JP7086598B2 - Agricultural support system - Google Patents

Description

The present invention relates to an agricultural support system.

Conventionally, Patent Document 1 is known as a cultivator for cultivating a field. The cultivator of Patent Document 1 has a rotating shaft rotatably supported by a frame or the like, and a cultivator attached to the rotating shaft. By rotating the axis of rotation, it is possible to cultivate the field with the cultivating claws.

Japanese Unexamined Patent Publication No. 2017-55668

By the way, in recent years, various attempts have been made to improve the efficiency of agriculture when planting crops in the field. Among them, although analysis of soil components in the field has been carried out, the fact is that other indicators have not been used to improve the efficiency of agriculture.
Therefore, in view of the above problems, it is an object of the present invention to provide an agricultural support system capable of efficiently advancing agricultural work in a workplace such as a field.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The agricultural support system is provided in a work device connected to a work vehicle to perform agricultural work, and detects vibration by detecting acceleration at least in the vertical direction of the work device, and detects the position of the work device. It comprises a possible position detector and a map generator that generates an agricultural map for agriculture based on the vibration value indicating the vibration detected by the vibration detector and the position detected by the position detector . The map generation unit adopts at least one of the average speed, acceleration, amplitude and frequency of the vibration as the vibration value of the working device in the field detected by the vibration detecting device, and shows a vibration map. Generated as the agricultural map .

The vibration detection device includes a vibration detection unit that detects the vibration and a communication unit that wirelessly transmits the vibration detected by the vibration detection unit.
The agricultural support system is provided on a travelable vehicle body to which the work device is connected, and includes a display device having a receiving unit capable of receiving vibration transmitted from the communication unit.

The map generation unit is provided in the server, and the display device has a transmission unit that transmits the vibration received by the reception unit to the server.
The agricultural support system includes an external terminal that displays a vibration map generated by the map generation unit and another agricultural map different from the vibration map.
The working device includes a frame, a rotating shaft rotatably supported by the frame, and a working tool provided on the rotating shaft and performing ground work.
The agricultural map shows at least one of meteorological data on meteorology, work data on work done on a field, crop data on crops, machine data on machinery for farming, and soil data on soil in a field.

According to the present invention, it is possible to generate an agricultural map in which the position detected by the position detection device and the vibration detected by the vibration detection device are related. Therefore, the worker or the like can confirm how the vibration was at each point of the place such as the field where the work was performed after the work (farming work) was performed by the work device. You can take measures for the work.

It is an overall view of the agricultural support system. It is a figure which shows an example of the map display screen M1. It is a figure which shows an example of agricultural map data. It is a figure which shows an example of the map display screen M2. It is a figure which shows the whole view of the work machine which connected the work apparatus to the work vehicle. It is 1st explanatory drawing of the work apparatus. It is the 2nd explanatory drawing of the work apparatus.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The working machine will be described.
FIG. 5 shows an overall view of the working machine 1. The work machine 1 includes a work vehicle 2 and a work device 3. For convenience of explanation, the front side (left side of FIG. 5) of the driver seated in the driver's seat 8 provided in the work vehicle 2 is the front, the rear side of the driver (right side of FIG. 5) is the rear, and the left side of the driver (FIG. 5). The front side of 5) will be described as the left side, and the right side of the driver (the back side of FIG. 5) will be described as the right side.

The work vehicle 2 is a tractor capable of towing the work device 3. The work vehicle 2 includes a vehicle body 4 and a traveling device 30 mounted on the vehicle body 4. The vehicle body 4 is configured by directly connecting a prime mover 5, a clutch housing having a clutch, a transmission case having a transmission, a differential case having a differential device, and the like. The prime mover 5 may be an engine, a motor, or both a motor and an engine. The traveling device 30 is a wheel-type traveling device 30 having a front wheel 30F rotatably supported by the front axle of the vehicle body 4 and a rear wheel 30R rotatably supported by the rear axle of the vehicle body 4. .. The upper part of the rear wheel 30R is covered with a fender 31 provided at the rear of the vehicle body 4. The traveling device 30 may be a crawler type traveling device.

The vehicle body 4 is provided with a driver's seat 8. A steering wheel or the like for operating the traveling device 30 is provided in front of the driver's seat 8. The vehicle body 4 may be provided with a cabin 9 that surrounds the driver's seat 8. A PTO shaft 32 that is rotated by the power of a prime mover 5 or the like projects from the rear portion of the vehicle body 4, and the rotational driving force of the PTO shaft 32 can be transmitted to the working device 3.
The vehicle body 4 is provided with a connecting portion 7 for connecting the working device 3. The connecting portion 7 is, for example, a three-point link mechanism provided at the rear portion of the vehicle body 4. In the connecting portion 7, a pair of lower links 35 provided at the rear of the vehicle body 4, a top link 36 provided at the rear of the vehicle body 4 at the upper part of the lower link 35, and the lower link 35 and the top link 36 are connected. It has a connecting frame 37.

The front end of the lower link 35 is rotatably provided at the rear portion of the vehicle body 4. The rear end of the lower link 35 is rotatably provided on the connecting frame 37. Further, the front end of the top link 36 is the rear portion of the vehicle body 4 and is rotatably provided at the upper portion of the lower link 35. The rear end of the top link 36 is rotatably provided on the connecting frame 37. Further, the frame 50 of the working device 3 is detachably connected to the connecting frame 37.

In this embodiment, the connecting portion 7 is composed of a three-point link mechanism, but it may be a two-point link mechanism or another mechanism without limitation. In the above-described embodiment, the frame 50 of the working device 3 is connected to the connecting frame 37, but even if the other ends of the lower link 35 and the top link 36 are connected to the frame 50 of the working device 3. good.
The work device 3 includes a work unit 40 for performing work and a frame 50 for supporting the work unit 40. The frame 50 is connected to the vehicle body 4 via the connecting portion 7. The working device 3 is, for example, a cultivating device for cultivating. For convenience of explanation, the working device 3 will be described by taking a tilling device as an example. As a matter of course, the work device 3 is connected to the work vehicle 2, such as a device other than the tilling device, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a ridge device, and the like. Any device can be used as long as it works.

As shown in FIGS. 6 and 7, the frame 50 includes a gear case 51, a left support arm 52L, a right support arm 52R, a transmission case 53, and a side frame 54. The gear case 51 is located at a substantially central portion in the width direction of the work device 3. The support arm 52L projects to the left from the left portion of the gear case 51. The support arm 52R projects to the right from the right portion of the gear case 51. The upper part of the transmission case 53 is attached to the left end portion of the support arm 52L. The upper portion of the side frame 54 is attached to the right end portion of the support arm 52R. Further, the frame 50 has a left support stay 55L, a right support stay 55R, and a mast 56. The support stay 55L is the support arm 5
It is fixed to 2L. The support stay 55R is fixed to the support arm 52R. The mast 56 is fixed to the gear case 51. The front portion of the mast 56 is connected to the connecting frame 37. Further, the frame 50 has a cover 57 that covers the working portion 40. The cover 57 includes an upper cover 57L that covers the upper part of the working portion 40 and a rear cover 57R that covers the rear of the working portion 40.

The working unit 40 has a rotating shaft 58 rotatably supported between the transmission case 53 and the side frame 54, and a working tool 59 provided on the rotating shaft 58. The rotating shaft 58 is rotated by the power of the PTO shaft 32 on the work vehicle side. Specifically, the gear case 51 is provided with an intake shaft, and the power of the PTO shaft 32 is transmitted to the intake shaft via a joint. The power transmitted to the intake shaft is transmitted to the chain transmission means in the transmission case 53 via the gear mechanism in the gear case 51 and the shaft in the support arm. The rotary shaft 58 is driven by the power transmitted to the chain transmission means. The rotation shaft 58 is rotated in the direction of arrow A1 in FIG. The work tool 59 is for performing ground work, and is composed of, for example, a tilling claw. When the rotating shaft 58 rotates in the A1 direction, the tilling claw 59 cultivates the soil and releases it to the rear rear part.

As shown in FIG. 1, a vibration detection device 10 is attached to the work device 3. The vibration detection device 10 is a device that detects the vibration of the work device 3. The vibration detection device 10 is attached to any one of the frame 50, that is, the gear case 51, the support arms 52L, 52R, the transmission case 53, and the side frame 54. Alternatively, the vibration detection device 10 may be attached to any of the mast 56, the upper cover 57L, and the rear cover 57R. The vibration detection device 10 may be provided in the work device 3, and the mounting location is not limited to the above-mentioned location.

The vibration detection device 10 has a vibration detection unit 10a and a communication unit 10b. The vibration detection unit 10a is a portion that detects vibration, and detects velocity, acceleration, displacement (amplitude), etc. in the vertical direction. The detection of vibration may be any of a capacitance type, an eddy current type, a piezoelectric type, a coil type, a spring type and the like, and is not limited. The communication unit 10b is a wireless tag, that is, an RFID tag (Radio Frequency Identification) or the like, and transmits the vibration detected by the vibration detection unit 10a. That is, the communication unit 10b transmits vibration values such as velocity, acceleration, and displacement (amplitude) vibrating up and down to the outside.

Further, a plurality of devices 12 are mounted on the vehicle body 4 of the work vehicle 2. The device 12 is a device constituting the work vehicle 2, and is, for example, a detection device 12a, a switch device 12b, a display device 12c, and a control device 12d. The detection device 12a is a device for detecting the operating state of the work vehicle 2, and is an accelerator pedal sensor, a shift lever detection sensor, a crank position sensor, a fuel sensor, a water temperature sensor, a prime mover rotation sensor, a steering angle sensor, an oil temperature sensor, and the like. Axle rotation sensor, cover sensor (cultivation depth sensor), PTO rotation sensor, etc. The switch device 12b is a switching device, such as an ignition switch, a parking brake switch, and a PTO switch.

Further, the detection device 12a includes a position detection device 12a1. The position detection device 12a1 is a device capable of detecting a position. The position detection device 12a1 is a satellite positioning system (Global).
Position (latitude, longitude) is detected using Positioning System, Galileo, GLONASS, etc. That is, the position detection device 12a1 receives the satellite signal (radio wave) transmitted from the positioning satellite, and calculates the position based on the received satellite signal. The position detecting device 12a1 is attached to the vehicle body 4 or the working device 3. The position detection device 12a1 may be any device as long as it is a device that calculates a position using a satellite positioning system, and the method for calculating the position is not limited.

The control device 12d is a device that controls the work vehicle 2, such as a CPU. The control device 12d includes a first control device 12d1 and a second control device 12d2. The first control device 12d1 is a device that controls the entire work vehicle 2. The first control device 12d1 has a detection value detected by the detection device 12a [for example, the operation amount of the accelerator pedal, the shift lever position (shift stage) when the shift lever is operated, the prime mover rotation speed, the shift stage, the oil temperature, and the crank. Position, cam position, etc.] is input. The first control device 12d1 outputs a control command to the second control device 12d2 so that the prime mover 5 has a predetermined rotation speed based on the operation amount of the accelerator pedal, and controls the transmission device based on the shift lever position. (Shift control). Further, the first control device 12d1 controls the elevating and lowering of the three-point link mechanism based on the input from the operating member (elevation control).

The second control device 12d2 is a device that mainly controls the prime mover 5. The second control device 12d2 controls the injector, the common rail, the supply pump, and the like based on the input of the operation amount of the accelerator pedal, the crank position, the cam position, and the like. In the control of the prime mover 5 in the second control device 12d2, for example, the fuel injection amount, the injection timing, and the fuel injection rate are set in the control of the injector, and the fuel injection pressure is set in the control of the supply pump and the common rail.

The display device 12c is a device that displays various matters related to the work vehicle 2, and is a liquid crystal type device composed of a liquid crystal display or the like. The display device 12c is arranged in front of or to the side of the driver's seat 8. The display device 12c can display various information such as the prime mover rotation speed, the speed change stage, the water temperature, and the fuel.
The display device 12c has a receiving unit 12c1. The receiving unit 12c1 is a wireless tag reader that receives the vibration value transmitted from the communication unit 10b, that is, an RFID reader. The direction (transmission direction) of the radio wave (signal) transmitted from the receiving unit 12c1 is directed to the working device 3, and the communication unit 10b receives the radio wave transmitted from the receiving unit 12c1 and receives the vibration value. It is possible to transmit toward 12c1. Therefore, the display device 12c can directly receive the vibration value transmitted from the communication unit 10b, and can display the received vibration value. Therefore, by looking at the display device 12c, it is possible to confirm the vibration during work by the work device 3 while working.

The display device 12c has a storage unit 12c2 and a transmission unit 12c3. The storage unit 12c2 stores the vibration value (velocity, acceleration, displacement) received by the reception unit 12c1 and the position (latitude, longitude) detected by the position detection device 12a1 as agricultural map data.
The transmission unit 12c3 is a device that transmits the vibration value received by the reception unit 12c1, and is a communication module that performs wireless communication by, for example, Wi-Fi (WireNess FideNity, registered trademark) of the IEEE802.11 series, which is a communication standard. Is. The transmission unit 12c3 may be a communication module that performs wireless communication via a mobile phone communication network or a communication module that performs wireless communication via a data communication network.

The transmission unit 12c3 sequentially associates the vibration value received by the reception unit 12c1 with the position (latitude, longitude) detected by the position detection device 12a1 and transmits it as agricultural map data in real time, or temporarily stores it in the storage unit 12c2. Send the agricultural map data. Hereinafter, for convenience of explanation, the agricultural map data including the vibration value (vibration data) is referred to as "vibration map data".

Now, FIG. 1 shows a schematic diagram of an agricultural support system. As shown in FIG. 1, the agricultural support system includes a server 60. The server 60 is a device for managing agriculture, and can receive various information transmitted from, for example, the work machine 1.
The server 60 includes a data acquisition unit 61. The data acquisition unit 61 is composed of electrical / electronic components provided in the server 60, a program stored in the server 60, and the like. The data acquisition unit 61 acquires vibration map data transmitted from the transmission unit 12c3 of the display device 12c. For example, the data acquisition unit 61 requests the transmission unit 12c3 to transmit the vibration map data periodically or irregularly. When the transmission unit 12c3 receives the request for transmission of the vibration map data, the transmission unit 12c3 transmits the vibration map data to the server 60 in real time, or transmits the vibration map data stored in the storage unit 12c2 to the server 60.

Alternatively, the transmission unit 12c3 transmits vibration map data to the server 60 periodically or irregularly. When the server 60 receives the vibration map data, the data acquisition unit 61 acquires the vibration map data.
Alternatively, the transmission unit 12c3 periodically or irregularly transmits the vibration map data to the external terminal 70. The external terminal 70 is a mobile terminal such as a smartphone, a tablet, a PDA, or a fixed terminal such as a personal computer (PC). When the external terminal 70 receives the vibration map data, it temporarily stores (saves) the received vibration map data. The data acquisition unit 61 requests the external terminal 70 to transmit the vibration map data periodically or irregularly. When the external terminal 70 receives the request for transmission of the vibration map data, the external terminal 70 transmits the temporarily stored vibration map data to the server 60. When the server 60 receives the vibration map data transmitted from the external terminal 70, the data acquisition unit 61 acquires the vibration map data. Alternatively, the external terminal 70 periodically or irregularly transmits vibration map data to the server 60. When the server 60 receives the vibration map data transmitted from the external terminal 70, the data acquisition unit 61 acquires the vibration map data.

As shown in FIG. 1, the server 60 includes a storage unit 63. The storage unit 63 is composed of a non-volatile memory or the like. When the data acquisition unit 61 acquires the vibration map data, the storage unit 63 stores the acquired vibration map data.
The server 60 includes a map display control unit 64 and a map generation unit 65. The map display control unit 64 and the map generation unit 65 are composed of electrical / electronic components provided in the server 60, a program stored in the server 60, and the like. The map display control unit 64 causes the display unit 75 of the external terminal 70 or the like to display the agricultural map that visualizes the vibration map data. The display unit 75 is a liquid crystal panel, an organic EL panel, or the like. Further, the map generation unit 65 generates an agricultural map related to agriculture based on at least the vibration value (vibration information) detected by the vibration detection device 10 and the position detected by the position detection device 12a1. As described above, the map generation unit 65 generates a vibration map F11 showing vibrations in the field as an agricultural map.

Hereinafter, the map display control unit 64 and the map generation unit 65 will be described in detail.
For example, when the external terminal 70 logs in to the server 60, a menu screen for selecting a menu or the like is displayed on the display unit 75 of the external terminal 70 under the control of the map display control unit 64.
When a button or the like is selected on the menu screen and a predetermined operation is performed, the external terminal 70 requests the server 60 to display a map. As shown in FIG. 2, the map display control unit 64 of the server 60 displays the map display screen M1 on the display unit 75 of the external terminal 70 in response to the request of the external terminal 70.

The map display screen M1 includes a map display unit 81 and a field input unit 82. The map display unit 81 is a unit that displays an agricultural map that visualizes the vibration map data stored in the storage unit 63. The field input unit 82 is a part for inputting field identification information (field identification information) such as a field name.
For example, when displaying the agricultural map F11 on the map display unit 81 under the control of the map display control unit 64, the map generation unit 65 refers to the field identification information input to the field input unit 82. The relationship between the field identification information and the position (latitude, longitude) of the field is stored (registered) in the storage unit 63 in advance. For example, the external terminal 70 is connected to the server 60, and the field map provided by the map providing company or the like is displayed on the display unit 75 of the external terminal 70. Then, by selecting the predetermined field and the field identification information from the fields shown on the field map displayed on the display unit 75 of the external terminal 70, the server 60 can be used with the predetermined field and the field identification information. Relationships can be registered.

The map generation unit 65 identifies a field based on the field identification information input to the field input unit 82, and acquires position information such as latitude and longitude of the specified field (specific field). The map generation unit 65 extracts vibration map data (position and vibration value (vibration information) detected by the vibration detection device 10) from the storage unit 63, and the map generation unit 65 is a map display unit 81. In, the field displaying the specific field is divided into a plurality of areas Qn (n = 1, 2, 3 ... n), and in the vibration map data, a plurality of vibration values Gn [ The average value obtained by averaging i] (n: division, Gn [i]: vibration value, i: number of data) is set as the representative value Dn (n = 1, 2, 3 ... n), or map generation. In the vibration map data, the unit 65 sets the integrated value obtained by integrating a plurality of vibration values Gn [i] in each of the divided areas Qn as the representative value Dn, or the map generation unit 65 sets the average value and the integrated value. The value around the area obtained by dividing the integrated value by the area of the area Qn is set as the representative value Dn.

After obtaining the representative value Dn, the map generation unit 65 assigns a plurality of groups (plurality of ranks) according to the size (value) of the representative value Dn. In the map display control unit 64, after the map generation unit 65 obtains the rank of each of the plurality of areas Qn, the color of each position of the area Qn is made to correspond to each rank, so that the vibration map F11 is converted into the map display unit 81. Display on.
That is, the map generation unit 65 calculates the representative value Dn and the rank corresponding to the area Qn of the depiction area in the predetermined field, that is, in the area surrounded by the ridges indicating the outline of the field (depiction area). By doing so, a vibration map is generated. Further, the map display control unit 64 displays the vibration map generated by the map generation unit 65 in the portion displaying the specific field.

As shown in FIG. 2, when generating the vibration map F11, an item for selecting which vibration information is generated and displayed as the vibration map F11 among the vibration values (vibration information) detected by the vibration detection device 10. It is preferable to display the selection unit 83 on the map display screen M1. Therefore, by changing the selection of the item selection unit 83, it is possible to display a vibration map showing speed (average speed), acceleration, and amplitude as a vibration map. The frequency of the vibration may be obtained from the vibration detected by the vibration detection device 10 and the frequency may be displayed as a vibration map.

The agricultural support system is provided by a vibration detection device 10 provided in the work device 3 for performing agricultural work and detecting the vibration of the work device 3, a position detection device 12a1 capable of detecting the position of the work device 3, and a vibration detection device 10. It is provided with a map generation unit 65 that generates an agricultural map related to agriculture based on a vibration value indicating the generated vibration and a position detected by the position detection device 12a1. According to this, it is possible to generate an agricultural map in which the position detected by the position detection device 12a1 and the vibration detected by the vibration detection device 10 are related. Therefore, the worker or the like can confirm how the vibration was at each point of the place such as the field where the work was performed after the work (farming work) was performed by the work device 3, and from the state of the vibration. You can take measures for the following work. For example, in each place in the field, the place where the vibration is large or small can be grasped from the agricultural map, and in the place where the vibration is large, the soil is loosened by careful work such as tilling, or when there is a lot of vibration. Adjusts the plowing depth. In addition, when the work device 2 worked in a field or the like, the vibration received by the work device 2 was integrated, such as whether the work was performed in a state where the vibration was large or in a state where the vibration was small. By obtaining the cumulative vibration value, it is possible to examine the timing of maintenance of the work device 3. That is, by looking at the agricultural map in which the position of the work device 3 or the like at the time of work and the vibration value are associated with each other, it becomes possible to carry out various studies on agriculture, and the work can be carried out efficiently.

The map generation unit 65 generates a vibration map showing vibrations in the field as an agricultural map. Therefore, it is possible to grasp the distribution of vibration when working in the field.
The vibration detection device 10 includes a vibration detection unit 10a for detecting vibration and a communication unit 10b for wirelessly transmitting the vibration detected by the vibration detection unit 10a. According to this, the vibration of the working apparatus 3 can be easily detected and transmitted by the communication unit 10b.

The agricultural support system includes a display device 12c provided on a travelable vehicle body 4 to which the work device 3 is connected and having a receiving unit 12c1 capable of receiving vibration transmitted from the communication unit 10b. According to this, for example, the vibration value transmitted from the communication unit 10b can be easily received by the display device 12c, and the vibration value can be displayed on the display device 12c.
The map generation unit 65 is provided in the server 60, and the display device 12c has a transmission unit 12c3 for transmitting the vibration value received by the reception unit 12c1 to the server 60. Therefore, not only the vibration value received by the display device 12c can be transmitted to the server 60, but also the transmitted vibration value can be confirmed.

The working device 3 includes a frame 50, a rotating shaft 58 rotatably supported by the frame 50, and a working tool 59 provided on the rotating shaft 58 and performing ground work. Therefore, the work tool 59 can detect the vibration during the ground work by the vibration detection device 10.
[Second Embodiment]
By the way, in the first embodiment, the vibration map F11, which is one of the agricultural maps, was displayed, but in the second embodiment, the agricultural map F12 different from the vibration map F11 and the vibration map F11 can be displayed side by side. You may do it. Hereinafter, a configuration different from that of the first embodiment will be described.

Hereinafter, for convenience of explanation, the agricultural map data other than the vibration map data is referred to as “other map data”. As shown in FIG. 3, the storage unit 63 stores a plurality of other map data in addition to the vibration map data. Has been done. FIG. 3 shows a list of vibration map data and a plurality of other map data. Several other map data include crop data, soil data, meteorological data, and machine data. Crop data is data on crops such as grains (cereals), vegetables, fruits, beans, and potatoes, and is data showing the yield of crops (yield data), data showing the chemical components of crops (component data), and crops. It is data (growth data) which shows the growth of. The soil data is data on the soil at a place such as a field where crops are cultivated, and is data showing the chemical composition of the soil (soil component data), data showing the hardness of the soil (soil hardness data), and the like.

Meteorological data is data such as wind direction, wind speed, temperature, humidity, sunny, cloudy, rain, thundersnow, snow, rainfall, snowfall, probability of precipitation, and pressure. Machine data is various data related to agricultural machines, such as agricultural vehicles such as tractors, rice transplanters, transplanters, harvesters such as combines, fertilizers, chemical spreaders, molding machines, mowers, and preparations. Operation data such as maneuvering and running in machines, cultivators, etc. The work data is data related to the work performed on the field by a machine for farming, and is the amount of transplantation, the amount of fertilizer applied, the amount of chemicals sprayed, the amount of seeding, and the like. Crop data, meteorological data, machine data, soil data, and work data are all data acquired from machines.

Hereinafter, the display of the vibration map F11 and the agricultural map F12 will be described.
As shown in FIG. 4, when the external terminal 70 logs in to the server 60, the map display screen M2 is displayed on the display unit 75 of the external terminal 70 under the control of the map display control unit 64 and the like.
The map display screen M2 includes a data selection unit 85, a first map display unit 81A, and a second map display unit 81B. The data selection unit 85 is a portion that selects predetermined other map data from a plurality of other map data. The data selection unit 85 displays a list of names, types, and the like of other map data stored in the storage unit 63. When data identification information such as a name and a type displayed on the data selection unit 85 is selected, other map data corresponding to the selected data identification information is determined. The first map display unit 81A displays the vibration map F11. The second map display unit 81B is a portion that displays an agricultural map F12 different from the vibration map F11, and displays an agricultural map F12 corresponding to other map data selected by the data selection unit 85.

The map generation unit 65 extracts vibration map data with reference to the storage unit 63. The map generation unit 65 divides the field of the first map display unit 81 into a plurality of areas Qn (n = 1, 2, 3 ... n), and enters each of the divided areas Qn in the vibration map data. The average value obtained by averaging a plurality of vibration values Gn [i] (n: division, Gn [i]: vibration value, i: number of data) is set as the representative value Dn (n = 1, 2, 3 ... n). do. Alternatively, the map generation unit 65 sets the integrated value, which is the sum of the plurality of vibration values Gn [i] in each of the divided areas Qn, as the representative value Dn in the vibration map data. Alternatively, the map generation unit 65 sets a numerical value around the area obtained by dividing the average value and the integrated value by the area of the area Qn as the representative value Dn.

After obtaining the representative value Dn, the map generation unit 65 assigns a plurality of groups (plurality of ranks) according to the size (value) of the representative value Dn. The map display control unit 64 obtains the ranks of the plurality of areas Qn by the map generation unit 65, and then causes the color of each position of the area Qn to correspond to each rank in the first map display unit 81A. The vibration map F11 is displayed on the first map display unit 81.

Further, the map generation unit 65 extracts other map data selected by the data selection unit 85 from the storage unit 63, and sets the fields in the second map display unit 81B into a plurality of areas Qn (n = 1, 2, 3 ... -In the data in other map data divided into n), a plurality of data Gn [i] (n: division, Gn [i]: data, i: number of data) entering each of the divided areas Qn are averaged. The average value is set to the representative value Dn (n = 1, 2, 3 ... n). Alternatively, the map generation unit 65 sets the integrated value of the data in the other map data, which is the sum of the plurality of data Gn [i] in each of the divided areas Qn, as the representative value Dn. Alternatively, the map generation unit 65 sets a numerical value around the area obtained by dividing the average value and the integrated value by the area of the area Qn as the representative value Dn.

After obtaining the representative value Dn, the map generation unit 65 assigns a plurality of groups (plurality of ranks) according to the size (value) of the representative value Dn. After the map generation unit 65 obtains the ranks of the plurality of areas Qn, the map display control unit 64 causes the second map display unit 81B to correspond the colors of the positions of the areas Qn for each rank. Display the agricultural map F12.

The agricultural support system includes an external terminal 70 that displays a vibration map generated by the map generation unit 65 and another agricultural map different from the vibration map. Therefore, the vibration map can be easily compared with other agricultural maps. For example, it is possible to compare the relationship between the vibration value when cultivated by the working device 3 and the growth map.
As shown in FIG. 1, the server 60 may include a correlation calculation unit 86. The correlation calculation unit 86 is composed of electrical / electronic components provided in the server 60, a program stored in the server 60, and the like. The correlation calculation unit 86 calculates the correlation between the vibration map data and other map data.

The correlation calculation unit 68 obtains the correlation coefficient between the vibration map data Gn [i] 1 and the other map data data Gn [i] 2. For example, the correlation calculation unit 68 uses the vibration map data Gn [i] 1 and the other map data data Gn [i] 2, and the correlation coefficient Cn (n = 1, 2, 3 ...・ Find n). For example, when the number of data in the area Q1 (n = 1) is 3 (i = 3), all the data of the vibration map data G1 [1] 1, G1 [2] 1, G1 [3] 1 and others. The correlation coefficient with all the data of the map data G1 [1] 2, G1 [2] 2, and G1 [3] 2 is defined as the correlation coefficient C1 of the area Q1.

Then, the correlation calculation unit 68 obtains the correlation coefficient Cn (n = 1, 2, 3 ... N) for each area Qn, and then uses the obtained correlation coefficient Cn as the magnitude of the correlation coefficient Cn (n). By assigning a plurality of groups (plurality of ranks) according to the value), the correlation map F13 is created as shown in FIG. When the correlation calculation unit 68 obtains the correlation coefficient Cn for each area Qn, the map display control unit 64 displays the correlation map F13 on the third map display unit 81C of the map display screen M2.

That is, the third map display unit 81C displays the correlation map F13 in which the color or the like is changed for each rank of each area Qn assigned by the correlation calculation unit 68. That is, the third map display unit 81C displays a mesh-type correlation map F13 in which a field showing a field or the like is divided into a plurality of fields and a correlation coefficient Cn is assigned to the area Qn. In the above-described embodiment, the visualization of the correlation map F13 with a mesh-type map has been exemplified, but the correlation map F13 is not limited to the above-mentioned example.

Further, the correlation calculation unit 68 has obtained the correlation coefficient for each area Qn, but instead of this, all the data of the vibration map data Gn [i] 1 and the other map data data Gn [i] 2 The correlation coefficient with all the data may be calculated. In this case, the correlation coefficient obtained from all the data is displayed on the third map display unit 81C. Therefore, the correlation calculation unit 68 can easily grasp the strength of the correlation between the vibration map and other maps. For example, when the working device 3 is cultivated and the correlation between the vibration map and the harvest map in the cultivated is strong, the yield can be changed by adjusting the cultivated work.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.
In the above-described embodiment, the vibration detected by the vibration detection device 10 is transmitted to the server 60 by the display device 12c, but the transmission unit 12c3 is provided in the working machine 1 separately from the display device 12c, and the transmission unit 12c3 is used. The vibration value may be transmitted to the server 60. Further, in the above-described embodiment, the vibration value transmitted from the communication unit 10b is received by the receiving unit 12c1 provided in the display device 12c, but the receiving unit 12c1 is provided in the working machine 1 separately from the display device 12c. , The receiving unit 12c1 may receive the vibration value from the communication unit 10b. Further, in the above-described embodiment, the transmission unit 12c3 directly transmits the vibration value or the like to the server 60, but it may be transmitted to the transmission unit 12c3 via the external terminal 70. Further, the map generation unit 65 may be provided on the display device 12c.

1 Work equipment 2 Work vehicle 3 Work equipment 4 Body 10 Vibration detection device 10a Vibration detection unit 10b Communication unit 12a1 Position detection device 12c Display device 12c1 Reception unit 12c2 Storage unit 12c3 Transmission unit 12d Control device 12d1 First control device 12d2 Second control Equipment 60 Server 61 Data acquisition unit 63 Storage unit 64 Map display control unit 65 Map generation unit 68 Correlation calculation unit 70 External terminal 75 Display unit 81 Map display unit 82 Field input unit 83 Item selection unit 85 Data selection unit

Claims (7)

A vibration detection device that is installed in a work device that is connected to a work vehicle and performs agricultural work and that detects vibration by detecting acceleration in at least the vertical direction of the work device.
A position detection device that can detect the position of the work device, and
A map generator that generates an agricultural map related to agriculture based on a vibration value indicating vibration detected by the vibration detection device and a position detected by the position detection device is provided.
The map generator adopts at least one of the average speed, acceleration, amplitude and frequency of the vibration as the vibration value of the working device in the field detected by the vibration detection device, and shows the vibration map. Agricultural support system generated as the agricultural map . The agricultural support system according to claim 1, wherein the vibration detection device includes a vibration detection unit that detects the vibration and a communication unit that wirelessly transmits the vibration detected by the vibration detection unit. The agricultural support system according to claim 2, further comprising a display device provided on a travelable vehicle body to which the working device is connected and having a receiving unit capable of receiving a vibration value transmitted from the communication unit. The map generator is provided in the server and
The agricultural support system according to claim 3, wherein the display device has a transmission unit that transmits vibration received by the reception unit to the server. The agricultural support system according to any one of claims 2 to 4, further comprising an external terminal for displaying a vibration map generated by the map generation unit and another agricultural map different from the vibration map. The work apparatus according to any one of claims 1 to 5, wherein the work apparatus includes a frame, a rotation shaft rotatably supported by the frame, and a work tool provided on the rotation shaft and performing ground work. Agricultural support system. Claim 5 showing at least one of the meteorological data on the weather, the work data on the work done on the field, the crop data on the crop, the machine data on the machinery for farming, and the soil data on the soil in the field. Agricultural support system described in.

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