JP6704130B2 - Agricultural work support system - Google Patents

Description

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

Some work vehicles that perform work in the field can acquire work information when performing the work, information related to the field, and the like, and can proceed with the work to be performed based on the acquired information. For example, Patent Document 1 discloses a seedling transplanter equipped with a variable fertilizer application device that detects the fertilizer concentration in the field, adjusts the fertilizer application amount according to the fertilizer concentration, and optimizes the fertilizer supply amount in the field. Has been done. In the seedling transplanter disclosed in Patent Document 1, the fertilizer application amount is stored for each GPS coordinate, and the worker grasps the fertilizer application information in the field using an information terminal such as a tablet and uses it for the next and subsequent fertilization operations. Or, it can be used as a reference when making a work plan.

JP, 2014-212765, A

Here, the nutrients in the field often differ between the surface side and the deep side, and also change depending on the content of the tilling work or the scraping work before the seedling planting work. However, in the seedling transplanter described in Patent Document 1, since the fertilizer concentration is detected by the electrode provided on the running wheel, the fertilizer application amount is insufficient or excessive depending on the fertilizer concentration in the depth direction of the field. There's a problem. In addition, even if the fertilizer concentration is appropriate, if the acidity of the field is not suitable for the cultivated crop, the root of the crop will be damaged, or the chemical change will change the fertilizer into a component that is difficult to be absorbed. There is a problem that causes poor growth.

The present invention has been made in view of the above, and an object of the present invention is to provide an agricultural work support system capable of performing an appropriate work in a field regardless of the fertilizer concentration in the field.

In order to solve the above problems and achieve the object, the agricultural work support system (1) according to claim 1 of the present invention has a work vehicle (10, 100) and travels in a field (350). a vehicle body (11 and 101), coupled to said vehicle body (11 and 101), cultivator as working equipment for performing ground work (40) or puddling unit (70), the information of the field (350) a field information acquiring means for detecting (65,71,230), the work information of the work equipment, and work information storing field information including a fertilizer concentration acquired by the field information acquiring means (65,71,230) In accordance with the storage device (300) and the fertilizer concentration stored in the work information storage device (300), the working height of the working device with respect to the field (350), the working device being the tilling device (40). In this case, water is taken into the field (350) and the controller (80) that changes the rotation speed of the tilling rotary (44) of the tiller (40) or the traveling speed of the traveling vehicle body (11, 101). In the agricultural work support system (1) including a water intake unit (351) and a drainage unit (356) that drains water, the farm field information acquisition unit (230) is used as the farm field information for each position in the farm field (350). The fertilizer concentration is acquired, and the work information storage device (300) stores the fertilizer concentration acquired by the field information acquisition means (230), and positions of the water intake part (351) and the drain part (356). The controller (80) stores the coordinates, and the controller (80) determines that the position coordinates of the work vehicle (10, 100) are the position coordinates of the water intake part (351) and the drainage part (356), or the water intake part. (351) or the time position of the drainage portion (356) is the position coordinate for the setting range set in advance, to increase the working height of the working equipment, or the tilling rotary (44) It is characterized in that the number of revolutions is reduced or the traveling speed of the traveling vehicle body (11, 101) at the time of working with the working device is increased.

Further, an invention according to claim 2, in agricultural support system (1) according to claim 1, as the work device, with further have a fertilizing device for supplying a fertilizer of a plurality of components (170), the The fertilizer application device (170) includes a fertilizer application amount adjusting member (186) that adjusts the supply amount of fertilizer, and a switching device (188) that switches which fertilizer to supply among fertilizers having different components. As the information acquisition means, there is a component amount detection member (71, 230) for measuring the amount of soil component at each position in the field (350), and the work information storage device (300) has the component amount detection member ( 71, 230) stores the amount of soil components detected, and the controller (80) operates as a fertilizer application amount adjusting member (186) based on the amount of soil components stored in the work information storage device (300). It is characterized in that the switching device (188) is controlled so as to have a desired operation amount, and fertilizer having a component capable of adjusting the amount of the soil component to the appropriate amount of the cultivated crop is supplied.

Further, the invention according to claim 3 is the agricultural work support system (1) according to claim 1 or 2, wherein, as the field information acquisition means, a depth detection member (65) for measuring the depth of the field (350). ), the work information storage device (300) stores, for each position, the depth of the field (350) detected by the depth detection member (65) during work on the work vehicle (10, 100). the work vehicle (10, 100) to perform the work in the next step, based on the depth of the field for each stored position (350) which in the work information storage device (300), the lift operation of the working equipment, setting the hydraulic sensitivity when operating the automatic lifting mechanism of the working device, and out of the work difficult point in the work vehicle according to the depth of the field (350) (10,100), the work at least any one The information is displayed on the display unit (301) of the information storage device (300) , or the work is moved up and down, the setting of the working condition of the automatic lifting mechanism of the work device is changed, and the work is performed while avoiding the difficult work area. Kotono out, characterized Rukoto Gyosu automatic braking at least any one.

The agricultural work support system according to claim 1, wherein, in a place where the fertilizer concentration is high in the field (350), the soil in the surface layer is not mixed with the soil in the deep layer, so that the soil in the deep layer containing a large amount of fertilizer components is performed. Can be maintained. This can reduce the amount of fertilizer supplied when planting a crop. On the other hand, when the fertilizer concentration is low, the soil of the surface layer and the soil of the deep layer are mixed, so that the soil of the surface layer with a low fertilizer content and the soil of a deep layer with a relatively high fertilizer content are mixed. Can be matched. As a result, the fertilizer concentration is stable regardless of the depth, and it is possible to prevent excess or deficiency when supplying fertilizer. As a result, the work in the field (350) can be performed appropriately regardless of the fertilizer concentration in the field (350). In addition, around the water intake part (351) and the drainage part (356) where the soil tends to flow when water flows in and out, it is possible to keep the hardness of the soil so that the soil cannot be easily washed away by cultivating or plucking shallowly. As a result, the periphery of the water intake part (351) and the drainage part (356) become much deeper than other parts, and it is possible to prevent the parts from becoming difficult to work during the work of the post process. In addition, since a large amount of soil containing fertilizer components can be prevented from flowing out of the field (350), it is possible to reduce the amount of fertilizer used during cultivation and prevent river pollution.

In addition to the effect of the invention of claim 1, the agricultural work support system according to claim 2 supplies the fertilizer of the corresponding component so that the amount of the component of soil becomes a component amount suitable for the growth of cultivated crops. This makes it possible to prevent the crop from being cultivated in a soil unsuitable for growth. Thereby, the growth of the crop can be stabilized and the quality can be improved.

In addition to the effect of the invention of claim 1 or 2, the agricultural work support system according to claim 3 sends a notification to change the setting of the work vehicle (10, 100) based on the stored depth of the field (350). By taking out, the worker can perform a switching operation of the work condition at an appropriate timing. As a result, work efficiency and work accuracy can be improved, and work can be performed while avoiding locations where work is difficult, so that work can be prevented from being interrupted. Further, when the setting of the work vehicle (10, 100) is automatically controlled based on the stored depth of the farm field (350), the work condition is set at an appropriate timing without the operator's operation. Since the switching operation can be performed, the labor of the operator can be reduced.

FIG. 1 is a side view of a tractor used in the farm work support system according to the embodiment. FIG. 2 is a side view when the substitute scraping device is connected to the tractor. FIG. 3 is a functional block diagram of the tractor and the tablet terminal device shown in FIG. FIG. 4 is a side view of a seedling transplanter used in the farm work support system according to the embodiment. FIG. 5 is a plan view of the seedling transplanter shown in FIG. FIG. 6 is a front view of the fertilizer application apparatus shown in FIG. FIG. 7: is explanatory drawing of the chemical spraying device provided in the seedling planting part. FIG. 8 is a view on arrow AA of FIG. 4. FIG. 9 is a functional block diagram of the seedling transplanter and tablet terminal device shown in FIG. FIG. 10 is a functional block diagram of a function of monitoring the amount of water in a field in the agricultural work support system according to the embodiment. FIG. 11 is a plan view of a field in which the amount of water can be adjusted by the amount of water control device. FIG. 12 is a plan view of a field in which the water amount can be adjusted by the water amount control device, and is an explanatory diagram in the case where a water gate is arranged only on one side of the field. FIG. 13 is a sectional view taken along line BB of FIGS. FIG. 14 is a view taken along the line C-C in FIG. FIG. 15: is a modification of the seedling transplanter used for the agricultural work support system which concerns on embodiment, is explanatory drawing of a fertilizer duct, and is a top view of a fertilizer duct. FIG. 16 is a side view of the fertilizer duct shown in FIG.

Hereinafter, an embodiment of an agricultural work support system according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, constituent elements in the following embodiments include those that can be replaced by those skilled in the art and that are easy or substantially the same.

[Embodiment]
FIG. 1 is a side view of a tractor used in the farm work support system according to the embodiment. In the following description, the front-rear, left-right direction reference defines the front-rear, left-right reference with respect to the traveling direction of the vehicle body as viewed from the driver's seat 21 of the tractor 10. A tractor 10, which is an example of a work vehicle used in the agricultural work support system 1 according to the present embodiment, has an engine 17 mounted inside a hood 12 in the front part of a traveling vehicle body 11, and rotational power of the engine 17 is stored in a mission case 18. The transmission power is transmitted to the front transmission wheel 14 and the rotation power reduced by the transmission is transmitted to the front wheels 14 and the rear wheels 15. As a result, the traveling vehicle body 11 can travel on a field or a road. A steering wheel 20 for steering the front wheels 14 is provided behind the engine 17, and a driver's seat 21 is installed behind the steering wheel 20. At the rear part of the traveling vehicle body 11, a lops frame 25 is erected from the traveling vehicle body 11 side, and a lops (safety frame) 26 having an arch shape in a rear view is mounted and supported on the lops frame 25.

A hydraulic cylinder case 30 is mounted on the upper rear portion of the transmission case 18, and lift arms 31 forming a part of a hydraulic lifting mechanism are rotatably supported on both left and right sides of the cylinder case 30. The lift arm 31 is rotated upward when hydraulic oil is supplied to the working machine lifting hydraulic cylinder 32 housed in the cylinder case 30, and is lowered when discharged.

A three-point link mechanism including a top link 33 and left and right lower links 34 is provided at the rear portion of the traveling vehicle body 11, and a plowing device 40, which is a working device for performing ground work, is connected to the link mechanism. When the control lever 22 is operated, the tiller 40 is moved up and down via the lift rod 35 by the vertical movement of the lift arm 31.

The cultivating device 40 is provided with a chain case 41 in which a cultivating power transmission mechanism is installed on one side in the left-right direction. Rotational power of a PTO (Power take-off) shaft 36 protruding from the tractor body is transmitted to a transmission mechanism in a gear box of the cultivating device 40, and further passes through a cultivating transmission mechanism in a chain case 41 to a rotary shaft 43. To be transmitted to. The rotary shaft 43 is connected to a cultivating rotary 44 having a large number of cultivating claws on its circumference, and the cultivating rotary 44 is rotatable about the rotary shaft 43 together with the rotary shaft 43.

An upper side of the cultivating rotary 44 is covered with a cultivating cover 45, and a rear cover 46 is pivotally supported at a rear end portion of the cultivating cover 45 so as to be vertically rotatable. The rear cover 46 is always held in a downward pressure by a tension spring 47 which is a biasing means. Further, in the cultivating device 40, a top link mast 42 is arranged above the cultivating cover 45, and the top link mast 42 is connected to the top link 33 of the three-point link mechanism at the front end.

In addition, the tractor 10 includes a GPS control device 50 that acquires position information of the tractor 10 by GPS (Global Positioning System), and the traveling vehicle body 11 is provided with a reception antenna 51 that constitutes the GPS control device 50. ing. The receiving antenna 51 is provided as a position information acquisition device that acquires work position information on the earth at predetermined intervals by acquiring GPS coordinates at predetermined time intervals. The receiving antenna 51 is attached to the upper end portion of the lops 26 arranged in the rear portion of the traveling vehicle body 11.

FIG. 2 is a side view when the substitute scraping device is connected to the tractor. Further, the tractor 10 can be connected with a working device other than the tilling device 40 to the traveling vehicle body 11, and for example, can be connected with a substitute scraping device 70 capable of performing a substitute scraping work in a field. ing. The scraping device 70 is attached to the rear portion of the tractor 10 via lifting links such as a lower link 34 and a top link 33 that are lifted and lowered by a lift arm 31. The lift arm 31 moves the lower link 34, the top link 33, and the like up and down, whereby the scraping device 70 is moved up and down. This substitute scraping device 70 is operable by the driving force transmitted by the PTO shaft 36 that transmits the driving force of the engine 17 toward the working device.

Further, the scraping device 70 is provided with a pH sensor 71 that is a field information acquisition unit and is also a component amount detection member that measures the component amount of soil. The pH sensors 71 are arranged on the left and right sides of the scraping device 70, and are used as sensors for measuring the hydrogen ion concentration and detecting the acidity of the soil by allowing the pH sensor 71 to enter the soil of a field filled with water. Is becoming

The tractor 10 configured as described above includes a tablet terminal device 300 that is a work information storage device that stores and displays work information of the traveling vehicle body 11, the tilling device 40, and the scraping device 70. It is possible to perform wireless communication with 300. This tablet terminal device 300 has a touch panel 301, various information is displayed on the touch panel 301, and an operator performs an input operation on the touch panel 301 to input information and give an operation instruction. Is possible. In addition, the tablet terminal device 300 is configured to store the work information of the tractor 10 including the position information of the tractor 10 under work in a database and store the work information and map data. That is, the tablet terminal device 300 can display work information of the tractor 10, map data, and the like on the touch panel 301.

FIG. 3 is a functional block diagram of the tractor and the tablet terminal device shown in FIG. The tractor 10 according to the present embodiment can control each part by electronic control. Therefore, the tractor 10 includes the controller 80 that controls each part. The controller 80 includes a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a RAM (Random Access Memory), and an input/output unit, which are connected to each other and exchange signals with each other. It is possible. A computer program that controls the tractor 10 is stored in the storage unit. The controller 80 is connected with actuators such as motors, sensors for acquiring information of each part, and the like.

For example, the controller 80 is connected to actuators such as the engine 17, the transmission in the transmission case 18, the hydraulic cylinder 32 for raising and lowering the working machine for raising and lowering the tiller 40, and the like. Further, as sensors connected to the controller 80, a stroke sensor 65 for detecting a stroke of a suspension provided on the traveling vehicle body 11 as a buffer mechanism for the front wheels 14 and the rear wheels 15, and a pH sensor 71 for detecting acidity of soil. Etc. are connected. The pH sensor 71 is mechanically connected and electrically connected when the substitute scraping device 70 is connected to the traveling vehicle body 11, so that the pH sensor 71 is provided in the controller 80 provided in the traveling vehicle body 11. Electrically connected to. Further, the stroke sensor 65 is provided as a depth detection member that measures the depth of the field by detecting the stroke of the suspension, and is provided as one of the field information acquisition means that acquires the field information. That is, the stroke sensor 65 can detect the depth of the field as the field information.

Further, the GPS control device 50 is also connected to the controller 80, and the position information received by the receiving antenna 51 can be acquired by the controller 80.

Further, the tractor 10 is provided with an automatic steering device 60 capable of operating the steering wheel 20 to maintain the traveling vehicle body 11 in the straight traveling direction, and the automatic steering device 60 is also connected to the controller 80. The automatic steering device 60 includes a steering motor 61 that rotates the steering wheel 20 by applying an arbitrary rotational force to the steering wheel 20, and a steering wheel potentiometer 62 that detects the rotation angle of the steering wheel 20. The steering motor 61 and the steering wheel potentiometer 62 operate and rotate the steering wheel 20 by applying a rotational force to the rotational axis of the steering wheel 20 and detecting the rotational angle of the rotational axis of the steering wheel 20. It is possible to detect the angle.

The tractor 10 also has a tractor communication unit 81 that performs wireless communication with the tablet terminal device 300. The tractor communication unit 81 is capable of transmitting and receiving a signal to and from the tablet terminal device 300 by wireless communication using radio waves, whereby the controller 80 causes the tablet to be transmitted via the tractor communication unit 81. It is possible to send and receive signals to and from the terminal device 300.

Further, the tablet terminal device 300 includes a touch panel 301, a terminal communication unit 304, a storage unit 303, a control unit 302, and a speaker 305. Of these, the touch panel 301 serves as both an information display unit of the tablet terminal device 300 and an input unit of the tablet terminal device 300. Therefore, the touch panel 301 displays various information such as work information of the tractor 10 and map data, and an operator can perform an input operation by touching the touch panel 301 with a finger or the like.

The terminal communication unit 304 is provided as a communication unit on the tablet terminal device 300 side. The terminal communication unit 304 can transmit and receive information by transmitting and receiving signals to and from the tractor 10 by wireless communication using radio waves, that is, with the tractor communication unit 81 included in the tractor 10. It is possible to send and receive signals between them. More specifically, the terminal communication unit 304 is capable of transmitting and receiving information to and from the tractor 10 through a short-range wireless connection. For the short-range wireless connection, Bluetooth (registered trademark) is used, for example. .. As a result, the tractor communication unit 81 also supports Bluetooth, which enables wireless communication between the terminal communication unit 304 and the tractor communication unit 81.

In addition, the storage unit 303 stores various kinds of information, and the work of the tractor 10 including the program for operating the tablet terminal device 300 and the position information of the tractor 10 under work acquired via the terminal communication unit 304. Various kinds of information such as information can be stored.

Further, the control unit 302 is capable of performing various kinds of arithmetic processing, and the touch panel 301, the terminal communication unit 304, and the storage unit 303 are all connected to the control unit 302, and mutually operate with the control unit 302. It is possible to transfer signals. The control unit 302 may, for example, store the work information of the tractor 10 in the storage unit 303 based on the information received by the terminal communication unit 304, or may display the work information or the map data on the touch panel 301. It is possible.

Further, the speaker 305 is capable of producing an arbitrary voice, and is also provided as a notification device for performing an arbitrary notification to the operator by voice.

FIG. 4 is a side view of a seedling transplanter used in the farm work support system according to the embodiment. FIG. 5 is a plan view of the seedling transplanter shown in FIG. In the farm work support system 1 according to the present embodiment, the seedling transplanter 100 is also used as a work device. In the following description, the front-rear, left-right, and up-down direction references define the front-rear, left-right, and up-down references with reference to the vehicle running direction when viewed from the driver's seat 128 of the seedling transplanter 100. The traveling vehicle body 101 of the seedling transplanter 100, which is an example of a work vehicle used in the farm work support system 1 according to the present embodiment, has a pair of left and right front wheels 104 and a pair of left and right rear wheels 105. Sometimes it is a four-wheel drive vehicle with each wheel driven. As a result, the traveling vehicle body 101 can travel on a field or a road. Further, a rear part of the traveling vehicle body 101 is provided with a seedling planting section 150 that can be raised and lowered by a seedling planting section elevation mechanism 140.

The traveling vehicle body 101 has a main frame 107 arranged substantially in the center of the vehicle body, an engine 110 mounted on the main frame 107, and a power for transmitting the power of the engine 110 to the drive wheels and the seedling planting section 150. And a transmission device 115. That is, in this seedling transplanter 100, the power generated by the engine 110, which is the power source, is used not only for moving the traveling vehicle body 101 forward and backward, but also for driving the seedling planting section 150. A heat engine such as a diesel engine or a gasoline engine is used.

Further, the engine 110 is arranged substantially at the center in the left-right direction of the traveling vehicle body 101 and in a state of being projected above a floor step 126 on which an operator rests his/her feet when riding. The floor step 126 is provided between the front part of the traveling vehicle body 101 and the rear part of the engine 110 and is mounted on the main frame 107. Further, behind the floor step 126, a rear step 127 that doubles as a fender for the rear wheel 105 is provided. The rear step 127 has an inclined surface that is inclined upward as it goes rearward, and is arranged on each of the left and right sides of the engine 110.

The engine 110 projects upward from the floor step 126 and the rear step 127, and an engine cover 111 that covers the engine 110 is arranged in the part projecting from these steps. That is, the engine cover 111 covers the engine 110 while protruding upward from the floor step 126 and the rear step 127.

A driver's seat 128, on which an operator rides, is installed above the engine cover 111 of the traveling vehicle body 101. The driver's seat 128 is located in front of the driver's seat 128 and at the front center of the traveling vehicle body 101. 130 is provided. The control unit 130 is arranged so as to project upward from the floor surface of the floor step 126, and divides the front side of the floor step 126 into left and right.

A front cover 131 that can be opened and closed is provided at the front of the control unit 130. Further, on the upper portion of the control unit 130, operating levers and the like for operating the operating device, instruments, and a handle 132 are arranged. The steering wheel 132 is provided as a steering member that steers the traveling vehicle body 101 by an operator steering the front wheels 104, and the front wheels 104 can be steered via an operation device in the control unit 130. It has become. Further, as the operation lever, a shift lever 135, which is a shift operation member for switching between forward and backward traveling of the traveling vehicle body 101 and traveling output, and a sub traveling operation for switching the traveling speed of the traveling vehicle body 101 to a speed according to a traveling location. A sub-transmission lever 138, which is a member, is disposed on the right side and the left side of the machine body.

Further, a spare seedling mounting table 165 on which a supplementary seedling is placed is arranged at a portion of the floor step 126 located on each of the left and right sides of the control unit 130. The preliminary seedling mounting table 165 is rotatably supported by a support shaft (vertical shaft) protruding from the floor surface of the floor step 126, and is rotated by a worker's hand or a rotating member such as an electric motor. It is possible.

In addition, the power transmission device 115 transmits a power from the engine 110 to the hydraulic continuously variable transmission 116, which is a transmission that continuously changes the driving force transmitted from the engine 110, and the hydraulic continuously variable transmission 116. And a belt type power transmission mechanism 117. Among these, the hydraulic continuously variable transmission 116 is configured as a hydrostatic transmission called HST (Hydrographic Static Transmission). Therefore, the hydraulic continuously variable transmission 116 generates hydraulic pressure by a hydraulic pump driven by power from the engine 110, converts this hydraulic pressure into mechanical force (rotational force) by a hydraulic motor, and outputs the mechanical force (rotational force). As a result, the hydraulic continuously variable transmission 116 converts the power generated by the engine 110 into a force that causes the traveling vehicle body 101 to travel.

At that time, the hydraulic continuously variable transmission 116 can change the forward and backward movements and the traveling speed of the traveling vehicle body 101 by changing and outputting the direction and the rotational speed of the rotational force. By changing the output and output direction of the hydraulic continuously variable transmission 116, the speed change lever 135 can operate the forward and backward movements and the running speed of the traveling vehicle body 101, that is, the speed change lever 135 is It is possible to perform a shift operation of the hydraulic continuously variable transmission 116. The hydraulic continuously variable transmission 116 is arranged in front of the engine 110 and below the floor surface of the floor step 126, and in the seedling transplanter 100 according to the present embodiment, the upper surface of the traveling vehicle body 101. Seen from above, it is arranged in front of the engine 110.

Further, the power transmission device 115 is a transmission for transmitting the driving force from the engine 110, which is transmitted to the hydraulic continuously variable transmission 116 via the belt type power transmission mechanism 117, and which is shifted by the hydraulic continuously variable transmission 116, to each part. It has a mission case 118 which is a device. The mission case 118 is internally provided with a sub-transmission mechanism (not shown) that switches the working speed of the traveling vehicle body 101 when traveling on the road or planting, and is attached to the front portion of the main frame 107. The sub-transmission mechanism can switch the traveling transmission of the traveling vehicle body 101 to at least a "work speed", which is a gear speed when performing work in a field, and a "road speed", which is a gear speed when performing road travel. It has become. The subtransmission mechanism may be configured to be able to switch to a speed other than "work speed" and "road speed", and it is also possible to switch to a plurality of gears in "work speed" and "road speed". It may be configured to be possible.

The sub-transmission lever 138 can switch the traveling speed of the traveling vehicle body 101 by operating the sub-transmission mechanism in the mission case 118, that is, the "work speed" and the "road speed" are switched. It is possible. The mission case 118 shifts the output from the engine 110, which is transmitted via the belt-type power transmission mechanism 117 and the hydraulic continuously variable transmission 116, by the auxiliary transmission mechanism in the transmission case 118, so that the front wheels 104 and The driving power to the rear wheels 105 and the driving power to the seedling planting section 150 can be separately output.

Of these, a part of the driving power can be transmitted to the front wheels 104 via the left and right front wheel final cases 121, and the rest can be transmitted to the rear wheels 105 via the left and right rear wheel gear cases 122. There is. The left and right front wheel final cases 121 are disposed on the left and right sides of the mission case 118, respectively, and the left and right front wheels 104 are connected to the left and right front wheel final cases 121 via axles. Further, the front wheel final case 121 can be driven according to the steering operation of the steering wheel 132 to steer the front wheels 104. Similarly, the left and right rear wheels 105 are connected to the left and right rear wheel gear cases 122 via axles. On the other hand, the driving power is transmitted to a planting clutch (not shown) provided at the rear part of the traveling vehicle body 101, and is transmitted to the seedling planting section 150 by a planting transmission shaft (not shown) when the planting clutch is engaged. To be done.

Further, the seedling planting part elevating mechanism 140 for raising and lowering the seedling planting part 150 provided at the rear part of the traveling vehicle body 101 has an elevating link device 141, and the seedling planting part 150 includes the elevating link device 141. It is attached to the traveling vehicle body 101 via the. The elevating link device 141 includes a parallel link mechanism 142 that connects the rear portion of the traveling vehicle body 101 and the seedling planting portion 150. The parallel link mechanism 142 has an upper link and a lower link, and these links are rotatably connected to a rear view portal type link base frame 143 which is erected at the rear end of the main frame 107. The other end of each link is rotatably connected to the seedling planting section 150, so that the seedling planting section 150 is connected to the traveling vehicle body 101 so as to be able to move up and down.

Further, the seedling planting part elevating mechanism 140 has a hydraulic elevating cylinder 144 that expands and contracts by hydraulic pressure, and the expanding and contracting operation of the hydraulic elevating cylinder 144 makes it possible to elevate the seedling planting part 150. The raising and lowering mechanism 140 of the seedling planting part can raise and lower the seedling planting part 150 to a non-working position or to a ground work position (ground planting position).

Further, the seedling planting unit 150 is provided as a work device for performing ground work in a field, and a range in which seedlings, which are work materials, are planted can be planted in a plurality of sections or a plurality of rows. In the seedling transplanting machine 100 according to the present embodiment, the seedling planting section 150 is a so-called 6-row planting seedling planting section 150 in which seedlings are planted in six sections. The seedling planting unit 150 includes a seedling planting device 160, a seedling placement table 151, and a float 147. Of these, the seedling placement table 151 is provided as a seedling placement member for loading a plurality of seedlings, and has seedling placement surfaces 152 that are partitioned in the left-right direction of the traveling vehicle body 101 and correspond to the number of planting rows. A mat-like seedling with soil can be placed on each seedling placing surface 152.

In addition, the seedling planting device 160 is a device that picks up the seedlings placed on the seedling placement table 151 from the seedling placement table 151 and implants them in the field. The seedling planting device 160 is provided for every two rows, and the rotatable case 163 is rotatably provided with the two-row planting rods 161. That is, the plurality of seedling planting devices 160 are each assigned a planting article. Of these, the rotary case 163 is rotatably connected to the plant transmission case 164 that supplies the seedling planting device 160 with a driving force, and the plant transmission case 164 connects the engine 110 to the seedling planting section 150. The power transmitted to the seedling planting device 160 is supplied to the seedling planting device 160. That is, two rotary cases 163 are connected to both sides of the machine body left-right direction in the planted transmission case 164, and the seedling planting section 150 includes three planted transmission cases 164.

Further, the float 147 slides on the field scene to level the ground as the traveling vehicle body 101 moves, and the center float 148 located in the center of the seedling planting section 150 in the lateral direction of the traveling vehicle body 101 and the lateral direction. And side floats 149 located on both sides of the seedling planting section 150 in.

Further, on the front side of the lower side position of the seedling planting section 150, a ground leveling rotor 167 for leveling the field is provided. The grounding rotor 167 is configured to be rotatable by the output from the engine 110 transmitted via the rear wheel gear case 122. Further, the seedling transplanter 100 is provided with a fertilizer concentration sensor 230 that detects the fertilizer concentration of soil as field information acquisition means that detects information on the field. The fertilizer concentration sensor 230 is provided on the left and right wheels, for example, the front wheels 104. The fertilizer concentration sensor 230 is provided as an electrode plate formed over the entire circumference with an outer diameter smaller than the outer diameter of the front wheel 104, at a position between the rotation axis of the front wheel 104 and the outer peripheral portion. It can be rotated together with it. The outer diameter of the fertilizer concentration sensor 230 is such that when the front wheels 104 enter the soil when the seedling transplanter 100 travels in the field, the lower end portion of the fertilizer concentration sensor 230 also enters the soil. The fertilizer concentration sensor 230 provided in this way enters the soil and detects the energization resistance or the electric conductivity of the soil through detecting the amount of electricity passed between the left and right fertilizer concentration sensors 230. Thereby, the fertilizer concentration sensor 230 can detect the fertilizer concentration of soil. The fertilizer concentration sensor 230 is also provided as a component amount detection member that measures the amount of soil component by detecting the fertilizer concentration of soil.

Further, on both left and right sides of the seedling planting section 150, line drawing markers 168 that form a line as a guide in the traveling direction are provided on the next planting line. That is, the line drawing marker 168 draws a mark on the field when the seedling transplanter 100 is going straight ahead in the field, after turning at the edge of the field and then going straight ahead. The drawing marker 168 is operated by a marker motor 169 (see FIG. 9), and the drawing markers 168 on the left and right can be switched and operated each time the traveling vehicle body 101 turns. The replacement of the left and right line drawing markers 168 is performed by the controller 250 (see FIG. 9) to which the marker motor 169 is connected. That is, the controller 250 is also provided as a marker switching device that alternately switches the left and right line drawing markers 168 between the operating state and the non-operating state when the traveling vehicle body 101 turns. As shown in FIGS. 4 and 5, the left and right wire-drawing markers 168 are provided with a plurality of protrusions on the outer periphery of the disk and are rotatably attached to the rod. A line can be reliably formed in the field scene by the grounding resistance, and it becomes easy to perform a straight-ahead work at the next planting work position, and work efficiency is improved.

Further, behind the driver's seat 128 on the traveling vehicle body 101, a fertilizer application device 170, which is a work device for performing work in a field, is mounted. The fertilizer applicator 170 is provided with a storage hopper 171 that stores fertilizer, which is a work material used for work in the fertilizer applicator 170, a delivery device 172 that delivers the fertilizer supplied from the storage hopper 171 by a set amount, and a delivery device 172. The fertilizer hose 174, which is a fertilizer passage for supplying the fertilizer to the field, and the blower, which is a blower device that transfers the fertilizer in the fertilizer hose 174 to the seedling planting section 150 side by supplying the carrier air to the fertilizer hose 174. 173 and. Further, the fertilizer application device 170 is provided below the seedling planting unit 150, is provided in front of the fertilizer application guide 175 to which fertilizer is transferred by the fertilizer application hose 174, and is transferred by the fertilizer application hose 174. And a grooving device 176 for dropping the fertilizer thus produced into a fertilization groove formed in the vicinity of the side portion of the seedling planting article.

Among these, the storage hopper 171 is provided with a partition plate 187 that partitions the inside of the storage hopper 171 from the fertilizer input port side of the storage hopper 171 to the feeding device 172, whereby the storage hopper 171 is It is possible to store multiple types of fertilizers of different types. Further, between the storage hopper 171 and the feeding device 172, there is provided a fertilizer selector 188 which is a switching device for switching which region of the storage hopper 171 fertilizer to be supplied to the feeding device 172 side. The fertilizer selector 188 includes a fertilizer switching shutter (not shown) that switches the fertilizer that is dropped from the storage hopper 171 to the feeding device 172, and a fertilizer switching motor 189 (see FIG. 9) that operates the fertilizer switching shutter. It is configured. As a result, the fertilizer application device 170 can store a plurality of types of fertilizers and can supply any of the fertilizers to the field.

FIG. 6 is a front view of the fertilizer application apparatus shown in FIG. In addition, the storage hopper 171 has a plurality of hopper outlets 181 that open downward and supply the fertilizer in the storage hopper 171 to the feeding device 172. The plurality of hopper outlets 181 are plural in the machine width direction. They are formed side by side. The storage hopper 171 is provided on the traveling vehicle body 101 while being supported by the fertilizer application frame 180. The feeding device 172 is disposed below the storage hopper 171 and is detachably connected to each hopper outlet 181 by a lock member 182.

Below the feeding device 172, a fertilizer-carrying air passage 178, which is a passage for carrying air that is the air generated by the blower 173, is provided. The blower 173 is disposed on one end side of the storage hopper 171 or the feeding device 172 in the lateral direction of the machine body, and the fertilizing and conveying air passage 178 extends in the lateral direction of the machine body at a position on the front side below the feeding device 172. is doing. The feeding device 172 is connected to the fertilizer transfer air passage 178 at a plurality of positions where the hopper outlets 181 are arranged in the lateral direction of the machine body. The transport air generated by the blower 173 is sent in the left and right directions of the machine body by the fertilization transport air passage 178, and the fertilizer fed from the feeding device 172 is transported to the fertilization hose 174.

The fertilizer application device 170 configured as described above is provided with a feeding adjustment mechanism 185 for adjusting the amount of fertilizer applied. The feeding adjustment mechanism 185 has a fertilization amount adjustment motor 186 (see FIG. 9) that is a fertilization amount adjustment member that adjusts the supply amount of fertilizer in the fertilizer application device 170, and the fertilizer content and depth of the field and the like. By controlling the drive of the fertilizer application motor 186 by the controller 250 (see FIG. 9) in accordance with the above condition, the fertilizer application amount can be adjusted. Specifically, the feeding device 172 rotates the fertilizer feeding member (not shown) included in the feeding device 172 by the driving force transmitted from the engine 110, so that the fertilizer supplied from the storage hopper 171 is set by the set amount. Although it is possible to feed, the feed adjusting mechanism 185 can adjust the fertilizer application amount by adjusting the rotation speed at that time.

FIG. 7: is explanatory drawing of the chemical spraying device provided in the seedling planting part. Behind the seedling planting section 150, a drug spraying device 190, which is a working device for spraying a drug, which is a working material such as a disinfectant or an insecticide, to the seedlings loaded in the seedling planting section 150 is arranged. It is set up. The medicine spraying device 190 is arranged corresponding to the row to be planted, and can supply the medicine to the seedlings in a predetermined row. The chemical spraying device 190 is supported by a spraying device support member 191 connected to the planted transmission case 164.

As described above, the chemical spraying device 190 supported by the spraying device support member 191 dispenses a set amount of chemicals to the chemical hopper 200 that stores chemicals such as herbicides and insecticides and to the seedlings loaded in the seedling planting section 150. And a medicine supply device 201 for supplying the medicine. Among these, the chemical|medical agent supply apparatus 201 is a state which is arrange|positioned at the rear side of the body of the seedling planting part 150, and it sprays a chemical|medical agent from the rear side of the body to the front side of the body, and the lateral direction of the body, It is possible to spray the drug on the seedlings loaded in the section 150.

Further, the medicine supply device 201 is disposed on the lower side of the body of the medicine hopper 200, and includes a medicine supply frame 202 and a fixed amount shutter 204. Of these, the medicine supply frame 202 is provided as a frame of the medicine supply device 201, and is arranged below the machine body of the medicine hopper 200. The metering shutter 204 is provided as an opening and closing member that opens and closes at a set interval by a solenoid 203 that is an intermittent operating device to release the medicine in the medicine hopper 200, and is located at a position above the machine body in the medicine supply frame 202. It is arranged. The solenoid 203 is provided as a drug spraying amount adjusting mechanism that adjusts the drug spraying amount in the drug spraying device 190 by opening and closing the quantitative shutter 204 at each set interval.

The metering shutter 204 is provided inside the medicine supply frame 202, and a spray opening 207 through which the medicine is discharged is formed on the lower side of the body of the medicine supply frame 202. With such a configuration, the drug spraying device 190 can spray the drug stored in the drug hopper 200 onto the seedlings loaded on the seedling planting section 150.

Moreover, the seedling transplanter 100 according to the present embodiment includes a GPS control device 220 (see FIG. 9) that acquires position information of the seedling transplanter 100 by GPS (Global Positioning System), and the traveling vehicle body 101 includes A reception antenna 221 that constitutes the GPS control device 220 is provided. The reception antenna 221 is provided as a position information acquisition device that acquires GPS position at predetermined time intervals to acquire work position information on the earth at predetermined intervals. The receiving antenna 221 is attached to an antenna frame 224 that is connected to a spare seedling stand column 166 (see FIG. 8) that is a column that supports the spare seedling stage 165.

FIG. 8 is a view on arrow AA of FIG. 4. The antenna frame 224 is formed in a gate shape with its lower side opened, and two lower ends of the gate shape are connected to the left and right preliminary seedling stand columns 166. That is, the antenna frame 224 has a frame horizontal portion 225 extending in the left-right direction of the machine body and two frame vertical portions 226 extending downward from both ends of the frame horizontal portion 225. , Is connected to the spare seedling stand column 166. The frame vertical part 226 and the preliminary seedling stand column 166 are connected by a rotating part 228 whose axial direction extends in the machine front-rear direction, whereby the frame vertical part 226 is centered on the rotating part 228 and left and right of the machine body. It is connected to the preliminary seedling stand column 166 so as to be rotatable in any direction.

Further, of the left and right frame vertical portions 226, one frame vertical portion 226 is provided with a telescopic cylinder 227 that can extend and contract in the direction in which the frame vertical portion 226 extends. The expandable cylinder 227 is expandable/contractible by hydraulic pressure, whereby the frame vertical portion 226 on the side where the expandable cylinder 227 is provided is expandable/contractible in total length. The receiving antenna 221 is attached to the frame horizontal portion 225, and more specifically, is attached to the upper surface of the frame horizontal portion 225 at a position near the center in the length direction of the frame horizontal portion 225.

Like the tractor 10, the seedling transplanter 100 configured as described above can perform wireless communication with the tablet terminal device 300. For this reason, the tablet terminal device 300 stores work information of the seedling transplanter 100, such as information on the traveling vehicle body 101, the seedling planting unit 150, and the fertilizer application device 170, and fertilizer concentration, which is field information acquired by the fertilizer concentration sensor 230. Field information can be stored and displayed.

FIG. 9 is a functional block diagram of the seedling transplanter and tablet terminal device shown in FIG. The seedling transplanter 100 used in the farm work support system 1 according to the present embodiment can control each part by electronic control, and therefore the seedling transplanter 100 includes a controller 250 that controls each part. Has been. The controller 250 is provided with a processing unit having a CPU and the like, a storage unit such as a RAM, and an input/output unit, which are connected to each other and can exchange signals with each other. A computer program for controlling the seedling transplanter 100 is stored in the storage unit. The controller 250 is connected with actuators such as motors, sensors for acquiring information of each part, and the like.

For example, the controller 250 includes, as actuators, a hydraulic elevating cylinder 144 that elevates and lowers the seedling planting section 150, a marker motor 169 that operates a line drawing marker 168, a fertilizer application amount adjustment motor 186 that adjusts the fertilizer application rate of the fertilizer application device 170, and a supply. A fertilizer switching motor 189 for switching the fertilizer to be used, a solenoid 203 for adjusting the supply amount of the medicine in the medicine supply device 201, and the like are connected. Further, as the sensors connected to the controller 250, the fertilizer concentration sensor 230 and the like are connected.

Further, a GPS control device 220 is also connected to the controller 250, and the position information received by the receiving antenna 221 can be acquired by the controller 250. Further, the orientation of the receiving antenna 221 can be adjusted by controlling the telescopic cylinder 227 by the controller 250 to extend and retract the telescopic cylinder 227.

The seedling transplanter 100 also includes an automatic steering device 210 capable of operating the steering wheel 132 to maintain the traveling vehicle body 101 in a straight traveling direction. The automatic steering device 210 is also connected to the controller 250. .. The automatic steering device 210 includes a steering motor 211 that rotates the steering wheel 132 by applying an arbitrary rotational force to the steering wheel 132, and a steering wheel potentiometer 212 that detects a rotation angle of the steering wheel 132. The steering motor 211 and the steering wheel potentiometer 212 operate the steering wheel 132 or rotate the steering wheel 132 by applying a rotational force to the rotation axis of the steering wheel 132 or detecting a rotation angle of the rotation axis of the steering wheel 132. It is possible to detect the angle.

In addition, the seedling transplanter 100 has a seedling transplanter communication unit 251 that performs wireless communication with the tablet terminal device 300. The seedling transplanter communication unit 251 can transmit and receive a signal to and from the tablet terminal device 300 by wireless communication using radio waves, whereby the controller 250 causes the seedling transplanter communication unit 251 to operate. It is possible to transmit/receive a signal to/from the tablet terminal device 300 via the device. That is, the seedling transplanter communication unit 251 can transmit and receive information by transmitting and receiving signals to and from the terminal communication unit 304 included in the tablet terminal device 300 by wireless communication using radio waves. Specifically, the seedling transplanter communication unit 251 is, similar to the tractor communication unit 81 included in the controller 80 of the tractor 10, by a short-range wireless connection such as Bluetooth, with the terminal communication unit 304 included in the tablet terminal device 300. It is possible to send and receive information.

FIG. 10 is a functional block diagram of a function of monitoring the amount of water in a field in the agricultural work support system according to the embodiment. The farm work support system 1 according to the embodiment includes a server 310 that stores and distributes work information. The server 310 includes a storage unit 311 that stores various types of information and a server communication unit 312 that can perform wireless communication. Of these, the server communication unit 312 can transmit and receive signals to and from the terminal communication unit 304 of the tablet terminal device 300 by wireless communication using radio waves, whereby the server 310 can: Information can be communicated with a plurality of tablet terminal devices 300.

Further, the server 310 can perform wireless communication with the water amount adjustment control device 365 that adjusts the amount of water in the field. The water amount adjustment control device 365 is installed in the field and serves as a control device for adjusting the water amount in the field by adjusting the opening of the water gate.

FIG. 11 is a plan view of a field in which the amount of water can be adjusted by the amount of water control device. The field 350 whose water amount can be adjusted by the water amount control device 365 is adjacent to a water channel 360 through which water supplied to the field 350 flows out, and the field 350 is adjacent to a plurality of water channels 360 at different positions. .. For example, in the field 350 formed in a substantially rectangular shape, the water channel 360 is adjacent to two sides of the four sides of the field 350 that face each other.

An intake gate 351 that is an intake part that takes in water into the field 350 by causing the water in the water channel 360 to flow into the field 350 is provided between one of the water channels 360 and the field 350. ing. Further, between the other water channel 360 and the farm field 350, a drainage gate 356 which is a drainage section for draining the water of the farm field 350 by draining the water of the farm field 350 to the water channel 360 is disposed. That is, of the two water channels 360 adjacent to the field 350, one water channel 360 is a water channel 360 for supplying water to the field 350, and the other water channel 360 drains the water in the field 350. It is a waterway 360 for

Further, the intake gate 351 and the drainage gate 356 are arranged at positions different from each other on two sides different from the two sides on which the intake gate 351 and the drainage gate 356 are provided. That is, the intake gate 351 and the drain gate 356 are arranged near two diagonal corners of the four corners of the rectangular shape of the farm field 350.

FIG. 12 is a plan view of a field in which the water amount can be adjusted by the water amount control device, and is an explanatory diagram in the case where a water gate is arranged only on one side of the field. Alternatively, as shown in FIG. 12, in the place where the water channel 360 is formed only on one side of the field 350, the intake gate 351 and the drain gate 356 are arranged on the same side of the field 350. At this time, if the intake gate 351 is arranged on the upstream side of the water channel 360 and the drain gate 356 is arranged on the downstream side of the water channel 360, the flow of water is not counteracted, so that water can be taken in and discharged smoothly.

Next, the intake gate 351 and the drain gate 356 will be described. Since the intake gate 351 and the drain gate 356 have the same configuration, the intake gate 351 will be described as a representative. FIG. 13 is a sectional view taken along line BB of FIGS. FIG. 14 is a view taken along the line C-C in FIG. The intake gate 351 is vertically movable at a position between the farm field 350 and the water channel 360, and the farm field 350 and the water channel 360 communicate with each other at a position below the intake gate 351. Therefore, as the intake gate 351 goes upward, the opening degree between the farm field 350 and the water channel 360 becomes large, and as it goes downward, the opening degree between the farm field 350 and the water channel 360 becomes small, and it becomes the lowest position. When located, the intake gate 351 closes between the field 350 and the waterway 360. The water intake gate 351 can adjust the opening degree between the farm field 350 and the water channel 360 by thus moving in the vertical direction, and thereby adjust the flow rate of the water taken from the water channel 360 to the farm field 350. can do.

In this way, the intake gate 351 that moves in the vertical direction can be opened and closed by the first motor 352 that is the first opening/closing device, and by moving in the vertical direction by the power generated by the first motor 352, It can be stopped at any position. With this, the first motor 352 can adjust the opening degree of the intake gate 351.

In addition, a first water amount sensor 353 that detects the amount of water in the field 350 is arranged near the intake gate 351. The first water amount sensor 353 is configured to float on the water surface of the field 350, and by detecting the position of the first water amount sensor 353 in the vertical direction, the height of the water surface of the field 350 is detected. This makes it possible to detect the amount of water in the field 350 in the vicinity of the intake gate 351.

The drainage gate 356 also has the same configuration as the intake gate 351 and is opened and closed by the second motor 357 that is the second opening/closing device to adjust the amount of water drained from the field 350 to the waterway 360. Is possible. In addition, a second water amount sensor 358 that detects the amount of water in the field 350 is disposed in the vicinity of the drainage gate 356. The second water amount sensor 358 detects the height of the water surface of the field 350 to allow drainage. It is possible to detect the amount of water in the field 350 near the gate 356.

The first motor 352 and the first water amount sensor 353, and the second motor 357 and the second water amount sensor 358 are connected to the water amount adjustment control device 365 and can be controlled by the water amount adjustment control device 365. That is, the water amount adjustment control device 365 acquires the water amount of the field 350 by acquiring the detection values of the first water amount sensor 353 and the second water amount sensor 358, and according to the acquired water amount, the first motor 352 and the first motor 352. By controlling the two-motor 357, water is taken into the farm field 350 from the water channel 360, or water in the farm field 350 is drained to the water channel 360.

Specifically, the water amount adjustment control device 365 calculates the water amount in the field 350 from the average value of the detection values of the first water amount sensor 353 and the second water amount sensor 358. After the amount of water in the field 350 is calculated, the intake gate 351 and the drain gate 356 are opened and closed by operating the first motor 352 and the second motor 357 in accordance with the calculated excess or deficiency of the amount of water to adjust the amount of water in the field 350. .. Accordingly, the water amount adjustment control device 365 sets the water amount in the field 350 to a desired water amount.

In this way, the water amount adjustment control device 365 that adjusts the amount of water in the field 350 is capable of transmitting and receiving signals to and from the server communication unit 312 of the server 310 by wireless communication using radio waves. It is equipped with 366. As a result, the water amount adjustment control device 365 can communicate information with the server 310.

The farm work support system 1 according to the present embodiment is configured as described above, and its operation will be described below. When the tractor 10 used in the agricultural work support system 1 is in operation, the operator operates the handle 20, operates various levers such as the control lever 22, and operates pedals to drive the tractor 10. And the operation of the tiller 40. As the power used during these operations, the rotational power generated by the engine 17 is transmitted to the front wheels 14 and the rear wheels 15 via the transmission in the mission case 118, or the cultivator 40 or the scraper via the PTO shaft 36. Each part operates by being transmitted to 70.

For example, when performing cultivating work in the field 350 using the tractor 10, the power generated by the engine 17 is transmitted to the cultivating device 40 via the PTO shaft 36 while the cultivating device 40 is connected to the traveling vehicle body 11. To do. In the tiller 40 to which the power from the engine 17 is transmitted, the rotary shaft 43 is rotated by this power and the tiller rotor 44 is rotated. As a result, the tilling claw of the tilling rotor 44 tills the grounded field scene. In the plowing work on the tractor 10, the plunging rotor 44 is thus rotated while traveling in the field 350, thereby sequentially plowing the traveling spots. At that time, the tiller 40 can be moved up and down by operating the control lever 22 and operating the working machine lifting hydraulic cylinder 32, and thus adjusts the tilling depth when the field 350 is tilled. It is possible to do.

Similarly, when the skid device 70 is connected to the traveling vehicle body 11 to perform the skid work, the skid device 70 is actuated by transmitting the power generated by the engine 17 to the skid device 70 via the PTO shaft 36. It is possible to perform scraping work. When performing the scraping work in the field 350 by the scraping device 70, the work is performed while detecting the soil acidity by the pH sensor 71 provided in the scraping device 70. The soil acidity detected by the pH sensor 71 is transmitted to the tablet terminal device 300 via the controller 80 and stored in the storage unit 303 of the tablet terminal device 300.

Further, when performing cultivating work, scraping work, etc. in the field 350, the tractor 10 steers with the automatic steering device 60 while acquiring position information of the tractor 10 with the GPS control device 50, so that the tractor 10 moves straight. It is possible to work. Specifically, the tractor 10 acquires the position information of the tractor 10 on the earth at predetermined time intervals by receiving the signal from the artificial satellite used in GPS by the receiving antenna 51 of the GPS control device 50. ..

The tablet terminal device 300 stores information on a straight traveling road that is a traveling road for efficiently performing work in the field 350, and the controller 80 stores information on the straight traveling road stored on the tablet terminal device 300, The automatic steering device 60 is controlled by comparing the position information acquired by the reception antenna 51.

The control of the automatic steering device 60 detects the steering angle by the steering wheel potentiometer 62 so that the position information acquired by the reception antenna 51 follows the information of the straight traveling road stored in the tablet terminal device 300, and the steering angle of the traveling vehicle body 11 is reduced. The steering motor 61 is operated and steering is performed while detecting a change in the traveling direction. As a result, the traveling vehicle body 11 travels while being assisted along the straight traveling path stored in the tablet terminal device 300.

When traveling the tractor 10 or performing work as described above, the tablet terminal device 300 stores work information in the tablet terminal device 300. In this tablet terminal device 300, map data of the working field 350 can be stored and can be displayed on the touch panel 301, and based on previous work information or manual input data, it can be displayed for each place. Information can be displayed separately on the map. As a result, the tablet terminal device 300 can make a work plan for a work to be performed based on the stored work information. In the work plan, the field 350 to be worked, the work schedule, and the work contents are determined.

Specifically, regarding the work information, the tablet terminal device 300 can store the work information of the tractor 10 that performs the work by communicating with the tractor 10 while being placed on the tractor 10. .. This work information stores, for example, work days, traveling distances, work times, fuel consumption, information on plowing work by the tilling device 40, which is a working device, and information on scraping work by the scraping device 70. The work information is acquired by the tablet terminal device 300 by transmitting the control states of the engine 17 controlled by the controller 80 and the transmission in the mission case 118 to the terminal communication unit 304 by the tractor communication unit 81 as work information. To do. The tablet terminal device 300 that has acquired the work information of the tractor 10 in this manner stores the work information in the storage unit 303.

As described above, when the work information is stored in the tablet terminal device 300, the position information when the work is performed is also stored. This position information is acquired by the GPS control device 50. More specifically, the GPS control device 50 acquires the position information of the tractor 10 on the earth at predetermined time intervals by receiving a signal from an artificial satellite used in GPS with the receiving antenna 51. When transmitting the work information to the tablet terminal device 300, the controller 80 transmits the position information thus acquired by the receiving antenna 51 in association with the work information. Thus, the tablet terminal device 300 stores the work information for each work position when the work information of the tractor 10 is stored in the storage unit 303.

Further, when the seedling transplanter 100 used in the farm work support system 1 according to the present embodiment is in operation, the traveling body 101 travels and the seedling mount 151 is mounted by the power generated by the engine 110 of the seedling transplanter 100. Perform planting work of the seedlings. In this planting work, while the whole seedling planting device 160 rotates with the rotation axis in the left-right direction, the planting rod 161 also rotates, thereby sequentially planting the seedlings placed on the seedling placing table 151. The seedlings taken at 161 are gradually planted in the field 350. At that time, each seedling planting device 160 causes the seedling planting device 160 to move reciprocally in the machine left-right direction within the range of the width in the machine left-right direction for one row to be mounted on the seedling mounting table 151. The seedlings are taken out from the parts corresponding to the respective seedling planting devices 160 on the mounting table 151 and planted in the field 350. That is, each seedling planting device 160 takes out a seedling from a portion of the seedling placement table 151 corresponding to a predetermined row, and plants the seedling in the predetermined row. At the time of planting work, the traveling vehicle body 101 travels in the field 350 while operating the seedling placing table 151 and the seedling planting device 160 as described above to plant seedlings in a plurality of rows.

When the traveling vehicle body 101 is traveling, the power generated by the engine 110 is transmitted to the belt-type power transmission mechanism 117, and is transmitted from the belt-type power transmission mechanism 117 to the hydraulic continuously variable transmission 116, so that the hydraulic continuously variable transmission 116. Is converted into a desired rotation speed, rotation direction, and torque and output. The power output from the hydraulic continuously variable transmission 116 is transmitted to the mission case 118, and the mission case 118 has a rotation speed suitable for the traveling speed during road traveling or a traveling speed for seedling planting. The speed is internally changed and output to the front wheel 104 side or the rear wheel 105 side. Further, a part of the power output from the mission case 118 is also transmitted to the seedling planting section 150 side, and is also used for planting work in the seedling planting section 150.

As described above, when the seedling transplanter 100 is operated, the speed change lever 135, the auxiliary speed change lever 138, and the like are operated to adjust the speed of the traveling vehicle body 101 to perform traveling and work. .. For example, when the shift lever 135 is operated, the gear ratio of the hydraulic continuously variable transmission 116 is switched according to the operation amount, and the output from the hydraulic continuously variable transmission 116 is changed. Further, the sub-transmission lever 138 can be switched to the “working speed” or the “road speed”, and the shift stage of the sub-transmission mechanism in the mission case 118 is the operation position of the sub-transmission lever 138. Can be switched by.

When performing work in the field 350 using the seedling transplanter 100, the weight of the seedling transplanter 100 causes the wheels to get into the soil. In particular, when working with the seedling transplanter 100, the field 350 is filled with water, so the soil becomes soft and the wheels easily enter the soil. As a result, the fertilizer concentration sensor 230 provided on the front wheel 104 also gets into the soil at the lower end side. The fertilizer concentration sensor 230 that has entered the soil detects the fertilizer concentration of the soil by detecting the energization resistance of the soil, and the detection result is transmitted to the controller 250. The controller 250 acquires the soil fertilizer concentration by acquiring this detection result.

Further, when performing the planting work in the field 350, the seedling transplanter 100 automatically acquires the position information of the seedling transplanter 100 with the GPS control device 220, as in the case of the work in the field 350 with the tractor 10. By steering with the steering device 210, it is possible to perform the planting work while going straight. Specifically, the seedling transplanter 100 receives the signal from the artificial satellite used in GPS by the receiving antenna 221 of the GPS control device 220, and thereby obtains the position information of the seedling transplanter 100 on the earth at a predetermined time interval. To get each.

The tablet terminal device 300 stores information on a straight traveling road that is a traveling road for efficiently performing planting work in the field 350, and the controller 250 stores information on the straight traveling road stored on the tablet terminal device 300 and the information on the straight traveling road. , And compares the position information acquired by the reception antenna 221 to control the automatic steering device 210.

The control of the automatic steering device 210 detects the steering angle with the steering wheel potentiometer 212 so that the position information acquired by the reception antenna 221 follows the information of the straight traveling road stored in the tablet terminal device 300, and the steering angle of the traveling vehicle body 101 is reduced. The steering motor 211 is operated to perform steering while detecting a change in the traveling direction. As a result, the traveling vehicle body 101 travels while being assisted along the straight traveling path stored in the tablet terminal device 300.

When running the seedling transplanter 100 or performing work as described above, the work information is stored in the tablet terminal device 300 by the tablet terminal device 300 as in the case of working in the field 350 by the tractor 10. .. In this tablet terminal device 300, map data of the working field 350 can be stored and can be displayed on the touch panel 301, and based on previous work information or manual input data, it can be displayed for each place. Information can be displayed separately on the map. As a result, the tablet terminal device 300 can make a work plan for a work to be performed based on the stored work information. In the work plan, the field 350 to be worked, the work schedule, the contents of the work are determined, and the amount of work materials such as seedlings and fertilizer to be used is determined.

Specifically, regarding the work information, the tablet terminal device 300 stores the work information of the seedling transplanter 100 that performs the work by communicating with the seedling transplanter 100 while being placed on the seedling transplanter 100. Is possible. This work information is related to, for example, work days, mileage, work time, fuel consumption, planting work in the seedling planting section 150, fertilization work in the fertilizer application device 170, and supply of a medicine in the medicine supply device 201. Information or the like is stored. That is, in the tablet terminal device 300, not only information about the operating state of the work device, but also set values such as planting intervals and planting depths of seedlings when performing planting work in the planting section 150, and fertilizer application by the fertilizer application device 170. Information about the setting of the working device, such as the amount of fertilizer applied when performing work, the type or composition of fertilizer supplied to the field 350, is also stored. The work information is obtained by transmitting the fertilization rate adjusting motor 186 controlled by the controller 250 and the control state of the solenoid 203 of the medicine supply device 201 to the terminal communication unit 304 by the seedling transplanter communication unit 251 as work information. , The tablet terminal device 300. The tablet terminal device 300 that has acquired the work information of the seedling transplanter 100 in this manner stores the work information in the storage unit 303.

As described above, when the work information is stored in the tablet terminal device 300, the position information when the work is performed is also stored. This position information is acquired by the GPS control device 220. Specifically, the GPS control device 220 acquires the position information of the seedling transplanter 100 on the earth at predetermined time intervals by receiving the signal from the artificial satellite used in GPS by the receiving antenna 221. At that time, the GPS control device 220 appropriately expands/contracts the expansion/contraction cylinder 227 according to the control signal from the controller 250, so that the direction of the reception antenna 221 becomes the direction in which the signal from the artificial satellite can be easily received. When transmitting the work information to the tablet terminal device 300, the controller 250 associates the position information acquired by the receiving antenna 221 with the work information and transmits the position information. Thereby, the tablet terminal device 300 stores the work information for each work position when the work information is stored in the storage unit 303.

Further, as the information stored in the tablet terminal device 300, not only the work information of the tractor 10 and the seedling transplanter 100 but also the field information which is the information of the field 350 is stored. As the field information, for example, the fertilizer concentration detected by the fertilizer concentration sensor 230 of the seedling transplanter 100 and acquired by the controller 250 is stored. When storing the fertilizer concentration, first, when the controller 250 obtains the fertilizer concentration, the detection result of the fertilizer concentration sensor 230 is acquired, and the position information of the detection result is acquired from the GPS control device 220. get. The controller 250 associates the fertilizer concentration detected by the fertilizer concentration sensor 230 with the position information acquired by the GPS control device 220, and transmits it to the tablet terminal device 300. As a result, the tablet terminal device 300 stores the fertilizer concentration for each position in the field 350 in the storage unit 303. As described above, when the tablet terminal device 300 stores the field information, the information for each position in the field 350 is stored. In other words, the tablet terminal device 300 stores the soil component amount detected by the fertilizer concentration sensor 230 for each position in the field 350.

Similarly, the soil acidity detected by the pH sensor 71 when the scraping device 70 is connected to the traveling vehicle body 11 of the tractor 10 to perform the scraping work, and the positional information detected by the GPS control device 50 is also used as the field information. It is also stored in the tablet terminal device 300.

Further, when the tractor 10 works in the field 350, the suspension of the traveling vehicle body 11 expands and contracts due to the undulations and hardness of the field 350. The stroke sensor 65 provided in the tractor 10 detects the depth of the field 350 by detecting the amount of expansion and contraction of this suspension. In other words, the farm field 350 is configured by laminating the tiller, which is hard soil that has not been cultivated, and the top soil, which is the soil that is cultivated and covers the tiller. Not only the undulations, but also the thickness of this topsoil.

Specifically, in a portion where the top soil is thick, the amount of wheel sinking into the top soil when the traveling vehicle body 11 travels is large, so the amount of expansion and contraction of the suspension is large. On the contrary, in the portion where the topsoil is thin, the amount of sinking of the wheel is small, so the amount of expansion and contraction of the suspension is small. The stroke sensor 65 detects the thickness of the topsoil, that is, the depth of the farm field 350, by detecting the amount of extension and contraction of the suspension whose extension and contraction amount varies depending on the thickness of the topsoil. The tablet terminal device 300 stores the depth of the farm field 350 by storing the depth of the farm field 350 detected by the stroke sensor 65 during work on the tractor 10 in the storage unit 303 together with the position information detected by the GPS control device 50. Information is stored for each position. Further, when the field 350 is stored in the tablet terminal device 300, the overall average depth of the field 350 is calculated, and the average depth is also stored.

In addition, the tablet terminal device 300 stores the fertilizer application amount at the time of planting or sowing seedlings in the field 350, and the harvesting work date and yield as field work information. These field work information is used by the tablet terminal device 300 by communicating the work information when working with the seedling transplanter 100 and other work devices by communicating between the work device and the tablet terminal device 300. It is stored by being automatically acquired or by the operator performing an input operation on the touch panel 301.

The tablet terminal device 300 makes a work plan for a work to be performed based on the past work information stored as described above. This work plan is performed by creating a work map in which the work information of the tractor 10 and the seedling transplanter 100, the field information, and the position information are associated with each other, and the cultivated crops are appropriately cultivated when the work is performed in the field. Each adjustment value such as the amount of fertilizer required to do so is planned based on past information. As described above, when the work plan is performed on the tablet terminal device 300, the work plan for the information desired by the worker is performed by the input operation on the tablet terminal device 300. For example, one of the information about the types of crops, fertilizers, and chemicals, the information about the crop yield, and the information about the setting of the working device is selected by an input operation on the touch panel 301 of the tablet terminal device 300.

After selecting the information, the tablet terminal device 300 creates a work plan based on the information selected by the worker and the information stored in the storage unit 303. In this work plan, the optimum cultivation start time of the crop at that time, the middle work of cultivation such as topdressing and water management, the start time of crop harvest, the type and amount of fertilizers and chemicals used for crop cultivation A work plan including at least one of the above. By performing work based on the work plan created in this way, the worker can perform appropriate work regardless of the type of crop, the type of fertilizer, and the like.

When performing the work according to the work plan, the tablet terminal device 300 that has performed the work plan displays desired information such as an appropriate fertilization amount on the touch panel 301 based on the information selected by the worker, and displays it to the worker. It is possible to perform the work according to the work plan by prompting the work or automatically controlling the work device through the communication between the tablet terminal device 300 and the work vehicle.

When performing a work plan on the tablet terminal device 300 in this way, for example, at the time of work on the seedling transplanter 100, the field information relating to the fertilizer concentration of the field 350 detected by the fertilizer concentration sensor 230 is used. , A work map is created, and is used as a reference when performing work on the tractor 10 after performing mowing in the field 350. That is, when working with the tractor 10, the working position and operation of the tilling device 40 are changed according to the fertilizer concentration stored in the tablet terminal device 300.

For example, in the field 350, when the fertilizer concentration is higher than a predetermined value, the working height of the cultivating device 40 is increased so that only the surface layer is grounded, and only the surface layer of the field 350 is cultivated. On the contrary, in the field 350, when the fertilizer concentration is lower than the predetermined value, the working height of the tiller 40 is lowered to perform the ground work from the surface layer to the deep layer, and only the surface layer of the field 350 is performed. Instead, cultivate it including the deep part. As described above, when changing the working position or operation of the tilling device 40, a control signal is transmitted from the tablet terminal device 300 to the controller 80 of the tractor 10, and the control of the working machine lifting hydraulic cylinder 32 is performed via the controller 80. By performing the above, the adjustment is automatically performed according to the fertilizer concentration in the field 350.

In addition, when changing operation|movement according to fertilizer density|concentration, you may perform by methods other than this. For example, when the fertilizer concentration is higher than a predetermined value, by lowering the rotation speed of the tilling device 40 or increasing the traveling speed of the traveling vehicle body 11, the soil in the surface layer is mixed with the soil in the deep layer during the tilling work. You may choose not to. On the contrary, when the fertilizer concentration is lower than the predetermined value, the rotation speed of the tiller 40 is increased or the traveling speed of the traveling vehicle body 11 is decreased so that the soil in the surface layer and the soil in the deep layer are mixed well. May be. Further, the working position and operation of the tilling device 40 may be changed by a method other than the automatic adjustment via the controller 80. For example, the tablet terminal device 300 calculates the height and rotation speed of the tilling device 40 and the value of the traveling speed of the traveling vehicle body 11 for each position of the field 350 based on the fertilizer concentration stored in the storage unit 303, and the touch panel By displaying 301, the operator may change the operation by appropriately operating the tractor 10 based on the display.

Further, in the work plan using the tablet terminal device 300, the tablet terminal device 300 stores the field work information such as the fertilizer application amount and the harvesting work day stored in the tablet terminal device 300, and the fertilizer concentration detected by the fertilizer concentration sensor 230. , And the soil component amount, which is the soil acidity detected by the pH sensor 71, are compared to calculate the optimum fertilizer concentration and soil acidity. That is, the tablet terminal device 300 collects the acidity of the soil based on the data recorded at the time of planting the seedlings, the date of harvesting with the combine (not shown), and the harvest amount obtained by the harvest. It is determined whether or not the amount is the theoretical value in the field 350. According to this judgment, when the harvest amount has reached the theoretical value, it is determined that the soil component amount is good, and when the harvest amount has not reached the theoretical value, the soil component amount is not good. And make a decision. As described above, when the acidity of the detected soil and the determination for the acidity are performed, the data about the determination is also stored, and when the next work in the field 350 or the soil improvement work is performed, the field 350 is stored. Calculate what kind of work should be done for. From this, the optimum fertilizer concentration and soil acidity for making the yield the theoretical value are calculated.

The tablet terminal device 300 displays the operation amount of the fertilizer application motor 186 and the operation amount of the fertilizer selector 188 on the touch panel 301 based on the fertilizer concentration and soil acidity calculated as described above. The operator visually recognizes these operation amounts displayed on the touch panel 301 and operates the fertilizer application motor 186 and the fertilizer selector 188 to supply the amount of fertilizer applied when the fertilizer application device 170 is applied, or to the field 350. Switch the type of fertilizer to be used, that is, the fertilizer component. The fertilizer application device 170 adjusts the fertilizer application amount and the components of the fertilizer as described above to set the soil component amount to the proper component amount of the cultivated crop based on the soil component amount stored in the tablet terminal device 300. It is possible to supply fertilizers that can be used as ingredients.

When the fertilizer application amount and the fertilizer to be supplied to the field 350 are switched in this way, the fertilizer application motor 186 and the fertilizer selector 188 may be automatically controlled by operating the tablet terminal device 300. That is, by communicating between the tablet terminal device 300 and the controller 250, the fertilizer application motor 186 and the fertilizer selector 188 may be operated via the controller 250 so as to achieve a desired operation amount.

Further, when the fertilization is adjusted according to the work plan using the tablet terminal device 300, the amount and type of fertilizer to be supplied are calculated in consideration of the cultivated crops cultivated in the field 350 where the fertilizer is applied, and the fertilizer application according to the cultivated crop To be able to do. Specifically, the tablet terminal device 300 uses the amount of fertilizer applied by the fertilizer application device 170 as the field work information and the components of soil detected by the fertilizer concentration sensor 230 and the pH sensor 71 when working with the seedling transplanter 100 and the tractor 10. The amount and the cultivated crop in the field 350 are stored. The cultivated crop is input to the tablet terminal device 300 by the operator performing an input operation on the touch panel 301 during work in the field 350, and is stored in the storage unit 303.

As described above, the tablet terminal device 300 requires the addition of fertilizer to appropriately grow the cultivated crop from the fertilizer application amount stored in the tablet terminal device 300, the component amount of the soil, and the cultivated crop. The additional amount and the type of fertilizer are calculated and displayed on the touch panel 301. The operator visually recognizes these pieces of information displayed on the touch panel 301 and performs fertilization work by the fertilizer application device 170 based on the displayed information, thereby performing fertilization suitable for cultivating an arbitrary cultivated crop.

Further, in the work plan using the tablet terminal device 300, the work vehicle performing the work in the next step in the field 350 in which the work information, the field information, and the field work information are stored in the tablet terminal device 300 is the tablet terminal device 300. Based on the stored depth of the field 350 for each position, the operation of the work device or the like is adjusted. That is, when the work vehicle performing the work in the next step of the tractor 10 that has detected the depth is the seedling transplanter 100, seedling planting is performed based on the depth of the field 350 stored in the tablet terminal device 300 for each position. Up/down operation of the section 150, increase/decrease in fertilizer supply, up/down adjustment of seedling transplanting height or seed sowing height, setting of working conditions of the automatic raising/lowering mechanism of the seedling planting section 150, seedlings depending on the depth of the field 350 The touch panel 301 of the tablet terminal device 300 notifies at least one of the difficult work points in the transplanter 100.

That is, the raising/lowering amount at the time of raising/lowering the seedling planting part 150 by the seedling planting part raising/lowering mechanism 140, the amount of fertilizer supplied at the time of fertilizing by the fertilizer application device 170, the height of the seedling transplanting work by the seedling planting part 150. Adjustment amount, adjustment amount of seed sowing work height, setting of conditions for raising and lowering when raising and lowering the seedling planting section 150 by an automatic raising and lowering mechanism, and the wheel is likely to sink due to the overburden being too thick. The operator is notified by displaying at least one of the existing positions on the touch panel 301. In this case, the setting of the condition regarding the lifting by the automatic lifting mechanism is the setting of the hydraulic sensitivity when operating the seedling planting part lifting mechanism 140 with respect to the vertical movement of the float 147. The operator who visually recognizes the display on the touch panel 301 operates the seedling planting unit 150 based on the display, or operates the seedling transplanter 100 so as to avoid a difficult work site, thereby causing the field 350 to grow. Appropriate planting work can be performed regardless of the depth.

In this way, based on the depth of the field 350, the seedling planting section 150 is moved up and down, the setting of the working conditions of the automatic raising and lowering mechanism of the seedling planting section 150 is changed, and a difficult work area is avoided. When performing work, these may be automatically controlled. That is, by communicating between the tablet terminal device 300 and the controller 250, the seedling planting part elevating mechanism 140 is operated via the controller 250 so as to achieve a desired operation amount, and the seedlings are avoided while avoiding a difficult work area. The automatic steering device 210 may be controlled via the controller 250 so that the transplanting device 100 travels.

Further, in the work plan using the tablet terminal device 300, when the ground work is performed with the work device such as the tiller 40, the work is performed in consideration of the influence of water on the field 350. .. That is, since the flow of water is large in the vicinity of the intake gate 351 and the drain gate 356, the soil of the farm field 350 easily flows with water. Therefore, if the soil is excessively agitated by the tilling rotary 44 of the tiller 40 or the substitute scraping device 70 strongly scrapes the soil, it becomes easy to form a portion having a depth that makes it difficult for the work vehicle to travel. Therefore, in such a portion, the work plan is performed so that the depth at the time of working with the tilling device 40 and the scraping device 70 becomes shallow.

When performing this work plan, the tablet terminal device 300 stores the position coordinates of the intake gate 351 and the drainage gate 356 of the field 350 in the storage unit 303. The position coordinates of the intake gate 351 and the drain gate 356 may be acquired by the tablet terminal device 300 from the map data, or may be input by an operator by an input operation on the touch panel 301.

When the position coordinates of the tractor 10 working in the field 350, which stores the position coordinates of the intake gate 351 and the drainage gate 356 in the tablet terminal device 300, are the position coordinates of the intake gate 351 and the drainage gate 356, the tilling device. The ground work with 40 or the scraping device 70 is performed in a shallow area of soil. Specifically, the working height of the tilling device 40 and the scraping device 70 is increased, the rotation speed of the tilling device 40 is decreased, and the traveling speed of the traveling vehicle body 11 at the time of working with the tilling device 40 or the scraping device 70 is increased. Make it faster These may be operated by the operator according to the displayed operation amount and traveling speed by displaying the operation amount and traveling speed of the working device on the touch panel 301, and the operation of the tiller 40 and the scraping device 70 may be performed. The control and the adjustment of the traveling speed may be performed by the tablet terminal device 300 via the controller 80.

The position coordinates of the tractor 10 may not be strictly the position coordinates of the intake gate 351 and the drain gate 356. The position from the intake gate 351 or the drain gate 356 is set as the position for determining whether or not to perform these controls, and the position of the tractor 10 from the intake gate 351 or the drain gate 356 is set in advance. If the position coordinates are within the set range, these controls may be performed. As described above, in the vicinity of the intake gate 351 and the drainage gate 356, the work of the tilling device 40 and the scraping device 70 is prevented from being performed strongly, so that the soil easily flows with water. In the vicinity of the gate 356, work equipment should not mix deep into the soil.

In addition, when the work plan is performed using the tablet terminal device 300, the amount of water in the field 350 is also taken into consideration. In order to perform the work plan in consideration of the amount of water in the field 350, the tablet terminal device 300 uses the average value of the detected value of the first water amount sensor 353 and the detected value of the second water amount sensor 358 to calculate the amount of water in the field 350. Calculate the amount of water. The detection values of the first water amount sensor 353 and the second water amount sensor 358 are acquired by the tablet terminal device 300 via the server 310.

Specifically, the detection results of the first water amount sensor 353 and the second water amount sensor 358 are transmitted to the water amount adjustment control device 365 and acquired by the water amount adjustment control device 365. The water amount adjustment control device 365 acquires the detection values of the first water amount sensor 353 and the second water amount sensor 358 by performing wireless communication between the water amount adjustment communication unit 366 and the server communication unit 312 included in the server 310. Then, it is stored in the storage unit 311. The tablet terminal device 300 performs wireless communication between the terminal communication unit 304 and the server communication unit 312, so that the first water amount sensor 353 and the second water amount sensor 358 stored in the storage unit 311 of the server 310 can be used. The detection value is acquired and stored in the storage unit 303. Thereby, the tablet terminal device 300 acquires the detection values of the first water amount sensor 353 and the second water amount sensor 358.

Further, the intake gate 351 and the drain gate 356 are installed at a position lower than the intake gate 351 in order to secure the drainage property of the drain gate 356. The amount of water detected by the two-water amount sensor 358 is different. Therefore, when the amount of water in the field 350 is detected, the average value of the amount of water in the field 350 is calculated by obtaining the average value of the detection values of the first and second water amount sensors 353 and 358. calculate. The amount of water calculated in this way is stored in the storage unit 303.

The tablet terminal device 300 calculates the time when it is necessary to add fertilizer to the field 350, the amount of fertilizer to be added, and the type of fertilizer from the stored water amount, and displays them on the touch panel 301. Specifically, the tablet terminal device 300 continuously obtains the change in the amount of water from when water is poured into the field 350 to perform the scraping work until when rice grows in the field 350 and drains water from the field 350. The fertilizer timing and amount at which fertilizer supplied to the field 350 is less likely to flow out together with water and less fertilizer is left without being consumed is calculated for each type of fertilizer. When the same rice is cultivated next time in the same field 350, the field 350 is filled with water by applying the fertilization time, the amount of fertilizer, and the type of fertilizer calculated by the tablet terminal device 300 based on the amount of water. Appropriate fertilization can be performed during the period.

In the farm work support system 1 according to the above-described embodiment, the tablet terminal device 300 changes the working position and the operation of the tiller 40 in accordance with the fertilizer concentration of the field 350 acquired by the fertilizer concentration sensor 230. In the place where the fertilizer concentration is high, the soil in the deep layer can be maintained by performing the work in which the soil in the surface layer is not mixed with the soil in the deep layer. This can reduce the amount of fertilizer supplied when planting a crop. On the other hand, when the fertilizer concentration is low, the soil of the surface layer and the soil of the deep layer are mixed, so that the soil of the surface layer with a low fertilizer content and the soil of a deep layer with a relatively high fertilizer content are mixed. Can be matched. As a result, the fertilizer concentration is stable regardless of the depth, and it is possible to prevent excess or deficiency when supplying fertilizer. As a result, the work in the field 350 can be performed appropriately regardless of the fertilizer concentration in the field 350.

Further, the tablet terminal device 300 stores the soil component amount detected by the fertilizer concentration sensor 230 and the pH sensor 71, and the fertilizer application device 170 stores the soil component amount based on the soil component amount stored by the tablet terminal device 300. In order to supply the fertilizer of the component that can adjust the amount of the component to the appropriate amount of the cultivated crop, the fertilizer of the corresponding component is supplied so that the amount of the ingredient in the soil is the amount suitable for the growth of the cultivated crop. be able to. As a result, it is possible to prevent the crop from being cultivated in a soil unsuitable for growth, so that the growth of the crop can be stabilized and the quality can be improved. As a result, regardless of the fertilizer concentration in the field 350, the work in the field 350 can be more reliably performed as an appropriate work.

Further, the tablet terminal device 300 stores the depth of the field 350 detected by the stroke sensor 65 at the time of work on the tractor 10 for each position detected by the GPS control device 50, and the seedling transplanter 100 and the like that perform work in the next step. In the work vehicle, the worker performs a switching operation of work conditions at an appropriate timing by issuing a notification to change the setting of the work vehicle based on the depth of the field 350 at each position stored in the tablet terminal device 300. be able to. As a result, the work efficiency and work accuracy are improved, and the work can be performed while avoiding a place where the work is difficult, so that the work can be prevented from being interrupted. Further, when the setting of the work vehicle is automatically controlled based on the stored depth of the field 350, the work condition switching operation can be performed at an appropriate timing even if the worker does not operate the work vehicle. The labor of the person can be reduced. As a result of these, an appropriate work can be performed in the field 350 more reliably.

Further, when the position coordinates of the tractor 10 to which the scraping device 70 is connected are the position coordinates of the intake gate 351 and the drain gate 356, or when the positions from these are within the set range, the tilling device is used. 40, the working height of the scraping device 70 is increased, the rotation speed of the tilling device 40 is decreased, or the traveling speed of the traveling vehicle body 11 at the time of working with these working devices is increased, so that the soil is deep. You can prevent it from being mixed up. That is, in the vicinity of the intake gate 351 and the drainage gate 356 where the soil is easily washed away when water comes in and out, it is possible to keep the soil hard so that the soil is hard to be washed away by performing shallow tillage and scraping. As a result, it is possible to prevent the work from becoming a difficult place at the time of the work of the post-process due to the vicinity of the intake gate 351 and the drainage gate 356 being significantly deeper than other places. Further, in the vicinity of the intake gate 351 and the drainage gate 356, it is possible to prevent a large amount of soil containing fertilizer components from flowing out of the field 350 by performing plowing and sub-skipping, so use of fertilizer supplied during cultivation. The amount can be reduced and river pollution can be prevented.

In addition, the tablet terminal device 300 compares the field work information such as the amount of fertilizer applied and the date of harvest work with the amount of soil components detected by the fertilizer concentration sensor 230 and the pH sensor 71 to determine the optimum fertilizer concentration and soil acidity. To calculate the degree of fertilizer application and to display the operation amount of the fertilizer application motor 186 and the fertilizer selector 188 on the touch panel 301 based on the calculated fertilizer concentration and soil acidity, or to automatically control these. This makes it possible to change the amount and component of fertilizer to be supplied based on the fertilizer application amount, harvest date and yield. As a result, the next cultivated crop can be cultivated under better conditions, so that the growth can be stabilized and the yield can be increased. In addition, since it is possible to supply the corresponding fertilizer to a position where the fertilizer concentration is low in the field 350 or where the acidity is inappropriate, it is possible to increase the fertilizer supply amount of the entire field 350 or change the acidity. The amount of soil components can be adjusted to an appropriate level without supplying fertilizer to the soil. As a result, the amount of fertilizer used can be reduced.

In addition, when the amount of fertilizer, the amount of soil component, and the cultivated crop stored in the tablet terminal device 300 are calculated, the time when the fertilizer needs to be added, the additional quantity, and the type of fertilizer are calculated and displayed on the touch panel 301. It is possible to prevent the occurrence of a shortage of fertilizer to be used. This stabilizes the growth of the crop, improves its quality, and enables planned work. Further, by calculating these, it is possible to prevent supply of extra fertilizer, so that it is possible to prevent quality deterioration due to excessive fertilizer and prevent weeds from growing with surplus fertilizer. As a result, it is possible to reduce the amount of chemicals used for weeding work and the work effort.

In addition, the tablet terminal device 300 determines, based on the amount of water in the field 350 calculated based on the detection values of the first water amount sensor 353 and the second water amount sensor 358, when fertilizer needs to be added to the field 350 and when fertilizer addition is required. Since the amount and the type of fertilizer are calculated and displayed on the touch panel 301, it is possible to discharge excess fertilizer components when water goes in and out at the next work and prevent excessive outflow of the fertilizer components. As a result, the amount of fertilizer supplied to the field 350 can be reduced, and the river pollution can be prevented.

[Modification]
In the seedling transplanter 100 used in the farm work support system 1 according to the embodiment, the fertilizer application device 170 is configured to supply the fertilizer to the field 350 from a preset height. The seedling transplanter 100 may be configured to be able to change the supply height of fertilizer to the field 350. FIG. 15: is a modification of the seedling transplanter used for the agricultural work support system which concerns on embodiment, is explanatory drawing of a fertilizer duct, and is a top view of a fertilizer duct. FIG. 16 is a side view of the fertilizer duct shown in FIG. When the fertilizer application device 170 supplies paste-like fertilizer, a fertilizer duct 320 which is a fertilizer guide member for guiding the fertilizer supplied from the fertilizer application device 170 into the soil is provided near the float 147. The fertilizer may be supplied so that the discharge port 321 which is the fertilizer supply port of the fertilizer duct 320 faces the soil. Further, when fertilizer is supplied using the fertilizer duct 320 in this way, the height of the fertilizer supply to the field 350 may be changed by changing the height of the discharge port 321.

When it is possible to change the height of the discharge port 321, for example, the fertilizer duct 320 is extended substantially in the front-rear direction, and the front end of the fertilizer duct 320 is connected to the rotation shaft 322 extending in the left-right direction to rotate the fertilizer duct 320. The fertilizer duct 320 is provided so as to be rotatable around the moving shaft 322. In this case, it is located at the rear end of the ejection port 321. As described above, the rotating shaft 322 that is the rotation center of the fertilizer duct 320 is a power source for rotating the fertilizer duct 320, and is a fertilizer that is a rotating actuator that changes the feed depth of the fertilizer in the fertilizer duct 320. The duct rotation motor 325 is rotated by the power generated by the motor.

Specifically, the power generated by the fertilizer duct rotation motor 325 is formed by engaging a pinion gear provided on the output shaft of the fertilizer duct rotation motor 325 with a fan-shaped gear provided as an output side gear. The rotation gear 326 is used to take it out. Further, by connecting the fan-shaped gear of the fertilizer duct rotation gear 326 and the rotation shaft 322 with the fertilizer duct rotation wire 327, the power generated by the fertilizer duct rotation motor 325 is transferred to the fertilizer duct rotation gear 326. And the fertilizer duct pivoting wire 327 to enable transmission to the pivot shaft 322. Accordingly, the rotating shaft 322 can be rotated by the power generated by the fertilizer duct rotating motor 325, and by rotating the fertilizer duct 320 around the rotating shaft 322, the vertical position of the discharge port 321 can be adjusted. Can be changed.

Further, a potentiometer 323 for detecting the rotation angle of the fertilizer duct 320 is provided near the rotation shaft 322 so that the rotation angle of the fertilizer duct 320 can be detected. The potentiometer 323 and the fertilizer duct rotation motor 325 are both electrically connected to the controller 250. Thus, the fertilizer duct rotation motor 325 can be operated while the detection result of the potentiometer 323 is acquired by the controller 250, and the rotation angle of the fertilizer duct 320 can be set to a desired rotation angle.

When the fertilizer is supplied through the fertilizer duct 320 that can change the fertilizer supply height by rotating in this manner, a work plan that also takes into consideration the fertilizer supply height may be performed. When performing the work plan in this manner, the tablet terminal device 300 stores the fertilizer supply depth in the fertilizer duct 320 for each position detected by the GPS control device 220. Further, from the crop yield stored in the tablet terminal device 300, it is necessary to appropriately supply the fertilizer, the time when the fertilizer needs to be added, the amount of the fertilizer to be added, the type of the fertilizer, and the spraying of the herbicide and the insecticide. Calculate the time of year and the type of herbicide and pesticide. For example, the depth of fertilizer supply to obtain a more appropriate soil component is calculated from the previous crop yield, or the time to add fertilizer is calculated. Also, based on the time when the crops to be cultivated from now on are prone to disease, the time when the supply of fertilizer and the spraying of herbicides and insecticides are necessary is calculated.

Based on the calculated fertilizer supply depth, the tablet terminal device 300 that has calculated these operates the fertilizer duct rotation motor 325, the fertilizer application amount adjustment motor 186 included in the fertilizer application device 170, and the solenoid 203 included in the chemical spray device 190. The amount and the amount are displayed on the touch panel 301. For example, the rotation angle of the fertilizer duct 320 is displayed on the touch panel 301, and the operator is prompted to perform an operation for rotating the fertilizer duct 320.

As described above, the operator visually recognizes the operation amount displayed on the touch panel 301 and operates each part with the displayed operation amount, whereby the fertilizer can be supplied to a position suitable for the growth stage of the crop. This makes it possible to stabilize the growth of the crop, reduce the number of times fertilizer is added, and reduce the consumption of fertilizer. Further, by calculating the addition time, the addition amount and the type of the fertilizer, it is possible to prevent the occurrence of the time when the fertilizer used by the crop is insufficient, so that the growth of the crop can be stabilized and the quality is improved. It is possible to do planned work. Also, since it is possible to prevent the supply of extra fertilizer, it is possible to prevent quality deterioration due to excess fertilizer, prevent weeds from growing with excess fertilizer, and reduce the amount of chemicals required for weeding work, Work effort can be reduced.

Also, by changing the supply amount of the drug, it is possible to prevent the drug excess and deficiency, so that weeds overgrow due to the drug deficiency and cause poor growth of cultivated crops, and pests and die. This can be prevented, and the growth and yield of crops can be stabilized. In addition, it is possible to prevent excessive supply of the chemicals and to wither the cultivated crops and to prevent water and soil from being contaminated.

When adjusting fertilization or chemical spraying based on the calculated fertilizer supply depth, the fertilization amount adjustment motor 186 and the solenoid 203 may be automatically controlled by operating the tablet terminal device 300. That is, the tablet terminal device 300 and the controller 250 may wirelessly communicate with each other to automatically control them via the controller 250.

Further, in the agricultural work support system 1 according to the embodiment, the pH scraping device 70 connected to the tractor 10 is provided with the pH sensor 71 as a component amount detection member, but the component amount detection member other than the pH sensor 71 is provided. Good. In the substitute scraping device 70, for example, the fertilizer concentration sensor 230 provided in the wheel of the seedling transplanter 100 in the embodiment may be provided in a ground roller arranged at the rear end of the substitute scraping device 70. This makes it possible to more accurately detect a change in fertilizer concentration before and after the scraping by the scraping device 70, that is, a change in fertility.

Further, in the agricultural work support system 1 according to the embodiment, the depth of the field 350, that is, the thickness of the topsoil is detected by the stroke sensor 65 provided in the tractor 10, but the depth of the field 350 is calculated by the stroke sensor. It may be detected by other than 65. For example, the tractor 10 may be provided with an ultrasonic sensor (not shown), and the ultrasonic sensor may detect the depth of the field 350. In this case, the ultrasonic sensor is provided so as to detect the distance from the ultrasonic sensor by emitting the ultrasonic wave downward and detecting the reflected wave. The ultrasonic waves emitted from the ultrasonic sensor provided in this manner easily pass through the relatively soft topsoil and are easily reflected by the hard tiller. Therefore, by detecting the reflected wave reflected by the tiller, the distance to the tiller can be detected, and the depth of the field 350 can be detected. The depth detection member for detecting the depth of the field 350 may be of any means as long as it can detect the distance to the cultivator like these.

Further, in the farm work support system 1 according to the embodiment, the timing of additional fertilization is calculated based on the amount of water calculated from the detection values of the first water amount sensor 353 and the second water amount sensor 358. Alternatively, it may be calculated based on other than this. The timing of the additional fertilization is, for example, provided with a pH sensor or a fertilizer concentration sensor in the vicinity of the drainage gate 356 in the field 350, and based on the acidity of the soil detected by the pH sensor or the fertilizer concentration detected by the fertilizer concentration sensor. You may calculate a time etc. In other words, in the field 350, since the fertilizer component is likely to accumulate in the drainage gate 356 which is lower in height than other parts, it is possible to estimate the excess or deficiency of the fertilizer in the entire field 350 by detecting the soil component in this part. can do. As described above, by detecting the components of the soil in the vicinity of the drainage gate 356, it is possible to estimate the excess or deficiency of fertilizer in the entire field 350. You may calculate a time etc.

Further, in the farm work support system 1 according to the embodiment, the water intake of the farm field 350 is performed by opening the intake gate 351. However, the water intake of the farm field 350 may be performed using a pump. In this case, a flow meter is installed on the side of the drain gate 356 to measure the amount of drainage of water, the difference between the amount of water taken by the pump and the amount of drainage on the side of the drain gate 356 is calculated, and the drain gate is determined according to the difference. The opening and closing of 356 may be adjusted. In other words, if there is a large amount of drainage relative to the amount of water intake, there is a high possibility that not only water but also a large amount of sediment will be discharged during drainage.In this case, drainage will be temporarily stopped to prevent the sediment from flowing out. You may make it prevent the outflow of the fertilizer which flows out with it.

1 Agricultural work support system 10 Tractor (work vehicle)
11, 101 traveling vehicle body 32 hydraulic cylinder for lifting work equipment 36 PTO shaft 40 tilling device (working device)
44 Tillage rotary 50, 220 GPS controller 51, 221 Reception antenna 60, 210 Automatic steering device 65 Stroke sensor 70 Scraping device (working device)
71 pH sensor (field information acquisition means, component amount detection member)
80,250 controller 100 seedling transplanter (work vehicle)
140 Seedling plant raising/lowering mechanism 144 Hydraulic raising/lowering cylinder 147 Float 150 Seedling planting unit (working device)
160 Seedling planting device 165 Spare seedling mounting table 170 Fertilizer application (working device)
186 Fertilizer amount adjustment motor (fertilizer amount adjustment member)
188 Fertilizer selector (switching device)
189 Fertilizer switching motor 190 Chemical spraying device 203 Solenoid (chemical spraying amount adjusting mechanism)
230 Fertilizer concentration sensor (field information acquisition means, component amount detection member)
300 Tablet terminal device (work information storage device)
301 Touch panel (display unit)
310 server 320 fertilizer duct (fertilizer guide member)
323 Potentiometer (rotation detecting member)
325 Fertilizer duct rotation motor (rotation actuator)
350 field 351 intake gate (intake part)
352 1st motor (1st switchgear)
353 First water amount sensor 356 Drainage gate (drainage part)
357 second motor (second switchgear)
358 Second water amount sensor 360 Water channel

Claims (3)

A vehicle body that the work vehicle has and travels in the field;
Coupled to said vehicle body, a cultivator or puddling apparatus as a working device for performing ground work,
Field information acquisition means for detecting information on the field,
A work information storage device for storing work information of the work device, and field information including fertilizer concentration acquired by the field information acquisition means;
In accordance with the fertilizer concentration stored in the work information storage device, the working height of the working device with respect to the field, the number of rotations of the tilling rotary of the cultivating device when the working device is a cultivating device, or the traveling vehicle body A controller that changes the running speed of
In the field, an intake part for taking in water, a drain part for draining water,
In an agricultural work support system equipped with
Before Symbol field information acquiring unit acquires fertilizer concentration for each position in the field as the field information,
The work information storage device stores the fertilizer concentration acquired by the field information acquisition means, and stores the position coordinates of the water intake part and the drainage part,
The controller is
When the position coordinates of the work vehicle are the position coordinates of the intake part and the drain part, or when the position from the intake part or the drain part is a position coordinate within a preset range. An agricultural work support system, characterized in that the working height of the working device is increased, the rotation speed of the tilling rotary is decreased, or the traveling speed of the traveling vehicle body is increased when working with the working device . As the working device, as well as further have a fertilizing device for supplying a fertilizer of a plurality of components, the fertilizing device, supply and fertilizer amount adjusting member for adjusting the supply amount of fertilizer, among different components fertilizer, which fertilizer And a switching device for switching whether to
As the field information acquisition means, a component amount detection member for measuring the amount of soil component for each position in the field,
The work information storage device stores the component amount of soil detected by the component amount detection member,
The controller is
Based on the soil component amount stored in the work information storage device, the fertilizer application amount control member and the switching device is controlled to a desired operation amount, and the soil component amount is the appropriate component amount of the cultivated crop. The agricultural work support system according to claim 1, wherein fertilizer having a component that can be used is supplied. As the field information acquisition means, a depth detection member for measuring the depth of the field is provided,
The work information storage device stores, for each position, the depth of the field detected by the depth detection member during work on the work vehicle,
The work vehicle performing the work in the next step, based on the depth of the field for each position stored in the work information storage device, the lifting operation of the working device, the hydraulic pressure when operating the automatic lifting mechanism of the working device. sensitivity settings, and among the work difficult point in the work vehicle according to the field of depth, to display at least any one on the display unit of the work information storage device, or the lifting of the working device, the working of the performing the work to avoid setting changes and the work difficult points of the working conditions of the automatic lifting mechanism of the apparatus, according to claim 1 or 2, characterized in Rukoto Gyosu automatic braking at least any one Farm work support system.

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