JPH06175722A - Farm filed work control system for farm machine - Google Patents

Abstract

PURPOSE:To automate the farming work for cultivation of vegetables by storing the working results of various farm machines used for the tillage through the harvesting and controlling the farm machines basing on the previous working results against the same working section and the same farm product. CONSTITUTION:The shapes and the sizes of all sections 2 of a farm field 1 are supplied to a host computer together with a working section 2 of a farm machine A, the modulation code corresponding to the working section 2, the types of farming works including the tillage through the harvesting, the traveling routes of the machine A such as the work starting and ending positions, the traveling directions, the turning positions, etc., and the working conditions of the machine A. When the work of the machine A is started, the position of the machine A is detected by a short distance radar 5 and a transceiver so that the working state of the machine A is monitored. When the entire work is completed, the working result of the machine A is received and stored in a data base together with the working section 2. And, the farm machines are automatically controlled basing on the contents stored before for the same working section and the same farm product.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a field work control system for various farm work machines that perform field work from cultivated land to harvesting work.

[0002]

2. Description of the Related Art Conventionally, there has been a technique in which a farm work machine is provided with a sensor for detecting a traveling path and the farm work machine is made to travel by automatic control to complete its work purpose.

[0003]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention
In automation where only individual farming machines are controlled, for example, management of distances between stocks and lines, regional differences, cultivated land, transplantation, control, weeding, harvesting, etc. There is a problem that automation cannot be performed through a series of operations in cultivation.

[0004]

SUMMARY OF THE INVENTION However, according to the present invention, in a system in which various agricultural working machines for performing field work from cultivated land to harvesting work are automatically run and the work purpose is completed, Various agricultural work machines equipped with means for storing work results and targeting the same crop in the same work section are controlled by a command based on the previous work result, and all agricultural work targeting the same crop in the same work section. The machine is controlled by the automation, and the automation reflects the result of the previous work in the next work.For example, a series of work in vegetable cultivation can be performed with high accuracy and unattended. is there.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is an explanatory view of the entire field, where the field (1) is prepared in a plurality of rectangular work sections (2), and the size, shape, and traveling space of each section (2) are recognized in advance, and then each Various crops are cultivated in each section (2).

[0006] FIG. 2 is an explanatory view of the contents of field work in one section. For example, a cultivating and cultivating work is carried out by mounting a rotary cultivator and a ridger on a tractor, for example, self-propelled field transplanting. There is a transplanting work to plant seedlings such as vegetables on the ridges (3) at a predetermined pitch with a machine, for example, control and weeding work by spraying pesticide with a self-propelled boom sprayer, for example, harvesting work with a self-propelled harvester. .

The type and type of each agricultural work machine for each work described above is not limited to this as long as it can complete the purpose of work, and will be used for the field work from tillage / leveling to harvesting work. The items are collectively referred to as the agricultural work machine (A). Also,
In this case, the agricultural work machine (A) also includes a transport vehicle that is sent to the harvester during the harvesting work.

Then, as shown in FIG. 3, one host computer (4) is installed at a predetermined place (fixed position) on the ground with respect to one farm field (1).
A short-range radar (5) which is a position detecting device for detecting the position of, and a transmitter (6) and a receiver (for multiplex communication) which are communication devices for mutually communicating data with the agricultural work machine (A). 7) and the size / shape / circulation space of each section (2) and the modulation code which is an identification code for distinguishing from the agricultural work machine (A) of the other section (2), the traveling route and the working conditions. A keyboard (8) for inputting, a database (9) that is a storage device that stores information necessary for automatic control of the agricultural work machine (A), and a display device that displays input / output information. A monitor (10) and an alarm device (11) for notifying an abnormality are connected to the host computer (4).

Further, a positioning (position recognition) system using a spread spectrum communication system is constituted by the radar (5), transceivers (6) and (7), and a host computer (4), and each section ( The position of the farm work machine (A) in 2) is detected, and it is distinguished from the farm work machine (A) of the other section (2) by the modulation code converted for each section (2), and the field (1) is detected. Individual identification of each farm work machine (A) is performed as a whole, and communication with the farm work machine (A) of each section (2) and position detection of the farm work machine (A) are performed by one system, and the transceiver ( 6) Multiple data can be simultaneously transmitted / received by the multiplexed communication of (7), the agricultural machines (A) in the plurality of sections (2) can be simultaneously controlled in parallel, and the simultaneous work can be performed in the plurality of sections (2). Is configured.

Further, as shown in FIG. 4, each farm work machine (A) is equipped with a farm work machine controller (12), which is a control device composed of a microcomputer, and information is sent to the host computer (4). Receiver (13) and transmitter (14), which are communication devices for communicating with each other
And a magnetic bearing sensor (15) that is a direction detection device that detects the course of the agricultural work machine (A), a vehicle speed sensor (16) that is a speed detection device that detects the traveling speed, and the agricultural work machine (A).
Work clutch electric cylinder (17) for turning the work clutch on and off and a work clutch potentiometer (30)
And a traveling clutch electric cylinder (18) for turning on and off the traveling clutch of the agricultural work machine (A), a traveling clutch potentiometer (19), and an accelerator pulse motor (20) for adjusting the engine rotation of the agricultural work machine (A). And an engine rotation sensor (21), a left brake electric cylinder (22) and a left brake potentiometer (23) used for left turning and braking of the agricultural work machine (A), and right turning and braking of the agricultural work machine (A). Electric brake cylinder (24) and right brake potentiometer (2
5), a traveling speed changing pulse motor (26) and a traveling speed changing potentiometer (27) for changing the traveling speed by changing the shift lever position of the agricultural working machine (A), and changing the traveling direction of the agricultural working machine (A). Steering electromagnetic valve (28)
Further, a steering angle sensor (29) and a memory (31) which is a storage device capable of freely entering and leaving the traveling route of the agricultural working machine (A) and the work result are provided.

Then, the traveling direction is detected by the magnetic direction sensor (15), the traveling speed is adjusted by the vehicle speed sensor (16) to automatically drive the agricultural work machine (A), and the traveling direction from the host computer (4). When there is a correction command from the magnetic azimuth sensor (15), the traveling direction is corrected, and the host computer (4) issues a turning command to detect the angle detected by the magnetic azimuth sensor (15) and the vehicle speed sensor (1).
Based on the detection distance of 6), a turning operation is performed to change the direction of the agricultural work machine (A), and the agricultural work machine (A) is divided into each section (2).
It is configured so that the work purpose is completed by automatically traveling along the travel route instructed within.

The sensors and actuators provided in the controller (12) are not only those shown in FIG. 4 but also those added according to the type and type of the agricultural work machine (A).
For example, in an agricultural work machine (A) for cultivating land, a sensor for detecting soil quality, a sensor and an actuator for controlling the working depth, and the like are used for the transplant work (A).
For example, sensors and actuators for adjusting the seedling planting depth and planting pitch, and for agricultural work machines (A) for pest control and weeding work, sensors and actuators for adjusting the spraying position and amount of pesticides are used. In the agricultural work machine (A) for harvesting work, sensors and actuators for performing cooperative work are added to the harvester and the carrier side, respectively.

A field work control system for the farm work machine (A) is constituted by the above-mentioned functions on the ground side and the functions on the farm work machine (A) side. On the ground side, as shown in the flowchart of FIG. Shape of all sections (2) of (1)
While inputting the size into the host computer (4),
The work section (2) of the farm work machine (A), the modulation code corresponding to the work section (2), the type of farm work from the tillage to the harvest, and the work start / end position / progress of the farm work machine (A) By inputting the traveling route such as direction and turning position and the working condition according to the working purpose, the i-th command is transmitted to the agricultural work machine (A) when the work is started, and the short range radar (5) and the transceiver ( 6) The position of the farm work machine (A) in the work section (2) is detected by the input / output of (7), the status (operating state and work state) of the farm work machine (A) is received and input, and the command is appropriate. If the execution is not appropriate, send a correction command, and if the execution is appropriate and the i-th work is completed, the next work command is sent sequentially and all the work is completed. Agricultural work machine (A) after all work is done
Is received, and the work results are stored in the database (9) for each work section (2).

By the way, the farm work machine (A) which is initially set
The input of the traveling route is only for the cultivating and leveling work of the agricultural work for the same crop in the same section (2), and the subsequent traveling routes for transplanting, controlling, weeding and harvesting work are the cultivating and leveling work. The traveling route created based on the result (position of ridges, etc.) is used, and the processing of working conditions for each agricultural work is performed in the next stage.

On the other hand, on the farm work machine (A) side, as shown in the flowchart of FIG.
Is received, the work control for activating the electric clutch cylinder (17) is performed at the time of the work command, the turn control is performed at the turn command, and the stop control is performed at the stop command. When the command is issued, the traveling control is performed, and every time the control is performed, the operating state such as the engine speed, the gear shift position, the traveling speed, the traveling distance, the direction detected by the magnetic direction sensor (16) and the planting pitch, for example. Detecting the working status of the memory, sending the information to the host computer (4) and storing it in its own memory (31), and when the work is completed, all the statuses of the memory (31) are collectively sent to the host computer (4). It is something to send.

When one crop is cultivated in a certain section (2), as is clear from FIG. 1, the traveling route and the like are set for the agricultural working machine (A) for tilling and ridge (land leveling). Complete the purpose of the work by instructing it to run automatically, obtain the position information of the ridge from the work result, and use the agricultural work machine for transplantation (A) for the next use based on that information based on the information. The agricultural working machine (A) and the agricultural working machine for harvesting (A) are instructed such as the traveling route, and the instructions for the control, weeding and harvesting are given based on the information on the transplanting position at the time of transplanting, and each agricultural working machine is given. (A) automatically runs to complete the purpose of the work,
In addition, the radar (5) accurately recognizes the position of each farm work machine (A) in the section (2), and appropriately gives an appropriate instruction corresponding to the position of the farm work machine (A), such as vegetables. We are working on automation through a series of operations in the cultivation of crops.

It is also possible to form a series of work patterns according to the crops based on the work results of the all-agricultural work machine (A) used from tillage to harvesting, and the work patterns are the same crops in the same section. When cultivating, of course, division (2)
If the shape, size, and crop are the same, they can be diverted to the cultivation of crops in other sections (2) as they are.

[0018]

As is apparent from the above-described embodiments, the present invention is a system in which various agricultural working machines (A) for performing field work from cultivated land to harvesting work are automatically run to complete their work purpose. In the above, various agricultural work machines (A) that are provided with a means for storing the work results of the respective agricultural work machines (A) and target the same crop in the same work section are controlled by a command based on the previous work results. Automation is performed by controlling all agricultural work machines (A) that target the same crop in the same work section, and the automation reflects the results of the previous work in the next work, for example, cultivation of vegetables. It is possible to perform a series of operations in 1 above with high accuracy and unattended, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is an explanatory view of the entire field.

FIG. 2 is an explanatory diagram of field work contents in one section.

FIG. 3 is a block diagram of a host computer.

FIG. 4 is a basic block diagram of a controller for an agricultural work machine.

FIG. 5 is a flowchart of FIG.

6 is a flowchart of FIG.

[Explanation of symbols]

 (A) Agricultural work machine (1) Field (2) Section (4) Host computer (5) Short range radar (6) (7) Transceiver (9) Database (12) Farm work machine controller (13) (14) Transmission and reception Machine

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Satoru Okada 1-32, Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hiroshi Kawabuchi 1-32, Chayamachi, Kita-ku, Osaka Yanmar Agricultural machinery Co., Ltd. (72) Inventor Taiji Mizukura 1-32 Chayamachi, Kita-ku, Osaka City Yanmar Agricultural Machinery Co., Ltd. (72) Wataru Nakagawa 1-32 Chayamachi, Kita-ku, Osaka City Yanmar Agricultural Machinery Co., Ltd. Within

Claims (1)

[Claims] 1. A system in which various agricultural working machines that perform field work from cultivated land to harvesting work are automatically run to complete their purpose of operation, and means for storing work results of each agricultural work machine are provided, and the same. A field work control system for an agricultural work machine, wherein various agricultural work machines for the same crop in a work section are controlled by a command based on the previous work result.