JP2019170189A - Field work machine and field work support program - Google Patents

Abstract

To provide a field work machine capable of calculating a slip ratio based on a movement amount of a machine body detected without depending on physical means and artificial means.SOLUTION: A field work machine of the invention comprises: a travel machine body comprising a front wheel and a rear wheel; a rotation meter 2 for detecting a rotation speed of at least any of the front wheel and the rear wheel; a machine body position information detector 3 for detecting machine body position information of the travel machine body; and a controller 5. The controller 5 comprises: a rotation speed acquisition part 51 for acquiring a rotation speed N detected by the rotation meter 2; a machine body position information acquisition part 52 for acquiring the machine body position information P detected by the machine body position information detector 3; a calculation part 53 for calculating a slip ratio S based on the rotation speed N and the machine body position information P; and a slip ratio storage part 54a for storing the slip ratio S.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a field work machine having a function of calculating and storing a slip ratio, and a field work support program having a similar function.

  In a field work machine having a traveling machine body and a field work device, the operation speed of the field work device is changed according to the travel speed so that the same work result can be obtained for the field regardless of the travel speed. Is widely used. In such a configuration, generally, the operation speed of the field work device is adjusted based on the slip rate of the field.

  As a method for adjusting the operation speed of the farm work apparatus by reflecting the slip ratio, for example, Patent Document 1 discloses a method for detecting a slip ratio by providing a body movement amount detection means. Further, Patent Document 2 discloses a method in which an operator operates a transmission for a work implement based on an interval between seedlings actually planted, a feeling at the time of maneuvering, and the like.

JP 2009-268418 A JP 2011-206032 A

  However, in the technique such as Patent Document 1, since the airframe movement amount detection means based on the rotational speed of the rolling element that rolls on the field is employed, the slippage of the rolling element is not sufficiently considered. There is a possibility that an accurate slip rate cannot be obtained. In addition, in the technique such as Patent Document 2, there is a problem that operation is difficult for an inexperienced worker, and a problem that work efficiency is poor because forced adjustment is required even by an experienced worker. was there.

  In order to solve such a problem, it is required to realize a field work machine that calculates a slip ratio based on the movement amount of the machine body detected without depending on physical means or artificial means.

  A field work machine according to the present invention includes a traveling machine body having a front wheel and a rear wheel, a tachometer for detecting the rotational speed of at least one of the front wheel and the rear wheel, and body position information for detecting machine body position information of the traveling machine body. A detection device; and a control unit, wherein the control unit acquires a rotation number acquisition unit that acquires the rotation number detected by the tachometer, and acquires the body position information detected by the body position information detection device. It has a machine body position information acquisition part, a calculating part which computes a slip rate based on the number of rotations and the machine body position information, and a slip rate storage part which memorizes the slip rate.

  The field work support program according to the present invention is a field work support program that supports field work by a field work machine including a traveling machine body, and acquires the rotational speed of at least one of the front wheels and the rear wheels of the traveling machine body. A rotational speed acquisition function, a vehicle body position information acquisition function for acquiring machine body position information of the traveling machine body, a calculation function for calculating a slip ratio based on the rotational speed and the machine body position information, and the slip ratio are stored. And a slip ratio storage function to be realized by a computer.

  According to these configurations, an accurate slip ratio calculated based on the body position information can be automatically obtained. In addition, since the slip rate is calculated during actual work traveling in the field, the field work machine can be operated by reflecting the difference in the slip rate due to the field and the difference in the slip rate due to the weather.

  Hereinafter, preferred embodiments of the present invention will be described. However, the scope of the present invention is not limited by the preferred embodiments described below.

  According to an aspect of the field work machine according to the present invention, as one aspect, the computing unit is based on the machine speed calculated based on the rotation speed and the machine speed calculated based on the machine position information. It is preferable to calculate the slip ratio.

  According to this configuration, since the slip ratio can be calculated based on the number of rotations at which at least one of the front wheels and the rear wheels is actually rotated and the actual body position information of the traveling body, more accurate slip Rate can be obtained.

  As an aspect, the field work machine according to the present invention has the slip stored in the slip ratio storage unit when the operation of the traveling machine body is stopped and the stop is continued for a preset time. It is preferable to eliminate the rate.

  According to this configuration, the slip ratio can be automatically deleted in a situation where the work is considered to have been interrupted for a long time, for example, when the day on which the work is performed changes.

  In a field work machine according to the present invention, as one aspect, the control unit stores a traveling control unit that controls traveling of the traveling machine body, and information on a reference point related to the control of the traveling machine body by the traveling control unit. A first reference point position information that is the machine position information detected by the machine position information detection device at a first reference point that is an arbitrary point in the field. And the second reference point position information which is the machine position information detected by the machine position information detection device at a second reference point which is an arbitrary point different from the first reference point in the field, The travel control unit stores the travel aircraft in accordance with the first reference point and the first reference point position information, and the first reference point position information and the second reference point position information. First The slip ratio is controllable to run parallel to a reference line obtained by connecting the reference point, and when at least one of the first reference point position information and the second reference point position information is changed, the slip ratio It is preferable to delete the slip ratio stored in the storage unit.

  According to this configuration, the slip ratio can be automatically deleted in conjunction with the change of the reference point in the travel control function by the travel control unit.

  The field work machine concerning the present invention is further provided with an inclinometer which detects the inclination of the traveling machine body as one mode, and the control part is an inclination which acquires the inclination of the traveling machine body detected by the inclinometer. When the inclination acquired by the inclination acquisition unit exceeds a predetermined reference value, the slip ratio stored in the slip ratio storage unit is erased. Is preferred.

  According to this configuration, the slip ratio can be automatically erased in conjunction with entering or leaving the field or changing the field itself where the work is performed.

  In one aspect, the field work machine according to the present invention further includes an input unit that receives an input of an artificial operation, and an artificial operation for deleting the slip ratio is performed on the input unit. When it is broken, it is preferable to delete the slip rate stored in the slip rate storage unit.

  According to this configuration, the slip rate can be erased by the operator's voluntary intention.

  As an aspect, the field work machine according to the present invention is such that the control unit further includes a communication unit that communicates with an external server installed on a network, and the calculation unit is configured to communicate with the external server via the communication unit. The calculation unit is a transmission step in which the calculation unit transmits the machine body position information to the external server, the machine server position information transmitted from the calculation unit, and the external server. And a step of specifying the field where the field work machine is located at the time when the transmission step is executed, and the field related to the field specified by the external server. A field information acquisition process including a return step of returning information to the calculation unit, wherein the calculation unit stores the slip ratio in the slip ratio recording. When storing the slip rate, the slip rate calculation time field information which is the field information acquired by the field information acquisition process at the time of calculating the slip rate is stored in the slip rate storage unit together with the slip rate, When the slip rate calculation field information stored in the slip ratio storage unit does not match the query time field information that is the field information acquired by the field information acquisition process at an arbitrary time point It is preferable to delete the slip ratio stored in the slip ratio storage unit.

  According to this configuration, it is possible to perform work utilizing the farm field information accumulated on the network. In particular, when the same field work machine is used over a plurality of fields, the slip ratio can be automatically erased in conjunction with a change in the field itself where the work is performed.

  The field work machine concerning the present invention, as one mode, the operation part transmits the slip rate to the external server, and the external server uses the slip rate transmitted from the operation part as the field information. It is preferable to store it as a part of the field slip rate.

  According to this configuration, since the field information and the slip rate can be linked and accumulated on the network, not only the field work machine that calculates the slip rate but also other field work machines can use the information on the slip rate. Can do. Further, slip rate information related to a plurality of fields can be accumulated on the network, and this can be used for farming related to a plurality of fields.

  In one embodiment, the field work machine according to the present invention executes the field information acquisition process when the slip ratio is not stored in the slip ratio storage section, and is returned from the external server. Preferably, the field slip rate included as part of the field information is stored in the slip rate storage unit as the slip rate.

  According to this configuration, the slip rate information accumulated on the network can be automatically applied to the work to be performed at that time.

  As an aspect, the field work machine according to the present invention is such that the control unit further includes a slip rate history storage unit that stores a history of the slip rate, and the calculation unit stores the slip rate in the slip rate storage unit. When the slip ratio is deleted, the slip ratio is stored in the slip ratio history storage section as a slip ratio history. When the slip ratio is not stored in the slip ratio storage section, the slip ratio history is stored. It is preferable that the latest slip ratio history stored in the storage unit is stored in the slip ratio storage unit as the slip ratio.

  According to this configuration, information on the slip rate at the previous work can be automatically applied to the work to be performed at that time.

  In a field work machine according to the present invention, as one aspect, when the slip rate is not stored in the slip rate storage unit, the calculation unit uses the predetermined slip rate initial value as the slip rate as the slip rate. It is preferable to store in the rate storage unit.

  According to this configuration, the work can be performed by using a predetermined initial value, so that the work can be performed even before the slip ratio is calculated.

  In one aspect of the field work machine according to the present invention, it is preferable that the calculation unit calculates the slip ratio only when the field work machine is traveling straight.

  According to this configuration, since the slip ratio is calculated in the state in the traveling direction in which the field work can be actually performed, an effective and meaningful numerical value can be obtained.

  In one aspect, the field work machine according to the present invention further includes a field work device that performs work on the field, and the calculation unit has a predetermined slip rate calculation posture for the field work device. It is preferable to calculate the slip ratio only when taking it.

  According to this configuration, since the slip ratio is calculated in a posture in which field work can be actually performed, an effective and meaningful numerical value can be obtained.

  In a field work machine according to the present invention, as one aspect, the field work device is a seedling planting device, and the slip ratio calculation posture is a posture in which the seedling planting device can perform seedling planting work. It is preferable.

  According to this configuration, since the slip ratio is calculated in a posture where the seedling planting work can be actually performed, an effective and meaningful numerical value can be obtained.

  Further features and advantages of the present invention will become more apparent from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Side view of a field work machine according to the present invention Configuration diagram of a field work machine according to the present invention Explanatory drawing of the straight traveling support function in the agricultural field working machine which concerns on this invention.

  An embodiment of a field work machine according to the present invention will be described with reference to FIGS. This embodiment demonstrates as an example the case where the field work machine which concerns on this invention is the rice transplanter 100 which performs the rice transplanting work in a field. In addition, the field work machine which concerns on this invention is not limited to a rice transplanter, For example, a tractor, a combine, a riding management machine etc. may be sufficient.

[Basic structure of rice transplanter 100]
Below, the basic composition of the rice transplanter 100 which concerns on this embodiment is demonstrated (FIG. 1). The rice transplanter 100 includes a traveling machine 1, a tachometer 2, a GPS antenna 3 (an example of an aircraft position information detection device), an inclinometer 4, a control unit 5, and a seedling planting device 6 (an example of a field work device). Prepare. Here, “GPS” means a well-known GPS (Global Positioning System), which is an example of the Global Navigation Satellite System (GNSS), and the GPS antenna 3 is a positioning method using GPS. It is an antenna that can be used for.

  As shown in FIG. 1, the traveling machine body 1 includes a pair of left and right front wheels 11 and a rear wheel 12, and a driver seat 13 on which an operator can sit and perform various driving operations. In the following explanation, based on the worker seated on the driver's seat 13, the front direction of the worker is “front”, the back direction of the worker is “rear”, and the right hand side of the worker is “right”. ", The left hand side of the operator is defined as" left ".

  The rice transplanter 100 includes various sensors. The tachometer 2 detects the rotation speed N of the rear wheel 12. Further, the GPS antenna 3 detects the body position information P of the traveling body 1. The inclinometer 4 detects the degree of inclination G of the traveling machine body 1. As will be described later, the control unit 5 can monitor or control the operation state of the rice transplanter 100 using information detected by these sensors.

  Further, as shown in FIG. 1, the seedling planting device 6 includes a seedling planting unit 61 for planting seedlings in a field and a float 62 that is a ground contact point for a field scene. Are connected to the traveling machine body 1 through a lifting hydraulic cylinder 63 and a link mechanism 64. The seedling planting device 6 is configured to rise when the lifting hydraulic cylinder 63 is contracted, and to descend toward the field when the lifting hydraulic cylinder 63 is extended. 62 must be in contact with the farm scene. Here, the posture of the seedling planting device 6 in a state where the lifting hydraulic cylinder 63 is extended so that the float 62 is in contact with the field scene is defined as “seed planting posture (example of slip ratio calculating posture)”. The posture of the seedling planting device 6 in a state where the hydraulic cylinder 63 is contracted so that the float 62 does not come into contact with the farm scene is defined as a “running posture”.

  As shown in FIG. 2, a rotation speed acquisition unit 51 that acquires the rotation speed N of the rear wheel 12 detected by the tachometer 2, and a vehicle body position information acquisition unit 52 that acquires the vehicle body position information P detected by the GPS antenna 3. , A calculation unit 53 that calculates a slip ratio S based on the rotational speed N and the body position information P, a storage unit 54 that stores various information, a travel control unit 55 that controls the travel of the traveling body 1, and an inclinometer 4 displays an inclination degree acquisition unit 56 that acquires the inclination degree G detected by 4, an input unit 57 that receives an input of an artificial operation, a communication unit 58 that communicates with an external server 200 installed on a network, and displays various information. And a display unit 59. The storage unit 54 stores a slip rate storage unit 54 a that stores the slip rate S, a reference point storage unit 54 b that stores information on reference points related to the control of the traveling machine body 1 by the travel control unit 55, and a history of the slip rate S. And a slip ratio history storage unit 54c for storage.

The traveling control unit 55 can execute an automatic traveling mode in which the rice transplanter 100 automatically travels straight. A work travel R _W with planting work rice transplanter 100 along the path of the linear strip planting in the field, and a turning R _T when the banks for moving around when the banks in the path of the following conditions planting Repeat alternately (FIG. 3). In the automatic travel mode, of the running of these two embodiments, it can be automated steering for linear working travel R _W.

In order to use the automatic travel mode, the operator needs to register the reference line in the manual travel mode in which the rice transplanter 100 travels by human operation as shown in FIG. In the manual travel mode, when the rice transplanter 100 reaches the starting point A (example of the first reference point) of the reference line located near the bank, when the artificial operation is performed on the input unit 57, the travel control unit 55 the aircraft position information when performing the operation is stored in the reference point storage unit 54b as the first reference point position information P _a. Next, when the rice transplanter 100 runs straight along the straight line from the start point A of the reference line and reaches the end point B (example of the second reference point) of the reference line, an artificial operation on the input unit 57 is performed. Then, the traveling control unit 55 causes the reference point storage unit 54b to store the body position information when the artificial operation is performed as the second reference point position information P _B. Through the above operation, the line segment connecting the start point A and the end point B is registered in the reference point storage unit 54b as a reference line.

After the registration of the reference line is completed, a coastal turning run _RT for moving to a planting route adjacent to the reference line is performed. In the present embodiment, a mode in which the coastal turning travel _RT is performed in the manual travel mode will be described as an example.

When the coastal turning run _RT is performed, the rice transplanter 100 enters the strip planting route adjacent to the reference line. When the rice transplanter 100 continues to travel straight along the route in the manual travel mode, the travel control unit 55 determines whether or not to shift to the automatic travel mode based on a preset condition during the straight travel. The condition can be, for example, that the steering angle of the steering wheel is within a preset range, and that the vehicle travels in a straight line over a preset distance continuously along a route parallel to the reference line. When these conditions are satisfied, the display unit 59 displays that the shift to the automatic travel mode is possible. In this state, the traveling control unit 55 can shift to the automatic traveling mode by an artificial operation with respect to the input unit 57. When the traveling control unit 55 shifts to the automatic traveling mode, the rice transplanter 100 does not perform the manual operation by the operator. It is automatically controlled so as to perform linear operations running R _W.

  In addition, “parallel to the reference line” in the previous paragraph does not necessarily require that it is geometrically parallel, but in a mode having a suitable separation distance for proper growth in any part of the field. It is sufficient that the seedling is planted. Specifically, the planting route and the reference line traveling straight in the automatic traveling mode may be geometrically parallel, or the planting route and the reference line may be substantially parallel.

[Communication with external server 200]
Below, the communication function with the external server 200 of the rice transplanter 100 which concerns on this embodiment is demonstrated.

The external server 200 stores field information F related to a plurality of fields in advance. Here, as the field information F, the position information of the field, the address of the field, the name of the field, the manager of the field, the type of the crop produced in the field, the production before the previous year in the field Information such as the actual amount, the work history in the field, and the field slip rate recorded when the previous work was performed in the field is included.

The calculation unit 53 is configured to be able to communicate with the external server 200 via the communication unit 58 (FIG. 2), and can execute a field information acquisition process for acquiring the field information F from the external server 200. The field information acquisition process includes a transmission step, a specifying step, and a return step. In the transmitting step, the operating section 53 is the transmitting step transmits the aircraft position information P _N at the moment executed in the external server 200. In particular step, the external server 200, and the aircraft position information P _N sent from the arithmetic unit, and position information of each field included in the field information F relating to a plurality of fields which are previously stored in the external server 200, Are identified as the field where the rice transplanter 100 is located at the time when the transmission step is executed. In the return step, the field information F relating to the field identified by the external server 200 is returned to the calculation unit 53.

[Calculation and storage of slip ratio S]
Below, the calculation of the slip ratio S by the calculating part 53 and the process of the memory | storage in the rice transplanter 100 which concerns on this embodiment are demonstrated.

First, the calculation unit 53 multiplies the circumferential length W of the rear wheel 12 stored in advance in the storage unit 54 and the rotation speed N acquired by the rotation speed acquisition unit 51 to calculate the theoretical speed V _{1 of the} rice transplanter 100. Is calculated (ie, V ₁ = W × N).

Next, the arithmetic unit 53 based on the change with time of the aircraft position information P aircraft position information acquisition unit 52 has acquired to calculate the actual speed V ₂ of the rice transplanters 100. Actual speed V ₂ is a body position information P in at least two different points, its acquisition time is calculated based on. Alternatively, instead of the actual speed V ₂ calculated by the above method, may be used an average actual speed V _3, which is calculated as the moving average of the plurality of times are calculated actual speed V _2. With an average actual speed V _3, it preferred because it can reduce the influence of measurement errors in the aircraft position information P.

Subsequently, the calculation unit 53 calculates a slip ratio S as a reduction rate of the actual speed V ₂ with respect to the theoretical speed V ₁ (that is, S = (V ₁ −V ₂ ) / V ₁ ). Here, the slip rate S is a speed (theoretical speed) that is expected when the rice planter 100 moves forward by the rotation of the rear wheel 12 because the field scene and the rear wheel 12 slip due to factors such as the mud of the field scene. It is a numerical value that quantitatively represents the rate of decrease in the phenomenon that the speed at which the rice transplanter 100 actually travels forward (actual speed V ₂ ) becomes smaller than V ₁ ).

  The calculation of the slip ratio S is performed only when the seedling planting device 6 takes the seedling planting posture and the rice transplanter 100 is traveling straight. Since the slip rate S is to be calculated with respect to the value when the seedling planting work is performed, the slip rate S is effective only when it is calculated in a posture and a traveling direction in which the seedling planting work can be actually performed. This is because a meaningful value can be obtained.

Finally, the calculation unit 53 stores the slip rate S calculated by the above method in the slip rate storage unit 54a. At this time, the arithmetic unit 53, the field information F at the time when calculating the slip ratio S, as when the slip rate calculating field information F _S, and stores the slip rate storage unit 54a with the slip ratio S. As a result, the slip rate S can be added with information identifying the field from which the slip rate S has been calculated.

  The slip ratio S calculated in this way is used to control the operation of the seedling planting device 6 and realize an appropriate planting state. For example, by controlling the rotation speed of the seedling planting unit 61 based on the slip ratio S, the inter-plant distance between seedlings can be controlled to an arbitrary value.

The calculation unit 53 transmits the slip rate S to the external server 200 via the communication unit 58, and the external server 200 uses the slip rate S as a part of the field information F related to the field where the slip rate S is calculated. stored as a certain field slip ratio S _F. By comprising in this way, the information of the slip rate which concerns on several agricultural fields can be accumulate | stored in the external server 200, and this can be used for the farming which concerns on several agricultural fields.

[Renewal of slip ratio S]
Below, the update process of the slip ratio S memorize | stored in the slip ratio memory | storage part 54a in the rice transplanter 100 which concerns on this embodiment is demonstrated. Since the slip rate S may vary depending on the field, it may not be appropriate to continue to use the slip rate S stored in the slip rate storage unit 54a at the previous work when the field on which the work is performed changes. Further, since the slip rate S can change due to factors such as the weather even in the same field, it is not appropriate to continue to use the slip rate S from the previous work even when the work day changes. There is a case. If an inappropriate slip rate S is used, the seedling planting device 6 is not properly controlled, and an appropriate planting state may not be realized. Therefore, the slip rate S stored in the slip rate storage unit 54a is used. It needs to be updated appropriately.

  Since the control unit 5 of the rice transplanter 100 according to the present embodiment updates the slip rate S, the slip rate S stored in the slip rate storage unit 54a is automatically deleted when a predetermined condition is satisfied. Is set to In the following description, the slip ratio to be deleted from the slip ratio storage unit 54a is referred to as an old slip ratio S ′.

  First, when the operation of the traveling machine body 1 is stopped and the stop is continued for, for example, 8 hours (an example of a preset time), the control unit 5 stores the old data stored in the slip rate storage unit 54a. The slip rate S ′ is set to be erased. In general, field work is performed during the day and is often stopped after sunset. Therefore, when the operation of the traveling machine body 1 is continuously stopped for 8 hours or more, it can be determined that the day on which the work is performed has changed.

Further, when at least one of the first reference point position information P _A and the second reference point position information P _B is changed, the control unit 5 sets the old slip ratio S ′ stored in the slip ratio storage unit 54a. It is set to erase. Because when the field to perform the work has changed it is necessary to register the reference point again, when at least one of the first reference point position information P _A and second reference point position information P _B is changed, the working This is because it can be determined that the field to be used has changed.

  Further, the control unit 5 stores the slope G acquired by the slope acquisition unit 56 in the slip rate storage unit 54a when it exceeds a reference value appropriately set in consideration of the influence on the slip rate. The old slip ratio S ′ is set to be erased. In many cases, since the field is provided in a lower area than the surrounding shore, when the rice transplanter 100 enters or exits a certain field, the body of the rice transplanter 100 tilts back and forth. This is because when the slope G changes beyond the reference value, there is a possibility that entry into or exit from the field has been performed. In addition, since the average slope of the rice transplanter 100 during the work is affected by the slope of the entire land where the farm is provided, when the slope G changes beyond the reference value, This is because the field where the work is performed may have changed.

The control unit 5 stores the acquired inquiry time field information is field information by performing the field information when the slip ratio calculating F _S which is stored in the slip rate storage unit 54a, the field information acquisition process at any time when the F _a, does not match, it is set so as to erase the old slip ratio S'stored in the slip rate storage unit 54a. The fact that the field information F _S at the time of slip ratio calculation and the field information F _A at the time of inquiry do not coincide with each other means that the field where the old slip ratio S ′ currently stored in the slip ratio storage unit 54a is calculated and the rice transplanter 100 at the time of inquiry. This is because it means that the farm is different from the field where is located.

  In addition to the automatic deletion described above, the old slip ratio S ′ stored in the slip ratio storage section 54a is also obtained by performing an artificial operation to delete the old slip ratio S ′ on the input unit 57. Can be erased.

After erasing the old slip rate S ′ as described above, the calculation unit 53 stores the newly calculated slip rate S in the slip rate storage unit 54a. Alternatively, instead of storing the slip ratio S which is newly calculated, the slip rate storage unit 54a the field slip ratio S _F included in the field information F acquired by executing the field information acquisition process, as the new slip ratio S May be stored.

  In addition, the calculation unit 53 deletes the old slip rate S ′ from the slip rate storage unit 54a, and stores the old slip rate S ′ in the slip rate history storage unit 54c as a new slip rate history. Then, instead of newly calculating the slip rate S and storing the slip rate S in the slip rate storage unit 54a, the calculation unit 53 stores the latest slip history stored in the slip rate history storage unit 54c. It may be read from the unit 54c and stored in the slip rate storage unit 54a as a new slip rate S.

  It should be noted that the slip rate S set in advance is not available when any of the new calculation method, the method of obtaining from the external server 200, and the method of using the history value is unavailable, or until preparation for use is completed. The initial value may be stored in the slip ratio storage unit 54a as a new slip ratio S. If comprised in this way, even if it is in the situation where slip rate S obtained by the method of newly calculating etc. cannot be used, control of seedling planting device 6 can be performed using the initial value of slip rate S, Work is not interrupted.

[Other Embodiments]
Finally, other embodiments of the present invention will be described. Note that the configurations disclosed in the following embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction arises.

  In the above embodiment, the embodiment of the field work machine of the present invention has been described as an example. However, the present invention is not limited to such a configuration, and the present invention may be a field work support program that causes a computer to execute the same function as in the above-described embodiment.

  In the above-described embodiment, a configuration in which the field work machine according to the present invention is the rice transplanter 100 including the seedling planting device 6 has been described as an example. However, the field work machine according to the present invention is not limited to a rice transplanter, and may be a tractor, a combiner, a riding management machine, or the like, and the field work apparatus provided in such a field work machine includes a vertical device, a vertical seeding device, It may be a multi-working device, a fertilizer application device, a boom sprayer device, a harvesting device, or the like.

  In the above embodiment, the field work machine according to the present invention has been described by taking as an example the configuration in which the control unit 5 includes the control unit 5 and the control unit 5 includes the calculation unit 53 and the storage unit 54. However, without being limited to such a configuration, the control unit, the calculation unit, and the storage unit do not necessarily have to be mounted on the field work machine, for example, are mounted on a terminal that can be separated from the field work machine. Alternatively, it may be mounted on an external server installed on the network. Moreover, you may comprise so that a control part, a calculating part, and a memory | storage part may be mounted in several places, such as an agricultural field working machine and an external server.

  In the above embodiment, the configuration in which the rotation speed acquisition unit 51 acquires the rotation speed N of the rear wheel 12 has been described as an example. However, without being limited to such a configuration, the target for obtaining the rotational speed may be a front wheel.

  Regarding other configurations, it should be understood that the embodiments disclosed herein are illustrative in all respects, and that the scope of the present invention is not limited thereby. Those skilled in the art will readily understand that modifications can be made as appropriate without departing from the spirit of the present invention. Accordingly, other embodiments modified without departing from the spirit of the present invention are naturally included in the scope of the present invention.

  The present invention can be used for, for example, a rice transplanter.

DESCRIPTION OF SYMBOLS 100: Rice transplanter 1: Traveling machine body 11: Front wheel 12: Rear wheel 13: Driver's seat 2: Tachometer 3: GPS antenna 4: Inclinometer 5: Control part 51: Revolution acquisition part 52: Airframe position information acquisition part 53: Calculation unit 54: Storage unit 54a: Slip rate storage unit 54b: Reference point storage unit 54c: Slip rate history storage unit 55: Travel control unit 56: Inclination degree acquisition unit 57: Input unit 58: Communication unit 59: Display unit 6: seedling planting apparatus 61: seedling planting unit 62: float 63: elevating hydraulic cylinder 64: link mechanism 200: external server S: slip ratio S _F: field slip ratio S': old slip ratio G: gradient N: rotation number P: aircraft position information P _a: first reference point position information P _B: second reference point position information P _N: aircraft position during execution transmission step information F: field information F _a: at query Field Information F _S: when slip rate calculating field information A: start point of the reference line B: end point of the reference line R _T: banks when turning R _W: Work travel

Claims (15)

A traveling body having front and rear wheels;
A tachometer for detecting the rotational speed of at least one of the front wheel and the rear wheel;
A body position information detecting device for detecting body position information of the traveling body;
A control unit,
The control unit includes a rotation number acquisition unit that acquires the rotation number detected by the tachometer, a body position information acquisition unit that acquires the body position information detected by the body position information detection device, and the rotation number. A field work machine comprising: a calculation unit that calculates a slip rate based on the machine body position information; and a slip rate storage unit that stores the slip rate.   The field work according to claim 1, wherein the calculation unit calculates the slip ratio based on an aircraft speed calculated based on the rotation speed and an aircraft speed calculated based on the aircraft position information. Machine.   The field according to claim 1 or 2, wherein when the operation of the traveling machine is stopped and the stop is continued for a preset time, the slip rate stored in the slip rate storage unit is deleted. Work machine. The control unit further includes a travel control unit that controls the travel of the traveling machine body, and a reference point storage unit that stores information on a reference point related to the control of the traveling machine body by the travel control unit,
The travel control unit includes first reference point position information that is the machine body position information detected by the machine body position information detection device at a first reference point that is an arbitrary point on the farm field, and the first reference point on the farm field. The second reference point position information that is the aircraft position information detected by the aircraft position information detection device at a second reference point that is an arbitrary point is stored in the reference point storage unit,
The travel control unit, based on the body position information, the first reference point position information and the second reference point position information, the traveling body, the first reference point and the second reference point Can be controlled to run parallel to the reference line obtained by connecting
The slip ratio stored in the slip ratio storage unit is deleted when at least one of the first reference point position information and the second reference point position information is changed. A field work machine given in the paragraph. The field work machine further includes an inclinometer that detects the inclination of the traveling machine body,
The control unit further includes a slope acquisition unit that acquires the slope of the traveling aircraft detected by the inclinometer,
5. The slip ratio stored in the slip ratio storage section is deleted when the inclination acquired by the inclination acquisition section exceeds a predetermined reference value. 6. A field work machine given in the paragraph. The control unit further includes an input unit that receives an input of an artificial operation,
The said slip ratio memorize | stored in the said slip ratio memory | storage part is erase | eliminated when the artificial operation to delete the said slip ratio is performed with respect to the said input part. A field work machine described in 1. The control unit further includes a communication unit that communicates with an external server installed on a network,
The arithmetic unit can communicate with the external server via the communication unit,
The computing unit is
A transmitting step in which the calculation unit transmits the machine body position information to the external server;
The field work machine is located when the external server executes the transmission step based on the machine body position information transmitted from the arithmetic unit and the field information stored in the external server in advance. A specific step of identifying the field, and
A return step of returning the field information relating to the field identified by the external server to the computing unit;
A field information acquisition process including
The calculation unit, when storing the slip rate in the slip rate storage unit, the slip rate calculation time field information that is the field information acquired by the field information acquisition process at the time of calculating the slip rate, The slip ratio is stored in the slip ratio storage unit together with the slip ratio,
The calculation unit does not match the slip rate calculation time field information stored in the slip rate storage unit and the inquiry time field information which is the field information acquired by the field information acquisition process at an arbitrary time point. When it is, the field work machine according to any one of claims 1 to 6 which erases the slip rate memorized by the slip rate storage part. The calculation unit transmits the slip ratio to the external server,
The field work machine according to claim 7 with which said external server memorizes said slip rate transmitted from said operation part as a field slip rate which is a part of said field information.   When the slip rate is not stored in the slip rate storage unit, the calculation unit executes the field information acquisition process and is included as a part of the field information returned from the external server. The field work machine according to claim 8, wherein a rate is stored in the slip rate storage unit as the slip rate. The control unit further includes a slip rate history storage unit that stores a history of the slip rate,
When the calculation unit erases the slip rate from the slip rate storage unit, the slip rate is stored in the slip rate history storage unit as a slip rate history,
When the slip ratio is not stored in the slip ratio storage section, the calculation section uses the latest slip ratio history stored in the slip ratio history storage section as the slip ratio. The field work machine of any one of Claims 1-9 memorize | stored in a memory | storage part.   The said calculating part makes the said slip ratio memory | storage part memorize | store the predetermined slip ratio initial value as said slip ratio when the said slip ratio is not memorize | stored in the said slip ratio memory | storage part. A field work machine given in any 1 paragraph.   The field work machine according to any one of claims 1 to 11, wherein the calculation unit calculates the slip ratio only when the field work machine is traveling straight. The field work machine further includes a field work device for performing work on the field,
The field work machine according to any one of claims 1 to 12, wherein the calculation unit calculates the slip ratio only when the field work device takes a predetermined slip ratio calculation posture. The field work device is a seedling planting device,
The field work machine according to claim 13, wherein the slip ratio calculating posture is a posture in which the seedling planting apparatus can perform seedling planting work. A field work support program for supporting field work by a field work machine having a traveling machine body,
A rotational speed acquisition function for acquiring the rotational speed of at least one of a front wheel and a rear wheel of the traveling machine body;
An aircraft position information acquisition function for acquiring aircraft position information of the traveling aircraft; and
A calculation function for calculating a slip ratio based on the rotation speed and the machine body position information;
A field work support program for causing a computer to realize a slip ratio storage function for storing the slip ratio.

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