agricultural machinery

Abstract

To supply agricultural material to a farm field as planned regardless of a limit of supply by an agricultural machine.SOLUTION: A vehicle speed sensor 19 acquires a travelling speed V of a travelling unit 2. A positioning unit 4 acquires position information of the travelling unit 2 by using a positioning satellite. A fertilizer applicator 3 is supported by the travelling unit 2 and supplies agricultural material to a farm field. A storage unit 22 stores supply amount plan information 100 in which a supply plan amount Sp of the agricultural material is decided for each region determined by partitioning the farm field into a plurality of regions. A control unit 21 acquires, from the supply amount plan information 100, the supply plan amount Sp for a region corresponding to the position information. When the acquired supply plan amount Sp is within a supply available range of the fertilizer applicator 3, the control unit executes a first control mode for controlling the supply amount of the fertilizer applicator 3 so that the supply amount becomes the supply plan amount Sp on the basis of the travelling speed V of the travelling unit 2. When the supply plan amount Sp is out of the supply available range, the control unit 21 executes a second control mode for changing the travelling speed V of the travelling unit 2 so as to obtain the supply plan amount Sp.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a fertilization map generation system that generates a fertilization map that defines the amount of fertilizer to be applied (planned supply amount) for each mesh of a field based on data obtained by remote sensing of the field. An agricultural implement travels while changing the amount of fertilizer to be supplied to the field so that the planned supply amount is equal to the amount defined in the fertilization map. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-254711 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a planned supply amount that exceeds the limit that the agricultural implement can supply is set in the fertilization map, it is difficult for the agricultural implement to supply an amount that exceeds the limit to the field.

[0005] An object of the present invention is to supply agricultural materials to a field as planned, regardless of the limit of what an agricultural machine can supply. [Means for solving the problem]

[0006] The agricultural work machine according to the present invention includes a traveling unit, a speed acquisition unit, a position acquisition unit, a supply unit, a memory unit, and a control unit. The speed acquisition unit acquires the traveling speed of the traveling unit. The position acquisition unit acquires position information of the traveling unit using positioning satellites. The supply unit is supported by the traveling unit and supplies agricultural materials to a field. The memory unit stores supply amount plan information in which a planned supply amount of agricultural materials is defined for each of a plurality of zones into which the field is divided. The control unit acquires a planned supply amount for the zone corresponding to the position information from the supply amount plan information, and, if the acquired planned supply amount is within a supply range of the supply unit, executes a first control mode in which the supply amount of the supply unit is controlled based on the traveling speed of the traveling unit so as to achieve the planned supply amount. If the planned supply amount is outside the supply range, the control unit executes a second control mode in which the traveling speed of the traveling unit is changed so as to achieve the planned supply amount. [Effects of the Invention]

[0007] According to the present invention, agricultural materials can be supplied to a field as planned, regardless of the limit of what the agricultural work machine can supply. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a left side view showing a rice transplanter according to a first embodiment. [Figure 2] FIG. 1 is a top view showing the area around the operator's seat of the rice transplanter according to the first embodiment. [Figure 3] FIG. 1 is a block diagram showing the configuration of a rice transplanter according to a first embodiment. [Figure 4] FIG. 3 is a diagram showing an example of supply amount plan information according to the first embodiment. [Figure 5] 4 is a flowchart showing the operation of the rice transplanter according to the first embodiment. [Figure 6] 3 is a diagram showing an example of a screen displayed by a display unit of the rice transplanter according to the first embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to the accompanying drawings, in which the same or corresponding parts are designated by the same reference numerals and will not be described repeatedly.

[0010] <Embodiment 1> A rice transplanter 1 according to a first embodiment will be described with reference to Figs. 1 to 6. Fig. 1 is a left side view showing the rice transplanter 1 according to the first embodiment. The rice transplanter 1 is an example of an agricultural machine. In the first embodiment, the direction of travel of the rice transplanter 1 is the left direction on the paper surface of Fig. 1. In the following description, the left side of the direction of travel of the rice transplanter 1 may be referred to as the left, and the right side of the direction of travel of the rice transplanter 1 may be referred to as the right.

[0011] As shown in Figure 1, the rice transplanter 1 includes a running unit 2, a fertilizer applicator 3, a positioning unit 4, a display unit 5, a planting unit 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 hood 17, and a dashboard 18.

[0012] The traveling unit 2 is configured as the body of the rice transplanter 1. The traveling unit 2 travels in a field using the power of the engine 10. The traveling unit 2 is equipped with a traveling controller 41 and a servo motor 42 (see FIG. 3). The servo motor 42 changes the traveling speed of the traveling unit 2 by rotating a speed change input lever provided in the transmission case 11. The traveling controller 41 controls the traveling speed of the traveling unit 2 by controlling the rotation of the servo motor 42.

[0013] The front wheels 12 and rear wheels 13 support the running unit 2. The front wheels 12 and rear wheels 13 are provided in pairs on the left and right sides of the running unit 2. In the first 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. The vehicle speed sensor 19 may be disposed in a position different from the front wheels 12. The vehicle speed sensor 19 is an example of a vehicle speed acquisition unit that acquires the running speed of the running unit 2.

[0014] The engine 10 is supported on the front side of the traveling part 2. The engine 10 is covered by a hood 17. The hood 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 longitudinal direction of the traveling part 2. A dashboard 18 and a display unit 5 are disposed in front of the driver's seat 14. A steering wheel 15 is disposed on the dashboard 18.

[0017] The display unit 5 is configured with a display such as a liquid crystal display or an organic EL (Electro Luminescence) display. Alternatively, the display unit 5 may be configured with a liquid crystal display or the like and a touch panel integrated into the surface of the liquid crystal display or the like. The display unit 5 displays, for example, various types of information related to the rice transplanter 1.

[0018] Fig. 2 is a top view showing the periphery of the operator's seat 14 of the rice transplanter 1 according to the embodiment 1. In the example shown in Fig. 2, the display unit 5 is attached to the right side of the handle 15 by a holder 7. The position of the display unit 5 is not limited thereto, and it may be placed in a position that can be seen by an operator seated in the operator's seat 14.

[0019] The handle 15 is attached to a steering column located in front of the driver's seat 14. An operator can command the traveling unit 2 to move straight or turn by gripping and turning the handle 15 with their hands.

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

[0021] The operator commands the traveling unit 2 to travel by depressing the pedal 16 with their foot. Specifically, the operator commands the traveling unit 2 to increase or decrease its speed by changing the depth to which the operator depresses the pedal 16 with their foot. On the other hand, the operator commands the traveling unit 2 to stop traveling by removing their foot from the pedal 16. As will be described later, the traveling unit 2 increases or decreases its speed not only in response to an instruction from the operator but also in response to an instruction from the control unit 21.

[0022] The planting section 6 is located 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 carrier 63. A seedling mat is placed on the seedling carrier 63. The seedlings in the seedling mat placed on the seedling carrier 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 raising 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 feeding unit 32, an electric motor 33 (see FIG. 3), a conveying hose 34, a blower 35, a feeding body 36, and a fertilizer controller 37 (see FIG. 3). In the first embodiment, the fertilizer applicator 3 includes a plurality of fertilizer tanks 31 and the same number of feeding units 32 as the fertilizer tanks 31. The fertilizer applicator 3 is an example of a supply unit that supplies agricultural materials to a farm field.

[0025] The fertilizer tank 31 is disposed between the driver's seat 14 and the seedling carrier 63 in the front-rear direction of the traveling unit 2. In the first embodiment, the fertilizer tank 31 stores, for example, powdered fertilizer. The powdered fertilizer is an example of an agricultural material.

[0026] The delivery unit 32 is connected to the lower part of the fertilizer tank 31. The delivery unit 32 delivers the fertilizer supplied from the fertilizer tank 31 downward in predetermined amounts.

[0027] A path (not shown) through which the fertilizer can pass is arranged inside the dispensing unit 32. A substantially disk-shaped dispensing body 36 is rotatably arranged in the path. That is, the dispensing unit 32 includes the dispensing body 36. The dispensing body 36 has a plurality of dispensing recesses (not shown) formed therein, each capable of holding a predetermined amount of fertilizer. By rotating the dispensing body 36, the fertilizer held in the dispensing recesses is dispensed downstream of the path.

[0028] The electric motor 33 functions as a drive source for rotating the feed body 36 of the feed unit 32. The electric motor 33 is attached to the fertilizer applicator 3 at an appropriate position.

[0029] The conveying hose 34 is connected to the downstream side of the path disposed inside the feeding 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 fertilization controller 37 controls the electric motor 33 to change the operating speed of the feeder 36, thereby changing the amount of fertilizer fed to the conveying hose 34 per unit time.

[0032] The positioning unit 4 acquires position information indicating the position of the rice transplanter 1. The positioning unit 4 includes, for example, a positioning antenna and a position information receiver. The positioning antenna receives signals from positioning satellites that make up a positioning system such as a Global Navigation Satellite System (GNSS). The positioning signals received by the positioning antenna are input to the position information receiver. The position information receiver processes the input positioning signals to acquire position information indicating the position of the rice transplanter 1. The positioning unit 4 is an example of a position acquisition unit that acquires the position information of the traveling unit 2.

[0033] 3 is a block diagram showing the configuration of the rice transplanter 1 according to embodiment 1. The rice transplanter 1 includes a travel unit 2, a fertilizer applicator 3, a positioning unit 4, a display unit 5, etc., as well as a control unit 21, a storage unit 22, and a communication unit 23.

[0034] The control unit 21 includes a processor such as a CPU (Central Processing Unit). The processor executes various processes defined by the computer programs by executing computer programs stored in the storage unit 22. Details of the control unit 21 will be described later.

[0035] The storage unit 22 has a memory such as a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), or an SSD (Solid State Drive). The storage unit 22 stores a computer program executed by the control unit 21. The storage unit 22 also stores supply amount plan information received by the communication unit 23. The storage unit 22 also stores information regarding the supply range of the fertilizer applicator 3. The supply amount plan information and the supply range will be described later.

[0036] The communication unit 23 performs wireless communication with the communication unit 71 included in the server 70. The communication unit 23 receives supply amount plan information created by the supply amount plan unit 72 included in the server 70 from the communication unit 71, and outputs the information to the control unit 21. The control unit 21 stores the supply amount plan information received by the communication unit 23 from the server 70 in the storage unit 22.

[0037] The server 70 includes a communication unit 71 and a supply amount planning unit 72. The communication unit 71 performs wireless communication with the communication unit 23 of the rice transplanter 1. The communication unit 71 transmits the supply amount plan information created by the supply amount planning unit 72 to the communication unit 23.

[0038] The supply amount planning unit 72 creates supply amount plan information that defines a planned supply amount of agricultural materials for each of the multiple zones (meshes) into which the field is divided. That is, the supply amount plan information includes location information indicating the multiple zones set by dividing the field, and the supply amount (planned supply amount) defined for each zone. The supply amount planning unit 72 may create the supply amount plan information using well-known technology. For example, the supply amount planning unit 72 determines the planned supply amount of fertilizer for each zone based on the fertility of the soil, the previous year's harvest, etc.

[0039] 3 is configured to store the supply amount plan information received from the server 70 in the storage unit 22, but is not limited to this. For example, the control unit 21 may read out the supply amount plan information stored in a storage medium such as a USB (Universal Serial Bus) memory and store it in the storage unit 22. Also, for example, the rice transplanter 1 may have a function equivalent to the supply amount plan unit 72, and the supply amount plan information created by the rice transplanter 1 may be stored in the storage unit 22.

[0040] Fig. 4 is a diagram showing an example of supply amount plan information 100 in embodiment 1. The supply amount plan information 100 shown in Fig. 4 is a fertilization map that defines the amount (supply plan amount) of fertilizer, which is an example of an agricultural material, to be applied to each of areas A1 to A20. For example, the supply plan amount defined for area A1 is 60 kg / 10 a, and the supply plan amount defined for area A2 is 80 kg / 10 a.

[0041] The maximum and minimum supply amounts that the fertilizer applicator 3 can supply are mainly determined by the maximum and minimum rotation speeds of the electric motor 33 and the maximum and minimum speeds of the traveling unit 2. In the first embodiment, the supply range of the fertilizer applicator 3 is assumed to be 30 to 90 kg / 10a. In this case, the planned supply amounts set for the areas A3 to A8 in the supply amount planning information 100 are greater than the maximum supply range of 90 kg / 10a. Conversely, the planned supply amounts set for the areas A19 and A20 in the supply amount planning information 100 are less than the minimum supply range of 30 kg / 10a. In the supply amount planning information 100 shown in FIG. 4, areas where the planned supply amount is within the supply range are indicated in white, and areas where the planned supply amount is outside the supply range are indicated by diagonal lines.

[0042] Next, variable fertilization work will be described as an example of work performed by the rice transplanter 1. The control unit 21 acquires from the storage unit 22 the planned supply amount determined for the area in the supply amount plan information 100 corresponding to the position of the traveling unit 2 detected by the positioning unit 4. The control unit 21 also acquires the supply range of the fertilizer applicator 3 from the storage unit 22. If the planned supply amount for the area corresponding to the position of the traveling unit 2 is within the supply range of the fertilizer applicator 3, the control unit 21 executes a first control mode in which the supply amount of the fertilizer applicator 3 is controlled based on the traveling speed of the traveling unit 2 so that the planned supply amount is achieved. On the other hand, if the planned supply amount for the area corresponding to the position of the traveling unit 2 is outside the supply range of the fertilizer applicator 3, the control unit 21 executes a second control mode in which the traveling speed of the traveling unit 2 is changed so that the planned supply amount is achieved.

[0043] More specifically, in the first control mode, the control unit 21 increases the amount of fertilizer applied by the fertilizer applicator 3 as the traveling speed of the traveling unit 2 increases. Also, the control unit 21 decreases the amount of fertilizer applied by the fertilizer applicator 3 as the traveling speed of the traveling unit 2 decreases. Therefore, when the traveling speed of the traveling unit 2 increases, the amount of fertilizer supplied per unit time by the fertilizer applicator 3 increases. On the other hand, when the traveling speed of the traveling unit 2 decreases, the amount of fertilizer supplied per unit time by the fertilizer applicator 3 decreases. As a result, whether the traveling speed of the traveling unit 2 increases or decreases, the amount of fertilizer supplied per unit area to one area remains constant.

[0044] In the second control mode, when the planned supply amount is greater than the maximum amount in the supplyable range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the maximum amount in the supplyable range and decelerates the traveling unit 2. By slowing the traveling speed of the traveling unit 2 while maintaining the supply amount of the fertilizer applicator 3 at the maximum, the amount of fertilizer supplied per unit area increases. As a result, the amount of fertilizer supplied per unit area to one zone becomes greater than the maximum amount in the supplyable range.

[0045] On the other hand, in the second control mode, when the planned supply amount is less than the minimum amount within the supplyable range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the minimum value within the supplyable range and increases the speed of the traveling unit 2. By increasing the traveling speed of the traveling unit 2 while maintaining the supply amount of the fertilizer applicator 3 at the minimum, the amount of fertilizer supplied per unit area decreases. As a result, the amount of fertilizer supplied per unit area to one zone becomes less than the minimum amount within the supplyable range.

[0046] The first control mode and the second control mode will be described in detail with reference to Fig. 5. Fig. 5 is a flowchart showing the operation of the rice transplanter 1 according to the first embodiment.

[0047] In step S11, the control unit 21 acquires the position of the traveling unit 2 from the positioning unit 4. The control unit 21 acquires, from the memory unit 22, the planned supply amount Sp for the area corresponding to the position of the traveling unit 2 (hereinafter referred to as the "target area").

[0048] In step S12, the control unit 21 compares the planned supply amount Sp with the maximum amount Smax of the possible supply range by referring to the possible supply range of the fertilizer applicator 3 stored in the memory unit 22. If the planned supply amount Sp is equal to or less than the maximum amount Smax of the possible supply range (step S12; Yes), the processing of the control unit 21 proceeds to step S13. On the other hand, if the planned supply amount Sp is greater than the maximum amount Smax of the possible supply range (step S12; No), the processing of the control unit 21 proceeds to step S17.

[0049] In step S13, the control unit 21 compares the planned supply amount Sp with the minimum amount Smin of the supplyable range. If the planned supply amount Sp is equal to or greater than the minimum amount Smin of the supplyable range (step S13; Yes), the control unit 21 proceeds to step S14. On the other hand, if the planned supply amount Sp is less than the minimum amount Smin of the supplyable range (step S13; No), the control unit 21 proceeds to step S19.

[0050] If the planned supply amount Sp is within the supplyable range, in step S14, control unit 21 executes the first control mode. Specifically, control unit 21 sets the planned supply amount Sp as the instructed supply amount S for the fertilizer applicator 3. Control unit 21 notifies fertilization controller 37 of the instructed supply amount S. Furthermore, while the first control mode is being executed, control unit 21 notifies fertilization controller 37 of the traveling speed V of traveling unit 2 detected by vehicle speed sensor 19 one by one. Fertilization controller 37 increases or decreases the amount of fertilizer to be supplied by controlling electric motor 33 based on the instructed supply amount S and traveling speed V notified by control unit 21.

[0051] If the planned supply amount Sp is greater than the maximum amount Smax of the supplyable range, in steps S17 and S18, the control unit 21 executes the second control mode (deceleration). Specifically, in step S17, the control unit 21 sets the maximum amount Smax of the supplyable range as the supply instruction amount S for the fertilizer applicator 3. In step S18, the control unit 21 sets a speed instruction value that is obtained by decelerating the traveling speed V of the traveling unit 2 detected by the vehicle speed sensor 19 in accordance with the proportion of the excess supply amount.

[0052] The control unit 21 notifies the fertilization controller 37 of the supply instruction amount S (= Smax) and the traveling speed V before deceleration. The fertilization controller 37 controls the electric motor 33 based on the supply instruction amount S (= Smax) and the traveling speed V before deceleration notified from the control unit 21. As a result, the supply amount per unit area based on the supply instruction amount S and the decelerated speed instruction value becomes greater than the supply amount per unit area based on the supply instruction amount S and the actual traveling speed V of the traveling unit 2.

[0053] Furthermore, control unit 21 notifies travel controller 41 of the speed command value. Travel controller 41 controls servo motor 42 based on the speed command value notified from control unit 21, thereby reducing the travel speed of traveling unit 2. As traveling unit 2 decelerates, the supply amount per unit area increases.

[0054] Here, the second control mode of steps S17 and S18 will be described using an example in which the target area is area A3 shown in Figure 4. The traveling speed V of traveling unit 2 is 1.8 m / s, and the maximum amount Smax of the supply range of fertilizer applicator 3 is 90 kg / 10a. The planned supply amount Sp for area A3 is 120 kg / 10a, which exceeds the maximum amount Smax of 90 kg / 10a by 30 kg / 10a. In this case, control unit 21 sets a speed instruction value of 1.35 m / s, which is obtained by slowing down the traveling speed V of traveling unit 2 to 3 / 4 (= 1 - (120 - 90) / 120).

[0055] The fertilization controller 37 controls the electric motor 33 assuming that the traveling speed V is 1.8 m / s before deceleration and the supply instruction rate S is the maximum rate Smax of 90 kg / 10 a. The traveling controller 41 controls the servo motor 42 so that the traveling speed V of the traveling unit 2 becomes the speed instruction value of 1.35 m / s. As a result, the fertilizer applicator 3 can apply 120 kg / 10 a of fertilizer to the area A3, which is more than the supply range.

[0056] If the planned supply amount Sp is less than the minimum amount Smin of the supplyable range, in steps S19 and S20, the control unit 21 executes the second control mode (speed increase). Specifically, in step S19, the control unit 21 sets the minimum amount Smin of the supplyable range as the supply instruction amount S for the fertilizer applicator 3. In step S20, the control unit 21 sets a speed instruction value that increases the traveling speed V of the traveling unit 2 detected by the vehicle speed sensor 19 in accordance with the proportion of the supply shortage.

[0057] Control unit 21 notifies fertilization controller 37 of supply instruction amount S (= Smin) and the running speed V before the speed increase. Fertilization controller 37 controls electric motor 33 based on supply instruction amount S (= Smin) and the running speed V before the speed increase notified from control unit 21. As a result, the supply amount per unit area based on supply instruction amount S and the increased speed instruction value becomes smaller than the supply amount per unit area based on supply instruction amount S and the actual running speed V of traveling unit 2.

[0058] Furthermore, control unit 21 notifies travel controller 41 of the speed command value. Travel controller 41 increases the travel speed of traveling unit 2 by controlling servo motor 42 based on the speed command value notified from control unit 21. As the speed of traveling unit 2 increases, the supply amount per unit area decreases.

[0059] Here, the second control mode of steps S19 and S20 will be described using an example in which the target area is area A19 shown in Figure 4. The travel speed V of the traveling unit 2 is 1.8 m / s, and the minimum amount Smin of the supply range of the fertilizer applicator 3 is 30 kg / 10 a. The planned supply amount Sp for area A19 is 20 kg / 10 a, which is 10 kg / 10 a less than the minimum amount Smin of 30 kg / 10 a. In this case, the control unit 21 sets a speed instruction value of 2.4 m / s, which is 4 / 3 (= 1 + (30 - 20) / 30) of the travel speed V of the traveling unit 2.

[0060] The fertilization controller 37 controls the electric motor 33 assuming that the traveling speed V is 1.8 m / s before acceleration and the supply instruction amount S is the minimum amount Smin of 20 kg / 10 a. The traveling controller 41 controls the servo motor 42 so that the traveling speed V of the traveling unit 2 becomes the speed instruction value of 2.4 m / s. As a result, the fertilizer applicator 3 can apply 20 kg / 10 a of fertilizer to the area A19, which is less than the supply range.

[0061] In step S15, the control unit 21 acquires the position of the traveling unit 2 from the positioning unit 4 and determines whether the position of the traveling unit 2 has moved out of the target area, i.e., whether fertilization of the target area has been completed. If fertilization of the target area has been completed (step S15; Yes), the control unit 21 proceeds to step S16. If fertilization of the target area has not been completed (step S15; No), the control unit 21 repeats the process of step S15.

[0062] In step S16, the control unit 21 determines whether fertilization has been completed in all areas of the field. If fertilization has been completed in all areas (step S16; Yes), the processing of the control unit 21 ends. If there are areas in which fertilization has not been completed (step S16; No), the processing of the control unit 21 returns to step S11.

[0063] Next, a screen displayed by the display unit 5 will be described with reference to Fig. 6. Fig. 6 is a diagram showing an example of a screen displayed by the display unit 5 of the rice transplanter 1 according to the first embodiment. The display unit 5 displays a screen 200 as shown in Fig. 6 based on an instruction from the control unit 21. The screen 200 shown in Fig. 6 displays an image 100a corresponding to the supply amount plan information 100 stored in the storage unit 22, an icon 201 indicating the rice transplanter 1, and an arrow indicating a travel path 202 of the rice transplanter 1. The icon 201 indicating the rice transplanter 1 indicates the position of the rice transplanter 1 in the field. The control unit 21 displays the icon 201 indicating the rice transplanter 1 on the image 100a based on the position of the travel unit 2 acquired by the positioning unit 4.

[0064] The control unit 21 may display marks 211 to 214 on the image 100a to indicate the position where the second control mode is executed. Alternatively, the control unit 21 may change the display mode so that the area where the second control mode is executed can be distinguished from the area where the first control mode is executed. For example, the control unit 21 determines the area where the first control mode is executed and the area where the second control mode is executed based on the supplyable range of the fertilizer applicator 3 and the supply amount plan information 100, and sets the start position of the second control mode on the travel path 202 as the display positions of the marks 211 and 213, and the end position as the display positions of the marks 212 and 214.

[0065] In the example of FIG. 6 , the second control mode (deceleration) is executed on the travel path 202 from star-shaped mark 211 to mark 212. The second control mode (acceleration) is executed on the travel path 202 from star-shaped mark 213 to mark 214. The control unit 21 may distinguish whether the second control mode is deceleration or acceleration by changing the display mode of marks 211, 212 and marks 213, 214. This allows the operator of the rice transplanter 1 to recognize the position in the field where the traveling speed V of the traveling unit 2 changes. As a result, the operator's discomfort caused by a sudden change in the traveling speed V of the traveling unit 2 can be reduced compared to when the operator cannot recognize the position where the traveling speed V of the traveling unit 2 changes.

[0066] The display unit 5 may also indicate at least the position where the second control mode will be most recently executed. In this case, only the mark 211 closest to the icon 201 of the rice transplanter 1 is displayed. This allows the operator to more reliably recognize the position where the traveling speed V of the traveling part 2 will most recently change.

[0067] As described above with reference to FIGS. 1 to 6 , the rice transplanter 1 includes the traveling unit 2, a speed sensor 19, a positioning unit 4, a fertilizer applicator 3, a memory unit 22, and a control unit 21. The speed sensor 19 acquires the traveling speed V of the traveling unit 2. The positioning unit 4 acquires position information of the traveling unit 2 using positioning satellites. The fertilizer applicator 3 is supported by the traveling unit 2 and supplies agricultural materials to the field. The memory unit 22 stores supply amount plan information 100 in which a planned supply amount Sp of agricultural materials is defined for each of a plurality of zones into which the field is divided. The control unit 21 acquires the planned supply amount Sp for the zone corresponding to the position information from the supply amount plan information 100, and, if the acquired planned supply amount Sp is within the supply range of the fertilizer applicator 3, executes a first control mode in which the supply amount of the fertilizer applicator 3 is controlled based on the traveling speed V of the traveling unit 2 so as to achieve the planned supply amount Sp. On the other hand, if the planned supply amount Sp is outside the supplyable range, the control unit 21 executes a second control mode in which the traveling speed V of the traveling unit 2 is changed so that the planned supply amount Sp is reached. By changing the traveling speed V of the traveling unit 2 when the planned supply amount Sp is outside the supplyable range, agricultural materials can be supplied to the field as planned, regardless of the supply limit of the fertilizer applicator 3.

[0068] In the second control mode, when the planned supply amount Sp is greater than the maximum amount Smax of the possible supply range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the maximum amount Smax of the possible supply range and decelerates the traveling unit 2. This allows agricultural materials to be supplied to the field as planned, regardless of the upper limit of the amount that the fertilizer applicator 3 can supply.

[0069] In the second control mode, when the planned supply amount Sp is less than the minimum amount Smin of the possible supply range, the control unit 21 sets the supply amount of the fertilizer applicator 3 to the minimum amount Smin of the possible supply range and increases the speed of the traveling unit 2. This allows agricultural materials to be supplied to the field as planned, regardless of the lower limit of the amount that the fertilizer applicator 3 can supply.

[0070] The rice transplanter 1 is equipped with a display unit 5. The display unit 5 displays whether the control mode being executed is the first control mode or the second control mode for each area of ​​the field. This allows the operator of the rice transplanter 1 to recognize the position in the field where the traveling speed V of the traveling part 2 changes, and reduces any discomfort felt by the operator due to a sudden change in the traveling speed V of the traveling part 2.

[0071] The display unit 5 displays whether the traveling part 2 is decelerating or accelerating in the second control mode. This allows the operator of the rice transplanter 1 to recognize the positions in the field where the traveling speed V of the traveling part 2 is decelerating and accelerating, and reduces any discomfort felt by the operator due to the sudden deceleration or increase in the traveling speed V of the traveling part 2.

[0072] In order to facilitate understanding, the drawings are mainly diagrammatically illustrated with respect to each component, and therefore the thickness, length, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings. [Industrial Applicability]

[0073] The present invention can be applied to agricultural machines such as rice transplanters and tractors. [Explanation of symbols]

[0074] 1. Rice transplanter (agricultural machine) 2 Running part 3 Fertilizer application machine (supply section) 4 Positioning unit (position acquisition unit) 5 Display section 6 Planting section 7 Holder 10 Engine 11 Mission case 12 Front wheels 13 rear wheel 14 Driver's seat 15 Handle 16 pedals 17. Bonnet 18 Dashboard 19 Vehicle speed sensor (vehicle speed acquisition unit) 21 Control section 22 Memory section 23 Communications Department 31 Fertilizer Tank 32 Feeding section 33 Electric motor 34 Conveyor hose 35 Blower 36 Propelling body 37 Fertilizer Controller 41 Travel controller 42 Servo motor 61 Lifting link mechanism 62 Planting Unit 63 Seedling stand 64 Lifting cylinder 70 servers 71 Communications Department 72 Supply Planning Department 100 Supply Plan Information 100a Image 200 screens 201 Icons 202 Travel Route 211~214 marks A1~A20 area

Claims

1. A running part; a vehicle speed acquisition unit that acquires a traveling speed of the traveling unit; a position acquisition unit that acquires position information of the traveling unit using a positioning satellite; a supply unit supported by the traveling unit and configured to supply agricultural materials to a field; a storage unit that stores supply amount plan information in which a planned supply amount of agricultural materials is determined for each of a plurality of areas obtained by dividing the farm field into a plurality of areas; a control unit that acquires a planned supply amount for an area corresponding to the location information from the supply amount plan information, and, if the acquired planned supply amount is within a supplyable range of the supply unit, executes a first control mode to control the supply amount of the supply unit based on the traveling speed of the traveling unit so that the planned supply amount is achieved, and, if the planned supply amount is outside the supplyable range, executes a second control mode to change the traveling speed of the traveling unit so that the planned supply amount is achieved; Equipped with In the second control mode, when the planned supply amount is greater than the maximum amount of the possible supply range, the control unit sets the supply amount of the supply unit to the maximum amount of the possible supply range and decelerates the traveling unit.

2. A running part, a vehicle speed acquisition unit that acquires a traveling speed of the traveling unit; a position acquisition unit that acquires position information of the traveling unit using a positioning satellite; a supply unit supported by the traveling unit and configured to supply agricultural materials to a field; a storage unit that stores supply amount plan information in which a planned supply amount of agricultural materials is determined for each of a plurality of areas obtained by dividing the farm field into a plurality of areas; a control unit that acquires a planned supply amount for an area corresponding to the location information from the supply amount plan information, and, if the acquired planned supply amount is within a supplyable range of the supply unit, executes a first control mode to control the supply amount of the supply unit based on the traveling speed of the traveling unit so that the planned supply amount is achieved, and, if the planned supply amount is outside the supplyable range, executes a second control mode to change the traveling speed of the traveling unit so that the planned supply amount is achieved; Equipped with In the second control mode, when the planned supply amount is less than the minimum amount of the possible supply range, the control unit sets the supply amount of the supply unit to the minimum amount of the possible supply range and increases the speed of the traveling unit.

3. The agricultural work machine according to claim 1 or 2, further comprising a display unit that displays, for each area of ​​the field, whether the control mode to be executed is the first control mode or the second control mode.

4. The agricultural work machine according to claim 3 , wherein the display unit distinguishes between decelerating and accelerating the traveling unit in the second control mode.

Images