Work vehicles

Abstract

To suppress the occurrence of poor growth of crops when sections are switched or a work vehicle travels across two or more sections.SOLUTION: A work vehicle includes: a travel vehicle body (1); a supply device supported by the travel vehicle body (1) for supplying materials to a farm field (260); and a control unit (300) that controls the supply device to control a supply amount (V) on the basis of information on the supply amount (V) for each section (261) for the section (261) obtained by dividing the farm field (260) into sections with a predetermined size. In a case where the sections (261) are switched following the travel of the travel vehicle body (1), when there is a large difference in the supply amount (V) due to information between the current section (261) and the switched section (261), the supply amount (V) is gradually changed, when there is a small difference in the supply amount (V) due to information between the current section (261) and the switched section (261), the supply amount (V) is changed with the switching of the sections (261).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This invention relates to work vehicles such as rice transplanters and tractors.

Background Art

[0002] In a rice transplanter, a tractor, etc., a receiving device (41) such as an antenna of a positioning device (40) is installed on the upper surface of the ceiling of the cab (9) of the traveling vehicle body to measure the current position of the vehicle body, and based on the positioning information and information related to work in a field or the like, a technique for running the vehicle body is known (Patent Document 1). [[ID=1十三]]

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, as information related to work, based on past cultivation data, growth models, weather data, and field analysis data from satellites of crops, learning is performed by AI (Artificial Intelligence), and research on performing growth prediction and disease occurrence prediction, notifying and proposing appropriate timing for water management, top dressing, control / weed management, and harvesting is progressing.

[0005] When performing analysis, the field is divided into sections of a predetermined size, and analysis and predictions regarding excess or deficiency of water, fertilizer, etc., are performed for each section. Therefore, the degree of excess or deficiency of fertilizer may differ between adjacent sections, and there may be large differences in the fertilizer reduction rate (the percentage by which the amount of fertilizer is reduced from the standard amount) at the time of fertilization. When a work vehicle switches sections or travels across two or more sections, if fertilization is performed using the fertilizer reduction rate at a reference point, there may be large differences in the fertilizer reduction rate between sections, which can lead to excessive or significant deficiencies in fertilizer, resulting in large errors. Large errors can lead to problems such as crops not growing sufficiently or growing too much.

[0006] The technical problem of this invention is to suppress the occurrence of poor crop growth when plots are switched or when work vehicles travel across two or more plots. [Means for solving the problem]

[0007] The above-mentioned problems of the present invention are solved by the following means.

[0008] The invention described in claim 1 is, Driving through the field (260) A running vehicle body (1) and supported by the running vehicle body (1) The aforementioned A supply device for supplying materials to a field (260), and a section (261) in which the field (260) is divided into predetermined areas. Each set Based on supply quantity (V) information The supply device Control unit (300) that controls the supply amount (V) A work vehicle having, The control unit (300) is When the compartment (261) switches as the aforementioned vehicle body (1) moves, Before and after switching The difference in supply quantity (V) If it exceeds a predetermined threshold, The aforementioned supply quantity (V) In multiple stages Change it gradually, If the difference before and after the switch is less than or equal to the threshold, the supply amount (V) will be changed to the post-switched amount all at once without a gradual change, or the supply amount will not be changed. This is a work vehicle characterized by the following features.

[0009] The invention described in claim 2 is a work vehicle according to claim 1, characterized in that when the traveling vehicle body (1) travels across adjacent first sections (261-1) and second sections (261-2), the supply amount (V) is controlled based on a first supply amount (V1) of the first section (261-1), a second supply amount (V2) of the second section (261-2), the ratio (R1) of the overlap of the supply range (262) of the traveling vehicle body (1) with the first section (261-1), and the ratio (R2) of the overlap of the supply range (262) with the second section (261-2).

[0010] The invention described in claim 3 includes an automatic supply mode in which the supply amount (V) can be manually set and the supply operation is performed with a supply amount (V) based on the first supply amount (V1), the second supply amount (V2), the overlap ratio (R1) with the first section (261-1), and the overlap ratio (R2) with the second section (261-2), and a manual supply mode in which the supply operation is performed with a manually set supply amount (V). The aforementioned vehicle body (1) includes: Detection members (SN1, SN2) for detecting information about the field (260) A system was established, In the case of the automatic supply mode, there is a first method that does not use the detection results of the detection members (SN1, SN2), The A second method that uses the detection results can be configured to be switchable. It is being done The work vehicle is as described in feature 2. [Effects of the Invention]

[0011] According to the invention described in claim 1, it is possible to suppress abrupt changes in the amount of fertilizer applied (V) at the boundary of the plot (261), thereby suppressing the occurrence of poor crop growth.

[0012] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, when the traveling vehicle body (1) travels across adjacent first section (261-1) and second section (261-2), based on the first fertilization amount (V1) of the first section (261-1), the second fertilization amount (V2) of the second section (261-2), the ratio (R1) of the fertilization range (262) overlapping with the first section (261-1), and the ratio (R2) of the fertilization range (262) overlapping with the second section (261-2), by controlling the fertilization amount (V), the difference from the required fertilization amount in each section (261) is reduced, and the occurrence of poor crop growth can be suppressed.

[0013] According to the invention described in claim 3, in addition to the effects of the invention described in claim 1 or 2, compared with the case where the manual fertilization mode and the automatic fertilization mode cannot be switched, according to the needs of the operator, it is possible to manually set the fertilization amount or automatically set the fertilization amount. Compared with the case where the first method and the second method cannot be switched, according to the needs of the operator, it is possible to select to perform operations according to the situation of the field during work by the detection members (SN1, SN2) or to perform operations with a predetermined fertilization amount.

Brief Description of the Drawings

[0014] [Figure 1] The left side view of the seedling transplanter according to an embodiment of the present invention is shown. [Figure 2] [[ID=Is the plan view of the seedling transplanter of the embodiment. [Figure 3] It is the functional block diagram of the control unit of the embodiment. [Figure 4] It is an explanatory diagram of an example of the positional relationship between the work vehicle and the field in the embodiment. [Figure 5] It is an explanatory diagram of an example of the display of the field.

Modes for Carrying Out the Invention

[0015] Embodiments of this invention will be described below.

[0016] An example of the working vehicle of the present invention, which is an embodiment of a rice transplanter, will be described in detail based on the drawings with respect to a four-row riding rice transplanter.

[0017] As shown in the side view of FIG. 1 and the plan view of FIG. 2, the riding rice transplanter mounts a seedling planting device 3, which is a kind of working machine, on a traveling vehicle body (traveling vehicle) 1 by a lifting link device 2 and is provided with a fertilizer applicator 4, and is configured to function as a riding fertilizer rice transplanter as a whole. The traveling vehicle body 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6, 6 and rear wheels 7, 7 which are drive wheels.

[0018] In this specification, the left and right sides are respectively referred to as the left side and the right side toward the forward direction of the rice transplanter, the forward direction is referred to as the front side, and the backward direction is referred to as the rear side.

[0019] As shown in FIG. 1, a transmission case 11 and an engine (internal combustion engine) 12 are disposed on main frames 10a, 10b, a hydraulic pump 13 is assembled integrally with the transmission case 11 on the rear side surface of the transmission case 11, and a steering post 14 projects upward in front of the transmission case 11.

[0020] And a steering handle 16 is provided at the upper end of the steering post 14. A step floor 19 serving as a steering floor is attached to the upper part of the machine body, and a driver's seat 20 is installed above the engine 12. A shift operation lever (traveling operation member, HST lever) 17 is provided on the right side of the steering handle 16.

[0021] In front of the driver's seat 20, an operation panel (not shown) is provided on the steering post 14.

[0022] A clutch lever 18 is provided on the right side of the cockpit 20. The front wheels 6,6 are pivotally supported by front wheel support cases 22,22 which are rotatably mounted on the sides of the transmission case 11. The rear wheels 7,7 are pivotally supported via rear wheel support bodies 30 by rear wheel transmission cases 24,24 attached to the left and right ends of the left and right frames 37. The left and right frames 37 are supported at the rear ends of the main frames 10a,10b.

[0023] As shown in Figures 1 and 2, which illustrate a portion of the power transmission mechanism to the rear wheels 7, the rotational power of the engine 12 is transmitted sequentially via pulleys 27, belt 28, and pulley 29 to the input shaft 32a of the hydraulic continuously variable transmission (HST) 31, and then transmitted from the output shaft 32b of the HST 31 into the transmission case 11.

[0024] The rear ends of the rear output shafts 11a and 11b protrude behind the transmission case 11, and the left and right rear wheel transmission shafts 35 and 35, which transmit power to the rear wheel transmission cases 24 and 24, are connected to these protruding ends. The left and right rear wheel transmission shafts 35 and 35 drive and rotate the left and right rear wheels 7 and 7, respectively.

[0025] The seedling planting device 3 is mounted on the vehicle body 1 so as to be able to move up and down using a lifting link device 2.

[0026] A general-purpose lift cylinder 36 (Figure 1), whose base is rotatably mounted on the vehicle body 1, has its piston upper end connected to a lifting link device 2. A hydraulic pump 13 provided on the vehicle body 1 supplies and discharges pressurized oil to the lift cylinder 36 via a lifting valve (not shown), causing the piston of the lift cylinder 36 to extend and retract, thereby moving the seedling planting device 3 connected to the lifting link device 2 up and down.

[0027] The seedling planting device 3 consists of a planting transmission case 38, which also serves as a frame and is mounted to the rear of the lifting link device 2 via left and right frames 37 so as to be able to roll; a seedling tray (seedling tank) 39 supported by a support member provided on the planting transmission case 38 and reciprocating in the left-right direction of the machine; a seedling planting tool 41 mounted on the rear end of the planting transmission case 38 and planting seedlings one by one in the field from the lower end of the seedling tray 39; and a center float (sensor float) 42 and side floats 43, etc., which are ground leveling bodies mounted on the lower part of the planting transmission case 38, with their rear end pivotally supported and their front end able to swing up and down. The center float 42 and side floats 43 are provided to level the field and to level the area in front of the field where seedlings will be planted by the seedling planting tool 41.

[0028] The PTO transmission shaft 45 (Figure 1) has universal joints at both ends and is installed to transmit power from the transmission case 11 to the planting transmission case 38 of the seedling planting device 3.

[0029] The seedling planting device 3 has a four-row configuration and includes a planting transmission case 38 that also serves as a frame, a seedling platform 39 that holds seedlings and moves back and forth to supply seedlings one by one to the seedling outlets 39a (Figure 2) of each row, and a seedling planting tool 41 that plants the seedlings supplied to the seedling outlets 39a into the field.

[0030] As shown in Figure 1, a rotor 70a is positioned in front of the center float 42, and this rotor 70a is positioned in front of the rotor 70b located in front of the side float 43. Power is transmitted to the rotor 70a from a gear in the rear wheel transmission case 24 of the rear wheel 7 via a transmission shaft 25, and power is transmitted to the rotor 70b from a pair of chains (not shown) in a pair of left and right chain cases 71, 71, which in turn receive power from the drive shafts (not shown) of both rotors 70a, 70a.

[0031] The rear wheel transmission case 24 of the rear wheel 7 is attached to both the left and right ends of the left and right frames 37 and is pivotally supported by the rear wheel support 30.

[0032] The rotation of the rear wheel transmission case 24 causes the axle 23 of the rear wheel 7 to move up and down together with the rear wheel transmission case 24. Power is transmitted to the rear wheel transmission case 24 from the transmission case 11 via the left and right rear wheel transmission shafts 35.

[0033] The fertilizer application device 4 dispenses a fixed amount of fertilizer from the fertilizer tank 67 downwards by the fertilizer dispensing unit 68, and the dispensed fertilizer is transported by the blower 69 through the fertilizer hose 62 to the fertilizer application guide 80. The fertilizer is then dropped into a fertilizer groove formed near the side of the seedling planting row by a groove-making body 82 located in front of the fertilizer application guide 80.

[0034] Furthermore, pedal 86 (Figure 2) can operate both the main clutch and the left and right rear wheel brakes (not shown). It is located on the lower right side of the steering wheel 16. When pedal 86 is pressed, the main clutch is disengaged, followed by the left and right rear wheel brakes, and the machine comes to a stop.

[0035] The vehicle body 1 is equipped with a depth sensor SN1 as an example of a detection element. The depth sensor SN1 in this embodiment detects the depth of the field using ultrasound. Since depth sensors using ultrasound are conventionally known and commercially available ones can be used, a detailed explanation is omitted.

[0036] Furthermore, the vehicle body 1 is equipped with a fertility sensor SN2 as an example of a detection member. The fertility sensor SN2 in this embodiment is a known configuration that detects fertility based on the fact that the electrical resistance value between electrode plates installed on the front wheels 6, 6 differs depending on the water and soil of the field, so a detailed explanation is omitted.

[0037] (Description of the control unit) Figure 3 is a functional block diagram of the control unit according to the embodiment.

[0038] In the block diagram of Figure 3, elements unrelated to the description of the embodiments of the present invention are omitted from the illustration and description.

[0039] The seedling transplanter of this embodiment is configured to be able to send and receive information with a distribution server 200, which is an example of an information processing device.

[0040] (Description of the control unit of the distribution server) The control unit 210 of the distribution server 200 has a distribution information storage means 211 that stores work information. In this embodiment, the distribution information storage means 211 stores past work information for each of the multiple fields. In this embodiment, as an example of work information, cultivation data such as the planting time, fertilization time, pest control time, harvest time, yield, and variety of past cultivated crops, as well as past weather data (temperature, sunshine hours, etc.), and data on the distribution of field depth and fertility acquired during past work are stored.

[0041] Figure 4 is an explanatory diagram illustrating an example of the positional relationship between the work vehicle and the field in the embodiment.

[0042] In Figure 4, the work information of the embodiment is stored in units of multiple plots 261, which are sections of the field 260 divided into predetermined sizes (for example, 1m x 1m). Therefore, data such as field depth and fertility is stored for each plot 261, and the entire field 260 is represented as distribution data.

[0043] The analysis means 212 analyzes water management, top dressing, pest control, weed management, and optimal harvest timing for crops cultivated in the field based on past work information. For example, it analyzes the appropriate amount of fertilizer to apply at the present time based on past fertilization status, the date and amount of water used when water was first introduced into the field, and the number of days elapsed since the last fertilization work. Since various conventionally known configurations, such as xarvio (registered trademark), can be used to manage cultivation based on past information, a detailed explanation will be omitted. The analysis means 212 analyzes and calculates the amount of top dressing (amount of fertilizer applied, amount of fertilizer reduced) for each plot 261 on the day, and stores it in the distribution information storage means 211.

[0044] The receiving means 213 of the control unit 210 receives signals from the seedling transplanter.

[0045] The transmission means 214 of the control unit 210 transmits information according to the received signal.

[0046] (Explanation of the control unit of the seedling transplanter) The seedling transplanter of this embodiment has a control unit 300 that controls each function. The control unit 300 has an input / output interface (I / O) for inputting and outputting signals to and from the outside. The control unit 300 also has a ROM (read-only memory) in which programs and information for performing necessary processing are stored. The control unit 300 also has a RAM (random access memory) for temporarily storing necessary data. The control unit 300 also has a CPU (central processing unit) that performs processing according to the programs stored in the ROM, etc. Therefore, the control unit 300 of this embodiment is composed of a small information processing device, a so-called microcomputer. Thus, the control unit 300 can realize various functions by executing programs stored in the ROM, etc.

[0047] The control unit 300 receives signals from signal input elements such as the touch panel 101, which is an example of an input unit and an example of a display unit, as well as the GNSS positioning device SN0, the transmitting and receiving antenna, the depth sensor SN1, the soil fertility sensor SN2, the vehicle speed sensor SN3, and various other sensors (not shown).

[0048] The control unit 300 can control the movement and stopping of the vehicle body 1 and the operation and stopping of the fertilizer applicator 4 by transmitting control signals to elements to be controlled, such as the fertilizer applicator 4, the engine 12, and the steering wheel 16. The control unit 300 can also output control signals to a touch panel 101, which is an example of a display unit, to display work information and work status.

[0049] In Figure 3, the control unit 300 of the embodiment has the following functional means (program module).

[0050] The work information receiving means 301 receives work information distributed from the distribution server 200. In this embodiment, the work information receiving means 301 receives work information for all plots 261 of the field 260 where the work is performed, as an example. The work information also includes past data on depth, fertility, and temperature for each plot 261, as well as the appropriate amount of fertilizer after analysis based on past fertilization status, water amount, and the number of days since the last fertilization work. The work information is not limited to acquiring information for all plots; it is also possible to receive only a few plots 261 minutes in the vicinity of the current position of the vehicle 1 measured by the GNSS positioning device SN0, and receive work information as the vehicle 1 moves.

[0051] The mode determination means 302 determines whether the fertilization operation is in the conventional fertilization mode (manual fertilization mode), where the fertilization operation is performed using a value manually entered from the touch panel 101, or in the variable fertilization mode (automatic fertilization mode), where the fertilization operation is performed based on the amount of fertilizer for each section 261 included in the work information received from the work information receiving means 301. In this embodiment, the system is configured to allow selection of either the conventional fertilization mode or the variable fertilization mode by input from the touch panel 101, and the mode determination means 302 determines the mode according to the input from the touch panel 101.

[0052] The method determination means 303 determines, in the case of variable fertilization mode, whether it is a map-linked method (an example of the first method) that does not use the detection results of the depth sensor SN1 and the fertility sensor SN2, or a real-time sensing method (an example of the second method) that uses the detection results of the depth sensor SN1 and the fertility sensor SN2. In this embodiment, in the map-linked method, fertilization work is performed based only on work information received from the distribution server 200, without using information from the depth sensor SN1 and the fertility sensor SN2 obtained as needed while the vehicle body 1 is in motion. In the real-time sensing method, fertilization work is performed by correcting the work information received from the distribution server 200 with depth and fertility data obtained during the journey, using information from the depth sensor SN1 and the fertility sensor SN2 obtained as needed while the vehicle body 1 is in motion. In this embodiment, the map-linked method or the real-time sensing method can be selected by input from the touch panel 101.

[0053] The priority determination means 304 determines, when the vehicle body 1 travels across multiple sections 261, whether to prioritize the section 261 with the highest fertilizer application amount, the section 261 with the lowest fertilizer application amount, or neither. In this embodiment, the system is configured to allow input from the touch panel 101 to select whether to prioritize the section 261 with the highest fertilizer application amount, the section 261 with the lowest fertilizer application amount, or neither.

[0054] The driving position determination means 305 determines the position (current position) of the driving vehicle 1 based on the detection results of the GNSS positioning device SN0. However, when determining the driving position, due to the influence of the satellites used and the coordinate calculation method, there are cases where the driving vehicle 1 is determined to be outside the field even though it is working inside the field, or vice versa. To suppress the occurrence of such situations, it is desirable to measure the discrepancy between the vehicle's position on GNSS and the vehicle's position on the map information of the work information (field paths, fields 260, plots 261, etc.) in advance before starting work, and to correct the discrepancy when determining the vehicle's position (map matching).

[0055] If the discrepancy is to be measured in advance, one example is to pre-set the position of a representative point for the location of field 260 in the map information, move the vehicle 1 to that position, and then measure the vehicle's position with the GNSS positioning device SN0. This makes it possible to measure the discrepancy between the GNSS positioning information and the position of the representative point.

[0056] The deviation in the vehicle's position can be represented as a two-dimensional vector with the height component removed, and its inverse vector can be used as a correction value for the deviation. The deviation can then be corrected by adding this correction value to the vehicle's position.

[0057] Furthermore, while any location can be set as the representative point for field 260, it is preferable to set a location that must be passed through when performing work such as the entrance to field 260. Note that the representative point is not limited to the entrance; the worker can also set any location.

[0058] Furthermore, before starting work, it is possible to drive around the perimeter of the field 260, measure the trajectory during the drive, measure the deviation based on the outline information of the field 260 and the outline information of the distribution server 200, obtain the latest information on the outline and range of the field 260, and re-analyze it with the analysis means 212. It is desirable to display the trajectory during the perimeter drive on the touch panel 101 overlaid on the map information for confirmation. In addition, it is possible to configure the system so that when the worker sets a representative point, they can select and input a point on the trajectory displayed on the touch panel 101 to set it.

[0059] By actually driving around the perimeter of field 260 and taking positional measurements before starting work, it becomes possible to correctly determine that an area is inside the perimeter trajectory as long as it is within the field, even if it is incorrectly determined to be outside the field on the map before deviation correction. Therefore, even if the system is configured to forcibly interrupt work for safety reasons when it is determined to be outside the field, it is possible to continue the work.

[0060] Furthermore, if, while working in the field, the system incorrectly identifies the area near the outer perimeter as being outside the field according to the map information, and it takes time to obtain the corresponding fertilizer application amount information, it is possible to configure the system to continue fertilizing with the amount that the worker has manually entered in advance, or, if the worker has not set a specific amount, to continue fertilizing with a predetermined standard (default) amount.

[0061] The overlap ratio calculation means 306 calculates, based on the travel position of the travel vehicle 1, a first ratio R1 (=262a / 262) in which the fertilization range 262 of the travel vehicle 1 overlaps with the first section 261-1, and a second ratio R2 (=262b / 262) in which the fertilization range 262 overlaps with the second section 261-2, when the travel vehicle 1 travels across adjacent first section 261 (261-1) and second section 261 (261-2). The fertilization range 262 is predetermined by the performance and specifications of the fertilization device 4.

[0062] The section switching determination means 307 determines whether or not the section 261 switches as the vehicle body 1 moves. Based on the current position of the vehicle body 1, the section switching determination means 307 determines whether or not the fertilization range 262 of the vehicle body 1 has moved from the nearest sections 261-1, 261-2 to the sections 261-3, 261-4 ahead.

[0063] The depth detection means 308 detects the depth of the field (the height of the soil surface in the field) based on the detection result of the depth sensor SN1.

[0064] The fertility detection means 309 detects the fertility of the field based on the detection results of the fertility sensor SN2.

[0065] The vehicle speed detection means 310 detects the vehicle speed of the vehicle body 1 based on the detection result of the vehicle speed sensor SN3. The vehicle speed sensor SN3 can also be configured to detect vehicle speed based on the rotation speed of the front wheels 6 or the rear wheels 7, or it can detect vehicle speed from the detection result of the GNSS positioning device SN0.

[0066] The fertilizer amount setting means 311 sets the amount of fertilizer (fertilizer amount) supplied from the fertilizer applicator 4. In the embodiment, when manual fertilization mode is set, the value entered from the touch panel 101 is set as the fertilizer amount. When variable fertilization mode is set, the fertilizer amount is set based on the fertilizer amount information included in the received work information. At this time, if the vehicle body 1 is not traveling across multiple sections 261, the fertilizer amount is set based on the fertilizer amount information of the section 261 that the vehicle body 1 is traveling through. On the other hand, if the vehicle 1 is traveling across multiple sections 261-1 and 261-2, the amount of fertilizer to be applied is set based on the amount of fertilizer applied to the first section 261-1 (first amount of fertilizer V1), the amount of fertilizer applied to the second section 261-2 (second amount of fertilizer V2), the ratio R1 of the overlap between the fertilizer application range 262 and the first section 261-1, and the ratio R2 of the overlap between the fertilizer application range and the second section. As an example, the amount of fertilizer V can be calculated and set as V = V1 × R1 + V2 × R2. If the vehicle is traveling across three or more sections 261, it can be calculated as V = V1 × R1 + V2 × R2 + V3 × R3 + ...

[0067] In this embodiment, if the system is set to prioritize plots with a larger fertilizer application rate (smaller reduction rate, larger increase rate) based on the determination result of the priority determination means 304, the system prioritizes plots with a larger fertilizer application rate by correcting the ratios R1 and R2 of the larger fertilizer application amounts V1 and V2 in each plot 261 to be higher. For example, if the fertilizer application amount V1 is larger, the ratios R1 and R2 are corrected to R1+ΔR and R2-ΔR, respectively. For example, if R1=0.6 (60%), R2=0.4 (40%), and ΔR=0.05 (5%), the values ​​are corrected to R1=0.65 (65%) and R2=0.35 (35%), and the fertilizer application amount V is calculated using the corrected values. Note that the example values ​​can be arbitrarily changed according to the design and specifications.

[0068] Conversely, if the system is set to prioritize plots with less fertilizer (larger reduction rate, smaller increase rate), the ratios R1 and R2 of the lower fertilizer amounts V1 and V2 in each of the 261 plots will be adjusted to be higher. For example, if fertilizer amount V1 is higher, the ratios R1 and R2 will be adjusted to R1-ΔR and R2+ΔR, respectively.

[0069] If neither section is prioritized, no correction will be performed using ΔR.

[0070] In the embodiment, the fertilizer application amount setting means 311, when set to variable fertilization mode and set to map-linked method, sets the fertilizer application amount V based on the calculated fertilizer application amount V. Furthermore, when set to variable fertilization mode and set to real-time sensing method, corrects the calculated fertilizer application amount V based on the detection results. For example, if the depth detected by the depth sensor SN1 is deeper (more water) than the depth data transmitted from the distribution server 200, the fertilizer application amount V can be corrected to increase because the fertilizer is more likely to be washed away. Alternatively, if the fertility is high based on the detection results from the fertility sensor SN2, the fertilizer application amount V can be corrected to decrease to prevent excessive fertilization.

[0071] Furthermore, in the embodiment, the fertilizer application amount setting means 311 changes the fertilizer application amount in stages from the amount V before the switch to the amount V' after the switch, based on the determination result of the section switching determination means 307, when the section 261 switches as the vehicle body 1 moves. For example, if the difference between the fertilizer application amounts V and V' before and after the switch does not reach a predetermined threshold (the difference is small), the fertilizer application amount is changed from V to V' along with the switch of section 261 without changing it in stages. On the other hand, if the difference between the fertilizer application amounts V and V' before and after the switch reaches a predetermined threshold (the difference is large), the fertilizer application amount is changed in stages from V to V'. This is because the data for each section 261 may differ greatly in fertilizer application amounts across the boundary, but in an actual field, the land is continuous, so a sudden change in fertilizer application amount may have a negative impact on crop growth.

[0072] In this embodiment, the fertilizer application rate is changed in three stages from V to V'. Specifically, the fertilizer application rate is changed by ΔV = (V' - V) / 3 in each stage. That is, Before switching: V, Stage 1: V + ΔV, Second stage: V + 2 × ΔV, After switching (3rd stage): V′ (=V+3×ΔV)), The amount of fertilizer applied changes in the following order.

[0073] Furthermore, in the fertilizer application amount setting means 311 of the embodiment, the time t1 for each stage when gradually changing the fertilizer application amount is changed according to the vehicle speed of the traveling vehicle 1. For example, when the vehicle speed reaches a predetermined threshold (high speed), the time t1 for one stage is set to 0.5 seconds, and when the vehicle speed does not reach the threshold (low speed), the time t1 for one stage is set to 1 second. Therefore, at high speed, the fertilizer application amount switches from V to V' in a short time of 0.5 × 3 = 1.5 seconds, but at low speed, the fertilizer application amount switches from V to V' in 1 × 3 = 3 seconds. This is because when working at high speed, the boundary of the section 261 is passed over quickly, and if time is taken to switch the fertilizer application amount, the area at the boundary where there is a shortage or excess of fertilizer application amount V' will widen, which may cause poor or excessive crop growth.

[0074] In this embodiment, the example given is a case where the time t1 for one stage is changed, but the system is not limited to this. For example, it is also possible to fix the time t1 for one stage and increase or decrease the number of stages according to the vehicle speed. For example, it is possible to switch from V to V' in two stages when the vehicle speed is high, and switch from V to V' in three stages when the vehicle speed is low. Specifically, if t1 = 1 second, the switch will take 1 second × 2 stages = 2 seconds when the vehicle speed is high, and 1 second × 3 stages = 3 seconds when the vehicle speed is low. In this case, ΔV = (V'-V) / 2 for two stages and ΔV = (V'-V) / 3 for three stages, so the amount of change ΔV in one stage will also change according to the vehicle speed.

[0075] The display control means 312 controls the display of images on the touch panel 101. In this embodiment, the display control means 312 can display information indicating that fertilization is in progress, the positional relationship between the current position of the vehicle body 1 and the section 261, and the amount of fertilizer V set by the fertilizer amount setting means 311 during fertilization work.

[0076] Figure 5 is an explanatory diagram illustrating an example of field labeling.

[0077] Furthermore, when loading field work information before fertilization work (receiving and acquiring it from the distribution server 200), it is preferable to display a list of fields 401 to 410 on the touch panel 101 so that the worker can select them, as shown in Figure 5. At this time, it is preferable to group and display fields 401 to 410 according to the location of the field (district, city, town, etc.), as shown in Figure 5. In Figure 5, as an example, the first field 401 to the fifth field 405 are displayed as the first group 421, and the seventh field 407 to the tenth field 410 are displayed as the second group 422.

[0078] When a worker selects groups 421 and 422, the system retrieves work information from the distribution server 200 for each group (421 and 422), making it possible to obtain work information for a group of fields that are likely to be worked on consecutively on the same day. Then, by selecting fields 401 to 410 within that group (421 and 422) from the retrieved work information, information for specific fields 401 to 410 can be displayed on the touch panel 101.

[0079] Furthermore, when acquiring information on fields 401-410 in units of groups 421 and 422, it is preferable to have a function that sorts each field 401-410 on the touch panel 101 in order of proximity to the current location. When checking the touch panel 101 after arriving at a field 401-410, it is easier to operate if the field 401-410 closest to the current location is displayed first.

[0080] Furthermore, when information on fields 401-410 is acquired in units of group 421,422, it is desirable to calculate the average fertilizer application rate for the field group and display it on the touch panel 101. By allowing the operator to check the average fertilizer application rate, it becomes easier to plan how much fertilizer is needed in total, and where and when to replenish the fertilizer in the fertilizer application device 4.

[0081] Furthermore, if this plan is adopted, the real-time sensing method would require measurements to be taken for each field 401-410 individually, which may necessitate changes to the plan. Therefore, in this case, the map-linked method is preferable.

[0082] In the seedling transplanter of the embodiment having the above configuration, the fertilizer applicator 4 applies fertilizer to the field as the vehicle body 1 moves. At this time, when the vehicle body 1 travels across two or more sections 261, the amount of fertilizer V is calculated according to the ratios R1 and R2 in which the fertilizer application range 262 overlaps with each section 261-1 and 261-2. Therefore, compared to when fertilization is performed based on the amount of fertilizer applied at a reference point and the fertilizer reduction rate, that is, when fertilization is performed based on the amount of fertilizer applied in one of the sections, the difference between the total amount of fertilizer applied and the required amount of fertilizer (the amount of fertilizer analyzed for each section 261) is reduced overall. Thus, the occurrence of poor growth, such as over-growth or insufficient growth of crops, is suppressed.

[0083] Furthermore, in this embodiment, the amount of fertilizer applied changes in stages when the section 261 switches as the vehicle 1 moves. If the difference in the amount of fertilizer applied between adjacent sections 261 is extremely large, it may have an adverse effect on crop growth at the boundary of the section 261, but in this embodiment, this adverse effect is suppressed by changing the amount in stages.

[0084] Furthermore, in this embodiment, the time t1 of each stage is changed according to the vehicle speed of the vehicle body 1, so that the area where fertilizer is excessive or insufficient at the boundary becomes too large. Similarly, by changing the number of stages or the amount of change ΔV in each stage, it is possible to apply fertilizer in a way that prevents the area where fertilizer is excessive or insufficient at the boundary from becoming too large.

[0085] Furthermore, in this embodiment, it is possible to set whether to prioritize the plot with the higher fertilizer application rate or the plot with the lower fertilizer application rate among the two plots 261 that span the same area, according to the operator's input. If the plot with the higher fertilizer application rate is prioritized, fertilizer deficiencies are less likely to occur, poor growth is more easily suppressed, and an increase in yield can be expected. On the other hand, if the plot with the lower fertilizer application rate is prioritized, fertilizer excess is less likely to occur, overgrowth is more easily suppressed, and a reduction in lodging of crops before harvest can be expected.

[0086] Furthermore, in this embodiment, a variable fertilization mode and a conventional fertilization mode can be set according to the operator's input. Therefore, in conventional fertilization mode, fertilization work can be performed with the amount of fertilizer manually entered by the operator. Thus, even if the analysis means 212 determines that a plot is barren (a plot that requires fertilizer), if the operator does not want to spread a lot of fertilizer, or even if the analysis means 212 determines that a plot is fertile (a plot that does not require fertilizer), if the operator wants to spread a lot of fertilizer, the conventional fertilization mode can be used. In addition, in variable fertilization mode, fertilization work can be performed with a fertilizer amount that is automatically set based on the work information received from the distribution server 200.

[0087] Furthermore, in the variable fertilization mode of this embodiment, both a map-linked method and a real-time sensing method can be selected. In the map-linked method, work can be performed based on the received work information. Therefore, compared to the real-time sensing method, on-demand detection and calculation are unnecessary, and if work information is checked in advance before starting work, the difference between the situation checked in advance and the situation after work (for example, the amount of fertilizer consumed) will be small, reducing the worker's sense of unease. In addition, in the real-time sensing method, the amount of fertilizer applied is corrected according to the current field conditions, so it is possible to set a more appropriate amount of fertilizer that is in line with the actual situation than information predicted by analyzing past data.

[0088] In this embodiment, a configuration in which the operator manually selects between the map-linked method and the real-time sensing method was used as an example, but the system is not limited to this. For example, a configuration in which the map-linked method is used in the center of the field and the real-time sensing method is used in the headland, depending on the current position of the vehicle 1, is also possible.

[0089] (Example of change) The work vehicle of the present invention is not limited to seedling transplanters, but can also be applied to various work vehicles equipped with work implements such as tractors and chemical spraying vehicles. Furthermore, the work implement is not limited to the seedling planting device 3, but can be applied to any work implement such as tillers, land levelers, and seeders.Therefore, it is not limited to setting the fertilization range and amount, but can also be applied to the spraying range and amount of chemicals, the seeding range and amount, etc.

[0090] Furthermore, while a ride-on seedling transplanter was used as an example, the method is not limited to this and can also be applied to autonomous work vehicles. [Explanation of symbols]

[0091] 1…Vehicle body 4…Fertilization equipment 260...field 261…Plot 261-1…First section 261-2...Second section 262… Fertilization range 300... Control Unit R1…Percentage of the fertilization area overlapping with the first section. R2…Percentage of the fertilization area overlapping with the second section. SN1, SN2… Detection members t1…Time of each stage V…Amount of fertilizer applied V1…First fertilizer application amount V2…Second fertilizer application amount ΔV…Change in one step

Claims

1. A vehicle body (1) that travels in a field (260), A supply device supported by the aforementioned traveling vehicle body (1) for supplying materials to the aforementioned field (260), A work vehicle having a control unit (300) that controls the supply amount (V) of the supply device based on information of the supply amount (V) set for each section (261) in which the field (260) is divided into predetermined areas, When the section (261) is switched as the vehicle body (1) moves, the control unit (300) changes the supply amount (V) in steps in multiple stages if the difference in the supply amount (V) before and after the switch exceeds a predetermined threshold. A work vehicle characterized in that, if the difference before and after the switching is less than or equal to the threshold, it either changes to the supply amount (V) after the switching all at once without making a gradual change, or does not change the supply amount.

2. The work vehicle according to claim 1, characterized in that when the traveling vehicle body (1) travels across adjacent first sections (261-1) and second sections (261-2), the supply amount (V) is controlled based on a first supply amount (V1) for the first section (261-1), a second supply amount (V2) for the second section (261-2), the ratio (R1) of the overlap of the supply range (262) of the traveling vehicle body (1) with the first section (261-1), and the ratio (R2) of the overlap of the supply range (262) with the second section (261-2).

3. The supply amount (V) can be manually set, and the system includes an automatic supply mode in which the supply operation is performed with a supply amount (V) based on the first supply amount (V1), the second supply amount (V2), the overlap ratio (R1) with the first section (261-1), and the overlap ratio (R2) with the second section (261-2), and a manual supply mode in which the supply operation is performed with a manually set supply amount (V). The aforementioned vehicle body (1) is provided with detection members (SN1, SN2) for detecting information about the field (260), The work vehicle according to claim 2, characterized in that, in the automatic supply mode, it is configured to be switchable between a first method that does not use the detection results of the detection members (SN1, SN2) and a second method that uses the said detection results.

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