CN116965209A - Work vehicle - Google Patents

Abstract

The purpose of the present invention is to enable setting of a more appropriate fertilizing amount according to the situation. The work vehicle of the present invention includes: a traveling vehicle body; a supply device supported by the traveling vehicle body and supplying fertilizer, chemical or seeds to the field; a map linkage system in which, for a division area in which a field is divided, a supply device is controlled based on information of a supply amount for each division area to control the supply amount (V); and a real-time sensing system for controlling the supply amount according to the field information obtained at any time during the running of the running vehicle body.

Description

Work vehicle

Technical Field

The present invention relates to a work vehicle such as a rice transplanter or a tractor.

Background

In a rice transplanter, a tractor, or the like, the following techniques are known: a receiving device 41 such as an antenna of a positioning device 40 is provided on the upper surface of the ceiling of a cabin 9 of a traveling vehicle body, the current position of the vehicle body is measured, and the vehicle body is caused to travel based on positioning information and information related to work such as a field (patent document 1).

[ Prior Art literature ]

[ patent literature ]

Patent document 1: japanese patent laid-open No. 2020-103088

Disclosure of Invention

[ problem to be solved by the invention ]

In the prior art, the following studies are being advanced: as information related to the operation, artificial intelligence (Artificial Intelligence, AI) learns based on past planting data or growth model of crops, meteorological data, analysis data of fields from satellites to make growth prediction or disease occurrence prediction, and notifies, suggests, water management or topdressing, control/weed management, appropriate timing of harvest.

In the analysis, a field is divided into sections of a predetermined width, and the sections are analyzed and predicted for excess or deficiency of water, excess or deficiency of fertilizer, and the like. However, there is a problem that information such as the excess or deficiency of fertilizer cannot be obtained according to the actual situation of the field.

The technical subject of the invention is to set a more proper supply amount according to the actual situation, and to restrain the generation of the growth failure of crops.

[ means of solving the problems ]

The problem of the present invention is solved by the following means.

The invention 1 is a work vehicle including:

a traveling vehicle body 1;

a supply device supported by the traveling vehicle body 1 and configured to supply fertilizer, chemical, or seeds to the field 260;

a map linkage system in which, for each of the sections 261 into which the field 260 is divided, the supply device is controlled to control the supply amount V based on the information of the supply amount V of each of the sections 261; and

the real-time sensing method controls the supply amount V based on the field information obtained at any time during the running of the running vehicle body 1.

The invention 2 is the work vehicle according to the invention 1, including: the positioning device SN0 determines the current position of the vehicle body 1, and selects the map linkage system or the real-time sensing system according to the current position of the vehicle body 1.

In the work vehicle according to the invention 3, when the map linkage system is selected, the change of the supply amount V is performed stepwise when the partition 261 is switched in association with the traveling of the traveling vehicle body 1, and the time t1 of each stage when the supply amount V is changed stepwise is changed in accordance with the vehicle speed of the traveling vehicle body 1.

Invention 4 is the work vehicle according to invention 1 or 2, comprising: when the map linkage system is selected, the control unit 300 controls the supply amount V based on a ratio R1 of the supply range 262 of the traveling vehicle 1 overlapping the first partition 261-1 and a ratio R2 of the supply range 262 overlapping the second partition 261-2, among the first supply amount V1 of the first partition 261-1 and the second supply amount V2 of the second partition 261-2, when the traveling vehicle 1 travels across the adjacent first partition 261-1 and second partition 261-2.

[ Effect of the invention ]

According to the invention 1, in the map linkage system, the job can be performed based on the received job information. Therefore, compared with the real-time sensing method, detection and calculation at any time are not required, and when the work information is confirmed in advance before the start of the work, the difference between the condition confirmed in advance and the condition in which the work is actually performed (for example, the consumption of fertilizer) is small, and the offensiveness and feeling of the worker are small. In the real-time sensing system, the supply amount is corrected according to the current condition of the field, so that a more appropriate supply amount can be set that is more suitable for the actual condition than the information analyzed and predicted from the past data. So that it can be selected according to the situation.

According to the invention 2, in addition to the effect of the invention 1, for example, a map linkage system can be adopted at the center of the field and a real-time sensing system can be adopted at the ground in accordance with the current position of the traveling vehicle body 1.

According to invention 3, in addition to the effects of invention 1 or invention 2, the supply amount can be prevented from becoming excessive or insufficient at the boundary portion, as compared with the case where the one-stage change amount Δv is not changed according to the vehicle speed.

According to invention 4, in addition to the effects of any one of inventions 1 to 3, when the traveling vehicle body 1 travels across the adjacent first partition 261-1 and second partition 261-2, the supply amount V is controlled based on the first supply amount V1 of the first partition 261-1, the second supply amount V2 of the second partition 261-2, the ratio R1 in which the supply range 262 overlaps the first partition 261-1, and the ratio R2 in which the supply range 262 overlaps the second partition 261-2, whereby the difference from the supply amount required in each partition 261 becomes small, and the occurrence of defective growth of crops can be suppressed.

Drawings

Fig. 1 is a left side view of a seedling transplanting machine according to an embodiment of the present invention.

Fig. 2 is a plan view of the seedling transplanting machine of the embodiment.

Fig. 3 is a functional block diagram of the control unit according to the embodiment.

Fig. 4 is an explanatory diagram of an example of the positional relationship between the work vehicle and the field according to the embodiment.

Fig. 5 is an explanatory view showing an example of the field.

Fig. 6 is an explanatory diagram of a system configuration for holding a fertilizing instruction value of a rice transplanter according to an embodiment of the present invention (first).

Fig. 7 is an explanatory diagram of a system configuration for holding a fertilizing instruction value of a rice transplanter according to an embodiment of the present invention (second).

Fig. 8 is an explanatory diagram of a system configuration for holding a fertilizing instruction value of a rice transplanter according to an embodiment of the present invention (third).

Fig. 9 is an explanatory diagram (fourth) of a system configuration for holding a fertilizing instruction value of a rice transplanter according to an embodiment of the present invention.

Fig. 10 is an explanatory diagram of a system configuration for holding a fertilizing instruction value of a rice transplanter according to an embodiment of the present invention (fifth).

Fig. 11 is an explanatory diagram of a fertilizer indicator value holding system configuration of a rice transplanter according to an embodiment of the present invention (sixth).

Fig. 12 is an explanatory diagram of a fertilizer indicator value holding system configuration of a rice transplanter according to an embodiment of the present invention (seventh).

Fig. 13 is an explanatory diagram of a fertilizer indicator value holding system configuration of a rice transplanter according to an embodiment of the present invention (eighth).

Fig. 14 is an explanatory diagram of a fertilizer indicator value holding system configuration of a rice transplanter according to an embodiment of the present invention (ninth).

Fig. 15 is an explanatory view (ten) of the structure of the fertilizer indicator value holding system of the rice transplanter according to the embodiment of the present invention.

Fig. 16 is an explanatory diagram of a fertilizer indicator value holding system configuration of a rice transplanter according to an embodiment of the present invention (eleventh thereof).

[ description of symbols ]

1: vehicle body

2: linking device for lifting

3: seedling planting device

4: fertilizing device

6: front wheel

7: rear wheel

10a, 10b: main frame

11: gear box

11a, 11b: rear output shaft

12: engine (internal combustion engine)

13: hydraulic pump

14: steering column

16: steering wheel

17: gear shift lever (running operating member, HST lever)

19: pedal bottom plate

20: driver's seat

22: front wheel supporting box

23: axle shaft

24: rear wheel transmission case

25: transmission shaft

27. 29: belt pulley

28: belt with belt body

30: rear wheel support

31：HST

32a: input shaft

32b: output shaft

35: left and right rear wheel transmission shaft

36: lifting pressure cylinder

37: left and right frames

38: planting transmission case

39: seedling carrying table

41: seedling planting tool

42: central floating body (sensor floating body)

43: side floating body

45: PTO transmission shaft

62: fertilizing hose

67: fertilizer box

68: fertilizer discharge part

69: blower fan

70a, 70b: rotor

71: chain transmission case

80: fertilizing guide part

82: ditching body

86: pedal plate

101: touch panel

200: distribution server

210. 300: control unit

211: distribution information storage unit

212: analysis component

213: receiving part

214: transmitting unit

260: field

261. 261-3, 261-4: partition(s)

261-1: partition (first partition)

261-2: partition (second partition)

262: fertilizer application range

301: job information receiving part

302: pattern discriminating unit

303: mode discriminating part

304: priority discriminating unit

305: travel position determination member

306: overlap ratio calculating part

307: partition switching discriminating unit

308: depth detection component

309: fertility degree detection part

310: vehicle speed detecting unit

311: fertilizing amount setting component

312: display control unit

401-410: field

421: group (first group)

422: group (second group)

D: region(s)

Da: auxiliary area

I/O: input/output interface

SN0: GNSS positioning device

SN1: depth sensor

SN2: fertility sensor

SN3: vehicle speed sensor

Detailed Description

Embodiments of the present invention are described below.

A four-row transplanting machine as an embodiment of a seedling transplanting machine, which is an example of a working vehicle of the present invention, will be described in detail with reference to the drawings.

As shown in the side view of fig. 1 and the plan view of fig. 2, the riding rice transplanter is configured such that a seedling planting device 3, which is one type of working machine, is mounted on a traveling vehicle body (traveling vehicle) 1 by a lifting/lowering link device 2, and a fertilizer application device 4 is provided, thereby functioning as a riding rice transplanter as a whole. The traveling vehicle body 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6, 6 and rear wheels 7, 7 as drive wheels.

In the present specification, the direction of advance toward the transplanting machine is referred to as left and right, the direction of advance is referred to as front, and the direction of retreat is referred to as rear.

As shown in fig. 1, a transmission case 11 and an engine (internal combustion engine) 12 are disposed in main frames 10a and 10b, a hydraulic pump 13 is integrally assembled with the transmission case 11 on a rear side surface of the transmission case 11, and a steering column 14 is provided above a front portion of the transmission case 11.

A steering wheel 16 is provided at the upper end of the steering column 14. A floor 19 serving as a floor for driving is attached to an upper portion of the machine body, and a driver's seat 20 is provided above the engine 12. A shift lever (travel operation member, HST lever) 17 is provided on the right side of the steering wheel 16.

An operation panel, not shown, is provided on the steering column 14 in front of the driver's seat 20.

A ridge clutch lever 18 is provided on the right side of the driver's seat 20. The front wheels 6 and 6 are pivotally supported by front wheel supporting boxes 22 and 22 provided on the sides of the transmission case 11 in a direction changeable. The rear wheels 7 and 7 are pivotally supported by rear wheel transmission cases 24 and 24 attached to both left and right ends of the left and right frames 37 via rear wheel supports 30. The left and right frames 37 are supported by rear end portions of the main frames 10a, 10 b.

As shown in fig. 1 and 2, as part of the power transmission mechanism for the rear wheel 7, the rotational power of the engine 12 is transmitted to the input shaft 32a of the hydraulic continuously variable transmission (HST) 31 via the pulley 27, the belt 28, and the pulley 29 in this order, and is transmitted from the output shaft 32b of the HST31 into the transmission 11.

Rear end portions of the rear output shafts 11a, 11b protrude rearward of the transmission case 11, and left and right rear wheel drive shafts 35, 35 that drive the rear wheel drive cases 24, 24 are connected to the protruding end portions thereof. The left and right rear wheels 7, 7 are driven to rotate by the left and right rear wheel propeller shafts 35, respectively.

The seedling planting device 3 is attached to the traveling vehicle body 1 by a lifting link device 2 so as to be freely lifted.

The seedling planting device 3 connected to the lifting link device 2 is moved up and down by connecting the upper end of a piston of a normal lifting cylinder 36 (fig. 1) whose base is rotatably provided to the traveling vehicle body 1 to the lifting link device 2 and extending/retracting the piston of the lifting cylinder 36.

The seedling planting device 3 comprises: a seedling planting tool 41 mounted on the rear end of the planting transmission case 38, for planting seedlings in a field from the lower end of the seedling stage 39; and a center float (sensor float) 42 and a side float 43 as a whole of the land, and the like, the rear portion thereof being pivotally supported and the front portion thereof being swingably attached to the lower portion of the planting transmission case 38. The center float 42 and the side floats 43 are provided for leveling the land of the field and leveling the land in front of the field where the seedling is planted by the seedling planting tool 41.

A Power Take Off (PTO) drive shaft 45 (fig. 1) has universal joints at both ends, and is provided for transmitting Power from the transmission case 11 to the planting gear case 38 of the planting device 3.

As shown in fig. 1, the rotor 70a is disposed in front of the center float 42, and the rotor 70a is disposed further forward than the rotor 70b disposed in front of the side float 43. The rotor 70a transmits power from a gear in the rear wheel transmission case 24 of the rear wheel 7 via the transmission shaft 25, the rotor 70b transmits power from a pair of chains (not shown) in a pair of left and right chain transmission cases 71, and the pair of left and right chain transmission cases 71, 71 transmit power from driving shafts (not shown) of the two rotors 70a, respectively.

The rear wheel transmission case 24 of the rear wheel 7 is mounted on both right and left end portions of the right and left frames 37, and is pivotally supported by the rear wheel support body 30.

By the rotation of the rear wheel transmission case 24, the axle 23 of the rear wheel 7 moves up and down integrally with the rear wheel transmission case 24. In addition, power is transmitted from the transmission case 11 to the rear wheel transmission case 24 via the left and right rear wheel propeller shafts 35.

The fertilizer applicator 4 sequentially discharges the fertilizer in the fertilizer box 67 by a fixed amount to the bottom by the fertilizer discharge portion 68, and the discharged fertilizer is transferred to the fertilizer guide portion 80 by the blower 69 through the fertilizer hose 62, and is dropped into the fertilizer trench formed near the side portion of the row by the trench digging body 82 provided on the front side of the fertilizer guide portion 80.

The pedal 86 (fig. 2) is configured to be capable of simultaneously operating the main clutch and the left and right rear wheel brake devices (not shown) and disposed on the lower right side of the steering wheel 16, and when the pedal 86 is depressed, the main clutch is cut off, and the left and right rear wheel brakes are braked, so that the machine body is stopped.

The traveling vehicle body 1 is provided with a depth sensor SN1 as an example of a detection means. The depth sensor SN1 of the embodiment detects the depth of the field using ultrasonic waves. In addition, a depth sensor using ultrasonic waves may be a conventionally known and commercially available sensor, and thus a detailed description thereof is omitted.

Further, the traveling vehicle body 1 is provided with a fertility sensor SN2 as an example of a detection means. The fertility sensor SN2 of the embodiment is a known structure for detecting the fertility based on a phenomenon that the resistance value between the electrode plates provided in the front wheels 6, 6 differs depending on the water or soil of the field, and therefore, a detailed description thereof is omitted.

(description of control section)

Fig. 3 is a functional block diagram of the control unit according to the embodiment.

In the block diagram of fig. 3, elements irrelevant to the description of the embodiment of the present invention are not shown and described.

The seedling transplanting mechanism of the embodiment is configured to be capable of transmitting and receiving information to and from the distribution server 200 as an example of the information processing apparatus.

(description of control section of distribution Server)

The control section 210 of the distribution server 200 has a distribution information storage section 211 that stores job information. The distribution information storage section 211 of the embodiment stores past job information for each of a plurality of fields. In the embodiment, as an example of the operation information, there are stored planting data such as a planting time or a fertilizing time, a control time, a harvesting amount, a variety, etc. of the crop in the past, weather data (such as air temperature or sunlight time) in the past, data of a depth distribution or a fertility distribution of the field obtained in the past operation, etc.

Fig. 4 is an explanatory diagram of an example of the positional relationship between the work vehicle and the field according to the embodiment.

In fig. 4, the job information of the embodiment is stored in units of a plurality of partitions 261 dividing the field 260 into predetermined sizes (for example, 1m×1 m). Thus, data such as the depth and fertility of the field is stored for each partition 261, and the data becomes distribution data for the whole field 260.

The analysis unit 212 analyzes the appropriate period of water management, topdressing, control, weed management, and harvest for the crops planted in the field based on the past operation information. For example, the appropriate amount of fertilization at the current time point is analyzed based on the past fertilization state, the date and water amount at which the water starts to be discharged into the field, the number of days elapsed since the date when the fertilization operation was performed in the past, and the like. In addition, since the planting management is performed based on the conventional information, various conventionally known structures such as xarvio (registered trademark) can be used, for example, a detailed description thereof is omitted. In addition, the analysis unit 212 analyzes and calculates the amount of topdressing (amount of fertilization, amount of weight loss) on the day for each partition 261, and stores the amount of topdressing in the distribution information storage unit 211.

The receiving unit 213 of the control unit 210 receives a signal from the seedling transplanting machine.

The transmission unit 214 of the control unit 210 transmits information based on the received signal.

(description of control part of seedling transplanting machine)

The seedling transplanting machine of the embodiment has a control unit 300 for controlling each function. The control unit 300 has an input/output interface I/O for inputting/outputting external signals. The control unit 300 also has a Read Only Memory (ROM) in which programs and information for performing necessary processing are stored. The control unit 300 also has a random access memory (Random Access Memory, RAM) for temporarily storing necessary data. The control unit 300 further includes a central processing unit (Central Processing Unit, CPU) for performing processing corresponding to a program stored in a ROM or the like. Therefore, the control unit 300 according to the embodiment includes a so-called microcomputer, which is a small-sized information processing device. Thus, the control unit 300 can realize various functions by executing programs stored in the ROM or the like.

The control unit 300 receives signals from signal input means such as a touch panel 101 or a global navigation satellite system (Global Navigation Satellite System, GNSS) positioning device SN0, a transmitting/receiving antenna, a depth sensor SN1, a fertility sensor SN2, a vehicle speed sensor SN3, and other various sensors not shown, as an example of an input unit and an example of a display unit.

The control unit 300 transmits a control signal to the fertilizer applicator 4, the engine 12, the steering wheel 16, and the like, which are examples of the controlled members, and can control the running of the running vehicle body 1, and stop, or the operation and stop of the fertilizer applicator 4. The control unit 300 outputs a control signal to the touch panel 101, which is an example of the display unit, and can display the work information and the work status.

In fig. 3, the control unit 300 of the embodiment includes the following functional components (program modules).

The job information receiving section 301 receives job information distributed from the distribution server 200. As an example, the job information receiving unit 301 of the embodiment receives job information of all partitions 261 of the field 260 in which a job is performed. The job information also includes data of past depth, fertility, and temperature of each partition 261, or an appropriate amount of fertilizer applied after analysis based on past fertilizer application conditions, water amount, days counted from past fertilizer application operations, and the like. The operation information is not limited to the form of acquiring information of all the sections, and may be configured to receive only a plurality of sections 261 in the vicinity of the front, rear, left, and right of the current position of the traveling vehicle body 1 measured by the GNSS positioning device SN0, and to receive the operation information at any time in association with the traveling of the traveling vehicle body 1.

The mode discrimination section 302 discriminates whether to perform a routine fertilization mode (manual fertilization mode) of a fertilization job by manually inputting a value of the fertilization amount from the touch-control panel 101 or a variable fertilization mode (automatic fertilization mode) of a fertilization job based on the fertilization amount of each partition 261 contained in the job information received from the job information reception section 301. In the embodiment, the mode determination unit 302 is configured to determine the mode based on the input from the touch panel 101, by selecting the routine fertilizer application mode or the variable fertilizer application mode based on the input from the touch panel 101.

In the case of the variable fertilization mode, the mode determination unit 303 determines whether the map linkage mode (an example of the first mode) is a mode in which the detection result of the depth sensor SN1 or the fertility sensor SN2 is not used, or the real-time sensing mode (an example of the second mode) is a mode in which the detection result of the depth sensor SN1 or the fertility sensor SN2 is used. In the embodiment, in the map linkage system, the fertilizing operation is performed based only on the operation information received from the distribution server 200, without using the information of the depth sensor SN1 or the fertility sensor SN2 obtained at any time during the running of the running vehicle body 1. In the real-time sensing method, the information of the depth sensor SN1 or the fertility sensor SN2 obtained at any time during the running of the running vehicle body 1 is used, and the work information received from the distribution server 200 is corrected by using the data of the depth or the fertility obtained during the running to perform the fertilization work. In the embodiment, the map linkage system or the real-time sensing system may be selected by an input from the touch panel 101.

When the traveling vehicle body 1 travels across the plurality of zones 261, the priority determination unit 304 determines whether the zone 261 having the larger fertilizing amount in the plurality of zones 261 is prioritized, the zone 261 having the smaller fertilizing amount is prioritized, or neither of them is prioritized. In the embodiment, the selection of the partition 261 having a large fertilizing amount, the partition 261 having a small fertilizing amount, or neither partition is prioritized can be performed by the input from the touch panel 101.

The travel position determination section 305 determines the position (current position) of the travel vehicle body 1 based on the detection result of the GNSS positioning apparatus SN 0. In addition, in the determination of the traveling position, due to the influence of the satellite, the coordinate calculation method, or the like, which is used, although the traveling vehicle body 1 is operating in the field, the determination of being located outside the field or the determination of being reversed may be made. In order to suppress such a situation, it is desirable to measure the deviation between the vehicle position on the GNSS and the vehicle position on the map information (the ridge or the field 260, the partition 261, etc.) of the operation information in advance before the operation, and to correct the deviation (map matching) when determining the vehicle position.

In the case of measuring the deviation in advance, for example, the position of the representative point of the position of the field 260 may be set in advance in the map information, and the position of the vehicle itself may be measured by the GNSS positioning device SN0 in a state where the traveling vehicle body 1 is moved to this position, whereby the deviation between the positioning information of the GNSS and the position of the representative point may be measured.

For example, a two-dimensional vector excluding the height direction component may be used as the deviation of the own vehicle position, and the inverse vector may be used as the correction value of the deviation. The deviation can be corrected by adding a correction value for the deviation to the vehicle position.

Further, as a representative point of the position of the field 260, an arbitrary position may be set, but it is preferable to set a position through which the work must be performed, such as an entrance of the field 260. The representative point is not limited to the entrance, and any position may be set by the operator.

Further, the vehicle may travel on the outer periphery of the field 260 before the start of the work, position the track during travel, measure the deviation based on the outline information of the field 260 and the outline of the map information of the distribution server 200, or acquire the latest information of the outline and the range of the field 260, and re-analyze the information by the analysis unit 212. In addition, it is preferable that the track during the peripheral travel be displayed on the touch panel 101 so as to be superimposed on the map information for confirmation. In addition, when the operator sets the representative point, the representative point may be set by selecting and inputting a point displayed on the track of the touch panel 101.

By positioning the vehicle while actually traveling around the outer periphery of the field 260 before the start of the work, the vehicle can be accurately determined to be within the field even if the vehicle is erroneously determined to be outside the field on the map before the deviation correction. Therefore, even in a configuration in which the work is forcibly interrupted for safety when it is determined that the field is outside, the work can be continued.

Further, if the map information is erroneously determined to be outside the field in the vicinity of the outer periphery during the operation in the field, if the acquisition of the information of the corresponding fertilizer amount takes time, the fertilizer application operation may be continued by the fertilizer amount manually inputted in advance by the operator, or if the operator does not set the fertilizer application operation, the fertilizer application operation may be continued by the fertilizer amount of a predetermined standard (default).

The overlapping ratio calculating unit 306 calculates, based on the traveling position of the traveling vehicle body 1, a first ratio R1 (=262 a/262) in which the fertilization range 262 of the traveling vehicle body 1 overlaps the first division 261-1 and a second ratio (R2 (=262 b/262)) in which the fertilization range 262 overlaps the second division 261-2 when the traveling vehicle body 1 travels across the adjacent first division 261 (261-1) and second division 261 (261-2). The fertilizer application range 262 is predetermined according to the performance, specification, and the like of the fertilizer application device 4.

The division switching determination unit 307 determines whether or not the division 261 has been switched in association with the running of the running vehicle body 1. The partition switching determination unit 307 of the embodiment determines whether the fertilization range 262 of the running vehicle body 1 has shifted from the nearest partition 261-1, 261-2 to the preceding partition 261-3, 261-4 based on the current position of the running vehicle body 1.

The depth detection section 308 detects the depth of the field (the height of the surface of the soil of the field) based on the detection result of the depth sensor SN 1.

The fertility detecting section 309 detects the fertility of the field based on the detection result of the fertility sensor SN 2.

The vehicle speed detection section 310 detects the vehicle speed of the traveling vehicle body 1 based on the detection result of the vehicle speed sensor SN 3. The vehicle speed sensor SN3 may be configured to detect the vehicle speed based on the rotational speed of the front wheel 6 or the rear wheel 7, or may detect the vehicle speed based on the detection result of the GNSS positioning apparatus SN 0.

The fertilizer amount setting member 311 sets the amount of fertilizer (fertilizer amount) supplied from the fertilizer applicator 4. In the fertilizing amount setting unit 311 according to the embodiment, when the manual fertilizing mode is set, the value input from the touch panel 101 is set as the fertilizing amount. When the variable fertilizer application mode is set, the fertilizer application amount is set based on the information of the fertilizer application amount contained in the received job information. At this time, when the traveling vehicle body 1 is traveling without crossing the plurality of zones 261, the fertilization amount is set based on the information of the fertilization amount of the zone 261 in which the traveling vehicle body 1 is traveling. On the other hand, when the traveling vehicle body 1 travels across the plurality of partitions 261-1 and 261-2, the fertilization amount is set based on the fertilization amount of the first partition 261-1 (the first fertilization amount V1), the fertilization amount of the second partition 261-2 (the second fertilization amount V2), the ratio R1 in which the fertilization range 262 overlaps the first partition 261-1, and the ratio R2 in which the fertilization range overlaps the second partition. As an example, the fertilizing amount V can be calculated and set as v=v1×r1+v2×r2. When three or more partitions 261 are spanned, v=v1×r1+v2×r2+v3×r3+ … can be calculated.

Here, in the embodiment, when the partition with a large fertilizing amount (the weight loss ratio is small and the fertilizing ratio is large) is set as the priority based on the determination result of the priority determination means 304, the partition with a large fertilizing amount is set as the priority by correcting the partition so that the ratio R1, R2 of the larger fertilizing amount V1, V2 of each partition 261 becomes higher. For example, when the fertilizing amount V1 is large, the proportions R1 and R2 are corrected to r1+Δ R, R2 to Δr, respectively. For example, if r1=0.6 (60%), r2=0.4 (40%), and Δr=0.05 (5%), r1=0.65 (65%), r2=0.35 (35%), and the fertilization amount V is calculated using the corrected value. The numerical values exemplified may be arbitrarily changed according to design, specification, and the like.

Conversely, when the partition with a small fertilizing amount (a large weight loss rate and a small fertilizing rate) is set as a priority, the correction is performed so that the ratio R1, R2 of the smaller fertilizing amount V1, V2 of each partition 261 becomes higher. For example, when the fertilizing amount V1 is large, the proportions R1 and R2 are corrected to be r1—Δ R, R2+Δr, respectively.

In addition, when no setting is made to give priority to any partition, no correction by Δr is performed.

In the fertilizer amount setting unit 311 according to the embodiment, when the variable fertilizer mode is set and the map linkage system is set, the fertilizer amount is set based on the calculated fertilizer amount V. When the variable fertilization mode is set and the real-time sensing system is set, the calculated fertilization amount V is corrected based on the detection result. As an example, if the detected depth is deeper (more water amount) than the depth data transmitted from the distribution server 200 based on the detection result of the depth sensor SN1, the fertilizer may be easily flowed by increasing the fertilizer amount V, or if the detection result of the fertility sensor SN2 is high, the fertilizer may be corrected by decreasing the fertilizer amount V so that the fertilizer becomes excessive.

In addition, in the fertilizing amount setting unit 311 according to the embodiment, if the partition 261 is switched along with the traveling of the traveling vehicle body 1 based on the determination result of the partition switching determination unit 307, the fertilizing amount V before the switching is stepwise changed from the fertilizing amount V after the switching to the fertilizing amount V' after the switching. As an example, when the difference between the fertilizing amount V and the fertilizing amount V 'before and after the switching does not reach a predetermined threshold value (when the difference is small), the fertilizing amount is changed from V to V' with the switching of the partition 261 without changing the difference stepwise. On the other hand, when the difference between the fertilizing amount V before and after switching and the fertilizing amount V 'reaches the predetermined threshold value (when the difference is large), the fertilizing amount is changed stepwise from V to V'. This is because the data of each partition 261 may vary greatly with respect to the amount of fertilizer applied by the boundary, but in an actual field, the amount of fertilizer applied is contiguous and continuous, and thus if the amount of fertilizer applied changes rapidly, there is a possibility that the growth of the crop is adversely affected.

In the embodiment, the fertilizing amount is changed from V to V' in three stages. Specifically, the fertilization amount is changed gradually so that Δv= (V' -V)/3 is one stage. Namely, the fertilizing amount is according to

Before switching: v (V),

The first stage: V+DeltaV,

And a second stage: V+2×DeltaV,

After handover (third stage): v' (=v+3×Δv)

And the order of (c) varies.

In addition, in the fertilizing amount setting means 311 according to the embodiment, the time t1 of each stage when the fertilizing amount is changed stepwise is changed according to the vehicle speed of the traveling vehicle body 1. As an example, when the vehicle speed reaches a predetermined threshold (high speed), the time t1 of one stage is set to 0.5 seconds, and when the vehicle speed does not reach the threshold (low speed), the time t1 of one stage is set to 1 second. Therefore, in the case of high speed, the fertilization amount is switched from V to V 'in a short time of 0.5×3=1.5 seconds, but in the case of low speed, the fertilization amount is switched from V to V' in 1×3=3 seconds. This is because, in the process of performing the work at a high speed, the boundary portion of the partition 261 is quickly passed, and if the switching of the fertilizing amount takes time, the area where the boundary portion becomes insufficient or excessive with respect to the fertilizing amount V' becomes wide, and there is a possibility that the growth failure or overgrowth of the crop occurs.

In the embodiment, the case of changing the time t1 of one stage is illustrated, but the present invention is not limited to this. For example, the time t1 of one stage may be fixed, and the number of stages may be increased or decreased according to the vehicle speed. As an example, V may be switched from V to V 'in two stages when the vehicle speed is high, and V may be switched from V to V' in three stages when the vehicle speed is low. Specifically, when t1=1 second, the switching is performed at 1 second×2 phase=2 seconds in the high speed, and at 1 second×3 phase=3 seconds in the low speed. In this case, since Δv= (V '-V)/2 is two-stage and Δv= (V' -V)/3 is three-stage, the amount of change Δv in one stage is also changed according to the vehicle speed.

The display control section 312 controls the image display on the touch panel 101. In the display control unit 312 according to the embodiment, the current position of the traveling vehicle body 1 and the positional relationship of the partition 261, the fertilizer amount V set by the fertilizer amount setting unit 311, and the like may be displayed during the fertilizer application operation.

Fig. 5 is an explanatory view showing an example of the field.

In the case of reading the field work information (received and acquired from the distribution server 200) before the fertilization work, it is preferable to use a configuration in which, as shown in fig. 5, a list of fields 401 to 410 is displayed on the touch panel 101 so as to be selectable by the operator. At this time, as shown in fig. 5, it is preferable to display the fields 401 to 410 in groups according to the places (regions, villages, etc.) of the fields. Fig. 5 shows an example in which first to fifth fields 401 to 405 of field 401 are shown as first group 421 and seventh to tenth fields 407 to 410 and 410 are shown as second group 422, as an example.

When the operator inputs the selection of the groups 421 and 422, the job information is acquired from the distribution server 200 in units of the groups 421 and 422, whereby the job information of the field group (group) having a high possibility of performing the job successively on the same day can be acquired collectively. Further, by selecting the fields 401 to 410 in the groups 421 and 422 based on the collectively acquired job information, information of specific fields 401 to 410 can be displayed on the touch panel 101.

When information of the fields 401 to 410 is acquired in units of groups 421 and 422, it is preferable to provide a function of sorting the fields 401 to 410 in order from the current position to the next position on the touch panel 101. When the touch panel 101 is confirmed in a state where the fields 401 to 410 have arrived, the operation becomes simple if the fields 401 to 410 near the current position are displayed initially.

When information on the fields 401 to 410 is acquired in units of groups 421 and 422, it is desirable that the average fertilization amount of the field group is calculated and displayed on the touch panel 101. By confirming the average amount of fertilizer applied, the operator can easily create a plan of how much fertilizer is required for the whole, where, when to replenish fertilizer to the fertilizer applicator 4, and the like.

In addition, in the case of creating the plan, if the real-time sensing method is adopted, measurement must be performed in each of the fields 401 to 410, and it may take time and effort to change the plan. Therefore, the map linkage system is preferable at this time.

In the seedling transplanting machine of the embodiment including the above-described structure, the fertilizer application device 4 applies fertilizer to the field in association with the running of the running vehicle body 1. At this time, when the traveling vehicle body 1 travels across two or more zones 261, the fertilization amount V is calculated from the proportions R1, R2 in which the fertilization ranges 262 overlap the respective zones 261-1, 261-2. Therefore, the difference from the total required fertilization amount (fertilization amount analyzed for each partition 261) becomes smaller than in the case where fertilization is performed based on the fertilization amount and the weight loss rate at the point serving as the reference, that is, in the case where fertilization is performed at the fertilization amount of any one of the partitions. Thus, the occurrence of growth failure such as overgrowth or insufficient growth of crops is suppressed.

In the embodiment, when the partition 261 is switched in accordance with the running of the running vehicle body 1, the amount of fertilizer applied is changed stepwise. If the difference in the amount of fertilizer applied between adjacent segments 261 is extremely large, there is a case where the growth of the crops at the boundary portion of the segments 261 is adversely affected, but in the embodiment, the adverse effect is suppressed by stepwise changes.

Further, in the embodiment, the time t1 of one stage is changed according to the vehicle speed of the traveling vehicle body 1, and the fertilizer is applied so that the area where the fertilizer is excessive or insufficient at the boundary portion does not become excessive.

In addition, by changing the number of stages or the amount of change Δv in one stage, fertilization can be performed similarly so that the area where fertilizer is excessive or insufficient at the boundary portion does not become excessive.

In the embodiment, whether the greater amount of fertilizer applied to the two spanning partitions 261 or the lesser amount of fertilizer applied to the partitions is prioritized may be set according to the operator's input. When a higher fertilizer application amount is given priority, insufficient fertilizer is less likely to occur, growth failure is likely to be suppressed, and an increase in the yield is expected. On the other hand, when the amount of fertilizer applied is prioritized, it is difficult to cause excessive fertilizer, excessive growth is easily suppressed, and a reduction in lodging of the crop before harvest can be expected.

Further, in the embodiment, the variable fertilization mode and the routine fertilization mode may be set according to an input of an operator. Therefore, in the routine fertilizer application mode, the fertilizer application operation can be performed with the fertilizer application amount manually input by the operator. Therefore, even if the analysis unit 212 determines that the area is a poor area (area requiring fertilizer), the operator does not want to spread more fertilizer, or even if the analysis unit 212 determines that the area is a rich area (area requiring no fertilizer), the operator still wants to spread more fertilizer, the routine fertilizer pattern can be used. In the variable fertilizer application mode, the fertilizer application operation can be performed with a fertilizer application amount automatically set based on the operation information received from the distribution server 200.

In addition, in the variable fertilization mode of the embodiment, a map linkage mode and a real-time sensing mode may be selected. Therefore, in the map linkage system, the job can be performed based on the received job information. Therefore, compared with the real-time sensing method, detection and calculation at any time are not required, and when the work information is confirmed in advance before the start of the work, the difference between the condition confirmed in advance and the condition in which the work is actually performed (for example, the consumption of fertilizer) is small, and the offensiveness and feeling of the worker are small. In the real-time sensing system, the amount of fertilizer applied is corrected according to the current condition of the field, so that the amount of fertilizer applied can be set more in accordance with the actual condition than the information analyzed and predicted from the past data.

In the embodiment, the configuration in which the operator manually selects the map linkage system and the real-time sensing system is exemplified, but the present invention is not limited thereto. For example, the following structure may be employed: according to the current position of the traveling vehicle body 1, a map linkage mode is adopted in the central part of the field, and a real-time sensing mode is adopted in the ground.

(modification)

The working vehicle of the present invention is not limited to the seedling transplanting machine, and can be applied to various working vehicles including a tractor, a chemical solution dispensing vehicle, and other working machines. The working machine is not limited to the seedling planting device 3, and may be applied to any working machine such as a cultivator, a land leveler, and a seeder. Therefore, the present invention is not limited to the setting of the fertilization range and the fertilization amount, and is applicable to the distribution range and the distribution amount of the chemical, the sowing range and the sowing amount, and the like.

Further, the seedling transplanting machine for riding is exemplified, but the seedling transplanting machine is not limited to this, and is applicable to a work vehicle that runs autonomously.

Next, the structure of the fertilization instruction value holding system will be specifically described with reference mainly to fig. 6 to 16.

As shown in fig. 6, for a variable fertilizer transplanter using a fertilizer operation map, the following structure is considered: when the vehicle body 1 is away from an area D, which is also sometimes referred to as a fertilization work map area or a fertilization map, an arbitrary fertilization instruction value is set.

Consider the following morphology: when the vehicle body 1 is separated from the field as the working field, that is, when it is separated from the area D, an arbitrary fertilization instruction value is set.

The case where the exceptional fertilization rule is satisfied is a case where the distance of the vehicle body 1 from the outer periphery of the work place does not exceed a predetermined level.

The case where the exceptional fertilization rule is satisfied is a case where the travel distance from the point of time when the vehicle body 1 is away from the outer periphery of the work place does not exceed a predetermined level.

Of course, the case where the exceptional fertilization rule is satisfied may be, for example, a case where the cumulative travel distance for performing the fertilization work exceptionally does not exceed a predetermined level.

The case where the exceptional fertilization rule is satisfied is a case where the travel time from the point of time when the vehicle body 1 is away from the outer periphery of the work place does not exceed a predetermined level.

Of course, the case where the exceptional fertilization rule is satisfied may be, for example, a case where the cumulative travel time for performing the exceptional fertilization job does not exceed a predetermined level.

As shown in fig. 7 and 8, in the above-described structure (see fig. 6), the following structure is considered: as the set fertilization instruction value, the latest previous value is adopted as the fertilization instruction value. When the previous latest value is 1, 1 is used as the set fertilization instruction value (refer to fig. 7), and when the previous latest value is 5, 5 is used as the set fertilization instruction value (refer to fig. 8). The mechanical position is represented by a white triangle symbol. For the range where fertilization is not performed, 0 is input as a fertilization instruction value, for the range where fertilization amount is small, 1 is input as a fertilization instruction value, and for the range where fertilization amount is large, 5 is input as a fertilization instruction value. The region D is indicated by a region surrounded by a thick line, and the mechanical movement path is indicated by an arrow.

By holding the fertilization instruction value, fertilization can be performed even if it is erroneously determined that the vehicle body 1 has left the area D. The fertilizer application instruction value can be easily determined regardless of the file format of the fertilizer application map or the like. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

As shown in fig. 9, in the structure (refer to fig. 6), the following structure is considered: as the set fertilization instruction value, a nearby average value is adopted as the fertilization instruction value. 1= (1+1+1+5+0+0+0+0)/8 is set as a fertilization instruction value.

As shown in fig. 10, in the structure (refer to fig. 6), the following structure is considered: as the set fertilization instruction value, a value that appears most frequently in the vicinity is adopted as the fertilization instruction value. Since 0 exists everywhere, 1 exists three places, and 5 exists one place, 0 is set as a fertilization instruction value.

In the above-described structure (see fig. 6), the following structure is considered: as the set fertilization instruction value, a value selected by the user is adopted as the fertilization instruction value. The user can arbitrarily decide the fertilization indication value. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

Thus, the following forms are considered: the set fertilization instruction value is a previous latest fertilization instruction value, an average value of nearby fertilization instruction values, a fertilization instruction value that appears most frequently nearby, or a fertilization instruction value selected by the user.

When the predetermined exceptional fertilization stopping rule is satisfied, the controller 300 stops the exceptional fertilization operation.

In the above-described structure (see fig. 6), the following structure is considered: temporarily holding the set fertilization instruction value, and resetting the fertilization instruction value when the reset condition is satisfied. Even when the vehicle body 1 is actually moved away from the field, the fertilization instruction value is set and the fertilization is not continued appropriately, but by setting the reset condition of the fertilization instruction value, the fertilization can be stopped appropriately frequently when the vehicle body 1 is actually moved away from the field. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

Thus, the following forms are considered: the fertilizing instruction value is set and temporarily maintained, and the fertilizing instruction value is reset when the resetting condition is satisfied.

As shown in fig. 11, in the structure, the following structure is considered: the reset condition of the fertilizer application instruction value is a condition that the fertilizer application instruction value is separated by an arbitrary distance from the area D. When the distance X indicated by the double-headed arrow is equal to or greater than a predetermined value, the reset is performed.

In the structure, the following structure is considered: the reset condition of the fertilizing instruction value is a condition that the vehicle body 1 is inclined at an inclination angle equal to or larger than a predetermined angle. Since ridges exist in many fields, it is possible to detect that the vehicle body 1 leaves the field based on the vehicle body inclination information.

As shown in fig. 12, in the structure, the following structure is considered: the reset condition of the fertilization instruction value is a condition that the vehicle body 1 has left from an auxiliary area Da, which is sometimes also referred to as a fertilization area. The auxiliary area Da is indicated by an area surrounded by a broken line. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

As shown in fig. 13, in the structure (refer to fig. 12), the following structure is considered: the auxiliary area Da is an area larger than the area D. The auxiliary area Da may be smaller than the area D, but the auxiliary area Da is made larger than the area D. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

In the above-described structure (see fig. 12), the following structure is considered: the auxiliary area Da includes an area D. The auxiliary area Da is sometimes independent of the area D, but the auxiliary area Da is reliably enclosed in the area D. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

In the above-described structure (see fig. 12), the following structure is considered: the boundary line of the auxiliary area Da is a line that moves the contour line of the area D in parallel by a predetermined distance. The boundary line of the auxiliary area Da may not be clearly defined, but the boundary line of the auxiliary area Da may be defined. With such a configuration, it is expected that the device will be mounted on a real machine through a test-purpose mounting on a functional test machine.

As shown in fig. 14, in the structure, the following structure is considered: the reset condition of the fertilizer application instruction value is a condition that there is no nearby fertilizer application instruction value.

In the structure, the following structure is considered: the reset condition of the fertilizer application instruction value is a condition that the elapsed time from the departure of the area D exceeds a predetermined time. When the vehicle is operated at a constant vehicle speed, such time is monitored, so that the distance or the like associated with the movement of the vehicle body 1 can be indirectly monitored.

As shown in fig. 15, in the structure (refer to fig. 9), the following structure is considered: only the values within the region D are used for the calculation of the average value. Instead of setting 1 as the fertilization instruction value, 2= (1+1+1+5)/4 is set as the fertilization instruction value. When the value outside the region D is included, the average value may extremely vary, and thus convenience is improved.

As shown in fig. 16, in the structure (refer to fig. 10), the following structure is considered: only the values in the region D are referred to as nearby values. Instead of setting 0 as the fertilization instruction value, since 1 exists in three places and 5 exists in one place, 1 is set as the fertilization instruction value. If the value outside the area D is referred to, the set fertilizer application instruction value may be a value outside the area D, and thus convenience is improved.

Thus, the following forms are considered: when the vehicle body 1 is separated from the area D by an arbitrary distance after leaving the field, when the vehicle body 1 leaves the auxiliary area Da, or when the inclination angle of the vehicle body 1 exceeds a prescribed angle, the reset condition of the fertilization instruction value is satisfied.

Claims (4)

1. A work vehicle, comprising:

a traveling vehicle body;

a supply device supported by the traveling vehicle body and configured to supply fertilizer, chemical or seeds to a field;

a map linkage system for controlling the supply device to control the supply amount of the subareas divided into the fields based on the information of the supply amount of each subarea; and

the real-time sensing system controls the supply amount based on the field information obtained at any time during the running of the running vehicle body.

2. The work vehicle of claim 1, comprising:

a positioning device for judging the current position of the running car body,

and selecting the map linkage mode or the real-time sensing mode according to the current position of the running vehicle body.

3. The working vehicle according to claim 1 or 2, characterized in that,

when the map linkage system is selected, the supply amount is changed stepwise when the partition is switched in accordance with the traveling of the traveling vehicle body,

The time of each stage when the supply amount is changed stepwise is changed according to the vehicle speed of the traveling vehicle body.

4. The work vehicle according to claim 1 or 2, characterized by comprising:

and a control unit configured to control a first supply amount of the first partition and a second supply amount of the second partition, based on a ratio of a supply range of the traveling vehicle body to overlap the first partition and a ratio of the supply range to overlap the second partition, when the traveling vehicle body travels across the first partition and the second partition when the map linkage system is selected.