Field farming management system

Abstract

The present invention aims to utilize a lodging area map, created by capturing images of the lodging state of grain stalks in a field before harvesting by a combine harvester, for field farming management to improve the soil environment of the field. [Solution] The farming management system uses a combine harvester 4 to project images of the planted grain stalks 3 in front of the machine during harvesting, identifies the lodging state, reflects the lodged area A1 on the field map S to create a field lodging area map SA, and uses this lodging area map SA to create fertilization plans and tillage plans.

Description

Technical Field

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[0001] The present invention relates to a farming management system for a paddy field where rice cultivation is carried out.

Background Art

[0002] As a farming management system for a paddy field where rice cultivation is carried out, a farming management system described in Japanese Patent No. 6887323 is known. When the combine is harvesting, the paddy field before harvesting is imaged by a camera, the area where the grain straws are lodged is mapped, and the lodging area map is used as farming data.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, it is not described how to use the lodging area map obtained during the harvesting operation of the combine for the farming management of the paddy field.

[0005] The reasons for the lodging of grain straws include cases where the fertilizer in the soil takes effect and the grain straws grow too much and fall down, or cases where the soil is soft and is blown down by the wind.

[0006] Therefore, an object of the present invention is to use a lodging area map created by imaging the lodging state of grain straws growing in a paddy field before the combine harvests for the farming management of the paddy field to improve the soil environment.

Means for Solving the Problems

[0007] The problems of the present invention are solved by the following technical means.

[0008] The invention of claim 1 is an agricultural management system that, during harvesting operations of a combine harvester 4, projects the planted grain stalks 3 in front of the machine to identify the lodging state, reflects the lodging area A1 on a field map S to create a field lodging area map SA, and uses this lodging area map SA to create a fertilization plan and a tillage plan.

[0009] The invention of claim 2 is an agricultural management system according to claim 1, which, when a fertilization plan using a lodging area map SA is performed simultaneously with the seedling transplanting work using a riding rice transplanter 7, controls the amount of fertilizer applied to the lodging area A1 of the lodging area map SA to be reduced from the normal amount.

[0010] The invention of claim 3 is an agricultural management system according to claim 1, wherein when tilling a field, the traveling speed of the tilling device 6 is increased or the tilling rotation speed is decreased in the lodged area A1 of the lodged area map SA. [Effects of the Invention]

[0011] In the invention of claim 1, the harvesting operation of the combine harvester 4 involves cutting the grain stalks 3 growing in the field and threshing the grain. During this harvesting operation, the combined harvester creates a lodging area map SA by projecting the lodged areas A1 of the planted grain stalks before cutting. As a result, the lodging area map SA can be created simultaneously with the harvesting of the grain, and this lodging area map SA can be used to create a suitable environment for crop cultivation in the field, thereby making crop cultivation in the field more efficient.

[0012] In the invention of claim 2, by reducing the amount of fertilizer applied by the fertilizer applicator during seedling transplanting work by the riding rice transplanter 7 in the lodging area A1 of the lodging area map SA, the amount of fertilizer can be used appropriately to suppress the partial growth of seedlings and reduce lodging of grain stalks due to excessive growth, and the harvesting by the combine harvester 4 can be performed efficiently by cutting grain stalks 3 that have less lodging.

[0013] In the invention according to claim 3, when cultivating the farmland with a tillage and cultivation device, by increasing the traveling speed or decreasing the tillage rotation speed in the lodging area A1 of the lodging area map SA, the soil of the farmland is not overly refined, and the transplanted seedlings are in a farmland where they are difficult to fall. When harvesting the grown cereal straw 3 with a combine 4, there is less lodging of the cereal straw 3, and the harvesting operation can be carried out easily and efficiently.

Brief Explanation of Drawings

[0014] [Figure 1] This is the view seen by the operator sitting in the operator's cab of the combine according to the embodiment of the present invention when looking forward in the farmland. [Figure 2] This is a farmland map showing the lodging area of the cereal straw. [Figure 3] This is a perspective view of tilling the farmland with a tractor. [Figure 4] This is a perspective view of the seedling transplanting operation with a riding rice transplanter. [Figure 5] This is a flowchart diagram of the regeneration process of the SCR. [Figure 6] This is a flowchart diagram of the regeneration process of the SCR. [Figure 7] This is a graph for converting the HC amount to a soot value. [Figure 8] This is a flowchart diagram of the soot value notification. [Figure 9] This is a regeneration execution timing table. [Figure 10] This is a flowchart diagram of the regeneration control when the engine load is low. [Figure 11] This is a flowchart diagram of the regeneration control when the operation with the engine speed below a certain level and the load rate below a certain level is continuous. [Figure 12] This is a flowchart diagram of the DPF regeneration control of the diesel engine mounted on the combine. [Figure 13] This is a schematic diagram of the system for injecting urea water into the SCR. [Figure 14] This is a flowchart diagram of the control for requesting DPF manual regeneration based on the exhaust gas temperature and duration. [Figure 15] This is a graph for calculating the regeneration execution time based on the SCR temperature and the exhaust gas flow rate. [Figure 16] It is a flowchart diagram of control that requests DPF manual regeneration by the pressure of the SCR. [Figure 17] It is a graph showing the relationship between the SCR inlet pressure and the operating time. [Figure 18] It is a schematic diagram of the catalyst configurations of the DPF and the SCR. [Figure 19] It is a flowchart diagram of control for reducing ammonia consumption. [Figure 20] It is a flowchart diagram of Control 1 for reducing ammonia consumption. [Figure 21] It is a flowchart diagram of Control 2 for reducing ammonia consumption. [Figure 22] It is a flowchart diagram of Control 3 for reducing ammonia consumption. [Figure 23] It is a flowchart diagram of Control 4 for reducing ammonia consumption.

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings.

[0016] FIG. 1 shows the forward view seen by an operator sitting in the cab of the combine 4 in the field, and the lodged cereal straws 3 can be seen in the field. In this forward view, the lodged cereal straws 3 can be seen, which are photographed by a camera, and the lodged cereal straws are analyzed and judged by AI based on brightness and color tone, and recorded as a lodged area A1 in the field map A.

[0017] FIG. 3 shows the state of cultivating the field with the cultivator 6 attached to the tractor 5 in the tillage operation for preparing the field for cultivation. Based on the field map A obtained during the harvesting operation with the combine 4 in the previous year, in the lodged area A1, the traveling speed of the tractor 5 is increased, the rotation speed of the cultivator 6 is decreased, or the operation of the tractor 5 is controlled to make the cultivated soil lumps of the field larger and cultivate the soil to make it firm, so that the seedlings to be planted later grow so as not to fall in the firm soil.

[0018] Figure 4 shows the seedling transplanting operation in the field. The riding rice transplanter 7 is driven to operate the seedling transplanter 8 to transplant the seedlings, and granular fertilizer is spread on the transplanted seedling sites using a fertilizer applicator. However, the amount of fertilizer applied is less than the normal amount in the lodging area A1 on the field map A, in order to ensure that the growth of the grain stalks is uniform throughout the field and that the grain stalks do not partially locate.

[0019] Furthermore, when fertilizing, after transplanting seedlings, a fertilizing drone 9 may be used, and the amount of fertilizer applied in the lodging area A1 on field map A may be less than the usual amount.

[0020] The following are ideas regarding exhaust gas purification devices for diesel engines.

[0021] Diesel engine exhaust gas purification systems work by collecting particulate matter (PM) from the exhaust gas using a DPF (Diesel Particulate Filter), and then using SCR (Selective Catalytic Reduction), when the exhaust gas temperature reaches a predetermined reaction temperature, supplying urea solution to reduce nitrogen oxides (NOx) to NO2 using a catalyst, thereby rendering them harmless.

[0022] Figure 5 shows the regeneration process of the SCR. The purification efficiency of the SCR decreases due to HC poisoning, and HC poisoning occurs as HC from unburned fuel etc. gradually accumulates. Therefore, if DPF regeneration occurs many times in a short period of time, there is a risk of severe poisoning due to post-injection. For agricultural machinery equipped with diesel engines that include DPF and SCR, after DPF regeneration, the number of regenerations over a certain period of time is checked. If DPF regeneration occurs many times in a short period of time, it is determined that the SCR is suffering from HC poisoning, and control is performed to raise the exhaust temperature by operating in DMODE1 for a while after the completion of regeneration. HC poisoning can be eliminated by maintaining an exhaust temperature of 400°C or higher for 30 to 40 minutes.

[0023] Figure 6 is a flowchart of the control that adds a control to reset the count when returning from DMODE1 to normal operation.

[0024] Figure 7 is a table for converting HC amounts to soot values. As shown in Figure 8, the operator is made to recognize the maximum values ​​for the DPF deposition soot value and the HC accumulation amount conversion soot value.

[0025] Figure 9 shows the regeneration timing table. By changing the DPF soot accumulation threshold for initiating DPF regeneration based on the estimated amount of HC accumulated in the SCR and the amount of soot accumulated in the DPF, it is possible to avoid causing major engine problems.

[0026] Figure 10 shows the regeneration control when the engine load is low. When the load rate is below a certain level for a continuous period, the amount of NH3 absorbed into the SCR is reduced to prevent a prolonged ammonia consumption control period before the next regeneration. This control allows for quick ammonia consumption before the next DPF regeneration. As a result, it is possible to avoid missing the timing for regeneration or DPF soot buildup that can occur due to delays in initiating regeneration.

[0027] Figure 11 also shows the regeneration control system. When the engine speed remains below a certain level for an extended period, and the load factor remains below a certain level for an extended period, the remaining time until manual regeneration is calculated by working backward from the amount of HC accumulated in the SCR, and also by working backward from the amount of DPF accumulation. The remaining time selected by the operator is then displayed. This makes it easier for the operator to consider when to initiate manual regeneration. As a result, forced work interruptions are eliminated, and work efficiency can be increased.

[0028] Figure 12 shows the DPF regeneration control of a diesel engine mounted on a combine harvester. When the amount of grain in the grain tank exceeds a predetermined percentage and the amount of soot accumulated in the DPF approaches the regeneration start threshold, urea injection to the SCR is stopped and ammonia consumption control in the SCR is initiated. Then, when the grain discharge operation begins, automatic DPF regeneration is performed. When the amount of grain in the grain tank exceeds a certain amount, urea injection to the SCR is stopped and ammonia consumption control in the SCR is initiated. This allows DPF regeneration to start smoothly when the next grain discharge operation begins.

[0029] Figure 13 is a schematic diagram of the system for injecting urea solution into the SCR10. In the exhaust gas path from the engine 14 to the SCR10 via the exhaust valve 13, a supply module 12 controlled by the ECU 15 injects urea solution into the exhaust gas from a urea solution tank 16 via a urea solution injection nozzle 11. However, to blow away any solid crystals on the urea solution injection nozzle 11, water is injected into the urea solution injection nozzle 11 from the upstream of the exhaust using a water injection nozzle 17.

[0030] In this configuration, to prevent urea solution from dripping and crystallizing at the tip of the urea solution spray nozzle 11, which would otherwise prevent spraying, water is periodically sprayed onto the nozzle tip. Pressurized water is then injected to blow away the urea crystals at the nozzle tip, washing away the urea solution and preventing crystallization. This allows for continuous reduction of NOx emissions, a harmful exhaust gas that can be caused by aging and malfunction.

[0031] Furthermore, if the engine is running at low RPMs and under continuous low load, the amount of urea solution injected is reduced to prevent urea deposition.

[0032] Figure 14 shows a control system that checks the exhaust gas temperature and duration, and requests manual DPF regeneration when a predetermined value is reached. Figure 15 is a graph that calculates the regeneration time based on the SCR temperature and exhaust gas flow rate.

[0033] Figure 16 shows a control system that monitors the pressure rise of the SCR and requests manual DPF regeneration when a predetermined pressure is reached, while Figure 17 is a graph showing the relationship between the SCR inlet pressure and operating time.

[0034] Figure 18 shows the catalyst configuration of the DPF and SCR. After recognizing that crystallized urea solution has accumulated, the intake throttle valve is restricted to raise the exhaust temperature and remove the accumulated urea solution crystals. Since flowing high-temperature exhaust gas is an effective means of crystallizing urea solution, restricting the intake throttle valve raises the exhaust temperature and removes the deposits.

[0035] Furthermore, after recognizing that crystallized urea solution has accumulated, a program is added that increases the engine speed to the Hi idle speed, increases the exhaust gas flow rate, and blows away the crystallized deposits adsorbed around the urea solution injection nozzle. Since the crystallized urea solution deposits form around the nozzle, adding a process to blow them away under certain conditions prevents crystallization from occurring in the first place.

[0036] Furthermore, upon recognizing the presence of crystallized urea solution deposits, the system increases the engine speed to the Hi idle speed, increases the exhaust gas flow rate, and controls the system to blow away the crystallized deposits adsorbed around the urea solution injection nozzle. Pressure sensors are also installed before and after the SCR catalyst, and a threshold is set for the differential pressure between the sensor values. When this threshold is exceeded, the system determines that HC poisoning has occurred and illuminates a lamp. After the lamp illuminates, the DPF is regenerated to remove HC, raising the SCR catalyst to a high temperature to remove HC. Alternatively, after the lamp illuminates, the engine speed is increased to the Hi idle speed to remove HC, increasing the exhaust gas flow rate and exhaust gas temperature to blow away the HC adsorbed on the catalyst. Once the differential pressure is eliminated, the system returns to normal operation. Since crystallized urea solution deposits form around the nozzle, this system prevents crystallization before it occurs. Additionally, the differential pressure is calculated from the pressure sensors, and the intake throttle valve throttling amount is adjusted according to the differential pressure to control the exhaust gas temperature and remove a certain amount of HC before it is adsorbed onto the SCR catalyst.

[0037] Figure 19 shows that when the DPF deposit soot reaches the regeneration threshold and the regeneration process begins, urea injection into the SCR is stopped, and the current target temperature is slowly increased relative to the final DPF target temperature to allow sufficient ammonia consumption. Subsequently, urea injection is restarted, and by setting a low target temperature at the start of DPF regeneration and slowly increasing it, it is possible to gain time for ammonia consumption in the SCR and prevent a sudden release of ammonia into the atmosphere.

[0038] Figure 20 shows that when the DPF deposit soot reaches the regeneration threshold and the regeneration process begins, the system stops urea injection to the SCR, maintains the DPF regeneration temperature at 350°C to 400°C through post-injection, and consumes ammonia. When it is determined that sufficient ammonia has been consumed, the system returns to normal regeneration and resumes urea injection.

[0039] This allows for faster consumption of ammonia in the SCR by intentionally performing post-injection to maintain a temperature conducive to SCR activation before normal DPF regeneration. As a result, normal regeneration can be resumed sooner, reducing the likelihood of excessively long regeneration times. Furthermore, this control prevents a large amount of ammonia from being released into the atmosphere all at once.

[0040] Figure 21 shows that when the DPF deposit soot reaches the regeneration threshold and the regeneration process begins, urea injection to the SCR is stopped, and post-injection is used to maintain the DPF regeneration temperature at 350°C to 400°C, consuming ammonia. When it is determined that sufficient ammonia has been consumed, the process returns to normal regeneration and urea injection is resumed.

[0041] This control system intentionally performs post-injection to maintain a temperature conducive to SCR activation before normal DPF regeneration, thereby consuming ammonia within the SCR more quickly. As a result, normal regeneration can be returned sooner, reducing the likelihood of excessively long regeneration times. Furthermore, this control prevents a large amount of ammonia from being released into the atmosphere all at once.

[0042] Figure 22 shows that when the DPF deposit soot reaches the regeneration threshold and the regeneration process begins, urea injection to the SCR is stopped, and post-injection is used to maintain the DPF regeneration temperature at 350°C to 400°C, consuming ammonia. When it is determined that sufficient ammonia has been consumed, the process returns to normal regeneration and urea injection is resumed.

[0043] This control system intentionally performs post-injection to maintain a temperature conducive to SCR activation before normal DPF regeneration, thereby consuming ammonia within the SCR more quickly. As a result, normal regeneration can be returned sooner, reducing the likelihood of excessively long regeneration times. Furthermore, this control prevents a large amount of ammonia from being released into the atmosphere all at once.

[0044] Figure 23 shows that when the DPF deposit soot reaches the manual regeneration threshold and regeneration begins, the intake throttle is narrowed more than usual to activate the SCR in order to consume the ammonia adsorbed on the SCR. After it is determined that the ammonia has been consumed, the regeneration control returns to normal.

[0045] With this control, manual DPF regeneration is often performed first thing in the morning or during breaks in maintenance, when the SCR itself is often cold. Normally, ammonia is adsorbed in the SCR, so it needs to be consumed before regeneration. By narrowing the intake throttle opening more than in normal regeneration, the exhaust gas temperature rises, which in turn raises the temperature of the gas flowing through the SCR. This activates the SCR and promotes the reaction between ammonia and NOx. As a result, it is possible to return to normal regeneration more quickly, making it less likely for the regeneration time to become too long. In addition, this type of control prevents a large amount of ammonia from being released into the atmosphere all at once. [Explanation of Symbols]

[0046] A Field map A1 Lodging area S Field Map SA Lodging Area Map 3 Grain culm 4 Combine harvester 6 Tillage equipment 7. Riding Rice Transplanter

Claims

1. This farm management system uses a combine harvester (4) to project images of the planted grain stalks (3) in front of the machine during harvesting to identify the lodging condition, reflect the lodged areas (A1) on a field map (S) to create a field lodging area map (SA), and then uses this lodging area map (SA) to create fertilization plans and tillage plans.

2. The farm management system according to claim 1, which, when a fertilization plan using a lodging area map (SA) is applied simultaneously with seedling transplanting work using a riding rice transplanter (7), controls the amount of fertilizer applied in the lodging area (A1) of the lodging area map (SA) to be reduced from the normal amount.

3. The farm management system according to claim 1, wherein when tilling a field, the travel speed of the tilling device (6) is increased or the tilling rotation speed is decreased in lodged areas (A1) on the lodged area map (SA).

Images