based on the position result of the reference station.

  In the present embodiment, a mobile receiver 33, a mobile GPS antenna 34, and a data receiving antenna 38 that are mobile stations are arranged on the agricultural work vehicle 1, and a fixed receiver 35, a fixed GPS antenna 36, and a data transmitting antenna 39 that are reference stations. Are placed at predetermined positions that do not interfere with field work. The RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment performs phase measurement (relative positioning) at both the reference station and the mobile station, and transmits the data measured by the fixed receiver 35 of the reference station from the data transmission antenna 39. Transmit to the data receiving antenna 38.

  The mobile GPS antenna 34 disposed in the agricultural work vehicle 1 receives signals from the GPS satellites 37,. This signal is transmitted to the mobile receiver 33 for positioning. At the same time, signals from the GPS satellites 37, 37... Are received by the fixed GPS antenna 36 serving as a reference station, measured by the fixed receiver 35 and transmitted to the mobile receiver 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.

  Thus, the control device 30 in this agricultural work vehicle 1 receives radio waves transmitted from the GPS satellites 37, 37, ... and obtains the position information of the vehicle at set time intervals in the mobile receiver 33, and the gyro sensor 31 and The steering actuator 40, the speed change means 44, etc. are determined so that the displacement information and orientation information of the vehicle are obtained from the orientation sensor 32, and the vehicle travels along a preset route R set in advance based on the position information, displacement information and orientation information. Control.

  In addition, an obstacle sensor 41 is disposed on the agricultural work vehicle 1 and connected to the control device 30 so as not to abut on the obstacle. For example, the obstacle sensor 41 is constituted by an ultrasonic sensor, disposed at the front, side or rear of the machine and connected to the control device 30, and whether there is an obstacle at the front, side or back of the machine It detects and controls to stop traveling when the obstacle approaches within the set distance.

  In addition, the agricultural working vehicle 1 is equipped with a camera 42 for capturing an image of the front and the working machine, and is connected to the control device 30. An image captured by the camera 42 is displayed on the display 113 of the remote control device 112. However, when the display screen of the display 113 is small, it is displayed on another large display, the camera image is always or selectively displayed on another dedicated display, or is displayed on the display means 49 provided on the agricultural work vehicle 1. It is also possible to do.

  The remote control device 112 sets the traveling route R of the agricultural work vehicle 1, remotely operates the agricultural work vehicle 1, monitors the traveling state of the agricultural work vehicle 1 and the operation state of the working machine, and operates the work data. It is something to remember. The remote control device 112 can be configured by, for example, a laptop computer or a tablet personal computer. In this embodiment, a tablet computer is used. In addition, although map data (information) is referred in order to determine the position of the said farmland H, drive | work using a satellite positioning system, or set travel route R, this map data is used for the internet. The published map data, the map data distributed by the map maker or the like, the car navigation map data, etc. are used.

  The remote control device 112 can be attached to and detached from an operation unit such as a dashboard of the agricultural work vehicle 1, and the remote control device 112 can be carried outside the agricultural work vehicle 1 and carried and operated. It can be operated by attaching it to the board.

  Furthermore, the remote control device 112 and the agricultural work vehicle 1 are configured to be able to communicate with each other wirelessly, and the agricultural work vehicle 1 and the remote control device 112 are respectively provided with transceivers 110 and 111 for communicating. . The transceiver 111 is configured integrally with the remote operation device 112. The communication means are configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote control device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the housing surface, and the transmitter / receiver 111, CPU, storage device, battery and the like are housed in the housing. The display 113 can display an image of the surroundings photographed by the camera 42, the state of the agricultural work vehicle 1, the state of the work, the information on the GPS, the operation screen, and the like so that the operator can monitor.

  The state of the agricultural work vehicle 1 includes a traveling state, an engine state, a working machine state, and the like. The traveling state includes a shift position, a vehicle speed, a remaining fuel amount, a battery voltage, and the like. The engine speed, the load factor, and the like, and the state of the work machine include the type of work machine, the PTO speed, the work machine height, and the like, which are displayed on the display 113 with numbers, level meters, and the like.

  The status of the work includes: work path (target path or set path), work stroke, current position, distance to headland calculated from the stroke, remaining path, number of strokes, work time so far, remaining work It is time etc. The remaining paths can be easily recognized by filling the already-worked paths from the entire work path. Further, by displaying the next stroke from the current position with an arrow, it is possible to easily recognize the next stroke such as the turning direction from the current time. The information on the GPS is the longitude and the latitude at which the agricultural work vehicle 1 is actually located, the number of satellites to be supplemented, the radio wave reception intensity, and the like.

  The display 113 of the remote control device 112 displays not only the surrounding images taken by the camera 42 but also the state of the agricultural work vehicle 1 and the travel route R, and therefore cannot display a large amount of information at a time. Therefore, the screen can be enlarged and divided, or a separate display for the camera can be provided, and can be switched or scrolled as necessary. Thus, it is possible to easily see the screen that the operator wants to see.

  Further, the agricultural work vehicle 1 can be remotely controlled by the remote control device 112. For example, emergency stop or temporary stop or restart of the agricultural work vehicle 1, change of the vehicle speed, change of the engine rotational speed, elevation of the working machine, ON / OFF of the PTO clutch, etc. can be operated. That is, the operator can easily remotely control the agricultural work vehicle 1 by controlling the accelerator actuator, the speed change means 44, the PTO ON / OFF means 45, etc. via the transmitter / receiver 111, the transmitter / receiver 110, and the control device 30 from the remote control device 112. It is

  As shown in FIG. 3, the remote operation device 112 serving as the operation terminal and the control device 30 of the agricultural work vehicle 1 can be connected to the host computer 400 via the communication line 401. The host computer 400 can be connected to other users' remote control devices and agricultural work vehicles through communication lines, and can obtain work information, machine information, work machine information, crop information, and the like from each field. The communication line 401 is configured to transmit and receive data to and from each other via a public telephone network (including mobile communication such as a mobile phone) and the Internet. The host computer 400 is installed at a predetermined location of the manufacturer.

  The host computer 400 includes an input unit for data and instructions, a storage unit for storing input data and post-computation data, an output unit for outputting data to a display device, and a control unit for controlling communication and processing units. Etc. An information file is stored as a database in the storage unit, and data created by the control unit can be created, registered, updated, operated, or output in a file. There is. The information file is created for each user, user ID, type of machine and work machine, machine information such as repair and inspection, weather information such as weather, temperature and precipitation, map information, tillage information and sowing information for each crop Work information such as weeding information and fertilization information and control information and crop yield information, soil information such as soil quality and hardness of each field, sowing time and sowing time of various crops, transplanting time and control time and management work and It consists of crop information such as harvest time and yield.

  In such a configuration, in the case of a rotary tillage as a travel route R at which work is performed and work speed or work drive value before starting work, work height or work depth (for the seeder or fertilizer, feeding amount or feeding interval And the depth) are set, and the type of crop to be planted, the working machine to be used, and weather information at the current position (when remote from the host computer 400) are transmitted to the host computer 400. The host computer 400 searches the work data under the past weather conditions closest to the transmitted weather information, and displays the work condition (work drive value) with the highest yield and the highest yield on the display device 113. . If this setting is OK, select "Execute", and if you want to change, change for each item.

  After starting the work, the state of the field is detected, and compared with the data stored in the host computer 400, the work conditions are corrected in real time if they differ by a set value or more. For example, even when working at a traveling speed at which a tractor is set, if the distance and time traveled along the traveling route R are measured, the arrival time may be longer than the set time. In this case, it is determined that slip has occurred. Alternatively, it is determined that the load has increased and the rotational speed has decreased. If slippage occurs, the soil is softened after the rain, so the plow depth is also deep. Therefore, in the host computer 400, the slip condition (slip ratio) is calculated from the set travel speed, the actual travel speed, and the travel distance (computed by GPS positioning), and the height of the working machine is increased as the slip is larger. It is Also, if the work machine is a planter, fertilizer applicator or pest control machine, if the slip ratio is high, the intervals of sowing or fertilization will be short, and in the case of control it will be excessive, so according to the slip ratio, sowing interval In addition, the host computer 400 performs calculation so as to increase the fertilization interval and reduce the control amount, and transmits the travel speed and the correction amount of the work drive value to the agricultural work vehicle via the communication device. The agricultural work vehicle corrects the control amount of the actuator according to the work drive value and operates.

  Also, when working or when setting work, the host computer 400 acquires medium- to long-term weather information from the Internet etc. and stores it as data, and in the case of a forecast that medium- to long-term weather information is likely to rain much Control the lift actuator to raise the height of the weir and improve drainage when working. In addition, when performing a sowing operation and a transplanting operation, the feeding actuator is controlled so as to increase the sowing interval and the transplanting interval so as to improve ventilation while avoiding an increase in diseases and pests. Also, when using short-term weather forecast information, if it is predicted that it will rain in the afternoon during the morning work, by the time it rains in one section so that no halfway work area will remain in the morning Control to increase work speed so that it can be completed completely.

  Moreover, it is also possible for the agricultural work vehicle 1 to perform different operations with two front and rear units. In this case, the preceding agricultural work vehicle 1A detects the field and transmits the detected value to the host computer 400, and transmits the correction value to the subsequent agricultural work vehicle 1B so that it can be adjusted to the actual field condition. Feedback is provided. The agricultural work vehicles 1A and 1B may be both unmanned or one unmanned and the other manned. For example, as shown in FIG. 4, when the preceding agricultural work vehicle 1A performs the tilling work with the rotary tilling device 24 and the subsequent agricultural work vehicle 1B performs the sowing work with the seeder 240 attached, the fore and aft agricultural work In the cars 1A and 1B, the work drive value is determined from the host computer 400 with reference to the past work data, and the work is started with the work drive value with good work efficiency. After the start of the work, if the soil becomes soft in the middle of the work due to the influence after the rain, etc., the preceding agricultural work vehicle 1A may slip or the tilling depth of the rotary cultivating device may become deep. This information is transmitted to the host computer 400, and a correction value is calculated. The correction information is transmitted from the host computer 400 to the preceding agricultural work vehicle 1A, and the correction value is also transmitted to the subsequent agricultural work vehicle 1B. Thus, the softening position is detected by the preceding agricultural work vehicle 1A, so that there is no control delay of the subsequent agricultural work vehicle 1B, and accurate correction control is possible.

  Note that information can be communicated via a communication device (ISO-BUS) between a sensor or an actuator provided in the seeding machine 240 or a work machine such as a fertilizer applicator or a control machine, and the control device 30 of the machine, Information from the work machine can be transmitted to the host computer 400 via the control device 30 of the machine, and an actuator of the work machine can be operated by a command from the host computer 400. For example, in the case of a seeder, if the number of seeds and the seeding interval are set, and the feeding motor as an actuator is operated to perform seeding work, how much amount of seeds will be added to the specified (registered) field It is sent to the host computer 400 how many times the seeds have been sown at a depth of only. At this time, the operation speed, field information, weather information, machine information, and the like are transmitted from the control device 30 of the machine to the host computer 400 and stored as a database.

  In addition, the host computer 400 stores work information when work is performed by another agricultural work vehicle, and can be compared with the same work content performed in the vicinity, so that optimum work conditions can be obtained. It is possible to derive. This information is transmitted to the remote control device 112 for reference, or the information can be fetched and applied to the current work, and can be controlled to be the optimum work.

  When the other agricultural work vehicle 1 is a manned traveling vehicle, the operator gets on one of the agricultural work vehicles 1 and carries out a driving operation, and the remote control device 112 is mounted on one of the agricultural work vehicles 1 Thus, the other agricultural work vehicle 1 can be operated. The basic configurations of the agricultural work vehicle 1A and the agricultural work vehicle 1B are the same.

  As described above, the host computer 400 including the storage device storing the past weather information, the field information, the work information, the work machine information, and the crop information can communicate with the remote control device 112 through the communication device. Position control means for positioning the position of the vehicle using the satellite positioning system, a steering actuator for operating the steering device, and an engine rotation control means And shift control means, and a control device for controlling these, the optimum work speed and the optimum work drive value calculated by the past and present weather information, field information, work information, work machine information and crop information, the host It is transmitted from the computer 400 to the control device 30 of the agricultural work vehicle 1, and the agricultural work vehicle 1 performs the optimum work speed and the optimum work drive value along the set travel route R. Since the work is controlled and performed, the agricultural work vehicle 1 can calculate and work the optimum condition while communicating with the host computer 400 in real time, and travels at the optimum work speed from the weather information and the hardness of the soil in the field The working machine can be operated under the optimum conditions according to the crop. Further, the host computer 400 can integrate and manage the weather information, the field information, the work information, the work machine information, and the crop information, can integrate the field information, and can be widely applied to future work.

  Also, calculate the slip rate from the set travel speed of the set travel route R of the agricultural work vehicle 1 and the actual travel speed and travel distance calculated from the satellite positioning system to determine the hardness of the overhead scene, and the hardness of the overhead scene Since the set traveling speed is corrected from the above, it is possible to carry out the optimum work by the present information in addition to the past information.

  In addition, since the height of the work machine is corrected based on the hardness of the field, the work can be performed at a height according to the actual hardness, the work efficiency is enhanced, and the growth and yield of crops to be planted can be improved. .

Reference Signs List 1 agricultural working vehicle 30 control device 40 steering actuator 44 transmission means 60 engine controller 112 remote control device 400 host computer

Claims (3)

An agricultural work vehicle that can communicate with a host computer via a communication device and can be steered by a remote control device.
The storage device of the host computer stores past weather information, current weather information, farm field information, work information, work machine information, crop information,
The agricultural work vehicle includes position calculation means for positioning the position of the vehicle using a satellite positioning system, and a control device.
Operates the optimum traveling speed of the agricultural work vehicle and the working machine of the agricultural work vehicle calculated from the host computer based on the past weather information, current weather information, field information, work information, work machine information, and crop information The optimal work drive value to be transmitted to the agricultural work vehicle control device,
Via the control device for the agricultural work vehicle, control is performed to work the agricultural work vehicle along a set travel route based on the optimum travel speed and the optimum work drive value ,
When carrying out work by running the agricultural work vehicle side by side with two front and rear,
The preceding agricultural work vehicle detects the condition of the field and the detected value is sent to the host computer,
The correction value of the optimum work drive value calculated based on the detected value is transmitted from the host computer to the control device of the preceding agricultural work vehicle and the control device of the subsequent agricultural work vehicle.
Correction control is performed so that the work by the preceding agricultural work vehicle and the subsequent agricultural work vehicle can be optimally performed through the control device of the preceding agricultural work vehicle and the control device of the subsequent agricultural work vehicle. Agricultural working vehicle.   Set the traveling speed of the agricultural work vehicle and calculate the slip rate from the actual traveling speed and traveling distance calculated from the satellite positioning system to determine the hardness of the overhead scene, and set from the hardness of the overhead scene The agricultural work vehicle according to claim 1, wherein the traveling speed is corrected. The agricultural work vehicle according to claim 2, wherein the work height of the work machine as the optimum work drive value is corrected from the hardness of the farm scene.

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