JP2019010052A - Agricultural work vehicle - Google Patents

Abstract

To always set a supply state of an agricultural material to a farm field to a proper supply state.SOLUTION: An agricultural work vehicle comprises: a positioning unit 63 for measuring a position and an azimuth of a vehicle; an automatic driving control part 60B for executing automatic work travel control for making the vehicle body automatically work and travel along a travel path based on the travel path and the measurement result of the positioning unit 63; an agricultural material supply part for supplying an agricultural material mounted on the vehicle body to a farm field following to the travel; a consumption amount calculation part 60C for determining a consumption amount of the agricultural material; and a supply amount control part 60E for executing supply amount adjustment control for adjusting a supply amount of the agricultural material by the agricultural material supply part so that a change state of the agricultural material determined based on the calculation result of the consumption amount calculation part 60C and the measurement result of the positioning unit 63 becomes a preset proper change state.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a positioning unit that measures the position and orientation of the vehicle body, and an automatic operation control unit that executes automatic work travel control that automatically travels the vehicle body along the travel route based on the positioning result of the positioning unit; Agricultural work vehicle with

  The farm work vehicle can reduce the work burden on the operator who rides on the vehicle body by automatically working the vehicle body on the travel route. In such agricultural work vehicles, when the vehicle body is automatically working along the work travel route, for example, the supply state of agricultural materials such as seedlings and fertilizers to the field is the material supply amount per unit area of the field The operation is performed under preset supply conditions such as adjusting to a set value. When it is detected that the remaining amount of the agricultural material is less than a preset threshold value, it is configured to automatically go straight to the field end and then stop automatically at the field end, There has been one in which an operator is informed that an operation of supplying agricultural materials such as fertilizer to an agricultural vehicle is necessary (see, for example, Patent Document 1).

JP 2008-92818 A

  In the above-described conventional configuration, when the remaining amount of agricultural material is less than a preset threshold value, this is a notification to the operator, but regarding the supply state of agricultural material accompanying traveling, after starting work Until the work is finished, the preset supply conditions are applied as they are.

  As a result, the supply state of agricultural materials (such as seedlings and fertilizers) to the field may not be in an appropriate state, and there may be an excess or shortage of agricultural materials. For example, when an incorrect condition is set as a use condition for the consumption condition of agricultural material, or the supply of agricultural material is performed according to the rotation speed of a traveling wheel provided in the vehicle body If it is a thing, it will be a case where a driving | running | working wheel slips with vehicle body driving | running | working and the actual moving amount of a vehicle body decreases with respect to the rotational speed of a driving | running | working wheel. Thus, if the supply state of the agricultural material is not in an appropriate state, the supply amount of the agricultural material may be excessive or insufficient, or the supply amount of the agricultural material may be uneven inside the field. There were disadvantages such as large fluctuations in crop yield.

  Therefore, it has been desired that the supply state of the agricultural material to the field is always in an appropriate supply state.

The characteristic configuration of the agricultural vehicle according to the present invention is:
A positioning unit that measures the position and orientation of the vehicle body;
An automatic operation control unit for executing automatic work traveling control for automatically performing vehicle traveling along the traveling route based on a preset traveling route and a positioning result of the positioning unit;
Agricultural material supply unit that supplies agricultural material mounted on the vehicle body to the field with traveling,
A consumption calculation unit for obtaining consumption of the agricultural material consumed along with traveling;
Based on the calculation result of the consumption calculation unit and the positioning result of the positioning unit, a change state calculation unit for obtaining a change state of the agricultural material,
Execute supply amount adjustment control for adjusting the supply amount of the agricultural material by the agricultural material supply unit so that the change state of the agricultural material obtained by the change state calculation unit becomes a preset appropriate change state And a supply amount control unit.

  According to the present invention, since the agricultural material supply unit supplies the field with the work travel, the amount of agricultural material mounted on the vehicle body decreases. Therefore, the consumption calculation unit calculates the consumption amount of the agricultural material consumed along with the traveling, and the change state calculation unit determines the change state of the agricultural material based on the consumption calculation result and the positioning unit positioning result. Desired. The change state of the agricultural material includes, for example, information on how much agricultural material is supplied per unit area of the field. Here, the preset travel route may be input in advance and stored in the storage means provided in the aircraft, and in addition, for example, a management computer provided in another location Or the like may be transmitted by wireless communication.

  From the information on the position of the vehicle body measured by the positioning unit, it is possible to know how much the vehicle body has actually traveled. In addition, information on how much agricultural material has been consumed is known. Therefore, the state of change of the agricultural material, for example, how much agricultural material is supplied per unit area of the field can be known from the information.

  Then, the supply amount control unit adjusts the supply amount of the agricultural material by the agricultural material supply unit so that the change state of the agricultural material becomes a preset appropriate change state. The measurement of the vehicle body position by the positioning unit is continuously performed, and the adjustment of the change state of the agricultural material as described above can always be performed while the vehicle body is traveling. That is, if the change state of the agricultural material is not the proper change state as the vehicle body travels, the supply amount of the agricultural material is adjusted so as to become the proper change state. There is nothing. Here, the preset appropriate change state may be input in advance and stored in the storage means provided in the machine body. In addition to this, for example, for management provided in another place It may be transmitted from a computer or the like by wireless communication.

  Therefore, it has become possible to make the supply state of the agricultural material to the field always an appropriate supply state by effectively using the measurement result by the positioning unit.

  In the present invention, it is preferable that the agricultural material is a fertilizer supplied to a field, and the appropriate change state is a state where a preset amount of fertilizer set in advance per unit area of the field is supplied. .

  According to this configuration, since an appropriate amount of fertilizer is supplied to the field, the growth of the crop is favorably performed. Therefore, it is possible to increase the crop yield in the field.

  In the present invention, the agricultural material is a seedling planted in the field as it travels in the field, and the appropriate change state is a state in which a predetermined amount of seedlings set in advance per unit area of the field is planted. It is preferable.

  According to this configuration, when seedlings are planted in the field, the amount of seedlings corresponding to the field that is the work target is limited, but by limiting the amount of seedlings per unit area of the field, the limitation Can be planted evenly in the field. As a result, it is possible to achieve a good growth state and increase the yield.

  In the present invention, the traveling route performs auxiliary work on at least one of the agricultural material and the vehicle-mounted material other than the agricultural material among the vehicle-mounted materials whose loading amount changes with traveling. It is preferable that a specific auxiliary work point is included.

  According to this configuration, the vehicle body automatically travels along the travel route and supplies agricultural materials to the farm field. When the vehicle body reaches the auxiliary work point, the automatic operation control unit recognizes that, so the operator Can inform you of that. At the auxiliary work point, auxiliary work for agricultural materials, for example, replenishment work for agricultural materials can be performed.

  At the auxiliary work point, an auxiliary work may be performed on a vehicle-mounted object other than agricultural materials among the vehicle-mounted objects whose mounting amount changes with traveling. For example, in the case of a farm vehicle that harvests crops as it travels, the harvested crops can be discharged to the ground side at an auxiliary work point.

  Therefore, according to the present configuration, the vehicle body can be automatically operated while passing through the auxiliary work point, and the work efficiency can be improved.

  In the present invention, it is preferable that the auxiliary work point can be changed and set.

  According to this configuration, the auxiliary work point can be changed according to the actual situation in the farm field to be worked on, the difference in the type of crop, etc., so auxiliary work for agricultural materials, for example, supply work of agricultural materials Etc. can be performed at an appropriate timing according to the actual situation.

  In the present invention, it is preferable that the vehicle-mounted item other than the agricultural material is a crop harvested with traveling.

  According to this configuration, the harvested crop can be collected even during the traveling of the work traveling route in the field, rather than waiting for the harvested crop to be collected until the work traveling in the field is completed. it can.

It is a whole side view of a riding rice transplanter. It is a schematic plan view showing a steering configuration and the like. It is a block diagram which shows a control structure. It is a figure which shows a seedling removal amount adjustment mechanism and a feeding amount adjustment mechanism. It is a top view which shows the driving | running route of the work vehicle in an agricultural field, the auxiliary | assistant work point for auxiliary | assistant work, etc. FIG. It is a top view which shows the movement path | route of the vehicle body etc. in the automatic movement control for auxiliary | assistant work.

Hereinafter, an embodiment in which the present invention is applied to a riding rice transplanter which is an example of a work vehicle will be described with reference to the drawings.
In this embodiment, the direction indicated by the reference symbol F described in FIGS. 1 and 2 is the front side of the aircraft, and the direction indicated by the reference symbol B described in FIGS. The direction indicated by the reference symbol U shown in FIG. Further, the direction indicated by the symbol R shown in FIG. 2 is the right side of the aircraft, and the direction indicated by the symbol L is the left side of the aircraft.

  As shown in FIG. 1, the riding rice transplanter exemplified in this embodiment is a riding type four-wheel drive type traveling vehicle body 1, and a parallel quadruple link connected to the rear part of the traveling vehicle body 1 so as to be able to swing up and down. Type link mechanism 2, hydraulic lifting cylinder 3 that swings and drives the link mechanism 2, seedling planting device 4 that is connected to the rear end of the link mechanism 2 in a rollable manner, and the rear end of the traveling vehicle body 1 To a seedling planting device 4 and so on. The lifting cylinder 3 is supplied and discharged with pressure oil by an electrically controlled valve unit 3A.

  The traveling vehicle body 1 includes, as the traveling device 6, left and right front wheels 6A that can be steered and left and right rear wheels 6B that cannot be steered. An engine 7 is mounted on the front portion of the traveling vehicle body 1, and power from the engine 7 is supplied to the front wheels 6A and the rear wheels 6B via a hydraulic continuously variable transmission 8 and a transmission mechanism (not shown) in the transmission case 9. On the other hand, the seedling planting device 4 is intermittently transmitted to the seedling planting device 4 via the planting clutch 10 (see FIG. 3), and is intermittently transmitted to the fertilizer application device 5 via the fertilizing clutch 11 (see FIG. 3). As shown in FIG. 3, the planting clutch 10 is turned on and off by the operation of the first clutch motor 12. The fertilizer application clutch 11 is turned on and off by the operation of the second clutch motor 13.

  The seedling planting device 4 is configured in an eight-row planting format, and includes a leveling float 14, a seedling mount 15, an eight-row planting mechanism 16, and the like. The leveling float 14 slides on the muddy surface of the paddy field as the traveling vehicle body 1 travels in a state where they are in contact with the ground, thereby leveling the muddy surface such as a planting planned place. The seedling stage 15 is formed so that eight mat-like seedlings can be placed thereon. The seedling table 15 reciprocates in the left-right direction with a fixed stroke corresponding to the left and right width of the mat-shaped seedling, and the vertical feed mechanism 17 moves on the seedling table 15 every time the seedling table 15 reaches the left and right stroke ends. The mat-like seedlings are vertically fed at a predetermined pitch toward the lower end of the seedling stage 15. The eight planting mechanisms 16 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the planting strips. And each planting mechanism 16 cuts out one seedling from the lower end of each mat-like seedling placed on the seedling stage 15 by the power from the traveling vehicle body 1 and plantes it in the mud after the leveling. Thereby, in the operating state of the seedling planting device 4, seedlings can be taken out from the mat-like seedlings placed on the seedling stage 15 and planted in the mud portion of the paddy field.

  The seedling planting device 4 is provided with a seedling removal amount adjusting mechanism 18 that adjusts a seedling removal amount by the planting mechanism 16. As shown in FIG. 4, the planting mechanism 16 takes out one plant of seedlings through a seedling extraction port formed in a guide rail 15 a that slides and guides the lower end of the seedling placing table 15. The amount of seedlings is adjusted by changing the position of the seedling platform 15 and the guide rail 15a that slides and guides the lower end of the seedling platform 15 up and down.

  In other words, as shown in FIG. 4, the seedling amount adjustment mechanism 18 includes a seedling amount adjustment motor 19 with a speed reduction mechanism that is an actuator for changing the position of the seedling mount 15 and the guide rail 15 a up and down. The fan-shaped gear 20 that meshes with the pinion gear provided on the output shaft of the seedling removal amount adjusting motor 19 is provided. Further, the seedling removal amount adjusting mechanism 18 includes a support arm 21 inserted in the front portion of the guide rail 15a and a support shaft 22 that supports the support arm 21 so as to be swingable. The support arm 21 and the sector gear 20 are linked by a connecting arm 23. The rotation shaft 24 of the sector gear 20 is provided with a seedling removal amount sensor 25 that detects a rotation angle (a seedling removal amount) of the sector gear 20. By driving the seedling amount adjusting motor 19 in one direction, the seedling table 15 and the guide rail 15a are moved upward, and by driving the seedling amount adjusting motor 19 in the other direction, the seedling table 15 and the guide rail 15a are moved. Move down. The amount of seedling removal is changed by the vertical movement of the seedling table 15 and the guide rail 15a.

  As shown in FIG. 1, the seedling stage 15 is provided with an upper presence / absence sensor S1 at an upper position of the seedling stage 15 and a lower presence / absence sensor S2 at a lower position in order to determine the presence / absence of a mat-like seedling. Yes. The lower presence / absence sensor S2 is used to notify a corresponding alarm when the remaining amount of the mat-like seedling is reduced. The upper presence sensor S1 is used for measuring the number of mat-like seedlings placed on the seedling placing table 15. The upper presence sensor S1 and the lower presence sensor S2 are configured by contact sensors.

  The fertilizer applicator 5 includes a horizontally long hopper 26, a feeding mechanism 27, an electric blower 28, a plurality of fertilizer hoses 29, and a grooving device 30 provided for each strip. The hopper 26 stores granular or powdered fertilizer. The feeding mechanism 27 is operated by the power transmitted through the fertilizing clutch 11 and feeds out two fertilizers from the hopper 26 by a predetermined amount. The blower 28 is operated by electric power from a battery (not shown) mounted on the traveling vehicle body 1, and generates a conveying wind for conveying the fertilizer fed by each feeding mechanism 27 toward the mud surface of the field. Each fertilizer hose 29 guides the fertilizer conveyed with conveyance wind to each groove producing machine 30. Each grooving device 30 is arranged in each leveling float 14. And each grooving device 30 raises / lowers with each leveling float 14, and forms the fertilizer groove in the mud part of a paddy field, and guides a fertilizer in the fertilization groove at the time of the work running which each leveling float 14 contacts.

  The fertilizer application device 5 has an operation state in which the fertilizer stored in the hopper 26 is supplied to the field by a predetermined amount by an intermittent operation of the power application fertilizer clutch 11 and an intermittent operation of the blower 28, and an inoperative state in which the supply is stopped. And can be switched.

  The fertilizer applicator 5 is provided with a feeding amount adjusting mechanism 31 that can change and adjust the amount of fertilizer fed by the feeding mechanism 27. As shown in FIG. 4, the feed amount adjusting mechanism 31 includes a screw shaft 33 for displacing an adjusting body 32 for adjusting the feed amount in the feed mechanism 27, and the screw shaft 33 in the forward and reverse directions via a gear. A fertilizer adjustment motor 34 to be rotated and a position detection sensor 35 for detecting a displacement position of the adjustment body 32 based on the rotation of the screw shaft 33 are provided.

  The fertilizer applicator 5 is provided with a weight sensor 36 that can measure the weight of the fertilizer stored in the hopper 26. Although not described in detail, the hopper 26 is supported so as to be slightly movable up and down, and the weight sensor 36 measures the hopper 26 and the weight of the fertilizer stored therein.

  As shown in FIG. 1, the traveling vehicle body 1 includes a driving unit 40 on the rear side. The driving unit 40 includes a steering wheel 41 for front wheel steering, a main speed change lever 42 that enables a change in setting of the engine speed and a speed change operation of the continuously variable transmission 8, and a sub speed change that enables a speed change operation of the sub speed change device. The first operation lever 45 and the second operation lever 46 that enable the lever 43, the raising / lowering operation and switching of the operation state of the seedling planting device 4, a liquid crystal display type display unit 47 that displays various information and notifies the operator. (Refer to FIG. 3), and a driver's seat 48 for the operator.

  The main transmission lever 42 is disposed adjacent to the left side of the steering wheel 41. The main transmission lever 42 is a swing operation type that can swing in the front-rear direction and the left-right direction, and is linked to an operation shaft (not shown) of the continuously variable transmission 8. The main transmission lever 42 has a neutral position, a plurality of forward shift positions on the front side of the vehicle with respect to the neutral position, and a plurality of reverse speeds on the rear side of the vehicle with respect to the neutral position by the holding action of the detent unit (not shown). The shift position is configured.

  The first operation lever 45 is a swing type that can be switched to planting, descending, neutral, ascending, and automatic operation positions, and is disposed adjacent to the right side of the driver seat 48. The second operation lever 46 is a neutral return type that swings up and down, and is disposed adjacent to the lower right of the steering wheel 41. The second operation lever 46 commands the raising and lowering of the seedling planting device 4.

  As shown in FIG. 2, the steering wheel 41 includes a steering gear 50 that rotates integrally with the steering wheel 41 via a steering shaft 49, a sector gear 51 that meshes with the steering gear 50, and a steering member 52 that swings integrally with the sector gear 51. And, the left and right front wheels 6A are connected to each other via left and right tie rods 54 extending between the steering member 52 and the operation arms 53 of the left and right front wheels 6A.

  The traveling vehicle body 1 includes a mechanism for intermittently operating the left and right side clutches 55 in conjunction with the operation of the steering wheel 41. That is, the left and right linkage rods 58 that link the steering member 52 and the operation arms 57 of the left and right side clutches 55 are provided. The left and right linking rods 58 are provided with elongated holes 58 a that set the relationship between the operation angle θ of the steering member 52 and the on / off operation of the left and right side clutch 55 at the linking position with the operation arm 57.

  With the above configuration, the left and right front wheels 6 </ b> A are steered from the rectilinear position to the turning direction according to the amount of turning operation of the steering wheel 41. If the steering member 52 has a swing angle smaller than the second set angle θb, the side clutch 55 maintains the connected state, and if the steering member 52 becomes larger than the second set angle θb, the left side clutch 55 is in the disconnected state. Switch to. On the other hand, the right side clutch 55 is maintained in the connected state. Thereby, the transmission to the left rear wheel 6B located inside the turning is cut off, and a small left turning state is obtained in which the turning radius of the traveling vehicle body 1 is reduced. The swinging operation of the steering member 52 is performed by a steering motor 59 as will be described later, in addition to the manual turning operation of the steering wheel 41. The swing shaft of the steering member 52 is provided with a steering angle sensor 56 that detects a swing angle (steering angle).

  The traveling vehicle body 1 is provided with a control device 60 that executes various controls. The control device 60 includes a microcomputer. The control device 60 controls the raising / lowering operation of the seedling planting device 4 and the operating state of the seedling planting device 4 and the fertilizer application device 5 based on commands from the first operation lever 45 and the second operation lever 46.

  As shown in FIG. 3, the traveling vehicle body 1 automatically operates the steering shaft 59, that is, the steering member 52 that can rotate the steering member 52 and the main transmission lever 42 via the gear mechanism 61 (see FIG. 2). An electric transmission motor 62 that enables this, a positioning unit 63 that measures the position and orientation of the traveling vehicle body 1, and the like are provided. Further, a manual type automatic on / off switch 64 is provided which enables selection between a manual operation mode of the operation mode and an automatic operation mode for executing automatic work travel control described later. This automatic on / off switch 64 is provided in the vicinity of the grip portion of the main transmission lever 42 so that a finger can be operated.

  The positioning unit 63 includes a satellite navigation device 65 that measures the position and orientation of the traveling vehicle body 1 using a well-known GPS (Global Positioning System), which is an example of a Global Navigation Satellite System (GNSS). ing. As a positioning method using GPS, in this embodiment, RTK-GPS (Real Time Kinematic GPS) suitable for positioning of a moving body is adopted.

  The satellite navigation device 65 includes an antenna unit 66 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and positioning data transmitted from a reference station (not shown) installed at a known position. I have. The reference station transmits positioning data obtained by receiving radio waves from GPS satellites to the satellite navigation device 65. The satellite navigation device 65 obtains the position and orientation of the traveling vehicle body 1 based on positioning data obtained by receiving radio waves from GPS satellites and positioning data from a reference station.

  The antenna unit 66 is arranged at the left and right center of the upper end of the spare seedling frame 67 so that the reception sensitivity of radio waves from GPS satellites is increased. Therefore, the position and orientation of the traveling vehicle body 1 measured using the GPS include a positioning error due to the positional deviation of the antenna unit 66 due to yawing, pitching, or rolling of the traveling vehicle body 1.

  Therefore, the antenna unit 87 has a three-axis gyroscope (not shown) and a three-direction acceleration sensor (not shown) in order to enable correction for removing the positioning error. An inertial measurement unit (IMU) 68 that measures the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 1 is provided.

  As shown in FIG. 3, the control device 60 includes a storage unit 60A in which map data indicating a travel route Q and auxiliary work points P0 in a preset field are written, and the travel route Q and positioning. Based on the positioning result of the unit 63, the automatic operation control unit 60B that automatically operates the vehicle body in the work travel route Qa, the consumption for obtaining the consumption of mat-like seedlings and fertilizer as an example of agricultural materials that change with traveling Based on the calculation unit 60C, the calculation result of the consumption calculation unit 60C, and the positioning result of the positioning unit 63, the change state calculation unit 60D that determines the change state of the mat-like seedling and the fertilizer, and the change state calculation unit 60D The mat-like seedlings are supplied by the seedling planting device 4 as the agricultural material supply unit so that the changing state of the mat-like seedlings and fertilizer loaded amount becomes a preset appropriate change state. , And, and a supply amount control section 60E for performing the supply amount adjustment control that adjusts the supply amount of the fertilizer by fertilizing apparatus 5 as the agricultural material supply section. The automatic operation control unit 60B has various control programs for appropriately controlling the operation of the transmission motor 62, the steering motor 59, and the like.

  As shown in FIG. 5, the field travel route Q includes a plurality of linear work travel routes Qa, a plurality of mobile travel routes Qb, a plurality of work start points P1, an auxiliary work point P0, and a plurality of work routes Qa. The work end point P2, etc. are included. The auxiliary work point P0 is a specific point suitable for performing auxiliary work on agricultural materials (mat-like seedlings and fertilizer) whose mounting amount changes as the vehicle travels. Specifically, the auxiliary work is a replenishment work of either a mat-like seedling or a fertilizer. The auxiliary work point P0 is specified as a point adjacent to the entry / exit route Qz with respect to the farm field. In this auxiliary work point P0, spare seedlings and fertilizers are placed, and auxiliary work for performing auxiliary work is performed. Person is waiting.

  When the first operation lever 45 is set to the automatic position and the automatic operation mode is selected by manual operation of the automatic on / off switch 64, the automatic operation control unit 60B uses the work travel route Qa. Automatic work travel control for automatically traveling the traveling vehicle body 1 is executed.

Hereinafter, the control operation in the automatic operation traveling control of the automatic operation control unit 60B will be described.
In the automatic work travel control, first, based on the information on the travel route Q and the positioning result of the positioning unit 63, it is determined whether or not the travel vehicle body 1 has moved to the work start point P1 on the first work travel route Qa. To do. When the traveling vehicle body 1 moves to the work start point P1, automatic driving is started.

  In automatic driving, the current position and current direction of the traveling vehicle body 1 are within the allowable range of the work travel route Qa based on the map data indicating the travel route Q stored in the storage unit 60A and the positioning result of the positioning unit 63. And whether the traveling vehicle body 1 has moved to the work end point P2 is determined. When one or both of the current position and the current direction of the traveling vehicle body 1 are out of the allowable range of the work travel route Qa while traveling on the work travel route Qa, a trajectory correction process for returning to the allowable range is performed. . In the track correction process, the operation of the transmission motor 62 is controlled so that the vehicle speed decreases from the speed for normal traveling to the speed for track correction. Then, the operation of the steering motor 59 is controlled so as to correct the deviation from the work travel route Qa. Thereafter, when it is detected that the current position and current direction of the traveling vehicle body 1 have returned to the allowable range of the work travel route Qa, the speed of the speed change motor 62 is increased so that the vehicle speed increases from the speed for correcting the track to the speed for normal travel. Control the operation.

  When the traveling vehicle body 1 moves to the work end point P2, the automatic driving on the work travel route Qa is terminated. After the automatic driving is completed, the vehicle is in a standby state where automatic driving is not performed until the traveling vehicle body 1 moves to the work start point P1 of the next stroke. When the traveling vehicle body 1 moves to the work starting point P1, automatic driving is performed. Start. Hereinafter, such automatic operation is repeated.

  For the mat-like seedlings, the consumption amount calculation unit 60C is configured to calculate the consumption amount of the seedlings by counting the number of consumed mat-like seedlings. Specifically, the consumption amount calculation unit 60 </ b> C is configured to calculate the distance traveled by the planting operation calculated based on the positioning result of the positioning unit 63, the seedling amount per strain detected by the seedling amount sensor 25. Based on the detection data, the number of vertical feeds by the vertical feed mechanism 17, and the like, the actual number of mat-shaped seedlings used per unit area is counted. A vertical feed switch 69 for detecting that the vertical feed mechanism 17 is operated is provided, and the information is input to the control device 60. The number of mat-like seedlings placed on the seedling placing table 15 is configured to be integrated every time the mat-like seedlings are detected by the upper presence sensor S1. In addition, in the case where the lateral feed amount of the seedling placing table 15 corresponding to the interval of the seedling planting operation by the planting mechanism 16 is configured to be changeable, the actual use of the mat-like seedling is also taken into consideration with the information of the lateral feed amount It is recommended to count the number of sheets.

  For the fertilizer, the consumption amount calculation unit 60C has a unit area based on the distance traveled data calculated based on the positioning result of the positioning unit 63 and the measurement result of the weight sensor 36 that measures the weight of the hopper 26. It is configured to determine the amount of fertilizer used for hitting.

The supply amount control unit 60E is based on the seedling consumption data obtained by the consumption calculating unit 60C, the fertilizer consumption data, and the positioning results of the positioning unit 63. Is controlled so as to adjust the amount of seedling taken by the seedling planting device 4 and the feeding amount of the fertilizer application device 5 so as to be in a proper change state set in advance.

  Information on the set amount for the fertilizer set in advance per unit area of the field as an appropriate change state, and information on the set amount for the seedling set in advance per unit area of the field , Stored in advance in the storage unit 60A.

  In other words, the supply amount control unit 60E counts the number of mat-shaped seedlings put on the seedling placing stand 15 every time the mat-like seedlings are detected by the upper presence sensor S1, and a plurality of them are placed on one placement surface. The number of sheets placed in the state detected by the upper presence sensor S1 when placed is counted. The seedling consumption rate is obtained from the ratio between the number of mat-like seedlings placed in this manner and the actual number of used seedlings obtained by the consumption calculating unit 60C.

  Then, the operation of the seedling removal amount adjustment mechanism 18 is controlled so as to change and adjust the seedling removal amount so that such a seedling consumption rate becomes a target consumption rate that is set in advance as appropriate in the field. . The state where the seedling consumption rate becomes the target consumption rate corresponds to the appropriate change state, and specifically refers to a state where a predetermined amount of seedlings are planted per unit area of the field. In other words, the correspondence between the amount of seedlings planted per unit area of the field and the amount of seedlings is held as map data, and the detected value of the seedling removal amount sensor 25 is obtained from the map data. Then, the seedling removal amount adjusting motor 19 is operated.

  Based on the fertilizer consumption data obtained by the consumption calculation unit 60C and the positioning result of the positioning unit 63, the supply amount control unit 60E sets the change state of the fertilizer to an appropriate change state set in advance. Thus, the feed amount in the feed amount adjustment mechanism 31 is adjusted. A state in which a set amount of fertilizer set in advance per unit area of the field is supplied corresponds to an appropriate change state. In other words, the correspondence between the supply amount of fertilizer supplied per unit area of the field and the feed amount of the fertilizer is held as map data, and the feed value for which the detection value of the position detection sensor 35 is obtained from the map data The fertilizer adjustment motor 34 is actuated so as to reach the quantity.

  The automatic operation control unit 60B does not continue the work travel to the work end point P2 of the next work travel route Qa while traveling on the current work travel route Qa due to the shortage of mat-like seedlings and fertilizer. When it is determined that it is possible, when the traveling vehicle body 1 reaches the work end point P2 of the current work travel route Qa, the automatic work travel control is interrupted and the storage unit 60A is instructed to write the interrupted work end point P2. Thereafter, automatic movement control for auxiliary work for automatically moving the traveling vehicle body 1 from the work end point P2 at which the automatic work drive control is interrupted to the auxiliary work point P0 described above is executed (see FIG. 6). If the lower presence sensor S2 is in a state where it does not detect the seedling during execution of the automatic work traveling control, the operator can be instructed to supply the spare seedling by notifying the operator.

  The automatic operation control unit 60B moves the traveling vehicle body 1 from the auxiliary work point P0 to the work resuming point P4 when the resumption of the automatic work traveling control is instructed after reaching the auxiliary work point P0 by the automatic movement control for auxiliary work. The automatic work travel control is resumed.

  In the travel travel route Qb in which the automatic work travel control and the automatic movement control for auxiliary work are not performed, the steering operation is manually performed by the operator. At the work end point P2, the raising operation of the seedling planting device 4 and the accompanying turning off operation and turning operation of the fertilizer clutch 11 and the planting clutch 10 are performed. At the work start point P1, the lowering operation of the seedling planting device 4 is performed. The operation of entering the fertilizing clutch 11 and the planting clutch 10 is performed accordingly.

[Another embodiment]
(1) In the above embodiment, the consumption amount calculation unit 60C is configured to calculate the consumption amount of seedlings by counting the number of consumed seedlings used for seedlings. Various configurations such as a configuration for obtaining the amount of seedling consumption by detecting the weight of the planting device 4 and a configuration for measuring the area of the seedling placed by an optical sensor or the like can be employed.

(2) In the above embodiment, the consumption calculation unit 60C is configured to obtain the fertilizer consumption by measuring the weight of the hopper 26 for the fertilizer, but instead of this configuration, an optical sensor is used. Various configurations such as a configuration for detecting the amount of consumption based on the detected value of the position detection sensor 35 and the measured value of the operating time during which the fertilizer feeding work is performed, etc. Can be adopted.

(3) In the above embodiment, seedlings and fertilizers are illustrated as agricultural materials. However, for example, fuel for the engine 7 may be used, and a seeding device is provided instead of the seedling planting device 4. In addition, those that target seed pods as agricultural materials may be used, and those that include a drug spraying device may target drugs as agricultural materials.

(4) In the above-described embodiment, as the specific auxiliary work point for performing the auxiliary work on the agricultural material, the supply of the agricultural material (seedling, fertilizer) is shown. A specific auxiliary work point for performing auxiliary work on the vehicle-mounted material other than the agricultural material (seedling, fertilizer) among the vehicle-mounted materials whose loading amount changes may be written. For example, if the farm vehicle is a harvesting machine that harvests crops, the crop is harvested as it travels, but if the storage part that stores the crops (grains) is full during the work, It is necessary to discharge outside. Therefore, an auxiliary work point for discharging the harvest may be set.

(5) In the above embodiment, a case where the specific auxiliary work point P0 is written in the storage unit 60A is shown. However, the auxiliary work point may not be provided.

(6) In the above embodiment, the vehicle body is automatically driven on the linear work travel route Qa in the travel route Q. However, the automatic operation control unit 60B performs the automatic operation of the vehicle body in the entire travel route Q. It may be configured to perform.

(7) In the above embodiment, map data indicating the traveling route Q in the field, information on the set amount for the fertilizer that is set in advance per unit area of the field as an appropriate change state, and The information on the set amount for the seedling set in advance per unit area of the farm field has been stored in advance in the storage unit 60A. However, the present invention is not limited to this configuration. When performing work on the field, it may be transmitted by wireless communication from a management computer or the like provided in another place.

  The present invention can be applied to an agricultural work vehicle in which agricultural materials are consumed with traveling.

4,5 Agricultural material supply unit 60B Automatic operation control unit 60C Consumption calculation unit 60D Change state calculation unit 60E Supply amount control unit 63 Positioning unit P0 Auxiliary work point Q Traveling route

Claims (6)

A positioning unit that measures the position and orientation of the vehicle body;
An automatic operation control unit for executing automatic work traveling control for automatically performing vehicle traveling along the traveling route based on a preset traveling route and a positioning result of the positioning unit;
Agricultural material supply unit that supplies agricultural material mounted on the vehicle body to the field with traveling,
A consumption calculation unit for obtaining consumption of the agricultural material consumed along with traveling;
Based on the calculation result of the consumption calculation unit and the positioning result of the positioning unit, a change state calculation unit for obtaining a change state of the agricultural material,
Execute supply amount adjustment control for adjusting the supply amount of the agricultural material by the agricultural material supply unit so that the change state of the agricultural material obtained by the change state calculation unit becomes a preset appropriate change state A farm vehicle equipped with a supply amount control unit.   The said agricultural material is a fertilizer supplied to a farm field with driving | running | working, The said appropriate change state is a state in which the fertilizer of the preset amount preset with respect to the unit area of a farm field is supplied. Farm work vehicle.   The said agricultural material is a seedling to be planted in a field with traveling, and the appropriate change state is a state in which a preset amount of seedling set in advance per unit area of the field is planted. Farm work vehicle.   In the travel route, a specific auxiliary work point for performing auxiliary work on at least one of the agricultural material and the vehicle-mounted material other than the agricultural material among the vehicle-mounted material whose mounting amount changes with traveling. The agricultural work vehicle according to any one of claims 1 to 3, wherein:   The agricultural work vehicle according to claim 4, wherein the auxiliary work point can be changed and set.   The agricultural work vehicle according to claim 4 or 5, wherein the vehicle-mounted item other than the agricultural material is a crop harvested with traveling.

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