Farm working machine

Abstract

To provide a farm working machine capable of determining the reliability of fertility detection data, taking into account that a conventional fertilizing working machine detects the fertilizing degree of a field by a fertilizing degree sensor and adjusts a fertilizing amount according to the fertilizing degree of each field section, and solving the problem that the fertilizing amount is adjusted using instantaneous point data acquired at 1 piece / 0.2 sec, and cannot be appropriately adjusted due to dispersion in the detection data of a fertilizing degree depending on a traveling state.SOLUTION: In the farm working machine in which a fertilizing device whose fertilizing amount is adjusted by fertilizing degree data of a field detected by a fertilizing degree sensor 75 is mounted on a traveling vehicle body, the standard deviation of the fertilizing degree data in a prescribed section is calculated and when the standard deviation is larger than a prescribed value, it is determined that the dispersion of the fertilizing degree data is large and the reliability is set to a small value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an agricultural machine having a fertilizer application device mounted on a traveling vehicle body. [Background technology]

[0002] There is a fertilizer applicator that can detect the fertility of a field using a fertility sensor and adjust the amount of fertilizer to suit the fertility of each field section (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-146219 Summary of the Invention [Problem to be solved by the invention]

[0004] The amount of fertilizer applied is adjusted using instantaneous point data acquired at 0.2 seconds per point. Depending on the driving conditions, variations in the fertility detection data may occur, making it impossible to adjust the amount of fertilizer appropriately.

[0005] The present invention has been made in view of the above, and has an object to provide an agricultural machine that determines the reliability of fertility detection data. [Means for solving the problem]

[0006] The invention described in claim 1 is an agricultural work machine having a fertilizer application device 60 attached to a running body 2, which adjusts the amount of fertilizer applied based on field fertility data detected by a fertility sensor 75, and which calculates the standard deviation of the fertility data within a specified section, and if the standard deviation is larger than a specified value, determines that the fertility data has a large variation and sets the reliability to a specified small value.

[0007] The invention described in claim 2 is the agricultural work machine described in claim 1, which calculates fertility data from the detected values ​​of the fertility sensor 75 and the temperature sensor 77 that detects the temperature of the field.

[0008] The invention described in claim 3 is an agricultural work machine having a fertilizer application device 60 attached to a running body 2, which adjusts the amount of fertilizer applied based on field fertility data detected by a fertility sensor 75, and which calculates the variance of the fertility data within a specified section, and if the variance is larger than a specified value, determines that the fertility data has a large variation and sets the reliability to a specified small value.

[0009] The invention as set forth in claim 4 is the agricultural machine as set forth in any one of claims 1 to 3, wherein when the reliability is lower than a predetermined level, the detection frequency of the fertility sensor 75 is increased. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a side view of a riding rice transplanter showing an embodiment of the present invention. [Figure 2] FIG. 1 is a control block diagram of a riding rice transplanter showing an embodiment of the present invention. [Figure 3] FIG. 10 is a plan view of a riding rice transplanter showing another embodiment of the present invention. [Figure 4] FIG. 10 is a plan view of a fertilizer application device of a riding rice transplanter showing another embodiment of the present invention. [Figure 5] FIG. 10 is a plan view of a fertilizer hose of a riding rice transplanter showing another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] Below, a riding rice transplanter 1 equipped with a fertilizer applicator, which is an example of an agricultural machine of the present invention, will be described in detail with reference to the drawings. The components in the following embodiments include those that are easily replaceable by a person skilled in the art, or those that are substantially the same, or so-called equivalents. Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

[0012] <Overall structure> FIG. 1 is a side view showing a riding rice transplanter 1 as an agricultural machine according to an embodiment, and FIG. 2 is a control block diagram.

[0013] In the following description, the riding rice transplanter 1 is assumed to be an 8-row planter, and the riding rice transplanter 1 may be referred to as the machine body. In addition, when defining the front, rear, left and right directions in the embodiment, the traveling direction of the traveling vehicle body 2 as seen from the driver's seat 31 is used as the reference.

[0014] In the riding rice transplanter 1, a seedling planting unit 4 serving as a working unit is attached to the rear of a traveling body 2 via a lifting link mechanism 3 so that it can be raised and lowered, and the main body of a fertilizer applicator 60 is provided on the upper rear side of the traveling body 2. The seedling planting unit 4 is an example of a working unit, and may be any agricultural work machine that has a fertility sensor 75 as shown in the figure and is capable of performing fertilization work. For example, the agricultural work machine may be one that includes a sowing device that supplies seeds or a rotary tiller that tills the field F as working units.

[0015] <Running vehicle 2> The traveling vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 as driving wheels. A transmission case 12 is disposed at the front of the vehicle body, and front wheel final cases 13 as traveling transmission cases are provided on the left and right sides of the transmission case 12. The front wheels 10 are attached to left and right front axles that protrude outward from the left and right front wheel final cases 13, respectively.

[0016] Left and right line-drawing markers 16 are provided on both the front left and right sides of the traveling body 2, and behind the left and right spare seedling frames 38, to form guide lines in the field F that serve as a guide for moving straight in the next process.

[0017] The left and right line drawing marker 16 consists of a waterwheel-shaped marker 16a that comes into contact with the field F, a rod-shaped support 16b to which the marker 16a is attached so that it can rotate freely, and a marker rotation motor 16c that rotates the support 16b outward and inward from the body of the machine.

[0018] When the left and right line-drawing markers 16 are driven by the marker rotation motor 16c, one side of the marker 16 descends during planting work, and when it enters a working state, the other side retracts upward. When the vehicle turns, one side retracts upward, and the other side enters a working state. When turning or when planting work is not being performed, both the left and right line-drawing markers 16 are retracted upward. By aligning the center mascot 17, located at the front end and center of the traveling body 2, with the guide line formed by the left and right line-drawing markers 16, planting work can be performed in line with the previous work position, improving work efficiency and planting accuracy.

[0019] Fertility sensors 75 are provided on the left and right front axle sections of the left and right front wheels 10 to measure the fertility of the moving process (current process) using circular left and right central electrode plates 75a, which act as electrodes that penetrate into the soil (mud) below the moving vehicle.

[0020] In normal mode, electricity is passed through the pair of left and right central electrode plates 75a of the fertility sensor 75 once every 0.1 seconds, and the change in electrical resistance due to the fertilizer concentration contained in the soil (mud) between the pair of left and right central electrode plates 75a is sent to the controller 25 as a signal of the fertilizer concentration at that point, and the fertility of the field F in the current process where rice planting and fertilization work is being carried out is detected. Note that the electrical resistance is low when the fertilizer concentration is high, i.e., when there is a lot of electrolytes, electricity flows easily, and is high when the fertilizer concentration is low, i.e., when there is a little electrolyte, electricity flows less easily.

[0021] A depth sensor 76 is also provided at the front end of the machine body, which uses ultrasonic waves to detect the distance to the field directly below the machine body.

[0022] In addition, a temperature sensor 77 is provided on the side float 54 of the seedling planting section 4.

[0023] Temperature sensor 77 is grounded in the field to measure the field temperature and corrects the detection result of fertility sensor 75 based on the measured temperature. Different soil temperatures result in different electrical conductivity of the soil, but by correcting the detection result of fertility sensor 75 based on the temperature detected by temperature sensor 77, it is possible to improve fertilization accuracy with a simple measurement method. This correction of detection data may involve correcting the electrical resistance or electrical conductivity, or it may involve correcting the fertilizer concentration calculated from the electrical resistance or electrical conductivity.

[0024] The soil fertility is calculated by dividing the electrical conductivity detected by the fertility sensor 75, corrected based on the soil temperature detected by the temperature sensor 77, by the field depth detected by the depth sensor 76. Variable fertilization control is performed to successively change the amount of fertilizer applied by the fertilizer application device 60 based on this soil fertility.

[0025] In addition, in areas where the depth value is likely to be large, such as the edges of rice paddies, the fertility level is likely to be calculated as low, and the amount of fertilizer applied is likely to be excessive.Therefore, when the depth sensor 76 detects a depth greater than a predetermined value, the amount of fertilizer applied is significantly reduced (for example, by approximately 40% from the standard value).

[0026] In addition, a monitor 78 is provided as a display device on the operation panel below the control handle 34.

[0027] Furthermore, a GNSS receiving antenna (hereinafter sometimes simply referred to as the receiving antenna) 81, which constitutes the GNSS control device, is mounted on the upper part of the front mast 33, the base of which is fixed to the front end of the aircraft, at the center position of the aircraft in the lateral direction. The signal received by the receiving antenna 81 is sent to the controller 25.

[0028] The GNSS control device can calculate and acquire position information or coordinate information of the riding rice transplanter 1 by using the GNSS, and the position information acquired by the GNSS control device is transmitted to the controller 25.

[0029] A vehicle speed sensor 79 is also provided to detect the rotation speed of the drive shaft that drives the left and right rear wheels 11 from the transmission case 12, and the controller 25 calculates the vehicle speed based on the detected value sent from the vehicle speed sensor 79.

[0030] Now, to explain other configurations based on Figure 1, the front end of the main frame 18 is fixed to the rear part of the transmission case 12, and rear wheel gear cases 19 are provided on both the left and right sides of the rear part of the main frame 18, and rear wheels 11 are attached to left and right rear axles that protrude outward from the rear wheel gear cases 19, respectively.

[0031] An engine 20 is mounted on the front of the vehicle body. The rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission and a hydrostatic continuously variable transmission (HST) 21. The rotational power transmitted to the transmission case 12 is changed in speed by a transmission inside the transmission case 12, and then separated into traveling power and externally extracted power.

[0032] The externally extracted power, which is separated from the rotational power transmitted to the transmission case 12, is transmitted to a planting clutch case provided at the rear of the traveling body 2. From the planting clutch case, the power is transmitted to the seedling planting section 4 by a planting transmission shaft.

[0033] A driver's seat 31 is installed at the center upper part of the traveling vehicle body 2. A bonnet 32 ​​equipped with various operating mechanisms is provided in front of the driver's seat 31, and a steering wheel 34 for steering the front wheels 10 is provided above the bonnet 32.

[0034] The bonnet 32 ​​is also provided with a main speed change lever that operates to increase or decrease the speed of the hydrostatic continuously variable transmission (HST) 21 in the forward and reverse directions, and a sub-speed change lever that switches the traveling transmission of the traveling body 2 between a "working speed" when working in the field F and a "traveling speed" when traveling on the road.

[0035] The controller 25 is a control device that controls the operation of the fertilizer application device 60, and is housed inside the hood 32. The controller 25 has, for example, a CPU, a ROM, and a RAM, and controls each part of the riding rice transplanter 1 by executing a program stored in the ROM.

[0036] Approximately horizontal floor steps 35 are formed on both the left and right sides and the rear of the lower part of the hood 32. Part of the floor step 35 is lattice-shaped, so that mud on the shoes of a worker walking on the floor step 35 falls into the field F.

[0037] <Seedling planting section 4> The lifting link mechanism 3, which raises and lowers the seedling planting unit 4 connected to the rear of the traveling body 2, has a parallel link configuration and includes one upper link 39 and a pair of left and right lower links 40. The base sides of the upper link 39 and lower link 40 are rotatably attached to a link base frame 41 that is shaped like a portal when viewed from the rear and stands upright at the rear end of the main frame 18, and a vertical link 42 is connected to their tip ends. A connecting shaft that is rotatably supported on the seedling planting unit 4 is inserted and connected to the lower end of the vertical link 42, and the seedling planting unit 4 is connected to be able to roll around the connecting shaft.

[0038] A lifting hydraulic cylinder 46 is provided between a cylinder support member provided on the main frame 18 and the tip of a swing arm formed integrally with the upper link 39. By hydraulically extending and contracting the lifting hydraulic cylinder 46, the upper link 39 rotates up and down, and the seedling planting section 4 moves up and down while maintaining a substantially constant posture.

[0039] As mentioned above, the seedling planting section 4 has an eight-row planting configuration and is equipped with a planting transmission case 47 which also serves as a frame, a seedling loading table 51, a planting device 52, etc.

[0040] The seedling loading platform 51 carries seedlings with mat-like soil attached and moves back and forth from side to side to supply the seedlings one by one to the seedling outlet of each row, and when all the seedlings in one horizontal row have been supplied to the seedling outlet, the seedlings are transported downward by the seedling feeding belt.

[0041] The planting device 52 plants the seedlings supplied to the seedling outlet in the field F using seedling planting tools 52a. Two seedling planting tools 52a are provided per row, and are attached to a rotating case 52b so that the seedlings can be picked up alternately and planted in the field F.

[0042] Additionally, a central center float 53 and left and right side floats 54 are each rotatably provided below the seedling planting section 4. When the machine is advanced with these floats 53, 54 in contact with the muddy surface of the field F, the floats 53, 54 glide across the muddy surface while leveling it, and the planting device 52 plants seedlings in the leveled area.

[0043] The center float 53 is provided with a float sensor that detects the amount of rotation of the center float 53 due to changes in field depth. When this float sensor detects a change in angle, the controller 25 determines that the depth of the field F has changed, and automatically adjusts the working height of the seedling planting section 4 by extending or retracting the lifting hydraulic cylinder 46 so that the seedling planting section 4 is at an appropriate height in accordance with the detected angle.

[0044] The float sensor's detection value is defined as 0 degrees when the center float 53 touches the ground in a substantially horizontal position on the field surface. When the detection value is in the elevation angle direction (upward), the controller 25 determines that the field depth has become shallower and the distance between the seedling planting unit 4 and the field surface has narrowed, and contracts the lifting hydraulic cylinder 46 to raise the seedling planting unit 4, preventing the seedlings from being planted too deeply. On the other hand, when the detection value is in the depression angle direction (downward), the controller 25 determines that the field depth has become deeper and the distance between the seedling planting unit 4 and the field surface has widened, and extends the lifting hydraulic cylinder 46 to lower the seedling planting unit 4, preventing the seedlings from being planted too shallow.

[0045] In addition, the operation panel mounted on the upper rear surface of the hood 32 is provided with a lifting hydraulic sensitivity adjuster (dial) for changing the upper and lower width of the dead zone in which the lifting hydraulic cylinder 46 does not operate up or down from 0 degrees when the center float 53 touches down on the field surface in an approximately horizontal position, and the upper and lower width of the dead zone is changed (sensitivity is set) using the lifting hydraulic sensitivity adjuster according to the hardness of the muddy soil in the field F, so that appropriate automatic lifting control of the seedling planting section 4 is performed.

[0046] <Fertilizer 60> The fertilizer application device 60 includes a fertilizer hopper 60 a, a delivery unit 61 , a fertilizer application hose 62 , a fertilizer application guide 63 , and an air duct 68 .

[0047] The fertilizer hopper 60a has an openable lid attached to the top. The bottom of the fertilizer hopper 60a branches into a funnel-shaped flow section corresponding to the number of fertilizer rows (8 rows), and the bottom of this flow section is connected to the top end of each delivery section 61.

[0048] The left end of air duct 68, through which the conveying air that moves the fertilizer to fertilizing hose 62 passes, is connected via an air switching pipe to a blower driven by an electric blower motor. When the air from the blower passes through air duct 68 and the connecting pipe and passes through the discharge port of payout part 61, it is blown into fertilizing hose 62, picking up the fertilizer.

[0049] Granular fertilizer stored in a fertilizer hopper 60a is delivered in fixed amounts by a delivery unit 61 provided for each seedling planting row. The delivered fertilizer is guided by a fertilizer hose 62 to a fertilizer guide 63 attached to the center float 53 and side float 54. The fertilizer is then dropped into a fertilizer furrow formed near the side of the seedling planting row by a furrow-making body 64 provided in front of the fertilizer guide 63.

[0050] The delivery unit 61 incorporates a delivery roll that delivers the fertilizer stored in the fertilizer hopper 60a downward. The delivery roll is a rotating body with groove-like recesses formed on the outer periphery.

[0051] As the feeding roll rotates, fertilizer dropped from the fertilizer hopper 60a is collected in the recess and fed downward. The fertilizer fed by the feeding roll is discharged from a discharge port at the bottom end. A connecting pipe (not shown) is connected to the discharge port of the feeding unit 61. The front end of the connecting pipe is inserted into and connected to the rear part of the air duct 68 in the front-to-rear direction, and the rear end of the connecting pipe communicates with the discharge port of the feeding unit 61.

[0052] A fertilizer amount adjustment motor 90 that rotates forward and backward at high speed is disposed below and near the center of the fertilizer hopper 60a in the left-right direction as a fertilizer amount adjustment device. The fertilizer amount adjustment motor 90 is disposed behind and to the right of the operator's seat 31 with a gap therebetween.

[0053] In addition, by transmitting power from the fertilizer transmission output shaft provided in the rear wheel gear case 19 to a fertilizer transmission mechanism that rotates and drives the payout shaft, the driving force to the rear wheel 11 can be used to operate the fertilizer application device 60.

[0054] The fertilizer amount adjustment motor 90 is provided with a rotatable ball screw, and a ball nut that threads into a spiral groove formed on the surface of the ball screw and moves in the fore-and-aft direction of the machine body at high speed.The forward and backward movement of the ball nut changes the rotation speed of the delivery shaft, thereby adjusting the amount of fertilizer delivered.

[0055] A fertilizer rotation sensor 91 is provided on the motor stay to which the fertilizer amount adjusting motor 90 is attached.

[0056] The fertilizer rotation sensor 91 detects the rotation speed and rotation angle of the fertilizer amount adjusting motor 90.

[0057] The fertilizer rotation sensor 91 sends the detected values ​​of the number of rotations and the rotation angle to the controller 25. The controller 25 calculates the number of rotations and the rotation angle of the ball screw from the detected values ​​of the number of rotations and the rotation angle, and calculates the amount of fertilizer to be applied.

[0058] A discharge duct is arranged on the left and right sides of the lower rear part of the fertilizer hopper 60a to move the fertilizer discharged from the discharge passage to the discharge port on the side of the machine body. One end of the discharge duct is connected to a blower, and when the operation switch lever is set to the fertilizing side, conveying air is blown into the air duct 68, and when set to the discharge side, conveying air is blown into the discharge duct.

[0059] With this configuration, when the work selector lever is operated to the discharge side and the selector shutters for each row are opened, the fertilizer moves through each discharge passage to the discharge duct, and the air blown into the discharge duct carries the fertilizer to the discharge outlet and is discharged. A collection bag or bucket is placed over the discharge outlet, but if a fine mesh discharge hose is installed to prevent the fertilizer from scattering, the fertilizer will be prevented from scattering and the amount of fertilizer collected will increase.

[0060] Next, the control system of the riding rice transplanter 1 will be described.

[0061] As shown in FIG. 2, the controller 25 is provided with a processing unit having a CPU and the like, a storage unit such as a ROM and a RAM, and an input / output unit, which are interconnected so that signals can be exchanged between them.

[0062] The memory unit stores a computer program that controls the riding rice transplanter 1. For example, the controller 25 operates the fertilizer amount adjustment motor 90 based on the fertilizer concentration of the soil (mud) acquired by the fertility sensor 75 to automatically adjust the amount of fertilizer.

[0063] Actuators such as motors, sensors for acquiring information on each part, etc. are connected to the controller 25. For example, actuators connected to the controller 25 include a fertilizer amount adjustment motor 90 for adjusting the amount of fertilizer, a throttle motor for increasing or decreasing the rotation speed of the engine 20 by operating a throttle that adjusts the amount of air intake of the engine 20, a marker rotation motor 16c for operating the line drawing marker 16 for line drawing, an electromagnetic lift valve for switching the supply and discharge of oil to the lift hydraulic cylinder 46 that lifts and lowers the seedling planting unit 4, an electric seedling amount motor 55, and an external communication unit 26 for communicating with mobile terminals such as a tablet terminal 27.

[0064] In addition, sensors connected to the controller 25 include a fertility sensor 75, a depth sensor 76, a temperature sensor 77, a vehicle speed sensor 79, a receiving antenna 81, a fertilizer rotation sensor 91, a float sensor, a link sensor, a planting depth adjustment position sensor, a tilt sensor and a marker position sensor, and a seedling top passing detection switch 56.

[0065] The fertilizer rotation sensor 91 detects the rotation speed and rotation angle of the fertilizer amount adjusting motor 90.

[0066] The float sensor detects the amount of rotation of the front part of the center float 53.

[0067] The link sensor detects the vertical operating position of the lifting link mechanism 3.

[0068] The planting depth adjustment position sensor detects the upper and lower setting positions of the center float 53 and the left and right side floats 54.

[0069] The tilt sensor detects the front-rear tilt and the left-right tilt of the traveling vehicle body 2.

[0070] The marker position sensor detects the positions of the left and right line drawing markers 16 operated by the left and right marker rotation motors 16c.

[0071] Here, the seedling removal amount control by the seedling top end passing detection switch 56 will be described.

[0072] The seedling top end passing detection switch 56 is composed of a microswitch installed on the bottom surface of the seedling placing table 51 where the seedlings with mat-like soil are placed, at a distance equivalent to one seedling mat with soil from the bottom end (60 cm from the bottom end, which is the length of the seedling with mat-like soil), and detects when the seedling with mat-like soil placed on the bottom surface is sent downward and its top end passes.

[0073] That is, since three seedlings with mat-like soil can be placed on the bottom surface of the seedling placing table 51, the seedling placing table 51 is first fully loaded with seedlings with mat-like soil and rice planting work is carried out, and the seedling top end passing detection switch 56 detects that the top end of the seedlings with mat-like soil has passed when two seedlings with mat-like soil have been used.

[0074] By operating the seedling quantity adjustment dial 57 on the operation panel, the electric seedling quantity motor 55 is activated, and the amount of seedlings per plant in the planting device 52 can be adjusted.The controller 25 calculates the compression rate of the seedlings with mat-like soil by detecting the number of times the planting device 52 has been operated and when the seedling top end passing detection switch 56 detects when two seedlings with mat-like soil have been used (the compression rate is calculated as the ratio between the theoretical number of times the planting device 52 will use two seedlings with mat-like soil at the set seedling quantity and the actual number of times the planting device 52 has been operated), and automatically adjusts the seedling quantity to the set seedling quantity by operating the electric seedling quantity motor 55.

[0075] At this time, if the number of abnormal data for the compression rate within a specified section is greater than the specified value, it is determined that there is a large variation, the reliability of the compression rate is set to a small value, and the reliability of the compression rate is displayed on the monitor 78 to let the operator know and help them take action, and if the reliability is smaller than the specified value, the automatic adjustment of the seedling amount is stopped.

[0076] In addition, the variance of the compression rate within a specified interval is calculated, and if the variance is larger than specified, it is determined that there is a large variation, the reliability of the compression rate is set to a small value, and the reliability of the compression rate is displayed on the monitor 78 to let the operator know and help them take action, and if the reliability is smaller than specified, the automatic adjustment of the seedling amount may be stopped.

[0077] In particular, when the depth of the field detected by the depth sensor 76 is within a predetermined value, the controller 25 automatically adjusts the amount of fertilizer by operating the fertilizer amount adjustment motor 90 based on the fertilizer concentration of the soil (mud) obtained by the fertility sensor 75.

[0078] In addition, if the calculated plow depth is shallower than a predetermined value, the fertilizer amount adjustment motor 90 is operated to automatically adjust the amount of fertilizer to be applied so that the amount of fertilizer is a predetermined amount less than the amount based on the fertilizer concentration of the soil (mud) obtained by the fertility sensor 75.

[0079] Then, a fertility map of the field is created using the detection data of the field fertility obtained by the fertility sensor 75 and the position information obtained by the GNSS control device, and is used for subsequent work.

[0080] In this embodiment, as described above, the reliability of the field fertility data obtained based on the detection values ​​of the fertility sensor 75, temperature sensor 77, and depth sensor 76 is determined, and the reliability is displayed on the monitor 78 to help the operator set weighting coefficients for the field fertility map data and fertility detection data, and the fertilizer amount control is changed (corrected) according to the reliability of the fertility data.

[0081] That is, the controller 25 calculates the standard deviation of the fertility detection data obtained by the fertility sensor 75, temperature sensor 77, and depth sensor 76 within a specified interval (for example, within the field area 5a, within the number of fertility detection data N, or within a specified elapsed time), and if the standard deviation is larger than the specified value, it determines that the fertility detection data has a large variation, sets the reliability to a small value, and displays the reliability of the fertility detection data on the monitor 78.

[0082] If the reliability is set to a small value, the controller 25 increases the detection frequency at which the fertility sensor 75 detects fertility from once every 0.1 seconds to once every 0.05 seconds, thereby setting the reliability to a large value and enabling proper detection of fertility data so that the amount of fertilizer applied can be automatically adjusted appropriately.

[0083] Note that the load on the controller 25 is reduced by increasing only the detection frequency of the fertility sensor 75 without increasing the detection frequencies of other sensors such as the depth sensor 76 and the temperature sensor 77.

[0084] In addition, the controller 25 calculates the variance of the fertility detection data obtained by the fertility sensor 75, temperature sensor 77, and depth sensor 76 within a specified interval, and if the variance is greater than a specified value, determines that the fertility detection data varies greatly, sets the reliability to a small value, displays the reliability on the monitor 78, and increases the detection frequency at which the fertility sensor 75 detects fertility from once every 0.1 seconds to once every 0.05 seconds, sets the reliability to a large value, and enables appropriate fertility data detection to enable appropriate automatic adjustment of the amount of fertilizer to be performed.

[0085] In addition, the controller 25 calculates the number of abnormal data in the fertility detection data obtained by the fertility sensor 75, temperature sensor 77, and depth sensor 76 within a specified section, and if the number of abnormal data is greater than a specified number, it may determine that the fertility detection data has a large variation and set the reliability to a small value.

[0086] In addition, as a countermeasure when the reliability is set to a small value, instead of increasing the detection frequency of the fertility sensor 75 from once every 0.1 seconds to once every 0.05 seconds, the detection frequency of the temperature sensor 77 or the depth sensor 76 may be increased from once every 0.1 seconds to once every 0.05 seconds.

[0087] Furthermore, as a countermeasure for cases where the reliability is a low value, the fertility detection data may be calculated using the detection values ​​of other sensors without using the detection of the temperature sensor 77 or the depth sensor 76. In other words, the reliability of the fertility detection data is increased by thinning out only the data with low reliability.

[0088] <Other embodiments>

[0089] (1) Figures 3 and 4 show an embodiment in which a six-row planting riding rice transplanter 1 equipped with a fertilizer applicator 60 is divided into left and right fertilizer applicators 60L, 60R and arranged on the left and right sides of the machine body.

[0090] Left and right depth sensors 76L, 76R are provided on the left and right sides of the front of the machine body to detect the depth of the left and right fields through which the machine body passes.

[0091] The fertilizer applicator 60 is configured with a left fertilizer applicator 60L having a left fertilizer hopper 60aL and a left delivery section 61L driven and rotated by a left delivery motor 66L, and a right fertilizer applicator 60R having a right fertilizer hopper 60aR and a right delivery section 61R driven and rotated by a right delivery motor 66R.

[0092] The controller 25 detects the depth of the field using a left depth sensor 76L arranged on the left side of the machine body and detecting the depth of the field on the left side of the machine body in the field that the machine passes through, and controls the rotation of a left feed motor 66L that drives and rotates a left feed section 61L of a left fertilizer applicator 60L that applies fertilizer to the field on the left side of the machine body in the field that the machine passes through, thereby adjusting the left feed section 61L to an amount of fertilizer to be applied according to the field depth, and detects the depth of the field using a right depth sensor 76R arranged on the right side of the machine body and detecting the depth of the field on the right side of the machine body in the field that the machine passes through, and controls the rotation of a right feed motor 66R that drives and rotates a right feed section 61R of a right fertilizer applicator 60R that applies fertilizer to the field on the right side of the machine body in the field that the machine passes through, thereby adjusting the right feed section 61R to an amount of fertilizer to be applied according to the field depth.

[0093] The left fertilizer hopper 60aL and the right fertilizer hopper 60aR each have three rows that are shared, and an openable lid is attached to the top. The bottom of the left fertilizer hopper 60aL and the right fertilizer hopper 60aR are branched into the number of fertilizer rows (three rows) to form funnel-shaped flow sections, and the bottom of these flow sections is connected to the top of each delivery section 61L, 61R.

[0094] When the air from the blower passes through the discharge ports of the respective delivery sections 61L, 61R, it is blown into the fertilization hose 62 while entraining the fertilizer, and the fertilizer is air-transported through the fertilization hose 62 and guided to the fertilization guide 63 where it is applied to the field.

[0095] The fertilizer application hose 62 has the smallest inner diameter of the fertilizer application hose 62-1 on the innermost side of the machine body, which applies fertilizer the farthest from the payout sections 61L, 61R (the fertilizer application hose is the longest), the largest inner diameter of the fertilizer application hose 62-3 on the outer side of the machine body, which applies fertilizer the closest to the payout sections 61L, 61R (the fertilizer application hose is the shortest), and the inner diameter of the middle fertilizer application hose 62-2 is of intermediate size.

[0096] Therefore, the inner diameter of the fertilizer hoses 62-2 and 62-1, which are applied farther from the payout sections 61L and 61R (the fertilizer hoses are longer), is made smaller to increase the wind speed, thereby preventing fertilizer clogging due to the different distances (lengths of the fertilizer hoses) from the payout sections 61L and 61R to the fertilizer application position.

[0097] Also, as shown in Figure 5, the base hose 62a of the fertilizer hose 62 closest to the payout sections 61L, 61R has a smaller inner diameter, while the tip hose 62b of the fertilizer hose 62 farther from the payout sections 61L, 61R has a larger inner diameter and is connected by a joint 67.The fertilizer hose 62, which is the base hose with a smaller inner diameter, is positioned closer to the seedling planting section 4 than the highest position of the fertilizer hose 62 when the seedling planting section 4 is raised (the joint 67 is closer to the seedling planting section 4 than the highest position of the fertilizer hose 62 when the seedling planting section 4 is raised), which increases the wind speed at the highest position of the fertilizer hose 62 and prevents fertilizer clogging. [Explanation of symbols]

[0098] 2 Running vehicle 60 Fertilizer application equipment 75 Fertility Sensor 77 Temperature Sensor

Claims

1. This agricultural work machine has a fertilizer application device (60) attached to a traveling body (2) that adjusts the amount of fertilizer applied based on field fertility data detected by a fertility sensor (75), and is characterized in that it calculates the standard deviation of the fertility data within a specified section, and if the standard deviation is larger than a specified value, it determines that the fertility data has a large variation and sets the reliability to a specified small value.

2. 2. A farm implement according to claim 1, wherein the fertility data is calculated based on the detected values ​​of a fertility sensor (75) and a temperature sensor (77) for detecting the temperature of the field.

3. This agricultural work machine has a fertilizer application device (60) attached to a traveling body (2) that adjusts the amount of fertilizer applied based on field fertility data detected by a fertility sensor (75), and is characterized in that it calculates the variance of the fertility data within a specified section, and if the variance is larger than a specified value, it determines that the fertility data has a large variation and sets the reliability to a specified small value.

4. 4. The agricultural machine according to claim 1, wherein when the reliability is lower than a predetermined value, the detection frequency of the fertility sensor (75) is increased.

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