JP2022127178A - Loading type fertilizing device - Google Patents

Abstract

To make it possible to efficiently introducing fertilizer while optimizing an amount of applied fertilizer on the basis of past records of a farm field.SOLUTION: A loading type fertilizing device 10 has a plurality of individual fertilizer applicators 11 for introducing fertilizer to an individual fertilizing region 18 divided into a plurality of places to both left and right sides from a main body of the loading type fertilizing device, the individual fertilizer applicators 11 each have an adjustment mechanism 12 for adjusting a fertilizer amount that is independently introduced. The loading type fertilizing device 10 including a position information acquisition part 19 for acquiring position information and a storage part 33 recording data of a fertilizer target introduction amount in each individual area 21 obtained by dividing a farm field based on past growth information of the farm field into rectangles executes fertilizer adjustment means for adjusting a fertilizer amount by the individual adjustment means 12 to an amount matching the target introduction amount of the individual area 21 to which fertilizer discriminated from the position information is introduced.SELECTED DRAWING: Figure 1

Description

The present invention relates to a fertilizer applicator that introduces an appropriate amount of fertilizer into a field.

At present, the introduction of fertilizers to improve growth is essential in most fields. However, if fertilizers are introduced in excess, not only will the cost be wasted, but the growth of crops may be adversely affected. Therefore, various ideas have been proposed for introducing an appropriate amount of fertilizer.

When introducing fertilizer into a field, a method of running a vehicle equipped with a spreader called a spinner that spreads fertilizer placed on a rotating plate to the left and right is generally used (for example, Patent Document 1). With such a broadcaster, variable fertilization is possible by adjusting the amount of fertilizer to be spread according to the timing of traveling in the direction of travel. As for the reaching distance in the left-right direction, it is possible to suitably fly up to about 5 to 10 meters.

In addition, Patent Literature 2 proposes creating a fertilization map that sets the amount of fertilizer to be introduced into a field for each divided area. While confirming the position in the field with the GPS (Global Positioning System) function, it acquires image data taken from the sky by industrial helicopters and drones, as well as other measurement data, and provides information on growth and soil conditions. Then, the optimum amount of fertilizer is calculated and set for each area. It has also been proposed that an automatic variable fertilizer applicator having a GPS measuring device applies fertilizer while adjusting the amount of fertilizer applied by microcomputer control according to the fertilizer application map.

Further, Patent Document 3 describes a technique for obtaining speed information based on a GPS signal and correcting the vehicle speed based on the vehicle speed measured by the vehicle speed sensor, and spraying fertilizer to the left and right from a fertilizer nozzle suitable for the position. The left and right fertilizer jet pipes are respectively provided with a fertilizer tank and a feeding device for feeding a predetermined amount of spray granules. The jet pipe has nozzle holes of a predetermined diameter at predetermined intervals downward, through which fertilizer is dropped.

JP 2006-254752 A JP 2011-254711 A JP 2010-233461 A

However, in the broadcaster as described in Patent Document 1, although the amount to be scattered in both the left and right directions can be adjusted with respect to the traveling direction, only a uniform amount can be scattered in the left and right direction. For example, assuming variable fertilization along the traveling direction, the amount of fertilizer can be adjusted for each 1 meter in the traveling direction, but there is no choice but to uniformly drop the same amount over the left and right width of 10 meters. For this reason, if only one area of 1m x 1m in the range of 1m long and 10m wide is in poor growth condition, if you try to drop a sufficient amount of fertilizer necessary for that one area , the same amount of fertilizer must be dropped on 9 adjacent areas. This is a waste of fertilizer, and there is a possibility that an area where growth is rather poor due to excessive fertilizer may be created.

FIG. 8 shows a conceptual diagram of an agricultural field in such a situation. FIG. 8(a) shows past growth information for each individual area that divides a field. Growth information differs for each individual area. As for the display of growth information, as shown in FIG. 8(b), light color is good and dark color is bad. For such fields with varying growth information, the more areas with poor growth information in individual areas, the higher the target amount of fertilizer to be introduced. Reduce. When trying to apply a correction aimed at making the next growth state as uniform as possible by spraying a corresponding amount of fertilizer, as shown in FIG. The same amount of fertilizer is introduced in the lateral direction of the spread at one time. If you apply the amount of fertilizer set in this way, it is possible to correct the amount of growth to some extent, but it is easy for excess fertilizer to be dropped on areas that were originally growing well, and areas that were originally not growing well will grow without being fully compensated. Unevenness in the growth condition tends to remain as a place where the growth is not good. FIG. 8(d) shows growth information assumed after the fertilizer is dropped.

In the method of using the fertilization map of Patent Literature 2, since the fertilizer runs along each line divided by the dividing lines, it is possible to introduce a suitable amount of fertilizer to each area. However, the fertilizing machine must be run for each divided line, and as the accuracy of dividing the fertilization map is increased, the number of times of running becomes correspondingly large.

In the device described in Patent Document 3, when spraying an appropriate amount of fertilizer for the position while confirming the position by GPS, the left and right rollers that drive the feeding device toward both the left and right fertilizer jet pipes are independently driven. described, and it is proposed to introduce different amounts of fertilizer on the left and right. However, the amount of fertilizer thrown from the multiple orifices on each of the left and right orifices is not independent. A large amount of fertilizer was also dropped on the other nozzles that shared the nozzle, which was inevitably wasteful.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to efficiently introduce fertilizer while optimizing the amount of fertilizer applied based on the past record of the field.

This invention
A mounted fertilizing device that is mounted on a device that travels in a field and introduces fertilizer while traveling,
Having a plurality of individual fertilizing machines that introduce fertilizer into individual fertilizing areas separated into a plurality of locations on both the left and right sides of the traveling device main body,
The individual fertilizer applicators each independently have an adjustment mechanism that adjusts the amount of fertilizer to be introduced,
a location information acquisition unit that acquires location information;
a storage unit that records data of a target introduction amount of fertilizer for each individual area that divides the farm field into rectangles, based on past growth information of the farm field;
has
When introducing the fertilizer while running the traveling device in the direction of the line dividing the individual areas, the amount of fertilizer by each of the adjusting mechanisms is determined from the positional information of the individual area where the fertilizer is to be introduced. a processing unit that executes fertilizer adjustment means for adjusting the amount to match the target introduction amount;
The above problems were solved by a mounted fertilizing device with

Since there are a plurality of individual fertilizer applicators that introduce fertilizer into individual fertilizer application areas divided into a plurality of locations on both the left and right sides of the traveling device main body, the operation of introducing fertilizer while adjusting the amount of fertilizer individually to the individual areas. , can be simultaneously advanced to a total of four or more columns, two or more columns to the left and right of the individual area, and both accuracy and efficiency can be achieved.

In addition, the individual fertilizer applicator of the mounting-type fertilizing device according to the present invention has a time lag t for the fertilizer to be introduced to reach the ground of the individual area where the fertilizer is introduced from the mechanism for adjusting the amount of fertilizer. cage,
The processing unit is
executing speed acquisition means for acquiring a moving speed v of the running device;
An embodiment may be employed in which delay adjustment means is executed to set the amount of fertilizer adjusted by each of the adjustment mechanisms to a target introduction amount of fertilizer for the individual area to be introduced after the time lag t has elapsed.

The on-board fertilizing device according to the present invention is mounted on the traveling device and drops fertilizer while traveling, but after temporarily stopping and adjusting the amount of fertilizer to be dropped and dropping it, the individual area horizontal row. It takes too much time and effort to run, stop and drop. While traveling, the adjustment mechanism adjusts the fertilizer to be introduced into the individual area located at the position ahead by the distance moved at the moving speed v during the time lag t from the current position. As a result, the optimal amount of fertilizer adjusted in advance by the time lag t can be dropped at the time when the individual area for introducing the fertilizer is reached without stopping the running.

In addition, the mounted fertilizing device according to the present invention is
The target introduction amount analyzes the past image data, which is the past growth information of the farm field, automatically discriminates the growth rate indicating the past growth quality for each of the individual areas, and determines the low growth rate. An embodiment can be selected in which a value set as the target introduction amount that is higher for the individual area is set as a default.

It takes a lot of time and effort to determine the target introduction amount for each individual area by conducting individual soil surveys. By analyzing the past image data of the farm field and determining the default of the target introduction amount, it is possible to greatly save labor when operating the on-board fertilizing apparatus according to the present invention.

Furthermore, the mounted fertilizing device according to the present invention is
a display unit for displaying the past growth information of the field or the target introduction amount calculated therefrom;
an operation unit that receives data input of the target introduction amount for each individual area of the farm field displayed on the display unit;
An embodiment can be selected in which the processing unit executes target introduction amount receiving means for storing the target introduction amount of the individual area input from the operation unit in the storage unit.

By providing a monitor-like display unit on the on-board fertilizing device and enabling data input from the operation unit, the operator can directly visually check the state of the field while driving or just before driving. Then, the target introduction amount can be appropriately input and corrected, and the target introduction amount can be changed to a more suitable one.

The traveling device on which the mounting type fertilizing device according to the present invention is mounted can be an embodiment in which fertilizer is introduced at the same time as tilling. Both tilling and fertilizing can be done in one run without going around the field twice.

According to the present invention, it is possible to introduce a suitable amount of fertilizer for each narrowed-down area in a large field with little effort, save fertilizer and eliminate waste, and contribute to environmental conservation. can also contribute.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the example of embodiment of the mounting type fertilizing apparatus concerning this invention. Sectional view of an individual fertilizer applicator of the mounted fertilizing device shown in FIG. A conceptual diagram of an individual fertilizing area and an individual area of an embodiment of a mounted fertilizing device according to the present invention. 1 is a functional block diagram of an embodiment of a mounted fertilizing device according to the present invention; FIG. (a) Conceptual diagram of cultivation information of field, (b) Legend of display, (c) Conceptual diagram of individual fertilization area, (d) Conceptual diagram when fertilizing the field, (e) Introduction amount in cultivation information Conceptual diagram of corrected assumed state (a) Conceptual diagram of an embodiment in which the amount of fertilizer applied is corrected while fertilizing work, (b) Screen example showing the target introduction amount for each individual area Flowchart showing an execution procedure example of the mounted fertilizing device according to the present invention (a) Conceptual diagram of field cultivation information, (b) Display legend, (c) Conceptual diagram when fertilization is performed by a conventional broadcaster, (e) Conceptual diagram of an assumed state in which the introduction amount is corrected to the cultivation information

The present invention will be described below together with specific embodiments. The present invention is an on-board fertilizing device capable of variable fertilization for each individual area that divides a field vertically and horizontally.

An embodiment of this mounting type fertilizing device 10 will be described with the perspective view of FIG. Here, the traveling device 1 on which the mounted fertilizing device 10 is mounted has an engine or a motor and wheels and can be self-propelled. It may be one that a person gets into and drives, or one that travels by automatic control or remote control. The mounted fertilizing apparatus 10 according to this embodiment has a rotating tillage claw 16 that is housed in a cover 15 behind the traveling apparatus 1 (lower right direction in FIG. 1) so that fertilization can be performed simultaneously with tillage. It has a rotary 17 with. That is, the traveling device 1 in this embodiment is both a fertilizer applicator and a tiller. Furthermore, the mounting type fertilizing apparatus 10 has a positional information acquisition part 19 for grasping the positional information. In the illustrated example, the position information acquisition unit 19 is attached to the roof of the tiller so that it can easily operate as an antenna.

In the present invention, the direction of travel is referred to as the front, the opposite side is referred to as the rear, and the left-right direction toward the direction of travel is referred to as the left-right direction.

A mounting-type fertilizing apparatus 10 according to this embodiment has hoppers 11a, 11b and hoppers 11c, 11d, which are individual fertilizing machines, above a cover 15 on both the left and right sides of the main body of the traveling apparatus 1 on which it is mounted. ing. The hoppers 11a to 11d store fertilizer, respectively, and each introduces the fertilizer to individual fertilizer applicators in which the area under the cover 15 is virtually divided into a plurality of locations. In this example, two left and right hoppers are provided, but a plurality of right and left hoppers may be provided. Although it depends on the mass and capacity of the hopper, if it can be supported by the device structure, there may be about 2 to 10 hoppers on the left and right.

The relationship between the individual hoppers 11, the rolls 12 and the hoses 14 that serve as the individual fertilizer applicators, the rotary 17 that plows the portion to be fertilized in the traveling device 1, and the cover 15 that covers the rotary 17 is shown in the cross section of FIG. Description will be made with the drawings. A roll 12 is provided under the hopper 11 as an adjustment mechanism for adjusting the amount of fertilizer to be introduced. A plurality of storage portions 13, which are holes capable of storing a predetermined amount of fertilizer, are provided on the surface of the rotating roll 12, and only the amount of fertilizer stored in the storage portions 13 drops downward. Thereby, the fertilizer to be dropped can be increased as the rotation speed of the roll 12 is increased. Fertilizers to be dropped are put together by hoppers 11 and rolls 12, fall through hoses 14, and enter predetermined individual fertilization areas 18 (18a, 18b, 18c, . drop down. In addition, it is not necessary to limit the number of hoses 14 to one for each hopper 11, and multiple hoses 14 are provided for each individual fertilization area 18 so that when the maximum amount assumed is to be dropped, the hoses 14 can be dropped without delay. may have. In FIG. 1, one hopper 11 and three hoses 14 are provided for each individual fertilizing area 18 so that fertilizer can be dropped. The hopper 11, the roll 12 and the hose 14 constitute an individual fertilizing machine attached to each individual fertilizing area 18.例文帳に追加

Although not shown, the portion of the hopper 11 that stores the fertilizer may not be divided like the hoppers 11a to 11d, but may be an integral hopper whose upper part is connected. The introduction work to the hopper 11 can be summarized. Even in that case, it is necessary to have the roll 12 individually for each individual fertilizing area 18 from the viewpoint of coordination. On the other hand, if the hopper 11 is divided, the part where the fertilizer is introduced from the hopper 11 can be operated smoothly.

The individual fertilization area 18 is an area in which the amount of fertilizer to be dropped can be distinguished from other areas, and preferably has the same horizontal width L as the individual areas 21 that vertically and horizontally divide the map data of the field. That is, it is preferable to run the mounted fertilizing device 10 so that the partition of the individual area 21 and the partition of the individual fertilization area 18 overlap each other. The width L of the individual fertilization area 18 is preferably about 10 cm or more and 2 m or less. At the time of application, 50 cm or more is realistic in terms of GPS accuracy, but if the accuracy of position information is sufficiently improved, the horizontal width L can be narrowed accordingly. On the other hand, if it is larger than 2 m, even if an attempt is made to optimally adjust the amount of fertilizer, it will be rough, and the amount of fertilizer that is wasted cannot be ignored, and the significance of the present invention cannot be fully enjoyed. In the following description, an embodiment in which the width L of the individual area 21 and the individual fertilization area 18 is about 1 m will be taken as an example unless otherwise specified.

On the other hand, the vertical width D of the individual fertilization area 18 is determined according to the running speed of the running device 1 and the accuracy with which the amount of fertilizer that can be dropped can be changed and adjusted. In terms of operation, it is preferable that the vertical width D is the same as that of the individual areas 21 that vertically and horizontally divide the map data of the field. As the traveling device 1 travels, the vertical width D from here to here is input with the amount + 1, and the vertical width D after that is input with the amount ± 0. The vertical width is the width that can be switched. D. The vertical width D of the individual fertilization area 18 is preferably 10 cm or more and 2 m or less. If the running speed is slowed down, the vertical width D can be made finer, but if it is too slow, there will be too much demerit in terms of work efficiency. On the other hand, if it is larger than 2 m, even if an attempt is made to optimally adjust the amount of fertilizer, it will be rough, and the amount of fertilizer that is wasted cannot be ignored, and the significance of the present invention cannot be fully enjoyed. In the following description, an embodiment in which the vertical width D of the individual area 21 and the individual fertilization area 18 is about 1 m will be taken as an example unless otherwise specified.

As described above, the individual areas 21 are squares in which the field is divided by lines orthogonal to each other vertically and horizontally. Squares with equal widths and heights are particularly preferable because of ease of position management.

FIG. 3 shows a conceptual plan view of the device 1 running along a virtual line that separates the individual areas 21 that separate the individual areas 20 that are to be tilled and fertilized. Two hoppers 11a, 11b and hoppers 11c, 11d, which are part of individual fertilizer applicators, are provided on each side of the traveling device 1, and individual fertilization areas 18a, 18b and 18c, 18d are provided under the respective hoses. become located. The traveling device 1 is run so that the lines dividing the individual fertilization areas 18 and the lines dividing the individual areas 21 are aligned, and fertilization is performed together with tilling.

FIG. 4 shows an example of a functional block diagram that constitutes a mounting-type fertilizing device 10 mounted on such a traveling device 1. As shown in FIG. The mounted fertilizing device 10 has a processing unit 35 that receives data and controls the operation of the mounted fertilizing device 10 . Specifically, it is a microcomputer, a CPU, or the like, and executes each means described later as a program stored in the storage unit 33 described later.

The mounted fertilizing device 10 has a storage unit 33 that is a volatile or nonvolatile storage device. Examples of hardware include magnetic disks and semiconductor memories. It is preferable to have both a nonvolatile storage device that can retain records even when the power is turned off and a volatile storage device that the processing unit 35 uses as a working memory. The storage unit 33 stores a program for causing the processing unit 35 to execute each means described later. Further, data of a target introduction amount of fertilizer for each individual area obtained by dividing the field into rectangles (including squares) based on the past growth information of the field is recorded. Although the growth information itself may not be included, it may be included for reference when the worker performs work while visually confirming the information. This individual area information should include, or at least be in a form associated with, location information. This target introduction amount data may be replaced each time work is started in the field to be fertilized, or may be permanently recorded. In addition, when using the mounting type fertilizing apparatus 10 in many fields, it is necessary that data can be exchanged.

A general computer may be used as hardware for the processing unit 35 and the storage unit 33 described above. Alternatively, as a part of the storage unit 33, a cloud storage connected via a communication unit 37, which will be described later, may be used.

The mounting-type fertilizing apparatus 10 has a position information acquisition unit 19 that acquires position information, and can transmit the current position information to the processing unit 35 . However, an embodiment having an interface that can be used by connecting to the position information acquiring unit 19 attached to the running device 1 itself may also be used. The position information acquisition unit 19 is one that can perform positioning using radio waves emitted from an artificial satellite S such as GPS. As the hardware, general hardware consisting of an antenna and a terminal for transmitting information obtained from radio waves received by the antenna can be used. Fundamentally, the higher the positional accuracy of the positional information acquisition unit 19, the finer the individual areas 21 can be set and the more accurate fertilization can be achieved, which is desirable.

Preferably, the on-board fertilizing device 10 implements a speed acquisition means capable of obtaining the travel speed v from a speedometer 34 attached to the wheels or axles of the device 1 as it travels. Also, as long as the moving speed v can be acquired, it does not have to be information from the speedometer 34 attached to the wheel. The speed may be calculated from other information such as changes in position information. In these cases, information obtained from other hardware is calculated by the processing unit 35 to obtain the moving speed v. FIG. However, at the time of filing the present application, it is convenient and preferable to measure the speed value from the wheels or axles in terms of accuracy and simplicity. The obtained moving speed v is transmitted to the processing unit 35 .

The mounted fertilizing apparatus 10 preferably has a display unit 31 capable of displaying current position information, field map data, commands to the processing unit 35, and the like. Basically, it is a monitor having a liquid crystal or organic EL panel. A dedicated monitor may be provided, or an embodiment in which a tablet or smartphone is connected to the processing unit 35 via a wired or wireless interface and the monitor of the tablet or smartphone can be used as the display unit 31 may be employed.

The mounting type fertilizing apparatus 10 preferably has an operation unit 32 for inputting numerical data to the processing unit 35 and instructing commands. From the viewpoint of operability, it is preferable to have a touch panel that overlaps with the display section 31 described above. When a tablet or a smartphone is used as the display unit 31 , it is preferable that the screen, which is a touch panel, be used as the operation unit 32 for input. Alternatively, a dial, button, switch, or the like may be used. These do not have to be one piece of hardware, and may be provided with a plurality of operable devices. However, it is desirable to have a keyboard or a touch panel when inputting data.

The mounted fertilizing apparatus 10 preferably has a communication section 37 to which signals or data are input from the outside. Specifically, it is preferable to have a communication module connectable to a mobile communication network. It is preferable to be able to connect to the Internet via a mobile communication network and download necessary data. The necessary data includes, for example, target introduction amount data for each individual area including position information, past growth information for determining the target introduction amount, and the like. After the downloaded data is temporarily stored in the storage unit 33, it is appropriately called and processed by the processing unit 35. FIG. Further, when part of the storage unit 33 is on the cloud, the communication unit 37 also connects with the cloud server.

Instead of the communication section 37 or together with the communication section 37, an interface for external storage media such as a USB terminal and an SD card reader may be provided. Data on the target introduction amount, past growth information, and the like may be input via these external storage media.

The target introduction amount of fertilizer stored in the storage unit 33 is obtained by analyzing the past image data, which is the past growth information of the field, and automatically determining the growth rate indicating the past growth quality for each individual area. Preferably, the value set as the target introduction amount is set higher for the individual area with the lower growth degree as a default. If the analysis and automatic determination of this image data are processed by a separate server instead of the on-board fertilizing device 10, and only the set values are used by the on-board fertilizing device 10, the load on the device can be reduced. done. However, it is only the default, and it is preferable that the operator can change the value of the target introduction amount displayed on the display unit 31 by operating the operation unit 32 . Even if the past image data values are old or if there are changes that can be determined visually at the site, it will be possible to deal with them.

The processing unit 35 executes the fertilizer adjustment means for setting the rotation speeds of the rolls 12a to 12d, which are the individual fertilizer applicators, so as to introduce the fertilizer in accordance with the target introduction amount. Note that the target introduction amount that is the reference for adjustment here is not the individual area 21 directly below the location where the mounted fertilizing device 10 is currently located, which is indicated by the position information acquired by the position information acquisition unit 19 at that time. , to match the target introduction amount in the individual area 21 ahead in the running direction. There is a time lag t from the roll 12 through the hose 14 to reach the individual fertilizing area 18. - 特許庁In the meantime, when the mounted fertilizing device 10 moves at a movement speed v, it moves forward by t×v until the amount of fertilizer adjusted by the rolls 12 reaches the field. For this reason, the delay adjustment for adjusting the roll 12 according to the target introduction amount of the individual area 21 ahead of the individual area 21 in the traveling direction by t×v from the individual area 21 where the individual fertilizing area 18 of the mounted fertilizing device 10 is currently set. It is preferable to carry out measures. For this reason, the processing unit 35 acquires the speed from the speedometer 34, or periodically or constantly executes speed acquisition means for acquiring the speed from recorded image data or changes in position information.

FIG. 5 shows a conceptual diagram of an agricultural field where fertilization is performed by executing such means. FIG. 5A shows past growth information for each individual area 21 of the field. Growth information differs for each individual area 21 . As for the display of growth information, as shown in FIG. 5(b), light color is good and dark color is bad. A different amount of fertilization is set for each individual fertilization area 18 so that an individual fertilization area 18 corresponding to an individual area 21 as shown in FIG. do. The target amount of fertilizer to be introduced is set so that the higher the growth information of the individual area 21 is bad to a certain extent, the greater the amount of fertilizer to be introduced. Conversely, the target amount of fertilizer to be introduced is set so that the more the growth information is good and the stronger it is, the less fertilizer will be required. While adjusting the amount of fertilizer to be introduced to the target introduction amount set in this way, fertilizer is applied by the mounted fertilizing device 10 while the traveling device 1 is traveling, and the next assumed growth information is leveled. (Fig. 5(d)). By performing this operation over the entire field, the subsequent growth of the entire field is leveled, and fertilizer can be introduced without waste (FIG. 5(e)).

As another embodiment, the user may want to arbitrarily decide the fertilizer application amount without using past growth information. Alternatively, while using past growth information, the user may want to arbitrarily decide the fertilizer application amount for some of them. In order to cope with such cases, it is preferable that the operator who runs the running device 1 can adjust the target introduction amount while appropriately visually checking. A conceptual diagram of the execution situation is shown in FIG. 6(a). A tablet terminal 22 serving as a display unit 31 and an operation unit 32 is prepared in the cockpit. On the screen of the tablet terminal 22 which is the display unit 31, the display unit 31 displays photographs of past growth information, digitized data thereof, or the target amount of fertilizer to be introduced based thereon. Also, the individual fertilization area 18 may be displayed as the current position. This display state is shown in FIG. 6(b). While viewing this screen display, the traveling device 1 is temporarily stopped, the screen serving as the operation unit 32 is operated, and the target introduction amount to be changed is input. For example, there is an embodiment in which a display portion of the corresponding individual area 21 is long-pressed to pop up a quality selection display as shown in FIG. mentioned. Alternatively, it may be received by numerical input or the like. When receiving such an input, the processing unit 35 executes target introduction amount receiving means for storing the corrected target introduction amount in the storage unit 33 .

A series of operation procedures for executing the mounted fertilizing apparatus according to the present invention will be described with reference to FIG.
First, as a preparatory stage, one season or more before the actual introduction of fertilizer, the growth information of the crops in the field where the fertilizer is to be introduced is acquired (S101). For example, aerial photographs taken by drones, helicopters, small planes, etc. are used. Next, with regard to the farm field to which fertilizer is to be introduced, within the range of accuracy of the position information acquisition unit 19 of the mounted fertilizing device 10 that implements the invention, individual Area 21 is set (S102). Note that the order of S101 and S102 may be reversed. For example, if the farm is to be executed in the second season or later, the individual area 21 has already been set, and it is only necessary to acquire the latest growth information.

After that, the image that is the growth information is analyzed, and the target introduction amount of the fertilizer for each individual area 21 is set (S103). In analyzing this image, it is preferable to use an identification means or the like that performs machine learning that links the quality of the crop planted in the field when the image was taken with the aerial photograph. The value of the target introduction amount thus set for each individual area 21 is introduced into the storage unit 33 together with the positional information (S104).

The traveling device 1 is moved to the edge of the field where the fertilizer is to be introduced (S110). The target introduction amount of the individual area 21 that can be covered as the individual fertilization area 18 in the direction in which the vehicle is expected to travel from that position is read out from the storage unit 33 (S111). Although not shown in the flow, the contents may be displayed on the display section 31 at the reading stage, and the data of the individual area 21 having some problem may be set from the default.

When the preparation is completed, the robot starts traveling and tilling (S112), and executes the fertilizer adjustment means for each individual area 21 to start dropping fertilizer. If the moving speed v is less than or equal to the predetermined speed V (S113→No), the adjustment mechanism is adjusted according to the target introduction amount of the individual area 21 where the device 1 currently traveling is present (S114). On the other hand, if the movement speed v exceeds the predetermined speed V (S113→Yes), the adjustment mechanism is adjusted according to the target introduction amount of the individual area 21 t×v ahead of the current time, and the drop is performed ahead of the current time. Start (S115) The delay adjusting means is executed. This predetermined speed V is basically V=t/D with respect to the time lag t and the vertical width D of the individual area 21 . This is because, if the individual area 21 moves by one or more during the time lag t, it is necessary to adjust in advance.

Until the end of the field (S116→No) along the demarcation line of the individual area 21, the fertilizer is dropped while being adjusted according to the speed v, and tilling is continued (S116→Yes). If the tilling and the introduction of fertilizer have not yet been completed for the entire field (S121→No), the individual fertilizing areas 18 are moved toward the individual areas 21 adjacent to the individual areas 21 that have been tilled just before so that the individual fertilizing areas 18 overlap each other. (S122), the target introduction amount is read (S111) and the same operation is performed. When tilling and introduction of fertilizer are completed for the entire field (S121→Yes), the process ends at that stage (S130).

1 Traveling device 10 Mounted fertilizing device 11, 11a, 11b, 11c, 11d Hopper (individual fertilizing machine)
12, 12a, 12b, 12c, 12d roll (adjustment mechanism)
13 storage unit 14 hose 15 cover 16 tiller 17 rotary 18, 18a, 18b, 18c, 18d individual fertilization area 19 position information acquisition unit 20 field 21 individual area 22 tablet terminal 31 display unit 32 operation unit 33 storage unit 34 speedometer 35 Processing unit 37 Communication unit D Length L Width S Artificial satellite

Claims (5)

A mounted fertilizing device that is mounted on a device that travels in a field and introduces fertilizer while traveling,
Having a plurality of individual fertilizing machines that introduce fertilizer into individual fertilizing areas separated into a plurality of locations on both the left and right sides of the traveling device main body,
The individual fertilizer applicators each independently have an adjustment mechanism that adjusts the amount of fertilizer to be introduced,
a location information acquisition unit that acquires location information;
a storage unit that records data of a target introduction amount of fertilizer for each individual area that divides the farm field into rectangles, based on the past growth information of the farm field;
has
When introducing the fertilizer while running the traveling device in the direction of the line dividing the individual areas, the amount of fertilizer by each of the adjusting mechanisms is determined from the positional information of the individual area where the fertilizer is to be introduced. a processing unit that executes fertilizer adjustment means for adjusting the amount to match the target introduction amount;
on-board fertilizing device. The individual fertilizer applicator has a time lag t until the fertilizer to be introduced reaches the ground of the individual area where the fertilizer is introduced from the mechanism for adjusting the amount of fertilizer,
The processing unit is
executing speed acquisition means for acquiring a moving speed v of the running device;
The on-board fertilizing apparatus according to claim 1, wherein delay adjusting means is executed to set the amount of fertilizer adjusted by each of the adjusting mechanisms to a target introduction amount of the fertilizer for the individual area to be introduced after the time lag t has elapsed. The target introduction amount is
By analyzing the past image data, which is the past growth information of the field, and automatically discriminating the growth rate indicating the past growth quality for each of the individual areas, the lower the growth rate, the higher the individual area. The on-board fertilizing device according to claim 1 or 2, wherein the value set as the target introduction amount is set as a default. a display unit for displaying the past growth information of the field or the target introduction amount calculated therefrom;
an operation unit that receives data input of the target introduction amount for each individual area of the farm field displayed on the display unit;
The on-board fertilizing apparatus according to any one of claims 1 to 3, wherein the processing unit executes target introduction amount reception means for storing the target introduction amount of the individual area input from the operation unit in the storage unit. . Mounting the mounted fertilizing device according to any one of claims 1 to 4,
A device that introduces fertilizer at the same time as tilling.

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