JP6943736B2 - Field work machine - Google Patents

Description

The present invention relates to a field work machine.

In recent years, various guidance systems have been used to support farm work in the field. In particular, when working with a field work machine, a guidance system that guides workers is used so that the work can be performed efficiently without duplication or omission of work.

For example, in Patent Document 1, the work contents of the worker are specified and the work history is recorded by combining the position information of the worker by GPS and the operation information of the worker by the acceleration sensor with the field information stored in advance. Agricultural work management methods to be recorded are disclosed. According to this method, the history of when, in which field, and what kind of work was performed can be recorded in a work management terminal such as a PC placed at home, so that the work history and plan can be managed. It is advantageous in that it is easy to do.

Japanese Unexamined Patent Publication No. 2015-208244

By the way, in the agricultural work management method of Patent Document 1, it is possible to record the work history and confirm the work history after the work, but it has not been possible to immediately provide the work history information to the worker. In addition, the field information stored in advance in the agricultural work management method of Patent Document 1 is limited to rough information for each section such as a section for planting melon and a section for planting spinach, and the work area and the unfinished area in the section. The work area has not been identified yet. Such a configuration may not sufficiently meet the demand for immediately grasping the work history and adjusting the work contents during the work.

Therefore, it is desired to realize a field work machine equipped with a guidance system that assists the worker to immediately grasp the work history in the field and adjust the work content.

The field work machine according to the present invention includes a traveling machine, a field working device for performing work on the field, a positioning device for acquiring own machine position information indicating the position of the traveling machine, and a monitoring device. The device includes a display unit, a own machine position information acquisition unit that acquires the own machine position information, a travel locus information acquisition unit that acquires the travel locus information of the traveling machine based on the own machine position information, and the field. It has a work device information acquisition unit that acquires work device information that is information about the work device, and a display control unit that controls display on the display unit, and the display control unit has the travel locus information and the work. Based on the device information, the existing work area and the unworked area are identifiablely displayed on the field displayed on the display unit, and the display mode of the existing work area is displayed for each content of the work device information. Differently, the field work device is a rice planting work device, a sowing work device, or a fertilizer spraying device, and the work width can be changed by operating each row clutch of the field work device. Is the operation state information indicating the work width of the field work device , and the display control unit, based on the operation state information, accompanies the passage of the traveling machine body on the field displayed on the display unit. It is characterized in that the width of the area to be the work area is determined.

According to this configuration, the existing work area and the unworked area can be identified immediately during the work, so that the operator can steer the field work machine so as to avoid duplication or omission of the work. can.
According to this configuration, the existing work area can be recognized based on the actual operating state of the field work device mounted on the field work machine, so that the accuracy of the recognition is improved.

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 one aspect of the field work machine according to the present invention, the work device information includes work width information indicating the work width of the field work device, and the display control unit displays the display based on the work width information. It is preferable to determine the width of the area to be the work area as the traveling machine passes on the field displayed in the section.

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

In one aspect of the field work machine according to the present invention, the monitor device includes a communication unit capable of communicating with a work machine side control unit provided in the field work machine, and the work device information acquisition unit is the communication unit. It is preferable to acquire the work device information from the work machine side control unit via the above.

According to this configuration, since it is not necessary to manually input the work device information, the operation for acquiring the work device information can be simplified and the existing work area is created due to the erroneous input of the work device information. It is possible to avoid being mistakenly recognized.

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

According to this configuration, since the area where the work is duplicated can be immediately identified, the steering adjustment for avoiding the overlap can be immediately performed, and the work efficiency can be improved.

As one aspect of the field work machine according to the present invention, it is preferable that the display control unit displays the existing work area in a display mode different for each work content based on the 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 devices, which contributes to avoiding duplication and omission of work.

As one aspect, the field work machine according to the present invention includes a running control unit that controls the running of the traveling machine, the traveling control unit has an automatic traveling mode and a manual traveling mode, and the display control unit It is preferable to display information that can identify whether the current mode is the automatic driving mode or the manual driving mode on the display unit.

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

In one aspect of the field work machine according to the present invention, the travel control unit is configured to allow a transition from the manual travel mode to the automatic travel mode when a preset transition condition is satisfied. It is preferable that the display control unit displays the transition conditions on the display unit so that the achievement conditions that have been achieved at the present time and the non-achievement conditions that have not been achieved at the present time can be distinguished.

According to this configuration, the operator can visually recognize whether or not the conditions for shifting to the automatic driving mode have been achieved and which conditions have not been achieved, so that the automatic driving mode can be entered. Makes the transition easier.

As one aspect, the field work machine according to the present invention includes a running control unit that controls the running of the traveling machine, and the traveling control unit has an automatic traveling mode and a manual traveling mode, and in the automatic traveling mode. It is preferable that the display control unit displays the movement direction information indicating the direction in which the traveling vehicle moves on the display unit.

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

As one aspect, the field work machine according to the present invention includes an inclination information acquisition unit that acquires inclination information regarding the inclination state of the field, and the display control unit displays information based on the inclination information on the display unit. Is preferable.

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

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

According to this configuration, information related to field work can be transmitted and received to a storage means provided in a place separated from the field work machine such as on the Internet, and the information is utilized to manage the field work. Or you can get the information you need while you work.

Further features and advantages of the present invention will be further clarified by the following illustration of exemplary and non-limiting embodiments described with reference to the drawings.

The figure which shows the relationship of each component in the 1st Embodiment of the field work machine which concerns on this invention. An example of screen display in the first embodiment of the field work machine according to the present invention. The schematic diagram which shows the automatic traveling mode in 1st Embodiment of the field work machine which concerns on this invention.

[First Embodiment]
An embodiment of the field work machine according to the present invention will be described with reference to FIGS. 1 to 3. In this embodiment, an example in which the field work machine according to the present invention is applied to the rice transplanter 1 will be described. In the following description, the global positioning satellite system will be referred to as GNSS.

The rice transplanter 1 includes a traveling machine 11, a rice planting work 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 touch panel terminal 2). An example of a monitoring device) and.

The rice planting work device 12 is configured in a multi-row planting format (for example, 8-row planting), and the number of planting rows 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 transition conditions for permitting the transition from the manual travel mode to the automatic travel mode. The transition conditions are, for example, that the reference line has been registered, that the steering angle of the steering wheel is within a preset range, and that the path parallel to the reference line is continuously extended over a preset distance. It can be said that the vehicle is traveling in a straight line.

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 traveling locus information acquisition unit 222, a work device information acquisition unit 223, and a work area identification unit 224. The functions of each unit 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 the traveling locus information 32 of the traveling aircraft 11 based on the history of the own machine position information 31. Further, in the automatic traveling mode described later, 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, 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 the work device information 33 which is information about the rice transplanter work device 12. The work device information 33 includes work width information 331 indicating the work width of the rice planting work device 12, and operating state information 332 representing the number of rice planting rows of the rice planting work device 12.

The work area identification unit 224 identifies the work area information 34 based on the travel locus information 32 and the work device information 33. The work area information 34 includes the existing work area 341, the unworked area 342, and the overlapping area 343.

The display control unit 23 displays each of the above information and a plurality of icons 35 to which the function as a touch button for operating the rice transplanter 1 and the touch panel terminal 2 is assigned on the touch panel 21. 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 driving mode, an end point registration icon 35B assigned to the function of registering the end point of the reference line, and an automatic driving mode. Includes the automatic driving start icon 35C, which is assigned to the function of shifting to. The display control unit 23 can select gray display or colored display for each icon. The information and the icon 35 displayed on the touch panel 21 are appropriately selected depending on the work situation, selection by the operator's manual operation, 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 the work is input to the touch panel terminal 2 at the start of the rice planting work, the own machine position information 31 and the work device information 33 are acquired as described above, and these information are displayed on the touch panel 21. When the running of the rice planting work device 12 is started, the running locus information 32 is acquired and the identification of the existing work area 341 and the unworked area 342 is started. The display control unit 23 displays the travel locus information 32 on the touch panel, and displays the existing work area 341 and the unworked area 342 in different colors. For example, the worked area 341 is displayed in green and the unworked area 342 is displayed in brown.

The width of the area recognized as the existing work area 341 corresponding to the traveling locus information 32 in a 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 planting work device 12, and the operating state information 332 includes, for example, the number of rice planting rows of the rice planting work device 12. That is, the work width is increased or decreased by exchanging the rice planting work device 12 with a different model or changing the number of planting rows of the rice planting work device 12 during the rice planting work. In particular, since the number of rice planting rows can be arbitrarily changed by the worker according to the situation during the work, the operation state information 332 is changed at any time during the work following the manual operation of the worker. The work area identification unit 224 always acquires the latest work width information 331 and operation status information 332 by communicating with the rice transplanter side control unit 14 via the communication unit 24, and immediately reflects the change of these information. The width of the area recognized as the work area is determined.

When the work area identification unit 224 identifies that the rice planting work has been duplicated with respect to the existing work area 341, the area is identified as the overlap area 343. The display control unit 23 displays the overlapping area 343 in a color (for example, red) different from that of the existing work area 341 and the unworked area 342.

Next, the automatic traveling mode by the traveling control unit 15 of the rice transplanter 1 will be described. In a paddy field, the rice transplanter 1 alternates between a work running Rw that involves rice planting work along a straight line planting route and a ridge turning running Rt for moving to the next line planting route near the ridge. Repeat to. In the automatic traveling mode, of these two modes of traveling, steering for linear work traveling Rw can be automated. In order to use the automatic driving mode, the operator must first register the reference line in the manual driving 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 driving 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 near the shore, when 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. The information 36A is registered, and the start point registration icon 35A is changed to a colored display. Subsequently, the rice planting machine 1 is driven in a straight line (Rw0) from the start point Ts of the reference line along the straight line shape near the shore, and when the end point Tf of the reference line is reached, the end point registration icon 35B displayed on the touch panel 21 is displayed. 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 the colored display. The registration of the reference line is completed by the above operation, but 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 colored. Can be easily recognized.

After the registration of the reference line is completed, the ridge turning Rt for moving to the planting route adjacent to the reference line is performed. In this embodiment, an embodiment in which the edge turning running Rt is performed in the manual mode will be described as an example.

When the ridge turning Rt is performed, the rice transplanter 1 enters the row planting route adjacent to the reference line. When the rice transplanter 1 is continuously driven in a straight line on the route in the manual operation mode, the travel control unit 15 determines whether or not to shift to the automatic travel mode based on the preset conditions during the straight line travel. The conditions are, for example, that the steering angle of the steering wheel is within a preset range, and that the route parallel to the reference line is continuously traveled in a straight line over a preset distance. If it is determined that these conditions are satisfied and the transition to the automatic driving mode is possible, the automatic driving start icon 35C is changed to the colored display. The automatic driving start icon 35C is set to receive an operation only in the colored display state, and when the operator touches the colored automatic driving start icon 35C, the traveling control unit 15 shifts to the automatic driving mode. be able to. In this way, whether or not the transition condition to the automatic driving mode is satisfied by the display state of the gray display or the colored display of the start point registration icon 35A, the end point registration icon 35B, and the automatic driving start icon 35C, and The operator can visually recognize which conditions are left to achieve the transition conditions.

In addition to the icons 35A to 35C, the characters "reference line", "handle", and "straight running" (not shown) are displayed, and when these characters satisfy the conditions corresponding to each character, It may be configured to be colored and grayed out when it is not satisfied. In particular, the steering angle of the steering wheel and the conditions for straight running may be in a state where the conditions are temporarily satisfied, but the conditions may not be satisfied again due to subsequent steering. It is preferable that the achievement status of each condition can be immediately recognized by such a configuration. According to such a configuration, the operator can adjust the steering so as to achieve the condition that has not been achieved, so that the transition to the automatic driving mode can be smoothly performed.

When the mode shifts to the automatic traveling mode, the rice transplanter 1 is automatically controlled so as to perform a linear working traveling Rw without the operator performing an artificial operation. Further, in the automatic traveling mode, the display control unit 23 displays the movement direction information 321 on the touch panel 21. By displaying the movement direction information 321 it is possible for the operator to immediately recognize when the direction in which the rice transplanter 1 travels deviates in the automatic traveling mode, and it is possible to perform an artificial operation for correction. ..

[Other Embodiments]
Finally, other embodiments 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 other embodiments as long as there is no contradiction.

In the above embodiment, the field work machine according to the present invention includes a traveling machine 11, a rice transplanter working device 12, a GNSS 13 (an example of a positioning device), a rice transplanter side control unit 14, a traveling control unit 15, and a touch panel. The configuration of the rice transplanter 1 including the terminal 2 has been described as an example. However, without being limited to such a configuration, the field work machine according to the present invention may include any other component. For example, if the field work machine according to the present invention is provided with an inclination information acquisition unit and the display control unit is configured to display information based on the inclination information on the display unit, the display deviation of the existing work area due to the inclination is caused. Tilt information can be used for purposes such as correction, managing the tillage state of the field, and detecting abnormalities in the field such as depression.

In the above embodiment, the configuration in which the field work machine according to the present invention is the rice transplanter 1 provided with the rice planting work device 12 has been described as an example. 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 harvester, or a passenger management machine. It may be a working machine. When the field work machine is a tractor, various field work devices such as a ridge device, a ridge sowing device, a multi-work device, a fertilizer spraying device, and a boom sprayer device can be attached as the field work device. Further, if 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 can be managed. It will be easier. The above-mentioned different display modes may be, for example, modes of displaying in different colors.

In the above embodiment, a configuration in which the existing work area 341, the unworked area 342, and the overlapping area 343 are displayed in different colors as the work area information 34 based on the work history of the rice transplanter 1 will be described as an example. bottom. 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 a communication unit (for example, a tillage work area, a pesticide spraying area, etc.) ), And the existing work area of these other works may be configured to be displayed in a different display mode depending on the contents of the work. According to such a configuration, a series of work histories for the field can be visualized collectively, and the work history can be easily managed.

The field work machine according to the present invention may be configured so that information can be transmitted and received to and from the outside of the field work machine (for example, a field management server, the Internet, etc.) via a communication unit. When sending 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 is recorded. It is possible to perform work management such as receiving the information of the above from the field management server, reducing the amount of fertilizer applied to the overlapping work area, and adjusting the work content so that the total amount of fertilizer applied is equal to that of other areas. In addition, when sending and receiving information to and from the Internet, useful information for work such as weather forecasts and agricultural cooperative websites can be used.

It should be understood that with respect to other configurations, the embodiments disclosed herein are exemplary in all respects and the scope of the invention is not limited thereto. Those skilled in the art will be able to easily understand that modifications can be made as appropriate without departing from the spirit of the present invention. Therefore, another embodiment modified without departing from the spirit of the present invention is 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 12: Rice transplanter 13: GNSS
14: Rice planting machine side control unit 15: Travel control unit 2: Touch panel terminal 21: Touch panel 22: Terminal control unit 221: Own machine position information acquisition unit 222: Travel locus information acquisition unit 223: Work equipment information acquisition unit 224: Work area Identification unit 23: Display control unit 24: Communication unit 31: Own machine position information 32: Travel locus information 321: Movement direction information 33: Work device information 331: Work width information 332: Operating state information 34: Work area information 341: Already Work area 342: Unworked area 343: Overlapping area 35: Icon 35A: Start point registration icon 35B: End point registration icon 35C: Automatic running start icon 36A: Reference line start point information 36B: Reference line end point information

Claims (10)

Traveling aircraft and
A field work device that works on the field and
A positioning device that acquires the position information of the own aircraft indicating the position of the traveling aircraft, and
Equipped with a monitoring device,
The monitoring device includes a display unit, a own machine position information acquisition unit that acquires the own machine position information, a travel locus information acquisition unit that acquires the travel locus information of the traveling aircraft based on the own machine position information, and the like. It has a work device information acquisition unit that acquires work device information that is information about the field work device, and a display control unit that controls display on the display unit.
The display control unit can distinguish between the existing work area and the unworked area on the field displayed on the display unit based on the travel locus information and the work device information, and the work device. The display mode of the work area is different depending on the content of the information.
The field work device is a rice planting work device, a sowing work device, or a fertilizer spraying device, and the work width can be changed by operating each line clutch of the field work device.
The working device information is the operating state information indicating the working width of the field working device,
A field work machine in which the display control unit determines the width of an area to be an existing work area as the traveling machine passes through the field displayed on the display unit based on the operation state information. The work device information includes work width information indicating the 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 an existing work area as the traveling machine passes through the field displayed on the display unit, based on the work width information. Working machine. The monitoring device includes a communication unit capable of communicating with a work machine side control unit provided in the field work machine.
The field work machine according to claim 1 or 2, 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 is any one of claims 1 to 3 that displays, in the existing work area, an area in which the same work is performed in duplicate as an area in which the work is performed only once. The field work machine described in the section. The field work machine according to any one of claims 1 to 4, wherein the display control unit displays the existing work area in a display mode different for each work content based on the work device information. A traveling control unit for controlling the traveling of the traveling aircraft is provided.
The travel control unit has an automatic travel mode and a manual travel mode.
The field according to any one of claims 1 to 5, wherein the display control unit displays information that can identify whether the current mode is the automatic driving mode or the manual driving mode on the display unit. Working machine. The travel control unit is configured to allow the transition from the manual travel mode to the automatic travel mode when a preset transition condition is satisfied.
The field according to claim 6, which is displayed on the display unit so that the display control unit can distinguish between the achievement conditions that have been achieved at the present time and the non-achievement conditions that have not been achieved at the present time among the transition conditions. Working machine. A traveling control unit for controlling the traveling of the traveling aircraft is provided.
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 7, wherein in the automatic traveling mode, the display control unit displays moving direction information indicating a direction in which the traveling machine moves on the display unit. A slope information acquisition unit for acquiring slope information regarding the slope state of the field is provided.
The field work machine according to any one of claims 1 to 8, wherein the display control unit displays information based on the inclination information on the display unit. The monitoring device includes a communication unit capable of communicating with a work machine side control unit provided in the field work machine, and the communication unit can communicate with the outside of the field work machine.
The present invention according to any one of claims 1 to 9, wherein the monitoring device can acquire the information of the work machine side control unit via the communication unit and can transmit the acquired information to the outside. The field work machine described.

Images