JP2019092409A - Farm field work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a field work machine provided with a guidance system for assisting a worker to immediately grasp a work history in a field and adjust the work contents. A field work machine 1 according to the present invention includes a traveling machine body 11, a field work device 12, a positioning device 13, and a monitor device 2, and the monitor device 2 includes a display unit 21 and its own machine. It has a position information acquisition unit 221, a travel locus information acquisition unit 222, a work device information acquisition unit 223, and a display control unit 23, and the display control unit 23 is based on the travel locus information and the work device information. It is characterized in that a work area and an unworked area are identifiablely displayed on the field displayed on the display unit, and the display mode of the work area is different depending on the content of the work device information. [Selection diagram] Fig. 1

Description

  The present invention relates to a field work machine.

  In recent years, various guidance systems have been used to support agricultural work in fields. In particular, when working with a field work machine, a guidance system for guiding workers is used so that work can be performed efficiently without duplication and omission of work.

  For example, in Patent Document 1, by combining the position information of the worker by the GPS and the operation information of the worker by the acceleration sensor with the field information etc. stored beforehand, the work content of the worker is specified and the work history is specified. An agricultural operation management method to record is disclosed. According to this method, it is possible to record the history of when and what kind of work was done on a work management terminal such as a PC placed at home, so that the work history and plan are managed It is advantageous in that it is easy to do.

JP, 2015-208244, A

  By the way, in the agricultural operation management method of Patent Document 1, although the operation history can be recorded and the operation history can be confirmed after the operation, the operation history information can not be immediately provided to the worker. In addition, the field information stored in advance in the agricultural operation management method of Patent Document 1 remains in information for each rough section, such as a section for planting melon, a section for planting spinach, etc. It has not been possible to identify the work area. Such a configuration may not sufficiently meet the demand for grasping the work history immediately and adjusting the work content during work.

  Therefore, it is desirable to realize a field work machine provided with a guidance system for assisting a worker to immediately grasp the work history in the field and adjust the contents of the work.

  A field work machine according to the present invention comprises a traveling machine body, a field work device for performing work on a field, a positioning device for acquiring own machine position information indicating the position of the traveling machine body, and a monitor device, the monitor The apparatus includes a display unit, a self-machine position information acquisition unit for acquiring the self-machine position information, a travel locus information acquisition unit for acquiring travel locus information of the traveling machine body based on the self-machine position information, and the field A work device information acquisition unit that acquires work device information that is information related to a work device; and a display control unit that controls display on the display unit, the display control unit including the travel locus information and the work Based on the device information, the work area and the non-work area are identifiably displayed on the field displayed on the display unit, and the display mode of the work area is displayed for each content of the work apparatus information. Make it different And butterflies.

  According to this configuration, the worker can steer the field work machine so as to avoid duplication and leakage of work because it is possible to immediately distinguish between the work area and the unworked area during work. it can.

  Hereinafter, preferred embodiments of the present invention will be described. However, the scope of the present invention is not limited by the preferred embodiments described below.

  In the field work machine according to the present invention, as one aspect, the work device information includes work width information indicating a work width of the field work device, and the display control unit performs the display based on the work width information. It is preferable to determine the width | variety of the area | region made into a working area according to passage of the said traveling body on the said field displayed on the part.

  According to this configuration, since the existing work area can be recognized based on the work width of the field work device actually mounted on the field work machine, the accuracy of the recognition is enhanced.

  In the field work machine according to the present invention, as one aspect, the field work device can change the working width by changing the operation state of the field work device, and the work device information includes the field work device. A width of an area including an operating state information indicating an operating state, and the display control unit, based on the operating state information, on the field displayed on the display unit as the working area along with the passage of the traveling machine body It is preferable to determine

  According to this configuration, since the existing work area can be recognized based on the actual operation state of the field work device attached to the field work machine, the accuracy of the recognition is enhanced.

  The field work machine according to the present invention includes, as one aspect, a communication unit capable of communicating with the work machine side control unit provided in the field work machine, and the work device information acquisition unit includes the communication unit. Preferably, the work device information is acquired from the work machine side control unit via

  According to this configuration, since it is not necessary to perform input by human operation when acquiring work device information, the operation of acquiring work device information can be simplified, and there is no work area due to incorrect input of the work device information. It can be avoided that it is mistakenly recognized.

  In the field work machine according to the present invention, as one aspect, the display control unit identifies an area in which the same work is performed redundantly in the work area as an area in which the work is performed only once. It is preferable to display as possible.

  According to this configuration, it is possible to immediately identify the area in which the work is redundantly performed, so that the steering adjustment can be performed immediately to avoid the duplication, and the work efficiency can be improved.

  As for the field work machine concerning the present invention, as one mode, it is preferred that the display control part displays the above-mentioned work field with a display mode different for every contents of work based on the above-mentioned work device information.

  According to this configuration, it is possible to visually recognize the implementation status of different types of field work by different field work apparatuses, which contributes to avoiding duplication and omission of work.

  A field work machine according to the present invention includes, as one aspect, a traveling control unit that controls traveling of the traveling machine body, the traveling control unit having an automatic traveling mode and a manual traveling mode, and the display control unit Preferably, the display unit displays information capable of identifying whether the current mode is an automatic mode or a manual mode.

  According to this configuration, the operator can visually recognize in which mode the vehicle is traveling.

  In the field work machine according to the present invention, as one aspect, the traveling control unit is configured to permit the transition from the manual traveling mode to the automatic traveling mode when a transition condition set in advance is satisfied. It is preferable that the display control unit displays the achievement condition currently achieved and the non-achievement condition currently not achieved among the transition conditions on the display unit in a distinguishable manner.

  According to this configuration, the operator can visually recognize whether the transition condition to the automatic travel mode is achieved and which condition is not achieved, so the transition to the automatic travel mode can be performed. It will be easier to do the migration.

  The field work machine according to the present invention includes, as one aspect, a traveling control unit that controls traveling of the traveling machine body, the traveling control unit having an automatic traveling mode and a manual traveling mode, in the automatic traveling mode It is preferable that the display control unit displays, on the display unit, movement direction information indicating a moving direction of the traveling machine body.

  According to this configuration, the operator can visually recognize the moving direction of the field work machine.

  The field work machine according to the present invention includes, as one aspect, a tilt information acquisition unit that obtains tilt information on the tilt state of the field, and the display control unit displays information based on the tilt information on the display unit. Is preferred.

  According to this configuration, the operator can visually recognize the inclined state of the field.

  The field work machine according to the present invention includes, as one aspect, a communication unit capable of communicating with the work machine side control unit provided in the field work machine, and the communication unit is outside the field work machine. It is preferable that communication is possible, and the monitor device can acquire information of the work machine side control unit via the communication unit and can transmit the acquired information to the outside.

  According to this configuration, it is possible to transmit / receive information related to the field work to / from the storage means provided in a place separated from the field work machine on the Internet etc., and to use the information to manage the field work And you can get the information you need while working.

  Further features and advantages of the present invention will become more apparent from the following description of exemplary and non-limiting embodiments, which will be described with reference to the drawings.

The figure showing the relation of each component in a first embodiment of a field work machine concerning the present invention. The example of the screen display in 1st embodiment of the field work machine which concerns on this invention. Schematic showing the automatic travel mode in 1st embodiment of the field work machine which concerns on this invention.

First Embodiment
Embodiments of the field work machine according to the present invention will be described with reference to FIGS. In the present embodiment, an example in which a field work machine according to the present invention is applied to a rice transplanter 1 will be described. In the following description, the global positioning satellite system is referred to as GNSS.

  The rice planter 1 includes a traveling machine body 11, a rice planting device 12 (an example of a field work device), a GNSS 13 (an example of a positioning device), a rice transplanter side control unit 14, a travel control unit 15, and a touch panel terminal 2 An example of a monitor device).

  The rice planting work device 12 is configured in a multi-row planting type (for example, eight-row planting), and the number of planting bars can be changed by operating each row clutch (not shown).

  The travel control unit 15 has an automatic travel mode and a manual travel mode, and can set in advance a transition condition that permits transition from the manual travel mode to the automatic travel mode. The transition conditions are, for example, that registration of a reference line is performed, that the corner angle of the handle is in a preset range, and the parallel path to the reference line continuously over a preset distance. It can be said that you are traveling straight.

  The touch panel terminal 2 includes a touch panel 21 (an example of a display unit), a terminal control unit 22, a display control unit 23, and a communication unit 24. The terminal control unit 22 includes a self-machine position information acquisition unit 221, a travel locus information acquisition unit 222, a work device information acquisition unit 223, and a work area identification unit 224. The functions of the units included in the terminal control unit 22 will be described below.

  The own-machine position information acquisition unit 221 communicates with the rice transplanter-side control unit 14 via the communication unit 24, and acquires the own-machine position information 31 by the GNSS 13.

  The traveling locus information acquisition unit 222 acquires traveling locus information 32 of the traveling machine body 11 based on the history of the own-machine position information 31. In addition, the traveling locus information acquisition unit 222 identifies the moving direction of the rice transplanter 1 based on the history of the traveling locus information 32 in the automatic traveling mode described later, and acquires this as the traveling direction information 321.

  The work device information acquisition unit 223 communicates with the rice transplanter side control unit 14 via the communication unit 24 and acquires work device information 33 which is information related to the rice transplant work device 12. The work device information 33 includes work width information 331 indicating the work width of the rice transplanter 12 and operation state information 332 indicating the number of rice fields of the rice transplanter 12.

  The work area identification unit 224 identifies the work area information 34 based on the traveling track information 32 and the work device information 33. The work area information 34 includes an already-worked area 341, an unworked area 342, and an overlapping area 343.

  The display control unit 23 displays on the touch panel 21 each of the above-described information and a plurality of icons 35 to which functions as touch buttons for operating the rice transplanter 1 and the touch panel terminal 2 are assigned. The icon 35 includes a start point registration icon 35A assigned to the function of registering the start point of the reference line for the automatic travel mode, an end point registration icon 35B assigned to the function of registering the end point of the reference line, and the automatic travel mode And an automatic travel start icon 35C assigned to the function of transitioning to. The display control unit 23 can select gray display or colored display for each icon. The information displayed on the touch panel 21 and the icons 35 are appropriately selected according to the status of the work, selection by human operation of the worker, and the like.

  Subsequently, the display of the work area information 34 by the touch panel terminal 2 of the rice transplanter 1 will be described. When the start of work is input to the touch panel terminal 2 at the start of rice planting work, acquisition of own machine position information 31 and work equipment information 33 is performed as described above, and the information is displayed on the touch panel 21. When traveling in a state where the rice transplanter 12 is driven is started, travel locus information 32 is acquired, and discrimination between the already-worked area 341 and the unworked area 342 is started. The display control unit 23 displays the traveling locus information 32 on the touch panel, and displays the already-worked area 341 and the unworked area 342 in different colors. For example, the work area 341 is displayed in green and the non-work area 342 is displayed in brown.

  The width of the area recognized as the work area 341 corresponding to the traveling track information 32 in one row is determined by the work width information 331 and the operation state information 332. The work width information 331 includes, for example, a work width based on the model information of the rice transplanter 12. The operation state information 332 includes, for example, the number of rice fields of the rice transplanter 12. That is, the working width is increased or decreased by replacing the rice planting work apparatus 12 with a different model or changing the number of planting strips of the rice planting work apparatus 12 during the rice planting work. In particular, since the number of rice fields can be arbitrarily changed by the operator according to the situation during the operation, the operation state information 332 is changed at any time during the operation following the human operation of the operator. The work area identification unit 224 always obtains the latest work width information 331 and operation state information 332 by communication with the rice transplanter side control unit 14 via the communication unit 24, and immediately reflects changes in these information. Then, the width of the area to be recognized as the already-worked area is determined.

  When the work area identification unit 224 identifies that the rice planting work has been performed redundantly on the already-worked area 341, the area is identified as the overlap area 343. The display control unit 23 displays the overlap area 343 in a color (for example, red) different from that of the already-worked area 341 and the unworked area 342.

  Next, an automatic travel mode by the travel control unit 15 of the rice transplanter 1 will be described. In the paddy field, the rice transplanter 1 alternates work traveling Rw involving rice planting along a straight striping route, and winding turning Rt for moving to the next strip planting route in the vicinity of the ridge. To repeat. In the automatic travel mode, of these two types of travel, steering for linear work travel Rw can be automated. In order to use the automatic travel mode, the worker must first register a reference line in the manual travel mode. In the state where the reference line is not registered, the start point registration icon 35A, the end point registration icon 35B, and the automatic travel start icon 35C are all displayed in gray on the touch panel 21.

  When the rice transplanter 1 reaches the start point Ts of the reference line located on the edge, if the start point registration icon 35A displayed on the touch panel 21 is touched, the own machine position information 31 when the icon is touched is the reference line start point. While being registered as the information 36A, the start point registration icon 35A is changed to colored display. Subsequently, the rice transplanter 1 travels in a straight line (Rw0) along the rectilinear shape from the start point Ts of the reference line to the end point registration icon 35B displayed on the touch panel 21 when the end point Tf of the reference line is reached. When touched, the own machine position information 31 when the icon is touched is registered as the reference line end point information 36B, and the end point registration icon 35B is changed to colored display. Although the registration of the reference line is completed by the above operation, the operator is in a state where the registration of the reference line is completed by visually observing that the start point registration icon 35A and the end point registration icon 35B are displayed in color. Can be easily recognized.

  After the registration of the reference line is completed, the cornering travel Rt for moving to the planting path adjacent to the reference line is performed. In this embodiment, an aspect in which the turning travel Rt is performed in the manual mode will be described as an example.

  When the cornering Rt is performed, the rice transplanter 1 enters a strip planting route adjacent to the reference line. When the rice transplanter 1 continues to travel straight on the route in the manual operation mode, the travel control unit 15 determines whether to shift to the automatic travel mode based on the conditions set in advance during the straight travel. The conditions are, for example, that the turning angle of the steering wheel is in a preset range, and that the parallel path along the reference line is continuously traveled linearly over a preset distance. If it is determined that these conditions are satisfied and it is possible to shift to the automatic drive mode, the automatic drive start icon 35C is changed to a colored display. The automatic travel start icon 35C is set to receive an operation only in the colored display state, and when the operator touches the colored automatic travel start icon 35C, the travel control unit 15 is shifted to the automatic travel mode. be able to. As described above, whether the transition condition to the automatic travel mode is achieved by the gray state or the colored display of the start point registration icon 35A, the end point registration icon 35B, and the automatic travel start icon 35C. The operator can visually recognize which condition is left to achieve the transition condition.

  In addition to the icons 35A to 35C, characters (not shown) of "reference line", "handle", and "straight travel" are displayed, and in the state in which these characters satisfy the conditions corresponding to the respective characters. It may be configured to be colored and grayed out in the unfilled state. In particular, even if the steering angle and steering conditions are temporarily met, the steering may cause the steering to fall into a state where the conditions are not met again. It is preferable to be able to immediately recognize the achievement status of each condition by such a configuration. According to such a configuration, the operator can adjust the steering so as to achieve the unachieved condition, so that the transition to the automatic travel mode can be smoothly performed.

  When shifting to the automatic traveling mode, the rice transplanter 1 is automatically controlled so as to perform a linear work traveling Rw even if the operator does not perform a manual operation. Further, in the automatic travel mode, the display control unit 23 displays the moving direction information 321 on the touch panel 21. By displaying the moving direction information 321, when the direction in which the rice transplanter 1 advances in the automatic travel mode deviates, the operator can immediately recognize it and can perform human operation for correction. .

Other Embodiments
Finally, another embodiment of the field work machine according to the present invention will be described. The configurations disclosed in each of the following embodiments can be applied in combination with the configurations disclosed in the other embodiments as long as no contradiction arises.

  In the above embodiment, the field work machine according to the present invention includes the traveling machine body 11, the rice transplanting work apparatus 12, the GNSS 13 (an example of the positioning apparatus), the rice transplanter side control unit 14, the travel control unit 15, and the touch panel The structure which is the rice transplanter 1 provided with the terminal 2 was demonstrated as an example. However, without being limited to such a configuration, the field work machine according to the present invention may be equipped with other optional components. For example, when the field work machine according to the present invention includes the tilt information acquisition unit and the display control unit is configured to display information based on the tilt information on the display unit, the display deviation of the work area caused by the tilt Inclination information can be used for the purpose of correcting, managing the tillage state of a field, detecting a field abnormality such as depression.

  In said embodiment, the field work machine which concerns on this invention demonstrated as an example the structure which is the rice transplanter 1 provided with the rice transplanting work apparatus 12. As shown in FIG. However, without being limited to such a configuration, the field work machine according to the present invention may be, for example, a rice transplanter equipped with a sowing work device, or a field such as a tractor, a combine, a passenger management machine, etc. It may be a working machine. When the field work machine is a tractor, various field work devices such as a setting machine, a stand sowing device, a multi-work device, a fertilizer spreader, a boom sprayer device, etc. can be mounted as a field work device. In addition, when the existing work area by each field work machine or field work device is configured to be displayed in different display modes, a series of work history for the field can be visualized collectively, and the work history is managed It will be easier. The different display modes described above may be displayed in different colors, for example.

  In the above embodiment, based on the work history of the rice transplanter 1, a configuration in which the work area 341, the unworked area 342, and the overlapping area 343 are displayed in different colors as the work area information 34 will be described as an example. did. However, without being limited to such a configuration, for example, other work area information for the field stored in an external storage area such as the Internet via the communication unit (for example, a tilling work area, an agrochemical spraying area, etc.) ) May be obtained, and the existing work areas of these other tasks may be displayed in different display modes depending on the content of the tasks. According to such a configuration, a series of work histories for the field can be visualized at once, making it easy to manage the work histories.

  The field work machine according to the present invention may be configured to be able to transmit and receive information with the outside (for example, a field management server, the Internet, etc.) of the field work machine via the communication unit. When transmitting and receiving information to and from the field management server, for example, the overlapping work area in the fertilization work for the field is transmitted to the field management server and recorded, and in the second fertilization work, the overlapping work area Can be received from the field management server, and the work management can be performed such that the fertilization amount of the overlapping work area is reduced and the work content is adjusted so that the total fertilization amount becomes equal to that of the other areas. In addition, when transmitting and receiving information to and from the Internet, useful information can be used for operations such as weather forecasting and a website of an agricultural cooperative.

  With regard to the other configurations, it is to be understood that the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention is not limited by them. Those skilled in the art will easily understand that appropriate modifications can be made without departing from the spirit of the present invention. Therefore, other embodiments modified within the scope of the present invention are naturally included in the scope of the present invention.

  The present invention can be used, for example, in a rice transplanter.

1: Rice transplanter 11: Traveling machine body 12: Rice transplanter 13: GNSS
14: Rice transplanter side control unit 15: Traveling control unit 2: Touch panel terminal 21: Touch panel 22: Terminal control unit 221: Own machine position information acquisition unit 222: Traveling locus information acquisition unit 223: Working device information acquisition unit 224: Work area Identification unit 23: Display control unit 24: Communication unit 31: Position information of own machine 32: Travel locus information 321: Movement direction information 33: Work device information 331: Work width information 332: Operation status information 34: Work area information 341: Already Work area 342: Unworked area 343: Overlap area 35: Icon 35A: Start point registration icon 35B: End point registration icon 35C: Automatic travel start icon 36A: Reference line start point information 36B: Reference line end point information

Claims (11)

With the traveling aircraft,
A field work device that works on the field,
A positioning device for acquiring own position information indicating a position of the traveling aircraft;
A monitor device, and
The monitor device includes a display unit, a self-machine position information acquisition unit which acquires the self-machine position information, and a travel locus information acquisition unit which acquires travel locus information of the traveling machine based on the self-machine position information; It has a work device information acquisition unit that acquires work device information that is information related to the field work device, and a display control unit that controls display on the display unit,
The display control unit displays the already-worked area and the un-worked area in a distinguishable manner on the field displayed on the display unit based on the travel locus information and the work device information, and the work device A field work machine in which the display mode of the already-worked area is different for each content of information. The work device information includes work width information indicating a work width of the field work device;
The field according to claim 1, wherein the display control unit determines the width of an area to be set as the working area along with the passage of the traveling machine body on the field displayed on the display unit based on the work width information. Work machine. The field work device can change the working width by changing the operation state of the field work device,
The work device information includes operation state information indicating an operation state of the field work device;
The display control unit according to claim 1 or 2, wherein the display control unit determines the width of an area to be set as the working area as the traveling machine body passes on the field displayed on the display unit based on the operation state information. Field work machine. The monitor device includes a communication unit capable of communicating with a work machine side control unit provided in a field work machine,
The field work machine according to any one of claims 1 to 3, wherein the work device information acquisition unit acquires the work device information from the work machine side control unit via the communication unit.   The display control unit according to any one of claims 1 to 4, wherein the display control unit displays an area where the same work has been performed in duplicate in the work area so as to be distinguishable from an area where the work has been performed only once. Field work machine described in the section.   The field work machine according to any one of claims 1 to 5, wherein the display control unit displays the existing work area in a display mode different for each content of work based on the work device information. A traveling control unit configured to control traveling of the traveling body;
The travel control unit has an automatic travel mode and a manual travel mode.
The field work machine according to any one of claims 1 to 6, wherein the display control unit displays information capable of identifying whether the current mode is an automatic mode or a manual mode on the display unit. The traveling control unit is configured to permit transition from the manual traveling mode to the automatic traveling mode when a transition condition set in advance is satisfied.
The field according to claim 7, wherein the display control unit displays the achievement condition currently achieved among the transition conditions and the non-achievement condition currently not achieved on the display unit in a distinguishable manner. Work machine. A traveling control unit configured to control traveling of the traveling body;
The travel control unit has an automatic travel mode and a manual travel mode.
The field work machine according to any one of claims 1 to 8, wherein in the automatic travel mode, the display control unit displays movement direction information indicating a direction in which the traveling machine body moves on the display unit. And an inclination information acquisition unit that acquires inclination information on the inclination state of the field.
The agricultural field work machine according to any one of claims 1 to 9, wherein the display control unit displays information based on the tilt information on the display unit. The monitoring device includes a communication unit capable of communicating with a work machine side control unit provided in a field work machine, and the communication unit can communicate with the outside of the field work machine,
The said monitor apparatus can acquire the information of the said working machine side control part via the said communication part, and can transmit the acquired said information to the outside. Field work machine described.

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