JP6645478B2 - Farm work support system - Google Patents

Description

  The present invention relates to a farm work support system that supports farm work using a work vehicle.

  Conventionally, there is a work vehicle capable of performing a predetermined work while automatically traveling based on automatic traveling information as well as manual traveling.For example, a work vehicle is provided with a body state detection unit, and prohibition and permission of automatic traveling are performed according to the body state. Can be determined (for example, see Patent Document 1). The automatic travel information includes, for example, the position of the vehicle, a target route, and the operation contents of traveling equipment and work equipment that must be executed during automatic travel. The own vehicle position is calculated based on, for example, satellite navigation using GNSS or the like or inertial navigation using an inertial measurement device or the like.

JP 2017-47762 A

  However, in the work vehicle described above, although switching between automatic traveling and manual traveling can be performed smoothly, work precision during automatic traveling is not particularly considered. Therefore, it is desired to devise a technique for further improving the work accuracy while automating the desired work.

  The present invention has been made in view of the above, and an object of the present invention is to provide a farm work support system that can further improve work accuracy.

In order to solve the above-described problems and achieve the object, an invention according to claim 1 includes a work vehicle (23) that includes a work device and performs a predetermined work while traveling on a field (400), A first position information acquisition device (31) and a second position information acquisition device (32), a portable body carrying the first position information acquisition device (31), and the second position information acquisition A communication unit capable of transmitting and receiving information to and from the work vehicle (23) including a device (32), and the field with a change in the position of the portable object acquired by the first position information acquisition device (31) Based on the first information related to the preceding work in (400) and the specification information of the work vehicle (23), the second information related to the latter work in the field (400) by the work vehicle (23). Work information derivation unit that derives 51), wherein the work vehicle (23) is an unmanned combine with reaper (200) (2), said first position information obtaining device (31), the first information The unattended combiner (2) is provided in a storage unit (410) for storing and a wireless communication terminal (4) having a function as the communication unit. And a second handling mode to be executed after completion of the mowing operation, wherein the first handling mode and the second handling mode are transmitted from the worker (M) as the carrying body to the worker. and agricultural support systems that run (100) in response to a command sent over the wireless communication terminal (4).

The invention according to claim 2 , wherein the first position information acquiring device (31) has a function as a storage unit (410) for storing the first information and a function as the communication unit. The work information deriving unit (51) of the work vehicle (23) is provided in the work vehicle (23), and detects a position change of the worker (M) as the portable body carrying the wireless communication terminal (4). The farm work support system (100) according to claim 1, wherein the second information is derived based on the accompanying first information.

According to a third aspect of the present invention, the work information deriving unit (51) outputs worker follow-up route information defined to follow the worker (M) carrying the wireless communication terminal (4). The farm work support system (100) according to claim 2 is derived as the second information.

Invention according to claim 4, wherein the working information deriving section (51), said specification information of the working vehicle (23), wherein the operator to carry the radio communication terminal (4) (M) is the based on the field contour information as the first information peripheral to (460) obtained by moving the field (400), according to claim 2 for deriving a working route information as the second information A farm work support system (100).

According to the first aspect of the present invention, when a desired work is automatically performed, the desired work can be performed based on work information related to a work preceding the work. Therefore, work accuracy is improved, and the utility value of the farm work support system using a work vehicle as a robot farm machine is increased. In addition, since the handling operation using the combine can be easily performed, the processing of the hand-cut culm placed in the field can be smoothly performed.

According to the invention described in claim 2 , a wireless communication terminal can be used as the position information acquisition device. Therefore, in addition to the effect of the invention described in claim 1, the work in the preceding stage may be a work vehicle without a GNSS device or the like, or may be a person. Can be expanded.

According to the invention described in claim 3 , in addition to the invention described in claim 2 , it becomes possible to smoothly perform the agricultural work by cooperation between the worker and the work vehicle.

According to the invention set forth in claim 4 , in addition to the effect of the invention set forth in claim 2 , irrespective of the type or size of the work vehicle, the work is performed after the field contour information of the field to be worked is obtained in advance. Since it can be performed, versatility is enhanced, and the utility value as a farm work support system can be further improved.

It is a lineblock diagram showing the outline of the farm work support system concerning an embodiment. It is a sequence diagram showing an operation outline of a work vehicle and the like in the farm work support system according to the embodiment. It is a mimetic diagram showing the work state by the farm work support system concerning an embodiment. It is a block diagram centering on a controller in a farm work support system concerning an embodiment. It is a mimetic diagram showing an example of the former stage work in the farm work support system concerning an embodiment. It is a mimetic diagram showing an example of the latter stage work in the farm work support system concerning an embodiment. It is a mimetic diagram showing an example of cooperation work of a worker and a work vehicle in a farm work support system concerning an embodiment. It is a schematic diagram which shows an example of a 1st handling mode. It is a schematic diagram which shows an example of a 2nd handling mode. It is a mimetic diagram showing typically an example of work using two combines.

  Hereinafter, a farm work support system according to an embodiment of the present invention will be specifically described with reference to the drawings. The components in the following embodiments include components that can be easily replaced by those skilled in the art, or components that are substantially the same, that is, components in an equivalent range. Furthermore, the present invention is not limited to the above embodiment, and can be implemented with various modifications without departing from the gist of the present invention.

  First, the configuration and functions of the agricultural work support system will be described with reference to FIGS. FIG. 1 is a configuration diagram illustrating an outline of a farm work support system according to an embodiment, and FIG. 2 is a sequence diagram illustrating an outline of operation of a work vehicle and the like in the farm work support system.

  As shown in FIG. 1, a farm work support system 100 according to the present embodiment includes a seedling transplanter 1 as a portable body to which a tablet terminal device as a wireless communication terminal 4 is attached, and a combine 2 as a work vehicle. It is configured to be connectable to each other via a communication network 110 such as the Internet. Here, the seedling transplanting machine 1 and the combine 2 as a working vehicle may be either manned or unmanned, but at least the working vehicle is a so-called robot farm machine. Can be used. For example, the combine 2 according to the present embodiment can perform an operation from a harvesting operation to a threshing operation while driving unattended and autonomously.

  The wireless communication terminal 4 attached to the seedling transplanter 1 includes a processing unit having a CPU (Central Processing Unit) and a control unit 440 (see FIG. 4) having a storage unit 410 and the like, as well as a first unit for acquiring position information. And a GNSS (Global Navigation Satellite System) control unit 31 functioning as a position information acquisition device, and a terminal communication unit 41a which is an example of a communication unit.

  On the other hand, the combine 2 includes a processing device also having a CPU and the like, and a controller 5 having a storage unit 52 (see FIG. 4) such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive). Is provided as a control device, a GNSS control device 32 as a second position information acquisition device for acquiring position information, and a vehicle body communication unit 41b, which is also an example of a communication unit, are provided.

  The communication units (terminal communication unit 41a and vehicle body communication unit 41b) of the seedling transplanter 1 that is a portable body and the combine 2 that is a work vehicle can communicate with each other by a predetermined communication system such as the short-range communication standard C. , And can transmit and receive information. The GNSS control unit 31 and the GNSS control device 32 can receive radio waves from the navigation satellites 6 (see FIG. 4) orbiting the sky, and perform positioning and timing.

  As described above, the farm work support system 100 according to the present embodiment is a system capable of so-called cloud computing (Cloud Computing) via the communication network 110 such as the Internet. By the way, the number of working vehicles may be one or more, and the model may include not only the combine 2 but also, for example, a passenger management machine 3 as shown in the figure.

  Note that the wireless communication terminal (tablet terminal device) 4 provided in the seedling transplanter 1 is not necessarily limited to the case where it is attached to the work machine side, and the worker who carries it is on the seedling transplanter 1 Including.

  The controller 5 provided in the work vehicle such as the combine 2 or the riding management machine 3 includes first information related to the preceding work in the field accompanied by a change in the position of the seedling transplanter 1 (acquired by the GNSS control unit 31), and the work vehicle (the combine vehicle). 2 or the specification information of the riding management machine 3), it is possible to derive second information relating to the subsequent work in the field by the work vehicle (the combine 2 or the riding management machine 3). Here, the first-stage operation is, for example, transplanting or sowing of seedlings, and the second-stage operation is a mowing operation or the like in response to the first-stage operation. For example, when the first-stage operation is a tilling operation or a field measurement operation, the second-stage operation may be a seedling transplanting operation, a sowing operation, or the like.

  Here, the first-stage operation will be specifically described as a seedling transplant operation, and the second-stage operation will be described as a mowing operation. First, as shown in FIG. Then, the control unit 440 (see FIG. 4) of the wireless communication terminal 4 provided in the seedling transplanter 1 derives the first information related to the preceding work (step S2).

  The first information is based on the position information acquired by the wireless communication terminal 4 and the specifications of the seedling transplanter 1 and the seedling planting apparatus, the seedlings including the inter-strip distance and pitch of the seedlings planted by the seedling transplanter 1. Is planting position information. Then, the wireless communication terminal 4 stores the derived first information in the storage unit 410 and stores the planting position information of the seedling N1 stored in the storage unit 410 on the cloud as the first information. (Step S3).

  Next, when a predetermined period elapses, a predetermined operation using a work vehicle is performed as a subsequent operation. For example, the fertilizer application operation is performed using the passenger management machine 3. When the seedlings have grown sufficiently after a further period, the harvesting operation by the combine 2 is performed. When performing the latter-stage work, the combine 2 and the passenger management machine 3 acquire the first information from the cloud (step S4).

  The combine 2 and the passenger management machine 3 that have obtained the first information derive work route information related to the subsequent work based on the first information (step S5).

  The second information is, for example, if the working vehicle is the combine 2, the planting position information of the seedlings obtained from the seedling transplanter 1 and the reaper 200 (see FIG. 3) which is one of the specification information of the combine 2. ) Is the cutting route information derived by the controller 5 based on the values of the dimensions and the like, and is the course information that can effectively cut the grain culm. If the working vehicle is the passenger management machine 3, the planting position information of the seedlings acquired from the seedling transplanter 1 and, for example, the capability value of the fertilizer applicator which is one of the specification information of the passenger management machine 3. Based on the fertilizer application route information, the controller 5 derives the fertilizer application information, and the route information that allows the fertilizer to be effectively sprayed on the planted seedlings.

  The harvesting route information and the fertilization route information, which are the second information, are stored in the storage unit 52 by the controller 5. Then, based on the second information read from the storage unit 52, the combine 2 and the passenger management machine 3 execute a later-stage operation (such as a cutting operation or a fertilization operation) by automatic operation (step S6).

  As described above, according to the present agricultural work support system, when a desired operation such as a harvesting operation or a fertilization operation is automatically performed as a subsequent operation, the operation is performed by setting the seedling planting position, which is operation information related to the initial operation. Since the operation can be performed based on the information, the operation accuracy is significantly improved.

  Here, the first-stage work and the second-stage work will be described more specifically with reference to FIG. In FIG. 3, the seedling N1 planting operation by the seedling transplanter 1 including the traveling vehicle body 11 and the seedling planting device 21 is set as a first-stage operation, and the second-stage operation is performed by a combine operation and a riding operation by the combine 2 having the cutting unit 200. Control work is performed by the management machine 3.

  As shown in FIG. 3, the seedling transplanter 1 transplants a seedling N1 while traveling along a predetermined traveling route R1 on a predetermined field 400 while acquiring position information with the GNSS control unit 31. The seedling N1 is planted at a predetermined pitch along the planting line L. The travel route R1 may be a preset route so that the seedling transplanter 1 can travel by automatic operation, or may be a route arbitrarily traveled by the worker (not shown) in the field 400. There may be.

  The control unit 440 of the wireless communication terminal 4 provided in the seedling transplanting machine 1 uses the position information acquired by the GNSS control unit 31 and the seedling transplanting machine 1 and the seedling transplanting machine as a working machine. The planting position information of the seedling N1 including the distance between the strips and the pitch of the seedling N1 planted by the machine 1 is derived. Then, this is stored in the storage unit 410 in association with the identification information defining the location of the field 400, and the planting position information of the seedling N1 is stored on the cloud as first information.

  When the seedlings N1 grow in the field 400, a control work and a fertilization work are performed as a later work. The passenger management machine 3 performing such work acquires the first information related to the preceding work in the corresponding field 400 from the cloud. Then, based on the first information and the specification information of the riding management machine 3 including the fertilizer application device, the second information relating to the subsequent work in the field 400 by the riding management machine 3, that is, the control work or the fertilization application The route information on the traveling route R3 for performing the work is derived.

  Based on the route information, the passenger management machine 3 performs a pest control operation or a fertilization operation while performing autonomous driving by automatic driving using the GNSS control device 32. At this time, the derived route information is information on the tire 300 mounted on the passenger management device 3, for example, the value of the right inter-tire distance (tread) T is considered as the specification information of the passenger management device 3. ing. Therefore, if the vehicle travels along the traveling route R3 corresponding to the derived route information, it is possible to avoid as much as possible the possibility of stepping on the seedlings N1 and the grain culm N2 grown on the planting line L with the tire 300. . The specification information on the tire 300 includes, in addition to the tread T, a tire size, a distance T between the left and right tires (tread), a wheel base, and the like.

  When the seedling N1 grows and a harvesting operation (cutting operation) is performed as a subsequent operation, the combine 2 is used as shown in FIG. The combine 2 acquires the first information relating to the preceding work in the field 400 from the cloud. Then, based on the first information and the specification information of the combine 2 including at least the reaping unit 200, the second information relating to the latter stage operation by the combine 2, that is, to perform the reaping work of the grain stalk N2. The route information relating to the traveling route R2 is derived.

  Based on the route information, the combine 2 performs the harvesting while performing autonomous driving by automatic driving using the GNSS control device 32. At this time, as the derived route information, information on the reaper 200, for example, values such as a reaping width and a reaping speed are considered as the specification information of the combine 2. Therefore, if the vehicle travels along the traveling route R2 corresponding to the derived route information, the mowing operation can be performed extremely smoothly in a state where the mowing part 200 is substantially aligned with the position of the grain culm N2. Note that the specification information of the combine 2 includes the dimensions of the left and right crawler tracks, the distance between the crawler tracks, and the like.

  Next, the agricultural work support system 100 will be described more specifically with reference to FIG. FIG. 4 is a block diagram centering on the controller 5 in the farm work support system 100 according to the embodiment. Note that, in FIG. 4, a portable body such as a seedling transplanter 1 to which the wireless communication terminal 4 such as a tablet terminal is attached is omitted. In addition, including the description with reference to FIG. 4, the combine 2 and the passenger management machine 3 are sometimes collectively referred to as a work vehicle 23 in some cases.

  The work vehicle 23 in the farm work support system 100 according to the present embodiment can control each unit by electronic control and can perform automatic driving by autonomous traveling. The work vehicle 23 includes a controller shown in FIG. 5 are provided.

  If the portable body is a working machine such as the seedling transplanter 1, the wireless communication terminal 4 included in the portable body can be carried in or removed from the work machine 23 and the portable body, that is, the wireless communication terminal. The controller 4 and the controller 5 are configured to be communicable with each other by a predetermined communication system such as the short-range communication standard C, and can be connected to each other via a communication network 110 such as the Internet as shown in FIG. .

  As shown in FIG. 4, the controller 5 that is mounted on the work vehicle 23 and configures the agricultural work support system 100 includes the processing device and the storage unit 52 as described above, and includes a work information deriving unit as an example of the processing device. 51 are provided.

  The work information deriving unit 51 uses the second information based on the specification information of the work vehicle 23 and the first information on the preceding work received from the wireless communication terminal 4 via the vehicle body communication unit 41b, which is a communication unit. Has the function of deriving the work route information as the information of. Taking the combine 2 as an example, the work information deriving unit 51 includes a work route based on the specification information of the reaping unit 200 and the planting line L of the seedling N1 (see FIG. 3) described later, which is included in the first information. Based on the information, mowing route information as work route information is derived.

  Further, the storage unit 52 stores various information required in addition to various programs necessary for the control processing. That is, in the storage unit 52, a section database (DB) 521, a field database (DB) 522, a work database (DB) 523, and a route database (DB) 524 are generated.

  Examples of the various programs include, for example, a work route generation program that generates work route information when the work vehicle 23 is automatically driven, and automatic steering for automatically driving the work vehicle 23 according to the generated work route information. There is a computer program that controls the overall operation of the work vehicle 23, such as a program.

  The controller 5 is connected to an ECU (Engine Control Unit) 510 as an engine control device, an automatic operation selection switch 520, various sensors 550, and various actuators 500 such as an electric motor and a hydraulic cylinder. The control device 32 and the automatic steering device 53 are connected.

  The various actuators 500 connected to the controller 5 include, for example, various cylinders such as an elevating cylinder for elevating and lowering the working device, a motor for opening and closing a water gate for supplying and discharging water to the field 400, a motor for rotating a water depth sensor, and the like. Various electric motors such as a throttle motor for adjusting the engine intake air amount of the vehicle body are included.

  The various sensors 550 connected to the controller 5 include, for example, a moisture sensor 210 (see FIG. 8) that detects the water content of the paddy that is a harvest, and a weight sensor 220 (such as a load cell that detects the weight of paddy or the like). FIG. 8), a water depth sensor for detecting the depth of the field 400, a soil depth sensor for detecting the depth of soil in the field 400, a fertility sensor for detecting the concentration of fertilizer in the field 400, and the rotation speed of the wheels of the work vehicle 23. Various sensors such as a rotation sensor for detecting, a tilt sensor for detecting the tilt of the traveling vehicle body, a work clutch sensor, and a temperature sensor are included.

  The GNSS control device 32 is provided with a receiving antenna 320 for acquiring position information of the work vehicle 23, receives a radio wave from the navigation satellite 6 by the receiving antenna 320, and acquires GNSS coordinates at predetermined time intervals. Can be obtained at predetermined intervals.

  The automatic steering device 53 is controlled by the controller 5 based on the position information acquired by the GNSS control device 32. The automatic steering device 53 automatically operates a steering handle (not shown) provided on the traveling vehicle body to automatically drive the traveling vehicle body. be able to. The automatic steering device 53 includes a steering motor 530 that applies an arbitrary torque to rotate the steering handle, and a handle potentiometer 540 that detects a rotation angle of the steering handle.

  On the other hand, the wireless communication terminal 4 carried by the portable body includes a control unit 440, a storage unit 410 connected to the control unit 440, a display unit for displaying information, and a touch panel 420 integrated with an operation unit for performing various input operations. And a GNSS control unit 31, and a terminal communication unit 41a corresponding to the vehicle body communication unit 41b on the work vehicle 23 side is provided.

  Like the storage unit 52 of the controller 5, the storage unit 410 of the wireless communication terminal 4 includes, in addition to various programs necessary for control processing by the control unit 440, a specification database (DB) 411, a field database (DB) 412, A database (DB) 413 and a route database (DB) 414 are sectioned.

  The control unit 440 includes a work information generation unit 401 and a work route generation unit 402. The work information generation unit 401 stores the position information acquired by the GNSS control unit 31 and the work information for each position in the location of the field 400. Is generated for each field 400 as the first information related to the preceding work, which is recorded in association with the identification information indicating the above. The control unit 440 stores the generated first information in the work DB 413. Further, the work route generation unit 402 of the control unit 440 reads out the first information stored in the work DB 413 and, for example, reads the work route information corresponding to the planting position information indicating the planting line L illustrated in FIG. Generate The generated work route information is also stored in the work DB 413 as related information of the first information.

  When the subsequent work is performed by the work vehicle 23, the first information stored in the work DB 413 is read into the work information deriving unit 51 of the controller 5 together with the work route information as the related information.

  By the way, in the example described above, the preceding step has been described as being performed using the seedling transplanter 1 or the tractor. However, for example, the worker M carries the wireless communication terminal 4 with the carrying body as the worker M. The work to be performed while moving can also be the first-stage work.

  FIG. 5A is a schematic diagram illustrating an example of a pre-stage operation in the farm work support system 100, and FIG. 5B is a schematic diagram illustrating an example of a post-stage operation in the farm work support system 100.

  As shown in FIG. 5A, the worker M carries the wireless communication terminal 4 having the GNSS control unit 31 (see FIG. 4), and surrounds the field 400, for example, with the field entrance 450 as a start point and an end point. Make a round while walking along the peripheral edge 460 that forms a circle. By the preceding work involving the position change of the worker M due to the walking, the work information generation unit 401 (see FIG. 4) obtains the field contour information indicating the contour and the area of the field 400 as the first information. 400 ranges can be specified.

  The first information is stored in the storage unit 410 of the wireless communication terminal 4, and is stored on the cloud as needed.

  After the first-stage operation, the operation is performed as a second-stage operation by the work vehicle 23 in the field 400. At this time, the controller 5 of the work vehicle 23 acquires the first information on the field 400 and takes into account the specification information of the work vehicle 23. Then, the work information deriving unit 51 derives work route information that can define an appropriate traveling route R3.

  For example, assuming that the subsequent work by the work vehicle 23 is a seeding work by the riding management machine 3 that can perform an unmanned operation while autonomously traveling, the riding management machine 3 uses the work information deriving unit 51 of the controller 5 to calculate the total vehicle length. A travel route R3 in which an appropriate U-turn position, a seeding width, and the like are defined based on the full width, the tread, the capabilities of the seeding machine, and the first information including the shape and size of the field 400 is generated. To derive work route information.

  Then, as shown in FIG. 5B, the riding management machine 3 enters the field 400 from the field entrance 450 along the traveling route R3, and automatically performs the seeding operation while traveling appropriately in a U-turn. Further, depending on the program, after the seeding operation, it is possible to perform control such that the user goes out of the field 400 through the field entrance 450 and stops at a predetermined place. As described above, the combine work 2 can be used in place of the riding management machine 3 as the latter work, and the tilling work using the tractor or the seedling planting work using the seedling transplanter 1 can be performed later. It can also be work.

  Although there was at least a daily unit, and at least a monthly or seasonal unit interval between the preceding work and the later work described above, the time between the former work and the latter work was relatively large. An example in which the present farm work support system 100 is applied to work in a short case will be described.

  FIG. 6 is a schematic diagram illustrating an example of the cooperative work between the worker M and the work vehicle 23 in the farm work support system 100. In FIG. 6, the work vehicle 23 is the combine 2 and an example of the cooperative work between the worker M and the work vehicle 23 is a method in which the grain culm that is hand-cut and placed at the four corners of the field 400 is a worker. It is assumed that M performs a work in a hand-handling mode in which it is manually fed into a feed chain (not shown) of the combine 2 and threshing.

  As shown in FIG. 6, as a pre-stage operation, a worker M carrying the wireless communication terminal 4 walks along a walking route R4 defined inside the periphery of the field 400 and places a hand placed at the four corners of the field 400. The harvested grain culm is picked up and put into a feed chain (not shown) of the combine 2 that has followed. The combine 2 travels at substantially the same speed as the walking speed of the worker M along the traveling route R2 set inside the walking route R4 with a very short time difference (for example, a delay of about 1 second) as a subsequent operation. It stops at the four nearest corners of the field 400 and waits for the worker M to put in the stalks.

  In this case, the second information related to the subsequent work of the combine 2 is information that defines the traveling route R2, and the first information acquired from the wireless communication terminal 4 (the position of the worker M acquired by the GNSS control unit 31). The information is derived by the work information deriving unit 51 of the controller 5 based on the information including the change information) and the specification information of the combine 2.

  That is, the work information deriving unit 51 of the combine 2 derives, as the second information, worker follow-up route information defined to follow the worker M who carries the wireless communication terminal 4. Therefore, the combine 2 is controlled so as to travel so as to follow the worker M along the traveling route R2 defined by the worker following route information, and to stop at the four nearest corners of the field 400.

  In this case, the first information does not need to be stored at least on the cloud. Further, the first information is directly stored in the controller 5 of the combine 2 via the short-range communication standard C each time the first information is stored in the work area without being stored in the storage unit 410 of the wireless communication terminal 4 in a nonvolatile manner. It may be passed.

  Further, in this case, a lamp (not shown), a speaker (not shown), or the like is provided in the combine 2 so that the light is turned on or a sound is emitted when stopping or transmitting a call, thereby notifying. Can also. Since the worker M can easily grasp the movement of the combine 2 visually or audibly, the work safety is improved.

  Here, the information on the position change of the worker M included in the first information is obtained by the GNSS control unit 31. For example, a predetermined transmitting device is provided in the wireless communication terminal 4, A signal transmitted from the device may be received on the combine 2 side and input to the controller 5 to analyze a change in position of the worker M.

  In addition, in the case of the combine 2 in which the combine 2 is capable of autonomous traveling unmanned and performs the threshing operation in the manual operation mode as described above, the first manual operation mode is executed during the harvesting operation. The manual handling mode and the second manual handling mode to be executed after completion of the mowing operation can be configured to be selectable. The first handling mode and the second handling mode can be executed in response to a command from the worker M via the wireless communication terminal 4 carried.

  FIG. 7A is a schematic diagram illustrating an example of a first manual operation mode, and FIG. 7B is a schematic diagram illustrating an example of a second manual operation mode. As shown in FIG. 7A, when the first handling mode is designated by the worker M, the combine 2 moves the field 400 along the first cutting traveling route R21 set for the initial automatic cutting. After traveling and performing the initial automatic harvesting operation, the vehicle stops at a predetermined position S set in the vicinity of the grain stalk yard 600 on which the harvested grain is placed. Then, when the worker M finishes throwing the harvested grain stalks placed in the grain stalk yard 600 into a feed chain (not shown), the combine 2 moves forward by the first distance Fw, and then the steering motor 530 ( (See FIG. 4) to automatically reverse the steering by automatically performing the steering operation to reverse the second distance Re and stop. At such a position, the combine 2 stands by in a posture in which the combine 2 can smoothly move to the next grain culm storage space 600 set on a traveling route orthogonal to the first cutting traveling route R21 by 90 degrees.

  On the other hand, when the second handling mode is designated, as shown in FIG. 7B, the combine 2 rotates around the field 400 along the second cutting traveling route R22 while performing a predetermined handling operation. I do. Then, the combine 2 that has reached the final position E derives the shortest route Rmin to the remaining grain culm storage 600 in order to perform the last handling operation, and derives the shortest route Rmin along the shortest route Rmin. Automatically move up to.

  As described above, the combine 2 that has acquired the field contour information of the field 400 and the like as the first information related to the first-stage operation performs the operation from harvesting to threshing including the handling of the grain culm to the second operation related to the second-stage operation. It is possible to work efficiently while traveling in accordance with the traveling route information derived as the information of.

  Note that the first information is not necessarily obtained from the outside. For example, the outer shape information of the field 400 can be obtained by making a round of so-called round cutting. Therefore, the outer shape information acquired by the combine 2 itself can be used as the first information.

  The work vehicle 23 used in the above-described farm work support system 100 has described the combine 2 as a robot farm machine, but may be manned and operated. In that case, it is preferable to provide a monitor in the cabin of the combine 2. Then, for example, when field contour information is received as first information of the field 400 from the worker M who carries the wireless communication terminal 4, for example, "Do you want to record the field shape?" Thus, it is possible to adopt a configuration in which recording of the field shape can be selected.

  At this time, for example, when recording is selected, an identifier such as a name can be input so that the field 400 can be identified.

  Furthermore, when the field shape is recorded and then read out, it may be superimposed on the map information on the monitor. With such a configuration, information on the field 400 can be easily visually recognized.

  Further, after displaying "Do you want to record the field shape?" On the monitor, for example, "Do you want to keep the operation record in this field?" That is, it is possible to select whether or not to record the work history linked to the field 400.

  If the user selects to keep the operation record, the operation history data such as the operation of the main shift lever, the operation of the steering wheel, and the operation state of the work implement is recorded. Therefore, for example, at the time of the next year's work in the same field 400, automatic operation based on the previous work history data and the like are also possible.

  Also, while the operator is in the cab, it is possible to automatically drive based on last year's work history data, for example, but if the operator operates the steering wheel or lever during automatic driving, It is possible to cancel the automatic operation and switch to the manual operation. As a result, it is possible to avoid danger or damage to the machine due to human judgment.

  In addition, when the work history is left, when the work is performed in the same field 400 in the next fiscal year, the automatic operation based on the work history data may be unconditionally started, but a condition is set for the automatic operation start. You can also. For example, at the time of the next year's work, the outer shape of the field 400 can be acquired by performing round cutting, so that the “automatic operation” is displayed on the monitor only when the acquired contour information is substantially the same as the contour information acquired last year. (Do you want to perform driving assistance?) "Is displayed and the operator can make a selection.

  If the contour information obtained by performing round cutting is different from the information of the previous year, a message "Do you want to update the data?" May be displayed on the monitor so that the operator can select it.

  In addition, when automatic operation is selected and executed, before starting operation, a message "Please select the state of lodging of this year." Is displayed on the monitor so that the operator can input the state of lodging of the grain stem. can do. The falling state may be selected, for example, from levels 1 to 3. The combine 2 performs an automatic operation at a speed according to the falling state. For example, when there are many lodging grain culms, the operation speed is controlled to be slow.

  In addition, the moisture content of the paddy is constantly measured by the moisture sensor 210, and when the value is equal to or more than a predetermined value, “the moisture content of the paddy is high (○ ×%). Do you want to continue the work?” Can be displayed on a monitor to allow the operator to select whether or not to continue the work.

  With such a configuration, there is no fear that the moisture content of the paddy is large and an extra load is applied to the drying process.

  By the way, the agricultural work support system 100 according to the present embodiment can be applied to two combiners 2 and 2 put in the same field 400. At this time, at least one of the combiners 2 may be configured to be capable of unmanned traveling, and the two combiners 2 and 2 may be configured to be able to communicate with each other so that work information can be shared between the two. Further, in this case, the manned combine 2 is configured to advance, and the unmanned combine 2 is configured to work following the combine. The control is performed so that when the preceding manned combine 2 stops, the unmanned combine 2 also stops. Good to do.

  With such a configuration, for example, when a setting related to threshing work is changed in one of the combiners 2 performing manned work, the change information is automatically transmitted to the other unmanned combiner 2, and as a result, Work information can be shared between the two combiners 2 and 2. In addition, for example, if the manned combine 2 is stopped due to an abnormality, the unmanned combine 2 is also stopped, so that there is no fear that the combine 2 and 2 come into contact with each other, and the safety is improved.

  As described above, when the agricultural work support system 100 is applied to the two combiners 2 and 2, the work efficiency can be doubled while performing the work safely, and the setting related to the threshing control becomes common, so that the grain Loss can be reduced as much as possible.

  FIG. 8 is a schematic diagram schematically illustrating an example of the operation using the two combiners 2a and 2b. Hereinafter, the two combiners 2 and 2 are put into the field 400 while applying the agricultural work support system 100. A further example of the case of performing the work will be described.

  As shown in FIG. 8, the first combiner 2a and the second combiner 2b are positioned at two diagonal positions among four corners in the field 400. Then, the mowing operation is performed while the vehicle is running so as to be a point symmetrical position with respect to the center of the field 400. That is, the first combine 2a runs along the first route R2a, and the second combine 2b runs along the second route R2b. Each of the two combiners 2a and 2b includes a controller 5 (see FIG. 4), a terminal communication unit 41a (see FIG. 4), and a GNSS controller 32 (see FIG. 4). Has a moisture sensor 210 for detecting the water content of the paddy, a weight sensor 220 such as a load cell for detecting the weight, and a monitor capable of displaying a screen in the cabin.

  The controllers 5 of the two combiners 2a and 2b in the opposing state perform the reaping operation based on the received position information of the other party and their own position information, while always maintaining a point-symmetric opposition. Therefore, the work can be performed efficiently while minimizing the contact between the two combiners 2a and 2b.

  Further, when the harvesting operation proceeds and the remaining area for performing the harvesting operation decreases, the two combiners 2a and 2b approach each other at the center of the field 400 as illustrated. The controller 5 calculates the remaining area to be an uncut portion from the stored area of the field 400, the traveling route, and the specifications (cutting width and the like) of the cutting unit 200, and performs the cutting operation for two machines at the same time. It is determined whether or not it is possible.

  If it is determined that it is difficult to work the two tanks at the same time, the controller 5 determines the amount of paddy using the moisture sensor 210 or the weight sensor 220 provided in the Glen tank, and determines the amount of the grain in the two combine tanks 2a and 2b. Is controlled so that the one with the larger free space in the work is performed to the end. After finishing the work, the work may be stopped immediately or automatically returned to a predetermined initial position.

  When two combiners 2a and 2b are put into the field 400 to perform the harvesting operation, as shown in FIG. 8, the work is not started from the diagonal position, but is started from the parallel state. Each reaping operation can be advanced while traveling in the same direction. In that case, it is preferable to provide a time difference when making a turn at the corner of the field 400. That is, for example, when the first combine 2a turns first, the second combine 2b is stopped while the first combine 2a takes a turn by combining the reverse and the forward, and the first combine 2b is stopped. The turn is started with a delay corresponding to the time required for turn 2a.

  Also in this case, the cutting control unit 440 can efficiently perform the cutting operation while preventing a contact accident between the two combiners 2a and 2b as much as possible.

  Through the above-described embodiment, the following farm work support system 100 is realized.

  (1) A work vehicle 23 equipped with a work device and performing a predetermined work while traveling on a field 400, a GNSS control unit 31 and a GNSS control device 32 for acquiring position information, and a worker M carrying the GNSS control unit 31 And a communication unit capable of transmitting and receiving information between the work vehicle and the work vehicle 23 including the GNSS control device 32, and a worker M obtained by the GNSS control unit 31 and a former stage in the field 400 accompanied by a change in the position of the work machine. A farm work support system including: a work information deriving unit 51 that derives second information related to a subsequent work in the field 400 by the work vehicle 23 based on the first information related to the work and the specification information of the work vehicle 23. 100.

  (2) In the above (1), the working machine is the seedling transplanting machine 1, and the seedling transplanting machine 1 implants the first information, the seedling N1, based on the position information acquired by the GNSS control unit 31. The work information deriving unit 51 of the work vehicle 23 includes the controller 5 for deriving and storing the position information, and the specification information of the work vehicle 23 and the planting position information received from the controller 5 via the communication unit. Farm work support system 100 that derives work route information as second information based on

  (3) In the above (2), the work vehicle 23 is the combine 2 including the reaping unit 200, and the work information deriving unit 51 is configured based on the specification information of the reaping unit 200 and the planting position information of the seedling N <b> 1. A farm work support system 100 that derives reaping route information related to reaping work as work route information.

  (4) In the above (1), the GNSS control unit 31 is provided in the wireless communication terminal 4 having a function as a storage unit 410 for storing first information and a function as a communication unit. The work information deriving unit 51 is an agricultural work support system 100 that derives second information based on first information that accompanies a change in position of a worker M carrying the wireless communication terminal 4.

  (5) In the above (4), the work information deriving unit 51 derives, as the second information, the worker follow-up route information defined to follow the worker M carrying the wireless communication terminal 4 as the second information. 100.

  (6) In (4) above, the work information deriving unit 51 obtains the specification information of the work vehicle 23 and the first information acquired by the worker M carrying the wireless communication terminal 4 moving along the periphery 460 of the field 400. A farm work support system 100 that derives work route information as second information based on field contour information as information of the farm work.

  (7) In the above (1), the work vehicle 23 is an unmanned combine 2 including the reaping unit 200, and the GNSS control unit 31 has a function as a storage unit 410 that stores the first information and a communication unit. The unmanned combiner 2 provided in the wireless communication terminal 4 has a first handling mode to be executed in the middle of the harvesting operation, and a second handling mode to be executed after the completion of the harvesting operation. The first handling mode and the second handling mode are the agricultural work support system 100 that is executed in response to a command transmitted from the worker M as a portable body via the wireless communication terminal 4.

  (8) In the above (1), the work vehicle 23 includes two combiners 2 and 2 each including a reaping unit 200 and a vehicle body communication unit 41b, capable of communicating with each other, and at least one of which is capable of unmanned traveling. A farm work support system 100 configured so that work information can be shared between two combiners 2 and 2.

  The above-described embodiment is merely an example, and is not intended to limit the scope of the invention. The embodiments can be implemented in other various forms, and various omissions, replacements, combinations, and changes can be made without departing from the spirit of the invention. In addition, the specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed as appropriate. Can be implemented.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Combine 3 Riding machine 4 Wireless communication terminal 5 Controller (control device)
23 work vehicle 31 GNSS control unit (first position information acquisition device)
32 GNSS control device (second position information acquisition device)
51 work information deriving unit 100 farm work support system 200 reaping unit 400 field 410 storage unit M worker N1 seedling

Claims (4)

A work vehicle equipped with a work device and performing a predetermined work while traveling on a field,
A first position information acquisition device and a second position information acquisition device for acquiring position information,
A communication unit capable of transmitting and receiving information between a portable body carrying the first position information acquisition device and the work vehicle including the second position information acquisition device;
Based on the first information related to the preceding stage work in the field with the change in the position of the portable object acquired by the first position information acquisition device and the specification information of the work vehicle, the work vehicle is used in the field. A work information deriving unit that derives second information related to the subsequent work in
Equipped with a,
The work vehicle is an unmanned combine equipped with a reaper,
The first position information acquisition device includes:
A storage unit for storing the first information and a wireless communication terminal having a function as the communication unit,
The unmanned combine is
A first handling mode to be executed in the middle of the harvesting operation, and a second handling mode to be executed after the completion of the harvesting operation,
Wherein the first hand ironing mode and the second hand squeezing mode, agricultural support system that will be executed in response to a command from the operator is the carried member is transmitted via the wireless communication terminal. The first position information acquisition device includes:
It is provided in a wireless communication terminal having a function as a storage unit for storing the first information and a function as the communication unit,
The work information deriving unit of the work vehicle,
The carrying body is a on the basis of the first information with the positional change of the worker, agricultural support system according to claim 1 for deriving the second information to carry the wireless communication terminal. The work information deriving unit,
The farm work support system according to claim 2 , wherein worker follow-up route information defined to follow the worker carrying the wireless communication terminal is derived as second information. The work information deriving unit,
The field information based on the specification information of the work vehicle and the field contour information as the first information obtained by the worker carrying the wireless communication terminal moving around the field. The farm work support system according to claim 2 , wherein work route information as information on the farm is derived.

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