JP2015084749A - Farm field recognition system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain farm field information of a working farm field as much as possible without a need for operation.SOLUTION: A working machine is provided with working state input means, a GPS receiver, a control device, and a display device. The control device has a farm field database of farm field information including positions of a plurality of farm fields that need to be worked on and a map database of map information of a region including the plurality of farm fields. When receiving an input of a work start signal from the working state input means, the control device performs detection of a traveling position of the working machine multiple times based on received data by the GPS receiver, determines one farm field as a working farm field among the plurality of farm fields included in the map database by using the plurality of traveling positions, and obtains the farm field information of the working farm field from the farm field database.

Description

  The present invention relates to a field recognition system for a work machine to recognize a field.

  An agricultural information management system for bidirectionally transmitting and receiving information between a harvester that harvests crops in a plurality of fields and a management unit that is spaced from the harvester, the harvesting machine, the management unit Calling means for calling out the field information of a plurality of stored fields, and selection means for selecting the field information of one harvested field for harvesting from the plurality of field information called by the calling means; , A confirmation means for issuing the start and end of harvesting in the selected one field as confirmation information, and a measurement means for measuring production information of the harvested crop, the field information, the production information, and the confirmation information Has been proposed (see Patent Document 1 below).

  Specifically, the storage unit provided in the management unit stores the field information, the production information, and the confirmation information that are sent from the harvester in association with each other, while the field information of the plurality of fields is stored in advance. The field information of the plurality of fields stored in the storage unit is transmitted to the harvester when called by the calling unit of the harvester.

  In the conventional agricultural information management system, when the harvesting operation is performed in one field, the harvesting operation is performed on the harvester side from among the plurality of field information stored in advance in the management unit. The one harvesting field can be specified by performing an operation of selecting the harvesting field.

  When such a conventional agricultural management system is compared with a configuration in which the field information of the one harvested field must be input directly on the harvesting machine side when identifying the one harvested field to be harvested There is an advantage that the one harvesting field can be easily specified, but there is still room for improvement.

  That is, in the conventional configuration described in Patent Document 1, as an operation procedure for specifying a harvested field, the calling unit is operated, and the plurality of fields stored in the storage unit of the management unit are stored. A step of calling the field information and a step of selecting the field information of one harvested field for performing the harvesting operation from the plurality of called field information using the selection means are required.

JP 2006-081480 A

  The present invention has been made in view of such a conventional technique, and an object of the present invention is to provide a field recognition system that can obtain field information of one field to be operated with as little operation as possible.

  In order to achieve the above object, the present invention is a field recognition system for a work machine to recognize a field, and the work machine includes a work state input means, a GPS receiver, a control device, and a display device. The control device includes a field database related to field information including positions of a plurality of fields to be operated and a map database related to map information of a region including the plurality of fields, and the control device includes the work state. When a work start signal is input from the input means, the traveling position of the work implement is detected a plurality of times based on the data received by the GPS receiver, and a plurality of farm fields included in the map database are detected using the plurality of traveling positions. Provided is a field recognition system that identifies one field from among the fields as a working field and obtains field information of the working field from the field database.

  Preferably, the control device is configured to end the traveling position detection process of the work implement in response to an input of a work end signal from the work state input unit.

  In one embodiment, the control device calculates an average position of the plurality of travel positions, and specifies a field including the average position as the work field from among a plurality of fields included in the map database. Composed.

  In another embodiment, the control device calculates a work area based on the plurality of travel positions, and a field having the largest overlapping area with the work area is selected as the work field from the plurality of fields included in the map database. Configured to identify.

In the various configurations, preferably, the control device may display the map information on the display unit in a state where the work field is identified when the work field is specified.
More preferably, the work machine is provided with a selection unit that is manually operated, and the control device is configured to display the map information on the display unit in a state where the work field is identified when the work field is identified. It can be configured to display and authenticate with a password input by the selection means, and permit the acquisition of the field information of the work field from the field database through the authentication.

  According to the field recognition system according to the present invention, when the control device receives a work start signal from the work state input unit, the control device detects the traveling position of the work implement based on the received data by the GPS receiver a plurality of times, and The operation required by the operator because one field among the plurality of fields included in the map database is specified as a working field using the traveling position and the field information of the working field is obtained from the field database. The control device can obtain the field information of the working field while reducing as much as possible.

  In addition, a plurality of traveling positions are detected based on the received data by the GPS receiver, and one working field is specified from among the plurality of fields included in the map database using the plurality of traveling positions. A work field can be specified without providing a GPS receiver.

FIG. 1 is a side view of a combine as an example of a work machine to which a field recognition system according to an embodiment of the present invention is applied, viewed from one side in the body width direction. FIG. 2 is a side view of the combine as viewed from the other side in the body width direction. FIG. 3 is a control block of a control device provided in the combine. FIG. 4 is a schematic diagram showing a monitor screen of a display device provided in the combine, and shows a state in which map information is displayed. FIG. 5 is an enlarged view of the map information shown in FIG.

Hereinafter, preferred embodiments of a field recognition system according to the present invention will be described with reference to the accompanying drawings.
The field recognition system 1 according to the present embodiment is applied to a working machine that performs operations such as harvesting in a field.

First, a schematic configuration of a combine 10 that is an example of a work machine to which the field recognition system 1 is applied will be described.
1 and 2 are side views of the combine 10.

  As shown in FIGS. 1 and 2, the combine 10 includes a traveling machine body 11, a drive source 15 supported by the traveling machine body 11, a control unit 12 supported by the traveling machine body 11, and the traveling machine body 11. And a pair of left and right crawlers 13 for operatively inputting rotational power from the drive source 15 via a transmission (not shown), and connected to the traveling machine body 11 in front of the traveling machine body 11 so as to be movable up and down. The reaping part 16, the threshing part 17 that performs the threshing process on the cereals harvested by the reaping part 16; The grain tank 19 that stores the grain selected by the sorting unit 18 and the grain discharge device 20 that discharges the grain in the grain tank 19 are provided.

  As shown in FIGS. 1 and 2, the combine 10 further includes a weight sensor 32a and a moisture sensor 32b for measuring the harvest amount and moisture amount of the harvested crops, respectively.

As shown in FIG. 1, in the present embodiment, the weight sensor 32 a is disposed between the traveling machine body 11 and the Glen tank 19 so that the weight of the Glen tank 19 can be measured. .
The weight sensor 32a may be a load cell, for example.

The moisture sensor 32b is inserted in the harvested grain conveyance path to detect the moisture content of a part of the harvested grain.
As shown in FIG. 1, in the present embodiment, the moisture sensor 32 b is disposed above the internal space of the Glen tank 19, and after being sorted by the sorting unit 18, The water content of a part of the harvested grain that is conveyed upward and introduced inward from the upper part of the Glen tank 19 can be detected.

FIG. 3 is a control block diagram of the control device 30 provided in the combine 10.
As shown in FIG. 3, the combine 10 is provided with the control device 30, an input device 35 that can be manually operated, a GPS (Global Positioning System) receiving device 25, and a display device 41.

The GPS receiver 25 receives radio waves from a plurality of GPS satellites that travel on a semi-synchronous orbit.
The GPS receiving device 25 is electrically connected to the control device 30, and a signal received by the GPS receiving device 25 is transmitted to the control device 30.

The input device 35 functions as work state input means for inputting a start signal for work such as harvesting.
The input device 35 is electrically connected to the control device 30, and the control device 30 recognizes that the combine 10 has shifted to a working state or has shifted based on the start signal. .

  The display device 41 is electrically connected to the control device 30 and displays information in a visually recognizable manner based on an instruction from the control device 30.

  The control device 30 stores a calculation unit (CPU) including control calculation means for executing calculation processing based on signals input from the GPS receiver 25, the input device 35, and the like, and a control program, control data, and the like. ROM to store, set values, etc. that are not lost even when the power is turned off, and EEPROM in which the set values, etc. are rewritable, and RAM to temporarily store data generated during calculation by the calculation unit And a storage unit including the like.

  Specifically, the control device 30 includes a field database regarding field information including positions of a plurality of fields to be operated, and a map database regarding map information of a region including the plurality of fields.

  The control device 30 can create the field database based on the field information input via the input device 35, or can create the field database by incorporating field information from the outside. Is possible.

  In the latter case, for example, as shown in FIG. 3, the combine 10 includes a communication unit 40, and the control device 30 can transmit and receive information to and from the outside via the communication unit 40. Can be done.

  As long as the communication means 40 can transmit and receive information to and from the outside of the control device 30, various communication methods such as a communication method using a communication satellite and a communication method using an Internet line can be used.

The map database can be created based on map information input via a recording medium such as a CD. Alternatively, the map database can be created based on map information taken in via the communication means 40.
FIG. 4 shows a monitor screen of the display device 41 in a state where the map information is displayed.

  Preferably, as shown in FIG. 3, the combine 10 is further provided with a printing device 42 that prints information stored in the control device 30 on a recording sheet.

  Here, a method for specifying a work field by the field recognition system 1 according to the present embodiment will be described.

  When working such as harvesting, it is desired to manage information on work results (in the case of harvesting work, information on the yield and water content) for each field. As a premise, it is necessary for the control device 30 to recognize the field (work field) where the work is performed or the work is being performed.

  Conventionally, field information of a plurality of fields is input via an input device provided on the work machine and stored in a control device of the work machine, and the name of one work field on which work is performed is input via the input device. By inputting or displaying the plurality of fields on a display device of a work machine and selecting with the input device, a work field is identified from the plurality of fields and field information of the work field is obtained. Configuration (hereinafter referred to as conventional configuration 1) exists.

  Also, unlike the conventional configuration 1, the field information of a plurality of fields is stored in a control device on the terminal side that is spaced apart from the work machine and capable of transmitting and receiving information to and from the work machine control device. In response to a call operation by the input device of the machine, the field information of the plurality of fields is transmitted from the control device on the terminal machine side to the control device on the work machine side, displayed on the display device of the work machine, and displayed on the display device There is also a configuration (hereinafter referred to as a conventional configuration 2) in which a work field is selected from the plurality of farm fields that are selected via the input device and field information of the work field is obtained.

  Compared with the configuration in which the conventional configurations 1 and 2 both directly input field information such as the name, position, owner, and area of the work field via the input device of the work machine, the field information of the work field However, the field recognition system 1 according to the present embodiment further reduces the burden on the operator as compared with the conventional configurations 1 and 2, so that the work field can be reduced. It is comprised so that the field information of can be obtained.

  That is, in the recognition system 1 according to the present embodiment, the operation requested by the operator is performed when the work machine is positioned in the work field and work such as harvesting is started. Only the operation indicating the start of work is performed via the input device 35 acting as a means.

  The control device 30 detects the traveling position of the work implement a plurality of times based on the data received by the GPS receiver 25 in response to the input of the work start signal sent from the work state input means.

  The travel position can be detected a plurality of times every predetermined time (for example, every minute) or every predetermined travel distance (for example, every 50 m).

  The processing for detecting the traveling position of the work implement may be terminated when a predetermined number of times of detection is performed, or may be terminated in response to an input of a work end signal sent from the work state input means. May be.

  The control device 30 uses the plurality of travel positions to execute a process of specifying one of the plurality of fields included in the map database as a working field during work.

Here, the process which specifies the said working field is performed as follows.
FIG. 5 shows an enlarged view of the map information shown in FIG.
Reference symbols P (1) to P (8) in FIG. 5 are travel positions of the work implement detected based on the data received by the GPS receiver 25.

  The control device 30 calculates an average position AP defined by an average latitude and an average lightness of the plurality of travel positions P (1) to P (8) (see FIG. 5), and a plurality of positions included in the map database. A field F (1) including the average position AP is specified as the work field from among the fields.

  Instead of specifying the work field using the average position AP, it is also possible to specify the work field using a work area calculated based on the plurality of travel positions P (1) to P (8). It is.

The work area includes, for example, a position having the largest latitude (maximum latitude position, P (8) in FIG. 5) and a position having the smallest latitude (minimum) among the plurality of travel positions P (1) to P (8). Latitude position (P (3) in FIG. 5), position with the largest longitude (maximum longitude position, P (7) in FIG. 5) and position with the smallest longitude (minimum longitude position, P (1 in FIG. 5) )).
Then, the field F (1) having the largest overlap area with the work area Wa is specified as the work field from among a plurality of fields included in the map database.

  The maximum latitude position (P (8) in FIG. 5), the minimum longitude position (P (1) in FIG. 5), the minimum latitude position (P (3) in FIG. 5) and the maximum longitude position (FIG. 5). In FIG. 5, instead of recognizing the area Wa surrounded by P (7) as the work area, the virtual line L1 and the minimum longitude position (in FIG. 5) having the same latitude as the maximum latitude position (P (8) in FIG. 5). Is the same as the virtual line L2 having the same longitude as P (1)), the virtual line L3 having the same latitude as the minimum latitude position (P (3) in FIG. 5), and the maximum longitude position (P (7) in FIG. 5). It is also possible to recognize the area Wb surrounded by the longitude virtual line L4 as the work area.

As described above, in the farm field recognition system 1 according to the present embodiment, the operator simply performs an operation indicating the start of work by the work state input means, and the control device 30 recognizes the work field and the farm field information. Can be obtained.
Therefore, when obtaining the field information of the working field, the burden on the operator can be greatly reduced.

  In addition, a plurality of travel positions are detected based on data received by the GPS receiver 25, and one work field is specified from among the plurality of fields included in the map database using the plurality of travel positions. Therefore, it is possible to specify the work field without providing the high-accuracy GPS receiver 25.

  For example, the control device 30 can display the map information on the display means 41 in a state where the work field is identified when the work field is specified.

  In this case, preferably, the control device 30 may be configured to permit the acquisition of the field information of the work field from the field database through an authentication step using a password.

Specifically, the work machine 1 is provided with a selection unit that is manually operated, and when the control device 30 identifies the work field, the display unit 41 displays the map information in a state where the work field is identified. The field information of the working field from the field database can be obtained through an authentication step using a password input by the selection means.
The input device 35 can act as the selection means.

1 Work state management system 10 Combine (work machine)
25 GPS receiver 30 Control device 35 Input device (working state input means, selection means)
41 Display device

Claims (6)

A field recognition system for a work machine to recognize a field,
The working machine is provided with a work state input means, a GPS receiver, a control device, and a display device,
The control device has a field database relating to field information including positions of a plurality of fields to be worked, and a map database relating to map information of a region including the plurality of fields.
The control device, when receiving a work start signal from the work state input means, detects the travel position of the work implement based on the data received by the GPS receiver a plurality of times, and uses the plurality of travel positions to map the map A field recognition system characterized in that one field among a plurality of fields included in a database is specified as a working field during work, and field information of the work field is obtained from the field database.   2. The field recognition system according to claim 1, wherein the control device ends the traveling position detection process of the work implement in response to an input of a work end signal from the work state input unit.   The control device calculates an average position of the plurality of travel positions, and identifies a field including the average position as the work field from among a plurality of fields included in the map database. The field recognition system according to 1 or 2.   The control device calculates a work area based on the plurality of travel positions, and identifies, as the work field, a farm field having the largest overlap area with the work area from the plurality of farm fields included in the map database. The field recognition system according to claim 1 or 2.   5. The field according to claim 1, wherein when the work field is specified, the control device displays the map information on the display unit in a state where the work field is identified. Recognition system. The working machine is provided with a selection means that is manually operated,
The control device displays the map information on the display unit in a state where the specified work field is identified, and then performs authentication by a password input by the selection unit, and from the field database through the authentication The field recognition system according to claim 5, wherein acquisition of field information of the work field is permitted.

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