JP2020110108A - Management system for agricultural material supplementation - Google Patents

Abstract

To provide a management system for agricultural material supplementation enabling a required agricultural material to be prepared at a proper supplementation position.SOLUTION: The management system for agricultural material supplementation is a system for a farm field working machine which supplies an agricultural material to a farm field while travelling along a travel route set on the farm field, and the system comprises: a unit charge amount calculation section 73 calculating a unit charge amount being a charge amount of the agricultural material for a unit travel distance; a storage amount calculation section 74 calculating a storage amount of the agricultural material stored in the farm field working machine; a supplementation position calculation section 75 calculating a supplementation position for supplementing the agricultural material to the farm field working machine in a farm field peripheral region, on the basis of the travel route, the unit charge amount and the storage amount; and a loading amount calculation section 76 calculating a loading amount of the agricultural material to be loaded to the farm field working machine at the supplementation position.SELECTED DRAWING: Figure 1

Description

The present invention relates to an agricultural material supply management system for an agricultural field working machine that supplies agricultural materials to a field while traveling along a travel route set in the field.

Patent Document 1 describes a field working machine that supplies agricultural materials to a field. This field work machine is a field work device that performs farm work on a field, a work setting unit that sets a traveling start point and a traveling end point, and field information including at least topographical data and work in a transverse direction with respect to the traveling direction of the field work device. A route calculation unit that calculates a traveling route that includes a non-working traveling route that involves the turning of the traveling machine body and a working traveling route that performs traveling work using the field work device based on the width, the traveling start point, and the traveling end point, And a driving support unit that provides driving support based on the travel route and the positioning data from the GPS module. When the remaining amount of the agricultural material supplied to the field work falls below the threshold level, the driving support unit notifies the fact and stops the automatic traveling. The route calculation unit can calculate an emergency traveling route for the traveling machine body to automatically travel to a nearby ridge in order to supply necessary materials.

JP, 2015-112071, A

In the field work machine described in Patent Document 1, the material supply timing is when the remaining amount of the material is below the threshold level. Therefore, when the remaining amount of the agricultural material loaded in the field work machine reaches a threshold level, the field work machine travels to a replenishment position suitable for the replenishment work. At the same time, the worker who performs the replenishment work must carry the replenishment agricultural material to the replenishment position. There is a problem that the replenishment work takes time because the timing and amount of replenishment of the agricultural material are not known in advance.

In view of such circumstances, an object of the present invention is to provide an agricultural material supply management system that enables to prepare the necessary agricultural material at an appropriate supply position before the supply of agricultural material is required. is there.

The agricultural material supply management system according to the present invention is a system for a field working machine that supplies agricultural material to the field while traveling along a travel route set in the field, and the agricultural material per unit travel distance is Unit input amount calculation unit that calculates the unit input amount that is the input amount, a storage amount calculation unit that calculates the storage amount of the agricultural material stored in the field work machine, and the field in a peripheral region of the field. A replenishment position calculating unit that calculates a replenishment position for replenishing the agricultural material to a working machine based on the travel route, the unit input amount, and the accommodation amount, and the agricultural material to be loaded on the field work machine at the replenishment position And a loading amount calculation unit that calculates the loading amount.

In this agricultural material supply management system, the agricultural material is supplied to the field work machine based on the amount of the agricultural material stored in the field work machine, the unit input amount of the agricultural material by the field work machine, and the traveling route. The replenishment position and the loading amount for replenishment are calculated. Since this replenishment position is a field peripheral region (shore or farm road), it is possible to arrange in advance the agricultural material of the loading amount calculated at this replenishment position. Since the required amount of agricultural material is pre-arranged in a position suitable for replenishment, labor and resource waste in the replenishment work are reduced, and the efficiency of the entire work is improved.

In the field work (agricultural material supply work) by the field work machine, the field is divided into an outer peripheral area (also called headland) and a central area which is inside thereof, and the field operation is first performed on the central area and then on the central area. Field work is performed on the area. In the central region, a traveling route including a linear reciprocating traveling route and a U-turn route (set in the outer peripheral region) connecting the reciprocating traveling route is set. In the outer peripheral area, a circular traveling route of two or three rounds is set. This avoids trampling the worked area with the field work machine. From this, in one of the preferred embodiments according to the present invention, the traveling route is an outer periphery traveling route for traveling around the outer peripheral region of the field, and a U-turn reciprocating traveling in the central region inside the outer peripheral region. And a second replenishment position calculating section for calculating the replenishment position on the outer periphery traveling path and a second replenishment position for calculating the replenishment position on the central traveling path. A first loading amount calculating unit for calculating the loading amount on the outer peripheral travel route, and a second loading unit for calculating the loading amount on the central travel route. And an embedded amount calculation unit. The U-turn round-trip traveling route and the orbiting traveling route have a completely different positional relationship with respect to the field surrounding area in which the replenishment position is arranged. However, in this configuration, the replenishment position and the loading amount in each traveling are calculated. Is performed independently, it is possible to calculate the optimum replenishment position and loading amount.

The fields are bounded by shores and farm roads, but in fields where self-propelled field work machines are input, at least the shore forming one side of the field is wide enough for the field work machines to travel. Is secured. Therefore, this bank is the best place to store agricultural materials. From this, in one of the preferred embodiments according to the present invention, the replenishment position is limited to the ridge forming one side of the field, and the ridge is at the end of the return path of the U-turn reciprocating traveling. Facing each other. With this configuration, since the shore faces the end of the return path of the U-turn reciprocating traveling, there is an advantage that the traveling distance when leaving from the U-turn reciprocating traveling to the replenishment position becomes short.

In one of the preferred embodiments of the present invention, a display processing unit that generates an input screen and an output screen is provided, and the input screen includes a field information input field for inputting a field shape, and the agricultural material. A work equipment specification input field for inputting the specifications of the work equipment for supplying the field to the field and a work specification input field for inputting the work specifications of the agricultural material supply are arranged, and the output screen has a supply amount at the start of the work. , A first output column showing the replenishment position and the loading amount during the U-turn reciprocating traveling, and a second replenishment position and the loading amount during the lap traveling. Output fields and are arranged. By providing such a graphic input/output interface, if the field shape and the working specifications of the working equipment are input through one input screen, the replenishment amount at the start of work, U-turn reciprocating traveling and The replenishment position and the replenishment amount during lap traveling are displayed. As a result, in the replenishment plan of the agricultural material, only the necessary data is input through the input screen before the actual work, and the replenishment data is displayed on the output screen. The worker can grasp the supply work through the output screen, and the supply work of the agricultural material becomes efficient.

Before the agricultural material supply work is performed, an accurate unit input amount is necessary in order to accurately calculate the supply position and the load amount suitable for supplying the agricultural material. However, the unit input amount calculated in advance due to disturbances such as the state of the field, the state of work equipment for supplying agricultural materials, the deviation of the traveling route, and the unit input amount during the actual traveling work by the field working machine are Be different. When this difference becomes large, the calculated replenishment position and loading amount become inappropriate. To avoid this problem, use the actual unit input amount when there is a large difference between the unit input amount (actual unit input amount) obtained during actual traveling work and the unit input amount calculated in advance. , It is necessary to correct the supply position and loading capacity. From this, in one of the preferred embodiments of the present invention, the replenishment position and the loading position are determined based on the actual unit input amount which is the unit input amount acquired during the actual work traveling of the field work machine. The amount is corrected and the details of the correction are notified.

It is a schematic diagram which shows schematic structure of the agricultural material supply management system for the agricultural field working machines which supply agricultural materials to an agricultural field. It is a schematic diagram which shows the traveling route of the field work machine set to the field. It is a schematic diagram which shows the supply position for the agricultural material supply set in the field. It is a side view of a rice transplanter with a fertilizer function, which is an example of a field working machine capable of automatic traveling. It is a schematic diagram which shows schematic structure of a seedling removal amount adjustment mechanism and a feeding amount adjustment mechanism. It is a functional block diagram which shows the control system of agricultural material supply management system rice transplanter. It is explanatory drawing for demonstrating the traveling direction of the rice transplanter in the corner of an agricultural field. It is a screen figure which shows the input screen of an agricultural material supply management system. It is a screen figure which shows the output screen of an agricultural material supply management system. It is a schematic diagram which shows the supply position in U-turn reciprocating traveling. It is a schematic diagram which shows the supply position in orbital traveling.

An outline of the agricultural material supply management system according to the present invention will be described with reference to FIG. The agricultural material supply management system described here is mainly used for rice seedling planting work and fertilizing work, but can also be used for other farming. The agricultural material supply management system is used to manage the agricultural material supply work by the field work machine, and the computer system equipped on the field work machine, the computer system owned by the farmer, or a large number of farmer participates. Built on a cloud computer system.

The farming system, which is a higher-level system of the agricultural material supply management system, includes a farming database 100, a work plan creation unit 103, and the like. From the farming database 100, the agricultural material supply management system includes field information (field map, etc.) about the field targeted for the agricultural material supply operation such as seedling planting operation, and specifications (working width, etc.) of the field work machine used for the operation. Sent to. From the work plan creation unit 103, the work plan of the planned agricultural material supply work is sent to the agricultural material supply management system.

This agricultural material supply management system includes a material supply management unit 70, a travel route generation unit 71, a unit input amount calculation unit 73, a storage amount calculation unit 74, a supply position calculation unit 75, a loading amount calculation unit 76, an actual unit input amount. The calculator 65 is provided.

The material supply management unit 70 manages the data flow and data processing in the agricultural material supply management system. The travel route generation unit 71 creates a travel route for the field work vehicle to travel in the field where the field work vehicle is working, based on the field information and the work plan.

The unit input amount calculation unit 73 is the input amount of the agricultural material per unit travel distance in the field targeted for the work, from the work plan of the agricultural material supply work and the specifications of the field work machine that executes this work. Calculate the unit dose. The storage amount calculation unit 74 calculates the storage amount of the agricultural material stored in the field work machine. The storage amount calculation unit 74 subtracts the input amount of the agricultural material after the replenishment into the field from the amount of the agricultural material loaded in the field work machine after the replenishment, thereby calculating the storage amount in the traveling field work machine. It can be calculated. The input amount is obtained by multiplying the traveling distance in the work traveling from the start of traveling by the unit input amount.

The replenishment position calculation unit 75 calculates the replenishment position for replenishing the agricultural implement with the agricultural material based on the traveling route, the unit input amount, and the accommodation amount. This replenishment position is not in the field but in a field surrounding area where the field working machine can approach, and preferably a farm road facing one side of the field. The loading amount calculation unit 76 calculates the loading amount of the agricultural material to be loaded on the field work machine at the supply position. The calculation of the supply position and the calculation of the loading amount are linked to each other, and it is an essential condition that the storage capacity of the field work machine does not become zero while the field work machine is running and the agricultural material supply work is being performed. Become.

The actual unit input amount calculation unit 65 is provided in a field work machine that performs an agricultural material supply work. Therefore, the actual unit input amount calculation unit 65 calculates the actual unit input amount, which is the input amount of the agricultural material per unit traveling distance in the actual traveling, based on the data detected during the actual work traveling.

Since the unit input amount calculation unit 73 calculates the input amount of the agricultural material per unit travel distance of the field work machine by the estimation calculation, it includes some error. On the other hand, the actual unit input amount calculated by the actual unit input amount calculation unit 65 is a real value, and there is substantially no error. From this, if there is a large difference between the input amount calculated by the unit input amount calculation unit 73 and the actual unit input amount calculated during the actual work traveling, the replenishment is performed based on this actual unit input amount. The position calculation unit 75 recalculates the supply position and the loading amount calculation unit 76 recalculates the loading amount, and corrects the previously calculated supply position and loading amount. The correction contents are notified to the driver and the worker.

The field information, the work plan, the travel route, the unit input amount, the storage amount, the supply position, the loading amount, and the like managed by the material supply management unit 70 are displayed on the display 7b via the display processing unit 7a. The display processing unit 7a also manages the graphic input/output interface of the agricultural material supply management system, and generates the input screen and the output screen of the agricultural material supply management system. The generated input screen and output screen are displayed on the display 7b.

FIG. 2 shows an example of the travel route created by the travel route generator 71. The fields are bounded by peripheral areas such as banks and fields (indicated by diagonal lines in Figure 2). In creating the travel route, the farm field is divided into an outer peripheral region located inside the farm field boundary and a central region located inside the outer peripheral region. The outer peripheral area is an area where a circular traveling route is set, and the central area is an area where a round-trip traveling route is set. When the field work machine is a rice transplanter, the rice transplanter first performs seedling planting work on the central region along the reciprocating traveling route, and then performs seedling planting work on the outer peripheral region along the orbiting traveling route.

The orbiting traveling route includes a revolving linear route extending parallel to the field boundary line (farm road or shore), and a direction changing route incorporating forward and reverse movements to connect the revolving linear routes. The reciprocating traveling route includes a large number of parallel reciprocating straight routes and a turning route (U-turn route) connecting the reciprocating straight routes. A transition route for transitioning from the reciprocating traveling route to the circular traveling route is also created. In this example, the transition path is similar to the turning path. The interval between the adjoining circular linear paths and the interval between the adjoining reciprocating linear paths are determined based on the working width and the overlap of the field working machine. In FIG. 2, the entrance and exit to the field of the field working machine is indicated by reference numeral 90. The travel route from the doorway 90 to the travel start end of the reciprocating straight route is called a start guide route. In the turning route, the turning route, the start guide route, and the transition route, the field work machine travels without performing any work, and therefore these routes are indicated by dotted lines. In the circular straight line route and the reciprocating straight line route, since the field work machine travels while performing work, these routes are indicated by solid lines.

The traveling route generation unit 71 (see FIG. 1) calculates a circular traveling route, a reciprocating straight route, and a start guide route based on the field characteristic data including the field shape and the entrance/exit position, past results, route conditions, and the like.

The basic steps for generating a travel route by the travel route generation unit 71 are as follows.
(A) The outer peripheral area is calculated based on the field shape, the route condition, and the working width of the field working machine.
(B) A traveling route that covers the outer peripheral area is calculated.
(C) A central region located inside the outer peripheral region defined by the traveling route is calculated.
(D) A reciprocating straight route covering the central area is calculated.
(E) A start guide route connecting the doorway 90 and the traveling start position S of the reciprocating straight route is calculated.
(F) A transition route for transition from the reciprocating straight route to the circular traveling route is calculated.

In FIG. 3, the replenishment position of the agricultural material calculated by the replenishment position calculation unit 75 is indicated by four black circles, and the symbols P1, P2, P3, and P4 are given. The travel route shown in FIG. 2 is used as the travel route in FIG. The loading amount calculated by the loading amount calculation unit 76 is given to the supply position. In FIG. 3, the supply position is limited to the farm road as a shore forming one side of the field, and the farm road faces the end of the return path of the U-turn round trip. As a result, the field working machine faces the farm road at the time when the traveling on the return route of the U-turn reciprocating traveling is completed, so that there is no waste in traveling to the supply position.

Since the orbital traveling and the U-turn reciprocating traveling have completely different traveling patterns, the algorithms for calculating the supply position and the loading amount are different. Therefore, the replenishment position calculation unit 75 includes a first replenishment position calculation unit 751 that calculates the replenishment position on the outer peripheral travel route and a second replenishment position calculation unit 752 that calculates the replenishment position on the central travel route. The loading amount calculation unit 76 includes a first loading amount calculation unit 761 that calculates the loading amount on the outer peripheral travel route and a second loading amount calculation unit 762 that calculates the loading amount on the central travel route.

Next, a seedling planting operation in rice cultivation will be described as an example of an agricultural material supply operation managed by the agricultural material supply management system according to the present invention. For the seedling planting work, a riding type rice transplanter shown in FIG. 4 is used as a field working machine. This rice transplanter can perform fertilization work at the same time as seedling planting work.

As shown in FIG. 4, the rice transplanter includes a riding type four-wheel drive type traveling machine body (hereinafter referred to as a machine body 1). The machine body 1 includes a parallel four-link type link mechanism 11, which is connected to the rear portion of the machine body 1 so as to be movable up and down, a hydraulic lifting cylinder 11a that swings and drives the link mechanism 11, and a rear end portion of the link mechanism 11. It is provided with a seedling planting device 3 that is connected in a rollable manner, a fertilizer application device 4 that extends from the rear end of the machine body 1 to the seedling planting device 3. The seedling planting device 3 and the fertilizer application device 4 are examples of working devices. The seedling planting work here also includes the work of sowing seeds directly in the field, and the rice transplanter here can be replaced with a direct seeder.

The machine body 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as a mechanism for traveling. The wheels 12 have steerable left and right front wheels 12A and unsteerable rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front part of the machine body 1. Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B and the like via the continuously variable transmission 14 and the like.

The seedling planting device 3 is configured in an eight-row planting format as an example. The seedling planting device 3 includes a seedling platform 31, an eight-row planting mechanism 32, and the like. The seedling planting device 3 can be changed to a two-row planting, a four-row planting, a six-row planting or the like by controlling each row clutch (not shown).

The seedling placing table 31 is a pedestal on which eight mats of seedlings are placed. The seedling placing table 31 reciprocates in the left and right direction with a constant stroke corresponding to the left and right width of the mat-like seedling, and the vertical feed mechanism 33 causes the seedling placing table 31 to move on the seedling placing table 31 each time it reaches the left and right stroke ends. The mat-shaped seedlings are fed vertically to the lower end of the seedling placing table 31 at a predetermined pitch. The eight planting mechanisms 32 are of the rotary type and are arranged in the left-right direction at regular intervals corresponding to the spacing between planting lines. Then, each of the planting mechanisms 32 cuts one seedling of a single plant from the lower end of each mat-shaped seedling placed on the seedling placing table 31 by the power from the machine body 1, and plantes the seedling in the muddy soil portion after leveling. Thereby, in the operating state of the seedling planting device 3, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placing table 31 and planted in the mud soil portion of the paddy field.

As shown in FIG. 5, the seedling planting device 3 is provided with a seedling harvesting amount adjusting mechanism 30 for adjusting the seedling harvesting amount by the planting mechanism 32. The planting mechanism 32 passes through a seedling take-out opening formed in a guide rail 31a that slides and guides the lower end of the seedling placing table 31, and takes out one seedling of the seedling and plant it. The amount of seedlings is adjusted by vertically moving the seedling placing table 31 and the guide rails 31a for slidingly guiding the lower end of the seedling placing table 31.

The seedling removal amount adjusting mechanism 30 includes a seedling taking amount adjusting motor 36 with a speed reduction mechanism, which is an actuator for vertically moving the seedling placing table 31 and the guide rail 31a, and an output shaft of the seedling taking amount adjusting motor 36. It is provided with a pinion gear provided and a fan-shaped gear 35 meshing with the pinion gear. Further, the seedling removal amount adjusting mechanism 30 includes a support arm 301 inserted in the front part of the guide rail 31a and a support shaft 302 that supports the support arm 301 so as to be swingable. The support arm 301 and the sector gear 35 are linked by a connecting arm 303. The rotation shaft 304 of the fan gear 35 is provided with a seedling picking amount sensor 305 that detects a turning angle (a seedling picking amount) of the fan gear 35. By driving the seedling removal amount adjusting motor 36 in one direction, the seedling placing table 31 and the guide rails 31a are moved upward, and by driving the seedling removing amount adjusting motor 36 in the other direction, the seedling placing table 31 and the guide rail 31a are moved. Move to the descending side. The seedling removal amount is changed by vertically moving the seedling placing table 31 and the guide rail 31a.

As shown in FIG. 4, the fertilizer application device 4 includes a horizontally long hopper 41, a feeding mechanism 42, an electric blower 43, a plurality of fertilizer application hoses 44, and a grooving device 45 provided for each row. .. The hopper 41 stores granular or powdered fertilizer. The feeding mechanism 42 is operated by the power transmitted from the engine 13, and feeds two fertilizers from the hopper 41 by a predetermined amount.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1 and generates a carrying wind for carrying the fertilizer fed by each feeding mechanism 42 toward the mud surface of the field. The fertilizer application device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by an intermittent operation of the blower 43 or the like.

Each fertilizer application hose 44 guides the fertilizer conveyed by the conveyance wind to each grooving device 45. Each grooving device 45 is provided in each leveling float 15. Then, each grooving device 45 moves up and down together with each leveling float 15 and forms a fertilization groove in the mud portion of the paddy field and guides the fertilizer into the fertilization groove during work traveling in which each leveling float 15 is grounded.

As shown in FIG. 5, the fertilizer application device 4 is provided with a feeding amount adjusting mechanism 40 capable of changing and adjusting the feeding amount of fertilizer by the feeding mechanism 42. The feeding amount adjusting mechanism 40 includes a screw shaft 403 for displacing the adjusting body 402 for adjusting the feeding amount in the feeding mechanism 42, and a fertilizer adjusting motor 404 for rotating the screw shaft 403 in forward and backward directions via a gear. A position detection sensor 405 for detecting the displacement position of the adjusting body 402 based on the rotation of the screw shaft 403 and the like.

As shown in FIG. 4, the machine body 1 includes a driving unit 20 on the rear side thereof. The driving unit 20 includes a steering wheel 21 for steering front wheels, a main speed change lever 22 that adjusts a vehicle speed by performing a speed change operation of a continuously variable transmission 14, an auxiliary speed change lever 23 that enables a speed change operation of an auxiliary speed change device, and a seedling. A general-purpose terminal having a work operation lever 25 that enables lifting and lowering operations of the planting apparatus 3 and switching of operating states, a touch panel that displays (notifies) various information to notify the operator, and receives various information inputs. 7 and a driver's seat 16 for the operator. Further, a spare seedling frame 17 for storing spare seedlings is provided in front of the operating unit 20.

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. Further, as shown in FIG. 5, a steering motor M1 is also connected to the steering mechanism, and the steering angle of the front wheels 12A is changed by operating the steering motor M1 based on a command from the control unit 6 during automatic traveling. Adjusted. Further, a gear shift operation motor M2 for automatically operating the main gear shift lever 22 is also provided, and during automatic traveling, the gear shift operation motor M2 operates based on a command from the control unit 6, so that there is no stepless operation. The shift position of the transmission 14 is adjusted.

FIG. 6 is a control block diagram showing the control system of the rice transplanter. In this embodiment, the farming database 100 and the work plan creation unit 103 described above are built in the external computer system CS. The farming database 100 includes a farm field information storage unit 101 that stores farm field information and a working machine information storage unit 102 that stores working machine information such as working machine specifications. The agricultural material supply management system is built in the general-purpose terminal 7 equipped in the rice transplanter. The general-purpose terminal 7 includes a material supply management unit 70, a travel route generation unit 71, a unit input amount calculation unit 73, a storage amount calculation unit 74, a supply position calculation unit 75, and a loading amount calculation unit 76 as application programs. .. A touch panel included in the general-purpose terminal 7 is used as the display 7b of the agricultural material supply management system, and a touch panel controller of the general-purpose terminal 7 is used as the display processing unit 7a.

The control unit 6, which is the core of the control system of the rice transplanter, is connected to the general-purpose terminal 7 via the vehicle-mounted LAN. Further, the control unit 6 can exchange data with an external computer including the external computer system CS and a smartphone via a communication unit (not shown). Signals from the positioning unit 8, the automatic changeover switch 27, the traveling sensor group 28, and the work sensor group 29 are input to the control unit 6. A control signal from the control unit 6 is output to the traveling equipment group 1A and the working equipment group 1B.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the machine body 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS) and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the airframe 1. The automatic changeover switch 27 is a switch for selecting an automatic travel mode in which the machine body 1 automatically travels and a manual travel mode in which the machine body 1 travels manually. The traveling sensor group 28 includes various sensors that detect states such as a steering angle, a vehicle speed, an engine speed, and set values for them. The work sensor group 29 includes various sensors that detect the states of the link mechanism 11, the seedling planting device 3, the fertilizer application device 4 and set values for them.

The traveling device group 1A includes, for example, a steering motor M1 and a gear shifting operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control unit 6. The vehicle speed is adjusted by controlling the shift operation motor M2.

The work equipment group 1B includes, for example, an elevating cylinder 11a, a seedling removal amount adjusting mechanism 30, and a feeding amount adjusting mechanism 40. Based on the control signal from the control unit 6, the seedling removal amount adjustment motor 36 (see FIG. 5) is controlled to adjust the seedling removal amount, and the fertilizer adjustment motor 404 (see FIG. 5) is controlled. The amount of fertilizer applied is adjusted.

The control unit 6 includes a traveling control unit 61, a work control unit 62, a vehicle position calculation unit 63, a work parameter setting unit 64, an actual unit input amount calculation unit 65, and a notification processing unit 66.

The vehicle position calculation unit 63 calculates the map coordinates (vehicle position) of the machine body 1 based on the satellite positioning data sequentially sent from the positioning unit 8. This rice transplanter is capable of automatic traveling and manual traveling, and the traveling controller 61 includes an automatic traveling controller 611 and a manual traveling controller 612. The traveling control unit 61 sets either an automatic traveling mode in which automatic traveling is performed or a manual traveling mode in which manual traveling is performed, based on a command from the automatic changeover switch 27.

In the automatic travel mode, the automatic travel control unit 611 compares the target travel route received from the travel route generation unit 71 with the vehicle position received from the vehicle position calculation unit 63 to calculate the lateral deviation and the bearing deviation. Further, the automatic traveling control unit 611 calculates the steering control amount based on the calculated lateral deviation and azimuth deviation so that the lateral deviation and the azimuth deviation are reduced. The steering motor M1 is controlled based on the steering control amount, and the steering angle of the front wheels 12A is adjusted. In the manual travel mode, the manual travel control unit 612 calculates the steering control amount based on the operation amount of the steering wheel 21, the steering motor M1 is controlled based on the steering control amount, and the steering angle of the front wheels 12A is adjusted. To be done. In the manual travel mode, the target travel route received from the travel route generation unit 71 can be used for driving assistance.

When the work parameters for the rice planting work and the fertilizing work are sent from the external computer system CS together with the traveling route, the work parameter setting unit 64 uses the work parameters to adjust the seedling-picking amount adjusting mechanism 30 and the feeding amount adjusting mechanism. Set the adjustment amount of 40.

The actual unit input amount calculation unit 65 determines the seedling planting amount per unit travel distance as the actual unit input amount based on the signal from the seedling removal amount adjusting mechanism 30 and the signal from the vehicle speed detector (not shown). calculate.

As described above, the notification processing unit 66 notifies the driver or the worker of the content of the correction through the notification device 26 when the supply position or the loading amount is corrected. Since the notification device 26 includes a speaker, a display, a lamp, a buzzer, etc., the notification processing unit 66 generates a signal for notifying the driver and the worker of various other information.

Next, an example of an algorithm for calculating the supply position and the loading amount (distribution amount to the supply position) of the agricultural material (seedling) by the agricultural material supply management system will be schematically described.

In this example, the following restrictions (a) and (b) are set.
(A) The field shape to be handled is almost rectangular as shown in FIG. In FIG. 7, the four corners of the field are designated by the symbols C1, C2, C3, C4.
(B) The orbiting direction of the orbital traveling is clockwise or counterclockwise, but the ridge (farm road) for supplying seedlings is between the corner: C1 and the corner: C2. That is, the supply position is set in the area between the corner: C1 and the corner: C2. The entrance/exit 90 is set at the corner: C1 and the corner: C2. The exit direction of the rice transplanter at each entrance 90 depends on the orbiting direction of the orbital traveling. In FIG. 7, the exit direction in the clockwise orbital traveling is indicated by the symbol CW, and the exit direction in the counterclockwise orbital traveling is indicated by the symbol CCW.

The input parameters in this calculation algorithm are input as follows using the input screen shown in FIG. On the input screen shown in FIG. 8, a field information input field for inputting a field shape and a work equipment specification input field (device information input field) for inputting specifications of work equipment for supplying agricultural materials (seedlings) to the field. And a work specification input field (planting condition input field) for inputting work specifications for supplying agricultural materials.
(1) When the field information downloaded from the external computer system CS includes latitude and longitude data, the latitude routes of four corners of the field are input. Alternatively, the vertical and horizontal lengths of the fields are input.
(2) The ridge used for seedling supply is input (in this example, it is defined as the ridge between the corner: C1 and the corner: C2).
(3) The entrance 90 from which the rice transplanter exits and the exit direction are input.
(4) The planting width (number of planting rows) as the working width is entered. In the rice transplanter, the preset planting width can be changed, so that it can be changed during the work as needed.
(5) The seedling amount (capacity) that can be stored in the rice transplanter is input in seedling box units.
(6) As planting conditions, the number of plants to be planted, the number of plants, the number of rows, and the number of seedling boxes per predetermined area are also entered.

Next, the contents of the calculation output of this calculation algorithm will be described using the output screen shown in FIG. In the output screen shown in FIG. 9, a start-up replenishment amount output column showing a replenishment amount at the start of work, a first position showing a replenishment position and a loading amount (replenishment amount) during a U-turn reciprocating traveling in the central region. An output column and a second output column indicating a replenishment position and a loading amount (replenishment amount) during traveling around the outer peripheral region are arranged.
(1) At the start of seedling planting work Assuming that the number of seedling boxes that can be installed is initially loaded, the number of seedling box supplies (loading amount) is calculated and displayed.

(2) Replenishment during seedling planting work in the central area The first replenishment position (distance from the corner) and the number of replenished seedling boxes (loading amount: distribution amount) are calculated and displayed. It is not necessary if the number of planting lines (reciprocating linear path) is even, but if it is odd, it is necessary to consider whether or not replenishment is necessary in the first reciprocating linear path, so the initial replenishment position is calculated separately. The second and subsequent supply positions are calculated and displayed as a relative distance from the previous supply position. The loading amount (distribution amount) at the replenishment position is calculated and displayed by the number of replenishment seedling boxes. The second and subsequent supply positions are at regular intervals, and the loading amount is a constant number of supply seedling boxes. At this time, for example, assuming that 12.5 boxes of seedlings have been supplied to the field, since the supply is in units of boxes, the loading amount is calculated by rounding down to 12 boxes. Lastly, the replenishment position and the number of replenished seedling boxes (loading amount) are calculated and displayed when a reciprocating straight route less than the number of reciprocating no replenishment remains. However, for example, when the number of reciprocations reciprocating in the reciprocating linear path without replenishment is 1, it is not loaded, and when the number of reciprocations is 2 and one reciprocal is left at the end, one reciprocal is loaded. The number of reciprocations (loading) required for each round trip is displayed as the number of non-replenishment round trips. If seedling planting work was performed only on two or four rows in the final round-trip linear route, or if the fraction due to the above round-down calculation was adjusted, the amount for adjusting it was adjusted Is calculated and displayed. Finally, the total number of seedling box supplies (loading amount) in the central area is calculated and displayed.

(3) Replenishment at the time of seedling planting work in the outer peripheral area The number of seedling boxes required for seedling planting work in the outer peripheral area is calculated for each round (inner circumference and outermost circumference), and the number of seedling boxes is maximum installed in the rice transplanter. If the number is less than the possible number of boxes, the number of seedling boxes to be supplied (loading amount) is calculated and displayed so that the capacity of the rice transplanter at the start of the outer circumference becomes the required number of seedling boxes. The indicated number of supplied seedling boxes will be loaded at the start of the outer circumference. For example, if a rice transplanter that makes two laps in the outer peripheral region in a traveling pattern that shifts from the inner circumference traveling to the outer circumference traveling, can travel to the end position (inlet/outlet 90) of the inner outer circumference traveling when seedling replenishment is required for the inner circumference traveling. Make sure the number of seedling boxes is replenished. Then, at the start of the outer circumference traveling, the number of seedling boxes to be supplemented (loading amount) is calculated and displayed so that the accommodation amount is the number of seedling boxes required for the outer circumference traveling.

The calculation results of the replenishment position and the loading amount are displayed on the display 7b in a table format as shown in FIG. Further, the calculation result can be displayed in a map format in which the supply position and the loading amount are shown on the field map including the traveling route. In FIG. 10, the replenishment position when traveling on the central traveling route is schematically shown, and in FIG. 11, the replenishment position when traveling on the outer peripheral traveling route is schematically shown.

The reciprocating traveling route shown in FIG. 10 is composed of a large number of parallel reciprocating straight routes and a turning route (U-turn route) connecting the reciprocating straight routes. R3 is given to the reciprocating straight route, and R5 is given to the turning route. The circular traveling route shown in FIG. 11 is a circular straight line that is composed of a circular linear route that extends parallel to the field boundary line (shore) and a directional change route that incorporates forward and reverse movements to connect the circular linear routes. A code R1 is given to the route, and a code R2 is given to the direction change route. In FIG. 5 and FIG. 6, reference numeral R4 is assigned to the transition route for transitioning from the reciprocating traveling route to the orbiting traveling route. In this example, the transition path is similar to the turning path. Further, in FIG. 10 and FIG. 11, the working width of the rice transplanter is indicated by a symbol W, and the entrance/exit 90 to the field of the rice transplanter is depicted by diagonal lines. FIG. 6 shows a start guide route (designated by reference numeral R6) from the entrance 90 to the traveling start position S of the reciprocating traveling route. In the turning route, the turning route, the start guide route, and the transition route, the rice transplanter runs without any work, and therefore these routes are indicated by dotted lines. In the circular straight line route and the round-trip straight line route, since the rice transplanter travels while performing work, these routes are indicated by solid lines.

The examples of FIGS. 10 and 11 do not correspond to the calculation results of the replenishment position and the loading amount on the output screen of FIG. In FIG. 10, the supply positions are indicated by P11, P12, P13, and P14, and each supply position is indicated by the distance from the field corner: C2: D1 and the distance from the adjacent supply position: D2. ing. In FIG. 11, the replenishment positions are indicated by P21 and P22, and each replenishment position is indicated by the distance: L1 from the field corner: C2 and the distance from the adjacent replenishment position: L2. The loading amount at the supply position is displayed in a pop-up by clicking the black circle indicating the supply position.

Further features of this agricultural material supply management system are summarized below.
(1) A calculation for calculating the timing (replenishment position)/necessary material amount (loading amount) at which the agricultural material needs to be replenished, based on the information such as the field information and the field work machine information, from the initially stored capacity. An algorithm is provided. The field information includes the field shape, the position of the entrance/exit 90, the direction of entrance/exit, the shore suitable for supplying agricultural materials (seedlings, fertilizers, chemicals, fuel, seed paddy, etc.) and shores such as farm roads. .. In the field work machine information, the maximum amount of agricultural materials that can be installed (mountable capacity of seedling mount 31, number of spare seedling mounts, hopper capacity, tank capacity, etc.) and each clutch are considered. It includes the working width (number of rows), row spacing, vertical feed rate, seedling scraping rate, horizontal feed rate, plant spacing, seeding rate, spray rate, fuel consumption, and the like.
(2) A calculation mode that minimizes the number of replenishments is provided.
(3) A calculation algorithm that takes work information for the outer peripheral region into consideration is also possible, and the present invention can be applied to an arbitrary number of rounds of traveling in the outer peripheral region.
(4) When performing work using U-turn reciprocal traveling, it is possible to perform calculations that are applicable when the number of forward and return passes is the same (reciprocal linear route is even) and when it is different (reciprocal linear route is odd). Is. When the number of outward and return routes of the reciprocating linear route is different (the reciprocating linear route is an odd number), the agricultural material supply prediction calculation is performed in consideration of one outward route.
(5) In the calculation algorithm for work using U-turn reciprocal traveling, the calculated agricultural material supply amount (loading amount) this time and the actual agricultural material consumption from the previous agricultural material supply to the next agricultural material supply timing If the amount is different, a calculation mode is provided to adjust the difference.
(6) Different operations algorithms that can be linked to each other are used for the work in the round trip for the outer peripheral region and the work for the U turn reciprocating trip for the central region, and the supply shore in the work in the U turn reciprocating trip, It is possible to match the supply shore in the work of traveling around the outer peripheral region.
(7) When there is a high possibility that the work width is changed during the work, the calculation is performed using the median value of the work width statistically obtained accordingly.
(8) The calculation of the replenishment position and the loading amount is changed in association with the operation of changing the amount of consumption of agricultural materials (longitudinal feed amount, seedling scraping amount, horizontal feeding number, plant spacing, seeding amount, spraying amount, etc.).
(9) A calculation mode is prepared in which a unit input amount, a storage amount, a replenishment position, a loading position, etc. are manually input and an optimum solution is obtained based on the input.

[Another embodiment]
(1) In many field work machines that supply agricultural materials to the field, an appropriate supply position and loading amount are required in order to efficiently supply the agricultural materials during the work. However, in the case of a rice transplanter, the supply amount (loading amount) is approximately determined by the number of planting rows, and therefore it is possible to eliminate the calculation of the loading amount. That is, the seedling amount (loading amount) consumed between the adjacent supply positions can be obtained from the distance (the number of planted rows) between the adjacent supply positions. Therefore, in the agricultural material supply management system for rice transplanters, the supply position calculation unit 75 can also function as the loading amount calculation unit 76, and thus the loading amount calculation unit 76 can be omitted.
(2) Fuel and battery capacity of the field work machine are also included in the agricultural material of the present invention.
(3) In the above-described embodiment, a rice transplanter equipped with a fertilizer application was adopted as a field working machine, but a single-function rice transplanter, a dedicated fertilizer application machine, etc. can also be incorporated into the farming system of the present invention. Furthermore, combine harvesters, tractors, etc. can be incorporated into the farm management system as field working machines in the same field.
(4) The field shape and running locus in the work performed on the same field work machine or different field work machines up to the previous year have been uploaded to the external computer system CS or the cloud service, and when performing the work on the same field. , The field shape or the traveling locus of the corresponding field is diverted or referred to. The number of times of diversion or reference of the used or referred field shape or the traveling locus is recorded, and an evaluation point is given.
(5) The traveling route of the rice transplanter is determined so as to follow the traveling locus and the line in the harvesting work by the combine carried out in the same field.
(6) In the embodiment shown in FIG. 6, the functional units built in the external computer system CS or the general-purpose terminal 7 can be replaced with each other.
(7) Although the term “straight route” is used in the above description of the embodiment, the straight route here includes a curved line route, a zigzag route, and a meandering route indicated by a curved line having a large radius of curvature. ing.

INDUSTRIAL APPLICABILITY The present invention is applicable to an agricultural material supply management system for an agricultural field working machine that supplies agricultural materials to the field while traveling along a traveling route set in the field.

6: control unit 65: actual unit input amount calculation unit 7: general-purpose terminal 70: material supply management unit 71: travel route generation unit 73: unit input amount calculation unit 74: accommodation amount calculation unit 75: supply position calculation unit 751: first 1 replenishment position calculation unit 752: second replenishment position calculation unit 76: loading amount calculation unit 761: first loading amount calculation unit 762: second loading amount calculation unit 7a: display processing unit 7b: display 30: seedling picking Quantity adjustment mechanism 40: Feeding quantity adjustment mechanism 100: Farming database 101: Field information storage unit 102: Working machine information storage unit 103: Work plan creation unit CS: External computer system

Claims (5)

An agricultural material supply management system for an agricultural field working machine that supplies agricultural materials to the field while traveling along a travel route set in the field,
A unit input amount calculation unit for calculating a unit input amount which is an input amount of the agricultural material per unit mileage,
A storage amount calculation unit that calculates the storage amount of the agricultural material stored in the field work machine,
A replenishment position calculation unit that calculates a replenishment position for replenishing the agricultural material to the field work machine in the peripheral region of the field, based on the traveling route, the unit input amount, and the accommodation amount,
A loading amount calculation unit that calculates a loading amount of the agricultural material loaded in the field work machine at the replenishment position,
Agricultural material supply management system equipped with. The traveling route includes an outer periphery traveling route for traveling around the outer peripheral region of the field, and a central traveling route for traveling back and forth in a central region inside the outer peripheral region by U-turns. A first replenishment position calculation unit that calculates the replenishment position on the outer peripheral travel route and a second replenishment position calculation unit that calculates the replenishment position on the central travel route, wherein the loading amount calculation unit is the The agricultural material supply according to claim 1, further comprising a first loading amount calculation unit that calculates the loading amount on the outer travel route and a second loading amount calculation unit that calculates the loading amount on the central travel route. Management system. The agricultural material replenishment management system according to claim 2, wherein the replenishment position is limited to a ridge forming one side of the field, and the ridge faces an end of a return path of the U-turn reciprocating traveling. A display processing unit that generates an input screen and an output screen is provided, and in the input screen, a field information input field for inputting a field shape and a specification of a work device that supplies the agricultural material to the field are input. A work equipment specification input field and a work specification input field for inputting a work specification of agricultural material supply are arranged, and on the output screen, a start supply amount output field indicating a supply amount at the start of work, and the U The first output column indicating the replenishment position and the loading amount during the turn reciprocating traveling, and the second output column indicating the replenishment position and the loading amount during the circular traveling are arranged. Agricultural material supply management system described in 3. The replenishment position and the loading amount are corrected based on the actual unit loading amount, which is the unit loading amount acquired during the actual work traveling of the field work implement, and the correction content is notified. 4. The agricultural material supply management system according to any one of 4 above.

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