JP2020098519A - Method of setting moving route of vehicle in farm field, device for setting moving route of vehicle in farm field, program, agricultural machinery controller, agricultural machinery control method, and agricultural machinery control program - Google Patents

Abstract

To provide an effective cropping technique followed by pest control.SOLUTION: A technique is provided for cropping with a crop tractor and controlling pests with a pest-control tractor in a farm field, with a gap S1 between right and left wheels of the crop tractor smaller than a gap S2 between those of the pest-control tractor, and with a plurality of planned moving routes of the crop tractor in parallel, gaps therebetween including D1 and D2 where D1 is less than D2. The moving routes of the crop tractor are planned in such a way that one of the right and left wheels of the pest-control tractor travels along the gap D1, and the other travels along the gap D2, thereby avoiding a ridge from interfering with the wheels of the pest-control tractor.SELECTED DRAWING: Figure 2

Description

The present invention relates to a technique for planting agricultural products in a field.

BACKGROUND ART A technique is known in which an agricultural machine such as a tractor is automatically operated or steered to perform various agricultural works automatically (for example, see Patent Document 1). In this technology, a control program for performing automatic operation along the planned movement route in the field (in some cases, there is also an automatic steering in which only steering is automatically performed) is prepared, and the agricultural machine moves in the field according to this control program. Agricultural work is performed automatically. At this time, the positioning technology using GNSS is used to control the operation of the agricultural machine along the set trajectory.

Here, in the work of cropping, the cropping position by the working machine for cropping and the position of the tractor wheel are adjusted in advance so that the ruts made by the tractor wheels do not interfere with the crops planted.

JP, 2008-116606, A

After planting, control work is required. At this time, when the control work is performed by using a tractor different from that at the time of planting, there may be a problem that the distance between the ridges and the distance between the wheels of the tractor do not match, and the crop and the wheels interfere with each other.

Against this background, the present invention aims to provide a technique that enables effective planting when the control is performed after the planting.

The present invention is a technique for planting a field using a first vehicle and controlling a second vehicle that is different from the first vehicle, in the field of the first vehicle. There is a first step of setting a planned movement route, and in the first step, the planting line of the crop planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other. The method for setting a moving path of a vehicle in a field, in which the planned moving path of the first vehicle is set.

Another aspect of the present invention is a technique for planting a field using a first vehicle and controlling a second vehicle that is different from the first vehicle in a field. There is a first step of setting a planned movement route in the field, and the distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle. Are parallel to each other, and have a portion with a distance D1 and a portion with a distance D2 between adjacent routes, and one of the left and right wheels of the second vehicle passes through the portion with the distance D1. The other one of the left and right wheels of the second vehicle is a method of setting a moving path of the vehicle in a field that passes through a portion of the distance D2.

Here, an aspect in which D1<D2 is mentioned. Further, the D1 is determined by a spacing d1 in the width direction of a work machine for towing or attached to the first vehicle in the width direction, and the D1 of the left and right wheels of the second vehicle is One passes through a portion having a width-wise cropping interval of d1, and the other of the left and right wheels of the second vehicle passes through a portion having a width-wise cropping interval of d2. Examples of d2 include a mode in which d1<d2. Further, a mode in which the portion where the spacing of the planting in the width direction is d2 is located between the adjacent regions through which the working machine for the planting has passed can be mentioned.

Another invention is an agricultural information processing apparatus used for a technique for planting a field using a first vehicle and controlling a second vehicle different from the first vehicle in a field. Then, the planned movement route of the first vehicle is set so that the planting line of the crop planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other. It is a device for setting a moving route of a vehicle in a field.

Another invention is a program used for a technique of planting a field using a first vehicle and controlling a second vehicle different from the first vehicle in a field, the program comprising: Is a program for setting the planned movement route of the first vehicle so that the crop planting line planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other.

Another invention relates to a technique for planting a field using a first vehicle and controlling a second vehicle different from the first vehicle in a field, and (1) The distance S1 between the left and right wheels of the first vehicle is greater than the distance S2 between the left and right wheels of the second vehicle. Small, (2) a plurality of the planned movement routes are set in parallel, the distance between adjacent routes has a portion of D1 and a portion of D2, (3) D1<D2, and (4) the above One of the left and right wheels of the second vehicle passes through the portion of the distance D1, and (5) the other of the left and right wheels of the second vehicle passes through the portion of the distance D2. It is a control device for agricultural machinery.

Another invention relates to a technique for planting a field using a first vehicle and controlling a second vehicle different from the first vehicle in a field, and (1) The distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle, 2) A plurality of the planned movement routes are set in parallel, and a space between adjacent routes has a portion of D1 and a portion of D2, (3) D1<D2, and (4) the second One of the left and right wheels of the vehicle passes through the portion of the distance D1, and (5) the other of the left and right wheels of the second vehicle passes through the portion of the distance D2. Control method.

Another invention relates to a technique of planting a field using a first vehicle and controlling a second vehicle that is different from the first vehicle in a field, by causing a computer to read the information. A computer program for causing a computer to operate as a control device for moving the first vehicle along a planned movement route that satisfies the following conditions, wherein (1) the distance S1 between the left and right wheels of the first vehicle is: The distance is smaller than the distance S2 between the left and right wheels of the second vehicle, and (2) a plurality of the planned movement paths are set in parallel, and the distance between the adjacent paths has a portion D1 and a portion D2. 3) D1<D2, (4) one of the left and right wheels of the second vehicle passes through the portion of the interval of D1, and (5) the other of the left and right wheels of the second vehicle is It is a program for controlling an agricultural machine, characterized in that it passes through a portion of the interval D2.

According to the present invention, it is possible to obtain a technique that enables effective planting when performing control after planting.

FIG. 1 is a principle diagram (A) and a partially enlarged view (B) illustrating the principle of the invention. FIG. 1 is a principle diagram (A) and a partially enlarged view (B) illustrating the principle of the invention. It is a block diagram of the apparatus of an embodiment. It is a flow chart which shows an example of a procedure of processing. It is a flow chart which shows an example of a procedure of processing. It is a principle view of other embodiment. It is a principle view of other embodiment.

(at first)
In the present specification, a field refers to a sectioned land where a crop is grown. Usually, farmland is divided by farm roads, shores, fences, waterways, ditches, partition members, etc., and the farmland which is the divided unit becomes a farm field.

1. First embodiment (outline)
In the present embodiment, a technique of performing cropping on a field using a first vehicle (planting tractor) and pest control using a second vehicle (pest control tractor) different from the first vehicle. In, there is a first step of setting a planned movement route of the cropping tractor in the field. Here, as shown in FIG. 2, the spacing S1 between the left and right wheels of the cropping tractor is smaller than the spacing S2 between the left and right wheels of the pest control tractor, and a plurality of the planned movement paths are set in parallel and adjacent to each other. Has a portion with a distance of D1 and a portion with a distance of D2, and D1 <D2, one of the left and right wheels of the pest control tractor passes through the portion of the D1 interval, the other of the left and right wheels of the pest control tractor Is planned for planting so that it will pass through the part of the distance D2.

Here, D1 is determined by the spacing d1 of the cropping in the width direction of the cropping tractor tow or the cropping implement attached to the cropping tractor. Further, one of the left and right wheels of the pest control tract passes through a portion having a width d1 in the widthwise direction, and the other wheel of the right and left pest control tractor has a width in the widthwise direction d2. After passing through a certain portion, d1 and d2 have a relationship of d1<d2. Here, the width direction is a vehicle width direction of the cropping tractor and the control tractor, and is defined as a direction orthogonal to the forward and reverse directions of the tractor.

Further, the portion in which the spacing of the planting in the width direction is d2 is located between the adjacent regions through which the working machine for planting has passed. That is, there is a first strip-shaped region through which the work machine for planting passes and a similar strip-shaped second strip-shaped region adjacent thereto, and the planting line (gap) between these two strip-shaped regions ( For example, the distance between the ridges is d2. The spacing in the vehicle width direction (for example, the spacing between the ridges in the vehicle width direction) of the planting line performed by the work machine for planting is d1.

In the field, strip-shaped regions through which the working machine for planting has passed are formed in parallel in many rows. Normally, the interval D1 between the traveling lines of the tractor for cropping is set so that the intervals between the cropping lines (for example, ridges) are equal to each other. On the other hand, in the present invention, a part of the interval of the traveling line of the tractor for planting is widened from D1 to D2 so that D1-D1-D2-D1-D1-... As a result, a part is formed in which the spacing between the cropping lines is d2 (d1<d2). One of the left and right tires of the pest control tract passes through a portion where the spacing of the planting line is d1, and the other left and right of the tire of the pest control tract passes through a portion where the spacing of the planting line is widened to d2. By doing so, the interference between the tire of the control tractor and the planted crop is prevented.

According to the present embodiment, the intervals of the cropping lines (for example, the ridges) are not evenly spaced, but a part wider as d2 is set, through which the wheels of the pest control tractor pass. At this time, by adjusting the value of d2 (by adjusting the value of D2, the value of d2 is adjusted), it is possible to prevent interference between the wheels of the tractor for control and the planting line (ridges). Avoid the inconvenience of tractor wheels stepping on crops.

(principle)
FIG. 1 shows an image of the field viewed from above. FIG. 1(A) shows a traveling route (traveling trajectory) of the cropping tractor. This travel route indicates the locus of movement of the center position of the planting tractor in the width direction. FIG. 1 shows a case where the tractor for planting travels in parallel at multiple intervals at a distance D1 to perform planting.

FIG. 1B is an enlarged view in which a part of FIG. 1A is enlarged. FIG. 1B shows a planting line. Here, the planting line corresponds to a ridge. FIG. 1(B) shows a case where the planting tractor simultaneously forms four rows of planting lines (ridges). Here, the spacing between adjacent cropping lines is indicated by d1. Further, the structure of the work implement for cropping is adjusted so that the wheels of the cropping tractor are located between the adjacent cropping lines. Here, the distance between the left and right wheels of the tractor for planting is S1.

That is, FIG. 1 shows a case where the tractors for cultivating are run at equal intervals of D1 to form arranging lines (ridges) arranged at equal intervals of d. The values measured with the center in the width direction of the tractor as the end point are adopted as D1 and D2. Further, as d1 and d2, values measured with the center in the width direction of the ridge as the end point are adopted. As S1 and S2, values measured with the center in the width direction of the wheel as the end point are adopted.

Here, let us consider a case where the tractor (control tractor) different from the tractor for cropping is used for the control (for example, spraying of pesticide). Here, it is assumed that the work implement for pest control is larger than the work implement for cropping, and the tractor (pest control tractor) used is also larger than the tractor for cropping. The work machines for planting and controlling are used by being pulled by a tractor or attached to the tractor.

In the present embodiment, it is assumed that the spacing between the left and right wheels of the pest control tract (the spacing in the vehicle width direction) S2 and the spacing between the left and right wheels of the cropping tractor (the spacing in the vehicle width direction) S1 are different. In this example, S1<S2. This is because the tractors have different sizes. In the following, the wheel spacing means the spacing in the vehicle width direction (the spacing between the left and right wheels).

Here, if the spacing S2 between the wheels of the control tractor is located in the gap of the planting line having the width d1, it is possible to avoid the problem that the planted crop is stepped on by the wheels of the control tractor during the control work. However, this is usually not the case and the wheels of the pest control tract interfere with the planting lines (ridges).

Therefore, in the present invention, by partially changing the distance D1 of the traveling route (trajectory) of the cropping vehicle, interference between the wheels of the control tractor and the cropping line (ridge) is prevented.

FIG. 2 shows an example in which, in some cases, the distance D1 of the moving path of the cropping vehicle is changed to D2 (D1<D2) to prevent interference between the wheels of the control tractor and the cropping line (ridges). It is shown. In this case, in part, by changing the interval D1 of the moving path of the cropping vehicle to D2, the interval between adjacent cropping lines (ridges) becomes part d2 (d1<d2). That is, a part of the planting intervals arranged at equal intervals d1 is expanded to the interval d2.

Here, the value of D2 is set so that one of the left and right wheels of the pest control tractor passes through the portion with the distance d1 and the other wheel passes through the portion with the distance d2. By doing so, as shown in FIG. 2(B), it is possible to avoid the interference between the position of the rut of the wheel of the control tractor and the planting line (ridge).

(Example of hardware)
FIG. 3 shows a block diagram of an agricultural information processing apparatus 100 which is hardware for implementing the invention. The agricultural information processing apparatus 100 is realized by installing application software in a general-purpose or special-purpose computer. Note that it is possible to adopt a form in which dedicated hardware (electronic circuit) is prepared.

In this example, the agricultural tractor used is capable of automatic driving (or automatic steering), and includes a GNSS position measuring device, an IMU (inertial measuring device), and a control computer for controlling automatic driving (or automatic steering). I have it. The control computer includes a CPU, a ROM, a RAM, a hard disk storage device, various interfaces, and a touch panel display, and various operations can be performed using a GUI (graphical user interface) like an ordinary PC. ..

In this example, software that realizes the functions of the agricultural information processing apparatus 100 is installed in the control computer, and the control computer is operated as the agricultural information processing apparatus 100. The agricultural information processing apparatus 100 functions as a device that sets a moving route of a vehicle in a field and a computer that performs automatic driving (or automatic steering).

The agricultural information processing apparatus 100 includes an initial parameter reception unit 101, a provisional traveling planned position setting unit 102 for a cropping tractor, a position and width setting unit 103 for changing a traveling interval of a cropping tractor, a GUI control unit 104, and a display device 105. , An automatic driving control device 106 and a storage device 107. When the agricultural information processing apparatus 100 is implemented by a computer, the CPU of the computer is configured so that the setting unit 103, the GUI control unit 104, the automatic driving control device 106, and the like exhibit corresponding functions.

The initial parameter acquisition unit 101 acquires initial parameters required for calculation. The provisional traveling planned position setting unit 102 of the planting tractor sets a provisional planned traveling route route of the planting tractor in the field. The position and width setting unit 103 for changing the traveling interval of the tractor for planting is a position for changing the traveling interval of the tractor for cultivating in the provisional planned traveling route of the tractor for planting set by the provisional traveling planned position setting unit 102. And change (correct) the value of the width of the travel interval.

The GUI control unit 104 is. The farm work plan for the farm field illustrated in FIGS. 1 and 2 is displayed, and the user's operation related thereto is accepted. For GUI control, the GUI function provided in the OS of the computer used is used. The display device 105 is a display of a computer used as the agricultural information processing device 100. The display device 100 may be a liquid crystal display. It is also possible to use an external display device as the display device 100.

The functional unit described above is realized by causing a CPU to execute a program. It is also possible to adopt a mode in which some or all of these functional units are configured by dedicated hardware (electronic circuit). Further, it is also possible to adopt a mode in which a server connected via a communication line performs a calculation for realizing the function of FIG.

The automatic driving control device 106 performs automatic driving (automatic steering) of the tractor for planting along the set planned traveling route. Specifically, the automatic driving control device 106 performs automatic driving (automatic steering) of the cropping tractor along the route shown in FIG. The storage device 107 stores various data relating to the operation of the agricultural information processing device 100.

(Example of processing)
Hereinafter, an example in which the above processing is performed by automatic calculation will be described. In this process, the movement route of the cropping tractor and the movement route of the pest control tractor in the target field are calculated.

FIG. 4 shows an example of a flowchart of the processing. The processing of FIG. 4 is executed by the agricultural information processing apparatus 100. A program that executes this processing is stored in the storage device 107 and executed by the CPU of the computer that constitutes the agricultural information processing apparatus 100. It is also possible to store the program in an external storage medium and download it from the storage medium via an internet line or the like.

Prior to the processing, initial parameters are prepared and input to the agricultural information processing apparatus 100. Alternatively, the initial parameter is stored in an external storage area different from the agricultural information processing apparatus 100. The initial parameters are the outer dimensions of the field, the position of the field (longitude, latitude, and elevation), the spacing S1 between the wheels of the tractor for planting, the spacing d1 between the planting lines formed by the planting machine, and the work of the planting machine. The width, the distance S2 between the wheels of the control tractor, and the working width of the control work implement are included.

When the process is started, the initial parameters are first acquired (step S101). This processing is performed by the initial parameter reception unit 101. Next, the provisional movement route of the planting tractor is set (step S102). This process is performed by the provisional traveling planned position setting unit 102 of the planting tractor.

In step S102, the movement locus of the work tractor illustrated in FIG. 1 is calculated based on the size of the field and the work width of the work implement for planting. In this process, a process for obtaining the moving path of the tractor for cultivating is performed so that the intervals (ridge intervals) d1 of the cultivating line formed by the working machine of the cultivating working machine are equal. By this processing, the traveling loci of the cropping tractor are calculated at equal intervals of D1.

Next, a part of the portion set as D1 in FIG. 1 is changed to D2 (step S103). The position of D2 is one or more. Here, in order to simplify the description, a case where there is only one place designated as D2 will be described.

In step S103, the position D2 and D2 are calculated based on the outer dimensions of the field, the spacing S2 between the wheels of the pest control tractor and the working width of the pest control work implement. That is, in step S103, a process of changing a part of the traveling interval of the tractor for planting temporarily set to D1 to D2 is performed. This processing is performed by the position and width setting unit 103 that changes the running interval of the cropping tractor.

FIG. 5 shows details of step S103 in FIG. In this process, first, the planned traveling route of the control tractor in the field is obtained from the size of the field and the working width of the control work implement (step S201). Next, the planned traveling route of the pest control tractor obtained in step S201 is dropped into the field data in which the planned traveling route of the cropping tractor in FIG. 1 is set. As a result, it is possible to obtain data in which the planned traveling route of the cropping tractor and the planned traveling route of the pest control tract in the field are overlapped.

Next, the position of the planned traveling route of the pest control tractor is slightly shifted to the left and right, and a position where the other wheel of the pest control tract is a part between two adjacent planting lines (ridges) having a width d1 is searched for. (Step S202).

Next, it is determined whether or not the position of the planned trajectory of one wheel of the pest control tract interferes with the planting line (ridge) (step S203). If the determination in step S203 is YES (the two interfere with each other), the distance between the two traveling lines of the cropping tractor sandwiching the portion where the other wheel is located is changed from D1 to D2 (step S204). In this example, the interval is widened in 10 cm steps. That is, when the distance between the two traveling lines of the cropping tractor sandwiching the portion where the other wheel is located is D1, the value is increased by 10 cm to be D2. Further, when the interval has already been changed to D2, the value is further expanded by 10 cm and corrected to a new D2. The value of d2 is adjusted by further increasing the value of D1→D2 or D2.

By the process of step S204, the value of d2 is increased, and the planned traveling route of the cropping tractor is rearranged in the field. This rearrangement is performed with reference to the edge side of the field. The rearrangement standard can be set arbitrarily.

Then, the process returns to the step before step S203, and steps S203 and subsequent steps are executed again. The processes from step S203 onward are repeated until the process of S203 becomes NO, that is, until the wheels of the pest control tractor do not interfere with the ridges. The above-described processing of steps S201 to S204 is performed in step S103, and the position where the traveling interval of the planting vehicle is D2 and the value of D2 are calculated.

As a result of step S103, as shown in FIG. 2(B), in the initial state shown in FIG. 1, in the planned traveling route of the tractor for planting, the intervals were corrected from D1 to D2. To be done. By properly correcting the position of D2 and the value of D2, the planned traveling route of the cropping tractor and the planned traveling route of the controlling tractor in which the position of the rut and the position of the ridge due to the wheels of the controlling tractor do not interfere Is set.

After step S103, the field data shown in FIG. 2 is set and registered (step S104). The information of FIG. 2 is stored in the storage device 107 or an appropriate storage medium. Based on this information, automatic operation (or automatic steering) of the cropping tractor and the control tractor is performed in the field.

By the process of FIG. 4, a field is designed in which the ridges formed by planting do not interfere with the locus (track) of the wheels of the control tractor. According to this plan, it is possible to prevent the crops being grown from being stepped on by the wheels of the control tractor, so that it is possible to suppress waste of seeds and seedlings.

The result calculated by the flow of FIG. 4 is displayed as an image on the display of the PC constituting the agricultural information processing 100 in the state shown in FIG. At this time, various parameters related to farm work in the field are displayed on the screen. Note that the user can manually correct the result of the calculation shown in FIG.

(Superiority)
The wheel of a control tractor solves the problem of stepping on a crop that has been planted. At this time, the traveling positions of the cropping tractor and the pest control tractor are automatically calculated and designated in advance, so that the user does not need to perform troublesome adjustment work.

2. Second Embodiment In the state of FIG. 1, the user can also specify the planned traveling position of the pest control tractor. In this case, the state of FIG. 1 is displayed as an image on the screen. The state of FIG. 1 is calculated based on the initial parameters of the field, the tractor for cropping, and the working machine for cropping. The user specifies the position to be D2 (see FIG. 2) and the value of D2 by using the GUI function of the computer used in the state of FIG.

At this time, the position to be D2 shown in FIG. 2 and the value of D2 may be obtained by automatic calculation, and may be presented to the user as reference information.

3. Third Embodiment In setting a planned movement route in an automatic driving technique (automatic steering technique) for a vehicle that performs agricultural work, the user actually drives the vehicle on a trial basis in the field, and the movement route is used as a reference traveling line. There are cases where the entire planned movement route is set as. In this case, the planned travel route is set by combining the reference travel lines. This technique is applicable to the technique disclosed in this specification.

In this method, the reference travel line may include distortion that is not intended by the user. In this case, the reference traveling line is smoothed and corrected to a smooth route. A plurality of reference traveling line candidates serving as a reference are prepared, and the one desired by the user is selected from them. The smoothing processing of this path is performed by a smoothing processing unit (not shown).

Examples of the shape of the reference line include a straight line, a part of a circle or an ellipse, an exponential function curve, and a quadratic function curve. These are registered in advance as reference data, and one of them is selected by the user.

4. Fourth Embodiment Traveling of a tractor in a field requires a space for turning and changing the direction. There are cases where the space required for this turning is set inside the field (see FIG. 6) and outside the field (for example, a ridge adjacent to the field) (see FIG. 7). 6 and 7 are examples of screen displays on the display of the computer that constitutes the agricultural information processing apparatus 100, and the user can set or adjust the turning position of the tractor while viewing these screens.

In the case of FIG. 6, since it is necessary to secure a space for changing the direction of the tractor in the field, a part of the area available for planting is sacrificed. In the case of FIG. 7, since the space is secured outside the field, it is more advantageous than the case of FIG. 6 in securing the harvest amount. Further, in the case of FIG. 7, a space required for turning is secured outside the field, so that the traveling interval of the tractor in the field can be narrowed as compared with the case of FIG.

The turning space is set by designating the clearance width in the figure. In this example, by setting the relief width to a positive value, the turning for changing the direction is set to be performed in the field. Further, by setting the clearance width to a negative value, the turning for changing the direction is set to be performed outside the field. Of course, by adjusting the values of the plus setting and the minus setting, it is possible to make a setting in which the turning is performed in a region crossing the vicinity of the outer edge of the field.

To set the clearance width, there are a method of inputting a numerical value, a method of moving a bar displaying a numerical value with a pointing device, a method of designating a turning position on the screen with a pointing device, and the like. This processing is performed by the GUI control unit 104.

As shown in FIGS. 6 and 7, by setting and correcting the turning position of the agricultural work vehicle in the field, it is possible to improve the productivity of agricultural products and the efficiency of agricultural work.

Here, the GUI control unit 104 functions as a display control unit that displays on the screen the direction change position where the vehicle for agricultural work in the field is turned. In addition, the GUI control unit 104 also functions as a correction instruction receiving unit that receives a manual correction of the direction change position.

5. Fifth Embodiment By the automatic operation control device 106, it is possible to perform automatic operation (automatic steering) of the planting tractor according to the setting of the movement route shown in FIG. In this automatic operation (automatic steering), movement control of the cropping tractor along the traveling line shown in FIG. 2 is performed while satisfying the following conditions.
(1) The distance S1 between the left and right wheels of the tractor for planting is smaller than the distance S2 between the left and right wheels of the pest control tractor,
(2) A plurality of planned moving routes of the tractor for planting are set in parallel, and the interval between adjacent routes has a portion of D1 and a portion of D2,
(3) D1<D2,
(4) One of the left and right wheels of the pest control tractor passes through the portion of the distance D1,
(5) The other of the left and right wheels of the pest control tractor passes through the portion of the distance D2.
(6) The spacing of the planting lines in the portion D1 is d1,
(7) The spacing of the cropping lines in the part D2 is d2,
(8) d1<d2

6. In addition, the same processing may be applied to a plurality of fields. In this case, the data on the first field is applied (copied) to the second field. In addition, data used in the past may be used again. Also in this case, the data used in the past is stored and the data is reused.

It is also possible to store various data for each crop or each field as a library, and copy and use the library depending on the situation.

The invention disclosed in this specification may be understood as an agricultural information processing apparatus including an interface that executes the processing described in this specification, a method for executing the processing, and a program that causes a computer to execute the processing. it can.

The movement paths of the tractor for planting and the tractor for pest control work are not limited to straight lines and may be curved lines. The present invention can also be used when fertilization is applied instead of control, or when fertilization is applied simultaneously with control.

The ridges are not always formed along the planting line. Depending on the crops grown, ridges may not be formed.

Claims (10)

In a technique of performing cropping using a first vehicle on a field and controlling a second vehicle different from the first vehicle,
A first step of setting a planned movement route of the first vehicle in the field;
In the first step,
The movement route of the vehicle in the field in which the planned movement route of the first vehicle is set so that the cropping line of the crop planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other. Setting method. In a technique of performing cropping using a first vehicle on a field and controlling a second vehicle different from the first vehicle,
A first step of setting a planned movement route of the first vehicle in the field;
The distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle,
A plurality of the planned movement routes are set in parallel, and a space between adjacent routes has a portion of D1 and a portion of D2,
One of the left and right wheels of the second vehicle passes through the portion of the distance D1,
The other of the left and right wheels of the second vehicle is a method of setting a moving path of the vehicle in a field that passes through a portion having the distance D2. The method for setting a moving route of a vehicle in a field according to claim 2, wherein D1<D2. The D1 is determined by a spacing d1 in the width direction of a work machine for towing or attached to the first vehicle in the width direction,
The one of the left and right wheels of the second vehicle passes through a portion in which the spacing for planting in the width direction is d1,
The other of the left and right wheels of the second vehicle passes through a portion where the width of the cropping in the width direction is d2,
The method for setting a moving route of a vehicle in a field according to claim 3, wherein the d1 and d2 have a relationship of d1<d2. The method for setting a moving route of a vehicle in a field according to claim 4, wherein the portion where the spacing between the crops in the width direction is d2 is located between adjacent areas through which the work machine for cropping has passed. An agricultural information processing apparatus used for a technique for planting a field using a first vehicle and controlling a second vehicle different from the first vehicle,
Agricultural information characterized by setting a planned movement route of the first vehicle so that the crop line of the crop planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other. Processing equipment. A program used for a technique for planting a field using a first vehicle and controlling a second vehicle different from the first vehicle,
A program for setting a planned movement route of the first vehicle so that the cropping line of the crop planted by the first vehicle and the left and right wheels of the second vehicle do not interfere with each other in the computer. The present invention relates to a technique for cropping a field using a first vehicle and controlling a second vehicle different from the first vehicle,
A device for performing control to move the first vehicle along a planned movement route that satisfies the following conditions,
(1) The distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle,
(2) A plurality of the planned travel routes are set in parallel, and a space between adjacent routes has a portion of D1 and a portion of D2,
(3) D1<D2,
(4) One of the left and right wheels of the second vehicle passes through the portion of the distance D1,
(5) The control device for an agricultural machine, wherein the other of the left and right wheels of the second vehicle passes through the portion having the interval of D2. The present invention relates to a technique for cropping a field using a first vehicle and controlling a second vehicle different from the first vehicle,
A method of moving the first vehicle along a planned travel route that satisfies the following conditions:
(1) The distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle,
(2) A plurality of the planned travel routes are set in parallel, and a space between adjacent routes has a portion of D1 and a portion of D2,
(3) D1<D2,
(4) One of the left and right wheels of the second vehicle passes through the portion of the distance D1,
(5) The method for controlling an agricultural machine, wherein the other of the left and right wheels of the second vehicle passes through the portion of the distance D2. The present invention relates to a technique for cropping a field using a first vehicle and controlling a second vehicle different from the first vehicle,
A computer program which is read by a computer and causes the computer to operate as a control device for moving the first vehicle along a planned travel route that satisfies the following conditions:
(1) The distance S1 between the left and right wheels of the first vehicle is smaller than the distance S2 between the left and right wheels of the second vehicle,
(2) A plurality of the planned travel routes are set in parallel, and a space between adjacent routes has a portion of D1 and a portion of D2,
(3) D1<D2,
(4) One of the left and right wheels of the second vehicle passes through the portion of the distance D1,
(5) The agricultural machine control program, wherein the other of the left and right wheels of the second vehicle passes through a portion of the interval D2.

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