Agricultural working machine

Abstract

To provide an agricultural implement capable of applying a fertilizer to each section of a farm field accurately.SOLUTION: A rice transplanter 1 includes a travelling part 2, a fertilizer applicator 3, a positioning unit 4, and a control part 82. The fertilizer applicator 3 is supported on the travelling part 2 and supplies a fertilizer to a farm field. The positioning unit 4 acquires position information indicating a position of the rice transplanter 1. The control part 82 controls the travelling 2 and the fertilizer applicator 3 on the basis of a fertilizer application Mp indicating a plurality of sections of the farm field and the position information indicating the position of the rice transplanter 1. The control part 82 executes speed control for controlling a travelling speed of the travelling part 2 on the basis of an amount of applied fertilizers MN in adjacent sections AN of the plurality of sections AN.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to an agricultural machine. [Background technology]

[0002] The variable fertilizer applicator described in Patent Document 1 includes a variable fertilizer PC, a fertilizer amount control microcomputer, and a fertilizer applicator. A fertilization map with each mesh (area) of the field as a unit is input to the variable fertilizer PC. Current position information of the variable fertilizer applicator is also input to the variable fertilizer PC, and fertilizer amount data corresponding to the position is extracted from the fertilizer map by the variable fertilizer PC. The extracted fertilizer amount data is converted into control data by the variable fertilizer PC and supplied to the fertilizer amount control microcomputer. The fertilizer amount control microcomputer drives the fertilizer applicator based on the input fertilizer amount, and delivers the corresponding amount of fertilizer to apply fertilizer. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-254711 A Summary of the Invention [Problem to be solved by the invention]

[0004] In general, in agricultural machines, the amount of fertilizer dispensed from the fertilizer applicator per unit area (amount dispensed per unit area) is often varied by varying the rotation speed of the motor of the mechanism that dispenses the fertilizer. However, when the amount of fertilizer required for the mesh at the current position of the variable fertilizer applicator differs from the amount of fertilizer required for the adjacent mesh adjacent to the mesh, the variable fertilizer applicator described in Patent Document 1 requires a certain amount of time from when the fertilizer applicator enters the adjacent mesh until the motor rotation speed is changed to the target rotation speed. Therefore, during the certain time, the required amount of fertilizer is not dispensed to the adjacent mesh, or an excessive amount of fertilizer is dispensed. In other words, the variable fertilizer applicator described in Patent Document 1 cannot dispense fertilizer accurately to the adjacent mesh.

[0005] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide an agricultural work machine that can apply fertilizer to each area of ​​a field with high precision. [Means for solving the problem]

[0006] According to one aspect of the present invention, an agricultural work machine includes a traveling unit, a feeding unit, an acquisition unit, and a control unit. The feeding unit is supported by the traveling unit and feeds out fertilizer. The acquisition unit acquires position information indicating the position of the agricultural work machine. The control unit controls the traveling unit and the feeding unit based on a fertilization map indicating multiple zones of a farm field and the position information. The control unit executes speed control to control the traveling speed of the traveling unit based on fertilizer application amounts in adjacent zones of the multiple zones. Effect of the Invention

[0007] According to the present invention, fertilizer can be applied to each area of ​​a field with high precision. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a left side view showing a rice transplanter according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the rice transplanter according to the present embodiment. [Diagram 3]FIG. 2 is a schematic diagram showing a fertilization map according to the present embodiment. [Figure 4] 13 is a time chart showing the amount of fertilizer, the motor rotation speed, and the traveling speed when the second amount of fertilizer is greater than the first amount of fertilizer in a comparative example of the present invention. [Diagram 5] 10 is a time chart showing the fertilizer amount, motor rotation speed, and traveling speed when the second fertilizer amount is greater than the first fertilizer amount in this embodiment. [Figure 6] 13 is a time chart showing the fertilizer amount, motor rotation speed, and traveling speed when the second fertilizer amount is smaller than the first fertilizer amount in a comparative example of the present invention. [Figure 7] 10 is a time chart showing the fertilizer amount, motor rotation speed, and traveling speed when the second fertilizer amount is smaller than the first fertilizer amount in this embodiment. [Figure 8] FIG. 4 is a schematic diagram showing an example of a screen displayed by a display unit according to the embodiment. [Figure 9] 10 is a schematic diagram showing another example of a screen displayed by the display unit according to the embodiment. FIG. [Figure 10] 4 is a flowchart showing the processing executed by the rice transplanter according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. Note that, in the drawings, the same or equivalent parts are given the same reference symbols and the description will not be repeated.

[0010] First, referring to Fig. 1, a rice transplanter 1 according to an embodiment of the present invention will be described. Fig. 1 is a left side view showing the rice transplanter 1. The rice transplanter 1 is an example of an agricultural machine. In this embodiment, the traveling direction of the rice transplanter 1 is the left direction on the paper surface of Fig. 1. In the following description, the left side facing the traveling direction of the rice transplanter 1 may be referred to as the left, and the right side facing the traveling direction of the rice transplanter 1 may be referred to as the right.

[0011] 1, the rice transplanter 1 includes a traveling section 2, a fertilizer applicator 3, a positioning unit 4, a display section 5, a planting section 6, an engine 10, a transmission case 11, front wheels 12, rear wheels 13, a driver's seat 14, a steering wheel 15, pedals 16, a bonnet 17, and a dashboard 18. The fertilizer applicator 3 is an example of a "supply section."

[0012] The traveling unit 2 is configured as a vehicle body of the rice transplanter 1. The traveling unit 2 travels in a farm field by power of an engine 10.

[0013] The front wheels 12 and the rear wheels 13 support the running unit 2. The front wheels 12 and the rear wheels 13 are provided in pairs on the left and right sides of the running unit 2. In this embodiment, a vehicle speed sensor 19 is disposed on the axle of the front wheels 12. The vehicle speed sensor 19 detects the rotation of the axle to detect the running speed of the running unit 2. Note that the vehicle speed sensor 19 may be disposed in a position different from the front wheels 12.

[0014] The engine 10 is supported on the front side of the traveling part 2. The engine 10 is covered with a bonnet 17. The bonnet 17 is configured to be openable and closable. The engine 10 functions as a power source for the rice transplanter 1.

[0015] The power of the engine 10 is input to a transmission case 11. The power of the engine 10 is changed in speed by the transmission case 11 and transmitted to front wheels 12 and rear wheels 13. The power of the engine 10 is also transmitted to the planting section 6 via the transmission case 11.

[0016] An operator of the rice transplanter 1 sits in the driver's seat 14. The driver's seat 14 is disposed between the front wheels 12 and the rear wheels 13 in the front-rear direction of the traveling part 2.

[0017] A dashboard 18 is disposed in front of the driver's seat 14. On the dashboard 18, a display unit 5 and a steering wheel 15 are disposed.

[0018] The display unit 5 is configured with a display such as a liquid crystal display or an organic EL display. The display unit 5 displays various information related to the rice transplanter 1, for example.

[0019] The steering wheel 15 is attached to a steering column disposed in front of the driver's seat 14. The driver can instruct the traveling unit 2 to move straight or turn by gripping and turning the steering wheel 15 with his or her hands.

[0020] The pedal 16 is disposed so as to protrude upward from the floor in front of the driver's seat 14. The driver operates the pedal 16 by stepping on the pedal 16 with his / her foot. A return spring (not shown) is attached to the pedal 16 for returning the pedal 16 when the driver releases his / her foot from the pedal 16.

[0021] The operator commands the running unit 2 to run by depressing the pedal 16 with his / her foot. Specifically, the operator commands the running unit 2 to accelerate or decelerate by changing the depth to which the operator depresses the pedal 16 with his / her foot. On the other hand, the operator commands the running unit 2 to stop running by removing his / her foot from the pedal 16.

[0022] The planting section 6 is disposed behind the traveling section 2. The planting section 6 plants seedlings in the field. The planting section 6 is connected to the traveling section 2 via a lifting link mechanism 61. The planting section 6 includes, for example, a planting unit 62 and a seedling carrying platform 63. A seedling mat is placed on the seedling carrying platform 63. The seedlings of the seedling mat placed on the seedling carrying platform 63 are supplied to the planting unit 62. The planting unit 62 plants the seedlings in the field.

[0023] A lifting cylinder 64 is disposed on the traveling section 2. The lifting cylinder 64 is driven to extend and retract, thereby lifting and lowering the planting section 6 up and down relative to the traveling section 2.

[0024] The fertilizer applicator 3 includes a fertilizer tank 31, a feed unit 32, an electric motor 33 (see FIG. 2), a transport hose 34, and a blower 35. In this embodiment, the fertilizer applicator 3 includes a plurality of fertilizer tanks 31 and the same number of feed units 32 as the fertilizer tanks 31. The electric motor 33 is an example of a "motor".

[0025] The fertilizer tank 31 is disposed at a position between the driver's seat 14 and the seedling carrier 63 in the front-rear direction of the traveling unit 2. In this embodiment, the fertilizer tank 31 stores, for example, granular fertilizer (agricultural materials).

[0026] The feeding unit 32 is connected to the lower part of the fertilizer tank 31. The feeding unit 32 feeds out the fertilizer supplied from the fertilizer tank 31 downwards in a predetermined amount at a time.

[0027] A path through which the fertilizer can pass is disposed inside the payout unit 32 (not shown). A payout body 36 having a substantially disk shape is rotatably disposed in the path. That is, the payout unit 32 includes the payout body 36. The payout body 36 has a plurality of payout recesses formed therein (not shown) that can accommodate a predetermined amount of fertilizer. By rotating the payout body 36, the fertilizer accommodated in the payout recesses is paid out downstream of the path.

[0028] The electric motor 33 functions as a drive source for rotating the payout body 36 of the payout unit 32. The electric motor 33 is attached to an appropriate position of the fertilizer applicator 3. Note that the electric motor 33 is not shown in FIG.

[0029] The conveying hose 34 is connected to the downstream side of the path disposed inside the payout unit 32. The conveying hose 34 is a flexible, elongated tubular member.

[0030] The blower 35 is disposed at an appropriate position close to the delivery unit 32. The blower 35 generates an air flow and sends the air flow to a path inside the delivery unit 32. As a result, the fertilizer delivered downstream of the path through the conveying hose 34 is supplied (applied) to the field.

[0031] The positioning unit 4 acquires position information indicating the position of the rice transplanter 1. The positioning unit 4 is an example of an "acquisition unit." The positioning unit 4 includes, for example, a positioning antenna and a position information receiver. The positioning antenna receives signals from positioning satellites constituting a positioning system such as a global navigation satellite system (GNSS). The positioning signal received by the positioning antenna is input to the position information receiver. The position information receiver processes the input positioning signal to acquire position information indicating the position of the rice transplanter 1.

[0032] Next, the rice transplanter 1 according to this embodiment will be further described with reference to Fig. 2. Fig. 2 is a block diagram showing the rice transplanter 1.

[0033] The rice transplanter 1 further includes a controller 8, a travel controller 9, and a servo motor 91.

[0034] The controller 8 is, for example, an ECU (Electronic Control Unit). The controller 8 includes a storage unit 81 and a control unit .

[0035] The memory unit 81 includes a storage device and stores data and computer programs. Specifically, the memory unit 81 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid state drive, and / or a hard disk drive. The memory unit 81 may include removable media. The memory unit 81 corresponds to an example of a non-transitory computer-readable storage medium. In this embodiment, the memory unit 81 also stores a fertilization map Mp. The fertilization map Mp will be described later with reference to FIG. 3.

[0036] The control unit 82 includes a processor such as a CPU (Central Processing Unit). The processor of the control unit 82 executes a computer program stored in the storage device of the storage unit 81 to control the traveling controller 9 and the electric motor 33. That is, the control unit 82 controls the traveling controller 9 and the fertilizer applicator 3.

[0037] Specifically, the controller 8 controls the traveling controller 9 and the fertilizer applicator 3 based on, for example, the fertilization map Mp and the position information of the rice transplanter 1 acquired by the positioning unit 4. The controller 8 also controls, for example, the electric motor 33 in conjunction with the traveling controller 9 and the planting unit 6. As a result, for example, as the rice transplanter 1 plants seedlings while traveling, the feeding unit 32 is driven via the electric motor 33 to supply fertilizer to the field. Also, as described above, the fertilizer applicator 3 feeds out a predetermined amount of fertilizer in the fertilizer tank 31 by the feeding unit 32 and supplies the fertilizer to the field from the conveying hose 34. The controller 8 controls the electric motor 33, which is the drive source of the feeding unit 32, to increase the operating speed of the feeding unit 32, thereby increasing the amount of fertilizer fed to the conveying hose 34 per unit time. Also, the controller 8 controls the electric motor 33 to reduce the operating speed of the feeding unit 32, thereby reducing the amount of fertilizer fed to the conveying hose 34 per unit time. As a result, the amount of fertilizer supplied to the field per unit time increases or decreases.

[0038] The traveling controller 9 includes a processor such as a CPU. The traveling controller 9 has, for example, the same configuration as the control unit 82. The traveling controller 9 controls, for example, the traveling speed of the traveling unit 2. In other words, the control unit 82 controlling the traveling controller 9 corresponds to the control unit 82 controlling the traveling unit 2 and the controller 8 controlling the traveling unit 2.

[0039] The servo motor 91 can rotate a gear shift input lever provided in the transmission case 11 (see FIG. 1). The servo motor 91 is electrically connected to the travel controller 9. When the servo motor 91 rotates the gear shift input lever of the transmission case 11, the travel unit 2 travels via the front wheels 12 and the rear wheels 13 (see FIG. 1).

[0040] Next, the fertilization map Mp stored in the memory unit 81 will be described with reference to Figs. 2 and 3. Fig. 3 is a schematic diagram showing the fertilization map Mp. As shown in Fig. 3, the fertilization map Mp shows a plurality of areas AN (meshes) of the field. Specifically, the fertilization map Mp includes information showing a plurality of areas AN set by dividing the field, and information showing an amount of fertilizer MN assigned to each area AN. In this embodiment, the amount of fertilizer MN refers to the amount of fertilizer supplied per unit area to the area AN.

[0041] In Fig. 3, to facilitate understanding of the invention, the same hatching is applied to areas AN in which the same fertilizer amount MN is set. Hereinafter, the fertilizer amount MN may be described as a fertilizer amount MA, a fertilizer amount MB, or a fertilizer amount MC. In the example shown in Fig. 3, the fertilizer amount MB is greater than the fertilizer amount MA. Also, the fertilizer amount MB is greater than the fertilizer amount MC.

[0042] In addition, in FIG. 3, in order to facilitate understanding of the invention, an icon showing the rice transplanter 1 and an arrow showing the path along which the rice transplanter 1 moves are superimposed on the fertilization map Mp. However, in reality, the fertilization map Mp does not include an icon and an arrow showing the rice transplanter 1. In this embodiment, the rice transplanter 1 moves in the field, for example, in the first direction D1, the second direction D2, the third direction D3, the second direction D2, and then the first direction D1. Each of the first direction D1 and the third direction D3 runs along the long side of the field. Also, the second direction D2 runs along the short side of the field. The first direction D1 and the third direction D3 are opposite directions to each other.

[0043] The controller 8 calculates the rotation speed of the front wheels 12 based on the rotation signal input from the vehicle speed sensor 19. There is a correlation between the rotation speed of the front wheels 12 and the traveling speed of the traveling unit 2. The controller 8 controls the electric motor 33 in accordance with the rotation speed of the front wheels 12. That is, the controller 8 controls the electric motor 33 in accordance with the traveling speed of the traveling unit 2.

[0044] Specifically, for example, in one area AN, the controller 8 controls the electric motor 33 so that the rotation speed of the electric motor 33 increases as the traveling speed of the traveling part 2 increases. Also, the controller 8 controls the electric motor 33 so that the rotation speed of the electric motor 33 decreases as the traveling speed of the traveling part 2 decreases. Therefore, when the traveling speed of the traveling part 2 increases, the amount of fertilizer per unit time supplied to the area AN by the fertilizer applicator 3 is increased, and when the traveling speed of the traveling part 2 decreases, the amount of fertilizer per unit time supplied to the area AN by the fertilizer applicator 3 is decreased. As a result, even when the traveling speed of the traveling part 2 increases or decreases, the amount of fertilizer per unit area supplied to one area AN can be kept constant. In other words, even when the traveling speed of the traveling part 2 changes within one area AN, the amount of fertilizer determined for the area AN can be supplied to the area AN.

[0045] In this embodiment, the controller 8 executes speed control to control the traveling speed of the traveling unit 2 based on the fertilizer application amount MN of adjacent areas AN among the multiple areas AN, i.e., two adjacent areas AN. Therefore, the electric motor 33 can be easily controlled compared to the case where the speed control is not executed. As a result, the difference between the target amount of fertilizer and the actual amount of fertilizer for one area AN of the adjacent areas AN can be reduced, so that fertilizer can be supplied accurately to each area AN of the field. In this specification, the target amount of fertilizer is the target amount of fertilizer to be supplied per unit area to the area AN. Moreover, the actual amount of fertilizer is the actual amount of fertilizer to be supplied per unit area to the area AN. Details will be described later with reference to FIG. 4 and FIG. 5.

[0046] In addition, in this embodiment, when the difference between the first fertilizer amount assigned to the first area A1 in which the rice transplanter 1 is located and the second fertilizer amount assigned to the second area A2 adjacent to the first area A1 is equal to or greater than a predetermined value, the controller 8 executes the speed control of the traveling part 2. Therefore, when the difference between the first fertilizer amount and the second fertilizer amount is less than a predetermined value, it is possible to suppress unnecessary execution of the speed control. The predetermined value can be set arbitrarily by the user. In this embodiment, the second area A2 is the area AN into which the rice transplanter 1 next enters on the path along which the rice transplanter 1 moves.

[0047] 3, when the difference between the fertilizer amount MA (first fertilizer amount) assigned to the first area A1 where the rice transplanter 1 is located and the fertilizer amount MB (second fertilizer amount) assigned to the second area A2 is equal to or greater than a predetermined value, that is, when |first fertilizer amount-second fertilizer amount|≧predetermined value, the controller 8 executes the speed control of the traveling part 2. Note that in this embodiment, the position in the field where the speed control is executed may be determined in advance by the controller 8 based on the fertilization map Mp, or may be periodically calculated by the controller 8 in response to the movement of the rice transplanter 1.

[0048] In controlling the speed of the traveling part 2, the controller 8 reduces the traveling speed of the traveling part 2 before the rice transplanter 1 enters the second area A2 from the first area A1. This improves the ability of the actual rotation speed of the electric motor 33 to track the target rotation speed of the electric motor 33 in the second area A2. As a result, the electric motor 33 can be controlled more accurately, and fertilizer can be supplied more accurately to each area AN of the field. In this specification, the target rotation speed is an instruction value given by the controller 8 to the electric motor 33. Moreover, the actual rotation speed is the actual rotation speed of the electric motor 33.

[0049] In this embodiment, when the controller 8 executes the speed control of the traveling part 2, the controller 8 further executes the rotation speed control for controlling the rotation speed of the electric motor 33 in accordance with the speed control. Therefore, the fertilizer can be supplied to the second area A2 with higher accuracy. As a result, the fertilizer can be supplied to each area AN of the field with higher accuracy.

[0050] Specifically, in the rotation speed control, the controller 8 controls the rotation speed of the electric motor 33 so that the change in the rotation speed of the electric motor 33 per unit time at the time when the traveling speed of the traveling part 2 reaches the set low speed is larger than the change in the rotation speed of the electric motor 33 per unit time after entering the second area A2. Therefore, compared to the case where the rotation speed control is not executed, the actual rotation speed of the electric motor 33 can be made to reach the target rotation speed at an earlier timing. As a result, fertilizer can be supplied to the second area A2 with higher accuracy. The traveling speed of the traveling part 2 reaching the set low speed means the set low speed of the traveling part 2 reached by executing the speed control of the traveling part 2.

[0051] More specifically, when the second fertilizer application amount in the second area A2 is greater than the first fertilizer application amount in the first area A1, the controller 8 increases the rotation speed of the electric motor 33 when the traveling speed of the traveling part 2 reaches the set low speed by the speed control. Therefore, the actual rotation speed of the electric motor 33 can be increased to the target rotation speed at an earlier timing compared to the case where the rotation speed control of the electric motor 33 is not executed. As a result, the fertilizer can be supplied to the second area A2 with higher accuracy.

[0052] On the other hand, when the second amount of fertilizer to be applied to the second area A2 is smaller than the first amount of fertilizer to be applied to the first area A1, the controller 8 reduces the rotation speed of the electric motor 33 when the traveling speed of the traveling part 2 reaches the set low speed by the speed control. Therefore, the actual rotation speed of the electric motor 33 can be reduced to the target rotation speed at an earlier timing compared to the case where the rotation speed control of the electric motor 33 is not executed. As a result, the fertilizer can be supplied to the second area A2 with higher accuracy.

[0053] Next, referring to Figs. 4 to 7, changes in the amount of fertilizer applied in a comparative example of the present invention and changes in the amount of fertilizer applied in this embodiment will be described. In the description of the comparative example, Figs. 1 and 2 illustrating the rice transplanter 1 in this embodiment will be used. First, referring to Figs. 4 and 5, a case in which the second amount of fertilizer applied is greater than the first amount of fertilizer applied will be described. In Figs. 4 and 5, the rice transplanter 1 enters the second area A2 from the first area A1 at time t2. That is, in Figs. 4 and 5, the second amount of fertilizer applied allocated to the second area A2 is greater than the first amount of fertilizer applied allocated to the first area A1.

[0054] FIG. 4 is a time chart showing the changes in the amount of fertilizer applied, the rotation speed of electric motor 33, and the running speed of traveling unit 2 in a comparative example of the present invention. Specifically, time chart G1 shows an example of a target fertilizer amount TF1 and an applied fertilizer amount AF1. In time chart G1, the horizontal axis represents time (t) and the vertical axis represents the amount of fertilizer applied (kg / 10a). Note that, to make the invention easier to understand, the positions of the target fertilizer amount TF1 and the applied fertilizer amount AF1 along the vertical axis are slightly shifted up to time t2 and after time t4, but in reality they overlap. Time chart G2 shows an example of a target rotation speed TR1 and an actual rotation speed AR1 of electric motor 33. In time chart G2, the horizontal axis represents time (t) and the vertical axis represents the rotation speed (min -1 ) is shown. To make the invention easier to understand, the positions of the target rotation speed TR1 and the actual rotation speed AR1 along the vertical axis are slightly shifted up to time t2 and after time t4, but in reality they overlap. Time chart G3 shows an example of the running speed RS1 of the traveling unit 2. In time chart G3, the horizontal axis indicates time (t) and the vertical axis indicates the running speed (km / h). Here, the target rotation speed TR1 of the electric motor 33 is a command value for the electric motor 33, and the actual rotation speed AR1 of the electric motor 33 is the actual rotation speed of the electric motor 33.

[0055] FIG. 5 is a time chart showing the changes in the amount of fertilizer, the rotation speed of the electric motor 33, and the running speed of the running unit 2 in this embodiment. Specifically, time chart G4 shows an example of a target fertilizer amount TF2 and an applied fertilizer amount AF2. In time chart G4, the horizontal axis represents time (t) and the vertical axis represents the amount of fertilizer applied (kg / 10a). Note that, to make the invention easier to understand, the positions of the target fertilizer amount TF2 and the applied fertilizer amount AF2 along the vertical axis are slightly shifted up to time t2 and from time t3 onwards, but in reality they overlap. Time chart G5 shows an example of a target rotation speed TR2 and an actual rotation speed AR2 of the electric motor 33. In time chart G5, the horizontal axis represents time (t) and the vertical axis represents the rotation speed (min -1 ) is shown. To make the invention easier to understand, the positions of the target rotation speed TR2 and the actual rotation speed AR2 along the vertical axis are slightly shifted up to time t1 and after time t3, but in reality they overlap. Time chart G6 shows an example of the running speed RS2 of the traveling unit 2. In time chart G6, the horizontal axis indicates time (t) and the vertical axis indicates the running speed (km / h). Here, the target rotation speed TR2 of the electric motor 33 is a command value for the electric motor 33, and the actual rotation speed AR2 of the electric motor 33 is the actual rotation speed of the electric motor 33.

[0056] 4, in the comparative example, no speed control is performed on the traveling part 2. That is, the traveling speed RS1 of the traveling part 2 is constant at the speed V1.

[0057] As shown in the time chart G2, at time t2, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is larger than the first fertilizer amount, into the second area A2 to which the second fertilizer amount is assigned, and since the rotation speed control of the electric motor 33 is not performed, the target rotation speed TR1 of the electric motor 33 increases from the rotation speed N1 to the rotation speed N2 at time t2. On the other hand, the actual rotation speed AR1 of the electric motor 33 maintains the rotation speed N1 based on the target rotation speed TR1 until time t2, gradually increases from time t2 to time t4, and reaches the rotation speed N2 at time t4. Here, in this specification, the difference between the rotation speed N1 and the rotation speed N2 is described as the change amount M1.

[0058] As shown in the time chart G1, at time t2, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is larger than the first fertilizer amount, into the second area A2, so that the target fertilizer amount TF1 increases from the fertilizer amount F1 to the fertilizer amount F2 at time t2. Meanwhile, the applied fertilizer amount AF1 is maintained at the fertilizer amount F1 until time t2. As the actual rotation speed AR1 of the electric motor 33 increases from time t2, the applied fertilizer amount AF1 starts to increase from time t2 and reaches the fertilizer amount F2 at time t4. A response delay of the electric motor 33 occurs from when the electric motor 33 is instructed to change the rotation speed until the actual fertilizer amount per unit area to which fertilizer is supplied to the field reaches the target fertilizer amount per unit area. In other words, the difference between the target fertilizer application amount TF1 and the applied fertilizer amount AF1 from time t2 to time t4 (the hatched area) corresponds to the shortage of fertilizer supplied to the second area A2.

[0059] On the other hand, as shown in the time chart G6 of FIG. 5, in this embodiment, at time t2, the rice transplanter 1 enters the second area A2 to which the second fertilizer application amount, which is larger than the first fertilizer application amount, from the first area A1 to which the first fertilizer application amount is assigned, so that the controller 8 executes the speed control of the traveling part 2. Specifically, the controller 8 reduces the traveling speed of the traveling part 2 before the rice transplanter 1 enters the second area A2 from the first area A1. More specifically, the controller 8 maintains the traveling speed RS2 of the traveling part 2 at the speed V1 until the time t1, which is before the time t2. In addition, the controller 8 decreases the traveling speed RS2 of the traveling part 2 from the time t1 to reach the speed V2, which is the set low speed, at the time t2. In addition, the controller 8 increases the traveling speed RS2 of the traveling part 2 from the time t2 to reach the speed V1 at the time t3.

[0060] Also, as shown in the time chart G5, in this embodiment, at time t2, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is larger than the first fertilizer amount, into the second area A2, so that the controller 8 executes the rotation speed control of the electric motor 33. Specifically, the controller 8 gradually reduces the target rotation speed TR2 of the electric motor 33 from the rotation speed N1 to the rotation speed N4 from time t1 to time t2. In addition, the controller 8 controls the rotation speed of the electric motor 33 so that the change in the rotation speed of the electric motor 33 per unit time is larger than the change in the rotation speed of the electric motor 33 per short time after entering the second area A2 when the traveling speed of the traveling part 2 reaches the speed V2, which is the set low speed. In addition, the controller 8 increases the target rotation speed TR2 of the electric motor 33 when the traveling speed of the traveling part 2 reaches the speed V2, which is the set low speed. That is, at time t2, the controller 8 increases the target rotation speed TR2 from rotation speed N4 to rotation speed N3. Note that rotation speed N3 is greater than rotation speed N4. The controller 8 gradually increases the target rotation speed TR2 from rotation speed N3 to rotation speed N2 from time t2 to time t3, until the target rotation speed TR2 reaches rotation speed N2 at time t3. Here, in this specification, the amount of change in the rotation speed of the electric motor 33 per unit time at time t2, i.e., the difference between rotation speed N3 and rotation speed N4, is referred to as change amount M2.

[0061] On the other hand, the actual rotation speed AR2 of the electric motor 33 maintains the rotation speed N1 until time t1 before time t2, starts decreasing from time t1 based on the target rotation speed TR2, and reaches the rotation speed N4 at time t2. Also, the actual rotation speed AR2 of the electric motor 33 starts increasing from time t2 based on the target rotation speed TR2, and reaches the rotation speed N2 at time t3 before time t4.

[0062] As shown in the time chart G4, at time t2, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is greater than the first fertilizer amount, to the second area A2, so that the target fertilizer amount TF2 increases from the fertilizer amount F1 to the fertilizer amount F2 at time t2. Meanwhile, the applied fertilizer amount AF2 maintains the fertilizer amount F1 until time t2. As the actual rotation speed AR2 of the electric motor 33 increases from time t2, the applied fertilizer amount AF2 starts to increase from time t2 and reaches the fertilizer amount F2 at time t3, which is before time t4. A response delay of the electric motor 33 occurs from when the electric motor 33 is instructed to change the rotation speed until the actual fertilizer amount per unit area to which fertilizer is supplied to the field reaches the target fertilizer amount per unit area. In other words, the difference between the target fertilizer application amount TF2 and the applied fertilizer amount AF2 from time t2 to time t3 (the area indicated by hatching) corresponds to the shortage of fertilizer supplied to the second area A2.

[0063] As a result of comparing the present embodiment with the comparative example, the shortage of fertilizer supplied to the second area A2 in the present embodiment is smaller than the shortage of fertilizer supplied to the second area A2 in the comparative example. In other words, the present embodiment can apply fertilizer to the second area A2 more accurately than the comparative example.

[0064] In addition, the change amount M2 of the target rotation speed TR2 in this embodiment at time t2, i.e., when the rice transplanter 1 enters the second area A2 from the first area A1, is smaller than the change amount M1 of the target rotation speed TR1 in the comparative example. Specifically, the change amount M2 is smaller than the change amount M1. Therefore, in this embodiment, the actual rotation speed AR2 of the electric motor 33 can be prevented from increasing sharply, so that the load on the electric motor 33 can be reduced more than in the comparative example.

[0065] Furthermore, the change amount M2 of the electric motor 33 at the time when the traveling speed of the traveling part 2 reaches the set low speed V2 is larger than the change amount of the rotation speed of the electric motor 33 per unit time after entering the second area A2. That is, the change amount M2 of the rotation speed of the electric motor 33 at time t2 is larger than the difference between the target rotation speed TR2 and the actual rotation speed AR2 of the electric motor 33 from time t2 to time t3. Therefore, the tracking ability of the actual rotation speed AR2 to the target rotation speed TR2 is improved. As a result, fertilization can be performed accurately in the second area A2.

[0066] Next, a case where the second fertilizer amount is smaller than the first fertilizer amount will be described with reference to Figures 6 and 7. In Figures 6 and 7, the rice transplanter 1 enters the second area A2 from the first area A1 at time t6. That is, in Figures 6 and 7, the second fertilizer amount allocated to the second area A2 is smaller than the first fertilizer amount allocated to the first area A1.

[0067] FIG. 6 is a time chart showing the changes in the amount of fertilizer applied, the rotation speed of electric motor 33, and the running speed of traveling unit 2 in a comparative example of the present invention. Specifically, time chart G7 shows an example of a target fertilizer amount TF3 and an applied fertilizer amount AF3. In time chart G7, the horizontal axis represents time (t) and the vertical axis represents the amount of fertilizer applied (kg / 10a). Note that, to make the invention easier to understand, the positions of the target fertilizer amount TF3 and the applied fertilizer amount AF3 along the vertical axis are slightly shifted up to time t6 and from time t8 onwards, but in reality they overlap. Time chart G8 shows an example of a target rotation speed TR3 and an actual rotation speed AR3 of electric motor 33. In time chart G8, the horizontal axis represents time (t) and the vertical axis represents the rotation speed (min -1) is shown. To facilitate understanding of the invention, the positions of the target rotation speed TR3 and the actual rotation speed AR3 along the vertical axis are slightly shifted up to time t6 and after time t8, but in reality they overlap. Time chart G9 shows an example of the running speed RS3 of the traveling unit 2. In time chart G9, the horizontal axis indicates time (t) and the vertical axis indicates the running speed (km / h). Here, the target rotation speed TR3 of the electric motor 33 is a command value for the electric motor 33, and the actual rotation speed AR3 of the electric motor 33 is the actual rotation speed of the electric motor 33.

[0068] FIG. 7 is a time chart showing the changes in the amount of fertilizer, the rotation speed of the electric motor 33, and the running speed of the running unit 2 in this embodiment. Specifically, time chart G10 shows an example of a target fertilizer amount TF4 and an applied fertilizer amount AF4. In time chart G10, the horizontal axis represents time (t) and the vertical axis represents the amount of fertilizer applied (kg / 10a). Note that, to make the invention easier to understand, the positions of the target fertilizer amount TF4 and the applied fertilizer amount AF4 along the vertical axis are slightly shifted up to time t6 and from time t7 onwards, but in reality they overlap. Time chart G11 shows an example of a target rotation speed TR4 and an actual rotation speed AR4 of the electric motor 33. In time chart G11, the horizontal axis represents time (t) and the vertical axis represents the rotation speed (min -1 ) is shown. To make the invention easier to understand, the positions of the target rotation speed TR4 and the actual rotation speed AR4 along the vertical axis are slightly shifted up to time t5 and after time t7, but in reality they overlap. Time chart G12 shows an example of the running speed RS4 of the traveling unit 2. In the time chart G12, the horizontal axis indicates time (t) and the vertical axis indicates the running speed (km / h). Here, the target rotation speed TR4 of the electric motor 33 is a command value for the electric motor 33, and the actual rotation speed AR4 of the electric motor 33 is the actual rotation speed of the electric motor 33.

[0069] 6, in the comparative example, no speed control is performed on the traveling part 2. That is, the traveling speed RS3 of the traveling part 2 is constant at the speed V3.

[0070] As shown in the time chart G8, at time t6, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is smaller than the first fertilizer amount, to the comparative example, and since the rotation speed control of the electric motor 33 is not executed, at time t2, the target rotation speed TR3 of the electric motor 33 is decreased from the rotation speed N4 to the rotation speed N3. On the other hand, the actual rotation speed AR3 of the electric motor 33 maintains the rotation speed N4 based on the target rotation speed TR3 until time t6, starts to decrease from time t6, and reaches the rotation speed N3 at time t8. Here, in this specification, the difference between the rotation speed N3 and the rotation speed N4 is described as the change amount M3.

[0071] As shown in the time chart G7, at time t6, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is smaller than the first fertilizer amount, to the second area A2, so that the target fertilizer amount TF3 is reduced from the fertilizer amount F4 to the fertilizer amount F3 at time t6. Meanwhile, the applied fertilizer amount AF3 is maintained at the fertilizer amount F4 until time t6. As the actual rotation speed AR3 of the electric motor 33 is reduced from time t6, the applied fertilizer amount AF3 starts to decrease from time t6 and reaches the fertilizer amount F3 at time t8. A response delay of the electric motor 33 occurs from the time when the electric motor 33 is instructed to change the rotation speed until the actual fertilizer amount per unit area to which the fertilizer is supplied to the field reaches the target fertilizer amount per unit area. That is, the difference between the target fertilizer application amount TF3 and the applied fertilizer amount AF3 from time t6 to time t8 (the hatched area) corresponds to the excess amount of fertilizer supplied to the second area A2.

[0072] On the other hand, as shown in the time chart G12 of FIG. 7, in this embodiment, at time t6, the rice transplanter 1 enters the second area A2 to which the second fertilizer application amount, which is smaller than the first fertilizer application amount, from the first area A1 to which the first fertilizer application amount is assigned, so that the controller 8 executes the speed control of the traveling part 2. Specifically, the controller 8 reduces the traveling speed of the traveling part 2 before the rice transplanter 1 enters the second area A2 from the first area A1. More specifically, the controller 8 maintains the traveling speed RS4 of the traveling part 2 at the speed V3 until the time t5, which is before the time t6. In addition, the controller 8 decreases the traveling speed RS4 of the traveling part 2 from the time t5 to reach the speed V4, which is the set low speed, at the time t6. In addition, the controller 8 increases the traveling speed RS4 of the traveling part 2 from the time t6 to reach the speed V3 at the time t7.

[0073] Also, as shown in the time chart G11, in this embodiment, at time t6, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount smaller than the first fertilizer amount is assigned, so that the controller 8 executes the rotation speed control of the electric motor 33. Specifically, the controller 8 gradually reduces the target rotation speed TR4 of the electric motor 33 from the rotation speed N4 to the rotation speed N5 from time t5 to time t6. In addition, the controller 8 controls the rotation speed of the electric motor 33 so that the change in the rotation speed of the electric motor 33 per unit time at the time when the traveling speed of the traveling part 2 reaches the speed V4, which is the set low speed, is larger than the change in the rotation speed of the electric motor 33 per unit time after entering the second area A2. Furthermore, the controller 8 reduces the target rotation speed TR4 of the electric motor 33 at the time when the traveling speed of the traveling part 2 reaches the speed V4, which is the set low speed. That is, at time t6, the controller 8 reduces the target rotation speed TR4 from the rotation speed N5 to the rotation speed N6. The rotation speed N6 is smaller than the rotation speed N5. Furthermore, the controller 8 gradually increases the target rotation speed TR4 from the rotation speed N6 to the rotation speed N3 from time t6 to time t7, and reaches the rotation speed N3 at time t7. Here, in this specification, the amount of change in the rotation speed of the electric motor 33 per unit time at time t6, that is, the difference between the rotation speed N5 and the rotation speed N6, is referred to as the amount of change M4.

[0074] On the other hand, the actual rotation speed AR4 of the electric motor 33 maintains the rotation speed N4 until time t5 before time t6, starts to decrease from time t5 based on the target rotation speed TR4, and reaches the rotation speed N5 at time t6. Also, the actual rotation speed AR2 of the electric motor 33 starts to increase from time t6 based on the target rotation speed TR4, and reaches the rotation speed N3 at time t7 before time t8.

[0075] As shown in the time chart G10, at time t6, the rice transplanter 1 moves from the first area A1 to which the first fertilizer amount is assigned to the second area A2 to which the second fertilizer amount, which is smaller than the first fertilizer amount, into the second area A2, so that the target fertilizer amount TF4 is reduced from the fertilizer amount F4 to the fertilizer amount F3 at time t6. Meanwhile, the applied fertilizer amount AF4 maintains the fertilizer amount F4 until time t6. As the actual rotation speed AR4 of the electric motor 33 increases from time t6 to time t7 and the traveling speed RS4 of the traveling part 2 increases from time t6 to time t7, the applied fertilizer amount AF4 starts to increase from time t6 and reaches the fertilizer amount F3 at time t7, which is before time t8. A response delay of the electric motor 33 occurs from the time when the electric motor 33 is instructed to change the rotation speed until the actual fertilizer amount per unit area to which the fertilizer is supplied to the field reaches the target fertilizer amount per unit area. In other words, the difference between the target fertilizer application amount TF4 and the applied fertilizer amount AF4 from time t6 to time t7 (the hatched area) corresponds to the excess amount of fertilizer supplied to the second area A2.

[0076] As a result of comparing this embodiment with the comparative example, the excess amount of fertilizer supplied to the second area A2 in this embodiment is smaller than the excess amount of fertilizer supplied to the second area A2 in the comparative example. In other words, this embodiment can apply fertilizer to the second area A2 more accurately than the comparative example.

[0077] In addition, the change amount M4 of the target rotation speed TR4 in this embodiment at time t6, i.e., when the rice transplanter 1 enters the second area A2 from the first area A1, is smaller than the change amount M3 of the target rotation speed TR3 in the comparative example. Specifically, the change amount M4 is smaller than the change amount M3. Therefore, in this embodiment, the actual rotation speed AR4 of the electric motor 33 can be prevented from decreasing sharply, so that the load on the electric motor 33 can be reduced more than in the comparative example.

[0078] Furthermore, the change amount M4 of the electric motor 33 at the time when the traveling speed of the traveling part 2 reaches the set low speed V4 is larger than the change amount of the rotation speed of the electric motor 33 per unit time after entering the second area A2. That is, the change amount M4 of the rotation speed of the electric motor 33 at time t6 is larger than the difference between the target rotation speed TR4 and the actual rotation speed AR4 of the electric motor 33 from time t6 to time t7. Therefore, the tracking ability of the actual rotation speed AR4 to the target rotation speed TR4 is improved. As a result, fertilization can be performed accurately in the second area A2.

[0079] Next, a screen displayed by the display unit 5 will be described with reference to FIG. 8. FIG. 8 is a schematic diagram showing an example of a screen displayed by the display unit 5. In the screen displayed by the display unit 5 (hereinafter, referred to as the display screen HG), an image MpG corresponding to the fertilization map Mp, an icon MRt indicating the rice transplanter 1, and an arrow indicating the route of the rice transplanter 1 are displayed. The icon MRt indicating the rice transplanter 1 indicates the position of the rice transplanter 1 in the field. Here, based on the position information of the rice transplanter 1 acquired by the positioning unit 4, the display unit 5 displays the icon MRt indicating the rice transplanter 1. In addition, the display unit 5 indicates the position where the speed control is executed by the controller 8. Therefore, the operator of the rice transplanter 1 can recognize the position in the field where the traveling speed of the traveling part 2 changes. As a result, the operator can suppress the discomfort caused by the sudden change in the traveling speed of the rice transplanter 1 compared to the case where the operator cannot recognize the position where the traveling speed of the traveling part 2 changes.

[0080] Specifically, in the example shown in FIG. 8, a star-shaped mark MSc indicates the position where the speed control is executed by the controller 8. More specifically, the display unit 5 displays, on the display screen HG, a mark MSc1 (MSc) indicating the position where the speed control is executed most recently on the path along which the rice transplanter 1 moves, and a mark MSc2 (MSc) indicating the position where the speed control is executed after the mark MSc1 (MSc). Therefore, the operator of the rice transplanter 1 can recognize the positions where the traveling speed of the traveling part 2 changes throughout the entire field. As a result, the operator can predict the positions where the traveling speed of the traveling part 2 changes and operate the rice transplanter 1.

[0081] Next, with reference to FIG. 9, another screen displayed by the display unit 5 will be described. FIG. 9 is a schematic diagram showing another example of a screen displayed by the display unit 5. The display unit 5 may display, on the display screen HG, at least the position where the speed control will be executed most recently on the route along which the rice transplanter 1 moves. Therefore, it is possible to reduce the amount of information displayed on the display screen HG. As a result, it is possible to allow the operator to more reliably recognize the position where the traveling speed of the rice transplanter 1 will most recently change.

[0082] 9, the display unit 5 displays only the mark MSc1 on the display screen HG, which indicates the position where the speed control is most immediately executed on the path along which the rice transplanter 1 moves. Therefore, the operator of the rice transplanter 1 can more reliably recognize the position where the speed control is most immediately executed on the path along which the rice transplanter 1 moves.

[0083] Next, the process executed by the rice transplanter 1 will be described with reference to Fig. 10. Fig. 10 is a flowchart showing the process executed by the rice transplanter 1. The process executed by the rice transplanter 1 includes steps S1 to S7.

[0084] As shown in FIG. 10, in step S1, the display unit 5 starts displaying the display screen HG.

[0085] In step S2, the positioning unit 4 acquires position information indicating the position of the rice transplanter 1.

[0086] In step S3, the fertilizer applicator 3 supplies fertilizer to the field.

[0087] In step S4, the controller 8 determines whether the difference between the first fertilizer application amount and the second fertilizer application amount is equal to or greater than a predetermined value. If a negative determination (No) is made in step S4, the process proceeds to step S3. On the other hand, if a positive determination (Yes) is made in step S4, the process proceeds to step S5.

[0088] In step S5, the controller 8 executes speed control of the traveling unit 2.

[0089] In step S6, the controller 8 executes the rotation speed control of the electric motor 33. In step S7, the positioning unit 4 acquires the position information of the rice transplanter 1. If the rice transplanter 1 is located outside the range of the fertilization map Mp (No), the series of processes ends. If the rice transplanter 1 is located within the range of the fertilization map Mp (Yes), the process proceeds to step S3.

[0090] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments, and can be implemented in various aspects without departing from the gist of the present invention. In addition, the components disclosed in the above embodiments can be modified as appropriate. For example, a certain component among all the components shown in one embodiment may be added to a component of another embodiment, or some components among all the components shown in one embodiment may be deleted from the embodiment.

[0091] The drawings are mainly schematic illustrations of each component to facilitate understanding of the invention, and the thickness, length, number, period, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. Furthermore, the configurations of each component shown in the above embodiment are merely examples and are not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention.

[0092] In this embodiment, the second area A2 is the area AN into which the rice transplanter 1 next enters on the path along which the rice transplanter 1 moves. However, the second area A2 may be an area AN adjacent to the first area A1 in which the rice transplanter 1 is located, and may be, for example, an area AN different from the area AN into which the rice transplanter 1 next enters.

[0093] Furthermore, in this embodiment, when the difference between the first fertilizer amount assigned to the first area A1 and the second fertilizer amount assigned to the second area A2 is equal to or greater than a predetermined value, the controller 8 executes speed control of the traveling section 2. However, when the ratio of the second fertilizer amount to the first fertilizer amount is equal to or greater than a predetermined value (second predetermined value), the controller 8 may also execute speed control of the traveling section 2. In other words, when second fertilizer amount / first fertilizer amount≧second predetermined value, the controller 8 executes speed control of the traveling section 2.

[0094] In this embodiment, the display unit 5 indicates the position where the speed control is executed by the controller 8 by displaying a mark MSc having a star shape. However, as long as the operator can recognize the position where the traveling speed of the traveling unit 2 changes, the method of indicating the position where the speed control is executed by the display unit 5 is not particularly limited. For example, the position where the speed control is executed by the controller 8 may be indicated by displaying a mark having a shape different from a star shape. Also, for example, two zones AN adjacent to the position where the speed control is executed may be made to blink. Also, the zone AN adjacent to the position where the speed control is not executed and the two zones AN adjacent to the position where the speed control is executed may be displayed in different colors.

[0095] In this embodiment, the display unit 5 shows the position where the speed control is executed, but the present invention is not limited to this method. For example, the rice transplanter 1 includes a sound output unit such as a speaker, and the sound output unit outputs sound at the timing when the speed control is executed. In addition to the position display by the display unit 5, the sound output unit may output sound.

[0096] In addition, in the present embodiment, the rice transplanter 1 has been described as an example of the agricultural machine, but the agricultural machine is not limited to the rice transplanter 1. The agricultural machine may be, for example, a tractor. [Industrial Applicability]

[0097] The present invention relates to an agricultural machine and has industrial applicability. [Explanation of symbols]

[0098] 1. Rice transplanter (farm machinery) 2 Running part 3 Fertilizer application machine (supply section) 32 Payout section 33 Electric motor (motor) 4 Positioning unit (acquisition unit) 5 Display section 82 Control section A1 1st area A2 2nd area AN Area (Mesh) MN Fertilizer amount Mp Fertilization Map

Claims

1. An agricultural machine, A running part; A supply unit supported by the traveling unit and configured to supply fertilizer to the field; An acquisition unit that acquires location information indicating a location of the agricultural work machine; a control unit that controls the traveling unit and the supply unit based on a fertilization map showing a plurality of areas of the field and the position information; Equipped with The control unit executes speed control to control the traveling speed of the traveling unit based on the fertilizer application amount of adjacent areas among the plurality of areas, An agricultural work machine, wherein when a difference between a first amount of fertilizer assigned to a first area among the multiple areas in which the agricultural work machine is located and a second amount of fertilizer assigned to a second area adjacent to the first area is greater than or equal to a predetermined value, the control unit executes the speed control of the traveling unit.

2. The agricultural work machine according to claim 1 , wherein, in the speed control, the control unit reduces the traveling speed of the traveling part before the agricultural work machine enters the second area from the first area.

3. An agricultural machine, A running part; A supply unit supported by the traveling unit and configured to supply fertilizer to the field; An acquisition unit that acquires location information indicating a location of the agricultural work machine; a control unit that controls the traveling unit and the supply unit based on a fertilization map showing a plurality of areas of the field and the position information; Equipped with The control unit executes speed control to control the traveling speed of the traveling unit based on the fertilizer application amount of adjacent areas among the plurality of areas, The supply unit includes: A delivery unit that delivers fertilizer to the field; A motor that drives the payout unit; Including, The control unit, when executing the speed control of the traveling unit, executes rotation speed control to control the rotation speed of the motor in accordance with the speed control.

4. 4. The agricultural work machine according to claim 3, wherein the control unit, in the rotation speed control, controls the rotation speed of the motor so that, at a point in time when the traveling speed of the traveling part reaches a set low speed by the speed control, an amount of change in the rotation speed of the motor per unit time is greater than an amount of change in the rotation speed of the motor per unit time after the agricultural work machine enters a second area adjacent to a first area in which the agricultural work machine is located.

5. 5. The agricultural work machine according to claim 4, wherein when a second amount of fertilizer assigned to a second area adjacent to a first area in which the agricultural work machine is located is greater than a first amount of fertilizer assigned to the first area, the control unit increases the rotation speed of the motor when the speed control causes the traveling speed of the traveling part to reach a set low speed.

6. 6. The agricultural work machine according to claim 4 or claim 5, wherein when a second amount of fertilizer assigned to a second area adjacent to a first area in which the agricultural work machine is located is smaller than a first amount of fertilizer assigned to the first area, the control unit reduces the rotation speed of the motor when the speed control causes the traveling speed of the traveling part to reach a set low speed.

7. An agricultural machine, A running part; A supply unit supported by the traveling unit and configured to supply fertilizer to the field; An acquisition unit that acquires location information indicating a location of the agricultural work machine; a control unit that controls the traveling unit and the supply unit based on a fertilization map showing a plurality of areas of the field and the position information; Equipped with The control unit executes speed control to control the traveling speed of the traveling unit based on the fertilizer application amount of adjacent areas among the plurality of areas, The agricultural machine further includes a display unit that indicates a position at which the speed control is executed by the control unit.

8. The agricultural machine according to claim 7 , wherein the display unit indicates at least the position where the speed control will most recently be executed.

Images