JP7158292B2 - farming system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a farm management system that manages a field divided into a plurality of sections using field work machines.

The farming system according to Patent Document 1 includes a farming section management unit that manages farming sections, a farming management section that manages farm work events such as fertilization and harvesting that are performed successively for each farm section, and farm work events that are performed. (amount of fertilizer applied, amount of harvest, etc.) and costs as agricultural work results; A plan output data generation unit is provided for generating plan output data for outputting a farm work plan based on a farm work event standard calculated from actual results. A farm worker carries out farm work while looking at the output farm work plan.

The farm management system according to Patent Document 2 includes a map data recording unit that records field map data, and a field work data recording unit that records field work data generated for each work performed on a field by various agricultural work machines. , a data management section that manages the field map data and the field work data at a common coordinate position, and an evaluation section that evaluates farm management of the field based on the field work data. Field work data includes yield, taste, and fertilizer application per microplot. From the output microplot yield distribution of the field based on the yield per microplot in the field, good plots of the field with better than average yields and bad plots with worse than average yields are determined. Based on this determination result, it is possible to plan a reduction in the amount of fertilizer applied to good sections, an increase in the amount of fertilizer applied to poor sections, and the like.

JP 2014-194653 A JP 2017-068533 A

In the above-described conventional farming system, work data related to field work such as fertilization work performed in the past and performance data such as yield as the result of the field work are recorded for each field. When drafting a new field work plan, it is important to refer to recorded work data and performance data and plan so as to expect efficient harvesting. The farmer grasps the shape of the field to be worked on through the display or printout, assumes the contents of the work according to the shape, and makes a field work plan. For this reason, the farmer divides the field using the ridges and farm roads that define the shape of the field as boundary lines, and allocates the optimum work content to the divided field areas (sections). When such a field work plan is created, the field work machine travels the field so that the field work plan can be realized. At that time, since the working width is set, the field working machine must travel so that the traveling locus having this working width (including overlap) covers the field. When planning work, the working width of the field implement is not so strictly considered. Furthermore, since there is a possibility that there may be unexpected travel obstacles in the field, the traveling route of the field work vehicle does not necessarily match between when the work is planned and when the work is actually traveled. As a result, the actual work result of the actual work and the expected work result ( expected work result ) expected in the work plan will differ. However, in conventional farming systems, it has been difficult to easily evaluate the difference between such expected work results and actual work results.

SUMMARY OF THE INVENTION An object of the present invention is to provide a farm management system capable of easily evaluating differences between expected work results and actual work results.

A farm management system according to the present invention is a system for managing a field divided into a plurality of sections using a field working machine, and an operation of creating a work plan map showing a plan of field work for each section by the field working machine. a plan map creation unit; and a simulation calculation function in which work content data indicating the content of the field work based on the work plan map is input as a simulation input parameter, and the farm field as a result of the simulation of the simulation calculation function. a work prediction map creation unit that creates a work prediction map showing work prediction results for each section by the work machine; and a work performance map for each section based on work data generated by the field work machine that performed the field work. A display for displaying the work result map creation unit to be created and any or all of the work plan map, the work prediction map, and the work result map on a display for evaluating the expected work result and the actual work result. and a control unit.

In this configuration, when a work plan map for field work is created, a simulation of the field work is performed based on the work plan map. The simulation result is created as a work prediction map. As a result, the farmer can evaluate the work plan while looking at the work plan map and the work forecast map displayed on the display, and if necessary, modify the work plan to improve the work plan map. be able to. Further, when field work based on the work plan map is carried out by the field work machine, a work performance map is created from work data obtained through the field work. Any or all of the series of work plan maps, work forecast maps, and work performance maps created in this way are displayed on the display so that they can be compared with each other. Households can get useful guidance for planning their next field work.

When planning field work such as fertilization work and drug administration work, the farmer roughly divides the field into a plurality of areas, and considers the results of past field work and the current state of the field for each area. The content of field work is determined for each area. At that time, the farmer divides the field using the ridges and farm roads that define the shape of the field as boundary lines, and allocates the optimum work contents to the divided field areas (sections) to formulate a work plan. On the other hand, in field work simulation and actual field work, the work result is calculated for each field area (section) defined by the travel locus of the field work machine and its working width. For this reason, it is convenient to represent the work plan map in a coordinate system different from that of the work prediction map and the work performance map in creating each map. Therefore, in one preferred embodiment according to the present invention, the work plan map is shown in a first coordinate system, and the work prediction map and the work performance map are in a second coordinate system different from the first coordinate system. shown in the system.

A field work machine that performs field work while automatically traveling constantly calculates the coordinate position of its own vehicle by satellite positioning. Therefore, preferably, the work prediction map and the work performance map are created by combining the coordinate values obtained by satellite positioning and the content of the field work. Therefore, in one of the preferred embodiments of the present invention, the first coordinate system is a field coordinate system in which the vertical axis and the horizontal axis are two boundary lines bounding the field, and the second coordinate system The system is a satellite positioning coordinate system whose vertical axis and horizontal axis are latitude and longitude obtained by satellite positioning data.

When the work plan map is shown in the first coordinate system and the work prediction map or the work performance map is shown in the second coordinate system, the field plan content for each section in the work plan map is transmitted to the work prediction map generation unit or the field work In order to accurately transmit to the machine, it is necessary to perform a coordinate transformation from the first coordinate system to the second coordinate system. For this reason, in one of the preferred embodiments of the present invention, a coordinate conversion section is provided for performing coordinate conversion from the first coordinate system to the second coordinate system.

A farmer draws up a farm work plan while grasping the state of the farm field from a broad perspective based on the shape of the farm field. On the other hand, the simulation results and results of the field work plan are brought about by the work traveling of the field work machine. For this reason, in one preferred embodiment of the present invention, the shape of the compartment used in the work plan map and the shape of the compartment used in the work prediction map are different, and the work The shapes of the sections used in the prediction map and the work performance map are the same. The shape of the section used in the work prediction map and the work performance map is defined by the work width of the field work machine that performs the field work. At that time, considering that the simulation results and results based on the field work plan map are brought about by the work traveling of the field work machine, the shape of the section used in the work prediction map and the work result map is , is preferably defined by the working width of the field work machine that performs the field work.

When a rental field work vehicle or the like is used for field work, the work vehicle specifications such as the working width may be changed immediately before the field work. In addition, the working width may be changed during the work depending on the state of the field. A change in the working width of the field work vehicle results in a change in the shape of the worked compartment. In order to solve this problem, in one of the preferred embodiments of the present invention, a section data conversion unit is provided for allocating the work plan data assigned to the sections of the work plan map to the sections of the work prediction map. It is

It is a mimetic diagram showing a schematic structure of a farming system. It is a side view of a rice transplanter with a fertilizing function which is an example of a field working machine. It is a mimetic diagram showing a schematic structure of a seedling amount control mechanism and a delivery amount control mechanism. It is a functional block diagram which shows the control system of the rice transplanter participating in a farming system. It is a screen figure which shows an example of a work plan map. It is a screen figure which shows an example of a work prediction map. FIG. 4 is a screen diagram for comparing a work plan map and a work prediction map; It is a screen figure which shows an example of a work performance map. FIG. 4 is a screen diagram for comparing a work plan map and a work performance map; It is a screen figure for comparing a work prediction map and a work performance map.

An outline of a farming system according to the present invention will be described with reference to FIG. The farming system is mainly used for wheat and rice cultivation, but it is also used for wheat, corn, carrots, onions, and various other crops. This farm management system is suitable for managing field work, especially fertilizing work and chemical spraying work, using a field work machine, and is constructed by a computer system. This farm management system may be constructed in a computer system that is used individually (in a stand-alone manner) by farmers, or it may be constructed in a cloud computer system that is shared by many farmers. A farmer uses this farm management system to plan field work for a field divided into a plurality of sections, and based on the plan, the field work machine is driven for work.

The farm management system includes a data storage unit 51, a work plan map creation unit 52, a work prediction map creation unit 53, a work performance map creation unit 54, and a display control unit 55 as basic components. The farming system of this embodiment further comprises a coordinate conversion section 56 and a section data conversion section 57 . Furthermore, the farm management system can directly (using a data communication network) or indirectly (using a portable memory) exchange data with a field work machine that has been put in for field work. .

The data storage unit 51 stores all the data generated by this farm management system and the data sent from the field work machine for each field. Data is stored for each field, and the types of data include field characteristic data, field work plan data, field performance data, and the like.

The work plan map creation unit 52 digitizes the field work plan drawn up by the farmer and creates a work plan map showing the plan of the field work for each section. This work plan map includes work content data indicating the content of field work to be performed based on the work plan map, work specifications of the field work vehicle that performs the field work (work width, work amount per unit distance, vehicle speed, etc.). Field implement data including specification data indicating Based on the work plan map created by the work plan map creation unit 52, the work prediction map creation unit 53 performs a field work simulation and creates a work prediction map as a result of the simulation. Prior to this simulation, a field working machine to be put into the field work is selected, and specifications such as the working width and working performance of the selected field working machine are given to the work prediction map creation unit 53 as simulation input parameters. The work performance map creation unit 54 creates a work performance map based on the work data generated by the field work machine that performed the field work. For example, if the field working machine is a fertilizing machine, the work performance map includes the amount of fertilizer applied for each section. It is preferable that the section length in the transverse direction with respect to the running direction of the field working machine is equal to the working width determined by the specifications of the field working machine, or a multiple of the working width. The correct minimum stall length in the direction of travel of the field implement depends on the work control speed. That is, the section length in the running direction depends on the control responsiveness of the work equipment installed in the field work machine. Such short segments are wasted if reducing the segment length in the direction of travel does not assign meaningful work result values to the successive segments. Therefore, the segment length in the direction of travel should be greater than or equal to the segment length to which meaningful work result values are assigned for maximum control responsiveness. The work plan map and the work prediction map are stored in the data storage unit 51 as field work plan data, and the work performance map is stored as field performance data.

The display control unit 55 extracts data stored in the data storage unit 51 and displays it on the display 58 . For example, any or all of a work plan map, a work forecast map, and a work performance map can be displayed on the display 58 so as to be mutually comparable. Therefore, the farmer can see the past field work status displayed on the display 58 when making a fertilization plan for this year.

A farmer envisions the state of the field and draws up a work plan for the field while referring to the results of the previous year's fertilization and harvesting work. Therefore, as the coordinate system (first coordinate system) used in the work plan map created by the work plan map creation unit 52, two boundary lines that bound the farm field are shown on the vertical axis (indicated by Y in FIG. 1). ) and the horizontal axis (indicated by X in FIG. 1). On the other hand, since the work prediction map and the work performance map are created based on the work trajectory of the field work vehicle whose position is calculated by the satellite positioning system, the coordinate system used for them (second coordinate system) Here, a satellite positioning coordinate system in which the latitude and longitude obtained by the satellite positioning data are the vertical axis (indicated by M in FIG. 1) and the horizontal axis (indicated by L in FIG. 1) is used. Therefore, before the work plan map is given to the work prediction map creation unit 53 and the work performance map creation unit 54, the coordinate conversion unit 56 converts the data of the work plan map from the first coordinate system to the second coordinate system. Convert.

While the work plan map adopts a section shape that facilitates work planning, the section shape used in the work prediction map and the work performance map varies depending on the working width of the field implement. Defined. For this reason, here, the work plan map uses a 3m x 3m square section (planned section), and the work prediction map uses a 2m x 2m square section because the working width of the field work vehicle is 2m. Partitions (prediction partitions) are used. In other words, the shape of the section is different between the work plan map and the work prediction map. For this reason, before the work plan map is given to the work prediction map creation unit 53 and the work performance map creation unit 54, the coordinate conversion by the coordinate conversion unit 56 and the work plan assigned to the work section are performed by the partition data conversion unit 57. Section data conversion is performed to assign data values (section data values) to sections of the work prediction map. At that time, the average value (arithmetic mean or weighted average) of the plot data values of the planning plot corresponding to the target prediction plot and planning plots located around the target planning plot is divided by the area of the planning plot. By multiplying the area of the prediction partition by the data density obtained by the above, the partition data value of the target prediction partition is calculated. By performing this calculation process for all prediction blocks, the conversion of the block data from the work plan map to the work prediction map is completed.

Next, fertilization work in rice cultivation will be described as an example of field work managed by the farm management system according to the present invention. For this fertilization work, a riding-type rice transplanter shown in FIG. 2 is used as a field working machine.

As shown in FIG. 2, the rice transplanter is equipped with a riding-type four-wheel-drive traveling body (hereinafter referred to as a body 1). The machine body 1 includes a parallel quadruple link type link mechanism 11 connected to the rear part of the machine body 1 so as to be able to swing up and down, a hydraulic lifting cylinder 11 a that drives the link mechanism 11 to swing, A seedling planting device 3 (an example of a work equipment group) connected in a rollable manner, and a fertilizing device 4 (an example of the work equipment group) installed from the rear end of the machine body 1 to the seedling planting device 3. I have.

The body 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as mechanisms for running. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the airframe 1 . Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B and the like via the continuously variable transmission 14 and the like.

The seedling planting device 3 is configured in an eight-row planting format, for example. The seedling planting device 3 includes a seedling platform 31, a planting mechanism 32 for eight rows, and the like. The seedling planting device 3 can be changed to a two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).

The seedling mounting table 31 is a pedestal on which 8 rows of mat-like seedlings are mounted. The seedling mounting table 31 reciprocates in the horizontal direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 33 moves the seedling mounting table 31 upward each time the seedling mounting table 31 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 31.例文帳に追加The eight planting mechanisms 32 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 32 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling placement table 31 by power from the machine body 1, and plants it in the muddy part after leveling. As a result, when the seedling planting device 3 is in an operating state, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placement table 31 and planted in the mud part of the paddy field.

As shown in FIG. 3 , the seedling planting device 3 is provided with a seedling amount adjusting mechanism 30 that adjusts the amount of seedlings taken by the planting mechanism 32 . The planting mechanism 32 passes through a seedling extraction opening formed in a guide rail 31a that slides and guides the lower end of the seedling platform 31, takes out one seedling, and plants it. The seedling amount is adjusted by vertically changing the position of the seedling mounting base 31 and the guide rail 31a that slides and guides the lower end of the seedling mounting base 31 .

The seedling amount adjusting mechanism 30 includes a seedling amount adjusting motor 36 with a deceleration mechanism, which is an actuator for vertically changing the positions of the seedling mounting table 31 and the guide rail 31a, and an output shaft of the seedling amount adjusting motor 36. A sector gear 35 meshing with the provided pinion gear is provided. Furthermore, the seedling amount adjusting mechanism 30 includes a support arm 301 inserted into the front portion of the guide rail 31a, and a support shaft 302 that supports the support arm 301 in a swingable manner. The support arm 301 and the sector gear 35 are linked by a connecting arm 303 . The rotary shaft 304 of the fan-shaped gear 35 is provided with a seedling-collecting amount sensor 305 for detecting the rotation angle (seedling-collecting amount) of the sector gear 35 . By driving the seedling amount adjusting motor 36 in one direction, the seedling mounting table 31 and the guide rail 31a move upward, and by driving the seedling amount adjusting motor 36 in the other direction, the seedling mounting table 31 and the guide rail 31a are moved. Move down. The seedling amount is changed by the vertical movement of the seedling mounting table 31 and the guide rail 31a.

As shown in FIG. 2, the fertilizing device 4 includes a horizontally long hopper 41, a delivery mechanism 42, an electric blower 43, a plurality of fertilizing hoses 44, and a grooving device 45 provided for each row. . The hopper 41 stores granular or powdery fertilizer. The delivery mechanism 42 is operated by the power transmitted from the engine 13 and delivers two rows of fertilizer from the hopper 41 by a predetermined amount.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 42 toward the muddy surface of the field. The fertilizing device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 43 or the like.

Each fertilizing hose 44 guides the fertilizer conveyed by the conveying wind to each grooving device 45 . Each grooving device 45 is provided on each leveling float 15 . Each grooving device 45 ascends and descends together with each leveling float 15, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 15 touches the ground.

As shown in FIG. 3, the fertilizing device 4 is provided with a delivery amount adjusting mechanism 40 capable of changing and adjusting the amount of fertilizer delivered by the delivery mechanism 42 . The delivery amount adjustment mechanism 40 includes a screw shaft 403 that displaces an adjuster 402 for adjusting the delivery amount of the delivery mechanism 42, and a fertilizer adjustment motor 404 that rotates the screw shaft 403 in forward and reverse directions via a gear. , and a position detection sensor 405 for detecting the displacement position of the adjustment body 402 based on the rotation of the screw shaft 403 .

As shown in FIG. 2, the body 1 has an operating section 20 on its rear side. The driving unit 20 includes a steering wheel 21 for steering the front wheels, a main gear shift lever 22 that adjusts the vehicle speed by performing a gear shift operation of the continuously variable transmission 14, an auxiliary gear shift lever 23 that enables gear shift operation of the sub transmission, and a seedling. A work operation lever 25 that enables the up/down operation of the planting device 3 and switching of the operating state, etc., and a touch panel that displays (notifies) various information and notifies (outputs) the operator, and receives input of various information. and a driver's seat 16 for an operator. Furthermore, a preliminary seedling frame 17 for storing preliminary seedlings is provided in front of the operating section 20 .

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. FIG. Further, as shown in FIG. 3, a steering motor M1 is also connected to the steering mechanism. During automatic running, the steering motor M1 operates based on a command from the control unit 6, thereby increasing the steering angle of the front wheels 12A. adjusted. Further, a shift operating motor M2 for automatically operating the main shift lever 22 is also provided. The shift position of the transmission 14 is adjusted.

FIG. 4 shows a control block diagram of the control system of this rice transplanter and the external computer system 5 that constructs the farming system described above. The control unit 6, which forms the core of the control system of the rice transplanter, is connected to a communication section 81 used when exchanging data with the external computer system 5, and a general-purpose terminal 9 provided in the rice transplanter. The general-purpose terminal 9 is provided with a travel route generation unit 91 that generates a target travel route during automatic travel. Signals from the positioning unit 8, the automatic changeover switch 27, the travel sensor group 28, and the work sensor group 29 are input to the control unit 6. FIG. A control signal from the control unit 6 is output to the traveling equipment group 1A and the work equipment group 1B.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 . The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 . The automatic changeover switch 27 is a switch that selects between an automatic travel mode in which the machine body 1 automatically travels along the travel route generated by the travel route generator 91 and a manual travel mode in which the machine body 1 travels manually. The traveling sensor group 28 includes various sensors for detecting conditions such as steering angle, vehicle speed, engine speed, and set values for them. The work sensor group 29 includes various sensors for detecting the states of the link mechanism 11, the seedling planting device 3, and the fertilizing device 4 and setting values for them.

The traveling equipment group 1A includes, for example, a steering motor M1 and a shift operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control unit 6. The vehicle speed is adjusted by controlling the shift operation motor M2.

The work equipment group 1B includes, for example, an elevating cylinder 11a, a seedling amount adjusting mechanism 30, and a feeding amount adjusting mechanism 40. As shown in FIG. Based on the control signal from the control unit 6, the seedling amount adjustment motor 36 (see FIG. 3) is controlled to adjust the seedling amount, and the fertilizer adjustment motor 404 (see FIG. 3) is controlled. Fertilizer rate is adjusted.

The control unit 6 includes a travel control section 61 , a work control section 62 , a vehicle position calculation section 63 , a work parameter setting section 64 and a work data creation section 65 .

The vehicle position calculator 63 calculates the map coordinates of the body 1 (vehicle position) based on the satellite positioning data sequentially sent from the positioning unit 8 . This rice transplanter is capable of automatic traveling and manual traveling, and the traveling control unit 61 has an automatic traveling mode in which automatic traveling is performed or a manual traveling mode in which manual traveling is performed based on a command from the automatic changeover switch 27. one of the modes is set. In the automatic driving mode, the automatic driving control unit 611 adjusts the steering control amount so that the lateral deviation and the azimuth deviation are reduced based on the lateral deviation and the azimuth deviation calculated by comparing the vehicle position and the target travel route. to calculate The steering motor M1 is controlled based on the steering control amount to adjust the steering angle of the front wheels 12A. In the manual travel mode, the manual travel control unit 612 controls the steering motor M1 based on the amount of operation of the steering wheel 21, thereby adjusting the steering angle of the front wheels 12A.

The work control unit 62 automatically controls the work equipment group 1B based on a program given in advance in the automatic travel mode, and controls the work equipment group 1B based on the driver's operation in the manual travel mode. do.

The work parameter setting unit 64 sets work parameters for the work equipment group 1B based on the work content included in the work plan map downloaded from the external computer system 5 . This work content is set for each section of the field. When the field work is fertilization work, the work parameter setting unit 64 identifies the section in which the grooving device 45 is located based on the vehicle position calculated by the vehicle position calculation unit 63, and determines the identified section. Calculate the adjustment amount as a work parameter corresponding to the fertilizer dosage assigned to the section. The feeding amount adjusting mechanism 40 is controlled so that the calculated adjustment amount is realized.

The work data creation unit 65 converts the work results of the field work performed by the rice transplanter based on the field work plan into data to generate work data, and creates a work result file containing the work data. When the rice transplanter is performing fertilization work as field work, this work result file includes work date and time, data specifying the field, travel trajectory of the machine 1, fertilizer type, fertilizer application amount for each section, and the like. The created work result file is uploaded to the external computer system 5 through the communication section 81 .

If the field work is seedling planting work, the work data of the work result file uploaded from the rice transplanter to the external computer system 5 includes the seedling planting amount for each section instead of the fertilizer application amount for each section. . If the field work is harvest work, a combine harvester is used as the field work machine, and the work data of the work result file includes the yield and taste for each section. If the field work is plowing work, the work data of the work result file includes the plowing depth for each section.

Since the external computer system 5 has the same functions as the farming system explained using FIG. 1, the explanation thereof will be omitted. Here, using this farm management system, a part of the content displayed on the display 58 is shown while the farmer draws up a work plan, simulates it, and prepares a final work plan map to be sent to the rice transplanter. explained.

FIG. 5 shows a work plan map (here, a fertilization plan map) created by the work plan map creating section 52 and displayed on the display 58 . The fertilization plan map for this year is created by the farmer inputting the fertilizer application amount for each section while referring to the yield performance map (an example of the work performance map) of the same field in the previous year. The work plan map creating unit 52 can automatically create a fertilization plan map from the actual yield map by setting a certain relationship between the yield and the amount of fertilizer applied. While displaying the automatically created fertilization plan map on the display screen, it is also possible for the farmer to specify an arbitrary section and correct the fertilization amount.

FIG. 6 shows a work prediction map (here, a fertilization prediction map) created by the work prediction map creating unit 53 and displayed on the display 58 . The work prediction map creation unit 53 has a simulation calculation function, and is used to calculate the amount of fertilizer to be applied for each section included in the input fertilization plan map by using a designated fertilization work machine. The distribution is computed as a fertilization prediction map. In this simulation, the designated working width of the fertilizing machine becomes the length of one side of the section. In rice transplanters and fertilizing machines, the working width can be changed by controlling each row clutch or the like, so a variable partition width may be adopted in which the width of the partition is also changed according to the changed working width. . The length of the other side of the compartment, that is, the length of the compartment in the running direction of the fertilizing machine can adopt different values depending on the fertilizer application pitch. However, a segment length that is less than the dosing pitch results in wasted segments and is not adopted. As shown in FIG. 7, the created fertilization prediction map is displayed side by side with the fertilization plan map. Such a display screen is used to determine whether the fertilization plan is good or bad. In FIG. 7, the fertilization plan map and the fertilization prediction map are displayed side by side for easy comparison. Alternatively, the fertilization plan map and the fertilization prediction map can be displayed in a selectable, superimposed manner. is.

FIG. 8 shows a work performance map (here, a fertilization performance map) created by the work performance map creation unit 54 and displayed on the display 58 . The work performance map creation unit 54 calculates the fertilization performance based on the fertilizer application amount for each section included in the work data of the work result file created by the work data creation unit 65 of the rice transplanter and uploaded to the external computer system 5. Create maps. Note that if the work width differs between the simulation and the actual work, sections of different sizes may be used in the work prediction map and the work performance map. Since the work result file also includes the travel trajectory of the rice transplanter, it is possible to display the travel trajectory of the rice transplanter performing the fertilization work superimposed on the fertilization performance map. In FIG. 8, part of the travel locus is indicated by dotted lines. In the display screen diagram of FIG. 9, the fertilization plan map and the fertilization performance map are displayed side by side, and in the display screen diagram of FIG. 10, the fertilization prediction map and the fertilization performance map are displayed side by side. The farmer can evaluate the display screen of FIG. 9 and consider how the actual fertilization performance differs from the fertilization plan and where the large difference occurs. In addition, by comparing the simulation result and actual performance through the display screen of FIG. 10, it is possible to find points to improve the simulation.

[Another embodiment]
(1) In the embodiment shown in FIG. 4, the farm management system was built in the external computer system 5, but it may be built in the field work machine side such as the general-purpose terminal 9. FIG. Alternatively, it may be constructed by dividing the external computer system 5 and the general-purpose terminal 9 .
(2) In the above-described embodiment, the field work machine is a vehicle that can automatically travel, but it may be a vehicle that cannot travel automatically. In that case, the vehicle position (work position) is calculated based on the positioning data from the positioning unit 8, and the work result map is created by combining the vehicle position and the work results. In the case of manual travel, the travel route generated by the travel route generator 91 is used as a travel support map.
(3) In the case of a field working machine with a variable working width, a configuration may be adopted in which a work prediction map and a work performance map are created having a section width linked to a change in the working width. Furthermore, a configuration may be adopted in which a work prediction map and a work performance map having section lengths in the running direction are created in accordance with the minimum response timing in field work by the field work machine.

In the above-described embodiment of the present invention, a rice transplanter with a fertilizing device is employed as a field working machine, but a dedicated fertilizing machine can also be incorporated into the farming system of the present invention.

4: Fertilizer 40 : Feeding amount adjusting mechanism 402 : Adjusting body 403 : Screw shaft 404 : Fertilizer adjusting motor 405 : Position detection sensor 41 : Hopper 42 : Feeding mechanism 43 : Blower 44 : Fertilizing hose 45 : Grooving device 5 : External Computer system 51 : Data storage unit 52 : Work plan map creation unit 53 : Work prediction map creation unit 54 : Work performance map creation unit 55 : Display control unit 56 : Coordinate conversion unit 57 : Section data conversion unit 58 : Display 6 : Control Unit 61 : Travel control section 62 : Work control section 63 : Vehicle position calculation section 64 : Work parameter setting section 65 : Work data creation section 8 : Positioning unit 9 : General-purpose terminal 91 : Travel route generation section

Claims (7)

A farm management system for managing a field divided into a plurality of sections using a field work machine,
a work plan map creating unit for creating a work plan map showing a plan of field work for each section by the field work machine ;
A simulation calculation function is provided in which work content data indicating the content of the field work based on the work plan map is input as a simulation input parameter ; a work prediction map creation unit that creates a work prediction map showing the work prediction result of
a work performance map creation unit that creates a work performance map for each section based on work data generated by the field work machine that performed the field work;
a display control unit that displays any one or all of the work plan map, the work prediction map, and the work performance map on a display for evaluating expected work results and actual work performance. . 2. The farm management system according to claim 1, wherein said work plan map is shown in a first coordinate system, and said work prediction map and said work performance map are shown in a second coordinate system different from said first coordinate system. . The first coordinate system is an agricultural field coordinate system whose vertical axis and horizontal axis are two boundary lines bounding the agricultural field. 3. The farming system according to claim 2, which is a satellite positioning coordinate system having an axis and a horizontal axis. 4. The farming system according to claim 2 or 3, further comprising a coordinate conversion unit that performs coordinate conversion from the first coordinate system to the second coordinate system. The shape of the section used in the work plan map and the shape of the section used in the work prediction map are different, and the section used in the work prediction map and the work performance map 5. The farming system according to any one of claims 1 to 4, wherein the shapes of are the same. 6. The farm management system according to claim 5, wherein the shape of the section used in the work prediction map and the work performance map is defined by a work width of a field work machine that performs the field work. 7. The farming system according to claim 5 or 6, further comprising a partition data conversion unit that allocates the work plan data assigned to the partition of the work plan map to the partition of the work prediction map.

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