Work amount adjustment system for work vehicle

Abstract

To provide a work amount adjustment system for a work vehicle in which an adjustment of fertilization amount by a fertilizer machine can be performed at low cost.SOLUTION: A work amount adjustment system of a work vehicle includes: a vehicle body; a fertilizer machine; positioning device; and a control device. The fertilizer machine is connected to the vehicle body to perform a fertilization work at a stationary manner. The positioning device measures a self position of the vehicle body. The control device can adjust a vehicle speed of the vehicle body. Also, the control device adjusts a vehicle speed of the vehicle body during fertilization work in the field based on the position of the vehicle body positioned by the positioning device and the fertile degree map created by analyzing an aerial image of the field.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a work amount adjustment system for a work vehicle. [Background technology]

[0002] Conventionally, when harvesting is performed with a combine harvester equipped with a positioning sensor and a yield sensor, a machine spraying support system is known in which a yield map is created by correlating the positioning information of the combine harvester obtained by the positioning sensor with the harvest volume information obtained by the yield sensor, and the amount of fertilizer applied by the fertilizer application machine is controlled based on a fertilizer spraying plan created with reference to the yield map (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-187377 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned conventional technology can suppress uneven growth of crops in a field, making it possible to equalize the workload, simplify management, prevent crops from falling over, and efficiently carry out subsequent work. However, the conventional technology requires a mechanism for varying the amount of fertilizer applied by the fertilizer applicator in order to adjust the amount of fertilizer applied by the fertilizer applicator, and also requires communication with the control device of the fertilizer applicator based on a yield map, resulting in a system that requires a dedicated and expensive fertilizer applicator.

[0005] The present invention has been made in consideration of the above, and has an object to provide a work amount adjustment system for a work vehicle that can inexpensively adjust the amount of fertilizer applied by a fertilizer application machine. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the workload adjustment system (S) of the work vehicle (1) according to the embodiment includes a traveling body (2), a fertilizer application machine (6) connected to the traveling body (2) and performing fertilization work on a steady basis, a positioning device (150) that measures the own position of the traveling body (2), and a control device (200) that can adjust the speed of the traveling body (2), and the control device (200) adjusts the speed of the traveling body (2) during fertilization work in the field based on the position of the traveling body (2) measured by the positioning device (150) and a fertility map (M) created by analyzing an aerial image of the field. Effect of the Invention

[0007] According to the work amount adjustment system for the work vehicle of the embodiment, the amount of fertilizer applied by the fertilizer application machine can be adjusted inexpensively. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view showing the overall configuration of a work amount adjustment system for a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a schematic plan view showing the overall configuration of the work amount adjustment system for the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is a block diagram showing a control configuration of the work amount adjustment system for the work vehicle according to the embodiment. [Figure 4] FIG. 4 shows a fertility map. [Diagram 5] FIG. 5 is a diagram showing the configuration of a transmission. [Figure 6] FIG. 6 is a diagram for explaining adjustment of the vehicle speed of a traveling vehicle body. [Figure 7] FIG. 7 is a diagram for explaining adjustment of the vehicle speed of a traveling vehicle body. [Figure 8] FIG. 8 is a diagram for explaining adjustment of the vehicle speed of a traveling vehicle body. [Figure 9] FIG. 9 is a diagram for explaining adjustment of the vehicle speed of a traveling vehicle body. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Outline of the Work Vehicle (Tractor) Work Volume Adjustment System> First, an overview of the work vehicle workload adjustment system S according to the embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic left side view showing the overall configuration of the work vehicle workload adjustment system S according to the embodiment. Figure 2 is a schematic plan view showing the overall configuration of the work vehicle workload adjustment system S according to the embodiment. Note that the following description will be given using a tractor 1 as an example of the work vehicle. The tractor 1, which is the work vehicle, is an agricultural tractor that can perform agricultural work in a field while traveling autonomously.

[0011] The tractor 1 may be operated by a driver (also called an operator) while traveling in a field to perform a predetermined task, or may be operated autonomously while traveling in a field under the control of each part by a control system centered on a control device 200 (see FIG. 3) described later. The tractor 1 may also be operated without a driver on board while traveling in a field.

[0012] In the following description, the forward / rearward direction is the direction of travel of the tractor 1 when traveling straight, with the forward side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9, which will be described later, when the tractor 1 is traveling straight.

[0013] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined as facing the "front." That is, when the pilot is seated in the pilot's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right." The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other in three dimensions.

[0014] As shown in FIG. 1, the work amount adjustment system S includes a tractor 1 and a fertilizer application machine 6. The traveling body 2 included in the tractor 1 is capable of traveling within a farm field and includes front wheels 3 and rear wheels 4. The front wheels 3 are a pair of left and right wheels for steering (steering wheels). The rear wheels 4 are a pair of left and right wheels for driving (driving wheels). The traveling body 2 may include a crawler device instead of the wheels (at least one of the front wheels 3 and the rear wheels 4). In this case, the traveling crawlers are the driving wheels.

[0015] Rotational power generated by an engine E (prime mover) serving as a drive source housed inside a bonnet 5 is transmitted to rear wheels 4, which are drive wheels, after being appropriately reduced in speed by a speed change device (transmission) 121 (see FIG. 5) provided in a power transmission device (mission case) 12. The rear wheels 4 are driven by the rotational power transmitted from the engine E. The speed change device 121 switches the rotational power transmitted from the engine E to one of a plurality of speed change stages (for example, 1st to 8th speeds).

[0016] The traveling vehicle body 2 is configured to be able to transmit power generated by the engine E and reduced in speed by the transmission 121 to the front wheels 3 via the 4WD clutch 41 (see FIG. 5). In this case, when the 4WD clutch 41 transmits power, the four wheels, the front wheels 3 and the rear wheels 4, are driven by the power transmitted from the engine E. When the 4WD clutch 41 blocks the transmission of power, only the two wheels, the rear wheels 4, are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

[0017] A fertilizer application machine 6 that works in a farm field is connected to the rear of the traveling body 2, and a PTO device 7 having a PTO (Power take-off) shaft 71 that transmits power to drive the fertilizer application machine 6 is provided. A driver's seat 8 where a driver sits when operating the tractor 1 is provided in the center of the traveling body 2.

[0018] In the example shown in FIG. 1, the fertilizer application machine 6 is a machine that applies fertilizer to a field. The fertilizer application machine 6 is a tow-type manure spreader. In the fertilizer application machine 6, for example, a conveyor provided at the bottom moves by power transmitted from a PTO shaft 71 of a PTO device 7, and the stored fertilizer is moved rearward. The fertilizer application machine 6 also applies fertilizer to the field by a fertilizer applicator 60 provided at the rear. The fertilizer applicator 60 is driven by power transmitted from a PTO shaft 71 of a PTO device 7.

[0019] In the fertilizer application device 60, a rotating member 61 and a claw portion 62 provided on the rotating member 61 are rotated by power transmitted from a PTO shaft 71 of the PTO device 7. The claw portion 62 then scoops up fertilizer and applies it to the field. The rotating member 61 and the claw portion 62 of the fertilizer application machine 6 rotate at a constant rotational speed, and steadily apply a constant amount of fertilizer to the field. The constant amount of fertilizer application is determined by the type of fertilizer to be applied, etc. The constant rotational speed is a preset speed.

[0020] A display 131 (see FIG. 3) that displays information transmitted from the control device 200, an alarm 132 (see FIG. 3) that outputs sound, and a steering wheel 9 that is a handle for steering the front wheels 3 that are steerable wheels are provided in front of the cockpit 8. The display 131 has a display section and an operation section that are configured with a touch panel. The steering wheel 9 and a drive section that drives the steering wheel 9 constitute a steering device 122 (see FIG. 3). The steering wheel 9 is provided at the upper end of a handle post 10. Various operation pedals 11 (accelerator pedal, brake pedal, clutch pedal) are provided below the handle post 10 near the feet of the pilot when he / she sits in the cockpit 8.

[0021] The fertilizer application machine connected to the rear of the traveling body 2 may be changed. For example, the fertilizer application machine may be a fertilizer application machine that is lifted and lowered by a lifting device 13.

[0022] The work amount adjustment system S also includes a control device 200 (see FIG. 3). The control device 200 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. The control device 200 also controls the fertilizer application machine 6. The control device 200 switches between the presence and absence of fertilization by the fertilizer application machine 6.

[0023] The workload adjustment system S also includes a positioning device 150. The positioning device 150 is provided on the upper part of the traveling vehicle body 2, and measures the position of the traveling vehicle body 2 at a predetermined period and acquires information on the self-position (e.g., latitude and longitude) of the traveling vehicle body 2. The positioning device 150 is, for example, a Global Navigation Satellite System (GNSS), and can receive radio waves from navigation satellites orbiting in the sky to perform positioning and timing.

[0024] The workload adjustment system S also includes a communication device 151. The communication device 151 is provided on the upper part of the traveling vehicle body 2, and is capable of wireless communication with an external device. The external device includes an information processing terminal, a server device, etc. The information processing terminal includes a smartphone, a tablet terminal, etc.

[0025] <Tractor control system> Next, the work volume adjustment system S of the work vehicle according to the embodiment, i.e., the control system of the tractor 1 centered on the control device 200, will be described with reference to Figures 3 and 4. Figure 3 is a block diagram showing the control configuration of the work volume adjustment system S of the tractor 1 according to the embodiment. Figure 4 is a diagram showing a fertility map M.

[0026] As shown in FIG. 3, the control device 200 includes an engine ECU (Electronic Control Unit) 201, a traveling system ECU 202, and a work machine system ECU 203.

[0027] The engine ECU 201 controls the rotation speed of the engine E. The traveling system ECU 202 controls the traveling speed of the traveling body 2 (see FIG. 1) by controlling the rotation of the drive wheels (rear wheels 4). The work machine system ECU 203 controls the fertilizing work machine 6.

[0028] The control device 200 is a computer. The control device 200 is capable of controlling each part by electronic control, and includes a processing part having a CPU (Central Processing Unit) and the like, and a storage part in which various programs and the like are stored, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

[0029] 3, the control device 200 is connected to a positioning device (GNSS) 150, a communication device 151, a rotation sensor 110, a vehicle speed sensor 111, a turning angle sensor 113, etc. In addition, the control device 200 is connected to an engine E, a transmission 121, a steering device 122, a fertilizer application machine 6, etc. In addition, the control device 200 is connected to a lever position detection sensor 114, an autonomous driving changeover switch 140, etc.

[0030] The rotation sensor 110 detects the rotation speed of the rear wheels 4. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIGS. 1 and 2). The turning angle sensor 113 detects the turning angle of the front wheels 3 (see FIGS. 1 and 2), which are steered wheels. In other words, the turning angle sensor 113 detects the steering angle of the steering wheel 9.

[0031] The autonomous traveling changeover switch 140 is a switch that switches whether or not to execute autonomous traveling, which will be described later. When the autonomous traveling changeover switch 140 is "ON", the autonomous traveling control is enabled and the autonomous traveling control is executed. When the autonomous traveling changeover switch 140 is "OFF", the autonomous traveling control is disabled and the autonomous traveling control is not executed. In other words, the autonomous traveling changeover switch 140 is a switch that can switch the autonomous traveling control between enabled and disabled. The autonomous traveling changeover switch 140 is operated by an operator.

[0032] Even if the autonomous driving changeover switch 140 is turned "ON", if certain conditions are not met, the autonomous driving control will not be enabled and the autonomous driving control may not be performed.

[0033] The control device 200 receives inputs of position (self-position) information of the traveling vehicle body 2 in a field or the like from the positioning device 150, the number of rotations of the rear wheels 4 from the rotation sensor 110, the vehicle speed of the traveling vehicle body 2 from the vehicle speed sensor 111, and the turning angle of the front wheels 3, i.e., the steering angle of the steering wheel 9, from the turning angle sensor 113. When the control device 200 causes the traveling vehicle body 2 to travel autonomously, the control device 200 steers the steering wheel 9 by controlling a steering cylinder connected to the steering wheel 9 (see FIG. 1) while feeding back the turning angle of the front wheels 3 using the detection value of the turning angle sensor 113 so that the calculated orientation of the traveling vehicle body 2 becomes a set predetermined orientation (the orientation in a straight traveling route described later). The control device 200 can also calculate the vehicle speed of the traveling vehicle body 2 based on the position of the traveling vehicle body 2 measured by the positioning device 150.

[0034] In the control device 200, the engine ECU 201 is connected to the engine E, the traveling system ECU 202 is connected to the transmission 121 and the steering system 122, and the work machine system ECU 203 is connected to the fertilizer application machine 6. When a fertilizer application machine that can be raised and lowered is connected to the traveling body 2, the work machine system ECU 203 raises and lowers the fertilizer application machine via the lifting device 13 (see FIG. 1).

[0035] The control device 200 can be wirelessly connected to an external device. The control device 200 may be capable of controlling the traveling of the vehicle based on an instruction signal received from the external device.

[0036] The control device 200 can also receive information on the fertility map M of the field F from an external device. The fertility map M shown in FIG. 4 is created by analyzing an aerial image of the field F to be worked on, taken from the air by an artificial satellite, a drone, an aircraft, a helicopter, or the like. The fertility map M is divided into sections of a size based on the working width RW (see FIG. 2) of the fertilizer application machine 6. For example, the section is a square with the working width RW of the fertilizer application machine 6 as the length of one side. The fertility map M measures the fertility (soil fertility) of each divided section. The fertility is measured based on the color of each section in the aerial image when the crops are grown (for example, at harvest time). In the fertility map M, location information is assigned to each section.

[0037] <Configuration of the transmission> Next, the power transmission configuration of the work vehicle according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing the configuration of the transmission 121 (power transmission diagram).

[0038] As shown in Fig. 5, the traveling body 2 has a traveling transmission path 21 that drives the drive wheels from the engine E and a work transmission path 22 that drives the fertilizer application machine 6 from the engine E, which are branched and arranged in parallel. The continuously variable transmission 29 provided in the traveling transmission path 21 is composed of a hydrostatic continuously variable transmission (hereinafter referred to as HST (Hydro Static Transmission)) 31 equipped with a hydraulic pump 311 and a hydraulic motor 312, and a hydromechanical continuously variable transmission (hereinafter referred to as HMT (Hydro Mechanical Transmission)) 30 combining the HST 31 and a planetary gear (planetary gear mechanism 33).

[0039] The main transmission, HMT30, combines the HST31 and the planetary gear mechanism 33, making it possible to start, accelerate (increase speed), and decelerate the machine by only operating the lever or pedal, and also enables the machine to run with higher transmission efficiency than a transmission configuration with only the HST 31. Furthermore, by combining the HMT30 with electronic control, it makes it possible to perform constant speed running (cruise control) that runs the machine at a constant speed (constant speed).

[0040] In the transmission 121, the HST 31 includes a variable displacement hydraulic pump 311 and a fixed displacement hydraulic motor 312. The hydraulic pump 311 and the hydraulic motor 312 are housed in a housing (not shown) of the HST 31. A pump output shaft 32 is inserted into the hydraulic pump 311 along the rotation axis of the hydraulic pump 311. The pump output shaft 32 transmits power from the engine E to the hydraulic pump 311, the planetary gear mechanism 33, and the PTO shaft 71.

[0041] The transmission 121 is housed in a transmission case (not shown). In addition to the pump output shaft 32, the transmission 121 is provided with a motor output shaft 34, an output shaft 35, a sub-transmission shaft 37a, a PTO shaft 71, and the like, all of which are rotatable. The transmission 121 is also provided with a planetary gear mechanism 33. The planetary gear mechanism 33 is disposed on the rear side of the HST 31 (downstream in the transmission direction). The planetary gear mechanism 33 includes a sun gear 331, a planetary gear 332, a ring gear 333, and a carrier 334.

[0042] A forward / reverse clutch 36 is provided on the rear side (downstream side in the transmission direction) of the planetary gear mechanism 33. The forward / reverse clutch 36 includes a front clutch 361 and a rear clutch 362. The forward / reverse clutch 36 switches between an HST mode and an HMT mode. The forward / reverse clutch 36 transmits power to the output shaft 35 according to the two modes (HST mode and HMT mode), and transmits the power to an auxiliary transmission shaft 37a via the auxiliary transmission mechanism 37.

[0043] A pump side input gear 38 is provided on the pump output shaft 32. The pump side input gear 38 meshes with a gear of a carrier 334 that is loosely fitted concentrically with the sun gear 331, thereby driving the carrier 334 to rotate. The carrier 334 is provided with a plurality of planetary gears 332 that mesh with the sun gear 331 and the ring gear 333. In this manner, the planetary gear mechanism 33 is composed of the sun gear 331, the plurality of planetary gears 332, the ring gear 333, the carrier 334, etc.

[0044] In the planetary gear mechanism 33, the sun gear 331 is loosely fitted on the output shaft 35, and the planetary gear 332 meshes with the sun gear 331 and the ring gear 333. The planetary gear 332 is rotatably supported by a carrier 334 that is loosely fitted on the output shaft 35, and is configured to revolve around the sun gear 331 while rotating on its own axis.

[0045] A motor-side input gear 39 is provided on the motor output shaft 34. The motor-side input gear 39 drives a sun gear 331 to rotate.

[0046] The sub-speed change mechanism 37 transmits power to the sub-speed change shaft 37a by connecting the sub-speed change clutch. The sub-speed change shaft 37a is configured to be able to transmit power to the rear wheel differential 40 via a pinion provided on the sub-speed change shaft 37a. In addition, the sub-speed change shaft 37a is configured to be able to drive the front wheels 3 via a 4WD clutch 41 and a front wheel differential 42.

[0047] Here, each transmission configuration in the HST mode and the HMT mode will be described. In the HMT mode, in the forward / reverse clutch 36, the front clutch 361 is connected and the rear clutch 362 is disconnected.

[0048] At this time, the sun gear 331 of the planetary gear mechanism 33 is rotationally driven by the rotational power of the pump output shaft 32. Due to the rotation of the sun gear 331, the rotation of the carrier 334 and the sun gear 331 is combined and transmitted to the planetary gear 332. The power transmitted to the sun gear 331 is transmitted to the ring gear 333.

[0049] In the HMT mode, the front clutch 361 of the forward / reverse clutch 36 is controlled to be connected, so that the rotational power of the ring gear 333 is transmitted to the output shaft 35. The power of the output shaft 35 is transmitted to the rear wheels 4 and the front wheels 3 via the auxiliary transmission mechanism 37.

[0050] On the other hand, in the HST mode, in the forward / reverse clutch 36, the rear clutch 362 is connected and the front clutch 361 is disconnected. In the HST mode, the rotational power of the motor output shaft 34 is transmitted to the output shaft 35. The power of the output shaft 35 is transmitted to the rear wheels 4 and the front wheels 3 via the auxiliary transmission mechanism 37.

[0051] In the HST mode, the rotational power of the engine E is transmitted to the rear wheels 4 and the front wheels 3 without passing through the planetary gear mechanism 33. That is, the power of the engine E rotates the carrier 334 via the pump output shaft 32, but since the carrier 334 only rotates idly, the power is changed in speed by the HST 31 and transmitted from the motor output shaft 34 to the output shaft 35, and then transmitted to the rear wheels 4 and the front wheels 3 via the sub-transmission mechanism 37.

[0052] In addition, the rotational power from the pump output shaft 32 is also output toward the PTO shaft 71 via the PTO clutch 43 and the PTO conversion unit 44 .

[0053] The tractor 1 is equipped with a control device 200. When a main shift lever (not shown) is operated, the control device 200 outputs a shift command value corresponding to the operation position of the main shift lever to the HMT 30, which is a main shift device. In this manner, the HMT 30 is controlled by the control device 200. The control device 200 controls the main shift by the HMT 30, which is a main shift device. The control device 200 stores the operation position of the main shift lever and the rotation speed of the engine E.

[0054] An electronic governor (actuator) that controls the rotation speed of the engine E, a detection sensor that detects the rotation speed of the engine E (output shaft of the engine E), and a lever position detection sensor 114 that detects the operation position (shift position) of the main shift lever are connected to the control device 200. Note that the lever position detection sensor 114 may be, for example, a potentiometer that detects the rotation angle of the main shift lever.

[0055] In addition, the control device 200 is connected to a full reverse lever position detection sensor that detects the operating position of the forward / reverse lever, a detection sensor that detects the rotational speed of the motor output shaft 34, a speed change actuator that controls the swash plate of the hydraulic pump 311, and an electromagnetic valve that connects / disconnects the forward / reverse clutch 36.

[0056] In this way, the control device 200 feedback controls the inclination angle of the movable swash plate of the hydraulic pump 311 via the shift actuator so that the traveling speed (vehicle speed) of the tractor 1 becomes a shift command value corresponding to the operating position of the main shift lever, based on the operating position of the main shift lever and the detection value of the detection sensor.

[0057] In the gear shift control of the control device 200, for example, the HMT mode is executed in the medium to high speed range, and the HST mode is executed in the low speed range, and two driving modes are automatically switched in accordance with the gear shift command value.

[0058] <Work volume adjustment process> Next, the workload adjustment process of the workload adjustment system S will be described with reference to Fig. 4 and Fig. 6. Fig. 6 is a diagram for explaining adjustment of the vehicle speed of the traveling vehicle body 2. In Fig. 6, the traveling vehicle body 2 travels from section K1 to section K2 in that order.

[0059] The traveling vehicle body 2 is capable of autonomous travel in a farm field. The traveling vehicle body 2 automatically travels straight along a straight travel path under autonomous travel control by the control device 200. The control device 200 adjusts the steering angle of the traveling vehicle body 2 based on the self-position measured by the positioning device 150 so that the traveling vehicle body 2 travels along the straight travel path, and executes autonomous travel control.

[0060] The control device 200 acquires the fertility map M from an external device. For example, the control device 200 acquires the working width RW (see FIG. 2) and fertilization capacity (amount of fertilizer applied per unit time, amount of fertilizer applied per unit area, etc.) from the fertilizer application machine 6. By acquiring the working width RW from the fertilizer application machine 6, the control device 200 can flexibly respond to differences in working width RW due to the type of fertilizer used by each fertilizer application machine 6. Furthermore, by acquiring the fertilization capacity from the fertilizer application machine 6, the control device 200 can more reliably calculate the actual amount of fertilizer applied.

[0061] The control device 200 displays the fertility map M on the display 131. The control device 200 can also display the fertilization amount (material amount list) linked to the fertility map M on the display 131. For example, the fertility map M shown in FIG. 4 has sections leveled into a plurality of stages indicated by different colors. The material amount list is a list of the fertilization amount for each leveled stage. The material amount list is set, for example, so that a large amount of fertilization is applied to sections with low fertility on the fertility map M, and a small amount of fertilization is applied to sections with high fertility on the fertility map M. The control device 200 can also display the working width RW and fertilization capacity of the fertilizer application machine 6 on the display 131. The operator can adjust the fertilization amount in the material amount list from the input unit of the display 131. The operator can also input the working width RW and fertilization capacity of the fertilizer application machine 6 from the input unit of the display 131.

[0062] The control device 200 calculates the amount of fertilizer to be applied corresponding to the position (e.g., position P) of the traveling vehicle body 2 in real time from the position information obtained from the positioning device 150 and the position information allocated to each section. The control device 200 calculates a target vehicle speed, which is the vehicle speed of the traveling vehicle body 2 capable of applying fertilizer at the amount of fertilizer, based on the calculated amount of fertilizer and the working width RW and fertilization capacity of the fertilizer application machine 6 that have been acquired or input. The control device 200 sets a target vehicle speed for each divided section, and adjusts the vehicle speed of the traveling vehicle body 2 during fertilization work in the field F. For example, as shown in FIG. 6, when the traveling vehicle body 2 moves from section K1 to section K2, the control device 200 changes the setting from the target vehicle speed S1 for section K1 to the target vehicle speed S2 for section K2 at the timing when the traveling vehicle body 2 passes the boundary between the sections, and adjusts the vehicle speed of the traveling vehicle body 2 at a constant rate of change.

[0063] In this way, the control device 200 can make the fertility of the field F uniform by adjusting the vehicle speed of the traveling vehicle body 2 and adjusting the amount of fertilizer for each section. Conventionally, when fertilization work is performed regularly (when fixed-quantity fertilization is performed), the driver had to manually adjust the vehicle speed of the traveling vehicle body 2 by referring to a correspondence table of the fertilizer amount and the working width RW, which was troublesome. However, by adjusting the vehicle speed of the traveling vehicle body 2 as described above, it becomes easy to adjust the desired fixed-quantity fertilization and the vehicle speed. In addition, when performing variable fertilization, it is necessary to prepare a set of a tractor and a fertilizer application machine that are compatible with variable fertilization, but each of them is expensive, so it takes time for the technology to penetrate. In the present invention, the amount of fertilization is made variable by adjusting the vehicle speed of the traveling vehicle body 2, so variable fertilization can be performed even with existing work machines.

[0064] The target vehicle speed can be set by setting the following two points. For the first point, the highest target vehicle speed is set for the section with the highest fertility in the fertility map M. For the second point, the target vehicle speed is set based on the desired amount of fertilizer to be applied to the section with low fertility. Alternatively, for the first point, the lowest target vehicle speed is set for the section with the lowest fertility in the fertility map M. For the second point, the target vehicle speed is set based on the desired amount of fertilizer to be applied to the section with high fertility.

[0065] Furthermore, if the traveling vehicle body 2 has an automatic shift mode in which the engine speed and gear stage are automatically adjusted simply by operating the accelerator pedal, the control device 200 may adjust the vehicle speed of the traveling vehicle body 2 as described above when the automatic shift mode is activated. If the vehicle speed of the traveling vehicle body 2 cannot be automatically adjusted, the control device 200 may display the target vehicle speed on the display 131 and prompt the driver to operate the main shift lever to achieve the target vehicle speed.

[0066] Next, the adjustment of the vehicle speed of the traveling vehicle body 2 will be described in detail.

[0067] The control device 200 mainly adjusts the continuously variable transmission 29 or switches the speed to adjust the vehicle speed of the traveling vehicle body 2. Depending on the type of fertilizer application machine 6, changing the engine speed may change the fertilization capacity of the fertilizer application machine 6, but the control device 200 can reduce the effect on the fertilization capacity of the fertilizer application machine 6 by adjusting the continuously variable transmission 29 or switching the speed. For example, in the case of a fertilizer application machine 6 that uses PTO rotation with the sub-transmission gear kept constant, the control device 200 can adjust the continuously variable transmission 29.

[0068] In addition, when the deviation between the target vehicle speed and the actual vehicle speed does not fall within a certain value when adjusting the vehicle speed of the traveling body 2 using the adjustment of the continuously variable transmission 29 or the switching of the gear stages, the control device 200 may adjust the vehicle speed of the traveling body 2 by adjusting the engine speed if the PTO power is not used for the fertilization mechanism of the fertilizer application machine 6. This enables the control device 200 to increase the range in which the vehicle speed can be adjusted.

[0069] When the calculated amount of fertilizer increases due to the movement of the traveling body 2 during fertilization (when the section is switched to a stage with a lower fertility than before the movement), the control device 200 automatically reduces the vehicle speed of the traveling body 2 based on the rate of change of the amount of fertilizer. When the calculated amount of fertilizer decreases due to the movement of the traveling body 2 during fertilization (when the section is switched to a stage with a higher fertility than before the movement), the control device 200 automatically increases the vehicle speed of the traveling body 2 based on the rate of change of the amount of fertilizer. Conventionally, when performing fixed-amount fertilization, if the amount of fertilizer was to be adjusted for each section, the driver had to manually adjust the vehicle speed of the traveling body 2 based on the calculated amount of fertilizer and the fertility map M, which was inefficient. In the present invention, even in the case of fixed-amount fertilization, the vehicle speed of the traveling body 2 is automatically adjusted, making simple variable fertilization possible, and the control device 200 automatically adjusts the vehicle speed of the traveling body 2, making high-speed work possible.

[0070] Note that if the speed of the traveling vehicle body 2 is automatically increased based on the rate of change in the amount of fertilizer applied, when the amount of fertilizer applied after switching between sections becomes zero, the traveling vehicle body 2 will increase its speed up to its upper limit, which may cause the traveling vehicle body 2 to travel faster than expected. Furthermore, a section with an amount of fertilizer applied of zero is outside the range of the field F or a section where fertilizer is not applied, and therefore the operator can execute a behavior that is arbitrarily set by the operator. Therefore, when the amount of fertilizer applied after switching between sections is zero, the control device 200 adjusts the speed of the traveling vehicle body 2 so that it becomes the previously set vehicle speed.

[0071] For example, if the control device 200 is set to maintain the target vehicle speed in the immediately preceding section, when the amount of fertilizer application after the section change becomes zero, the control device 200 causes the traveling vehicle body 2 to travel at the same vehicle speed as in the immediately preceding section. Alternatively, if the control device 200 is set to change the vehicle speed to an arbitrary constant vehicle speed regardless of the target vehicle speed in the immediately preceding section, when the amount of fertilizer application after the section change becomes zero, the control device 200 causes the traveling vehicle body 2 to travel at the constant vehicle speed. By setting the control device 200 in this way, the control device 200 can cause the traveling vehicle body 2 to pass through sections where fertilizer is not to be applied.

[0072] Alternatively, if the control device 200 is set to change the vehicle speed to 0 km regardless of the target vehicle speed in the immediately preceding section, the control device 200 stops the traveling vehicle body 2 when the amount of fertilizer application after the section change becomes 0. At this time, the control device 200 displays a warning on the display 131 in advance so that the operator can recognize that the behavior will be stopped, and sounds a warning from the alarm 132. By performing such settings, the control device 200 can stop the traveling vehicle body 2 in a section where fertilization is not to be performed. Furthermore, since the control device 200 can notify the stopping behavior in advance, the traveling vehicle body 2 can be stopped safely.

[0073] Furthermore, when there is a discrepancy between the target vehicle speed and the vehicle speed obtained by the positioning device 150, the control device 200 corrects the vehicle speed of the traveling vehicle body 2 to correct the discrepancy. That is, when the vehicle speed obtained by the positioning device 150 is slower than the target vehicle speed, the control device 200 adjusts the vehicle speed of the traveling vehicle body 2 to increase it, and when the vehicle speed obtained by the positioning device 150 is faster than the target vehicle speed, the control device 200 adjusts the vehicle speed of the traveling vehicle body 2 to decrease it. Depending on the field condition, there is a risk that a discrepancy between the target vehicle speed and the actual vehicle speed will occur, which will result in a decrease in the accuracy of variable fertilization, but the control device 200 can improve the accuracy of variable fertilization by constantly adjusting the vehicle speed.

[0074] Next, adjustment of the vehicle speed of the traveling vehicle body 2 in the manual steering mode and the automatic steering mode of the steering wheel 9 will be described with reference to Fig. 7. Fig. 7 is a diagram for explaining adjustment of the vehicle speed of the traveling vehicle body 2. In Fig. 7, the traveling vehicle body 2 travels from section K3 to section K4 in that order.

[0075] In a manual steering mode in which the steering wheel 9 is manually steered, the control device 200 calculates the amount of fertilizer to be applied based on the current location of the traveling vehicle body 2, and adjusts the vehicle speed of the traveling vehicle body 2 when the calculated amount of fertilizer is changed. This allows the control device 200 to correctly adjust the vehicle speed of the traveling vehicle body 2 even if the driver drives the traveling vehicle body 2 in any section.

[0076] In the automatic steering mode in which the steering wheel 9 is automatically steered, when the vehicle speed of the traveling vehicle body 2 is adjusted at the timing when the traveling vehicle body 2 passes the boundary of the section where the target vehicle speed changes, the vehicle speed of the traveling vehicle body 2 changes after the section is switched, so that the change in the fertilizer amount is delayed and the accuracy of the variable fertilization may be reduced. Therefore, the control device 200 calculates the fertilization amount based on the section a certain distance ahead on the travel route, and starts increasing or decreasing the traveling vehicle body 2 before reaching the boundary of the section where the target vehicle speed changes. For example, as shown in FIG. 7, the traveling vehicle body 2 may pass the boundary of the section at a vehicle speed that is an intermediate value between the target vehicle speed S3 of the section K3 before the movement and the target vehicle speed S4 of the section K4 after the movement. This makes it possible to advance the timing of the vehicle speed change and improve the accuracy of the variable fertilization. The certain distance is a distance equal to or greater than the travel distance required to change the target vehicle speed from the minimum value (excluding the fertilizer amount 0) of the material amount list to the target vehicle speed corresponding to the maximum value of the material amount list. The control device 200 can accommodate changes in vehicle speed at all vehicle speeds of the traveling vehicle body 2 during fertilization work by setting the constant distance to a distance equal to or greater than the maximum distance required for changing the vehicle speed.

[0077] Alternatively, when moving to a section less fertile than the section before the movement, the control device 200 may change the vehicle speed a set distance (e.g., 1 m) before the boundary between the sections. By speeding up the timing at which the amount of fertilizer is increased, the control device 200 can prevent inadequate fertilization of the section with low fertility. Also, when moving to a section more fertile than the section before the movement, the control device 200 may change the vehicle speed a set distance (e.g., 1 m) after the boundary between the sections. By delaying the timing at which the amount of fertilizer is reduced, the control device 200 can prevent inadequate fertilization of the section with low fertility.

[0078] Next, a process will be described in which the maximum value of the target vehicle speed exceeds the upper limit of the working speed of the traveling vehicle body 2 and the minimum value of the target vehicle speed is below the lower limit of the working speed of the traveling vehicle body 2.

[0079] When the maximum value of the target vehicle speed exceeds the upper limit of the working speed of the traveling vehicle body 2, the control device 200 displays a warning in advance on the display 131. When the actual vehicle speed is insufficient relative to the target vehicle speed, more fertilizer than the calculated amount (required amount) is applied, but by displaying a warning in advance, the control device 100 can prevent over-fertilization.

[0080] When the minimum value of the target vehicle speed falls below the lower limit of the working speed of the traveling vehicle body 2, the control device 200 displays a warning in advance on the display 131. When the actual vehicle speed is faster than the target vehicle speed, the calculated amount of fertilizer (required amount) cannot be applied, but by displaying a warning in advance, the control device 100 can prevent insufficient fertilization.

[0081] In addition to displaying the warning, the control device 200 may cause the display 131 to display a display urging the operator to change the fertilization capacity. Displaying a warning alone makes it unclear what the operator should do, but displaying a display urging the operator to change the fertilization capacity makes it easier for the operator to determine what to do. In addition, the operator can adjust the range of the vehicle speed of the traveling vehicle body 2 by changing the fertilization capacity of the fertilizer application machine 6.

[0082] Next, switching of variable fertilization modes will be described with reference to Fig. 8 and Fig. 9. Fig. 8 and Fig. 9 are diagrams for explaining adjustment of the vehicle speed of the traveling body 2. In Fig. 8, the traveling body 2 travels from section K5 to section K7 in that order. In Fig. 9, the traveling body 2 travels from section K8 to section K10 in that order.

[0083] The control device 200 can switch the variable fertilization mode by input to the display 131. For example, the control device 200 can set an upper limit value for the absolute value of acceleration when accelerating or decelerating the traveling vehicle body 2. The control device 200 can set a large upper limit value for the absolute value of acceleration in a mode that prioritizes fertilization accuracy, and a small upper limit value in a mode that prioritizes the ride comfort of the operator, so that the setting can be made according to the operator's preference.

[0084] As shown in FIG. 8, the control device 200 can switch to a mode that prioritizes work efficiency as a variable fertilization mode. For example, the control device 200 sets the maximum vehicle speed S5 at which work can be performed in the section K5 (excluding the fertilization amount of 0) in which the fertilization amount is the smallest in the material amount list. The control device 200 can improve time efficiency by setting the vehicle speed of the traveling vehicle body 2 as high as possible. If the maximum vehicle speed S5 cannot be achieved with the acquired or input fertilization capacity, the control device 200 displays a display on the display 131 that prompts the user to change the fertilization capacity. In the mode that prioritizes work efficiency, the control device 200 may further set the rate of change of the vehicle speed of the traveling vehicle body 2 to a constant value. By setting the rate of change of the vehicle speed of the traveling vehicle body 2 to a constant value, the control device 200 can reduce shock even when the vehicle speed change is large.

[0085] As shown in FIG. 9, the control device 200 can switch to a mode that prioritizes work accuracy as a variable fertilization mode. For example, the control device 200 sets the minimum vehicle speed S10 at which work can be performed in the section K10 in which the fertilization amount is the largest in the material amount list. The control device 200 can shorten the travel distance during the vehicle speed switching time as much as possible by setting the vehicle speed of the traveling vehicle body 2 as low as possible, thereby improving the accuracy of variable fertilization. If the minimum vehicle speed S10 cannot be achieved with the acquired or input fertilization capacity, the control device 200 displays a display on the display 131 that prompts the user to change the fertilization capacity. In the mode that prioritizes work accuracy, the control device 200 further sets the change time T of the vehicle speed of the traveling vehicle body 2 to a constant value. The control device 200 can shorten the travel distance during the vehicle speed switching time as much as possible by setting the vehicle speed of the traveling vehicle body 2 as low as possible, thereby improving the accuracy of variable fertilization. Furthermore, even when the speed of the traveling vehicle body 2 varies greatly, the control device 200 can improve the accuracy of variable fertilization by changing the vehicle speed at regular intervals.

[0086] As described above, the work amount adjustment system S of the tractor 1 according to this embodiment includes the traveling body 2, the fertilizer applicator 6 connected to the traveling body 2 and constantly performing fertilization work, the positioning device 150 that measures the position of the traveling body 2, and the control device 200 that can adjust the vehicle speed of the traveling body 2, and the control device 200 adjusts the vehicle speed of the traveling body 2 during fertilization work in the field F based on the position of the traveling body 2 measured by the positioning device 150 and the fertility map M created by analyzing an aerial image of the field F. As a result, the work amount adjustment system S of the tractor 1 adjusts the amount of fertilization by adjusting the vehicle speed of the traveling body 2, and therefore, since a mechanism for making the fertilizer applicator 6 variable in the amount of fertilization and communication with the fertilizer applicator 6 based on the fertility map M are not required, the amount of fertilization can be adjusted inexpensively.

[0087] Furthermore, the fertility map M is divided into sections of a size based on the working width RW of the fertilizer application implement 6, and a target vehicle speed of the traveling body 2 is set for each divided section. This allows the work amount adjustment system S of the tractor 1 to appropriately adjust the work amount by dividing the fertility map M based on the working width RW of the fertilizer application implement 6.

[0088] In addition, the traveling body 2 has a traveling transmission path 21 that drives the drive wheels from the engine E and a work transmission path 22 that drives the fertilizer application machine 6 from the engine E, which are branched and arranged in parallel, and the traveling transmission path 21 is equipped with a continuously variable transmission 29, and the control device 200 adjusts the vehicle speed of the traveling body 2 by the continuously variable transmission 29 in response to changes in the target vehicle speed. As a result, the control device 200 drives the fertilizer application machine 6 constantly and adjusts it steplessly by the continuously variable transmission 29, thereby making it possible to appropriately adjust the amount of work with an inexpensive configuration.

[0089] In addition, the traveling vehicle body 2 includes a steering wheel 9 for steering the steering wheels, and the control device 200 starts accelerating or decelerating the traveling vehicle body 2 before the traveling vehicle body 2 reaches the boundary between sections where the target vehicle speed changes in an automatic steering mode in which the steering wheel 9 is automatically steered. This allows the control device 200 to level out the effect of changes in the amount of fertilizer application during acceleration and deceleration.

[0090] Furthermore, in a manual steering mode in which the steering wheel 9 is manually steered, the control device 200 adjusts the speed of the traveling vehicle body 2 based on the target vehicle speed at the current location of the traveling vehicle body 2. This allows the control device 200 to adjust the amount of fertilizer even if the traveling vehicle body 2 travels along any route.

[0091] Furthermore, the control device 200 can set an upper limit value for the absolute value of the acceleration when accelerating or decelerating the traveling vehicle body 2. This allows the control device 200 to set a large upper limit value for the absolute value of the acceleration when emphasis is placed on accuracy, and to set a small upper limit value for the absolute value of the acceleration when emphasis is placed on ride comfort, and can set a range for the absolute value of the acceleration according to the preference of the operator.

[0092] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0093] 1 Tractor (work vehicle) 2 Running vehicle 6 Fertilizer application machine 9. Steering Wheel 29 Continuously variable transmission 121 Gearbox 150 Positioning device 200 Control device E Engine (prime mover) F Field K1 Section K2 Section K3 Section K4 Section K5 Section K6 Section K7 Section K8 Section K9 Section K10 Section M Fertility Map RW Working width S Work load adjustment system

Claims

1. A running vehicle body, A fertilizer application machine connected to the traveling vehicle body and steadily performing fertilization work; A positioning device for measuring the own position of the traveling vehicle body; A control device capable of adjusting the vehicle speed of the traveling vehicle body, The control device is a work vehicle workload adjustment system that adjusts the vehicle speed of the traveling vehicle during fertilization work in the field based on the position of the traveling vehicle measured by the positioning device and a fertility map created by analyzing aerial images of the field.

2. The work volume adjustment system for a work vehicle as described in claim 1, wherein the fertility map is divided into sections of a size based on the working width of the fertilizer application machine, and a target vehicle speed of the traveling vehicle body is set for each divided section.

3. The traveling vehicle body has a traveling transmission path that drives the drive wheels from the prime mover and a work transmission path that drives the fertilizer application machine branched and arranged in parallel, The drive transmission path includes a continuously variable transmission, 3. The work amount adjustment system for a work vehicle according to claim 2, wherein the control device adjusts the vehicle speed of the traveling vehicle body by the continuously variable transmission in response to a change in the target vehicle speed.

4. The traveling vehicle body includes a steering wheel for steering a steering wheel, The work volume adjustment system for a work vehicle according to claim 3, wherein the control device, in an automatic steering mode in which the steering wheel is automatically steered, starts accelerating or decelerating the traveling vehicle body before reaching a boundary between sections where the target vehicle speed changes.

5. 5. The work amount adjustment system for a work vehicle according to claim 4, wherein the control device adjusts the vehicle speed of the traveling vehicle body based on a target vehicle speed at a current location of the traveling vehicle body in a manual steering mode in which the steering wheel is manually steered.

6. 6. The work amount adjustment system for a work vehicle according to claim 1, wherein the control device is capable of setting an upper limit on an absolute value of acceleration when the traveling vehicle body is accelerating or decelerating.

Images