JP2021101665A - Agricultural material dispensing machine - Google Patents

Abstract

To provide an agricultural material dispensing machine capable of dispensing an agricultural material according to an agricultural material map.SOLUTION: An agricultural material dispensing machine comprises: a material dispensing map management part 621 for managing a material dispensing map which indicates a dispensing amount of an agricultural material allocated to a minute section obtained by dividing a farm field; a machine body position calculation part 63 for calculating a machine body position by using satellite positioning; an actual dispensing amount calculation part 622 for calculating an actual dispensing amount on the basis of a dispensing amount allocated to a plurality of minute sections being positioned in the surrounding of the machine body position; and a material dispensing control part 623 for controlling dispensing of the agricultural material by the agricultural material dispensing device, on the basis of the actual dispensing amount.SELECTED DRAWING: Figure 3

Description

The present invention relates to an agricultural material administration machine that administers agricultural materials at a dose assigned to each micro-compartment obtained by dividing a field.

In Patent Document 1, a fertilizer application map showing the dose of fertilizer in a small section of a field is generated based on past agricultural work, and the fertilizer application amount is determined from the fertilizer application map and the aircraft position calculated using GPS. A system in which fertilizer application work is performed is disclosed.

The fertilizer application vehicle disclosed in Patent Document 2 includes a fertilizer application device that changes the amount of fertilizer applied by inputting a control signal, which is a signal generated according to the traveling speed of the aircraft, and a position information acquisition means for acquiring the position information of the aircraft. And a fertilizer application information acquisition means and a fertilizer application amount control means. The fertilizer application information acquisition means acquires fertilizer application information (fertilization plan map) which is information on the amount of fertilizer application according to the position of the aircraft in the field acquired by the position information acquisition means. The fertilizer application amount control means controls the fertilizer application amount by outputting to a control signal fertilizer application device generated according to the fertilizer application information acquired by the fertilizer application information acquisition means.

Japanese Unexamined Patent Publication No. 2019-128741 Japanese Unexamined Patent Publication No. 2019-088757

In the fertilization work according to Patent Document 1 and Patent Document 2, the amount of fertilizer applied according to each position of the field is based on the position of the aircraft by the satellite positioning system and the fertilizer application map showing the amount of fertilizer applied for each section obtained by dividing the field. Is adjusted accurately. However, when the size of the set plot is relatively small, a plurality of plots to which different fertilizer application amounts are assigned may enter the fertilizer application work execution area of the fertilizer applicator. In such a case, there is a disadvantage that the amount of fertilizer applied according to each position of the field cannot be adjusted accurately.

In view of the above situation, we provide an agricultural material administration machine that can administer agricultural materials according to the agricultural material map as much as possible even if the size of the section to which the agricultural material dose is assigned in the agricultural material map such as the fertilization map is small. It is to be.

The agricultural material administration machine for administering agricultural materials to a field according to the present invention includes a material administration map management unit that manages a material administration map showing a dose amount of the agricultural material assigned to a minute section obtained by dividing the field. , The aircraft position calculation unit that calculates the aircraft position using satellite positioning, the agricultural material administration device with variable dose, and the dose assigned to the plurality of micro-compartments located around the aircraft position. It includes an actual dose calculation unit that calculates the actual dose based on the actual dose, and a material administration control unit that controls the administration of the agricultural material by the agricultural material administration device based on the actual dose.

According to this configuration, not only the dose assigned to the micro-compartment where the agricultural material dispenser is located, but also the dose assigned to a plurality of micro-compartments located around the aircraft position is taken into consideration. The actual dose, which is the dose of agricultural materials, is calculated. As a result, even if the administration area of the agricultural material by the agricultural material dispensing machine contains a plurality of micro-compartments, the appropriate amount of agricultural material as possible will be administered to each micro-compartment, and the agricultural material map will be used. It is possible to administer agricultural materials in combination.

It is rational to select the micro-compartment containing the aircraft position and the micro-compartment around it as a plurality of micro-compartments used for calculating the actual dose. Therefore, in one of the preferred embodiments of the present invention, the actual dose calculation unit designates a micro-compartment included within a predetermined distance from the aircraft position as a target micro-compartment and assigns it to the target micro-compartment. The actual dose is calculated based on the dose given. By obtaining the predetermined distance used here from the area where the agricultural material is administered in one administration operation, it is possible to administer the agricultural material according to the agricultural material map. When the administration of the agricultural material is continuously performed, the predetermined distance becomes the administration width of the agricultural material, and the micro-compartment included in this administration width is treated as the target micro-compartment.

Depending on the size relationship between the administration area and the micro-compartment, agricultural materials may only be partially administered to the micro-compartment away from the center of the aircraft. In such a case, the weight of the dose assigned to each of the micro-compartment containing the center of the aircraft and the micro-compartment around it will be different in the calculation of the actual dose. Therefore, in one of the preferred embodiments of the present invention, the actual dose calculation unit changes the distance from the aircraft position to the target micro-compartment and the dose assigned to the target micro-compartment as variables. The actual dose is calculated using the function. The weight of the dose (variable) assigned to each target micro-compartment in this function should be smaller as the distance from the center of the aircraft is larger.

In one of the preferred embodiments of the present invention, the function is created on the basis of bilinear interpolation. For example, a large compartment is set with one micro-compartment containing the center of the aircraft and three micro-compartments adjacent to the micro-compartment, and the dose assigned to those micro-compartments is used for the center of the aircraft by bilinear interpolation. Calculate the interpolated dose in. By using this interpolated dose as the actual dose, it is possible to administer agricultural materials that reasonably match the agricultural material map.

Since the actual dose is calculated based on the distance relationship between the aircraft position calculated using satellite positioning and the position of each micro-compartment, this distance relationship needs to be calculated quickly. Therefore, in one of the preferred embodiments of the present invention, the material administration map includes the map coordinates of the center position of the microsection and the dose at the center position.

Rice transplanters often apply fertilizer to multiple fields a day. A material administration map is required for each field. Therefore, in one of the preferred embodiments of the present invention, the material administration map management unit stores the material administration maps of a plurality of the fields, and is to be used based on the position of the machine body. Select a material administration map.

One of the important administrations of agricultural materials in farming plans is the administration of fertilizers. By adjusting the dose of fertilizer according to the soil characteristics and environmental characteristics that depend on the position of the field, the economic efficiency of farming and the quality of crops are improved. From this, in one of the preferred embodiments of the present invention, the agricultural material is a fertilizer, and the agricultural material administration device is a fertilizer application device.

It is a side view of a rice transplanter which is an example of an agricultural material administration machine. It is a schematic diagram which shows the schematic structure of the seedling amount adjustment mechanism and the feeding amount adjustment mechanism. It is a functional block diagram which shows the control system of a rice transplanter. It is a schematic diagram which shows an example of the material administration map. It is explanatory drawing for demonstrating the calculation of the actual dose using the bilinear interpolation method.

As an embodiment of the agricultural material administration machine according to the present invention, a passenger-type rice transplanter will be taken up and described below. While running, this rice transplanter administers seedlings (planting work) and fertilizer (fertilizer application work) to the field as agricultural materials. In the present specification, unless otherwise specified, "front" means the front in the front-rear direction (traveling direction) of the aircraft, and "rear" means the rear in the front-rear direction (traveling direction) of the aircraft. Further, the left-right direction or the lateral direction means the aircraft crossing direction (airframe width direction) orthogonal to the aircraft front-rear direction. "Upper" or "lower" is the positional relationship of the aircraft in the vertical direction (vertical direction), and indicates the relationship at the height above the ground.

FIG. 1 is a side view of the rice transplanter. The rice transplanter is equipped with a passenger-type, four-wheel drive type traveling machine (hereinafter referred to as machine 1). The machine body 1 is attached to a parallel quadruple link type link mechanism 11 connected to the rear part of the machine body 1 so as to be able to move up and down, a hydraulic lifting cylinder 11a for swinging the link mechanism 11, and a rear end portion of the link mechanism 11. A seedling planting device 3 (an example of an agricultural material administration device) that is rotatably connected, and a fertilizer application device 4 (an example of an agricultural material administration device) that is erected from the rear end of the machine 1 to the seedling planting device 3. And so on.

The airframe 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as a mechanism for traveling. The wheels 12 have left and right front wheels 12A that can be steered and left and right rear wheels 12B that cannot be steered. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the machine body 1. The 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 as an eight-row planting type as an example. The seedling planting device 3 includes a seedling stand 31, a planting mechanism 32 for eight rows, and the like. The seedling planting device 3 can be changed to a form such as 2-row planting, 4-row planting, or 6-row planting by controlling each row clutch (not shown).

The seedling pedestal 31 is a pedestal on which eight mat-shaped seedlings are placed. The seedling stand 31 reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedling, and the vertical feed mechanism 33 is placed on the seedling stand 31 each time the seedling stand 31 reaches the left and right stroke ends. Each mat-shaped seedling is vertically fed at a predetermined pitch toward the lower end of the seedling stand 31. The eight planting mechanisms 32 are rotary type and are arranged in the left-right direction at regular intervals corresponding to the planting rows. Then, each planting mechanism 32 cuts out one seedling from the lower end of each mat-shaped seedling placed on the seedling stand 31 by the power from the machine body 1 and plants it in the mud portion after leveling.

As shown in FIG. 2, the seedling planting device 3 is provided with a seedling picking amount adjusting mechanism 30 for adjusting the seedling picking amount by the planting mechanism 32. The planting mechanism 32 takes out and plants one seedling by passing through the seedling take-out port formed on the guide rail 31a that slides and guides the lower end of the seedling loading table 31. The amount of seedlings taken is adjusted by changing the position of the guide rail 31a that slides and guides the seedling loading table 31 and the lower end of the seedling loading table 31.

The seedling amount adjusting mechanism 30 is attached to a seedling amount adjusting motor 36 with a speed reduction mechanism, which is an actuator for changing the positions of the seedling loading table 31 and the guide rail 31a up and down, and the output shaft of the seedling amount adjusting motor 36. It includes a fan-shaped gear 35 that meshes with the provided pinion gear. Further, the seedling amount adjusting mechanism 30 includes a support arm 301 inserted in the front portion of the guide rail 31a and a support shaft 302 that swingably supports the support arm 301. The support arm 301 and the fan-shaped gear 35 are linked by a connecting arm 303. The rotation shaft 304 of the fan-shaped gear 35 is provided with a seedling removal amount sensor 305 that detects the rotation angle (seedling amount) of the fan-shaped gear 35. The seedling loading table 31 and the guide rail 31a move to the ascending side by driving the seedling collecting amount adjusting motor 36 in one direction, and the seedling loading table 31 and the guide rail 31a move by driving the seedling collecting amount adjusting motor 36 in the other direction. Move to the descending side. The amount of seedlings taken is changed by moving the seedling stand 31 and the guide rail 31a up and down.

As shown in FIG. 1, the fertilizer application device 4 includes a horizontally long hopper 41, a feeding mechanism 42, an electric blower 43, a plurality of fertilizer hoses 44, and a groove grooving device 45 provided for each row. .. The hopper 41 stores granular or powdery fertilizer. The feeding mechanism 42 operates by the power transmitted from the engine 13 and feeds out two rows of fertilizer from the hopper 41 in predetermined amounts.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind for transporting the fertilizer delivered by each feeding mechanism 42 toward the mud surface of the field. The fertilizer application device 4 can switch between an operating state in which a predetermined amount of fertilizer stored in the hopper 41 is supplied to the field 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 transport wind to each groove-growing device 45. Each groover 45 is provided on each leveling float 15. Then, each groover 45 moves up and down together with each leveling float 15 to form a fertilizer groove in the mud portion of the paddy field and guide the fertilizer into the fertilizer groove during the work traveling in which each leveling float 15 touches the ground.

As shown in FIG. 2, the fertilizer application device 4 is provided with a feeding amount adjusting mechanism 40. The feeding amount adjusting mechanism 40 changes and adjusts the feeding amount of fertilizer by the feeding mechanism 42. The feeding amount adjusting mechanism 40 includes a screw shaft 403 that displaces the adjusting body 402 for adjusting the feeding amount in the feeding mechanism 42, and a fertilizer adjusting motor 404 that rotates the screw shaft 403 in the forward and reverse directions via a gear. It also has a position detection sensor 405 and the like that detect the displacement position of the adjusting body 402 based on the rotation of the screw shaft 403. That is, the feeding amount adjusting mechanism 40 functions as a dose-variable agricultural material administration device.

As shown in FIG. 1, the airframe 1 is provided with a driving unit 20 on the rear side. The driving unit 20 includes a steering wheel 21 for steering the front wheels, a main shift lever 22 that adjusts the vehicle speed by performing a shift operation of the continuously variable transmission 14, an auxiliary shift lever 23 that enables a shift operation of the auxiliary transmission, and a seedling. A work operation lever 25 that enables the planting device 3 to move up and down and switch the operating state, and a touch panel that displays (notifies) various information and notifies (outputs) to the operator and accepts input of various information. It is equipped with a general-purpose terminal 9 and a driver's seat 16 for an operator. Further, a spare seedling frame 17 for accommodating spare seedlings is provided in front of the driving 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. 2, a steering motor M1 is also connected to the steering mechanism, and during automatic driving, the steering motor M1 operates based on a command from the control unit 6, so that the steering angle of the front wheels 12A is adjusted. It will be adjusted. Further, a speed change operation motor M2 for automatically operating the main speed change lever 22 is also provided, and during automatic traveling, the speed change operation motor M2 operates based on a command from the control unit 6 to cause stepless operation. The shift position of the transmission 14 is adjusted.

FIG. 3 shows a control block diagram of the control system of this rice transplanter. The control unit 6, which forms the core of the rice transplanter's control system, is connected to a communication unit 81 used for data exchange with an external computer system 5 installed in a remote location and a general-purpose terminal 9 provided in the rice transplanter. ing. The general-purpose terminal 9 is constructed with a travel route generation unit 91 that generates a travel route that is a target during automatic travel. 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. The 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 aircraft 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 unit 8B that detects the tilt and acceleration of the three axes of the aircraft 1. The automatic changeover switch 27 is a switch for selecting between an automatic traveling mode in which the aircraft 1 is automatically traveled along a traveling path generated by the traveling route generation unit 91 and a manual traveling mode in which the aircraft 1 is manually traveled. The travel sensor group 28 includes various sensors that detect states such as steering angle, vehicle speed, and engine speed, and set values for them. The work sensor group 29 includes various sensors that detect the state of the link mechanism 11, the seedling planting device 3, and the fertilizer application device 4.

The traveling equipment group 1A includes, for example, the steering motor M1 and the speed change operation motor M2 described with reference to FIG. 2, and the steering motor M1 is controlled based on the control signal from the control unit 6. The steering angle is adjusted by, and the vehicle speed is adjusted by controlling the speed change operation motor M2.

The working equipment group 1B includes, for example, an elevating cylinder 11a, a seedling picking amount adjusting mechanism 30, and a feeding amount adjusting mechanism 40. As described with reference to FIG. 2, the seedling amount adjusting motor 36 is controlled based on the control signal from the control unit 6, so that the seedling amount is adjusted and the fertilizer adjusting motor 404 is controlled. The amount of fertilizer applied is adjusted.

The control unit 6 includes a traveling control unit 61, a work control unit 62, and an airframe position calculation unit 63.

The aircraft position calculation unit 63 calculates the map coordinates (airframe position) of the aircraft 1 based on the satellite positioning data sequentially sent from the positioning unit 8.

This rice transplanter is capable of automatic running and manual running, and the running control unit 61 is in an automatic running mode in which automatic running is performed or manual running in which manual running is performed based on a command from the automatic changeover switch 27. One of the modes is set. In the automatic driving mode, the automatic driving control unit 611 adjusts the steering control amount so that the lateral deviation and the directional deviation are reduced based on the lateral deviation and the directional deviation calculated by comparing the aircraft position and the target traveling route. Calculate. 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 controls the steering motor M1 based on the amount of operation of the steering wheel 21, so that the steering angle of the front wheels 12A is adjusted.

In the automatic driving mode, the work control unit 62 automatically controls the work equipment group 1B based on a program given in advance, and in the manual driving mode, controls the work equipment group 1B based on the operation of the driver. To do.

The rice transplanter of this embodiment has a function of administering fertilizer based on a material administration map showing the amount of fertilizer applied (a kind of dose of agricultural material) assigned to the minute plots obtained by dividing the field. Therefore, the work control unit 62 includes a material administration map management unit 621, an actual dose calculation unit 622, a material administration control unit 623, and a work data creation unit 624.

The material administration map management unit 621 manages the material administration map downloaded from the external computer system 5. FIG. 4 shows an example of this material administration map. This material administration map is a grid map in which a field is divided into rectangular micro-compartments of a predetermined size (several tens of centimeters to several tens of centimeters). If the field is rectangular, the grid map is represented by a matrix of m rows and n columns, and if the micro-sections are S, each micro-section can be specified by Sm and n. If the center point of each minute section is P, it can be specified by Pm and n. The amount of fertilizer applied is assigned to each micro-compartment. If the amount of fertilizer applied is W, the amount of fertilizer applied can be specified by Wm and n. In FIG. 4, the line shown by the thick line is the target travel path (or travel locus) of the rice transplanter. The dose (fertilizer application amount) in this material administration map is determined based on the taste and yield of the microcompartment unit obtained by the combine.

The actual dose calculation unit 622 matches the machine position calculated by the machine position calculation unit 63 with the material administration map, and based on the fertilizer application amount assigned to a plurality of minute sections located around the machine position. Calculate the actual (real-time) actual dose. The plurality of micro-compartments located around the aircraft include a micro-compartment containing the aircraft position (referred to as a central compartment) and three micro-compartments having the center points of the central compartment and the remaining three center points surrounding the aircraft position (referred to as the central compartment). Peripheral compartment) is included. Therefore, the material administration map includes the map coordinates of the central position of the microsection and the dose assigned to the central position.

The material administration map and the field map for automatic driving may be created independently, or a map already registered or a map distributed on the Internet may be used. Also, if the small section that divides the field map is a rectangle, the size of one side is the minimum width of the rice transplanter, and the size of the other side is the same as the length of the section used in the end distribution of the combine harvester. It is preferably smaller than that. In particular, in the present invention, since an interpolation method or the like is used, smaller minute compartments can be effectively used. The working width of the rice transplanter can be adjusted by the clutch of each row.

Next, a bilinear interpolation method, which is one of the methods for calculating the actual dose based on the amount of fertilizer applied to a plurality of micro-compartments located around the aircraft position, will be described with reference to FIG. In FIG. 5, the aircraft position is indicated by "A", and the center point of the central section including the aircraft position is indicated by P1. The remaining center points surrounding the aircraft position together with the center point of the central section are P2 (the center point of the peripheral section on the front side in the aircraft traveling direction of the central section) and P3 (the adjacent peripheral section closer to the center point of the central section), respectively. (Center point of), P4 (center point of adjacent peripheral compartments in two peripheral compartments). Further, the amount of fertilizer applied to the center point: P1 is assigned to W1, the amount of fertilizer applied to the center point: P2 is assigned to W2, the amount of fertilizer applied to the center point: P3 is assigned to W3, and the amount of fertilizer applied to the center point: P4. The amount of fertilizer applied is W4.

Fertilizer application amount assigned to the central compartment and the three surrounding compartments: If W1, W2, W3, and W4 are applied to the bilinear interpolation method, the fertilizer application amount (actual dose) at the current aircraft position can be calculated from the following formula. Be done.
Fertilizer application amount = (1-dx) × (1-dy) × W1 + dx × (1-dy) × W2
+ (1-dx) x dy x W3 + dx x dy x W4
Here, dx is the distance from the airframe position to P1 or P3 in the airframe traveling direction, dy is the distance from the airframe position to P1 or P2 in the airframe crossing direction, and the value thereof is the minute section. It is normalized with a length of 1.

The interpolation method for obtaining the amount of fertilizer applied (actual dose) at the current position of the aircraft is not limited to the bilinear interpolation method. It is also possible to adopt other interpolation methods such as bicubic interpolation. In any case, the actual dose calculation unit 622 designates the micro-compartment included within a predetermined distance from the aircraft position as the target micro-compartment, and calculates the actual dose based on the dose assigned to the target micro-compartment. Has the function of At that time, the actual dose calculation unit 622 may calculate the actual dose by using a function in which the distance from the aircraft position to the target micro-compartment and the dose assigned to the target micro-compartment are variables. Alternatively, such functions may be tabulated.

The material administration control unit 623 controls the delivery amount adjusting mechanism (an example of the agricultural material administration device) 40 so that the actual dose calculated as described above is administered to the field.

Since the size of the field and the amount of fertilizer applied to the small plots differ from field to field, a material administration map must be prepared for each field where fertilization work is performed. Since the rice transplanter performs fertilization work on a plurality of fields in a day, the material administration map management unit 621 stores the material administration maps of a plurality of fields to be worked, and based on the position of the machine, it is used as a target for use. Select the material administration map and read the data contents. Depending on the position of the aircraft, multiple material administration maps may be candidates. In that case, enter the field to be worked on so that one appropriate material administration map is selected.

The work data creation unit 624 converts the work results of the field work carried out by the rice transplanter based on the agricultural material administration plan into data to generate work data, and creates a work result file including the work data. When the rice transplanter is performing fertilizer application work as agricultural material administration work, this work result file contains the work date and time, data for identifying the field, the traveling locus of the machine 1, the type of fertilizer, the amount of fertilizer applied for each minute section, etc. Is included. The created work result file is uploaded to the external computer system 5 through the communication unit 81.

In this embodiment, as for the material administration map, the material administration map creation unit 51 of the external computer system 5 digitizes the field work plan drafted by the farmer and indicates the material administration work plan for each section. Create a map. When the agricultural material to be administered is fertilizer, the material administration map is as shown in FIG. 4, but although not shown in FIG. 4, the material administration map shows the contents of the material administration work. It includes work data and running data showing the work specifications (work width (number of rows), vehicle speed, etc.) of the rice transplanter that performs the data and material administration work.

[Another Embodiment]
(1) In the above-described embodiment, the fertilizer application device 4 is controlled so that the actual dose of fertilizer is distributed to a plurality of fertilizer application points (tips of fertilizer application hoses 44) corresponding to each article. Instead of this, when the fertilizer application device 4 capable of adjusting the fertilizer application amount for each article is installed, the actual dose may be calculated for each article and the fertilizer may be administered.
(2) In the above-described embodiment, the material administration map creation unit 51 is built on the external computer system 5, but may be built on the rice transplanter side such as a general-purpose terminal 9.
(3) In the above-described embodiment, the rice transplanter is a vehicle capable of automatically traveling, but may be a vehicle capable of automatically traveling. In that case, the own vehicle position (working position) is calculated based on the positioning data from the positioning unit 8, and the work result map is created by combining the own vehicle position and the work result. In the case of manual travel, the travel route generated by the travel route generation unit 91 is used as a travel support map.
(4) In the above-described embodiment, the fertilizer application work is treated as the agricultural material administration work. Instead of this, it is possible to administer the agricultural material in units of minute sections as described above for the seedling planting work, the sowing work, the chemical spraying work, and the like.

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

The present invention is applicable to all agricultural material administration machines that administer agricultural materials to fields.

3: Seedling planting device 4: Fertilizer application device 6: Control unit 30: Seedling amount adjusting mechanism 40: Feeding amount adjusting mechanism 61: Travel control unit 62: Work control unit 63: Machine position calculation unit 611: Automatic travel control unit 612 : Manual running control unit 621: Material administration map management unit 622: Actual dose calculation unit 623: Material administration control unit 624: Work data creation unit

Claims (7)

It is an agricultural material administration machine that administers agricultural materials to the field.
A material administration map management unit that manages a material administration map showing the dose of the agricultural material assigned to the micro-compartment obtained by dividing the field, and a material administration map management unit.
An aircraft position calculation unit that calculates the aircraft position using satellite positioning, and
Agricultural material administration device with variable dose,
An actual dose calculation unit that calculates an actual dose based on the dose assigned to a plurality of the micro-compartments located around the aircraft position, and an actual dose calculation unit.
A material administration control unit that controls the administration of the agricultural material by the agricultural material administration device based on the actual dose.
Agricultural material administration machine equipped with. The actual dose calculation unit designates a micro-compartment included within a predetermined distance from the aircraft position as a target micro-compartment, and calculates the actual dose based on the dose assigned to the target micro-compartment. The agricultural material administration machine according to claim 1. The claim that the actual dose calculation unit calculates the actual dose by using a function in which the distance from the aircraft position to the target micro-compartment and the dose assigned to the target micro-compartment are variables. Agricultural material administration machine according to 2. The agricultural material administration machine according to claim 3, wherein the function is created based on the bilinear interpolation method. The agricultural material administration machine according to any one of claims 1 to 4, wherein the material administration map includes map coordinates of a central position of the microsection and the dose at the central position. The material administration map management unit stores the material administration maps of a plurality of the fields, and selects the material administration map to be used based on the position of the machine, any one of claims 1 to 5. Agricultural material administration machine described in the section. The agricultural material administration machine according to any one of claims 1 to 6, wherein the agricultural material is fertilizer, and the agricultural material administration device is a fertilizer application device.

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