JP7270309B2 - Weeding system for fields, spraying system for spraying material for fields, planting system for fields and fertilizer spraying system for paddy fields - Google Patents

Description

The present invention mainly relates to a field weeding system, a field weeding method using this planting weeding system, and a weeder that can be suitably used for this planting weeding system. The present invention also relates to a field application material distribution system, a field planting system, and a paddy field fertilizer distribution system.

In recent years, there has been an increasing demand for organic pesticide-free cultivation that does not use pesticides. However, organic pesticide-free cultivation does not use herbicides, so it is easy for weeds to grow in the fields, which greatly increases the labor required for weeding. For example, weeds called "Konagi" tend to grow in paddy fields that are organically cultivated. Since this Konagi absorbs nitrogen in the soil and causes a decrease in the yield of rice, countermeasures against Konagi have become important in paddy fields that are organically cultivated. However, Konagi has a very strong reproductive power, and it is impossible to suppress the breeding of Konagi without frequent weeding.

Perhaps in view of such a situation, there has been proposed a traveling weeder that weeds while traveling in a field (see, for example, Patent Document 1). This type of weeder has a front wheel (see reference numeral 2a in FIG. 6 of Patent Document 1) in the middle portion in the width direction (horizontal direction). When positioned, weeds growing between the rows of seedlings are removed by weeding means (see reference numeral 16 in FIG. 6 of Patent Document 1). As a result, the labor required for weeding the paddy field can be reduced.

JP 2020-72757 A

However, when the position of the front wheel of a traveling weeder shifts to the left or right, the position of the weeding means also shifts to the left or right, and the weeding means may remove not only weeds but also rice seedlings. For this reason, the operator of the weeder must drive the weeder while paying attention so that the position of the front wheel does not shift to the left or right. In particular, when the weeder reaches the edge of the paddy field, it is necessary to turn the weeder. It is necessary to pay close attention. In addition, the work of spraying pesticides (herbicides, fungicides, insecticides), fertilizers, and other spraying materials for fields has required the same labor as weeding.

Also, in recent years, expensive slow-release fertilizers have been used extensively in order to reduce the work required to apply field spray materials (especially fertilizers). Furthermore, it has become a serious social problem that the waste plastic discharged from the use of slow-release fertilizers has an adverse effect on the environment.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and provides a field weeding system capable of reducing the burden required for weeding the field by making the weeder unmanned. Another object of the present invention is to provide a method for weeding fields using this weeding system. A further object of the present invention is to provide a weeder that can be suitably used in this weeding system. Furthermore, by making the sprayer unmanned, it is possible to reduce the burden required for spraying the agricultural spraying material, reduce the cost burden on farmers, and reduce the adverse effects of waste plastics on the environment. It is also an object of the present invention to provide a distribution system. It is a further object of the present invention to provide a field planting system that can reduce the burden required for planting crop seeds and seedlings in fields by making the planting machine unmanned. It is another object of the present invention to provide a paddy field fertilizer spreading system that can reduce the burden required to spread an appropriate amount of paddy field fertilizer by unmanning the spreader.

The above issues are
A planting machine that plants seeds and seedlings of crops while traveling through fields,
A weeder that weeds while traveling in the field,
an operation data storage means for storing the planting route traveled by the planting machine in the field;
and a weeder automatic operation means for automatically operating the weeder,
The problem is solved by providing a field weeding system characterized in that the weeder automatic operation means automatically operates the weeder so that the weeder follows the planting route stored in the operation data storage means.

Here, the concept of ``the planting route along which the planting machine travels in the field'' includes not only ``the route along which the planting machine travels in the field while planting crops,'' A route that matches the route traveled through the fields” is also included. For example, "the route that matches the route that the planting machine traveled through the field when planting the crops" includes, for example, "the route that the planting machine traveled through the field in advance before planting the crops (in the future, it will be possible to plant the crops with the planting machine. )” and the like. When acquiring the "route that matches the route that the planter traveled through the field when planting the crop", the driving subject is not limited to the planter, but agricultural machines other than the planter, people, etc. (described later) limited to those provided with route acquisition means such as a GPS oscillator).

In the weeding system of the present invention, crops such as rice should be planted in rows along the route (planting route) followed by the planting machine at the time of planting. That is, from the planting route, it is possible to determine in what row the crops are planted. Therefore, it is possible to determine the positions of the gaps between rows of crops (positions where weeding should be performed) from the planting route. Therefore, by causing the weeder to follow the planting path, it is possible to target and remove weeds in the gaps between rows of crops. In addition, in the weeding system of the present invention, the weeder is automatically operated so as to follow the planting route. For this reason, not only can the labor required for weeding be reduced, but also the operator of the weeder becomes unnecessary.

As already mentioned, the concept of ``the planting route along which the planting machine travels in the field'' includes not only ``the route along which the planting machine travels in the field while planting crops,'' Weeding is preferably performed based on "a route along which the planting machine traveled in the field while planting the crops". This is because the number of times the planting machine is run can be reduced (for example, only once), and the work is not required.

In the weeding system of the present invention,
The operating data storage means further stores operating data synchronized with or corresponding to operations performed by the planting machine at each point along the planting route during planting of crop seeds or seedlings,
It is preferable that the weeder automatic operation means automatically operates the weeder based on the operation data stored in the operation data storage means. In addition to the planting route (coordinate data), the operating data storage means may store operating data (corresponding to the operation of the planting machine) synchronized therewith.

Planters and weeders usually have similar operating means, such as steering wheels, accelerators, brakes, etc., and their operating methods are generally the same. For this reason, the weeder automatic operation means performs exactly the same operation on the weeder as the operation performed on the planter when planting seeds and seedlings of crops, so that the weeder can be easily moved along the planting route. can be run.

The operation data stored in the operation data storage means is not particularly limited as long as it relates to the operation performed by the driver of the planting machine. The operation data includes detailed time, direction and speed of the machine body when planting crop seeds and seedlings, steering angle of the steering wheel, opening of the accelerator, operation lever, operation button, operation pedal, control Data related to the status of setting values of the device are exemplified. The planting machine is provided with detection means and measurement means for obtaining these data, such as a direction sensor, a speed sensor, a rotation angle sensor for the handle, a position sensor for the planting claw, and the like. By automatically operating the weeder based on such operating data, the number of sensors installed in the weeder can be reduced, and the program processing for controlling the automatic operation of the weeder can be greatly simplified. can.

In the weeding system of the present invention, the method of acquiring the planting route and the method of controlling the automatic operation means of the weeder are not particularly limited, but it is preferable to employ the following configurations.
i.e.
The planting machine is provided with a coordinate oscillator for the planting machine that transmits the coordinates of the planting machine,
The weeder is provided with a coordinate oscillator for the weeder that transmits the coordinates of the weeder,
The operation data storage means stores the trajectory traced by the planting machine coordinate oscillator when the crop is planted as a planting route;
The weeder automatic operation means performs automatic operation of the weeder while collating the coordinates of the weeder coordinate oscillator with the planting route stored in the operation data storage means. The planter coordinate oscillator and the weeder coordinate oscillator may be the same.

A GPS (Global Positioning System) oscillator, a GNSS (Global Navigation Satellite System) oscillator, and the like are exemplified as the planter coordinate oscillator and the weeder coordinate oscillator. Recent GPS/GNSS can specify the coordinates of the ground surface with an error of several centimeters or less, such as static surveying, RTK (Real Time Kinematic)-GPS surveying, and VRS (Virtual Reference Station)-GPS surveying. Therefore, it is possible to perform automatic operation of the weeder with high accuracy based on the planting route with high accuracy. Therefore, it is possible to prevent crops from being removed by the weeder (prevent the occurrence of crop shortages during weeding). Also, GPS/GNSS oscillators are very compact. Therefore, it can be attached to a planter, a weeder, or a sprayer without getting in the way.

In the weeding system of the present invention, the number of wheels of the planter and weeder is not particularly limited (three or more wheels are sufficient), but for example, three wheels including one front wheel and two rear wheels can be used. . in this case,
The planter and the weeder both have front wheels (usually steering wheels) in the middle in the left-right direction,
A coordinate oscillator for the planting machine that transmits the coordinates of the planting machine is arranged at the front wheel position of the planting machine,
Preferably, the weeder coordinate oscillator for transmitting the weeder coordinates is located at the front wheels of the weeder. Here, the "front wheel position" means a position on the same horizontal coordinate as the center of the front wheel, and means any position on a vertical line passing through the center of the front wheel.

This makes it possible to match the relative position of the front wheels of the planter with respect to the crop and the relative position of the front wheels of the weeder with respect to the crop. Therefore, if the weeder is driven so that the coordinate oscillator for the weeder perfectly matches the planting route (the position of the front wheels of the weeder perfectly matches the planting route), the desired It will be possible to remove weeds in the area. In this way, by simplifying the control algorithm of the weeder automatic operation means, it is possible to make it more difficult for crops to lose crops during weeding.

In the weeding system of the present invention,
The weeder is provided with a weeder orientation detection means for detecting the orientation of the weeder,
It is also preferable that the weeder automatic operation means automatically operates the weeder while considering the detection result by the weeder orientation detection means.

This makes it possible to grasp not only the position of the front wheels of the weeder, but also the position of the rear wheels of the weeder and the traveling direction. For this reason, the front wheels and rear wheels of the weeder are prevented from crossing the row of crops, and it is possible to more reliably prevent missing crops during weeding.

In the weeding system of the present invention,
The weeder is provided with crop position detection means for detecting the position of the crops existing around the weeder during operation,
It is also preferable that the weeder automatic operation means performs automatic operation while considering the detection result by the crop position detection means.

As a result, even if there is an error in the planting route stored in the operation data storage means or an error in the current position of the weeder recognized by the automatic operation means of the weeder, these errors can be corrected. It is possible to operate the weeder automatically. Therefore, it is possible to more reliably prevent crop shortages during weeding.

In the weeding system of the present invention, the weeder automatic operation means directly controls the driving device such as the engine and motor of the weeder, the steering wheel (usually the front wheel) of the weeder, the operation lever, the support mechanism for the operation button, etc. Automatic operation may be performed by controlling. However, in this case, the weeder must be designed and modified to meet such specifications.
For this reason, the weeder automatic driving means is
an operation portion acting means attached to the operation portion of the weeder and acting on the operation portion;
It is preferable to include an automatic operation control means for transmitting a control signal to the operation section action means. Here, the "operating section" refers to a handle, accelerator, brake, clutch, shift lever, operating lever, operating switch, operating pedal, etc. for operating the weeder.

As a result, the weeder automatic operation means can be retrofitted to an existing weeder. Therefore, by effectively using an existing weeder, it is possible to reduce the introduction cost of the weeding system of the present invention. Also, if the weeder automatic operation means is removed from the weeder, the weeder can be used as a general weeder.

In addition, the above problem is
A weeder that weeds while traveling in a field,
a coordinate oscillator that transmits the coordinates of the weeder (corresponding to the "coordinate oscillator for the weeder" in the above weeding system);
Automatic operation means for automatically driving the weeder so that the weeder follows the weeding path while matching the specified weeding path with the coordinates of the coordinate oscillator equivalent).

This weeder can be suitably used as the weeder in the above-described weeding system of the present invention.

In addition, the above problem is
A planting machine that plants seeds and seedlings of crops while traveling through fields,
a spreader that spreads the spread material for the fields while traveling in the fields;
an operation data storage means for storing the planting route traveled by the planting machine in the field;
and a spreader automatic operation means for automatically operating the spreader,
By providing a spraying system for a field spraying material, characterized in that the sprayer automatic driving means automatically operates the sprayer so that the sprayer follows the planting route stored in the operation data storage means. resolved.

By causing the sprayer to follow the planting route, it is possible to target rows of crops or gaps between rows of crops and spray field application materials such as fertilizers and pesticides. As with the above weeding system, this can reduce the burden on the operator. In addition to reducing the workload, this system can also significantly reduce the purchase cost of agricultural chemicals and fertilizers, leading to a reduction in waste plastic waste emissions. Some of these can be achieved by applying fertilizers and pesticides using drones, but this greatly increases the material cost, but on the contrary, this method can use low-cost ordinary fertilizers instead of so-called one-shot fertilizers. Drones increase material costs, but this system can reduce material costs. Furthermore, it is impossible to apply the right amount of fertilizer at the right time with one-shot fertilizer, but if this were realized, it would be possible to reliably spread the right amount of fertilizer at the right time, which would improve the growth of rice. and an increase in production can be expected. Furthermore, it is also effective in preventing the runoff of fertilizer, and by preventing excessive fertilizer application, it leads to a reduction in material costs and environmental destruction caused by runoff.

In addition, the above problem is
A ridge forming device that forms ridges while traveling in the field, a planting machine that plants while traveling in the field, an operation data storage means that stores the ridge forming route that the ridge forming machine has traveled in the field, and an automatic operation of the planting machine. and a planting machine automatic operation means to perform
By providing a field planting system characterized in that the planting machine automatically operates so that the planting machine automatically follows the ridge forming route stored in the operation data storage means. resolved.

Here, the concept of ``the ridge-making route along which the ridge-making machine traveled in the field'' includes not only ``the route along which the ridge-making machine travels in the field while ridge-making,'' "route that matches the route traveled by" is also included. For example, "the route that matches the route that the ridge-forming machine traveled in the field during ridge-making" is, for example, "the route that the ridge-forming machine traveled in the field in advance before ridge-building (on the assumption that ridge-making will be performed by the ridge-forming machine in the future. previously traveled route)” and the like. When acquiring the “route that matches the route taken by the ridge-forming machine in the field during ridge-making,” the driving subject is not limited to the ridge-forming machine, but agricultural machinery other than the ridge-forming machine, people, etc. (route acquisition means limited to those provided.) may be used. The field planting system of the present invention, like the weeding system described above or the spraying system described above, makes it possible to reduce the burden on the operator.

In the field planting system of the present invention, the method of acquiring the planting route and the method of controlling the automatic operation means of the planting machine are not particularly limited, but it is preferable to employ the following configurations.
i.e.
The planting machine is provided with a planting machine coordinate oscillator that transmits the coordinates of the planting machine,
The planting machine automatic operation means automatically operates the planting machine while collating the ridge forming route stored in the operation data storage means with the coordinates of the planting machine coordinate oscillator.

In addition, by taking into account the position of the planting means with respect to the coordinates of the coordinate oscillator for the planting machine (synchronizing or associating the position of the planting means and the position of the planting nail at that time with the coordinates), the planting machine can It is a configuration for square planting of crops.
By planting crops in squares and leaving a certain amount of space in the vertical direction (direction along the planting route), in the subsequent weeding work, the weeder can be made to perform weeding work in the vertical direction or in the horizontal direction ( It is also possible to perform weeding work in the direction across the planting route. As a result, both weeds growing between plants in the vertical direction and between plants in the horizontal direction (between rows) can be removed.

In addition, the above problem is
A puddling machine that puddles while traveling in the field,
A spreader that spreads fertilizer while traveling in a field,
an operation data storage means for storing the puddling route traveled by the puddling machine in the field;
a spreader automatic operation means for automatically operating the spreader;
with
The operation data storage means further stores soil data including the hydrogen ion concentration, electrical conductivity, and oxidation-reduction potential at each point (coordinates) on the puddling route,
The spreader automatic operation means automatically operates the spreader so that the spreader traces the puddling route stored in the operation data storage means, and automatically adjusts the spread amount of fertilizer based on the soil data. It is also solved by providing a fertilizer spreading system for paddy fields.

Here, the concept of ``the puddling route along which the puddling machine travels in the field'' includes not only ``the route along which the puddling machine travels in the field while puddling'', but also ``the route that the puddling machine travels in the field during puddling. It shall also include “routes to As "the route that matches the route that the puddler ran in the field during puddling", for example, "the route that the puddler traveled in the field in advance before puddling (the route that traveled in advance on the assumption that puddling will be performed with the puddler in the future) ” and the like. The driving subject when acquiring the "route that matches the route that the peddler traveled in the field during puddling" is not limited to the puddling machine, but agricultural machines other than puddling machines and people (including those equipped with route acquisition means) limited.) may be. The paddy field fertilizer spraying system of the present invention can reduce the burden on the operator in the same manner as the weeding system and the like.

As described above, according to the present invention, it is possible to provide a field weeding system capable of reducing the load required for weeding the field by making the weeder unmanned. It is also possible to provide a weeding method for fields using this weeding system. Furthermore, it becomes possible to provide a weeder that can be suitably used for this weeding system. Furthermore, by making the sprayer unmanned, it is possible to reduce the burden required for spraying the agricultural spraying material, reduce the cost burden on farmers, and reduce the adverse effects of waste plastics on the environment. It also becomes possible to provide a dispersal system. Furthermore, it is also possible to provide a field planting system that can reduce the burden required for planting crop seeds and seedlings in fields by making the planting machine unmanned. Furthermore, it is also possible to provide a paddy field fertilizer spreading system capable of reducing the load required for spreading the paddy field fertilizer by making the spreader unmanned.

1 is a conceptual diagram of a weeding system of the present invention; FIG. FIG. 2 is a flow diagram illustrating a weeding method using the weeding system of the present invention; It is the figure which showed a mode that the planting process in the flowchart of FIG. 2 is performed. It is the figure which showed a mode that the weeding process in the flowchart of FIG. 2 is performed. It is the side view which showed the planting machine used by the planting process. Fig. 2 is a side view showing a weeder used in a weeding process; Fig. 3 is a cross-sectional view showing a state in which an operation section action means constituting the weeder automatic operation means is attached to the operation section of the weeder.

The weeding system of the present invention will be described more specifically with reference to the drawings. However, the configuration described below is merely a preferred embodiment, and the technical scope of the weeding system of the present invention is not limited to the configuration described below. For example, in the following description, weeding is performed based on "the route traveled through the field while the planting machine is planting the crop". It is good also as the aspect which performs weeding. In this manner, the weeding system of the present invention can be appropriately modified within the scope of the invention.

1. Overview of Weeding System First, an overview of the weeding system of the present invention will be described. FIG. 1 is a conceptual diagram of the weeding system of the present invention. In the weeding system of the present invention, as shown in FIG. 1, a planting machine 10, a weeding machine 20, and an operation data storage means 30 are used to weed a field. FIG. 2 is a flowchart illustrating a weeding method using the weeding system of the present invention. Weeding of the fields is performed in the weeding step S2, and prior to that, the planting step S1 is performed. In this planting step S1, crops are planted in a field. When weeding a field after crops have been planted, it is necessary not to remove even the crops, but the weeding system of the present invention can efficiently remove only weeds even in such a situation.

FIG. 3 : is the figure which showed a mode that planting process S1 was performed. The planting step S1 is performed by running the planting machine 10 on the field F along a predetermined planting route R1, as shown in FIG. In this planting step S1, the planting machine 10 plants a plurality of crops N (four each in the example of FIG. 3) along the planting route R1. Therefore, a plurality of rows (rows C) of the crops N are formed in the field F after the planting step S1. The travel route (planting route R1) of the planting machine 10 in the planting step S1 is stored in the operation data storage means 30 (FIG. 1).

FIG. 4 is a diagram showing a state in which the weeding step S2 is performed. The weeding step S2 is performed by causing the weeder 20 to travel over the field F according to the planting route R1 stored in the operation data storage means 30 . The weeder 20 is automatically operated by the weeder automatic operation means 60 . As a result, the burden required for weeding the fields can be reduced. That is, as already described, rows C (rows of crop N) are formed along the planting route R1. Therefore, when the weeder 20 travels along the planting route R1, the weeder 20 moves along the row C, and the weeding means 25 of the weeder 20 also moves along the row C. Therefore, if the weeding means 25 is arranged on the row space B (gap between adjacent rows C) at the start point _P0 of the weeder 20, then the weeding means 25 will continue to operate until the goal point _P11 . This is because the weeds can move on the interval B, and only the weeds growing in the interval B can be removed efficiently. In addition, the need for a human to drive the weeder 20 is eliminated.

The planting step S1 and the weeding step S2 will be described in detail below.

2. Planting Step In the planting step S1, the crops N are planted in the field F by the planting machine 10 . Before explaining the planting step S1, the planting machine 10 used in the planting step S1 will be explained first.

In FIG. 5, the side view of the planting machine 10 is shown. The planting machine 10 has a vehicle body 11 on which a driver can ride, one or two front wheels 12 and a pair of left and right rear wheels 13 (left rear wheel 13L and right rear wheel 13R) for supporting the vehicle body 11. I have. The vehicle body 11 is provided with a seat 11a for the driver to sit on, an operating means 11b such as a steering wheel, and the like. The front wheels 12 are steering wheels whose direction can be adjusted by operating a steering wheel, and the rear wheels 13 are driving wheels. The front wheel 12 is arranged in front of an intermediate position between the left rear wheel 13L and the right rear wheel 13R. Note that the front wheels 12 are often driven.

The planting machine 10 is provided with a GPS oscillator (coordinate oscillator for planting machine) 14 for specifying its current position (coordinates on the ground surface). The GPS oscillator 14 is provided, for example, at any position on the vertical line α passing through the center of the front wheels 12 which are steered wheels. In this embodiment, it is provided above the center of the front wheel 12 .

As for planting machine 10, it is preferred to have an operation support function. The driving support function is a function that allows the driver to drive following the guideline displayed on the navigation screen 15 while looking at it. On the navigation screen 15, the current position of the planting machine 10 specified by the GPS oscillator 14, a map image of its surroundings, the route the planting machine 10 has traveled so far, the route the planting machine 10 should travel from now on, etc. is displayed. Especially when the field F is wide, it is difficult to accurately grasp the direction to travel or the place to turn. With the driving support function, the driver can accurately grasp the direction in which the vehicle should travel and the place in which the vehicle should be turned, so that the crop N can be planted in a desired position. Moreover, you may implement automatic driving|running including automatic steering in a planting process. Of course, the operation status of the rice transplanter can be used in part or in whole for the automatic operation of the weeder as it is.

The planting machine 10 includes planting route transmission means (not shown). The planting route transmission means transmits the planting route R1 (trajectory followed by the GPS oscillator 14) traced by the planting machine 10 when planting the crop N to the operation data storage means 30 via the Internet NW by wireless communication. Transmit and store (see FIG. 1).

In this embodiment, when the planting machine 10 is planting the crop N in the field F, the planting route transmission means sequentially (almost in real time) sends the coordinates specified by the GPS oscillator 14 to the operation data storage means 30 . Send to In addition, the planting route transmission means records the coordinates specified by the GPS oscillator 14, and when the planting is finished, the coordinate group recorded at a plurality of points in time is collected and stored in the operation data storage means 30. You may send.

Planting means (planting claws) 16 for planting the crops N (seedlings) in the field F and the crops N are placed in the central portion of the vehicle body 11 , and the crops N can be supplied to the planting means 16 . A feed mechanism 17 is provided that can. In this embodiment, four planting means 16 are arranged in the horizontal direction, and two, four or more supply mechanisms 17 are arranged in the horizontal direction.

The planting machine 10 having the planting means 16 attached to the central portion of the vehicle body 11 is generally called a mid-mount type. In a mid-mount planter 10, the planting means 16 can be provided relatively close to the GPS oscillator 14 (front wheel position). As a result, the error between the planting means 16 or the planting position of the crop N and the GPS oscillator 14 (coordinates specified thereby) can be reduced. When calculating the position of the planting means 16 itself or the planting position of the crop N based on the coordinates of the GPS oscillator, it is preferable that this error be small.

However, the planting machine 10 is not limited to the mid-mount type, and may be of any type. For example, a rear mount type in which the planting means 16 is provided behind the planting machine 10 can be used by considering the positional relationship between the GPS oscillator, the wheels 12 and 13 and the planting means 16 .

As shown in FIG. 3, in the planting step S1, first, the planting machine 10 described above is moved to the start point _P0 . Then, while moving the planting machine 10 to the point _P1 , the crops N are planted at predetermined intervals. As a result, four crops N (lines indicated by dashed lines) are planted in the field F.

Subsequently, the planting machine 10 is turned and moved to the point _P2 . Then, the planting machine 10 is moved to the point _P3 while planting the crop N. As a result, four more rows of crops N are planted at locations apart from the four rows of crops N planted first.

Subsequently, the planting machine 10 is turned in the direction returning to the starting point _P0 and moved to the point _P4 . Then, the planting machine 10 is moved to the point _P5 while planting the crop N. As a result, four more rows of crops N are planted at locations adjacent to the four rows of crops N planted first.

As shown in the enlarged view of FIG. 3, the planting machine 10 has the outer side of the left rear wheel 13L, the middle position between the left rear wheel 13L and the front wheel 12, the middle position between the front wheel 12 and the right rear wheel 13R, and the right rear wheel 13R. The crops N are planted on the outer sides of the rear wheels 43R. The interval between each row C (planting rows of crops N) is usually about 30 cm to 35 cm, and the front-rear interval of crops N forming each row is usually about 10 cm to 30 cm.

Thereafter, in the same manner, the planting machine 10 is sequentially traced from the point _P6 to the point _P11 , and the crop N is planted over substantially the entire surface of the field F. A route (coordinate group) from the point _P0 to the point _P11 is stored in the operation data storage means 30 as the planting route R1 (see FIG. 1).

In addition, the planting of the crops N is usually performed from one end side of the field F toward the other end side. In FIG. 3, planting is performed following points _P0- > _P1- > _P5- > _P4- > _P8- > _P9- > _{P2- > P3- >} P7-> _P6- >P10-> _P11. is common.

However, the route to be planted next to the route that has finished planting (for example, point P ₀ to point P ₁ ) is not the route adjacent to that route (point P ₅ to point P ₄ ), but is separated from that route. It is preferable to use a route (point P ₂ to point P ₃ , point P ₉ to point P _8, etc.). This is because if the route on which planting has been completed and the route on which the next planting is to be performed are adjacent to each other, it is necessary to change direction with a small radius. This is because there are cases where the field is damaged due to the structural reason or the technical reason of the driver, causing the lack of seedlings. The distance between the planting path and the next planting path is preferably twice the width of the planting that can be performed at one time (the width of eight rows in this embodiment) or more.

Moreover, it is preferable that the interval between the rows C planted in the field F (the width of the interval B between rows) is uniform as a whole. In this regard, as described above, if the planting machine 10 is equipped with a driving support function, by driving according to the guideline displayed on the navigation screen 25, the interval between rows C (the width of the interval B between rows) ) can be made uniform overall (the width of the inter-row B1 and the width of the inter-row B2 in the enlarged view can be made the same).

The planting route R1 of the planting machine 10 is not limited to the route shown in FIG. 3, and may be any route. If the trajectory of the GPS oscillator 14 attached to the planting machine 10 can be recorded, the weeding can be performed by having the weeder 20 automatically follow the trajectory in the weeding step S2. Therefore, it is possible to select the optimum planting route according to various conditions such as the performance of the planting machine 10, the skill of the driver, the shape of the field F, and the like. Even if the planting route becomes complicated as a result of selecting the optimum planting route, the driver can easily plant along the planting route if the planting machine 10 is equipped with a driving support function. Machine 10 can be operated.

Although the example in which the driver manually operates the planting machine has been described above, the planting machine may be operated automatically. As a means for automatically operating the planting machine, a device dedicated to the planting machine can be used, but a device that can also be used as a weeder or the like may be used. It is also possible to divert the weeder automatic operation means 60 shown. At this time, for example, the automatic operation of the planting machine is controlled based on the route traveled in advance in the field before planting the crops (the route traveled in advance assuming that the planting machine will plant the crops in the future). It is possible. In addition, the driving subject when obtaining such a route is not limited to the planting machine, but may be an agricultural machine other than the planting machine, a person, etc. (limited to those equipped with a route obtaining means such as a GPS oscillator). There may be.

3. Weeding Step In the weeding step S2, the field F is weeded by the weeder 20 . Before describing the weeding step S2, the weeder 20 used in the weeding step S2 will be described.

FIG. 6 shows a side view of the weeder 20. As shown in FIG. The weeder 20 includes a vehicle body 21, one or two front wheels 22 supporting the vehicle body 21, and a pair of left and right rear wheels 23 (a left rear wheel 23L and a right rear wheel 23R). The front wheels 22 are steering wheels and the rear wheels 23 are driving wheels. The front wheel 22 is arranged in front of an intermediate position between the left rear wheel 23L and the right rear wheel 23R.

Further, the weeder 20 is provided with a GPS oscillator (coordinate oscillator for the weeder) 24 for specifying its current position. The GPS oscillator 24 may be placed anywhere, but is provided at any position on a vertical line β passing through the center of the front wheels 22, which are steered wheels, for example. In this embodiment, it is provided above the center of the front wheel 22 .

In this embodiment, weeding means 25 is provided below the vehicle body 21 between the front wheels 22 and the rear wheels 23 . The weeding means 25 is a rotor having a rotating shaft in the horizontal direction, and is intended to perform weeding by agitating the soil of the field. The weeder 20 may be provided with other weeding means different from the weeding means 25, for example, a tooth for scraping out weeds growing on the surface layer of the soil by swinging in the horizontal direction.

Five weeding means 25 are arranged side by side in the left-right direction so that the weeder 20 is positioned between the rows B when the weeder 20 travels along the planting route R1. It should be noted that the number of arrangement of weeding means 25 must be larger than the number of arrangement of planting means 16 in planting machine 10 . This is because if the number of arrays of the weeding means 25 is smaller than the number of arrays of the planting means 16, when the weeding machine 20 traces the planting route R1 and weeds the fields F, there are areas where weeding is not performed. This is because In this embodiment, since the planting machine 10 is provided with four planting means 16, the weeder 20 provided with five weeding means 25 is used.

As with the planter 10, the weeder 20 may be of any type, such as a mid-mount type or a rear-mount type. However, the type of weeder 20 is preferably of the same type as the planter 10 . Specifically, when the planter 10 is of the mid-mount type, it is preferable to use the weeder 20 of the mid-mount type as well. By making the relative position of the weeding means 25 on the vehicle body 21 the same as the relative position of the planting means 16 on the vehicle body 11, the adjustment for positioning the weeding means 25 between the rows B can be easily performed.

The weeder 20 is provided with a weeder automatic operation means 60 that enables automatic operation control of the weeder 20 . The weeder automatic operation means 60 performs rotation operation and shift operation of the driving operation part (steering wheel, accelerator, brake, etc.) by controlling the operation part action means attached to the driving operation part such as the steering wheel, accelerator, brake, etc. . The weeding machine automatic operation means 60 automatically performs the operation of the weeding means 25 (rotating operation, lifting operation, etc.).

FIG. 7 is a schematic cross-sectional view showing a state in which the operation section action means 61 constituting the weeder automatic operation means 60 is attached to the operation section of the weeder 10. As shown in FIG. The operating portion action means 61 is attached in place of the steering handle provided on the weeder 20 by removing it from the shaft S. The operation section action means 61 includes a fixed section 61a fixed to a portion of the vehicle body 21, and a movable section 61b connected to the shaft S and supported by the fixed section 61a so as to be rotatable together with the shaft S. The movable portion 61b receives a control signal from an automatic operation control means (not shown) such as a microcomputer and rotates counterclockwise or clockwise with respect to the fixed portion 61a (rotational axis γ). Thus, the steering of the weeder 20 (orientation of the front wheels 22, which are steered wheels) is controlled.

The weeder automatic operation means 60 also includes an operation unit action means attached to an accelerator, a brake/shift lever/operation lever, an operation button, a setting value of a control device, and the like. By attaching such an operation unit action means, it is possible to perform automatic operation control on an existing weeder that is not equipped with an automatic operation function.

The weeder automatic operation means 60 further includes wireless communication means (not shown). Thereby, the planting route R1 can be read from the operation data storage means 30 via the Internet NW by wireless communication (see FIG. 1).

The automatic operation control means (not shown) constituting the weeder automatic operation means 60 operates the weeder while comparing the planting route R1 read from the operation data storage means 30 with the coordinates specified by the GPS oscillator 24. 20 automatic operation control. Specifically, the operating section action means 61 and the like are controlled so that the coordinates specified by the GPS oscillator 24 move along the planting route R1. With such control, the weeder 20 is unmanned and weeds along the planting route R1 (see FIG. 4).

In addition, the automatic operation control means controls the automatic operation of the weeder 20 while also taking into account the operation data (direction and speed of the vehicle body of the planting machine, steering angle of the steering wheel, accelerator opening, operation lever status, etc.). may be performed, or the on/off and elevation of the PTO (power take-off) of the weeding means 25 may be controlled. The planting machine 10 and the weeding machine 20 have similar operating means such as a steering wheel, an accelerator, and a brake, and their operating methods are generally the same. Therefore, the automatic operation control means performs the same operation on the weeder 20 as the operation performed on the planter 10 when planting the seeds and seedlings of the crop N, so that the weeder 20 can be planted. It can be made to travel along the route R1.

The weeder automatic operation means 60 does not have an operation unit action means, and directly acts on the drive mechanism (engine or motor) and steering mechanism of the weeder 20 to perform automatic operation control of the weeder 20. is also possible. When performing such automatic driving control, it is not necessary to provide the vehicle body 21 with a seat 21a for the driver to sit on, a driving operation unit for the driver to operate, and the like.

In the weeding step S2, the weeder 20 is automatically operated and controlled by the weeder automatic operation means 60, so no special operation is required. By activating the weeder automatic operation means 60 (for example, pressing a button for starting automatic operation control), the weeder 20 automatically follows the planting route R1 (from point _P0 to (in order up to point _P11 ).

As shown in the enlarged view of FIG. 4, the five weeding means 25 arranged in the horizontal direction are arranged so as to be positioned between the rows B when the weeder 20 travels along the planting route R1. . Thus, only weeds growing between rows B are removed. In addition, in FIG. 4, weeding-completed locations are represented by shading.

Note that the actual travel route of the weeder 20 may deviate from the planting route R1 due to various factors. In such a case, the weeding means 25 may remove not the weeds between the rows B but the crop N (row C) itself. For this reason, it is preferable that the weeder 20 detects the position of the crop N, and corrects (finely adjusts) the traveling route when the crop N is located at the position where the crop N is to be removed.

As the crop position detection means for detecting the position of the crop N, for example, an image sensor can be used. The image sensor is composed of a camera (reference numeral 26 in FIG. 6) for photographing the front of the weeding means 25 and an image analysis means for analyzing the image photographed by this camera. The image analysis means determines that the regularly arranged green objects in the photographed image are the plant rows (rows C) of the crop N.

When such a crop position detection means is provided, the weeder automatic operation means 60 (automatic operation control means) controls the automatic operation of the weeder 20 in consideration of the results obtained by the crop position detection means. conduct. That is, when the weeder automatic operation means 60 determines that the weeding means 25 is at a position (on the row C) where the crop N is to be removed, the weeder automatic operation means 60 travels leftward or rightward so as not to remove the crop N. Correct or change the route. As a result, even if there is a deviation between the actual travel route of the weeder 20 and the planting route R1, the weeding operation can be reliably performed without removing the crop N. In particular, it helps prevent the front wheels from trampling and removing the crop N.

Further, the weeder 20 may be provided with orientation detection means for detecting its orientation. By taking into account the direction of the weeder 20 when the weeder automatic operation means 60 performs automatic driver control, the weeding work can be performed more reliably.

A GPS oscillator (reference numeral 27 in FIG. 6) is provided separately from the GPS oscillator 24, and the orientation of the weeder 20 can be specified from the coordinates of these two GPS oscillators. The GPS oscillator 27 is preferably provided directly behind the GPS oscillator 24 (any position in the middle of the weeder 20 in the left-right direction) because the arithmetic processing for identifying the orientation of the weeder 20 is simplified.

4. Others The driving data storage means 30 shown in FIG. 1 is a so-called cloud server. The operation data storage means 30 mainly stores the planting route R1 (trajectory traced by the GPS oscillator 14) along which the planting machine 10 traveled when planting the crop N, and operation data (direction and speed of the vehicle, steering wheel switching, etc.). angle, accelerator opening, operating lever status, etc.) are stored. For the driving data storage means 30, for example, an SSD (Solid State Drive) composed of a semiconductor memory, an HDD (Hard Disk Drive) composed of a magnetic member, a magnetic head, or the like is used.

As the driving data storage means 30, a portable storage medium (mobile storage) such as a USB (Universal Serial Bus) memory can also be used. When using the mobile storage, after planting the crop N in the planting step S1, the mobile storage is connected to the planting machine 10, the planting route R1 and the operation data are stored in the mobile storage, and weeding is performed. When performing step S2, a process of connecting the mobile storage to the weeder 20 and reading the planting route R1 and operation data is required.

The weeding system of the present invention described above can be widely adopted in fields where crops (for example, onion, cabbage, Chinese cabbage, lettuce, etc.) that can be planted with seedlings using a traveling planter are cultivated. can. In particular, it can be suitably employed in paddy fields for rice cultivation.

5. APPLICATION EXAMPLES An example has been described above in which the weeding operation is performed by causing the weeder 20 to automatically follow the planting route R1 along which the planting machine 10 has planted the crops N. FIG. However, such systems and methods are not limited to weeding work, and can be applied to spraying work such as agricultural chemical spraying work and fertilizer spraying work (fertilization work).

When carrying out spraying work, a sprayer is used, which is equipped with a tank for holding agricultural chemicals, fertilizers, and other field spraying materials, and which sprays the field spraying materials while traveling. The spreader includes a spreader automatic operation means having the same configuration as the weeder automatic operation means 60 described above, and is automatically controlled to follow the planting route R1. The sprayer spreads the spraying material for the field on the field F while automatically traveling along the planting route R1.

It is preferable that the position at which the spreader spreads the field spreading material is appropriately adjusted according to the type of the spreading material. For example, when the spraying material is a herbicide, a disinfectant, or the like, it is preferable to spray the spraying material for fields over the row spacing B (the gap between the rows of the crops N). When the material to be applied is fertilizer, compost, or the like, it is preferable to apply the material to be applied for fields on the rows C (rows of crops N).

Further, the planting machine may be caused to automatically follow the ridge-forming route that the ridge-forming machine has formed, and the work of planting seeds and seedlings of crops may be performed. When carrying out the ridge-making work, a ridge-making machine is used to plow and ridge the fields while traveling. In addition, a planting machine having an automatic planting machine operating means having a configuration similar to that of the weeder automatic operating means 60 described above is used.

First, the ridge-making machine stores a ridge-making route (a ridge-making route) in the operation data storage means 30 . After that, the planting machine reads out the ridge-building route from the operation data storage means 30, and is automatically controlled to follow the ridge-building route by the planting machine automatic operation means. By doing so, the planting machine will plant seeds and seedlings of crops in the field F while automatically traveling along the ridge forming route.

Moreover, it is preferable that the planting machine performs square planting of the crops N in the entire field F. By performing square planting and widening the interval of the crops N in the vertical direction (direction along the ridged path or planting path), in the subsequent weeding work, the weeder performs the weeding work in the vertical direction. It is also possible to carry out weeding work in the lateral direction (the direction across the ridge-making route or the planting route). As a result, both weeds growing between plants in the vertical direction and between plants in the horizontal direction (between rows) can be removed. The square planting of the crop N can be easily performed by synchronizing (interlocking, associating) the position of the planting means of the planting machine with the coordinates thereof, or by adjusting the planting timing of the planting means. . Those controls and necessary processing are performed, for example by a planting machine automatic operation means.

Further, the puddling path puddled by the puddling machine may be automatically traced by the fertilizer applicator to spread the paddy field fertilizer. When the puddling work is carried out, a puddling machine that puddles the paddy field while traveling is used. In addition, a spreader equipped with spreader automatic operation means having the same configuration as the weeder automatic operation means 60 described above is used. The automatic spreader operation means may be a traveling vehicle dedicated to the automatic spreader operation means, or may be of a type combined with puddling means, planting means, or the like.

First, the puddling machine stores the puddling route (puddling route) in the operation data storage means 30 . Thereafter, the spreader reads out the puddling route from the operation data storage means 30 and is automatically controlled to follow the puddling route by the spreader automatic operation means. By doing so, the spreader spreads the paddy field fertilizer while automatically traveling along the puddling route.

At this time, the spreader spreads an appropriate amount of fertilizer based on the soil data at each point (coordinates) on the puddling route. The spread amount of the fertilizer is automatically adjusted based on the soil data by the spreader automatic operation means.

Here, the soil data refers to data including hydrogen ion concentration, electric conductivity, oxidation-reduction potential, etc. of soil. The soil data may be measured at the same time when the puddling machine performs puddling, or may be measured by a method or means other than this. Soil data is stored in the operation data storage means 30, for example.

In addition, the spreader does not have to follow a path that completely matches the puddling path. For example, if the width of puddling by a puddling machine and the width of fertilizer spread by a spreader are different, a route that spreads fertilizer over the entire range of puddling is calculated based on the puddling route. , the route (pseudo plowing route) may be followed by the spreader.

10 planting machine 11 vehicle body of planting machine 11a seat of planting machine 11b operating means of planting machine 12 front wheel of planting machine 13 rear wheel of planting machine 14 GPS oscillator (coordinate transmitter for planting machine)
15 navigation screen 16 planting means 17 supply mechanism 20 weeder 21 vehicle body of weeder 21a seat of weeder 22 front wheel of weeder 23 rear wheel of weeder 24 GPS oscillator (coordinate transmitter for weeder)
25 weeding means 26 camera (crop position detection means)
27 GPS oscillator (orientation detection means)
30 Operation data storage means 60 Weeder automatic operation means 61 Operation unit action means B Between rows (Gap between rows of crops)
Article C (Crop Planting)
F Fields N Crops (seedlings)
NW Internet R1 Planting route S1 Planting process S2 Weeding process α, β Plumb line γ Rotating axis

Claims (10)

a planting machine for planting crop seedlings or seeds while traveling in a field;
A weeder that weeds while traveling in the field,
In addition to memorizing the planting route traveled by the planting machine in the field, the operation performed by the planting machine at each position, such as information on the steering angle of the steering wheel or the opening of the accelerator, the operation lever, the operation pedal, or the operation button an operating data storage means for storing operating data including information on the operating state of the controller, setting values of the control device, or information on the position of the planting claw ;
a weeder automatic operation means for automatically operating the weeder using the operation data stored in the operation data storage means ;
The weeder automatic operation means automatically operates the weeder based on the operation data stored in the operation data storage means so that the weeder follows the planting route stored in the operation data storage means, and planting. A field weeding system characterized by weeding along a row of crops planted by a machine.
The planting machine is provided with a planting machine coordinate oscillator that transmits the coordinates of the planting machine,
The weeder is provided with a coordinate oscillator for the weeder that transmits the coordinates of the weeder,
The operation data storage means stores the trajectory traced by the coordinate oscillator for the planting machine when planting the seedlings or seeds of the crop as a planting route,
2. A field weeding system according to claim 1, wherein the weeder automatic operation means automatically operates the weeder while collating the coordinates of the weeder coordinate oscillator with the planting route stored in the operation data storage means.
The weeder is provided with crop position detection means for detecting the position of the crops existing around the weeder,
2. The field weeding system according to claim 1, wherein the weeder automatic operation means performs automatic operation while considering the detection result of the crop position detection means.
Weeder automatic driving means
an operation portion acting means attached to the operation portion of the weeder and acting on the operation portion;
2. The field weeding system according to claim 1, further comprising an automatic operation control means for transmitting a control signal to the operation section action means.
A field weeding method using the field weeding system according to claim 1 .
a planting machine for planting crop seedlings or seeds while traveling in a field;
a spreader that spreads the spread material for the fields while traveling in the fields;
In addition to memorizing the planting route traveled by the planting machine in the field, the operation performed by the planting machine at each position, such as information on the steering angle of the steering wheel or the opening of the accelerator, the operation lever, the operation pedal, or the operation button an operating data storage means for storing operating data including information on the operating state of the controller, setting values of the control device, or information on the position of the planting claw ;
a spreader automatic operation means for automatically operating the spreader using the operation data stored in the operation data storage means ;
The spreader automatic operation means automatically operates the spreader based on the operation data stored in the operation data storage means so that the spreader follows the planting route stored in the operation data storage means , and planted. 1. A spraying system for a field spraying material, characterized in that the field spraying material is sprayed on rows of planted crops or gaps between them by means of a machine.
A ridge-making machine that makes ridges while traveling in the fields,
a planting machine for planting crop seedlings or seeds while traveling in a field;
Along with memorizing the ridge-making route that the ridge-making machine has traveled in the field, the operations performed by the ridge-making machine at each position, such as information on the steering angle of the steering wheel or the opening of the accelerator, the operating lever, the operating pedal, or the operating button or operating data storage means for storing operating data including setting values of control devices ;
a planting machine automatic operation means for automatically operating the planting machine using the operation data stored in the operation data storage means ,
The planting machine automatic operation means automatically operates the planting machine based on the operation data stored in the operation data storage means so that the planting machine follows the ridge forming route stored in the operation data storage means. A field planting system characterized by planting seedlings or seeds of crops on the ridges erected by a ridge erecting machine.
The planting machine is provided with a planting machine coordinate oscillator that transmits the coordinates of the planting machine,
8. The field planting system according to claim 7 , wherein the planting machine automatic operation means automatically operates the planting machine while collating the ridge forming route stored in the operation data storage means with the coordinates of the planting machine coordinate oscillator.
9. The field planting system according to claim 8 , wherein the planting machine automatic operation means causes the planting machine to plant crop seedlings or seeds in squares by taking into consideration the position of the planting means with respect to the coordinates of the coordinate oscillator for the planting machine. .
A puddling machine that puddles while traveling in the field,
A spreader that spreads fertilizer while traveling in a field,
an operation data storage means for storing the puddling route traveled by the puddling machine in the field;
a spreader automatic operation means for automatically operating the spreader;
with
The operation data storage means further stores soil data including the hydrogen ion concentration, electrical conductivity, and oxidation-reduction potential at each point (coordinates) on the puddling route,
The spreader automatic operation means automatically operates the spreader so that the spreader follows the puddling route stored in the operation data storage means, and the amount of fertilizer spread based on the soil data stored in the operation data storage means. A fertilizer spreading system for a paddy field characterized in that the fertilizer is spread to a portion where a puddling machine has puddled while performing automatic adjustment of .

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