JP7055047B2 - Field work machine and field work support program - Google Patents

Description

The present invention relates to a field work machine having a function of calculating and storing a slip ratio, and a field work support program having a similar function.

In a field work machine equipped with a traveling machine and a field working device, the operating speed of the field working device is changed according to the traveling speed so that the same work result can be obtained for the field regardless of the magnitude of the traveling speed. Is widely used. In such a configuration, the operating speed of the field work apparatus is generally adjusted based on the slip ratio of the field.

As a method of adjusting the operating speed of the field work apparatus by reflecting the slip rate, for example, Patent Document 1 discloses a method of detecting the slip rate by providing a machine movement amount detecting means. Further, Patent Document 2 discloses a method in which an operator determines from an interval between seedlings actually planted, a feeling at the time of maneuvering, and the like, and operates a transmission for a working machine.

Japanese Unexamined Patent Publication No. 2009-268418 Japanese Unexamined Patent Publication No. 2011-206032

However, in a technique such as Patent Document 1, since a means for detecting the amount of movement of the airframe based on the rotation speed of the idler that rolls on the field is adopted, slip of the idler is not sufficiently considered. , There was a risk that an accurate slip rate could not be obtained. Further, in a technique such as Patent Document 2, there is a problem that it is difficult for an inexperienced worker to operate, and a problem that even an experienced worker is forced to make diligent adjustments, resulting in poor work efficiency. was there.

In order to solve such a problem, it is required to realize a field work machine that calculates a slip ratio based on the amount of movement of the machine detected regardless of physical means or artificial means.

The field work machine according to the present invention includes a traveling machine having front wheels and rear wheels, a tachometer for detecting at least one of the front wheels and the rear wheels, and a machine position information for detecting the body position information of the traveling machine. The control unit includes a detection device and a control unit, and the control unit acquires a rotation speed acquisition unit that acquires the rotation speed detected by the tachometer and the aircraft position information detected by the aircraft position information detection device. It is characterized by having a machine body position information acquisition unit, a calculation unit for calculating a slip rate based on the rotation speed and the machine body position information, and a slip rate storage unit for storing the slip rate.
The field work machine according to the present invention is a traveling machine having front wheels and rear wheels, a rotary meter that detects at least one of the front wheels and the rear wheels, and a machine that detects the body position information of the traveling machine. The control unit includes a position information detection device and a control unit, and the control unit obtains a rotation speed acquisition unit that acquires the rotation speed detected by the rotation meter and the aircraft position information detected by the aircraft position information detection device. The control unit has a machine position information acquisition unit to be acquired, a calculation unit that calculates a slip rate based on the rotation speed and the machine position information, and a slip rate storage unit that stores the slip rate. Further, the traveling control unit further includes a traveling control unit that controls the traveling of the traveling aircraft and a reference point storage unit that stores information on a reference point related to the control of the traveling aircraft by the traveling control unit. At the first reference point position information which is the aircraft position information detected by the aircraft position information detection device at the first reference point which is an arbitrary point in the field, and at any point different from the first reference point in the field. The second reference point position information, which is the aircraft position information detected by the aircraft position information detection device at a certain second reference point, is stored in the reference point storage unit, and the traveling control unit stores the aircraft position information and the aircraft position information. , The traveling machine is made to travel in parallel with the reference line obtained by connecting the first reference point and the second reference point based on the first reference point position information and the second reference point position information. When at least one of the first reference point position information and the second reference point position information is changed, the slip rate stored in the slip rate storage unit is erased. It is a feature.
The field work machine according to the present invention is a traveling machine having front wheels and rear wheels, a tachometer that detects at least one of the front wheels and the rear wheels, and a machine that detects the body position information of the traveling machine. The control unit includes a position information detection device and a control unit, and the control unit obtains a rotation speed acquisition unit that acquires the rotation speed detected by the tachometer and the machine position information detected by the machine position information detection device. It has a machine position information acquisition unit to be acquired, a calculation unit that calculates a slip rate based on the rotation speed and the machine position information, and a slip rate storage unit that stores the slip rate. The control unit further includes an inclination meter for detecting the inclination, and the control unit further has an inclination acquisition unit for acquiring the inclination of the traveling aircraft detected by the inclination, and the inclination acquisition unit has acquired the inclination. When the degree of inclination exceeds a predetermined reference value, the slip rate stored in the slip rate storage unit is erased.

Further, the field work support program according to the present invention is a field work support program that supports field work by a field work machine equipped with a traveling machine, and acquires at least one of the front wheels and the rear wheels of the traveling machine. A function for acquiring the number of rotations, a function for acquiring the position information of the traveling machine, a function for calculating the slip ratio based on the number of rotations and the information on the position of the machine, and a function for storing the slip rate. A function for erasing the slip rate stored by the slip rate storage function when the operation of the traveling machine is stopped and the stop is continued for a preset time. , Is realized in a computer.

According to these configurations, an accurate slip ratio calculated based on the aircraft position information can be automatically obtained. Further, since the slip rate is calculated during the actual work running in the field, the field work machine can be operated by reflecting the difference in the slip rate depending on the field and the difference in the slip rate due to the weather or the like.

Hereinafter, preferred embodiments of the present invention will be described. However, the scope of the present invention is not limited by the preferred embodiments described below.

As one aspect of the field work machine according to the present invention, the calculation unit is based on the machine speed calculated based on the rotation speed and the machine speed calculated based on the machine position information. It is preferable to calculate the slip ratio.

According to this configuration, the slip ratio can be calculated based on the number of revolutions actually rotated by at least one of the front wheels and the rear wheels and the actual position information of the traveling aircraft, so that the slip ratio can be calculated more accurately. You can get the rate.

In one aspect, the field work machine according to the present invention has the slip stored in the slip rate storage unit when the operation of the traveling machine is stopped and the stop is continued for a preset time. It is preferable to eliminate the rate.

According to this configuration, the slip ratio can be automatically eliminated in a situation where the work is considered to be interrupted for a long time, for example, when the work day is changed.

As one aspect of the field work machine according to the present invention, the control unit stores information on a travel control unit that controls the travel of the traveling machine and a reference point related to the control of the traveling machine by the traveling control unit. Further having a reference point storage unit, the traveling control unit is a first reference point position information which is the aircraft position information detected by the aircraft position information detection device at a first reference point which is an arbitrary point in the field. , And the second reference point position information, which is the aircraft position information detected by the aircraft position information detection device at the second reference point, which is an arbitrary point different from the first reference point in the field, is stored in the reference point storage. The traveling control unit stores the traveling aircraft in the first reference point and the first reference point based on the aircraft position information, the first reference point position information, and the second reference point position information. It can be controlled to run parallel to the reference line obtained by connecting the second reference point, and when at least one of the first reference point position information and the second reference point position information is changed, the said It is preferable to erase the slip rate stored in the slip rate storage unit.

According to this configuration, the slip ratio can be automatically erased in conjunction with the change of the reference point in the travel control function by the travel control unit.

As one aspect, the field work machine according to the present invention further includes an inclinometer for detecting the inclination degree of the traveling machine, and the control unit obtains the inclining degree of the traveling machine detected by the inclinometer. Further having a degree acquisition unit, when the inclination degree acquired by the inclination degree acquisition unit exceeds a predetermined reference value, the slip rate stored in the slip rate storage unit is erased. Is preferable.

According to this configuration, the slip rate can be automatically eliminated in conjunction with the entry or exit of the field or the change of the field itself in which the work is performed.

In the field work machine according to the present invention, as one aspect, the control unit further has an input unit that accepts an input of an artificial operation, and an artificial operation for erasing the slip ratio is performed on the input unit. When it is broken, it is preferable to erase the slip rate stored in the slip rate storage unit.

According to this configuration, the slip rate can be eliminated by the voluntary intention of the operator.

In the field work machine according to the present invention, as one aspect, the control unit further has a communication unit that communicates with an external server installed on the network, and the calculation unit is the external server via the communication unit. The calculation unit is capable of communicating with, and the calculation unit is a transmission step in which the calculation unit transmits the machine position information to the external server, the external server has the machine position information transmitted from the calculation unit, and the external server. Based on the field information stored in advance in the above, a specific step for specifying the field where the field work machine is located at the time when the transmission step is executed, and the field related to the field specified by the external server. A field information acquisition process including a return step of returning information to the calculation unit can be executed, and the calculation unit calculates the slip rate when the slip rate is stored in the slip rate storage unit. The field information at the time of slip rate calculation, which is the field information acquired by the field information acquisition process, is stored in the slip rate storage unit together with the slip rate, and the calculation unit is stored in the slip rate storage unit. When the field information at the time of slip rate calculation and the field information at the time of inquiry, which is the field information acquired by the field information acquisition process at an arbitrary time point, do not match, the slip stored in the slip rate storage unit. It is preferable to eliminate the rate.

According to this configuration, it is possible to perform work utilizing the field information accumulated on the network. In particular, when the same field work machine is used over a plurality of fields, the slip ratio can be automatically eliminated in conjunction with the change of the field itself in which the work is performed.

In the field work machine according to the present invention, as one aspect, the calculation unit transmits the slip ratio to the external server, and the external server uses the slip ratio transmitted from the calculation unit as the field information. It is preferable to store it as a part of the field slip ratio.

According to this configuration, the field information and the slip rate can be linked and accumulated on the network. Therefore, not only the field work machine for which the slip rate is calculated but also other field work machines can utilize the slip rate information. Can be done. In addition, information on the slip rate related to a plurality of fields can be accumulated on the network, which can be useful for farming related to a plurality of fields.

As one aspect of the field work machine according to the present invention, when the slip rate is not stored in the slip rate storage unit, the calculation unit executes the field information acquisition process and is returned from the external server. It is preferable to store the field slip rate included as a part of the field information in the slip rate storage unit as the slip rate.

According to this configuration, the slip rate information accumulated on the network can be automatically applied to the work to be performed at that time.

As one aspect of the field work machine according to the present invention, the control unit further has a slip rate history storage unit that stores the history of the slip rate, and the calculation unit stores the slip rate in the slip rate storage unit. When erasing from, the slip rate is stored in the slip rate history storage unit as the slip rate history, and the calculation unit stores the slip rate history when the slip rate is not stored in the slip rate storage unit. It is preferable to store the latest slip rate history stored in the storage unit as the slip rate in the slip rate storage unit.

According to this configuration, the slip rate information at the time of the previous work can be automatically applied to the work to be performed at that time.

As one aspect of the field work machine according to the present invention, when the slip rate is not stored in the slip rate storage unit, the calculation unit uses a predetermined slip rate initial value as the slip rate and the slip. It is preferable to store it in the rate storage unit.

According to this configuration, since the work can be executed by utilizing the predetermined initial value, the work can be performed even before the calculation of the slip ratio is executed.

As one aspect of the field work machine according to the present invention, it is preferable that the calculation unit calculates the slip ratio only when the field work machine is traveling straight.

According to this configuration, the slip ratio is calculated in the state of the traveling direction in which the field work can be actually performed, so that an effective and meaningful numerical value can be obtained.

As one aspect of the field work machine according to the present invention, the field work machine further includes a field work device for performing work on the field, and the calculation unit has a slip ratio calculation posture in which the field work device has a predetermined slip ratio calculation posture. It is preferable to calculate the slip ratio only when taking.

According to this configuration, the slip ratio is calculated in a posture in which field work can be actually performed, so that an effective and meaningful numerical value can be obtained.

In one aspect of the field work machine according to the present invention, the field work device is a seedling planting device, and the slip ratio calculation posture is a posture in which the seedling planting device can execute the seedling planting work. Is preferable.

According to this configuration, the slip ratio is calculated in a posture in which the seedling planting work can be actually performed, so that an effective and meaningful numerical value can be obtained.

Further features and advantages of the invention will be further clarified by the following illustration of exemplary and non-limiting embodiments described with reference to the drawings.

Side view of the field work machine according to the present invention Configuration diagram of the field work machine according to the present invention The explanatory view of the straight running support function in the field work machine which concerns on this invention.

An embodiment of the field work machine according to the present invention will be described with reference to FIGS. 1 to 3. In the present embodiment, a case where the field work machine according to the present invention is a rice transplanter 100 that performs rice planting work in the field will be described as an example. The field work machine according to the present invention is not limited to the rice transplanter, and may be, for example, a tractor, a combine, a passenger management machine, or the like.

[Basic configuration of rice transplanter 100]
Hereinafter, the basic configuration of the rice transplanter 100 according to the present embodiment will be described (FIG. 1). The rice transplanter 100 includes a traveling machine 1, a tachometer 2, a GPS antenna 3 (an example of a machine position information detection device), an inclinometer 4, a control unit 5, and a seedling planting device 6 (an example of a field work device). Be prepared. Here, "GPS" means a well-known GPS (Global Positioning System) which is an example of a Global Navigation Satellite System (GNSS), and the GPS antenna 3 is a positioning method using GPS. It is an antenna that can be used for.

As shown in FIG. 1, the traveling machine body 1 has a pair of left and right front wheels 11 and rear wheels 12, respectively, and a driver's seat 13 on which an operator can sit and perform various driving operations. In the following explanation, based on the worker seated in the driver's seat 13, the front direction of the worker is "front", the back direction of the worker is "rear", and the right hand side of the worker is "right". , The left hand side of the worker is defined as "left".

The rice transplanter 100 includes various sensors. The tachometer 2 detects the rotation speed N of the rear wheel 12. Further, the GPS antenna 3 detects the aircraft position information P of the traveling aircraft 1. Then, the inclinometer 4 detects the inclining degree G of the traveling machine body 1. As will be described later, the control unit 5 can monitor or control the operating state of the rice transplanter 100 by using the information detected by these sensors.

Further, as shown in FIG. 1, the seedling planting device 6 has a seedling planting section 61 for planting seedlings in a field and a float 62 which is a grounding point for a field scene, and the seedling planting device 6 has. It is connected to the traveling machine body 1 via an elevating hydraulic cylinder 63 and a link mechanism 64 that perform an elevating operation. The seedling planting device 6 is configured to rise when the elevating hydraulic cylinder 63 is retracted and to descend toward the field scene when the elevating hydraulic cylinder 63 is extended, and floats when performing seedling planting work. 62 needs to be in contact with the field scene. Here, the posture of the seedling planting device 6 in a state where the lifting hydraulic cylinder 63 is extended so that the float 62 is in contact with the field scene is defined as a "seedling planting posture (example of a slip rate calculation posture)" and is lifted and lowered. The posture of the seedling planting device 6 in a state where the hydraulic cylinder 63 is contracted so that the float 62 does not come into contact with the field scene is defined as a “running posture”.

As shown in FIG. 2, a rotation speed acquisition unit 51 that acquires the rotation speed N of the rear wheel 12 detected by the tachometer 2, and an aircraft position information acquisition unit 52 that acquires the aircraft position information P detected by the GPS antenna 3. , A calculation unit 53 that calculates the slip ratio S based on the rotation speed N and the machine position information P, a storage unit 54 that stores various information, a running control unit 55 that controls the running of the traveling machine 1, and an inclination meter. The inclination acquisition unit 56 that acquires the inclination G detected by 4, the input unit 57 that accepts the input of human operation, the communication unit 58 that communicates with the external server 200 installed on the network, and various information are displayed. It has a display unit 59 and. The storage unit 54 stores the slip rate storage unit 54a that stores the slip rate S, the reference point storage unit 54b that stores the reference point information related to the control of the traveling machine body 1 by the travel control unit 55, and the history of the slip rate S. Includes a slip rate history storage unit 54c to be stored.

The travel control unit 55 can execute an automatic travel mode in which the rice transplanter 100 is automatically traveled straight. In the field, the rice transplanter 100 alternately alternates between a work traveling RW that involves rice planting work along a straight row planting route and a shore turning traveling RT for moving to the next row planting route near the shore. Repeat (Fig. 3). In the automatic running mode, of these two modes of running, steering for a linear work running RW can be automated.

In order to use the automatic driving mode, as shown in FIG. 3, the operator needs to register the reference line in the manual driving mode in which the rice transplanter 100 is manually operated. When the rice transplanter 100 reaches the start point A (example of the first reference point) of the reference line located near the shore in the manual travel mode, when an artificial operation is performed on the input unit 57, the travel control unit 55 performs the artificial operation. The aircraft position information at the time of the operation is stored in the reference point storage unit 54b as the first reference point position information PA. Next, the rice transplanter 100 is run straight from the start point A of the reference line along the straight line shape near the shore, and when the end point B of the reference line (example of the second reference point) is reached, an artificial operation on the input unit 57 is performed. Then, the traveling control unit 55 stores the aircraft position information at the time of performing the artificial operation in the reference point storage unit 54b as the second reference point position information PB. By the above operation, the line segment connecting the start point A and the end point B is registered in the reference point storage unit 54b as a reference line.

After the registration of the reference line is completed, a shore turning RT for moving to the planting route adjacent to the reference line is performed. In this embodiment, an embodiment in which the shore turning running RT is performed in the manual running mode will be described as an example.

When the shore turning RT is performed, the rice transplanter 100 enters the row planting route adjacent to the reference line. When the rice transplanter 100 is continuously driven in a straight line in the manual driving mode, the traveling control unit 55 determines whether or not to shift to the automatic driving mode based on the preset conditions during the straight line traveling. The conditions can be, for example, that the steering angle of the steering wheel is within a preset range and that the vehicle travels straight on a continuous path parallel to the reference line over a preset distance. When these conditions are satisfied, the display unit 59 displays that the transition to the automatic driving mode is possible. In this state, the traveling control unit 55 can shift to the automatic traveling mode by artificially operating the input unit 57, and when shifting to the automatic traveling mode, the rice transplanter 100 does not need to be manually operated by the operator. , It is automatically controlled to perform a linear work running RW.

In addition, "parallel to the reference line" in the previous paragraph does not necessarily have to be geometrically parallel, and has an appropriate separation distance for proper growth in any part of the field. It suffices as long as the seedlings can be planted. Specifically, it suffices that the planting route traveling straight in the automatic traveling mode and the reference line are geometrically parallel to each other, or the planting route and the reference line are substantially parallel to each other.

[Communication with external server 200]
Hereinafter, the communication function of the rice transplanter 100 according to the present embodiment with the external server 200 will be described.

The external server 200 stores field information F related to a plurality of fields in advance. Here, the field information F includes the position information of the field, the address of the field, the name of the field, the manager of the field, the type of crop produced in the field, and the production in the field before the previous year. It includes information such as the actual amount, the work history in the field, and the field slip rate recorded when the previous work was performed in the field.

The calculation unit 53 is configured to be able to communicate with the external server 200 via the communication unit 58 (FIG. 2), and can execute the field information acquisition process for acquiring the field information F from the external server 200. The field information acquisition process includes a transmission step, a specific step, and a return step. In the transmission step, the arithmetic unit 53 transmits the machine position information PN at the moment when the transmission step is executed to the external server 200. In the specific step, the external server 200 converts the machine position information PN transmitted from the calculation unit and the position information of each field included in the field information F relating to the plurality of fields stored in advance in the external server 200. It is collated and identified as the field where the rice transplanter 100 is located at the time when the transmission step is executed. In the return step, the field information F related to the field specified by the external server 200 is returned to the calculation unit 53.

[Calculation and storage of slip ratio S]
Hereinafter, in the rice transplanter 100 according to the present embodiment, the calculation of the slip ratio S and the processing of the storage by the calculation unit 53 will be described.

First, the calculation unit 53 multiplies the peripheral length W of the rear wheel 12 stored in the storage unit 54 in advance by the rotation speed N acquired by the rotation speed acquisition unit 51 to obtain the theoretical speed V1 of the rice transplanter 100. Calculate (ie, V1 = W × N).

Next, the calculation unit 53 calculates the actual speed V2 of the rice transplanter 100 based on the change over time of the machine position information P acquired by the machine position information acquisition unit 52. The actual velocity V2 is calculated based on the aircraft position information P at at least two different points and the acquisition time thereof. Alternatively, instead of the actual velocity V2 calculated by the above method, the average actual velocity V3 calculated as the moving average of the actual velocity V2 calculated a plurality of times may be used. It is preferable to use the average actual speed V3 because the influence of the measurement error of the aircraft position information P can be reduced.

Subsequently, the calculation unit 53 calculates the slip rate S as the rate of decrease of the actual speed V2 with respect to the theoretical speed V1 (that is, S = (V1-V2) / V1). Here, the slip ratio S is the speed (theoretical speed) at which the rice transplanter 100 is expected to move forward due to the rotation of the rear wheels 12 because the slip ratio S slips between the field scene and the rear wheels 12 due to factors such as the muddy field scene. It is a numerical value that quantitatively expresses the rate of decrease in the speed of the phenomenon that the speed at which the rice transplanter 100 actually moves forward (actual speed V2) is smaller than that of V1).

The calculation of the slip ratio S is performed only when the seedling planting device 6 takes the seedling planting posture and the rice transplanter 100 is traveling straight. Since the slip ratio S should be calculated for the value when the seedling planting work is performed, it is effective only when it is calculated in the posture and the state of the traveling direction in which the seedling planting work can be actually performed. This is because a meaningful numerical value can be obtained.

Finally, the calculation unit 53 stores the slip rate S calculated by the above method in the slip rate storage unit 54a. At this time, the calculation unit 53 stores the field information F at the time when the slip rate S is calculated in the slip rate storage unit 54a together with the slip rate S as the field information FS at the time of slip rate calculation. Thereby, information for specifying the field from which the slip ratio S is calculated can be added to the slip ratio S.

The slip ratio S calculated in this way is used to control the operation of the seedling planting device 6 and realize an appropriate planting state. For example, by controlling the rotation speed of the seedling planting portion 61 based on the slip ratio S, the distance between the seedlings can be controlled to an arbitrary value.

Further, the calculation unit 53 transmits the slip ratio S to the external server 200 via the communication unit 58, and the external server 200 uses the slip ratio S as a part of the field information F related to the field for which the slip ratio S is calculated. It is stored as a certain field slip rate SF. With this configuration, information on the slip ratio related to a plurality of fields can be stored in the external server 200, which can be useful for farming related to a plurality of fields.

[Update of slip rate S]
Hereinafter, the process of updating the slip rate S stored in the slip rate storage unit 54a in the rice transplanter 100 according to the present embodiment will be described. Since the slip ratio S may differ depending on the field, when the field in which the work is performed changes, it may not be appropriate to continue to use the slip ratio S made in the slip rate storage unit 54a during the previous work. Further, since the slip ratio S can change depending on factors such as the weather even in the same field, it is not appropriate to continue to use the slip ratio S at the previous work even when the work day changes. In some cases.
If an inappropriate slip rate S is used, the seedling planting device 6 may not be properly controlled and an appropriate planting state may not be realized. Therefore, the slip rate S stored in the slip rate storage unit 54a is stored in the slip rate storage unit 54a. Needs to be updated appropriately.

In the control unit 5 of the rice transplanter 100 according to the present embodiment, the slip rate S is updated, so that the slip rate S stored in the slip rate storage unit 54a is automatically deleted when a predetermined condition is satisfied. Is set to. In the following description, the slip rate to be erased from the slip rate storage unit 54a is referred to as the old slip rate S'.

First, the control unit 5 is stored in the slip rate storage unit 54a when the operation of the traveling machine body 1 is stopped and the stop is continued for, for example, 8 hours (example of a preset time). The slip ratio S'is set to be erased. In general, field work is done during the day and is often paused after sunset. Therefore, when the operation of the traveling machine 1 is continuously stopped for 8 hours or more, it can be determined that the work day has changed.

Further, the control unit 5 erases the old slip rate S'stored in the slip rate storage unit 54a when at least one of the first reference point position information PA and the second reference point position information PB is changed. Is set to. When the field to be worked on changes, it is necessary to register the reference point again. Therefore, when at least one of the first reference point position information PA and the second reference point position information PB is changed, the field to be worked on is changed. This is because it can be judged that is a strange thing.

Further, when the inclination degree G acquired by the inclination degree acquisition unit 56 exceeds a reference value appropriately set in consideration of the influence on the slip rate, the control unit 5 is stored in the slip rate storage unit 54a. It is set to erase the old slip ratio S'. In many cases, the field is located lower than the surrounding shore, so when the rice transplanter 100 enters or leaves the field, the rice transplanter 100's body tilts back and forth. This is because when the slope G changes beyond the reference value, it is possible that the farm has entered or exited the field. Further, since the average slope of the rice transplanter 100 during the work is affected by the slope of the entire land where the field is provided, when the slope G changes beyond the reference value, This is also because the field where the work is done may have changed.

Further, the control unit 5 has the field information FS at the time of slip rate calculation stored in the slip rate storage unit 54a and the field information FA at the time of inquiry, which is the field information acquired by executing the field information acquisition process at an arbitrary time point. And, when does not match, the old slip rate S'stored in the slip rate storage unit 54a is set to be erased. The fact that the field information FS at the time of slip rate calculation and the field information FA at the time of inquiry do not match means that the field where the old slip rate S'currently stored in the slip rate storage unit 54a is calculated and the rice transplanter 100 at the time of inquiry are located. This is because it means that the field is different from that of the field.

In addition to the above automatic erasure, the old slip rate S'stored in the slip rate storage unit 54a can also be manually operated on the input unit 57 to erase the old slip rate S'. Can be erased.

After erasing the old slip ratio S'as described above, the calculation unit 53 stores the newly calculated slip ratio S in the slip ratio storage unit 54a. Alternatively, instead of storing the newly calculated slip rate S, the field slip rate SF included in the field information F acquired by executing the field information acquisition process is stored in the slip rate storage unit 54a as a new slip rate S. You may memorize it.

Further, the calculation unit 53 erases the old slip rate S'from the slip rate storage unit 54a, while newly storing the old slip rate S'in the slip rate history storage unit 54c as the slip rate history. Then, instead of newly calculating the slip rate S and storing it in the slip rate storage unit 54a, the calculation unit 53 stores the latest slip history stored in the slip rate history storage unit 54c in the slip rate history storage unit 54a. It may be read from the section 54c and stored in the slip rate storage section 54a as a new slip rate S.

In addition, when none of the method of newly calculating, the method of acquiring from the external server 200, and the method of using the history value can be used, or until the preparation for use is completed, the slip ratio S set in advance is set. The initial value may be stored in the slip rate storage unit 54a as a new slip rate S. With this configuration, even if the slip ratio S obtained by a new calculation method or the like cannot be used, the seedling planting device 6 can be controlled using the initial value of the slip ratio S. Work is not interrupted.

[Other embodiments]
Finally, other embodiments of the present invention will be described. The configurations disclosed in each of the following embodiments can be applied in combination with the configurations disclosed in other embodiments as long as there is no contradiction.

In the above embodiment, the embodiment of the present invention as a field work machine has been described as an example. However, without being limited to such a configuration, the present invention may be a field work support program that causes a computer to perform the same functions as those in the above embodiment.

In the above embodiment, the configuration in which the field work machine according to the present invention is a rice transplanter 100 provided with a seedling planting device 6 has been described as an example. However, the field work machine according to the present invention is not limited to the rice transplanter, and may be a tractor, a combine, a passenger management machine, or the like, and the field work device included in the field work machine is a ridge device, a ridge sowing device, or the like. It may be a multi-working device, a fertilizer spraying device, a boom sprayer device, a harvesting device, or the like.

In the above embodiment, the configuration in which the field work machine according to the present invention includes the control unit 5 and the control unit 5 has the calculation unit 53 and the storage unit 54 has been described as an example. However, without being limited to such a configuration, the control unit, the calculation unit, and the storage unit do not necessarily have to be mounted on the field work machine, and are mounted on, for example, a terminal separable from the field work machine. It may be installed in an external server installed on the network. Further, the control unit, the calculation unit, and the storage unit may be mounted at a plurality of locations of the field work machine and the external server or the like.

In the above embodiment, the configuration in which the rotation speed acquisition unit 51 acquires the rotation speed N of the rear wheel 12 has been described as an example. However, without being limited to such a configuration, the target for acquiring the rotation speed may be the front wheel.

It should be understood that with respect to other configurations, the embodiments disclosed herein are exemplary in all respects and the scope of the invention is not limited thereto. Those skilled in the art will be able to easily understand that modifications can be made as appropriate without departing from the spirit of the present invention. Therefore, another embodiment modified without departing from the spirit of the present invention is naturally included in the scope of the present invention.

The present invention can be used, for example, in a rice transplanter.

100: Rice planting machine 1: Traveling machine 11: Front wheel 12: Rear wheel 13: Driver's seat 2: Tachometer 3: GPS antenna 4: Tilt meter 5: Control unit 51: Rotation speed acquisition unit 52: Aircraft position information acquisition unit 53: Calculation unit 54: Storage unit 54a: Slip rate storage unit 54b: Reference point storage unit 54c: Slip rate history storage unit 55: Travel control unit 56: Inclined degree acquisition unit 57: Input unit 58: Communication unit 59: Display unit 6: Seedling planting device 61: Seedling planting part 62: Float 63: Elevating hydraulic cylinder 64: Link mechanism 200: External server S: Slip rate SF: Field slip rate S': Old slip rate G: Tilt degree N: Number of rotations P: Aircraft position information PA: First reference point position information PB: Second reference point position information PN: Aircraft position information when the transmission step is executed F: Field information FA: Field information at the time of inquiry FS: Field information at the time of slip rate calculation A : Reference line start point B: Reference line end point RT: Side turning run RW: Work run

Claims (14)

A traveling aircraft with front and rear wheels,
A tachometer that detects at least one of the front wheels and the rear wheels, and a tachometer.
An aircraft position information detection device that detects the aircraft position information of the traveling aircraft, and
With a control unit,
The control unit includes a rotation speed acquisition unit that acquires the rotation speed detected by the tachometer, an aircraft position information acquisition unit that acquires the aircraft position information detected by the aircraft position information detection device, and the rotation speed. It has a calculation unit that calculates the slip ratio based on the machine position information, and a slip ratio storage unit that stores the slip ratio .
A field work machine that erases the slip rate stored in the slip rate storage unit when the operation of the traveling machine is stopped and the stop is continued for a preset time . A traveling aircraft with front and rear wheels,
A tachometer that detects at least one of the front wheels and the rear wheels, and a tachometer.
An aircraft position information detection device that detects the aircraft position information of the traveling aircraft, and
With a control unit,
The control unit includes a rotation speed acquisition unit that acquires the rotation speed detected by the tachometer, an aircraft position information acquisition unit that acquires the aircraft position information detected by the aircraft position information detection device, and the rotation speed. It has a calculation unit that calculates the slip ratio based on the machine position information, and a slip ratio storage unit that stores the slip ratio.
The control unit further includes a travel control unit that controls the travel of the traveling aircraft, and a reference point storage unit that stores information on a reference point related to the control of the traveling aircraft by the traveling control unit.
The traveling control unit includes the first reference point position information, which is the aircraft position information detected by the aircraft position information detection device at the first reference point, which is an arbitrary point in the field, and the first reference point in the field. The second reference point position information, which is the aircraft position information detected by the aircraft position information detection device at the second reference point, which is an arbitrary point different from the above, is stored in the reference point storage unit.
The traveling control unit sets the traveling aircraft to the first reference point and the second reference point based on the aircraft position information, the first reference point position information, and the second reference point position information. It can be controlled to run parallel to the reference line obtained by connecting
A field work machine that erases the slip rate stored in the slip rate storage unit when at least one of the first reference point position information and the second reference point position information is changed . A traveling aircraft with front and rear wheels,
A tachometer that detects at least one of the front wheels and the rear wheels, and a tachometer.
An aircraft position information detection device that detects the aircraft position information of the traveling aircraft, and
With a control unit,
The control unit includes a rotation speed acquisition unit that acquires the rotation speed detected by the tachometer, an aircraft position information acquisition unit that acquires the aircraft position information detected by the aircraft position information detection device, and the rotation speed. It has a calculation unit that calculates the slip ratio based on the machine position information, and a slip ratio storage unit that stores the slip ratio.
Further equipped with an inclinometer for detecting the degree of inclination of the traveling machine,
The control unit further includes an inclination degree acquisition unit that acquires the inclination degree of the traveling aircraft detected by the inclinometer.
A field work machine that erases the slip ratio stored in the slip rate storage unit when the inclination acquired by the inclination acquisition unit exceeds a predetermined reference value . The calculation unit is any one of claims 1 to 3 for calculating the slip ratio based on the machine speed calculated based on the rotation speed and the machine speed calculated based on the machine position information. The field work machine according to item 1 . The control unit further has an input unit that receives an input of an artificial operation.
Any one of claims 1 to 4 for erasing the slip rate stored in the slip rate storage unit when an artificial operation for erasing the slip rate is performed on the input unit. The field work machine described in. The control unit further has a communication unit that communicates with an external server installed on the network.
The arithmetic unit can communicate with the external server via the communication unit.
The arithmetic unit
A transmission step in which the arithmetic unit transmits the machine position information to the external server.
The field work machine is located at the time when the transmission step is executed by the external server based on the machine position information transmitted from the calculation unit and the field information stored in advance in the external server. Specific steps to identify the field, and
A return step of returning the field information related to the field specified by the external server to the calculation unit.
It is possible to carry out the field information acquisition process including
When the slip rate is stored in the slip rate storage unit, the calculation unit obtains the field information at the time of slip rate calculation, which is the field information acquired by the field information acquisition process at the time when the slip rate is calculated. Stored in the slip rate storage unit together with the slip rate,
The calculation unit does not match the field information at the time of slip rate calculation stored in the slip rate storage unit with the field information at the time of inquiry, which is the field information acquired by the field information acquisition process at an arbitrary time point. The field work machine according to any one of claims 1 to 5 , wherein the slip rate stored in the slip rate storage unit is erased. The calculation unit transmits the slip ratio to the external server, and the calculation unit transmits the slip ratio.
The field work machine according to claim 6 , wherein the external server stores the slip rate transmitted from the calculation unit as a field slip rate that is a part of the field information. When the slip rate is not stored in the slip rate storage unit, the calculation unit executes the field information acquisition process and includes the field slip as a part of the field information returned from the external server. The field work machine according to claim 7 , wherein the rate is stored as the slip rate in the slip rate storage unit. The control unit further includes a slip rate history storage unit that stores the slip rate history.
When the slip rate is erased from the slip rate storage unit, the calculation unit stores the slip rate as a slip rate history in the slip rate history storage unit.
When the slip rate is not stored in the slip rate storage unit, the calculation unit uses the latest slip rate history stored in the slip rate history storage unit as the slip rate. The field work machine according to any one of claims 1 to 8 , which is stored in a storage unit. Any of claims 1 to 8 , wherein the calculation unit stores a predetermined slip rate initial value as the slip rate in the slip rate storage unit when the slip rate is not stored in the slip rate storage unit. The field work machine according to item 1. The field work machine according to any one of claims 1 to 10, wherein the calculation unit calculates the slip ratio only when the field work machine is traveling straight. The field work machine is further equipped with a field work device for performing work on the field.
The field work machine according to any one of claims 1 to 11, wherein the calculation unit calculates the slip ratio only when the field work apparatus takes a predetermined slip rate calculation posture. The field work device is a seedling planting device.
The field work machine according to claim 12 , wherein the slip ratio calculation posture is a posture in which the seedling planting apparatus can execute a seedling planting operation. It is a field work support program that supports field work by a field work machine equipped with a traveling machine.
A rotation speed acquisition function for acquiring at least one of the front wheels and the rear wheels of the traveling machine, and a rotation speed acquisition function.
The aircraft position information acquisition function that acquires the aircraft position information of the traveling aircraft, and
An arithmetic function that calculates the slip ratio based on the number of revolutions and the aircraft position information,
The slip rate storage function for storing the slip rate and the slip rate storage function
A field that allows a computer to realize a function of erasing the slip rate stored by the slip rate storage function when the operation of the traveling machine is stopped and the stop is continued for a preset time. Work support program.

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