Rice paddy art creation system

Abstract

To provide a paddy field art creation system that can reduce work load associated with paddy field art creation.SOLUTION: A paddy field art creation system includes: a self-travelling seedling transplanter 1; and an information terminal capable of registering design drawing data including a computerized design drawing for a paddy field art and controlling operation of the seedling transplanter based on the data. The seedling transplanter includes a seedling transplanting unit and a positioning device 5 that acquires the position of its own machine, and can travel in a paddy field automatically along a travel route based on the position information. The data includes position information for each of sections formed by dividing the paddy field into multiple sections and information on recording of the breed of a seedling to be planted in the section. The information terminal 6 calculates a planting range indicating in which section of the paddy field planting is being performed while the seedling transplanter is travelling automatically based on the data and the position information. When the breed of the seedling registered in the design drawing data switches in the section belonging to the calculated planting range, the information terminal 6 temporarily stops the automatic running of the seedling transplanter and causes an output unit 7e of the seedling transplanter to display the breed of the seedling to be switched.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a paddy art creation system for creating paddy art in a field.

Background Art

[0002] Conventionally, in the technical field of work vehicles for transplanting seedlings in a field, there has been an increasing interest in smart agriculture that utilizes robot technology and ICT to achieve ultra省力·high-quality production. For example, as shown in Patent Document 1 below, there is a known technology of using a positioning satellite system such as GPS to automatically drive a seedling transplanter in a field, thereby achieving smart work.

[0003] In addition to transplanting seedlings in a field by automatic control, as described in Patent Document 2 below, using paddy field map data, which is map information including the shape and position information of a paddy field, a fertilization plan in which a target fertilization amount is set for each predetermined section of the paddy field is created, and based on the created fertilization plan, the fertilization amount by a seedling transplanter is automatically adjusted according to the position in the paddy field.

[0004] By the way, in recent years, so-called paddy art, which regards a paddy field as a canvas and depicts huge patterns and characters on the paddy field using rice, has become a new tourism resource in the region and contributed to the activation of the region. This paddy art is created by sowing seedlings such as ancient rice whose leaves and ears grow in green, purple, yellow, etc. in an arrangement based on a pre-designed design drawing in a paddy field. As the rice grows, distinct patterns and characters appear on the paddy field, and art with different color tones can be appreciated until the rice harvest.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] However, conventionally, creating rice paddy art required workers to first create a design plan, and then manually plant multiple types of rice seedlings of different colors in the appropriate locations based on that plan. This process involved considerable effort in creating the design plan, preparing the materials, and planting. Therefore, the present invention aims to solve these problems and provide a rice paddy art creation system that can reduce the workload involved in creating rice paddy art. [Means for solving the problem]

[0007] To achieve the above objective, the first invention is: The system comprises a self-propelled seedling transplanter for planting seedlings for rice paddy art in the field, and an information terminal configured to register design data of the rice paddy art design, and to control the operation of the seedling transplanter based on the registered design data. The aforementioned seedling transplanter is a machine that plants seedlings in the field. planting It comprises a unit and a positioning device for acquiring its own position, and is configured to automatically travel through a field along a travel path calculated by the information terminal based on the position information acquired by the positioning device. The aforementioned design data divides the field into multiple sections, and for each section, it includes information recording the location of the section and the variety of seedlings to be planted in that section. Based on the design drawing data and the position information of the positioning device, the information terminal calculates the planting range indicating which section of the field is being planted in while the seedling transplanter is automatically traveling, and when the seedling variety recorded in the design drawing data changes in a section belonging to the calculated planting range, The present invention provides a rice paddy art creation system characterized by temporarily suspending the automatic movement of the seedling transplanter and displaying the variety of seedling to be switched on the output unit of the seedling transplanter.

[0008] According to the first invention described above, the design drawings for the rice paddy art can be created quickly and easily on an information terminal. Using the design data created by the system, when an operator plants seedlings for the rice paddy art in the field using a self-propelled seedling transplanter, the transplanter will automatically stop when it reaches a point in the field where the seedlings need to be changed, and instructions for which seedlings to change will be displayed. This significantly reduces the workload involved in creating the rice paddy art. Furthermore, it becomes possible to create accurate rice paddy art based on the design drawings.

[0009] The second invention, in addition to the configuration of the first invention, The seedling transplanter further comprises a fertilizer application device for applying fertilizer to the field, a seedling amount adjustment mechanism for adjusting the amount of seedlings picked up by the seedling planting unit, and a plant spacing adjustment mechanism for adjusting the spacing between plants in the seedling planting unit. The aforementioned design data further includes information on fertilizer application rate, seedling collection rate, and plant spacing for each divided section. The information terminal refers to the design drawing data and transmits information regarding the set values ​​of the fertilizer application amount, seedling collection amount, and plant spacing control amount for the plots belonging to the planting range calculated, to the seedling transplanter. The seedling transplanter, having received this information, is configured to automatically adjust the seedling collection amount and plant spacing based on the acquired control amount information.

[0010] According to the second invention described above, in addition to the effects of the first invention described above, the seedling transplanter is configured to control the amount of fertilizer applied, the amount of seedlings picked, and the spacing between plants for each section of the design drawing data, corresponding to that section. As a result, it is possible to achieve meticulous seedling planting and fertilization for each planting section of the field, thereby improving the quality of the rice paddy art.

[0011] The third invention, in addition to the configuration of the first invention, The information terminal is configured to receive input of elapsed days from the worker and to display completed simulation data on its display unit, in which each section of the field is displayed as a three-dimensional object having a height calculated based on the set amount of fertilizer applied and the input number of elapsed days, based on the design drawing data.

[0012] According to the third invention, in addition to the effects of the first invention, an operator can simulate a completed diagram of the paddy field art when the seedlings grow with the number of elapsed days by referring to the completed simulation data. Thereby, the quality of the paddy field art can be further improved.

[0013] The fourth invention is, in addition to the configuration of the first invention, the seedling transplanter is provided with a soil information acquisition unit that acquires soil information including a measurement value of soil fertility, the information terminal is configured to create field fertility information associating the position information of the field and the soil information by recording the soil information acquired by the soil information acquisition unit for each section of the design drawing data during the planting operation of the seedling transplanter, and to be displayable on a display unit.

[0014] According to the fourth invention, in addition to the effects of the third invention, the created field fertility information can be displayed on the display unit for the operator to check, and can be used for analyzing the field.

Advantages of the Invention

[0015] According to the present invention, it is possible to provide a paddy field art creation system that can reduce the workload related to creating paddy field art.

Brief Description of the Drawings

[0016] [Figure 1] FIG. 1 is a schematic side view showing the overall configuration of a paddy field art creation system according to a preferred embodiment of the present invention. [Figure 2] FIG. 2 is a schematic left side view of the fertilizer applicator shown in FIG. 1. [Figure 3] FIG. 3 is a schematic block diagram showing the configuration of the paddy field art creation system. [Figure 4] FIG. 4 is a flowchart showing the working process when creating paddy field art using the paddy field art creation system. [Figure 5]Fig. 5(a) is a diagram showing the data content of the seedling transplanter data. Fig. 5(b) is a diagram showing the data content of the seedling data. [Figure 6] Fig. 6 is a flowchart showing the processing procedure in the design drawing data creation and registration process. [Figure 7] Fig. 7(a) is an image diagram of the input canvas data displayed on the display unit. Fig. 7(b) is a diagram showing the data content of the design drawing data [Figure 8] Fig. 8 is an image diagram of the completed simulation data displayed on the display unit. [Figure 9] Fig. 9 is a flowchart showing the processing procedure in the planting execution process. [Figure 10-1] Fig. 10-1 is an explanatory diagram explaining the procedure for calculating the traveling route. [Figure 10-2] Fig. 10-2 is an explanatory diagram of the same above. [Figure 11] Fig. 11(a) is an explanatory diagram explaining the planting range with respect to the current position of the field of the seedling transplanter in the case of two-row planting. Fig. 11(b) is an explanatory diagram of the same above in the case of eight-row planting. [Figure 12-1] Fig. 12-1 is an explanatory diagram showing a series of procedures for determining whether the seedling switching condition is satisfied in the case of two-row planting. [Figure 12-2] Fig. 12-2 is an explanatory diagram of the same above. [Figure 12-3] Fig. 12-3 is an explanatory diagram of the same above. [Figure 13-1] Fig. 13-1 is an explanatory diagram showing a series of procedures for determining whether the seedling switching condition is satisfied in the case of eight-row planting. [Figure 13-2] Fig. 13-2 is an explanatory diagram of the same above. [Figure 13-3] Fig. 13-3 is an explanatory diagram of the same above. [Figure 13-4] Fig. 13-4 is an explanatory diagram of the same above. [Figure 14] Fig. 14 is an explanatory diagram explaining the creation of the input canvas data in another embodiment. [Figure 15]Figure 15 is an explanatory diagram illustrating the creation of input canvas data in yet another embodiment. [Modes for carrying out the invention]

[0017] <1. Overall structure of the rice paddy art creation system> Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. First, the overall configuration of the rice paddy art creation system A according to a preferred embodiment of the present invention will be described. Figure 1 is a schematic side view showing the overall configuration of the rice paddy art creation system A according to a preferred embodiment of the present invention.

[0018] The rice paddy art creation system A comprises a self-propelled seedling transplanter 1 for planting seedlings for rice paddy art in the field, and an information terminal 2 configured to register design data Dg (see Figure 7) containing the design of the rice paddy art, and to control the operation of the seedling transplanter 1 based on the registered design data Dg. The information terminal 2 and the seedling transplanter 1 are connected to each other via a network NW, so that the information terminal 6 transmits control signals to the seedling transplanter 1 via the network NW, and the seedling transplanter 1 performs various operations based on the content of the received control signals. Furthermore, while traveling in the field, the seedling transplanter 1 transmits various detection and detection information to the information terminal 6 at appropriate timings, and the information terminal 6 is configured to store the various detection and detection information obtained from the seedling transplanter 1.

[0019] The communication network NW is, for example, the internet, but other networks such as cellular networks, Wi-Fi networks, LPWA (Low Power Wide Area), WAN (Wide Area Network), LAN (Local Area Network), or other public or dedicated lines can be applied depending on the situation.

[0020] <2-1. Configuration of the seedling transplanter> The seedling transplanter 1 is equipped with a vehicle body 2 (hereinafter also simply referred to as "vehicle body") that travels in the field. The vehicle body 2 is equipped with a seedling planting unit 3 for planting seedlings, a fertilizer application device 4 for applying fertilizer, a positioning device 5 for measuring the position of the machine, a soil information acquisition unit J for acquiring soil information of the field, and a control unit C for controlling the various mechanisms of the seedling transplanter 1. In this specification, unless otherwise specified, the side in the direction of travel of the seedling transplanter 1, as indicated by the arrow in Figure 1, is referred to as the "front," and the opposite side as the "rear." Also, the left side in the direction of travel of the seedling transplanter 1 is referred to as the "left," and the opposite side is referred to as the "right." The seedling transplanter 1 is also simply referred to as the "machine body."

[0021] <2-2. Configuration of the Automatic Driving Mechanism> The vehicle body 2 is the main body of the seedling transplanter 1 and comprises a main frame 2a that extends in the front-rear direction of the machine and forms the machine frame, and a rear frame 2b that extends in the width direction and is attached to the rear end of the main frame 2a. A floor step 2c on which an operator can stand is provided on the upper part of the main frame 2a, and a control unit 7 that controls operation and a cockpit 7g on which the operator sits are provided on this floor step 2c.

[0022] Furthermore, the engine E, which is the power source for the vehicle body 2, is located below the driver's seat 7g. The power output from the engine E is transmitted to the transmission case e3 via a belt-type power transmission mechanism e1 located below the floor step 2c, through a hydrostatic continuously variable transmission (HST) e2, as shown in Figure 1.

[0023] The hydrostatic continuously variable transmission e2 is a mechanism in which the opening of the trunnion shaft (not shown) is adjusted by the drive of an HST servo motor (not shown), thereby changing the output to the transmission case e3. This allows for adjustment of the vehicle speed.

[0024] The power transmitted to the transmission case e3 is shifted internally and then branched and transmitted to the pair of front wheels 9 and the pair of rear wheels 10 for driving, and to the seedling planting unit 3 for work. The driving power is transmitted to the pair of front wheels 9 via the front wheel final case e5 and front wheel axle e6, and also to the pair of rear wheels 9 via the pair of rear wheel transmission shafts e7, the pair of rear wheel gear cases e8 and rear wheel axle 82 shown in Figure 1. On the other hand, the work power is transmitted to a planting clutch (not shown) located at the rear of the vehicle body 2, and when the planting clutch is engaged by a predetermined operation, it is further transmitted to the seedling planting unit 3.

[0025] The control unit 7 is equipped with a steering mechanism for steering the seedling transplanter 1. This steering mechanism includes a steering handle 7b, a steering shaft 7f, a pitman arm, and tie rods (not shown) for steering a pair of left and right front wheels 9. As a result, when the steering wheel 7b is rotated, the front wheels 9, which are the steering wheels, rotate according to the direction and amount of rotation. Furthermore, the rotation base of the steering handle 7b is provided with a steering angle detection means (not shown) capable of detecting the steering angle corresponding to the direction and amount of rotation of the steering handle 7b. This steering angle detection means is composed of, for example, an angle sensor such as a rotary encoder.

[0026] Furthermore, a steering actuator (steering motor), not shown, is provided on the rotation axis (steering shaft) of the steering handle 7b to control the rotation of the steering handle 7b and enable automatic steering. As a result, the control unit C acquires the steering angle detected by the steering angle detection means and controls the steering angle of the steering actuator, thereby enabling control of the travel direction of the seedling transplanter 1, and consequently enabling automatic travel of the seedling transplanter 1.

[0027] Furthermore, the seedling transplanter 1 can receive predetermined operations from the operator via an operating member (not shown), and the control unit C, described later, can switch between an automatic driving mode in which the steering wheel 7b is automatically steered and a manual driving mode in which the operator steers the steering wheel 7b.

[0028] The control unit 7 also includes a straight-line assist lever 7c for automatically moving the seedling transplanter 1 in a straight line, and a control panel 7d equipped with various operation switches. Furthermore, the control panel 7d is equipped with a monitor 7e capable of displaying various information. Behind the steering wheel 7b, a cockpit 7g where an operator can sit is provided.

[0029] <2-3. Structure of the seedling planting section> The seedling planting unit 3 is attached to the rear of the vehicle body 2 via a lifting linkage device 11. The lifting linkage device 11 comprises an upper link arm 11a and a pair of lower link arms 11b on the left and right sides, and is configured to allow the seedling planting unit 3 to move up and down.

[0030] The front ends of the upper link arm 11a and the lower link arm 11b are attached to a link base frame 12 fixed to the rear frame 2d, and the other ends are attached to upper and lower link arms 13 located at the bottom of the seedling planting section 3.

[0031] Here, the control device C controls an electronic hydraulic valve (not shown), and when the lifting hydraulic cylinder 14 shown in Figure 1 is retracted hydraulically, the upper link arm 11a rotates upward and backward, causing the seedling planting unit 3 to rise to a non-working position. When the seedling planting unit 3 is in a non-working position, its lower end is at approximately the same height as the bottom of the main frame 2a.

[0032] In response, when the lifting hydraulic cylinder 14 is extended hydraulically, the upper link arm 11a rotates downward and backward, and the seedling planting unit 3 is lowered to a working position (the position shown in Figure 1) where seedling planting can be performed.

[0033] As shown in Figure 1, the seedling planting unit 3 includes a seedling stand 3a on which a worker places a mat-shaped seedling with soil attached (so-called seedling mat), a planting device 3b located behind and below the seedling stand 3a, a center float 3c located at the bottom of the seedling planting unit 3b, and side floats 3d positioned to the left and right of the center float 3c.

[0034] The seedling tray 3a is provided at the rear of the vehicle body 2 as a seedling tray for loading multiple rows of seedlings. It has seedling tray surfaces 3m corresponding to the number of planting rows partitioned in the left-right direction of the vehicle body 2, and it is possible to place soil-covered mat-shaped seedlings on each seedling tray surface 3m. The seedling tray 3a is also connected to an actuator (e.g., a motor) not shown, and this actuator allows it to move vertically, changing its vertical position relative to the vehicle body 2. When the seedling tray 3a moves vertically, the distance between the tray 3a and the seedling planting device 3b changes, and as a result, the amount of seedlings picked up by the seedling planting device 3b from the seedling tray 3a (hereinafter referred to as the seedling picking amount) is adjusted. In addition, although not shown, the seedling tray surface 3m is provided with an electric seedling feed belt for transporting the mat-shaped seedlings placed on the seedling tray surface 3m to the planting device 3b.

[0035] Multiple planting devices 3b are arranged in the width direction of the seedling transplanter 1. Each planting device 3b is equipped with a planting transmission case 3u that transmits power from the engine E to the seedling planting unit 3 when a planting clutch (not shown) is engaged. A pair of left and right rotary cases 3r are arranged on this planting transmission case 3u, which rotatably support the planting rod 3e and are rotatably connected to the planting transmission case 3u. These rotary cases 3r rotate together with the drive shaft 3f, which rotates after receiving power from the planting transmission case 3u. Accordingly, the front planting rod 3e and the rear planting rod 3e, shown in Figure 1, which are arranged at both ends of the rotary case 3r, rotate around the drive shaft 3f, and are configured to alternately pick up seedlings located at the lower end of the seedling tray 3a and plant them in the field. In this way, one planting device 3b is equipped with a pair of rotary cases 3r on the left and right, and the planting rod 3e arranged in these rotary cases 3r allows for the planting of two rows of seedlings.

[0036] Furthermore, the further the seedling tray 3a moves downward, the deeper the planting rod 3e penetrates the lower end of the tray 3a when removing seedlings, resulting in a larger number of seedlings being removed. Conversely, the further the seedling tray 3a moves upward, the shallower the planting rod 3e penetrates the lower end of the tray 3a when removing seedlings, resulting in a smaller number of seedlings being removed. In this embodiment, the seedling transplanter 1 allows the vertical position of the seedling tray 3a to be adjusted in 15 steps by the control unit C, and accordingly, the amount of seedlings removed can be set to a value between 1 (minimum) and 15 (maximum). Such setting changes can be made by the operator using the control panel 7d, or by the control unit C under predetermined conditions.

[0037] Although not shown in the figures, the seedling transplanter 1 in this embodiment has a total of four planting devices 3b arranged in a row in the left-right direction, and by operating the planting clutch, each of these four planting devices 3b can be switched between a driven state and a stopped state. This makes it possible to plant 2, 4, 6, or 8 rows by a predetermined switching operation by the operator. However, the number of planting devices 3b arranged in the seedling transplanter 1 of the present invention is not limited to this.

[0038] The center float 3c and side floats 3d are configured to glide and level the field as the work vehicle 1 moves, and seedlings are planted in the field leveled by each float 3c and 3d by each planting device 3b. In addition, the center float 3c and side floats 3d are configured to swing to conform to the unevenness of the field.

[0039] <2-4. Interstrain regulation mechanism> The seedling transplanter 1 is equipped with a plant spacing adjustment mechanism that adjusts the spacing between seedlings planted by the seedling planting unit 3. This plant spacing adjustment mechanism is a known technology and will not be described in detail (see, for example, Japanese Patent Application Publication No. 2022-175618), but the control device C drives and controls the actuator of the gear shift unit, which switches the plant spacing based on the gear shift of the working power disposed in the transmission case a10, thereby enabling six levels of plant spacing adjustment (for example, plant spacing of 14, 16, 18, 21, 24, and 30 cm).

[0040] <2-5. Configuration of the fertilizer application device> Figure 2 is a schematic left side view of the fertilizer application device 4 shown in Figure 1. The fertilizer application device 4 includes an air chamber 4a extending in the left-right direction of the machine, a blower 4b that pressurizes and sends air from left to right through the air chamber 4a, a fertilizer hopper 4c that stores fertilizer to be supplied to the field, a plurality of dispensing devices 4d located below the fertilizer hopper 27, a plurality of connecting pipes 4e located below each dispensing device 4d, the front end of which is connected to the air chamber 4a, and a plurality of fertilizer hoses 4f connected to the rear end of each connecting pipe 4e and extending to the lower part of the seedling planting section 3.

[0041] The blower 4b is equipped with an intake duct 4g, and when a blower motor (not shown) is driven, air is drawn in through the intake duct 4f and supplied into the air chamber 4a. The air supplied into the air chamber 4a is then pumped to the right and supplied to each fertilizer hose 4f through each connecting pipe 4e.

[0042] Each dispensing device 4d has an opening at the top to receive fertilizer supplied by dropping from the fertilizer hopper 4c, and inside it is a dispensing roll 4i having a dispensing groove 4h on its outer surface. As the dispensing shaft 4j, which is inserted through a hole (not shown) that penetrates each dispensing roll 4i in the left-right direction, rotates, the dispensing roll 4i rotates. As a result, the fertilizer in the dispensing groove 4h is dispensed downwards to the dispensing device 4d. The fertilizer dispensed by the dispensing roll 4i is supplied into the connecting pipe 4e. At this time, the fertilizer supplied into the connecting pipe 38 is supplied to the field by passing through the fertilizer hose 6f with air supplied from the front air chamber 4a.

[0043] Here, the rotational speed of the fertilizer application rate adjustment motor 4m, which rotates the dispensing shaft 4j, is controlled by the control device C. That is, the amount of fertilizer dispensed by the dispensing device 4d is determined according to the rotational speed of the dispensing roll 4i, so the control device C can control the amount of fertilizer dispensed by the fertilizer application rate adjustment motor 4m. More specifically, the amount of fertilizer dispensed is the weight of fertilizer supplied per unit area of ​​the field, and is determined, for example, by the amount of fertilizer supplied in kilograms per 10 ares (1 acre). Therefore, the control device C controls the rotational speed of the dispensing roll 4i so that it becomes a target speed calculated based on the target amount of fertilizer dispensed, according to the target amount of fertilizer dispensed. The higher the target amount of fertilizer dispensed, the faster the rotational speed of the dispensing roll 4i is controlled, and the lower the target amount of fertilizer dispensed, the slower the rotational speed is controlled.

[0044] <2-6. Configuration of the positioning device> The positioning device 5 includes a GNSS receiver with a receiving antenna that receives radio waves from GNSS satellites, and an inertial measurement module that detects the tilt and acceleration of the three axes of the vehicle. This positioning device 5 is located at the front of the vehicle body 2, at the upper end of the frame material extending upward, and performs the function of acquiring the vehicle's position information. Here, position information refers to information indicating the position of the work vehicle 1, and includes at least information indicating the latitude and longitude of the vehicle. The position information measured by the positioning device 5 is transmitted to the control device C (see Figure 5).

[0045] <2-7. Configuration of the soil information acquisition unit> The soil information acquisition unit J measures the soil in the field to determine the soil's fertility (i.e., The system acquires information indicating the ease with which crops can grow (hereinafter referred to as soil information). The soil information acquisition unit J is equipped with a topsoil depth sensor j1 that measures the topsoil depth (i.e., the depth of the topsoil layer) and a soil fertility sensor j2 that measures the soil fertility. The topsoil depth sensor j1 is an ultrasonic sensor installed at the front of the vehicle body 2, and it is possible to measure the topsoil depth by measuring the depth to which the vehicle body sinks down to the hardpan. The soil fertility sensor j2 is installed on the front wheel 9, and it is possible to measure the soil fertility by passing a weak electric current through the soil and measuring the ions (nutrients) in the soil from the electrical conductivity (electrical resistance). More specifically, the SFV value (Soil Fertility Value) is measured as an indicator of soil fertility. This SFV value is a numerical value equivalent to the EC value (Electric Conductivity), and its unit is mS / cm (millisiemens). The measurement information (topsoil depth, SFV value) from the soil information acquisition unit J is linked to the location information (e.g., latitude, longitude) of the point measured by the positioning device 5 at predetermined time intervals and transmitted to the control device C.

[0046] <3. Configuration of the information terminal> Information terminal 6 is an information processing device equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc. The CPU performs arithmetic processing according to various control programs stored in the ROM, RAM, and other memories, thereby realizing the configuration shown as a functional block in Figure 2. For example, computer devices such as tablet terminals and smartphones can be used as information terminal 6.

[0047] <4. Block diagram of the rice paddy art creation system> Figure 3 is a schematic block diagram showing the configuration of the rice paddy art creation system A. As shown in Figure 3, the seedling transplanter 1 is equipped with a control device C that manages various control functions. This control device C is an information processing device composed of multiple ECUs (Electronic Control Units). Each of these ECUs is equipped with a CPU that performs calculations and a memory that can read and write information necessary for calculations. The CPU operates according to the various control programs stored in the memory, thereby realizing the configuration shown as a functional block in Figure 2.

[0048] The control device C has a positioning device 5, a soil information acquisition unit J, and a control unit 7 (i.e., steering angle detection means, etc.) connected to its input side, from which it can acquire various detection and detection information. On the output side of the control device C, there is a group of driving equipment M1 that controls driving functions such as driving, stopping, and changing the direction of driving, a group of work equipment M2 that controls work functions such as fertilizing and planting, and a monitor 7e that outputs video and audio. For example, in this embodiment, the driving equipment group M1 includes mechanisms such as a steering actuator, engine E, transmission, and brakes, and the work equipment group M2 includes mechanisms such as a PTO clutch, PTO transmission, braking device, lifting hydraulic cylinder 14, actuator for the mounting platform 3a, electric seedling feeding belt, and plant spacing adjustment mechanism. The control device C is also connected to a network NW via a communication device M3, enabling the exchange of various information. As a result, the information terminal 6 is configured to acquire various information from an external server 20 located on the network NW.

[0049] The information terminal 6 has a control unit C2 consisting of a processing area for various calculation or signal processing, and a storage unit C3 consisting of a storage area for recording various types of information. The control unit C2 is also connected to an input unit 61 for receiving various inputs from the operator, a display unit 62 capable of displaying various types of information, and a communication unit 63 that can send and receive various types of information by connecting to a network NW. The input unit 61 is composed of multiple pressure-sensitive buttons, and the display unit 62 has the function of outputting video and audio, and is composed of, for example, a liquid crystal panel with a speaker. The input unit 61 and the display unit 62 may be configured as touch panels.

[0050] The control unit C2 includes an operation instruction unit c21 that sends control signals to the seedling transplanter 1 to give instructions for various operations, and a rice paddy art creation unit c22 that manages various functions for creating rice paddy art.

[0051] The operation instruction unit c21 includes a travel instruction unit c211 that gives instructions to the seedling transplanter 1 regarding travel (for example, starting, ending, and stopping automatic travel), a planting instruction unit c212 that gives instructions regarding planting (for example, adjusting the spacing between plants and adjusting the amount of seedlings to be picked), a seedling change instruction unit c213 that gives instructions regarding seedling changes (for example, displaying the variety and row of seedlings to be changed on the monitor 7e), and a fertilization instruction unit c214 that gives instructions regarding fertilization (for example, starting and stopping fertilization and adjusting the amount of fertilizer to be applied).

[0052] The rice paddy art creation unit c22 includes a field data acquisition unit c221 that acquires field data, a seedling transplanter data registration unit c222 that registers seedling transplanter data Di, a seedling data registration unit c223 that registers seedling data Dn, a design drawing data creation and registration unit c224 that creates and registers design drawing data Dp, a completed simulation data creation unit c225 that creates completed simulation data Ds, a planting execution processing unit c226 that performs planting execution processing related to the planting execution of the seedling transplanter 1, and a travel path calculation unit c227 that calculates the travel path L related to the planting execution of the seedling transplanter 1.

[0053] The memory unit C3 includes a field data DB (c31), which is a storage means (database) for storing field data; a seedling transplanter data DB (c32), which is a storage means (database) for storing seedling transplanter data Di; a seedling data DB (c33), which is a storage means (database) for storing seedling data Dn; and a seedling data DB (c34), which is a storage means (database) for storing design drawing data Dp.

[0054] <5. Work process related to creating rice paddy art> Figure 4 is a flowchart showing the work process when creating rice paddy art using the rice paddy art creation system A. As shown in Figure 4, the rice paddy art creation system A creates rice paddy art through the following steps: a field data registration step (step S1) to register field data, a seedling transplanter data registration step (step S2) to register seedling transplanter data Di, a seedling data registration step (step S3) to register seedling data Dn, a design drawing data creation and registration step (step S4) to create and register design drawing data Dp, and a planting execution step (step S5) to plant seedlings in the field using the seedling transplanter 1. Each step is explained in detail below.

[0055] <6. Field Data Registration Process (Step S1)> The field data includes information such as the size, shape, and location of the field being worked on, as well as location data of the ridges that define the boundaries of the field. Therefore, the information terminal 6 can calculate the position of the seedling transplanter 1 in the field by referring to the position information acquired by the positioning device 5 of the seedling transplanter 1 and the field location information included in the field data.

[0056] The field data registration process involves the information terminal 6 acquiring field data using the field data acquisition unit c221 and registering (storing) it in the field data DB (c31). Here, the field data may be generated (acquired) by the information terminal 6 calculating the size, shape, and location of the field being worked on based on the position information acquired from the seedling transplanter 1, as the seedling transplanter 1 travels around the perimeter of the field while acquiring position information using the positioning device 5 under the operation of the operator. Alternatively, pre-recorded field data may be acquired from an external server 20 via the network NW.

[0057] <7. Seedling transplanter data registration process (Step S2)> The seedling transplanter data registration process involves the information terminal 6 receiving input from the operator, acquiring seedling transplanter data Di by the seedling transplanter data registration unit c222, and registering (storing) it in the seedling transplanter data DB (c32). Figure 5(a) shows the data contents of the seedling transplanter data Di. The seedling transplanter data Di contains information about the seedling transplanter that transplants seedlings. For example, as shown in Figure 5(a), it stores the "model ID," which is an identification number to uniquely identify the seedling transplanter 1 that performs the seedling planting work, and the "number of planting rows" (for example, 2, 4, 6, or 8 rows) during operation of the seedling transplanter 1. The operator can register (including update) the seedling transplanter data Di by inputting the necessary information from the input unit 61 of the information terminal 6, while referring to a predetermined setting screen displayed on the display unit 62 as appropriate, to obtain the model ID and number of planting rows of the seedling transplanter 1. In this way, the operator can pre-register information such as the number of planting rows of the seedling transplanter 1 used for creating the rice paddy art in the rice paddy art creation system A.

[0058] <8. Seedling data registration process (Step S3)> The seedling data registration process involves the information terminal 6 receiving input from the operator, acquiring seedling data Dn by the seedling data registration unit c223, and registering (storing) it in the seedling data DB (c33). Figure 5(b) shows the contents of the seedling data Dn. The seedling data Dn contains information about the seedlings used to create the rice paddy art. For example, as shown in Figure 5(b), it stores the "variety" which indicates the variety of the seedling and uniquely identifies the seedlings to be used, the "color" of that variety, the "set fertilizer amount" which is the default (initial value) fertilizer amount set for that variety when creating the setting diagram data Dp described later, the "set seedling amount" which is the same amount of seedlings to be harvested, and the "set plant spacing" which is the same amount of plant spacing. These setting values ​​can be registered (including updated) by the operator by inputting the necessary information from the input unit 61 of the information terminal 6 while referring to a predetermined setting screen displayed on the display unit 62 as appropriate. The "color" can be selected and entered from a selection of pre-prepared color information. Furthermore, the setting value related to fertilizer application indicates, for example, a target value of kilograms of fertilizer supplied per 10 ares (1 acre), and the setting value related to plant spacing indicates, for example, a target value of the distance (cm) between seedlings (in the direction of travel of the seedling transplanter 1). The same applies to the input canvas data Dk described later. In this way, the operator can pre-register information such as the variety and color of seedlings used to create the rice paddy art in the rice paddy art creation system A. Note that the seedling data registration process may be performed before the seedling transplanter data registration process described above.

[0059] <9. Creation and registration process of design drawing data (Step S4)> The design drawing data registration process involves the information terminal 6 receiving input from the operator, the design drawing data creation and registration unit c224 creating the design drawing data Dg, and registering (storing) it in the design drawing data DB (c34). Here, the design drawing data Dg is information that includes a design drawing showing the completed pattern of the rice paddy art, and also includes information regarding the control amounts (fertilizer application amount, seedling collection amount, spacing between plants) of the seedling transplanter 1.

[0060] The design drawing data registration process begins after the completion of the field data registration process (step S1), the seedling transplanter data registration process (step S2), and the seedling data registration process (step S3). The operator then inputs a predetermined operation into the information terminal 6 to start the design drawing data creation and registration process, and the design drawing data creation and registration unit c224 executes (starts) the design drawing data creation and registration process.

[0061] Figure 6 is a flowchart showing the processing steps in the design drawing data creation and registration process. When the design drawing data creation and registration process is started, the design drawing data creation and registration unit c224 obtains the field data of the field where the rice paddy art will be created from the field data DB (c31) (step #101).

[0062] Next, the system accepts input for the size of the planting area to divide the field into multiple planting areas (step #102). A planting area is a section into which the field has been subdivided for the purpose of creating rice paddy art. In each area, the seedling transplanter 1 will plant seedlings of the same variety, with the same set fertilizer application rate, seedling quantity, and plant spacing. For example, the size of a planting area can be selected and input from 0.6m, 1.2m, 1.8m, and 2.4m. If 0.6m is selected, the planting area will be designed to be a square area with a width of 0.6m and a length of 0.6m. However, the design of the planting area size is not limited to this; different values ​​can be input for width and length, and the area may be designed to be rectangular.

[0063] When the plot size is entered, the design drawing data creation and registration unit c224 creates input canvas data Dk, which is data in which the field is divided into plot sizes in a virtual space, based on information such as the size (area), outline, and location of the field included in the field data (step #103), and displays this on the display unit 62. Next, it obtains information on seedling data Dn stored in the seedling data DB (c33) (step #104) and accepts input from the worker regarding the rice paddy art design (step #105).

[0064] Figure 7(a) is an image of the input canvas data Dk displayed on the display unit. Each section T in the input canvas data Dk corresponds to each planting section of the field. In the example shown in Figure 7(a), the field area is divided into a total of 256 sections (squares) of 16 sections (squares) in virtual space. Each section T in the input canvas data Dk can be identified in two-dimensional coordinates in virtual space, as shown by T(1,1) to T(16,16). Furthermore, each section T(1,1) to T(16,16) is associated with and stored the field location information corresponding to each section T.

[0065] The operator refers to the input canvas data Dk displayed on the display unit 62, selects the section T in which they want to input information using the input unit 61, and performs an input operation (step #105). This allows the operator to input and set the seedling variety, fertilizer amount, seedling quantity, and spacing values ​​for each section T of the input canvas data Dk that corresponds to section T and the planting section of the field (step #105). When the operator inputs seedling variety information into any section T, the design drawing data creation and registration unit c224 appropriately refers to the seedling data Dn stored in the seedling data DB (c33) and displays the area within section T in the color of the seedling entered, based on the seedling variety information and the entered seedling color information. For example, if the seedling variety "X" is entered into section T(2, 4), section T(2, 4) will be displayed in black. This allows the operator to create the design drawing while visually confirming the pattern of the rice paddy art.

[0066] Furthermore, when an operator enters seedling variety information into any plot T, the data creation and registration unit c224 refers to the seedling data Dn stored in the seedling data DB (c33) and automatically inputs (sets) the fertilizer amount, seedling quantity, and plant spacing values ​​associated with the entered seedling variety into the set values ​​for that plot T. This significantly reduces the effort required for the operator to set the values. For example, if the seedling variety "X" is entered into plot T(2,4), the fertilizer amount for plot T(2,4) will be automatically set to "30", the seedling quantity to "15", and the plant spacing value to "14". The set values ​​that are automatically entered into plot T in this way are configured to be changeable as needed by the operator's input operations.

[0067] In this way, once the input of seedling varieties and settings for each section T of the input canvas data Dk is complete, the data creation and registration unit c224 creates design drawing data Dg from the information entered into each section T of the input canvas data Dk (step #106) and registers (stores) it in the design drawing data DB (c34) (step #107). Figure 7(b) shows the contents of the design drawing data Dg. As shown in Figure 7(b), the design drawing data Dg stores information about the varieties and settings such as fertilizer amounts for each section T (in the illustrated example, T(1,1) to T(16,16)) entered into the input canvas data Dk, for each section T. As a result, in the planting execution process described later, the information terminal 6 can refer to the design drawing data Dg and send instructions regarding seedling varieties, fertilizer amounts, seedling picking amounts, and spacing control amounts according to the position (location information) of the seedling transplanter 1 in the field.

[0068] <10. Completed Simulation Data> The completed simulation data creation unit c225 can create completed simulation data Ds from the design drawing data Dg through a predetermined operation on the information terminal 6, and display it on the display unit 62. Figure 8 is an image of the completed simulation data Ds displayed on the display unit.

[0069] As shown in Figure 8, the completed simulation data Ds displayed on the display unit 62 is a three-dimensional model, and each plot T of the field is displayed as a three-dimensional object with a height H. This height H visually represents the height (estimated value) of the seedlings in that plot T, and is determined for each plot T based on the input values ​​of the fertilizer application amount and the number of days elapsed set for that plot T. The number of days elapsed refers to the number of days since planting was completed, and is entered by the operator when the completed simulation data Ds is created. The height H is determined by, for example, the following formula. (Equation 1) Height H = Initial seedling height + Fertilizer application amount × Number of days elapsed × Correction factor

[0070] The initial seedling height indicates the height of the seedlings at planting, as pre-set by the operator. This can be set for each seedling variety. The fertilizer amount is the amount set for each section T in the design data Dg. The number of days elapsed is entered by the operator as desired. The correction coefficient is a coefficient used to correct for changes in growth due to factors such as seedling variety and climate, and is pre-set by the operator. When the operator operates the information terminal 6, inputs the necessary information, and instructs the output of the completed simulation data Ds, each section T is displayed on the display unit 62 as a three-dimensional 3D model (completed image) in the color of the seedling variety, with the height H calculated by the above formula 1, as shown in Figure 7(a). This allows the operator to simulate the completed rice paddy art as the seedlings grow over time by referring to the completed image in the completed simulation data Ds. Furthermore, the information terminal 6 is configured to allow the operator to change and register the settings (such as fertilizer amount) for each section T in the design data Dg while referring to the completed simulation data Ds. This will allow us to further improve the quality of the rice paddy art.

[0071] <10. Planting execution process (Step S5)> The planting execution process involves planting seedlings in the field using the seedling transplanter 1, based on the design drawing data Dg. In the planting execution process, the operator performs a predetermined operation on the work terminal 6, which initiates the planting execution process by the planting processing execution unit c226. The operator pre-enters into the information terminal 6 which model ID of the seedling transplanter 1, registered in the seedling transplanter DB, will be used for the planting work. This allows the planting processing execution unit c226 to determine the number of planting rows for the seedling transplanter 1.

[0072] Figure 9 is a flowchart showing the processing steps in the planting execution process. When the planting execution process is started, the planting execution unit c226 obtains the design drawing data Dg from the design drawing data DB (c34) (step #201). Next, it obtains the seedling transplanter data Di from the seedling transplanter DB (c32) (step #202). Subsequently, the planting execution unit c226 causes the travel path calculation unit c227 to calculate the travel path L from the obtained design drawing data Dg and seedling transplanter data Di, and obtains information regarding the calculated travel path L (step #203). This travel path L is the target travel path when the seedling transplanter 1 travels through the field during automatic travel. As described later, the travel path L consists of multiple straight paths l that travel back and forth across the field. The seedling transplanter 1 obtains information about the calculated travel path L from the information terminal 6. In the field, at a position corresponding to the start of each travel path L (straight path l), the operator starts automatic travel by performing a predetermined operation on the seedling transplanter 1, causing the seedling transplanter 1 to automatically travel to a position corresponding to the end of each travel path L (straight path l). Automatic travel stops when the end of each travel path L (straight path l) is reached. Next, when moving to the next process (for example, an adjacent straight path l), the operator drives the seedling transplanter 1 from the end of the straight path l where planting work has been completed to the start of the (unprocessed) straight path l of the next process, and then starts automatic travel.

[0073] Figures 10-1 and 10-2 are explanatory diagrams illustrating the procedure for calculating the travel path L. Figure 10-1 shows the designed travel path L when the field in the design drawing data Dg is divided into 8x8 grid sections T(T(1,1)~T(8,8)) and the seedling transplanter 1 is planting in two rows. Here, the working width for two-row planting is 0.6m (meters), and one section (one grid) of the field in the design drawing data Dg corresponds to a 0.6m x 0.6m square planting section in the actual field. Therefore, in order to plant and travel through the field without gaps, the travel path L is designed to consist of eight straight paths l1~l8, as shown in Figure 10-1. Each of the 8x8 grid sections T in the design drawing data Dg contains positional information, and the travel path L information includes field positional information. The seedling transplanter 1, having acquired the travel path L information, travels while acquiring positional information from the positioning device 5 to eliminate deviations, thereby enabling automatic travel along the travel path L in the field. Information regarding the working width of the seedling transplanter 1 is pre-registered in the storage unit C3, and the design drawing data Dg contains information regarding the size of one section (one grid) in the field, as shown in Figure 7(b). Therefore, the travel path calculation unit c22 calculates how many grid sections T in the design drawing data Dg correspond to the working width of the seedling transplanter 1 and designs the number of travel paths L (straight paths l). The working width of the seedling transplanter 1 is, for example, 0.6m for 2-row planting, 1.2m for 4-row planting, 1.8m for 6-row planting, and 2.4m for 8-row planting.

[0074] Figure 10-2 shows the case where the seedling transplanter 1 is planting in four rows. In the case of four-row planting, the working width for two-row planting is 1.2m (meters). One section (one square) of the field in the design drawing data Dg corresponds to a 0.6m x 0.6m square planting section in the actual field. Therefore, the working width corresponds to two squares of section T. To perform planting work without gaps while traveling through the field, the travel path L is designed to consist of four straight paths l11 to l14, as shown in Figure 10-1.

[0075] Returning to Figure 9, once the planting process execution unit c226 calculates the travel path L, it transmits information about the travel path L to the seedling transplanter 1 and displays the automatic travel start point on the monitor 7e. The automatic travel start point corresponds to the starting point (or beginning) of the straight path l. The operator, after checking the monitor 7e, moves the seedling transplanter 1 to the automatic travel start point in the field by manual operation and starts automatic travel on the seedling transplanter 1 by performing a predetermined operation (#105). Once automatic travel has started, the seedling transplanter 1 travels along the travel path L (straight path l1) by automatic steering (Y in #105).

[0076] When automatic driving begins, the information terminal 6 receives a notification from the seedling transplanter 1 that automatic driving has started and determines whether the seedling switching condition is met during the automatic driving of the seedling transplanter 1. Here, the seedling switching condition is the condition for switching the variety of seedlings to be planted by the seedling transplanter 1. More specifically, if the seedling switching condition is met during automatic driving, it means that the operator must switch the variety of seedlings to be planted by the seedling transplanter 1 (the operator replaces the seedling mat placed on the seedling tray 3a of the corresponding row with one of the appropriate variety (from the variety currently planted to the variety to be planted next)).

[0077] The planting processing unit c226 calculates the planting range R of the seedling transplanter 1 in the field in real time, based on the design drawing data Dg and the position information of the seedling transplanter 1, in order to determine whether the seedling switching conditions are met. Figure 11(a) is an explanatory diagram illustrating the planting range R of the seedling transplanter 1 relative to the current position P of the field when the seedling transplanter 1 is planting in two rows. Figure 11(b) is an explanatory diagram illustrating the same, showing the planting range R in the case of planting in eight rows. The planting range R indicates the planting section of the field where planting will be performed by the seedling transplanter 1. The section T and travel path L in the figures represent the field section T and travel path L calculated based on the design drawing data Dg, similar to Figures 10-1 and 10-2. Therefore, based on the design drawing data Dg, each section T is associated with the set values ​​for fertilizer application amount, seedling collection amount, and plant spacing.

[0078] The planting range R is set at a predetermined distance behind the current position P of the seedling transplanter 1 in the field (measured by the positioning device 5) (which can be set in advance by the operator). The range is defined in units of the size of one section of section T (for example, 0.6m x 0.6m), according to the working width of the seedling transplanter 1 (which can be calculated depending on the number of rows planted). The reason for setting the range at a predetermined distance behind is to correct for the positional difference, as the seedling planting unit 3 is located behind the positioning device 5, but the setting method is not limited to this. Alternatively, the planting range R may be calculated based on the section T to which the seedling transplanter 1 belongs (is located), calculated from the information of the current position of the seedling transplanter 1. In the simplest case, if one section of section T is 0.6m x 0.6m in size and two rows are planted (working width 0.6m), the planting range R can be configured to be the section T to which the seedling transplanter 1 belongs (is located). In this embodiment, as shown in Figure 11(a), when the seedling transplanter 1 is planting two rows, the planting range R corresponds to one square of section T, and when planting eight rows, it corresponds to four squares. During planting, as the current position P of the seedling transplanter 1 moves along the travel path L by automatic movement (upper part of the figure), the planting range R also moves in units of section T (upper part of the figure). During planting by automatic movement, the planting processing execution unit c226 acquires the set values ​​for fertilizer application, seedling collection, and plant spacing set for each section T within the planting range R, and based on these set values ​​(control values), transmits instructions (control value information) to the seedling transplanter 1 so that the fertilizer application, seedling collection, and plant spacing are set accordingly. Upon acquiring this information, the seedling transplanter 1 has the control device C automatically adjust the fertilizer application, seedling collection, and plant spacing. This configuration allows for the control of fertilizer application, seedling collection, and plant spacing for each planting section corresponding to section T in the design data Dg during seedling planting. As a result, meticulous seedling planting and fertilization can be achieved for each planting section, improving the quality of the rice paddy art. The work images shown in Figures 11(a) and 11(b) are displayed on monitor 7e as needed during planting, allowing the operator to check them. The current position P of the seedling transplanter 1 is indicated by a triangular mark Pm.

[0079] Figures 12-1 to 12-3 are explanatory diagrams showing a series of steps for determining whether the seedling switching conditions are met in the case of two-row planting. Within each section T in the diagrams, the seedling varieties set for each section are shown. As shown in Figure 12-1, at the start of one process (corresponding to the beginning of the travel path l1 in Figure 10-1), the planting range R is located at section T(1,1), and the seedling variety set for section T within the planting range R is "X". Following automatic travel along the straight path l1, the planting range R moves upward in the diagram, and when it reaches T(1,5), as shown in Figure 12-2, the set seedling variety changes from "X" to "Y". As a result, the planting process execution unit c226 determines that the seedling switching conditions have been met (Y in step #206 of Figure 9), sends a stop command to the seedling transplanter 1 to temporarily suspend automatic travel (step #207 of Figure 9), and displays an instruction on the monitor 7e of the seedling transplanter 1 to switch the seedling variety to be planted by the seedling transplanter 1 to "Y". Upon seeing this, the operator understands that it is necessary to switch the seedling variety to be planted and performs the work of switching the seedling variety to be placed on the seedling placement stand 3a to "Y" (step #208 of Figure 9). At this time, if a predetermined reverse button on the seedling transplanter 1 is pressed, the electric seedling feeding belt may be configured to rotate in reverse for a predetermined time, making it easier for the operator to switch seedlings.

[0080] Once the operator has finished switching the seedling variety, they restart the automatic movement of the seedling transplanter 1 by performing a predetermined operation, and this is transmitted to the information terminal 6 (step #209 in Figure 9). Then, steps #206 to #209 in Figure 9 are repeated until one planting operation (movement along a single straight path l) is completed (step #210 in Figure 9). In the illustrated examples in Figures 12-1 to 12-3, as shown in Figure 12-3, when the planting range R reaches section T(1, 7), the seedling transplanter 1 pauses again, and an instruction is displayed on the monitor 7e to switch the seedling variety to be planted to "X".

[0081] Figures 13-1 to 13-4 are explanatory diagrams showing a series of steps for determining whether the seedling switching conditions are met in the case of 8-row planting. In the case of 8-row planting, the planting range R is 4 squares, as shown in Figures 13-1 to 13-4. Each square within the planting range R corresponds to rows 1-2, 3-4, 5-6, and 7-8 of the seedling planting unit 3, from left to right. At this time, the seedling switching conditions are determined for each square within the planting range R, and as shown in Figure 13-2, when the planting range R moves from section T(2,2) to section T(2,3), the seedling transplanter 1 is temporarily stopped and an instruction is output to monitor 7e to switch the seedling variety of rows 5 and 6 to "Z". Similarly, as shown in Figure 13-3, when the planting area R moves from section T(3,4) to section T(3,5), an instruction is displayed on monitor 7e to switch the seedling variety of rows 3-4 to "Z". Furthermore, as shown in Figure 13-4, when the planting area R moves from section T(3,4) to section T(3,5), an instruction is displayed on monitor 7e to switch the seedling variety of rows 3-4 to "Z". Furthermore, when the planting area R moves from section T(2,6) to section T(2,7), and from section T(3,6) to section T(3,7), an instruction is displayed on monitor 7e to switch the seedling variety of rows 3-6 to "X".

[0082] Returning to Figure 9, once the planting operation of one step is completed, the planting process execution unit c226 determines whether to move to the next step (for example, from the end of the straight path l1 to the beginning of the straight path l2). This determination may also be made by the seedling transplanter 1 receiving an input operation from the operator indicating whether or not to move to the next step, and obtaining the result information of such input operation (step #211 in Figure 9).

[0083] If it is determined that the process should move to the next step, the starting point of the next step (for example, the beginning of the straight path l2) is displayed on monitor 7e. The operator who confirms this then operates the seedling transplanter 1 to the starting point of the next step in the field and proceeds to the next step of planting. On the other hand, if it is determined that the process should not move to the next step, the planting execution process is terminated (N in step #211).

[0084] According to the rice paddy art creation system A with the above configuration, the design of the rice paddy art can be created quickly and easily on the information terminal 6. Using the design data Dp created by the system, when an operator plants seedlings for the rice paddy art in the field using a self-propelled seedling transplanter 1, the transplanter 1 automatically stops when it reaches a point in the field where the seedlings need to be changed, and instructions for which seedlings to change are displayed, thereby significantly reducing the workload involved in creating the rice paddy art. Furthermore, it becomes possible to create accurate rice paddy art based on the design.

[0085] <11. Others> The embodiments of the present invention have been described above. The present invention is not limited to the embodiments described above. It goes without saying that modifications can be made as appropriate within the scope of the technical idea.

[0086] Figure 14 is an explanatory diagram illustrating the creation of input canvas data Dk in another embodiment. As shown in Figure 14, when pre-prepared design drawing information d1 containing color information is placed on the input canvas data Dk, the system may be configured to automatically remove the background through image analysis and create a design d2 in which the seedling varieties of the corresponding colors to the color information of the design drawing information d1 are automatically entered.

[0087] Figure 15 is an explanatory diagram illustrating the creation of input canvas data Dk in another embodiment. As shown in Figure 15, the display screen of the information terminal 6 may be configured to display the input canvas data Dk, map data image (image of the field), and the machine position Pm, and to display the completed planting area in a darker color. The created input canvas data Dk may be configured to be copyable to other fields with a changed scale.

[0088] The input canvas data Dk may be configured to allow the observer to input the angle from which they view the rice paddy art, and to automatically add perspective to the design drawing based on the input angle.

[0089] The information terminal 6 may be configured to acquire soil information using the soil information acquisition unit J during the planting operation of the seedling transplanter 1, and to record the soil information at the location corresponding to each section T in the design drawing data Dg, based on the location information of the seedling transplanter 1 that acquired the soil information, thereby creating field fertility information (fertility map) that links the field location information and soil information. The field fertility information thus created can be displayed on the display unit 62 for the operator to check and can be used for field analysis. Furthermore, the information terminal 6 may be configured to calculate the average fertility of the entire field from the field fertility map and transmit it to the seedling transplanter 1 or an external server 20 along with the information from the field fertility map. As a result, when the seedling transplanter 1 is configured to measure the fertility of the field in real time and adjust the amount of fertilizer applied based on the measured fertility, the amount of fertilizer can be adjusted by using the information from the field fertility map to replace the measured fertility value with the fertility value included in the field fertility map information. [Explanation of Symbols]

[0090] A Rice Paddy Art Creation System 1 Seedling transplanter 2. Running vehicle 2a Mainframe 2b Rear frame 2c Floor Step 3 Seedling planting department 3a Seedling stand 3b Planting equipment 3c Center Float 3D side floats 3e planting tools 3f drive shaft 4 Fertilizer application equipment 4a Air Chamber 4b Blower 4c Fertilizer hopper 4d feeding device 4e connecting pipe 4F Fertilizer hose 4g intake duct 4h feeding groove 4i feed roll 4j feeding shaft 4m Fertilizer application rate adjustment motor 5. Positioning device 6. Information terminals 7. Control Unit 7a Main shift lever 7b Steering wheel 7c Straight-line assist lever 7d control panel 7e Monitor 7f Steering shaft 7g cockpit 9 Front wheels 10 Rear wheels 11. Lifting linkage device 11a Upper link arm 11b Lower link arm 12-link base frame 13 Upper and lower link arms 14. Lifting hydraulic cylinder 20 External Servers C Control device E-engine J Soil Information Acquisition Department

Claims

1. The system comprises a self-propelled seedling transplanter for planting seedlings for rice paddy art in the field, and an information terminal configured to register design data of the rice paddy art design, and to control the operation of the seedling transplanter based on the registered design data. The seedling transplanter comprises a seedling planting unit for planting seedlings in the field and a positioning device for acquiring its own position. Based on the position information acquired by the positioning device, the machine is configured to automatically travel through the field along a route calculated by the information terminal. The aforementioned design data divides the field into multiple sections, and for each section, it includes information recording the location of the section and the variety of seedlings to be planted in that section. Based on the design drawing data and the position information of the positioning device, the information terminal calculates the planting range indicating which section of the field is being planted in while the seedling transplanter is automatically traveling, and when the seedling variety recorded in the design drawing data changes in a section belonging to the calculated planting range, A rice paddy art creation system characterized by temporarily suspending the automatic movement of the seedling transplanter and displaying the variety of seedling to be switched on the output unit of the seedling transplanter.

2. The seedling transplanter further comprises a fertilizer application device for applying fertilizer to the field, a seedling amount adjustment mechanism for adjusting the amount of seedlings picked up by the seedling planting unit, and a plant spacing adjustment mechanism for adjusting the spacing between plants in the seedling planting unit. The aforementioned design data further includes information on fertilizer application rate, seedling collection rate, and plant spacing for each divided section. The rice paddy art creation system according to claim 1, characterized in that the information terminal refers to the design drawing data and transmits to the seedling transplanter information regarding the set values ​​of the amount of fertilizer to be applied, the amount of seedlings to be picked, and the control amount of the spacing between plants for the plots belonging to the calculated planting range, and the seedling transplanter, having received this information, is configured to automatically adjust the amount of seedlings to be picked and the spacing between plants based on the acquired control amount information.

3. The rice paddy art creation system according to claim 1, characterized in that the information terminal is configured to accept input of elapsed days from the worker and to display completed simulation data on the display unit, in which each section of the field is displayed as a three-dimensional object having a height calculated based on the set amount of fertilizer and the input number of elapsed days, based on the design drawing data.

4. The seedling transplanter is equipped with a soil information acquisition unit that acquires soil information including measured values ​​of soil fertility. The rice paddy art creation system according to claim 1, characterized in that the information terminal is configured to record the soil information acquired by the soil information acquisition unit for each section of the design drawing data during the planting operation of the seedling transplanter, thereby creating field fertility information that links the field location information with the soil information, and displaying it on the display unit.

Images