JP2005176741A - Agricultural working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an agricultural working vehicle facilitating an agent-supplementing operation in spraying operation by navigation traveling and reducing burden on an operator. <P>SOLUTION: This agricultural working vehicle 10 is equipped with a GPS (global positioning system) unit 102, an internal sensor 122 and a display means 112 and produces a navigation traveling pathway based on the GPS unit and the internal sensor and displays the navigation traveling pathway on a display means and carries out chemical-spraying operation while moving along the traveling pathway. In the agricultural working vehicle 101, a chemical-depleting point 86 at which a chemical in an agent tank 24 of the agricultural working vehicle is depleted on the way of the navigation traveling pathway is previously calculated and a chemical-supplementing point 87 is set on the navigation traveling pathway on the upstream side than the chemical-depleting point 86 to enable display of the chemical-supplementing point on the display means. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention includes a GPS (Global Positioning System), an internal sensor such as an orientation sensor, a tilt sensor, and a vehicle speed sensor, and a navigation system, and moves along a travel route generated by the navigation system. The present invention also relates to the technology of agricultural work vehicles that perform chemical spraying operations. More specifically, the chemical solution depletion point where the chemical solution in the chemical tank of the agricultural work vehicle disappears in the middle of the travel route generated by the navigation system is calculated in advance, and the chemical solution can be easily replenished before reaching the chemical solution depletion point TECHNICAL FIELD The present invention relates to a technique for stopping chemicals at the end of a field and replenishing chemicals.

2. Description of the Related Art Conventionally, a technique for an agricultural work vehicle that has a spreader and sprays chemicals such as agricultural chemicals and fertilizers while traveling in a field (performs a chemical spraying operation) is known. For example, as described in Patent Document 1.
At the time of chemical spraying work with such agricultural work vehicles, there are areas where chemicals are sprayed multiple times in the field (overlapping spraying areas) and areas where chemicals are not sprayed once (unspread areas) In order not to occur, a large number of poles serving as operator marks are set up around the farm field at substantially the same interval as the spray width of the chemical solution, and an agricultural work vehicle is driven toward the pole.
However, in order to avoid overlapping and non-spraying areas, such spraying operations should always be performed while the operator is spraying the chemical solution to which part of the field and to which part the chemical liquid has not been sprayed. It is intended to perform operations such as turning on / off chemical spraying and steering while being conscious. Therefore, there is a problem that the burden on the worker is large and the workability is not good.
For the purpose of labor saving, high accuracy, and traceability establishment (acquisition and recording of information on the amount and use of agricultural chemicals, etc.) of such chemical spraying operations, the field is based on field positioning data acquired by GPS. Display means (liquid crystal screen or the like) for displaying the generated travel route is provided in the vicinity of the driver's seat, the amount of deviation between the travel route and the actual position of the agricultural work vehicle, After the time has elapsed (after traveling a predetermined distance on the travel route), an operation to be performed by the operator (on / off of chemical solution spraying, turning, etc.) is displayed in advance on the display means, and the operator can observe the display means while viewing the display means. Agricultural work vehicles that get on and operate are also being considered. For example, as described in Patent Document 2.

Japanese Patent Laid-Open No. 2002-283737 JP-A-10-234204

If the area of the field is large, or if the amount of chemical solution sprayed per unit area is large, even if the chemical tank provided on the agricultural work vehicle is filled with the chemical solution before starting the chemical spraying operation, In some cases (before spraying the chemical solution on the entire field), the chemical solution in the chemical solution tank may run out (deplete). In such a case, it is necessary to replenish the chemical solution in the chemical solution tank and start the navigation travel again.
However, when the agricultural work vehicle is in a position away from the end of the field (close to the center of the field) when the chemical liquid in the chemical tank is exhausted, the operation of replenishing the chemical (chemical solution replenishment work) is complicated.
For example, when an agricultural work vehicle is run once to the outside of the field or to the end of the field and then replenished with chemicals, it may run across the row of crop stocks and unnecessarily depress the crop. As a result, work time is lost.
Also, when the spraying operation was resumed after replenishing the chemical solution outside the field or at the edge of the field, the agricultural work vehicle was used when the chemical solution ran out so as not to cause an overlapping sprayed region or an unsprayed region. It is necessary to move the position accurately (including the direction), and the work is difficult.
Furthermore, the agricultural work vehicle is parked on the spot, and the worker walks to the outside of the field and takes a container containing the chemical solution, or uses a pump from the tank outside the field. Although a method of replenishing the chemical solution by pumping is also conceivable, when the field is a paddy field, since the field is filled with water, it is not easy for an operator to walk in the field.

  In view of the above situation, the present invention provides an agricultural work vehicle that facilitates chemical solution replenishment work during spraying work by navigation traveling and reduces the burden on the operator.

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

That is, in claim 1, a GPS, an inner world sensor, and display means are provided, a travel route is generated based on the GPS and the inner world sensor, the travel route is displayed on the display means, and the An agricultural work vehicle capable of carrying out a chemical spraying operation while moving along a travel route,
The chemical solution depletion point where the chemical solution in the chemical tank of the agricultural work vehicle disappears in the middle of the traveling route is calculated in advance, the chemical solution replenishment point is set in the traveling route upstream of the chemical solution depletion point, and the chemical solution replenishment point Can be displayed on the display means.

  According to a second aspect of the present invention, the amount of the chemical solution to be replenished at the chemical solution replenishment point is calculated, and the calculation result can be displayed on the display means.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect, when the chemical solution spraying operation is performed on the field by the navigation traveling, it is easy to replenish the agricultural work vehicle with the chemical solution, and the workability is excellent.

According to the second aspect, it is possible to accurately grasp the amount of the chemical solution required for the chemical solution spraying operation, and to eliminate waste such as discarding the excess chemical solution later, which is excellent in workability. In addition, it is possible to avoid a situation where the chemical solution becomes insufficient at the end of the spraying operation.
Furthermore, calculation of the amount of the chemical solution required when the chemical solution is replenished is a complicated operation, but it is not necessary for the operator to calculate and the burden on the operator is reduced.

Below, the whole structure of the riding management machine 101 which is one Embodiment of the agricultural work vehicle of this invention is demonstrated using FIG. 1 and FIG.
In addition, this invention is not limited to the riding management machine 101 of a present Example, It can apply widely to the agricultural work vehicle which performs a chemical | medical solution spraying operation | work, traveling a farm field.
In FIG. 2, the cabin 45 is omitted for convenience of explanation.

The riding management machine 101 of this embodiment is for spraying agricultural chemicals and fertilizers on the field, and a boom 40 having a riding type traveling machine body 22 and a plurality of nozzles 23, 23,. A boom drive unit 35 comprising a mechanism for moving the boom 40 up and down, a spray pump 4 that obtains power from the engine 9 and pumps the chemical solution in the chemical solution tank 24 to the nozzles 23, 23. The pump unit 36 includes a spray amount control device 3 related to control of the chemical solution discharged from the pump 4.
In this embodiment, the boom drive unit 35 is disposed at the front and side portions of the traveling machine body 22, and the pump unit 36 is disposed at the rear.
A pair of left and right body frames 6L and 6R extend in the horizontal direction from the front end of the traveling body 22 toward the rear. Front wheels 7 and 7 are supported below the front portions of the body frames 6L and 6R, and rear wheels 8 and 8 are supported below the rear portions.

Further, a bonnet 10 that covers the engine 9 is disposed on the body frames 6L and 6R at the front portion of the traveling body 22. An operation panel 11 is provided on the cover behind the bonnet 10, and a driving handle 12 is provided above the operation panel 11. A control unit of the riding management machine 101 is configured by the operation panel 11, the driving handle 12, and the like. Steps 13 are provided on the body frames 6L and 6R from the lower side of the operation panel 11 toward the rear. Further, a chemical tank 24 is disposed on the rear part of the machine frame 6L and 6R, and a driver's seat 14 is formed at the front center of the chemical tank 24, and the side and the rear part are surrounded by the chemical tank 24. It is so placed.
Airframe frames 6L and 6R and sub-frames 52L and 52R, which are components of the frame of passenger management machine 101, are made of hollow square or round pipes or steel materials such as L-shaped and H-shaped, respectively. Highly rigid.

In the present embodiment, a cabin 45 that covers the control unit of the riding management machine 101 including the operation panel 11 and the driving handle 12 and the driver's seat 14 is provided.
The cabin 45 protects workers from chemicals (chemicals) sprayed on the field by the riding management machine 101 in addition to direct sunlight and wind and rain.
The cabin 45 includes a pair of front frames 46 and 46 erected on the left and right of the rear end of the bonnet 10, and a pair of left and right rear frames 47 and 47 erected on the upper surface of the chemical liquid tank 24, the front frames 46 and 46, and the rear frame. A roof 48 supported by 47 and 47 to form the upper surface of the cabin 45, a windshield 49 made of transparent reinforced plastic or tempered glass to form the front surface of the cabin 45, and a cabin 45 made of a transparent flexible resin sheet. The side cover bodies 50 and 50 that form the left and right side surfaces of the rear cover body, and the rear cover body (not shown) that is formed of a transparent flexible resin sheet and that forms the rear surface of the cabin 45 are included.
The roof 48 is provided with a fan 51 for sending outside air into the cabin 45. In addition, a lid 51a that shields the front when the fan 51 is opened is provided at the outside air suction port of the fan 51, and a filter 53 that removes chemicals, dust, and the like is provided. Further, the side coverings 50, 50 do not cover the entire left and right side surfaces of the cabin 45, but always open the operator's feet. The roof 48 is provided with a mobile station unit 103 which will be described later.
After the chemical liquid is removed by the filter 53 from a high position from the field surface where the chemical liquid hardly reaches, the outside air is sent into the cabin 45 by the fan 51 and moves downward while forming a downward airflow. It is discharged to the outside from the foot portions on the left and right side surfaces of 45. By comprising in this way, the penetration | invasion of the spraying chemical | medical solution to the inside of the cabin 45 is prevented, and the operator is protected.

The boom drive unit 35 includes a link mechanism 37 and an actuator group (cylinders 38 and 38, cylinders 39, cylinders 43 and 43, etc.).
The link mechanism 37 is disposed at the front portion of the traveling machine body 22 and supports the work machine (corresponding to the boom 40 in this embodiment) so that it can be raised and lowered. The link mechanism 37 is composed of parallel links, and connects between the front boom 41 and the front part of the body frame 6L / 6R, and cylinders 38/38 are interposed between one of the parallel links and the body frame 6L / 6R. Yes. The boom 40 can be moved up and down by expanding and contracting the cylinders 38 and 38.
The center part of the front boom 41 is pivotally supported by the pivot pin 44 with respect to the link mechanism 37 so as to be tiltable right and left, and a cylinder 39 is interposed between the front boom 41 and the link mechanism 37. ing. The boom 40 is horizontally controlled by the expansion and contraction of the cylinder 39.
The boom 40 includes a front boom 41 and side booms 42L and 42R for spraying chemicals. The front boom 41 is attached to the link mechanism 37 and is disposed in front of the traveling machine body 22. The side booms 42L and 42R are pivotally supported at both left and right ends of the front boom 41 and can be folded (rotated) rearward. In the boom 40, a plurality of nozzles 23, 23,.
Cylinders 43 and 43 are interposed between the front boom 41 and the side booms 42L and 42R, respectively, and the side booms 42L and 42R are extended in the horizontal direction by extending and contracting the cylinders 43 and 43. It is possible to turn to the working position and the storage position positioned rearward and upward in the front-rear direction.

  The pump portion 36 is disposed on the subframes 52L and 52R extending to the rear portion of the traveling machine body 22 so that the crankshaft of the spray pump 4 is positioned in the longitudinal direction of the machine body via a support member. The pump unit 36 mainly includes the spray pump 4 and the spray amount control device 3, and an air chamber, a safety valve, and the like (not shown) are provided in the upper right part of the crankcase 26 of the spray pump 4. And the spreading | diffusion amount control apparatus 3 is comprised from the motor etc. which concern on the opening / closing of the flow control valve which is not shown in figure and this flow control valve.

Below, GPS of a present Example is demonstrated using FIG.1, FIG.3 and FIG.4.
GPS (Global Positioning System) is a system originally developed for navigation support of aircraft, ships, etc., and it has 24 GPS satellites (six orbital planes) that orbit about 20,000 kilometers above the sky. It is composed of a control station for tracking and controlling GPS satellites, and a user receiver for positioning.
As a surveying method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic-GPS) positioning, and in this embodiment, the measurement accuracy is high. The RTK-GPS positioning system is adopted.
RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations at a reference station whose position is known and an observation point for which the position is to be obtained. Is transmitted in real time, and the position of the observation point is obtained in real time based on the position result of the reference station.
In RTK-GPS (real-time kinematic-GPS) positioning, phase measurement (relative positioning) is performed at both the reference station and the observation point, and phase data observed at the reference station is transmitted to the observation point.
The GPS receiver at the observation point determines the position of the observation point by analyzing the received data and the data transmitted from the reference station in real time.
In addition, about the GPS applied to this invention, the said other method may be used and is not limited.

  As shown in FIG. 3, a GPS unit 102, which is an embodiment of the GPS of the present invention, is mainly installed near a mobile station unit 103 mounted on the main body of the riding management machine 101 and a farm field such as a paddy field. It consists of a reference station side unit 104. The reference station unit 104 serves as a reference station fixed to the ground, and the mobile station side unit 103 functions as a mobile station (observation point) that seeks a position.

In addition to the GPS antenna 108, the mobile station unit 103 includes a GPS receiving unit 109, a processing unit 110, an operation unit 111, a display unit 112, a wireless unit 113, and the like.
The radio signal from the GPS satellites 125, 125... Received by the GPS antenna 108 is transmitted to the processing unit 110 via the GPS receiving unit 109 by a cable. The operation unit 111 is an interface for performing settings for autonomous driving and navigation driving, which will be described later, initial setting of GPS, and the like, and is connected to the processing unit 110 by a cable. The display unit 112 is cable-connected to the processing unit 110 and displays the data processing status in the processing unit 110 and various settings input by the operation unit 111.
In the case of the present embodiment, a touch panel 54 that functions as both the function of the operation unit 111 and the function of the display unit 112 is disposed inside the cabin 45.

The processing unit 110 is a control unit including a CPU, a RAM, a ROM, and the like, and stores therein an autonomous traveling program 121a and a navigation traveling program 121b, position information obtained by the GPS unit 102, and an inner world sensor 122 described later. Based on the signal from the stock scanning sensor 123, an autonomous traveling route in the field is generated and a command is sent to the autonomous traveling means 124 to cause the riding management machine 101 to autonomously travel, or the navigation traveling route 71 (FIG.) Is displayed. It is generated and displayed on the display unit 112.
The autonomous traveling program 121a is a program for causing the passenger management machine 101 to perform a scattering operation by autonomous traveling. Details of the autonomous traveling based on the autonomous traveling program 121a will be described later.
The navigation travel program 121b is a program for causing the riding management machine 101 to perform a scattering operation by navigation travel. Details of the navigation travel based on the navigation travel program 121b will be described later.

The wireless unit 113 is used for wireless communication between the reference station unit 104 and the wireless operation means 133 carried by the operator and the mobile station unit 103. Further, a receiving unit 107 is provided for receiving a control signal from the wireless operation means 133 and stopping the autonomous traveling of the riding management machine 101 when the operation confirmation signal from the wireless operation means 133 is interrupted.
In the present embodiment, the mobile station unit 103 is provided on the roof 48 of the cabin 45, but other members constituting the mobile station unit 103 other than the GPS antenna 108 may be housed in the hood 10.
The operation unit 111 may be operated by an operator such as a keyboard, a switch, a lever, a push button, and a dial, and the form thereof is not limited. Furthermore, an existing personal computer may be used as the processing unit 110, the operation unit 111, and the display unit 112.

  3 and 4, the reference station unit 104 has substantially the same configuration as the mobile station unit 103, and includes a GPS antenna 114, a GPS receiving unit 115, a processing unit 116, an operation unit 117, a display unit 118, a radio unit 119, and the like. Consists of.

As shown in FIG. 4, the GPS antenna 114 is erected on the ground by the reference station installation base 55.
The reference station installation base 55 includes a base portion 55a that is stationary with respect to the ground, a rotating shaft 55b, and an arm 55c. A central portion of the arm 55c is pivotally attached to the rotating shaft 55b. GPS antennas can be attached to the left and right ends of the.
Members other than the GPS antenna 114 constituting the reference station unit 104 are configured to be housed in the housing 120.
In addition, the reference station unit 104 may be permanently installed in the vicinity of the field using the riding management machine 101 of the present invention, or may be configured to be removable after use.

Hereinafter, the internal sensor 122 of the present embodiment will be described with reference to FIG.
The inner world sensor 122 is provided in the riding management machine 101, and refers to sensors for detecting information necessary for autonomous driving of the riding management machine 101, such as speed, posture, engine speed, and steering angle. .
Specific examples of the internal sensor 122 include an engine speed sensor, a vehicle speed sensor, a steering angle sensor, a geomagnetic direction sensor, a roll tilt sensor, and a pitch tilt sensor. Detection signals from these internal sensors 122 are transmitted to the processing unit 110.

Hereinafter, the stock copy sensor 123 of this embodiment will be described with reference to FIG.
The stock copy sensor 123 is disposed on the lower surface of the front part of the body of the riding management machine 101. The stock-copying sensor 123 is used to detect a crop planted at a predetermined interval in the field so that the riding management machine 101 does not step on the crop with a wheel, and to control the traveling direction of the riding management machine 101. It is done. A detection signal from the stock copy sensor 123 is also transmitted to the processing unit 110.

Below, the autonomous running means 124 of a present Example is demonstrated using FIG.
The autonomous traveling means 124 is an actuator group that operates based on a signal from the processing unit 110, and specifically includes a steering drive actuator, a steering drive electromagnetic valve (not shown), and a boom lifting power cylinder (corresponding to the cylinder 38). ), Boom open / close power cylinder (equivalent to cylinder 43), boom horizontal control power cylinder (equivalent to cylinder 39), accelerator actuator, main clutch actuator, spray valve actuator (pump portion 36 and nozzle 40 of boom 40) , Etc., and an actuator for operating a spraying valve for spraying / stopping the chemical solution).
In the present embodiment, the position information of the riding management machine 101 obtained from the GPS unit 102 has high accuracy in the height direction. For this reason, it is possible to control the cylinder 38 so that the height from the farm field to the boom 40 is substantially constant during autonomous work, and to make the chemical solution spray state constant.

Below, the radio | wireless operation means 133 of a present Example is demonstrated using FIG.
The wireless operation means 133 is carried by the operator and performs various operations from a position away from the riding management machine 101. More specifically, the wireless operation means 133 can be operated to start and stop the autonomous traveling of the passenger management machine 101, which will be described in detail later, stop the engine, open and close the side booms 42L and 42R, and raise and lower the boom 40. Configured.

Hereinafter, the touch panel 54 of this embodiment will be described with reference to FIGS. 3 and 8.
The touch panel 54 according to the present embodiment is provided in the cabin 45 and is disposed at a position where an operator who is seated in the driver's seat 14 can easily see even during operation of the riding management machine 101 (for example, in front of the driver's seat 14). . The touch panel 54 includes an operation unit 111 and a display unit 112.

  The display unit 112 is composed of a liquid crystal display or the like, and is set along navigation travel setting conditions, the state of the aircraft during navigation travel (positional relationship with the field, travel speed, on / off of chemical spraying, etc.), or along the navigation travel route. An instruction or the like to the worker for traveling is displayed so that the worker can visually recognize it.

  The operation unit 111 is used to input various conditions when setting the navigation travel or initializing the GPS unit 102. The operation unit 111 includes an operation button 111a, a screen switching button 111b, a menu button 111c, a numerical value selection button 111d, a YES button 111e, a NO button 111f, a help button 111g, a recording button 111h, a power button 111i, and the like.

The operation button 111 a is a button for moving the cursor up, down, left, and right on the screen of the display unit 112 when the cursor is displayed on the display unit 112.
The screen switching button 111b displays the main screen display method during navigation travel: (1) The mark indicating the riding management machine 101 is fixedly displayed at the approximate center of the screen, and the upper part of the screen is always in front of the riding management machine 101. Display method (vehicle fixed display), and (2) a display method (route fixed display) in which the entire field of the field is fixedly displayed, and the mark indicating the riding management machine moves within the displayed field. It is a button to switch to either.
The menu button 111c is a button for calling (displaying on the display unit 112) a menu screen for initializing the GPS unit 102 and performing various settings for navigation driving and autonomous driving.
The numerical value selection button 111d is a button for selecting a numerical value when the numerical value is input at the time of initialization of the GPS unit 102 or various settings for navigation traveling and autonomous traveling.
The YES button 111e and the NO button 111f are buttons used when selecting YES / NO at the time of initialization of the GPS unit 102 and various settings for navigation driving and autonomous driving.
The help button 111g is a button for calling up an explanation or explanation about the contents displayed on the display unit, a guideline for inputting numerical values, etc. (displayed on the display unit 112) and assisting the operator. .
The record button 111h is a button for recording the setting contents after recording the GPS unit 102, setting various kinds of navigation driving and autonomous driving, or recording various data related to the spraying work.
The power button 111 i is a button for turning on / off the power of the mobile station unit 103 including the touch panel 54.

Below, the 1st Example of the initialization operation | movement procedure of the GPS unit 102 is described using FIG.4, FIG.5, FIG.6 and FIG.
First, in step S101, the reference station installation table 55 is installed (fixed) outside the field 56, and the GPS antenna 114 on the reference station unit 104 side is attached to one end of the arm 55c of the reference station installation table 55. Then, the power of the reference station unit 104 is turned on, and the process proceeds to step S102.

In step S102, the GPS antenna 108 on the mobile station unit 103 side is attached to the other end of the arm 55c of the reference station installation base 55 (the end on which the GPS antenna 114 on the reference station unit 104 side is not attached). Then, the GPS antenna 114 and the GPS antenna 108 are respectively attached to the left and right ends of the arm 55c of the reference station installation base 55, and this state and the arm 55c are rotated 180 degrees around the rotation shaft 55b (that is, the GPS antenna). 114 and GPS antenna 108 are swapped), and GPS unit 102 is initialized. When the initialization is completed, the process proceeds to step S103.
Note that by swapping the GPS antenna 114 and the GPS antenna 108 when the GPS unit 102 is initialized, the time required for initialization can be shortened.

  In step S103, the GPS antenna 108 on the mobile station unit 103 side is detached from the arm 55c of the reference station installation base 55 and attached to a stationary installation point 57 provided outside the farm field 56, and positioning of the stationary installation point 57 is performed. The positioning of the fixed installation point 57 is used as a reference point when working on the same field 56 at a later date. When the positioning of the GPS antenna 108 attached to the stationary installation point 57 is completed, the process proceeds to step S104.

In step S104, the GPS antenna 108 on the mobile station unit 103 side is sequentially attached to the poles 58a, 58b, 58c, and 58d that are erected at the four corners of the field 56, and the four corners of the field 56 are measured. When positioning at the four corners of the field 56 is completed, the process proceeds to step S105.
Note that the positioning of the four corners of the field 56 may be omitted when the work is performed later on the same field, and the previous positioning result may be used.
Further, in the present embodiment, the planar view shape of the agricultural field 56 is a quadrangle, but the planar view shape of the agricultural field may be another polygonal shape, and in this case, the corner (corner) is positioned.

  In step S <b> 105, the GPS antenna 108 on the mobile station unit 103 side is attached to the riding management machine 101. When the attachment of the GPS antenna 108 to the passenger management machine 101 is completed, the process proceeds to step S106.

In step S106, various settings for performing autonomous traveling or navigation traveling are performed. Here, “various settings” refers to the type of chemical used in the riding management machine 101 in the processing unit 110 of the mobile station unit 103 using the touch panel 54, the amount of sprayed chemical, and the concentration (the amount of drug stock or the amount of chemical, And the amount of water used for diluting these to prepare a sprayed medicinal solution), the spraying amount per unit area of the field, etc., and the like, based on the positioning data obtained by the GPS unit 102, for example, FIG. 7 refers to automatically generating an autonomous travel route (or navigation travel route 71) of the passenger management machine 101 as shown in FIG. When various settings are completed, the process proceeds to step S107.
In the following description, with respect to the navigation travel route 71, the portion indicated by the “thick solid line” in the figure is a portion that travels in a state where the chemical solution spraying is on (a state where the chemical solution is sprayed on the field 56). In the figure, a portion indicated by a “thick dotted line” represents a portion that travels in a state in which the chemical solution spraying is off (a state in which the chemical solution is not sprayed on the field 56).

In step S107, the autonomous traveling start button of the wireless operation means 133 is pressed to start autonomous traveling (and spraying work).
Alternatively, the navigation travel start screen is displayed on the display unit 112 of the touch panel 54, and the YES button 111e is pressed to start navigation travel (and spraying work).

  In the autonomous running in the present embodiment, the processing unit 110 acquires information input by the operator through the touch panel 54, a signal detected by the internal sensor 122, positioning data (position information) obtained by the GPS unit 102, and the like. The processing unit 110 generates an autonomous traveling route based on the autonomous traveling program 121a, the processing unit 110 transmits a command signal to the autonomous traveling means 124, and the autonomous traveling route (the route indicated by the thick arrow in FIG. 7). ) Is performed by carrying out the work (spraying work) while traveling the riding management machine 101.

  In the navigation running in this embodiment, the processing unit 110 acquires information input by the operator through the touch panel 54, signals detected by the internal sensor 122, positioning data (position information) obtained by the GPS unit 102, and the like. Then, the processing unit 110 generates the navigation travel route 71 based on the navigation travel program 121b, and the worker who is on the riding management machine 101 is indicated by the navigation travel route 71 (indicated by a thick arrow in FIG. 7). This is performed by carrying out work (spraying work) while traveling the riding management machine 101 along the route).

  Furthermore, the passenger management machine 101 of this embodiment, when performing navigation travel, instead of the first embodiment of the initialization work procedure of the GPS unit 102, FIG. 9, FIG. 10, FIG. 11 and FIG. It is also possible to take the second embodiment of the initialization work procedure of the GPS unit 102 shown.

Hereinafter, a second embodiment of the initialization work procedure of the GPS unit 102 will be described.
First, in step S111, the reference station installation base 55 is installed (fixed) outside the field 56, and the GPS antenna 114 on the reference station unit 104 side is attached to one end of the arm 55c of the reference station installation base 55. Then, the power of the reference station unit 104 is turned on, and the process proceeds to step S112.

In step S112, the GPS antenna 108 on the mobile station unit 103 side is attached to the other end of the arm 55c of the reference station installation base 55 (the end on which the GPS antenna 114 on the reference station unit 104 side is not attached). Then, the GPS antenna 114 and the GPS antenna 108 are respectively attached to the left and right ends of the arm 55c of the reference station installation base 55, and this state and the arm 55c are rotated 180 degrees around the rotation shaft 55b (that is, the GPS antenna). 114 and GPS antenna 108 are swapped), and GPS unit 102 is initialized. When the initialization is completed, the process proceeds to step S113.
Note that by swapping the GPS antenna 114 and the GPS antenna 108 when the GPS unit 102 is initialized, the time required for initialization can be shortened.
The work from step S111 to step S112 is the same as the work from step S101 to step S102 in the first embodiment of the initialization work procedure of the GPS unit 102 shown in FIG.

In step S113, the GPS antenna 108 on the mobile station unit 103 side is attached to the riding management machine 101. When the attachment of the GPS antenna 108 to the passenger management machine 101 is completed, the process proceeds to step S114.
The work of step S113 is the same as the work of step S105 in the first embodiment of the initialization work procedure of the GPS unit 102 shown in FIG.

As shown in FIGS. 9 and 10, in step S <b> 114, an operator gets on the riding management machine 101, causes the riding management machine 101 to enter the farm field 56, and manually travels along the outer edge of the farm field 56 while spraying the chemical solution. To do. At this time, the processing unit 110 acquires position information (positioning data) of the riding management machine 101 that travels along the outer edge of the farm field 56.
And when the riding management machine 101 makes a round of the outer edge part of the agricultural field 56, it stops (and chemical | medical solution dispersion | spreading stop), and transfers to step S115.
In addition, the area | region shown with the oblique line in FIG.10, FIG.11 and FIG.12 is an area | region where chemical | medical solution spraying was performed.

As shown in FIGS. 9 and 11, in step S115, various settings for performing navigation travel are performed. Here, “various settings” refers to the type of chemical used in the riding management machine 101 in the processing unit 110 of the mobile station unit 103 using the touch panel 54, the amount of sprayed chemical, and the concentration (the amount of drug stock or the amount of chemical, 11 and the amount of water used to make a sprayed medicinal solution by diluting them), the spraying amount per unit area of the field, and the like, and based on the positioning data obtained by the GPS unit 102, FIG. The navigation travel route 71 of the passenger management machine 101 as shown in FIG.
The navigation travel route 71 is generated in an area excluding the area (outer edge portion of the farm field 56) where the chemical solution has already been dispersed in step S114.
When the various settings are completed, the process proceeds to step S116.

  As shown in FIGS. 9 and 12, in step S116, the navigation travel start screen is displayed on the display unit 112 of the touch panel 54, and the YES button 111e is pressed to start navigation travel (and spraying work).

  The second embodiment of the initialization work procedure of the GPS unit 102 shown in FIGS. 9 to 12 has the following advantages compared to the first embodiment of the initialization work procedure of the GPS unit 102 shown in FIG. Have.

That is, in the first embodiment of the initialization procedure of the GPS unit 102, the GPS antennas 108 on the mobile station unit 103 side are installed at the four corners of the field 56, and the four corners of the field 56 are measured (step S104). ).
On the other hand, in the second embodiment of the initialization operation procedure of the GPS unit 102, the chemical solution is sprayed while manually traveling on the outer edge of the field 56, and the position information (positioning data) of the outer edge of the field 56 is obtained. Obtain (step S114).

  The operations of Step S104 and Step S114 are common in that they are operations for obtaining positioning data of the boundary (outer edge portion) of the farm field 56. However, the work in step S104 is complicated because the operator carries and installs the GPS antenna 108 at each corner of the field 56, and positioning is performed each time, and the field 56 has a large area or an elongated shape. There is a problem that the distance that the worker carries the GPS antenna 108 becomes long and the workability is not good. The second embodiment of the initialization procedure of the GPS unit 102 can solve such a problem.

  Hereinafter, screens displayed on the display unit 112 of the touch panel 54 during navigation travel will be described with reference to FIGS. 13 to 20.

Hereinafter, the main screen 70 will be described with reference to FIGS. 13 and 14.
The main screen 70 is a screen that is mainly displayed on the display unit 112 during navigation travel, and the main screen 70 in this embodiment includes three windows 70a, 70b, and 70c that are divided into upper and lower parts.

  The window 70a is a screen that forms an upper part of the main screen 70, and displays information on the orientation and scale of the field 56 displayed on the window 70b, and on / off of the chemical spraying by the boom 40. In this embodiment, in order to call attention to the operator, the display color of the part for displaying on / off of the chemical solution spray is when the chemical solution spray is on (when the chemical solution is sprayed from the boom 40). ) Is reversed (in FIG. 13 and FIG. 14, the display color of the part displaying on / off of the chemical solution spray is reversed).

The window 70 b is a screen that forms the center of the main screen 70, and includes the outline of the farm field 56, the navigation travel path 71 generated based on the position information (positioning data) of the farm field 56, and the position of the riding management machine 101 in the farm field 56. , A traveling locus 74 that is a route actually traveled by the passenger management machine 101, and the like are displayed.
In the present embodiment, the area where the chemical solution is already sprayed in the field 56 (the hatched portion in FIGS. 13 and 14) is the area where the chemical solution is not yet sprayed (unspread area). Is displayed in a different display color. By comprising in this way, an operator can grasp | ascertain the condition of chemical | medical solution dispersion | spreading easily.
At this time, as for the display method of the window 70b, the “path fixed display” shown in FIG. 13 (the entire field 56 is fixedly displayed on the window 70b, and a mark 72 indicating the riding management machine 101 is displayed in the displayed field 56. Display method for moving in the window 70b) or "own vehicle fixed display" shown in FIG. 14 (the mark 72 indicating the riding management machine 101 is fixedly displayed substantially at the center of the window 70b, and the upper part of the window 70b is always managed for riding. It is possible to select one of the display methods in front of the machine 101. Specifically, it is possible to switch between “route fixed display” and “own vehicle fixed display” by pressing the screen switching button 111 b of the touch panel 54.

The window 70 c is a screen that forms the lower part of the main screen 70, and displays an enlarged view of the periphery of the riding management machine 101. Specifically, in the center of the window 70c, a line 73 indicating the navigation travel route that the current passenger management machine 101 should pass immediately above is displayed, and a mark 72a indicating the position of the passenger management machine 101 with respect to the line 773 is displayed. Is done.
With this configuration, the operator can determine the displacement amount X (shown in FIGS. 13 and 14) of the body of the riding management machine 101 with respect to the navigation travel route 71 and the traveling direction of the navigation travel route 71. A deviation angle θ (shown in FIGS. 13 and 14), which is an angle formed by the traveling direction (front) of the aircraft of the passenger management machine 101, can be easily visually confirmed. While looking at the display of the window 70c, the displacement amount X and The riding management machine 101 is steered so that both deviation angles θ approach zero (so that the riding management machine 101 always passes directly above the navigation travel route 71).
In the present embodiment, the display color around the mark 72a is reversed in order to call attention to the operator when the displacement amount X becomes larger than a predetermined allowable value (FIG. 13). In FIG. 14, the display color around the mark 72a is inverted).

Hereinafter, the scatter navigation screen 75 will be described with reference to FIGS. 15, 16, and 17.
The spraying navigation screen 75 is used when the chemical spraying should be turned on / off during navigation travel (for example, if the vehicle travels along the navigation travel route as in the region 76 shown in FIG. 12, the chemical liquid is already sprayed after a predetermined time has elapsed. Is a screen that is automatically switched from the main screen 70 to be displayed on the display unit 112 at a position that reaches the area that has been reached), and is divided into three vertically divided windows 75a, 75b, and 75c and a work support window 75d. Composed.

The windows 75a and 75c have substantially the same configuration as the windows 70a and 70c in the main screen 70.
The window 75 b is a screen that forms the center of the scatter navigation screen 75, and the navigation traveling path 71 generated based on the outer shape of the field 56, the position information (positioning data) of the field 56, and the field 56 of the riding management machine 101. It is substantially the same as the window 70b on the main screen 70 in that a mark 72 indicating the position, a travel locus 74 that is a route on which the passenger management machine 101 actually traveled, and the like are displayed.
In the window 75b, the traveling direction of the navigation travel route 71 at that time is substantially coincident with the upper side of the window 75b, and the spray switching point 77 where the chemical spraying of the riding management machine 101 should be turned on or off is fixed at the upper center of the window 75b. In addition to the display, the field 56 is enlarged (the enlargement magnification is a fixed value) and fixedly displayed, and the mark 72 indicating the riding management machine 101 is displayed so as to move in the window 75b.
With this configuration, the operator can steer the riding management machine 101 toward the spraying switching point 77 with high accuracy.

The work support window 75d is a screen that displays the work content (spraying on or spraying off) to be performed by the worker next and assists the worker's work by alerting the worker. As shown in FIGS. 15 to 17, “dispersion OFF” (or “dispersion ON”), which is the next work performed by the worker, is displayed in the upper part of the work support window 75 d.
Further, a countdown until the work is performed is displayed in the lower part of the work support window 75d, such as “3 → 2 → 1 → OFF” (or “3 → 2 → 1 → ON”). In the countdown, corresponding portions (for example, the portion “3” in the lower part of the work support window 75d in FIG. 15 and the part “2” in the lower part of the work support window 75d in FIG. 16) are highlighted. It is easy to grasp the timing of work. As shown in FIG. 17, the worker turns off (or on) the chemical solution spray when the display in the work support window 75 d is switched to “spraying OFF” (or “spraying ON”).
By comprising in this way, the operator can grasp | ascertain beforehand the operation | work (on / off of chemical | medical solution dispersion | distribution) which should be performed next, and can perform it reliably.

  In this embodiment, the work support window 75d is displayed so as to overlap the window 75b. However, it may be displayed at a position overlapping with other windows (windows 75a, 75b, 75c), or any other window. You may display so that it may not overlap. However, when it overlaps with another window, it is desirable to avoid the position where important information displayed in the other window cannot be visually recognized by overlapping.

  In addition, when traveling in the region 76 of FIG. 12, it is necessary to start a right turn almost simultaneously with the chemical spraying off of the riding management machine 101. It is also possible to display a work support window 78d (described in detail later).

Hereinafter, the turning navigation screen 78 will be described with reference to FIGS. 18, 19, and 20.
For example, as shown in an area 79 shown in FIG. 12, the scatter navigation screen 75 is automatically switched from the main screen 70 until the end of the turn after the predetermined time has elapsed during the navigation travel, and the display unit 112. And is composed of three vertically divided windows 78a, 78b, 78c and a work support window 78d.

The windows 78a and 78c have substantially the same configuration as the windows 70a and 70c on the main screen 70.
The window 78 b is a screen that forms the central portion of the turning navigation screen 78, and the navigation traveling path 71 generated based on the outer shape of the field 56, the position information (positioning data) of the field 56, and the field 56 of the riding management machine 101. It is substantially the same as the window 70b on the main screen 70 in that a mark 72 indicating the position, a travel locus 74 that is a route on which the passenger management machine 101 actually traveled, and the like are displayed.

Below, the display method of the window 78b is demonstrated by taking as an example the case where the passenger management machine 101 turns 90 degrees along the navigation travel route 71.
As shown in FIG. 18, before the riding management machine 101 starts turning (for example, when the riding management machine 101 enters the area 76 shown in FIG. 12), the window 78b is displayed on the navigation travel route 71 at that time. The traveling direction is made to substantially coincide with the upper side of the window 78b, and the turning start point 80 at which the riding management machine 101 should start turning is located to the left of the window 78b at the upper and lower center part (when turning right) or right and left at the upper and lower center part (when turning left). In addition, the field 56 is enlarged (magnification magnification is a fixed value) and fixedly displayed, and a mark 72 indicating the riding management machine 101 is displayed so as to move in the window 78b.
With this configuration, the operator can steer the riding management machine 101 toward the turning start point 80 with high accuracy.

As shown in FIG. 19, when the riding management machine 101 starts turning, the window 78b makes the traveling direction of the navigation travel path 71 immediately before starting turning substantially coincide with the upper side of the window 78b, and expands the field 56. (The enlargement magnification is a fixed value) is fixedly displayed, and the mark 72 indicating the riding management machine 101 is displayed so as to move in the window 78b.
As shown in FIG. 20, when the riding management machine 101 turns 45 degrees or more from the start of turning, the window 78b is in the same direction as the turning direction of the riding management machine 101 from the traveling direction of the navigation travel route 71 immediately before starting turning. The direction in which the vehicle travels 90 degrees (that is, the traveling direction of the navigation travel route 71 after the turn is finished) is made substantially coincident with the upper part of the window 78b. A mark 72 indicating the riding management machine 101 is displayed fixedly at the center left (when turning right) or right and left at the center of the top and bottom (when turning left), and the field 56 is enlarged (the magnification is a fixed value). Is displayed so as to move in the window 78b.
With this configuration, the operator can steer the riding management machine 101 along the navigation travel route 71 with high accuracy.

The work support window 78d is a screen that displays the work contents (right turn or left turn) that the worker should perform next and supports the worker's work by alerting the worker.
Hereinafter, the display method of the work support window 78d will be described by taking as an example the case where the passenger management machine 101 turns 90 degrees along the navigation travel route 71.

As shown in FIG. 18, before the riding management machine 101 starts turning (for example, when the riding management machine 101 enters the area 76 shown in FIG. 12), a “next route” is displayed in the upper stage of the work support window 78 d. Is displayed to inform the operator that the next route is to be moved (that is, the turning operation is performed).
In addition, a countdown until the work is performed is displayed in the lower part of the work support window 78d, such as “3 → 2 → 1 → right turn” (or “3 → 2 → 1 → left turn”). In the countdown, sequentially corresponding portions (for example, “2” in the lower part of the work support window 78d in FIG. 18) are highlighted so that the worker can easily grasp the timing of the work.

  As shown in FIGS. 19 and 20, the display in the work support window 78d is switched to “→” (or “←”) while the riding management machine 101 is turning. The worker starts the right turn (or left turn) of the riding management machine 101 in accordance with the display in the work support window 78d.

  By configuring in this way, the worker can grasp in advance the work to be performed next (right turn or left turn) and perform it reliably.

When traveling in the region 79 of FIG. 12, it is necessary to turn on the chemical solution spraying substantially simultaneously with the end of the turning of the riding management machine 101. In such a case, as shown in FIG. 20, it is also possible to display a work support window 75d for scattering work on the turning navigation screen 78.
Further, the work support window 78d can be omitted in the later stage of turning (corresponding to FIG. 20 in the case of the present embodiment).
Further, in the present embodiment, when the passenger management machine 101 turns 90 degrees, when turning the first 45 degrees, the traveling direction of the navigation travel route 71 before turning starts and the second 45 degrees turn. In some cases, the traveling direction of the navigation travel route 71 before the start of turning is displayed so as to be substantially coincident with the upper side of the window 78b. However, during turning, the front of the riding management machine 101 is almost coincident with the upper side of the window 78b. It is good also as a structure displayed so that it is not limited.

Depending on the shape of the field 56, it is assumed that the width of the field 56 does not become an integral multiple of the spreading width when the boom 40 is deployed to the left or right, or does not become a multiple of 2 when the entrance and the exit are on the same side. However, in such a case, the boom 40 is slid in the left-right direction, one of the left and right side booms 42L, 42R is folded, or a part of the nozzles 23, 23,. It is possible to adjust the width to prevent the occurrence of overlapping or non-sprayed areas. With respect to these operations, it is also possible to display another operation support window or the like on the scatter navigation screen 75 or the turning navigation screen 78 to notify the operator. For example, immediately before the start of spraying after turning, either one of the left and right side booms 42L and 42R is to be unfolded, or both of them should be folded, or the like is notified on the spraying navigation screen 75 or the turning navigation screen 78. To do. In addition, when the farm is deformed, the timing of spraying stop and spraying start in straight traveling can be notified in the same manner.
Further, if the front boom 41 of the boom 40 and the left and right side booms 42L and 42R are configured to have substantially the same length, the maximum spreading width of the boom 40, two thirds of the maximum spreading width, and the maximum spreading. Three types of spreading widths, one third of the width, can be selected. Therefore, it is easy to select the spreading width appropriately by dividing the field with 1/3 of the maximum spreading width as the minimum unit and generating the navigation travel route 71, and the overlapping spreading area and the unspreading area are reduced. It is possible to prevent the occurrence and uniformly spray the chemical solution on the field.

Hereinafter, with reference to FIG. 21 to FIG. 23, the chemical solution replenishment during navigation travel in the riding management machine 101 will be described.
As described above, the passenger management device 101 according to the present embodiment includes the GPS (GPS unit 102), the inner world sensor 122, and the display unit (the display unit 112 of the touch panel 54), and is based on the GPS and the inner world sensor. It is possible to generate a travel route (navigation travel route 71), display the travel route on the display means, and perform a chemical spraying operation while moving along the travel route.
Therefore, the operator can perform the chemical solution spraying operation uniformly on the field (without generating the overlapping sprayed region and the unsprayed region) while accurately tracing the travel route based on the navigation travel route 71 and other information displayed on the display means. It is possible to carry out and is excellent in workability.
However, when the area of the field is large or when the amount of the chemical solution sprayed per unit area is large, the chemical tank 24 provided in the riding management machine 101 is filled with the chemical solution before starting the chemical spraying operation. In some cases, the chemical solution in the chemical solution tank 24 may be exhausted (before the chemical solution is sprayed over the entire field). In such a case, it is necessary to replenish the chemical solution in the chemical solution tank 24 and start the navigation travel again.
At this time, if the riding management machine 101 is at a position away from the end of the field (near the center of the field), the work of replenishing the chemical liquid into the chemical tank 24 (chemical solution replenishment work) is complicated.
For example, when the riding management machine 101 is once traveled to the outside of the field or to the end of the field, and then replenished with the chemical solution, it may travel across the row of crop stocks and step on the crop unnecessarily. As a result, work time is lost.
In addition, when the spraying operation is resumed after the chemical solution is replenished outside the field or at the end of the field, the riding management machine 101 is the same as when the chemical solution is exhausted so as not to cause an overlapping sprayed region or an unsprayed region. It is necessary to move the position accurately (including the direction), and the work is difficult.
Also, the riding management machine 101 is stopped on the spot, and the worker walks to the outside of the field and takes a container containing the chemical, or uses a pump from a tank outside the field. Although a method of replenishing the chemical solution by pumping is also conceivable, in the case of a paddy field that is far away or the field is filled with water, it is not easy for an operator to walk in the field.

  Therefore, the passenger management machine 101 according to the present embodiment calculates in advance a chemical liquid depletion point 82 where the chemical liquid in the chemical liquid tank 24 of the passenger management machine 101 disappears in the middle of the navigation travel route 71, and is upstream of the chemical liquid depletion point 82. A chemical solution replenishment point 83 is set in the navigation travel route 71 on the side, and the chemical solution replenishment point 83 can be displayed on the display unit 112 of the touch panel 54 as a display means.

A chemical solution information input screen 84 shown in FIG. 21 is a screen for inputting information related to a chemical solution among various settings performed in step S106 shown in FIG. 5 or step S115 shown in FIG.
First, the worker presses the menu button 111c on the touch panel 54 to display the chemical information input screen 84 on the display unit 112.
Next, on the chemical information input screen 84, the operation button 111a, the numerical value selection button 111d, the YES button 111e, the NO button 111f, etc. of the touch panel 54 are pressed to spread the area of the field (work area), the type of chemical, and the chemical spray per unit area. Enter information such as volume and dilution rate of chemicals.
Note that the field area (working area) may be calculated based on the field position information (positioning data) already acquired by the processing unit 110, and the input may be omitted.

  Based on the information input on the chemical solution information input screen 84, the processing unit 110 uses the amount of the chemical solution necessary for spraying on the field, the amount of the stock solution necessary for preparing the chemical solution, and the water necessary for preparing the chemical solution. Calculate the amount of These calculations are performed by the navigation travel program 121b stored in the processing unit 110.

The medicinal solution information output screen 85 shown in FIG. 22 includes the amount of medicinal solution necessary for spraying the field calculated based on the information input on the medicinal solution information input screen 84, the amount of stock solution necessary for preparing the medicinal solution, and It is a screen for displaying the amount of water necessary to prepare a chemical solution.
The operator presses the menu button 111 c on the touch panel 54 to display the chemical information output screen 85 on the display unit 112.
The medicinal solution information output screen 85 displays the amount of medicinal solution necessary for spraying the entire target field, the amount of stock solution necessary for preparing the medicinal solution, and the amount of water necessary for preparing the medicinal solution.

  Further, the processing unit 110 sprays the chemical solution on the field by comparing the amount of the chemical solution necessary for spraying the entire target field with the amount of the chemical solution when the chemical solution tank 24 is full. In this case, it is determined whether or not it is necessary to replenish the chemical liquid tank 24, and whether or not chemical liquid replenishment is necessary is displayed on the chemical liquid information output screen 85.

When the chemical solution needs to be replenished, the processing unit 110 fills the chemical solution tank 24 with the chemical solution, and when the spraying operation is performed without replenishment, the chemical solution in the chemical solution tank 24 disappears (is depleted). A chemical solution depletion point 86 which is a position on the travel route 71 is calculated. The spray amount control device 3 is provided with a flow rate sensor so that the spray amount per mileage can be calculated. Since the liquid amount sensor is arranged in the chemical tank 24 so that the remaining amount can be known, the spray route ( The chemical solution depletion point 86 can be easily calculated from the travel route).
Next, a chemical solution replenishment point 87 is set on the navigation travel route 71 upstream of the chemical solution depletion point 86.
At this time, it becomes a problem where the chemical solution replenishment point 87 is set on the navigation travel route 71 upstream from the chemical solution depletion point 86. In this embodiment, as shown in FIG. The tank in which the chemical solution is stored is easy to move, and the chemical solution tank 24 of the riding management machine 101 can be easily replenished with the chemical solution, that is, facing the end of the field 56 and the road 88 or the ridge 89. It is desirable to set it at a certain position.
In order to cause the processing unit 110 to set the chemical solution replenishment point 87 that satisfies the above requirements, the end of the field 56 where the chemical solution replenishment point 87 is to be set may be designated by operating the touch panel 54 or the navigation travel route 71. Then, the navigation travel route 71 may be displayed on the touch panel 54, the cursor may be moved within the screen, and the operator may set the chemical replenishment point 87 at a desired position on the navigation travel route 71.
With this configuration, when the chemical solution is sprayed onto the field by navigation, the riding management machine 101 can be easily replenished with the chemical solution, and the workability is excellent.

Further, at the time when the chemical solution replenishment point 87 is set, the amount of the chemical solution necessary from the start of the chemical solution spraying operation to the chemical solution replenishment point 87, the stock solution amount necessary for preparing the chemical solution, and the necessary chemical solution are prepared. Calculate the amount of water and the amount of chemical solution required from the chemical solution replenishment point 87 to the end of the chemical solution spraying operation, the amount of stock solution required to prepare the chemical solution, and the amount of water required to prepare the chemical solution It becomes possible to do.
In the present embodiment, based on these calculation results, the amount of chemical solution, stock solution amount, water amount to be placed in the chemical solution tank 24 at the start of spraying work, and the amount of chemical solution, stock solution amount, water to be placed in the chemical solution tank 24 at the time of replenishment The amount can be displayed on the chemical information output screen 85.

  At this time, at the start of the chemical solution spraying operation, an amount of the chemical solution necessary for spraying from the spraying operation start point to the chemical solution replenishment point 87 is placed in the chemical solution tank 24. A method of replenishing the amount of chemical solution necessary for spraying, and at the start of the chemical solution spraying operation, until the chemical solution tank 24 is full (that is, the amount necessary for spraying from the spraying operation start point to the chemical solution depletion point 86) ) Putting the chemical solution and replenishing the chemical solution with any method of replenishing the shortage (that is, the amount of chemical solution necessary to spray from the chemical solution depletion point 86 to the spraying end point) Also good.

By comprising in this way, the quantity of the chemical | medical solution required for a chemical | medical solution spraying operation | work can be grasped | ascertained accurately, the waste of discarding an excess chemical | medical solution later can be eliminated, and it is excellent in workability | operativity. In addition, it is possible to avoid a situation where the chemical solution becomes insufficient at the end of the spraying operation.
Furthermore, calculation of the amount of the chemical solution required when the chemical solution is replenished is a complicated operation. However, since the processing unit 110 performs this operation, the operator does not need to calculate and the burden on the operator is reduced.

In the present embodiment, the positioning data of the field 56, the navigation travel route 71, the setting position of the chemical solution replenishment point 87, the data input to the chemical information input screen 84, the data displayed on the chemical information output screen 85, and the like. It can be stored in the processing unit 110.
With this configuration, when performing the same work on the same field, various setting work can be omitted, and workability is improved (work time can be reduced and labor can be saved).

The left view of the riding management machine which is one Embodiment of the agricultural work vehicle of this invention. The top view of the riding management machine which is one Embodiment of the agricultural work vehicle of this invention. The schematic diagram which shows the structure of a GPS unit. The schematic diagram which shows the structure of a reference | standard station unit. The flowchart which shows the 1st Example of GPS initialization operation | movement procedure. The schematic diagram which shows the installation condition to the field of a reference station unit. The schematic diagram which shows the driving | running route in autonomous driving | running | working. The perspective view of a touch panel. The flowchart which shows the 2nd Example of GPS initialization operation | movement procedure. The figure which shows the manual driving | running route in the 2nd Example of GPS initialization work procedure. The figure which shows the navigation driving | running route in the 2nd Example of GPS initialization operation | movement procedure. The figure which shows the agricultural work vehicle which drive | works the navigation driving | running route in the 2nd Example of GPS initialization work procedure. The figure which shows the main screen at the time of a route fixed display. The figure which shows the main screen at the time of the own vehicle fixed display. The figure which shows a scatter navigation screen (initial stage). The figure which shows a scatter navigation screen (mid term). The figure which shows a scatter navigation screen (late stage). The figure which shows a turning navigation screen (initial stage). The figure which shows a turning navigation screen (mid term). The figure which shows a turning navigation screen (late stage). The figure which shows a chemical | medical solution information input screen. The figure which shows a chemical | medical solution information output screen. The figure which shows the positional relationship of a farm field, a chemical | medical solution replenishment point, and a chemical | medical solution depletion point.

Explanation of symbols

86 Chemical solution depletion point 87 Chemical solution replenishment point 101 Passenger management machine (agricultural work vehicle)
102 GPS unit (GPS)
112 Display section (display means)
122 Inside sensor

Claims (2)

A GPS, an inner world sensor, and display means are provided, a travel route is generated based on the GPS and the inner world sensor, the travel route is displayed on the display means, and the vehicle is moving along the travel route. An agricultural work vehicle capable of carrying out chemical spraying work,
The chemical solution depletion point where the chemical solution in the chemical tank of the agricultural work vehicle disappears in the middle of the traveling route is calculated in advance, the chemical solution replenishment point is set in the traveling route upstream of the chemical solution depletion point, and the chemical solution replenishment point Can be displayed on the display means.   The agricultural work vehicle according to claim 1, wherein the amount of the chemical solution to be replenished at the chemical solution replenishment point is calculated, and the calculation result can be displayed on the display means.