Work vehicle

Abstract

To suppress the occurrence of poor growth of crops when sections are switched or a work vehicle travels across two or more sections.SOLUTION: A work vehicle includes: a travel vehicle body (1); a fertilizing device (4) supported by the travel vehicle body (1) for applying fertilizer to a farm field (260); and a control unit (300) that controls the fertilizing device (4) to control a fertilization amount (V) on the basis of information on the fertilization amount (V) for each section (261) for the section (261) obtained by dividing the farm field (260) into sections with a predetermined size. The work vehicle begins the change of the fertilization amount (V) before switching when the sections (261) are switched following the travel of the travel vehicle body (1).SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a rice transplanter or a tractor. [Background technology]

[0002] A technology is known for rice transplanters, tractors, and the like, in which a receiving device (41) such as an antenna of a positioning device (40) is installed on the upper surface of the ceiling of a cabin (9) of the traveling vehicle body to measure the current position of the vehicle body and to move the vehicle body based on the positioning information and information regarding work in a field, etc. (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-103088 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, artificial intelligence (AI) learns from information related to work, such as past cultivation data for crops, growth models, weather data, and field analysis data from satellites, and predicts growth and disease occurrence. Research is progressing on this, which involves notifying and suggesting optimal water management, top dressing, pest control, weed management, and harvesting timing.

[0005] When performing the analysis, the field is divided into sections of a specified size, and the analysis and prediction of excess or deficiency of water, excess or deficiency of fertilizer, etc. are performed for each section. Therefore, the degree of excess or deficiency of fertilizer may differ between adjacent sections, and there may be a large difference in the fertilizer reduction rate (the rate at which the amount of fertilizer is reduced from the standard amount of fertilizer) when fertilizing. When a work vehicle switches sections or travels across two or more sections, if fertilization is performed using the fertilizer reduction rate at the standard point, there may be a large difference in the fertilizer reduction rate between the sections, which may result in an excess or large shortage of fertilizer, resulting in a large error. If the error becomes large, there is a problem of poor growth, such as crops not growing sufficiently or growing too much.

[0006] The present invention has a technical object to suppress the occurrence of poor crop growth when switching between plots or when a work vehicle travels across two or more plots. [Means for solving the problem]

[0007] The above-mentioned problems of the present invention are solved by the following means.

[0008] The invention described in claim 1 is a work vehicle comprising a traveling body (1), a fertilizer application device (4) supported by the traveling body (1) for applying fertilizer to a field (260), and a control unit (300) for controlling the fertilizer application device (4) to control the amount of fertilizer (V) to be applied based on information on the amount of fertilizer (V) to be applied to each section (261) into which the field (260) is divided into predetermined areas, wherein, when the section (261) changes as the traveling body (1) travels, a change in the amount of fertilizer (V) is started just before the section changes.

[0009] The invention described in claim 2 is the work vehicle described in claim 1, characterized in that the change in the fertilizer application amount (V) between the sections (261) is a gradual change.

[0010] According to a third aspect of the present invention, when the traveling vehicle body (1) travels across adjacent first and second sections (261-1 and 261-2), the fertilizer application amount (V) is controlled based on a first fertilizer application amount (V1) for the first section (261-1), a second fertilizer application amount (V2) for the second section (261-2), a ratio (R1) of an overlap of a fertilizer application range (262) of the traveling vehicle body (1) with the first section (261-1), and a ratio (R2) of an overlap of the fertilizer application range (262) with the second section (261-2). The fertilizer application amount (V) can be manually input, and the first fertilizer application amount (V1), the second fertilizer application amount (V2), the first section (261-2), and the second fertilizer application amount (V3) are inputted based on the ratio (R4) of the overlap of the fertilizer application range (262) with the second section (261-2). the input unit (101) being switchable between an automatic fertilization mode in which fertilization work is performed with a fertilizer amount (V) based on a ratio (R1) of overlap with the first section (261-1) and a ratio (R2) of overlap with the second section (261-2), and a manual fertilization mode in which fertilization work is performed with a fertilizer amount (V) that is manually input; detection members (SN1, SN2) that detect information about the field (260); and the input unit (101) being switchable, in the automatic fertilization mode, between a first method that does not use the detection results of the detection members (SN1, SN2) and a second method that uses the detection results of the detection members (SN1, SN2). Effect of the Invention

[0011] According to the invention described in claim 1, the amount of fertilizer to be fed can be adjusted by predicting the timing at which the amount of fertilizer to be applied changes at the boundary portion of the section (261).

[0012] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the amount of fertilizer applied between the sections is gradually changed, thereby making it possible to suppress poor growth of crops.

[0013] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, when the traveling vehicle body (1) travels across the adjacent first section (261-1) and second section (261-2), the fertilizer amount (V) is controlled based on the first fertilizer amount (V1) of the first section (261-1), the second fertilizer amount (V2) of the second section (261-2), the overlapping ratio (R1) of the fertilizer range (262) with the first section (261-1), and the overlapping ratio (R2) of the fertilizer range (262) with the second section (261-2), thereby reducing the difference with the amount of fertilizer required for each section (261), and suppressing the occurrence of poor growth of crops. Also, compared to a case where the manual fertilization mode and the automatic fertilization mode cannot be switched, it is possible to manually set the amount of fertilizer or automatically set the amount of fertilizer according to the needs of the worker. Compared to a case where the first and second methods cannot be switched, the worker can choose to work according to the field conditions at the time of working with the detection members (SN1, SN2) or to work with a predetermined amount of fertilizer, depending on his or her needs. [Brief description of the drawings]

[0014] [Figure 1] FIG. 2 is a left side view of the seedling transplanter according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view of the seedling transplanter according to the embodiment. [Diagram 3] FIG. 2 is a functional block diagram of a control unit according to the embodiment. [Figure 4] FIG. 2 is an explanatory diagram of an example of a positional relationship between a work vehicle and a farm field according to an embodiment. [Diagram 5] FIG. 13 is an explanatory diagram of an example of a display of a farm field. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] An embodiment of the present invention will be described below.

[0016] A four-row riding rice transplanter, which is an example of a work vehicle according to the present invention and is one embodiment of a seedling transplanter, will be described in detail with reference to the drawings.

[0017] As shown in the side view of Figure 1 and the plan view of Figure 2, the riding rice transplanter is configured to function as a riding fertilizer rice transplanter by mounting a seedling planting device 3, which is a type of working machine, to a traveling body (traveling vehicle) 1 via a lifting link device 2 and also by providing a fertilizer device 4. The traveling body 1 is a four-wheel drive vehicle having a pair of front wheels 6, 6 and rear wheels 7, 7 on the left and right sides as drive wheels.

[0018] In this specification, the left and right sides of the rice transplanter in the forward movement direction are referred to as the left and right sides, respectively, and the forward movement direction is referred to as the front side and the backward movement direction is referred to as the rear side.

[0019] As shown in FIG. 1, a transmission case 11 and an engine (internal combustion engine) 12 are arranged on main frames 10a, 10b. A hydraulic pump 13 is integrally assembled to the rear side of the transmission case 11, and a steering post 14 protrudes from the front upper part of the transmission case 11.

[0020] A steering handle 16 is provided at the upper end of the steering post 14. A step floor 19, which serves as a floor for operation, is attached to the top of the aircraft, and a cockpit 20 is installed above the engine 12. A gear shift lever (travel operation member, HST lever) 17 is provided to the right of the steering handle 16.

[0021] An operation panel (not shown) is provided on the steering post 14 in front of the cockpit 20.

[0022] A ridge clutch lever 18 is provided on the right side of the cockpit 20. The front wheels 6, 6 are journaled on front wheel support cases 22, 22 that are provided on the sides of the transmission case 11 so that their direction can be changed. The rear wheels 7, 7 are journaled via rear wheel supports 30 on rear wheel transmission cases 24, 24 attached to both left and right ends of a left and right frame 37. The left and right frames 37 are supported on the rear ends of the main frames 10a, 10b.

[0023] As shown in Figures 1 and 2, which show a portion of the power transmission mechanism to the rear wheels 7, the rotational power of the engine 12 is transmitted to an input shaft 32a of a hydrostatic continuously variable transmission (HST) 31 via a pulley 27, a belt 28 and a pulley 29 in that order, and is then transmitted from an output shaft 32b of the HST 31 to the inside of the transmission case 11.

[0024] The rear end portions of the rear output shafts 11a, 11b protrude rearward from the transmission case 11, and left and right rear wheel transmission shafts 35, 35 which transmit power to the rear wheel transmission cases 24, 24 are connected to these protruding ends. The left and right rear wheel transmission shafts 35, 35 drive and rotate the left and right rear wheels 7, 7, respectively.

[0025] The seedling planting device 3 is mounted on the traveling vehicle body 1 by a lifting link device 2 so as to be able to rise and fall freely.

[0026] The upper end of the piston of a general lift cylinder 36 (Figure 1), the base of which is rotatably mounted on the traveling body 1, is connected to the lifting link device 2, and pressurized oil is supplied to and discharged from the hydraulic pump 13 mounted on the traveling body 1 via a lifting valve (not shown) to the lift cylinder 36, thereby extending and retracting the piston of the lift cylinder 36, thereby moving the seedling planting device 3 connected to the lifting link device 2 up and down.

[0027] The seedling planting device 3 is composed of a planting transmission case 38, which also serves as a frame and is mounted on the rear of the lifting link device 2 via a left and right frame 37 in a rolling manner, a seedling carrier (seedling tank) 39 that is supported by a support member provided on the planting transmission case 38 and moves back and forth in the left and right directions of the machine body, a seedling planting tool 41 that is mounted on the rear end of the planting transmission case 38 and plants the seedlings one by one in the field from the bottom end of the seedling carrier 39, and a center float (sensor float) 42 and a side float 43, which are ground leveling bodies whose rear parts are pivotally supported on the lower part of the planting transmission case 38 and whose front parts are mounted so as to be able to swing up and down. The center float 42 and the side float 43 are provided to level the field and also to level the front of the field where the seedlings are planted by the seedling planting tool 41.

[0028] The PTO transmission shaft 45 (FIG. 1) has universal joints on both ends and is provided to transmit power from the transmission case 11 to the planting transmission case 38 of the seedling planting device 3.

[0029] The seedling planting device 3 has a four-row planting configuration and is equipped with a planting transmission case 38 that also serves as a frame, a seedling carrier 39 that carries the seedlings and moves back and forth to supply the seedlings one by one to the seedling outlet 39a of each row (Figure 2), and a seedling planting tool 41 that plants the seedlings supplied to the seedling outlet 39a in the field.

[0030] 1, the rotor 70a is disposed in front of the center float 42, and the rotor 70a is disposed forward of the rotor 70b, which is disposed in front of the side float 43. Power is transmitted to the rotor 70a from a gear in the rear wheel transmission case 24 of the rear wheel 7 via a transmission shaft 25, and power is transmitted to the rotor 70b from a pair of chains (not shown) in a pair of left and right chain cases 71, 71 to which power is transmitted from drive shafts (not shown) of both rotors 70a, 70a, respectively.

[0031] The rear wheel transmission case 24 of the rear wheel 7 is attached to both left and right ends of the left and right frames 37 and is journalled on the rear wheel support 30 .

[0032] Rotation of the rear wheel transmission case 24 causes the axle 23 of the rear wheel 7 to move up and down integrally with the rear wheel transmission case 24. Power is transmitted to the rear wheel transmission case 24 from the transmission case 11 via left and right rear wheel transmission shafts 35.

[0033] The fertilizer application device 4 discharges fertilizer from the fertilizer tank 67 downward in fixed amounts by the fertilizer delivery section 68, and the discharged fertilizer is transported by the blower 69 through the fertilizer application hose 62 to the fertilizer application guide 80, where it is dropped into a fertilizer application furrow formed near the side of the seedling planting row by a furrow making body 82 provided in front of the fertilizer application guide 80.

[0034] In addition, a pedal 86 (Figure 2) can operate both the main clutch and the left and right rear wheel brake devices (not shown) and is located on the lower right side of the steering handle 16. When this pedal 86 is depressed, the main clutch is disengaged, and then the left and right rear wheel brakes are applied, bringing the aircraft to a stop.

[0035] A depth sensor SN1 as an example of a detection member is installed on the traveling vehicle body 1. The depth sensor SN1 of the embodiment detects the depth of the field using ultrasonic waves. Note that depth sensors using ultrasonic waves are conventionally known, and a commercially available sensor can be used, so detailed description will be omitted.

[0036] A fertility sensor SN2 as an example of a detection member is also installed on the traveling vehicle body 1. The fertility sensor SN2 of the embodiment is a known configuration that detects fertility based on the fact that the electrical resistance value between electrode plates installed on the front wheels 6, 6 varies depending on the water and soil in the field, and therefore a detailed description thereof will be omitted.

[0037] (Explanation of the control unit) FIG. 3 is a functional block diagram of the control unit according to the embodiment.

[0038] In the block diagram of FIG. 3, elements that are not related to the description of the embodiment of the present invention are not shown and are not described.

[0039] The seedling transplanter of the embodiment is configured to be capable of transmitting and receiving information to and from a distribution server 200 as an example of an information processing device.

[0040] (Description of the control section of the distribution server) The control unit 210 of the distribution server 200 has a distribution information storage means 211 that stores work information. The distribution information storage means 211 in the embodiment stores past work information for each of a plurality of fields. In the embodiment, examples of the work information stored include cultivation data such as past planting times, fertilization times, pest control times, harvest times, yields, and varieties of cultivated crops, past weather data (temperature, hours of sunshine, etc.), and data on the distribution of field depth and fertility obtained during past work.

[0041] FIG. 4 is an explanatory diagram of an example of the positional relationship between the work vehicle and the field according to the embodiment.

[0042] 4, the work information in the embodiment is stored in units of a plurality of plots 261 obtained by dividing a field 260 into sections of a predetermined size (for example, 1 m x 1 m). Therefore, data such as the field depth and fertility is stored for each of the plots 261, and the field 260 as a whole serves as distribution data.

[0043] The analysis means 212 analyzes the water management, top dressing, pest control, weed management, and optimal harvesting timing for crops grown in the field from past work information. As an example, the appropriate amount of fertilizer to be applied at the present time is analyzed from the past fertilization status, the date and amount of water when water was first poured into the field, the number of days since the date of past fertilization work, etc. Note that since various conventionally known configurations such as Xarvio (registered trademark) can be adopted to perform cultivation management from past information, detailed explanations will be omitted. Note that the analysis means 212 analyzes and calculates the amount of top dressing (amount of fertilizer applied, amount of reduced fertilizer) for the day for each section 261, and stores it in the distribution information storage means 211.

[0044] The receiving means 213 of the control unit 210 receives a signal from the seedling transplanter.

[0045] The transmitting means 214 of the control unit 210 transmits information in response to the received signal.

[0046] (Explanation of the control unit of the seedling transplanter) The seedling transplanter of the embodiment has a control unit 300 that controls each function. The control unit 300 has an input / output interface I / O that performs input and output of signals with the outside. The control unit 300 also has a ROM (read-only memory) that stores programs and information for performing necessary processing. The control unit 300 also has a RAM (random access memory) for temporarily storing necessary data. The control unit 300 also has a CPU (central processing unit) that performs processing according to the programs stored in the ROM or the like. Therefore, the control unit 300 of the embodiment is composed of a small information processing device, a so-called microcomputer. Therefore, the control unit 300 can realize various functions by executing the programs stored in the ROM or the like.

[0047] The control unit 300 receives signals from signal input elements such as a touch panel 101, which is an example of an input unit and an example of a display unit, a GNSS positioning device SN0, a transmitting / receiving antenna, a depth sensor SN1, a fertility sensor SN2, a vehicle speed sensor SN3, and various other sensors not shown.

[0048] The control unit 300 can transmit control signals to the fertilizer application device 4, the engine 12, the steering wheel 16, and the like, which are examples of controlled elements, to control the running and stopping of the traveling vehicle body 1 and the operation and stopping of the fertilizer application device 4. In addition, the control unit 300 can output control signals to the touch panel 101, which is an example of a display unit, to display work information and work status.

[0049] In FIG. 3, a control unit 300 according to the embodiment has the following functional means (program modules).

[0050] The work information receiving means 301 receives work information distributed from the distribution server 200. As an example, the work information receiving means 301 in the embodiment receives work information for all the plots 261 of the field 260 where work is performed. The work information includes data on the past depth, fertility, and temperature of each plot 261, as well as an appropriate amount of fertilizer to be applied after analysis based on the past fertilization status, amount of water, and number of days since the past fertilization work. The work information is not limited to a form in which information on all plots is obtained, and it is also possible to receive only information on several plots 261 in the vicinity of the front, rear, left, and right of the current position of the traveling vehicle body 1 measured by the GNSS positioning device SN0, and to receive work information as the traveling vehicle body 1 travels.

[0051] The mode discrimination means 302 discriminates whether the current mode is a conventional fertilization mode (manual fertilization mode) in which fertilization work is performed based on the fertilizer amount manually input from the touch panel 101, or a variable fertilization mode (automatic fertilization mode) in which fertilization work is performed based on the fertilizer amount for each section 261 included in the work information received from the work information receiving means 301. In the embodiment, the configuration is such that the conventional fertilization mode or the variable fertilization mode can be selected by input from the touch panel 101, and the mode discrimination means 302 discriminates the mode according to the input from the touch panel 101.

[0052] In the case of the variable fertilization mode, the method discrimination means 303 discriminates whether the method is a map-linked method (an example of a first method) that does not use the detection results of the depth sensor SN1 and the fertility sensor SN2, or a real-time sensing method (an example of a second method) that uses the detection results of the depth sensor SN1 and the fertility sensor SN2. In the embodiment, in the map-linked method, the fertilization work is performed based only on the work information received from the distribution server 200, without using the information of the depth sensor SN1 and the fertility sensor SN2 obtained at any time while the traveling body 1 is traveling. In the real-time sensing method, the information of the depth sensor SN1 and the fertility sensor SN2 obtained at any time while the traveling body 1 is traveling is used, and the work information received from the distribution server 200 is corrected with the depth and fertility data obtained during traveling, and the fertilization work is performed. Note that in the embodiment, the map-linked method or the real-time sensing method is configured to be selectable by input from the touch panel 101.

[0053] When the traveling vehicle body 1 travels across multiple sections 261, the priority determination means 304 determines whether to prioritize a section 261 with a large amount of fertilizer, a section 261 with a small amount of fertilizer, or neither of the multiple sections 261. In the embodiment, the configuration allows input from the touch panel 101 to select whether to prioritize a section 261 with a large amount of fertilizer, a section 261 with a small amount of fertilizer, or neither of the sections.

[0054] The traveling position determination means 305 determines the position (current position) of the traveling vehicle body 1 based on the detection result of the GNSS positioning device SN0. Note that when determining the traveling position, due to the influence of the satellites used, the coordinate calculation method, etc., the traveling vehicle body 1 may be determined to be outside the field even though it is working inside the field, or vice versa. In order to prevent the occurrence of such a situation, it is desirable to measure the deviation between the vehicle position on the GNSS and the vehicle position on the map information of the work information (such as the footpath, field 260, and section 261) beforehand before the work, and correct the deviation when determining the vehicle position (map matching).

[0055] As an example of a case in which the deviation is measured in advance, the position of a representative point of the position of the field 260 is set in advance in the map information, and while moving the vehicle body 1 to that position, the vehicle position is measured using the GNSS positioning device SN0, making it possible to measure the deviation between the GNSS positioning information and the position of the representative point.

[0056] The deviation of the vehicle position can be expressed as a two-dimensional vector excluding the height component, and the inverse vector can be used as a deviation correction value.The deviation can be corrected by adding the deviation correction value to the vehicle position.

[0057] Furthermore, any position can be set as the representative point of the position of the field 260, but it is preferable to set a position that is always passed when performing work, such as the entrance of the field 260. Note that the representative point is not limited to the entrance, and the worker can set any position.

[0058] Furthermore, before starting work, it is also possible to drive around the periphery of the field 260, measure the track taken during driving, and measure deviations based on the information on the outline of the field 260 and the outline of the map information in the distribution server 200, obtain the latest information on the outline and range of the field 260, and reanalyze it with the analysis means 212. It is preferable to display the track taken during driving around the periphery on the map information so that it can be confirmed. In addition, it is also possible to configure the system so that when the worker sets a representative point, he or she selects and inputs a point on the track displayed on the touch panel 101 and sets it.

[0059] By measuring the position while actually traveling around the perimeter of the field 260 before starting work, it is possible to correctly determine that the vehicle is inside the trajectory of the perimeter, even if the vehicle is erroneously determined to be outside the field on the map before the deviation correction. Therefore, it is possible to continue work even in a configuration in which work is forcibly interrupted for safety reasons when the vehicle is determined to be outside the field.

[0060] In addition, when working in a field, if the map information erroneously determines that the worker is outside the field near the perimeter, and it takes a long time to obtain the corresponding fertilizer amount information, it is possible to configure the system to continue fertilization work with the fertilizer amount that the worker has manually input in advance, or to continue fertilization work with a predetermined standard (default) fertilizer amount if the worker has not set it.

[0061] When the traveling vehicle body 1 travels across adjacent first section 261 (261-1) and second section 261 (261-2), the overlap ratio calculation means 306 calculates a first ratio R1 (=262a / 262) of the fertilization range 262 of the traveling vehicle body 1 overlapping the first section 261-1 and a second ratio R2 (=262b / 262) of the fertilization range 262 overlapping the second section 261-2 based on the traveling position of the traveling vehicle body 1. The fertilization range 262 is determined in advance based on the performance and specifications of the fertilizer application device 4.

[0062] The section switching discrimination means 307 discriminates whether the section 261 is switched as the traveling vehicle body 1 travels. The section switching discrimination means 307 in the embodiment discriminates whether the fertilization range 262 of the traveling vehicle body 1 has shifted from the nearest sections 261-1, 261-2 to the forward sections 261-3, 261-4 based on the current position of the traveling vehicle body 1.

[0063] The depth detection means 308 detects the depth of the field (the height of the soil surface of the field) based on the detection result of the depth sensor SN1.

[0064] The fertility detection means 309 detects the fertility of the field based on the detection result of the fertility sensor SN2.

[0065] The vehicle speed detection means 310 detects the vehicle speed of the traveling vehicle body 1 based on the detection result of the vehicle speed sensor SN3. The vehicle speed sensor SN3 can be configured to detect the vehicle speed based on the rotation speed of the front wheels 6 or the rear wheels 7, or can detect the vehicle speed and traveling direction from the detection result of the GNSS positioning device SN0.

[0066] The fertilizer amount setting means 311 sets the amount of fertilizer (fertilizer amount) supplied from the fertilizer application device 4. In the fertilizer amount setting means 311 of the embodiment, when the manual fertilization mode is set, the value input from the touch panel 101 is set as the fertilizer amount. When the variable fertilization mode is set, the fertilizer amount is set based on the fertilizer amount information included in the received work information. At this time, when the traveling body 1 is not traveling across multiple sections 261, the fertilizer amount is set based on the fertilizer amount information for the section 261 in which the traveling body 1 is traveling. On the other hand, when the traveling vehicle body 1 travels across multiple sections 261-1 and 261-2, the fertilizer amount is set based on the fertilizer amount for the first section 261-1 (first fertilizer amount V1), the fertilizer amount for the second section 261-2 (second fertilizer amount V2), the ratio R1 of the fertilizer range 262 overlapping the first section 261-1, and the ratio R2 of the fertilizer range overlapping the second section. As an example, the fertilizer amount V can be calculated and set as V=V1×R1+V2×R2. Note that when the traveling vehicle body 1 travels across three or more sections 261, it can be calculated as V=V1×R1+V2×R2+V3×R3+...

[0067] Here, in the embodiment, when a setting is made to give priority to a section with a large amount of fertilizer application (small fertilizer reduction rate, large fertilizer increase rate) based on the discrimination result by the priority discrimination means 304, the ratios R1 and R2 of the larger fertilizer application amounts V1 and V2 of each section 261 are corrected so that they are higher, so that the section with the larger amount of fertilizer application is given priority. As an example, when the fertilizer application amount V1 is larger, the ratios R1 and R2 are corrected to R1+ΔR and R2-ΔR, respectively. For example, if R1=0.6 (60%), R2=0.4 (40%), and ΔR=0.05 (5%), R1 is corrected to 0.65 (65%) and R2=0.35 (35%), and the fertilizer application amount V is calculated using the corrected values. Note that the numerical values ​​shown as examples can be changed arbitrarily according to the design, specifications, etc.

[0068] Conversely, if a setting is made to give priority to sections with smaller fertilizer amounts (larger fertilizer reduction rate, smaller fertilizer increase rate), the ratios R1, R2 of the smaller fertilizer amounts V1, V2 of each section 261 are corrected to be higher. As an example, if the fertilizer amount V1 is larger, the ratios R1, R2 are corrected to R1-ΔR, R2+ΔR, respectively.

[0069] If neither section is set as a priority, no correction using ΔR will be performed.

[0070] In the fertilizer amount setting means 311 of the embodiment, when the variable fertilization mode is set and the map-linked method is set, the fertilizer amount is set based on the calculated fertilizer amount V. When the variable fertilization mode is set and the real-time sensing method is set, the calculated fertilizer amount V is corrected based on the detection result. As an example, when the detection result of the depth sensor SN1 shows that the detected depth is deeper (the amount of water is greater) than the depth data transmitted from the distribution server 200, the fertilizer amount V can be corrected to be increased because the fertilizer is likely to flow, and when the detection result of the fertility sensor SN2 shows that the fertility is high, the fertilizer amount V can be corrected to be decreased to prevent excessive fertilization.

[0071] In addition, in the fertilizer amount setting means 311 of the embodiment, when the section 261 is switched as the traveling vehicle body 1 travels, the fertilizer amount is changed stepwise from the fertilizer amount V before switching to the fertilizer amount V' after switching based on the discrimination result of the section switching discrimination means 307. As an example, when the difference between the fertilizer amounts V and V' before and after switching does not reach a predetermined threshold (when the difference is small), the fertilizer amount is changed from V to V' as the section 261 is switched without changing stepwise. On the other hand, when the difference between the fertilizer amounts V and V' before and after switching reaches a predetermined threshold (when the difference is large), the fertilizer amount is changed stepwise from V to V'. This is because the data for each section 261 may have a large difference in fertilizer amount at the boundary, but in an actual field, the sections are continuous and continuous, so a sudden change in the fertilizer amount may have a negative effect on the growth of the crops.

[0072] In this embodiment, the amount of fertilizer is changed in three stages from V to V'. Specifically, the amount of fertilizer is changed by ΔV = (V' - V) / 3 per stage. That is, Before switching: V, 1st stage: V+ΔV, 2nd stage: V+2×ΔV, After switching (third stage): V′ (= V + 3 × ΔV) The amount of fertilizer applied changes in this order.

[0073] In addition, in the fertilizer amount setting means 311 of the embodiment, the time t1 of each step when the fertilizer amount is changed in stages is changed according to the vehicle speed of the traveling vehicle body 1. As an example, when the vehicle speed reaches a predetermined threshold (in the case of high speed), the time t1 of one step is set to 0.5 seconds, and when the vehicle speed does not reach the threshold (in the case of low speed), the time t1 of one step is set to 1 second. Therefore, in the case of high speed, the fertilizer amount is switched from V to V' in a short time of 0.5 x 3 = 1.5 seconds, but in the case of low speed, the fertilizer amount is switched from V to V' in 1 x 3 = 3 seconds. This is because when working at high speed, the boundary part of the section 261 is passed quickly, and if it takes time to switch the fertilizer amount, the area where the fertilizer amount is insufficient or excessive for the fertilizer amount V' becomes wide at the boundary part, which may cause poor growth or overgrowth of the crop.

[0074] In the embodiment, the time t1 of one stage is changed, but the present invention is not limited to this. For example, the time t1 of one stage can be fixed, and the number of stages can be increased or decreased according to the vehicle speed. As an example, when the vehicle speed is high, it is possible to switch from V to V' in two stages, and when the vehicle speed is low, it is possible to switch from V to V' in three stages. Specifically, if t1=1 second, the switching occurs every 1 second x 2 stages = 2 seconds when the vehicle speed is high, and every 1 second x 3 stages = 3 seconds when the vehicle speed is low. In this case, ΔV=(V'-V) / 2 in two stages and ΔV=(V'-V) / 3 in three stages, so the change amount ΔV in one stage is also changed according to the vehicle speed.

[0075] The display control means 312 controls the display of images on the touch panel 101. In the display control means 312 of the embodiment, during fertilization work, it is possible to display a message indicating that fertilization work is in progress, the positional relationship between the current position of the traveling body 1 and the section 261, the fertilization amount V set by the fertilization amount setting means 311, and the like.

[0076] FIG. 5 is an explanatory diagram of an example of a display of a farm field.

[0077] Furthermore, when work information on the fields is read (received or acquired from the distribution server 200) before fertilization work, it is preferable to display a list of fields 401-410 on the touch panel 101 so that the worker can select from them, as shown in Fig. 5. At this time, it is preferable to display the fields 401-410 in groups according to the location of the field (district, city, ward, town, village, etc.), as shown in Fig. 5. As an example, Fig. 5 shows an example in which the first field 401 to the fifth field 405 are displayed as a first group 421, and the seventh field 407 to the tenth field 410 are displayed as a second group 422.

[0078] When the worker inputs to select group 421, 422, work information for a group of fields where work is likely to be performed consecutively on the same day can be acquired collectively by acquiring work information from distribution server 200 for each group 421, 422. Then, by selecting fields 401-410 in group 421, 422 from the collectively acquired work information, information on the specific fields 401-410 can be displayed on touch panel 101.

[0079] When the information on the fields 401-410 is acquired in units of groups 421, 422, it is preferable to provide a function for sorting the fields 401-410 on the touch panel 101 in order of proximity to the current position. When checking the touch panel 101 after arriving at a field 401-410, operation becomes easier if the field 401-410 closest to the current position is displayed first.

[0080] Furthermore, when information on the fields 401-410 is acquired in units of groups 421, 422, it is desirable to calculate the average amount of fertilizer for the group of fields and display it on the touch panel 101. By checking the average amount of fertilizer, the worker can easily make plans such as how much fertilizer is needed overall, and the location and timing for replenishing fertilizer in the fertilizer application device 4.

[0081] When making such a plan, it is necessary to perform measurements in each of the fields 401 to 410 in the real-time sensing method, which may require time and effort to change the plan. Therefore, in this case, the map-linked method is preferable.

[0082] In the seedling transplanter according to the embodiment having the above configuration, the fertilizer applicator 4 applies fertilization to the field as the traveling body 1 travels. At this time, when the traveling body 1 travels across two or more sections 261, the amount of fertilization V is calculated according to the ratios R1, R2 of the overlap of the fertilization range 262 with each of the sections 261-1, 261-2. Therefore, compared to when fertilization is performed based on the fertilization amount and fertilizer reduction rate at the reference point, that is, when fertilization is performed based on the fertilization amount of one of the sections, the difference from the required amount of fertilization (the amount of fertilization analyzed for each section 261) is smaller overall. This prevents crops from growing too much or not enough.

[0083] In addition, in the embodiment, the amount of fertilizer applied changes stepwise when the section 261 is switched as the traveling body 1 travels. If the difference in the amount of fertilizer applied between adjacent sections 261 is extremely large, this may adversely affect the growth of crops at the boundary between the sections 261, but in the embodiment, this adverse effect is suppressed by changing the amount stepwise.

[0084] Furthermore, in this embodiment, the time t1 for one step is changed according to the speed of the traveling vehicle body 1, and fertilization is performed so that the area where the fertilizer is excessive or insufficient at the boundary portion does not become too large. Note that fertilization can also be performed so that the area where the fertilizer is excessive or insufficient at the boundary portion does not become too large by changing the number of steps or the amount of change ΔV in one step.

[0085] Furthermore, in this embodiment, it is possible to set whether to prioritize the larger amount of fertilizer application or the smaller amount of fertilizer application between the two sections 261 that are spanned, depending on the operator's input. When the larger amount of fertilizer application is prioritized, fertilizer deficiencies are less likely to occur, poor growth is more likely to be suppressed, and an increase in the harvest is expected. On the other hand, when a smaller amount of fertilizer application is prioritized, fertilizer excesses are less likely to occur, overgrowth is more likely to be suppressed, and a reduction in the lodging of crops before harvest is expected.

[0086] Furthermore, when the section 261 is switched, the change in the amount of fertilizer V may be started before the switch. The timing of the switch in the amount of fertilizer or the amount of fertilizer at the boundary of the section 261 can be predicted in advance to adjust the amount of fertilizer to be fed.

[0087] Furthermore, the fertilizer amount V between the sections 261 is changed gradually, and is switched to the fertilizer amount for the corresponding section. This makes it possible to suppress poor growth of crops.

[0088] Furthermore, in the embodiment, a variable fertilization mode and a conventional fertilization mode can be set according to the input of the worker. Therefore, in the conventional fertilization mode, fertilization work can be performed with the fertilization amount manually input by the worker. Therefore, in cases where the analysis means 212 has determined that the plot is barren (a plot that needs fertilizer) but the worker does not want to spread a lot of fertilizer, or in cases where the analysis means 212 has determined that the plot is fertile (a plot that does not need fertilizer) but the worker wants to spread a lot of fertilizer, this can be handled in the conventional fertilization mode. In addition, in the variable fertilization mode, fertilization work can also be performed with the fertilization amount automatically set based on the work information received from the distribution server 200.

[0089] In the variable fertilization mode of the embodiment, the map-linked method and the real-time sensing method can also be selected. Therefore, in the map-linked method, work can be performed based on the received work information. Therefore, compared to the real-time sensing method, there is no need for constant detection and calculation, and when the work information is confirmed in advance before starting work, the difference between the situation confirmed in advance and the actual work situation (for example, the amount of fertilizer consumed) is small, so the worker feels less uncomfortable. In addition, in the real-time sensing method, the amount of fertilizer is corrected according to the current field situation, so it is possible to set a more appropriate amount of fertilizer according to the actual situation than information predicted by analyzing past data.

[0090] In the embodiment, the map-linked method and the real-time sensing method are manually selected by the operator, but the present invention is not limited to this. For example, it is possible to use the map-linked method in the center of the field and the real-time sensing method in the headland according to the current position of the traveling vehicle body 1.

[0091] (Example of change) The working vehicle of the present invention is not limited to a seedling transplanter, but can also be applied to various working vehicles equipped with working machines such as tractors and chemical solution spraying vehicles. The working machine is not limited to the seedling planting device 3, but can be applied to any working machine such as a tiller, a land leveler, a seeding machine, etc. Therefore, it is not limited to setting the fertilizer application range and amount, and can also be applied to the spray range and amount of chemicals, the sowing range and amount of seeds, etc.

[0092] Furthermore, although a riding seedling transplanter has been illustrated, the present invention is not limited to this and can also be applied to an autonomously driven work vehicle.

[0093] By attaching a LiDAR to the rice transplanter link, the condition of the machine can be detected, and the amount of seedlings loaded, the amount of fertilizer loaded, and the position of the planting area can be detected.

[0094] LiDAR is installed on the GNSS antenna stay of the rice transplanter to detect the machine itself. It also detects the surrounding conditions of the machine. The amount of seedlings loaded in the seedling tank at the rear of the machine can be detected, and the amount of seedlings lost per unit of work (amount of seedlings used) can be calculated along with the amount of seedlings used.

[0095] A drone can be equipped with a repeater and flown over a point between the remote control and the rice transplanter, thereby extending the reach of the radio waves.

[0096] A speed control mechanism for planting drive rotation is provided. A mechanism for detecting the slip ratio is provided, and the rotation output is corrected according to the value. In addition, the motor output may be linked to the vehicle speed.

[0097] A speed-regulating mechanism for the planting drive rotation is provided. The planting input is placed inside a speed-regulating case, and the motor outputs the regulated rotation. The driving force is combined using a planetary gear mechanism. The input is the internal gear: I, and the planetary carrier: C is the output. Rotation control is performed by connecting the sun gear: S to the motor. The output rotation speed is controlled to be the target rotation speed. The motor may be rotated so that the output is n (number of internal gear teeth / (number of internal gear teeth + number of sun gear teeth)) + motor rotation (number of sun gear teeth / (number of internal gear teeth + number of sun gear teeth)) for input rotation speed: n.

[0098] Also, a rotation sensor may be provided on the transmission side, and the rotation value may be used as the control standard.

[0099] Also, a gear for detecting rotation may be provided on the internal gear, and the rotation of the mechanism may be detected by a rotation sensor, and the mechanical rotation value may be used as the basis for control.

[0100] The phase of the drive shaft rotation is detected after the clutch output shaft, and the clutch pin is switched on and off depending on the result. The number of rotations may also be counted along with the phase detection, and the result may be used to detect the slip ratio.

[0101] In addition, the drive shaft rotation phase may be detected by attaching a rotating gear to the driven side of the clutch and a rotation sensor to the transmission case.

[0102] Pressurized water is discharged intermittently from the top of the seedling tank to promote seedling slide. The pump may be operated according to the number of lateral feeds that discharge pressurized water by operating the pump. [Explanation of symbols]

[0103] 1...Traveling vehicle, 4...Fertilization device, 260…field, 261… Section, 261-1…First section, 261-2…Second section, 262...Fertilization range, 300...control unit, R1: The proportion of the fertilized area that overlaps with the first section; R2: the proportion of the fertilized area that overlaps with the second area; SN1, SN2: detection members, t1: time for each stage, V...Amount of fertilizer applied, V1: first fertilizer application amount, V2: the second fertilizer application rate, ΔV: Amount of change in one step.

Claims

1. A traveling vehicle body (1), a fertilizer application device (4) supported by the traveling vehicle body (1) and configured to apply fertilizer to a field (260); A control unit (300) controls the fertilizer application device (4) to control a fertilizer application amount (V) based on information on a fertilizer application amount (V) for each section (261) into which the field (260) is divided into predetermined areas, A work vehicle characterized in that, when the section (261) switches as the traveling body (1) travels, the change in the fertilizer amount (V) begins just before the switch.

2. The work vehicle according to claim 1, characterized in that the fertilizer application amount (V) between the sections (261) changes gradually.

3. When the traveling vehicle body (1) travels across adjacent first and second sections (261-1 and 261-2), the fertilizer amount (V) is controlled based on a first fertilizer amount (V1) for the first section (261-1), a second fertilizer amount (V2) for the second section (261-2), a ratio (R1) of an overlap of the fertilizer range (262) of the traveling vehicle body (1) with the first section (261-1), and a ratio (R2) of an overlap of the fertilizer range (262) with the second section (261-2), The work vehicle according to claim 1 or 2, characterized in that the work vehicle is equipped with an input unit (101) that can manually input the fertilizer amount (V) and can switch between an automatic fertilization mode in which fertilization work is performed with a fertilizer amount (V) based on the first fertilizer amount (V1), the second fertilizer amount (V2), the ratio of overlap with the first section (261-1) (R1), and the ratio of overlap with the second section (261-2) (R2), and a manual fertilization mode in which fertilization work is performed with a manually input fertilizer amount (V), and the input unit (101) can switch between a first method that does not use the detection results of the detection members (SN1, SN2) and a second method that uses the detection results of the detection members (SN1, SN2) in the automatic fertilization mode.

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