JP2018201342A - Agricultural work support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an agricultural work support system capable of further improving work accuracy. SOLUTION: A farm work support system includes a work vehicle equipped with a work device and performing a predetermined work while traveling in a field, a first position information acquisition device and a second position information acquisition device for acquiring position information, and the like. A communication unit capable of transmitting and receiving information between a carrier carrying the first position information acquisition device and a work vehicle equipped with the second position information acquisition device, and a position change of the carrier received from the carrier. It is provided with a work information derivation unit for deriving the second information relating to the post-stage work in the field by the work vehicle based on the first information relating to the pre-stage work in the field accompanied by. [Selection diagram] Fig. 2

Description

  The present invention relates to a farm work support system that supports farm work using a work vehicle.

  Conventionally, there are work vehicles that can perform predetermined work while automatically traveling based on automatic traveling information as well as manual traveling, for example, equipped with an airframe state detection unit, and prohibition and permission of automatic traveling according to the airframe state Can be determined (see, for example, Patent Document 1). Note that the automatic travel information includes, for example, the position of the vehicle, the target route, and the operation contents of the travel equipment and work equipment that must be executed during the automatic travel. The vehicle position is calculated based on, for example, satellite navigation using GNSS or inertial navigation using an inertial measurement device.

JP 2017-47762 A

  However, in the work vehicle described above, although switching between automatic travel and manual travel can be performed smoothly, work accuracy during automatic travel is not particularly taken into consideration. Therefore, a device for increasing the work accuracy while automating the desired work is desired.

  This invention is made | formed in view of the above, Comprising: It aims at providing the farm work assistance system which can improve work precision more.

  In order to solve the above-described problems and achieve the object, the invention described in claim 1 includes a work vehicle (23) provided with a work device and performing a predetermined work while traveling on a field (400), and position information. The first position information acquisition device (31) and the second position information acquisition device (32) for acquiring the first position information acquisition device (31), the carrying body carrying the first position information acquisition device (31), and the second position information acquisition A communication unit capable of transmitting / receiving information to / from the work vehicle (23) provided with a device (32), and the field with a change in position of the carrying body acquired by the first position information acquisition device (31). Based on the first information relating to the preceding work in (400) and the specification information of the work vehicle (23), the second information relating to the latter work in the field (400) by the work vehicle (23). Information deriving unit for deriving And 51), the agricultural support system with a (100).

  In the invention according to claim 2, the carrying body is a seedling transplanter (1), and the seedling transplanter (1) is based on the position information acquired by the first position information acquisition device (31). And a control device (5) for deriving and storing planting position information of the seedling (N1) as the first information, and the work information deriving unit (51) of the work vehicle (23), Deriving work route information as the second information based on the specification information of the work vehicle (23) and the planting position information received from the control device (5) via the communication unit. A farm work support system (100) according to claim 1.

  According to a third aspect of the present invention, the work vehicle (23) is a combine (2) provided with a harvesting part (200), and the work information deriving part (51) is a combination of the harvesting part (200). The farm work support system (100) according to claim 2, wherein, based on the original information and the planting position information of the seedling (N1), cutting route information related to cutting work is derived as the work route information.

  According to a fourth aspect of the present invention, the first location information acquisition device (31) has a function as a storage unit (410) for storing the first information and a function as the communication unit. (4), and the work information deriving unit (51) of the work vehicle (23) changes the position of the worker (M) who is the carrying body carrying the wireless communication terminal (4). The farm work support system (100) according to claim 1, wherein the second information is derived based on the accompanying first information.

  According to a fifth aspect of the present invention, the work information deriving unit (51) is configured to provide worker follow-up route information defined to follow the worker (M) carrying the wireless communication terminal (4). The farm work support system (100) according to claim 4, which is derived as the second information.

  According to a sixth aspect of the present invention, the work information deriving unit (51) allows the worker (M) carrying the specification information of the work vehicle (23) and the wireless communication terminal (4) to The work route information as the second information is derived based on the field contour information as the first information acquired by moving the periphery (460) of the field (400). The farm work support system (100) is assumed.

  According to a seventh aspect of the present invention, the work vehicle (23) is an unmanned combine (2) including a cutting unit (200), and the first position information acquisition device (31) includes the first position information acquisition device (31). The storage unit (410) for storing information and the wireless communication terminal (4) having a function as the communication unit are provided, and the unmanned combine (2) is a first hand to be executed in the middle of the cutting operation. A handling mode and a second handling mode that is executed after the end of the cutting operation, and the first handling mode and the second handling mode are the operator (M) who is the carrying body. It is set as the agricultural-work assistance system (100) of Claim 1 performed according to the instruction | command transmitted from the said wireless communication terminal (4).

  According to an eighth aspect of the present invention, each of the work vehicles (23) includes a cutting unit (200) and a communication device (41b), and can communicate with each other, and at least one of the two can run unattended. The farm work support system (100) according to claim 1, which is a combine (2), (2), and the work information can be shared between the two combines (2), (2).

  According to the first aspect of the present invention, when a desired work is automatically performed, the work can be performed based on work information related to the work preceding the work. Therefore, the work accuracy is improved, and the utility value of the farm work support system using the work vehicle as a robot farm machine is increased.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, a desired operation can be performed based on the seedling planting position information. Therefore, for example, if it is work using a riding management machine such as fertilization work and control work, it is possible to avoid stepping on the seedling with a tire or the like as much as possible.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, since the cutting operation can be performed in a state in which the cutting unit is aligned with the position of the culm, the cutting operation by the combine is performed. It can be done smoothly.

  According to invention of Claim 4, a radio | wireless communication terminal can be utilized as a positional information acquisition apparatus. Therefore, in addition to the effect of the invention described in claim 1, the work stage may be a work vehicle that does not include a GNSS device or the like, or may be a person. Can be enlarged.

  According to the fifth aspect of the invention, in addition to the fourth aspect of the invention, it is possible to smoothly perform the farm work by cooperation between the worker and the work vehicle.

  According to the invention described in claim 6, in addition to the effect of the invention described in claim 4, the work is performed after the field contour information of the field to be worked is obtained in advance regardless of the type and size of the work vehicle. Since it can be performed, versatility increases and the utility value as an agricultural work support system can be further improved.

  According to the seventh aspect of the invention, in addition to the effect of the first aspect of the invention, the handling operation by the combine can be easily performed, so that the hand-cut cereals placed on the field are smoothly processed. be able to.

  According to the invention described in claim 8, in addition to the effect of the invention described in claim 1, when performing work using two combiners in the same field, for example, the setting of threshing control is shared. This makes it possible to achieve more efficient combine work, such as reducing grain loss.

It is a lineblock diagram showing an outline of a farm work support system concerning an embodiment. It is a sequence diagram which shows the operation | movement outline | summary of the work vehicle etc. in the agricultural-work assistance system which concerns on embodiment. It is a schematic diagram which shows the working state by the agricultural-work assistance system which concerns on embodiment. It is a block diagram centering on the controller in the farm work support system concerning an embodiment. It is a mimetic diagram showing an example of the former stage work in the agricultural work support system concerning an embodiment. It is a mimetic diagram showing an example of the latter part work in the farm work support system concerning an embodiment. It is a mimetic diagram showing an example of cooperation work of a worker and a work vehicle in a farm work support system concerning an embodiment. It is a schematic diagram which shows an example of the 1st handling mode. It is a schematic diagram which shows an example of a 2nd handling mode. It is a schematic diagram which shows typically an example of the operation | work using two sets.

  Below, the agricultural-work assistance system which concerns on embodiment of this invention is demonstrated concretely, referring drawings. It should be noted that constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same, so-called equivalent ranges. Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

  First, the configuration and functions of the farm work support system will be described with reference to FIGS. 1 and 2. FIG. 1 is a configuration diagram illustrating an outline of a farm work support system according to the embodiment, and FIG. 2 is a sequence diagram illustrating an operation outline of a work vehicle or the like in the same farm work support system.

  As shown in FIG. 1, the farm work support system 100 according to this embodiment includes a seedling transplanter 1 that is a carrying body to which a tablet terminal device as a wireless communication terminal 4 is attached, and a combine 2 that is a work vehicle. It is configured to be connectable to each other via a communication network 110 such as the Internet. Here, the seedling transplanter 1 and the combine 2 as a work vehicle may be manned or unmanned, but at least the work vehicle is a so-called robotic farm machine. Can be used. For example, the combine 2 which concerns on this embodiment can perform the operation | work from a mowing operation | work to a threshing operation | work unmanned autonomously.

  The wireless communication terminal 4 attached to the seedling transplanter 1 obtains position information in addition to a processing device having a CPU (Central Processing Unit) and the like and a control unit 440 (see FIG. 4) having a storage unit 410 and the like. GNSS (Global Navigation Satellite System) control unit 31 that functions as a location information acquisition apparatus, and a terminal communication unit 41a that is an example of a communication unit.

  On the other hand, the combine 2 includes a processing device having a CPU or the like, and a controller 5 having a storage unit 52 (see FIG. 4) such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive). Is provided as a control device, and a GNSS control device 32 as a second position information acquisition device for acquiring position information, and a vehicle body communication unit 41b, which is also an example of a communication unit, are provided.

  The communication units (terminal communication unit 41a and vehicle body communication unit 41b) of the seedling transplanter 1 that is a carrying body and the combine 2 that is a work vehicle can communicate with each other through a predetermined communication system such as the short-range communication standard C. Configured to transmit and receive information. Note that the GNSS control unit 31 and the GNSS control device 32 can each receive and measure radio waves from the navigation satellite 6 (see FIG. 4) orbiting the sky.

  As described above, the farm work support system 100 according to the present embodiment is a system capable of so-called cloud computing via the communication network 110 such as the Internet. By the way, the number of work vehicles may be one or more, and the model may include not only the combine 2 but also, for example, a passenger management machine 3 as illustrated.

  Note that the wireless communication terminal (tablet terminal device) 4 provided in the seedling transplanter 1 is not necessarily limited to the case where it is attached to the work machine side, and the operator who carries this is on the seedling transplanter 1 Including.

  The controller 5 provided in the work vehicle such as the combine 2 or the riding management machine 3 includes the first information related to the preceding work in the field with the position change of the seedling transplanter 1 (acquired by the GNSS control unit 31), and the work vehicle (the combine 2 or the specification information of the riding management machine 3), second information related to the subsequent work in the field by the work vehicle (the combine 2 or the riding management machine 3) can be derived. Here, the pre-stage work is, for example, seedling transplanting work or sowing work, and the post-stage work is a cutting work after receiving the pre-stage work. For example, when the former stage work is a tilling work or a field measurement work, the latter stage work may be a seedling transplanting work or a sowing work.

  Here, the first-stage operation will be specifically described as a seedling transplanting operation, and the second-stage operation as a cutting operation. First, as shown in FIG. 2, the seedling transplanter 1 performs a seedling transplanting operation as a first-stage operation (step S1). And the control part 440 (refer FIG. 4) of the radio | wireless communication terminal 4 with which the seedling transplanter 1 was equipped derive | leads out the 1st information which concerns on a front | former stage work (step S2).

  The first information includes the position information acquired by the wireless communication terminal 4 and the seedling transplantation machine 1 and the seedling transplanting apparatus, and the seedlings including the inter-strip distance and pitch of the seedlings planted by the seedling transplanting machine 1. Planting position information. And the radio | wireless communication terminal 4 memorize | stores the planting position information of the seedling N1 memorize | stored in the memory | storage part 410 on the cloud as 1st information while memorize | stores the derived | led-out 1st information in the memory | storage part 410. (Step S3).

  Next, when a predetermined period elapses, a predetermined operation using the work vehicle is performed as a subsequent operation. For example, fertilization work is performed using the riding management machine 3. Further, when the seedling is sufficiently grown after the period has elapsed, the harvesting operation by the combine 2 is performed. When performing the latter stage work, the combine 2 and the passenger management machine 3 acquire the first information from the cloud (step S4).

  The combine 2 and the passenger management machine 3 that have acquired the first information derive work route information related to the subsequent work based on the first information (step S5).

  The second information is, for example, if the work vehicle is a combine 2, the planting position information of the seedling obtained from the seedling transplanter 1 and the cutting unit 200 (see FIG. 3) that is one of the specification information of the combine 2. ), Etc., and is route information that can effectively harvest the culm. Further, if the work vehicle is the riding management machine 3, the planting position information of the seedling obtained from the seedling transplanting machine 1 and, for example, the ability value of the fertilizer application which is one of the specification information of the riding management machine 3 Based on the fertilization route information derived by the controller 5, the route information is capable of effectively spreading the fertilizer on the planted seedlings.

  The cutting information and the fertilization route information that are the second information are stored in the storage unit 52 by the controller 5. And based on the 2nd information read from the memory | storage part 52, the combine 2 and the riding management machine 3 perform the back | latter stage work (a mowing work or a fertilization work etc.) by automatic operation (step S6).

  As described above, according to the present farm work support system, when a desired work such as a mowing work or a fertilization work is automatically performed as a subsequent work, the work is placed as a seedling planting position which is work information related to the previous work. Since it can be performed on the basis of information, work accuracy is significantly improved.

  Here, with reference to FIG. 3, the pre-stage work and the post-stage work will be described more specifically. In FIG. 3, the planting operation of the seedling N1 by the seedling transplanter 1 including the traveling vehicle body 11 and the seedling planting device 21 is a front-stage operation, and the rear-stage operation is a cutting operation and riding by the combine 2 including the cutting unit 200. The control work is performed by the management machine 3.

  As shown in FIG. 3, the seedling transplanter 1 transplants a seedling N1 while traveling along a predetermined traveling route R1 in a predetermined farm field 400 while acquiring position information by the GNSS control unit 31. The seedling N1 is planted along the planting line L at a predetermined pitch. The travel route R1 may be set in advance so that the seedling transplanter 1 can travel by automatic operation, or a route on which an operator (not shown) travels arbitrarily in the field 400. There may be.

  The control unit 440 of the wireless communication terminal 4 provided in the seedling transplanting machine 1 determines the seedling transplantation based on the positional information acquired by the GNSS control unit 31 and the specifications of the seedling transplanting machine 1 and the seedling transplanting machine that is the working machine. The planting position information of the seedling N1 including the inter-strip distance and pitch of the seedling N1 planted by the machine 1 is derived. And this is linked | related with the identification information which prescribes | regulates the place of the agricultural field 400, and it memorize | stores in the memory | storage part 410, The planting position information of this seedling N1 is memorize | stored on a cloud as 1st information.

  Eventually, when the seedling N1 grows in the field 400, a control work and a fertilization work are performed as a subsequent work. The riding management machine 3 that performs such work acquires the first information related to the previous stage work in the corresponding field 400 from the cloud. And based on this 1st information and the specification information of the riding management machine 3 including a fertilizer, the 2nd information which concerns on the back | latter stage work in the farm field 400 by the riding management machine 3, ie, control work or fertilization Route information related to the travel route R3 for performing work is derived.

  Based on the route information, the passenger management machine 3 performs the control work or the fertilization work while performing autonomous traveling by automatic driving using the GNSS control device 32. At this time, the derived route information is information relating to the tire 300 attached to the passenger management machine 3, for example, the value of the distance between the right tires (tread) T is taken into account as the specification information of the passenger management machine 3. ing. Therefore, if the vehicle travels along the travel route R3 corresponding to the derived route information, it is possible to avoid as much as possible the possibility of stepping on the seedling N1 and the culm N2 grown on the planting line L with the tire 300. . The specification information regarding the tire 300 includes, in addition to the tread T, a tire size, a distance T (tread) between the left and right tires, a wheel base, and the like.

  When the seedling N1 grows and the harvesting operation (cutting operation) is performed as a subsequent operation, the combine 2 is also used as shown in FIG. The combine 2 acquires the 1st information which concerns on the front | former stage work in the said agricultural field 400 from cloud. And based on this 1st information and the specification information of the combine 2 including the harvesting part 200 at least, in order to perform the 2nd information which concerns on the back | latter stage operation | work by the said combine 2, ie, the harvesting work of the grain culm N2 Route information related to the travel route R2 is derived.

  Based on the route information, the combine 2 performs a cutting operation while performing autonomous traveling by automatic driving using the GNSS control device 32. At this time, in the derived route information, information regarding the cutting unit 200, for example, values such as a cutting width and a cutting speed are taken into consideration as the specification information of the combine 2. Therefore, if the vehicle travels along the traveling route R2 corresponding to the derived route information, the cutting operation can be performed very smoothly in a state where the cutting unit 200 is substantially matched to the position of the culm N2. The specification information of the combine 2 includes the left and right crawler track dimensions, the distance between the crawler tracks, and the like.

  Next, the farm work support system 100 will be described more specifically with reference to FIG. FIG. 4 is a block diagram centering on the controller 5 in the agricultural work support system 100 according to the embodiment. In FIG. 4, a portable body such as the seedling transplanter 1 to which the wireless communication terminal 4 such as a tablet terminal is attached is omitted. In the following, including the description using FIG. 4, the combine 2, the passenger management machine 3, and the like may be collectively referred to as a work vehicle 23.

  The work vehicle 23 in the agricultural work support system 100 according to the present embodiment can control each part by electronic control and can be automatically driven by autonomous running. The work vehicle 23 includes a controller shown in FIG. 5 is provided.

  In addition, the wireless communication terminal 4 provided in the carrying body can be brought into or removed from the working machine such as the seedling transplanter 1 if the carrying body is a working machine such as the seedling transplanter 1, and the work vehicle 23 and the carrying body, that is, the wireless communication terminal. 4 and the controller 5 are configured to be communicable with each other by a predetermined communication system such as the near field communication standard C, and can be connected to each other via a communication network 110 such as the Internet as shown in FIG. .

  As shown in FIG. 4, the controller 5 that is mounted on the work vehicle 23 and constitutes the farm work support system 100 is provided with the processing device and the storage unit 52 as described above, and the work information deriving unit as an example of the processing device. 51 is provided.

  The work information deriving unit 51 uses the second information based on the specification information of the work vehicle 23 and the first information related to the previous work received from the wireless communication terminal 4 via the vehicle body communication unit 41b which is a communication unit. It has a function of deriving work route information as information. Explaining the combine 2 as an example, the work information deriving unit 51 is based on the specification information of the cutting unit 200 and the work path based on the planting line L of a seedling N1 (see FIG. 3) described later, which is included in the first information. Based on the information, cutting route information as work route information is derived.

  The storage unit 52 stores various types of information in addition to various programs necessary for control processing. That is, in the storage unit 52, a specification database (DB) 521, an agricultural field database (DB) 522, a work database (DB) 523, and a route database (DB) 524 are sectioned.

  Examples of the various programs include, for example, a work route generation program that generates work route information when the work vehicle 23 is automatically driven, and automatic steering for automatically driving the work vehicle 23 according to the generated work route information. There is a computer program for controlling the overall operation of the work vehicle 23 such as a program.

  The controller 5 is connected to an engine control unit (ECU) 510, an automatic operation selection switch 520, various sensors 550, and various actuators 500 such as an electric motor and a hydraulic cylinder. A control device 32 and an automatic steering device 53 are connected.

  Various actuators 500 connected to the controller 5 include, for example, various cylinders such as a lifting cylinder that lifts and lowers the working device, a motor that opens and closes a sluice for supplying and draining water to the farm field 400, a motor that rotates a water depth sensor, and the like Various electric motors such as a throttle motor for adjusting the engine intake air amount of the vehicle body are included.

  The various sensors 550 connected to the controller 5 include, for example, a moisture sensor 210 (see FIG. 8) that detects the moisture content of straw that is a harvested product, and a weight sensor 220 (such as a load cell) that detects the weight of straw. 8), a water depth sensor for detecting the water depth of the field 400, a soil depth sensor for detecting the soil depth of the field 400, a fertility sensor for detecting the fertilizer concentration of the field 400, and the rotation speed of the wheels of the work vehicle 23. Various sensors such as a rotation sensor to detect, an inclination sensor to detect the inclination of the traveling vehicle body, a work clutch sensor, and a temperature sensor are included.

  The GNSS control device 32 includes a receiving antenna 320 that acquires position information of the work vehicle 23, receives radio waves from the navigation satellite 6 by the receiving antenna 320, and acquires GNSS coordinates every predetermined time. Can be acquired at predetermined intervals.

  The automatic steering device 53 is controlled by the controller 5 based on position information acquired by the GNSS control device 32, and automatically operates a steering handle (not shown) provided on the traveling vehicle body to automatically drive the traveling vehicle body. be able to. The automatic steering device 53 includes a steering motor 530 that applies an arbitrary rotational force to rotate the steering handle, and a handle potentiometer 540 that detects the rotation angle of the steering handle.

  On the other hand, the wireless communication terminal 4 carried by the carrying body includes a control unit 440, a storage unit 410 connected to each of the control unit 440, a display unit for displaying information, and an operation unit for performing various input operations. And a GNSS control unit 31, and a terminal communication unit 41a corresponding to the vehicle body communication unit 41b on the work vehicle 23 side is provided.

  The storage unit 410 of the wireless communication terminal 4 is similar to the storage unit 52 of the controller 5, in addition to various programs necessary for control processing by the control unit 440, a specification database (DB) 411, an agricultural field database (DB) 412, a work A database (DB) 413 and a route database (DB) 414 are sectioned.

  The control unit 440 includes a work information generation unit 401 and a work route generation unit 402, and the work information generation unit 401 uses the location information of the farm field 400 to acquire the position information acquired by the GNSS control unit 31 and the work information for each position. Is generated for each field 400 as the first information related to the previous work. The control unit 440 stores the generated first information in the work DB 413. In addition, the work route generation unit 402 of the control unit 440 reads the first information stored in the work DB 413 and, for example, the work route information according to the planting position information indicating the planting line L illustrated in FIG. Is generated. The generated work route information is also stored in the work DB 413 as related information of the first information.

  When the subsequent work is performed by the work vehicle 23, the first information stored in the work DB 413 is read into the work information deriving unit 51 of the controller 5 together with the work route information which is related information.

  By the way, in the example described above, it has been described that the previous stage work is performed using the seedling transplanter 1 or the tractor. For example, the carrying body is the worker M, and the worker M carries the wireless communication terminal 4. The work performed while moving can also be set as the previous work.

  FIG. 5A is a schematic diagram illustrating an example of the former stage work in the farm work support system 100, and FIG. 5B is a schematic diagram illustrating an example of the latter stage work in the farm work support system 100.

  As shown in FIG. 5A, the worker M carries the wireless communication terminal 4 having the GNSS control unit 31 (see FIG. 4), and around the field 400, for example, the contour of the field 400 with the field entrance 450 as a start point and an end point. It goes around while walking along the peripheral edge 460. By the previous work accompanied by the position change of the worker M due to such walking, the work information generation unit 401 (see FIG. 4) obtains the field contour information indicating the contour, area, etc. of the field 400 as the first information. A range of 400 can be specified.

  The first information is stored in the storage unit 410 of the wireless communication terminal 4 and is stored on the cloud as necessary.

  After the former stage work, the work is performed as the latter stage work by the work vehicle 23 in the farm field 400. At that time, the controller 5 of the work vehicle 23 acquires the first information about the farm field 400 and takes into account the specification information of the work vehicle 23. Thus, the work information deriving unit 51 derives work route information capable of defining an appropriate travel route R3.

  For example, when the latter stage work by the work vehicle 23 is a seeding work by the riding management machine 3 that can perform an unmanned operation while traveling autonomously, the riding management machine 3 uses the work information deriving unit 51 of the controller 5 to determine the total length of the vehicle. Based on the first information including the width, the tread, the capacity of the seeder and the first information including the shape and size of the field 400, a travel route R3 in which an appropriate U-turn position, a seeding width, and the like are defined is generated. Work route information is derived.

  Then, as shown in FIG. 5B, the riding management machine 3 enters the farm field 400 from the farm field entrance / exit 450 along the travel route R3, and automatically performs the sowing work while traveling in a proper U-turn. Further, depending on the program, after the sowing operation, it is possible to control to go out of the field 400 through the field entrance 450 and stop at a predetermined place. As described above, as the latter stage work, the combine 2 can be used instead of the riding management machine 3, and the tilling work by the tractor or the seedling planting work by the seedling transplanter 1 can be used in the latter stage. It can also be work.

  There was an interval of at least a day unit, and at least a monthly unit or a seasonal unit between the previous stage work and the latter stage work described above, but the time between the former stage work and the latter stage work is relatively low. An example in which the present farm work support system 100 is applied to work in a short case will be described.

  FIG. 6 is a schematic diagram illustrating an example of cooperative work between the worker M and the work vehicle 23 in the farm work support system 100. In FIG. 6, the work vehicle 23 is the combine 2, and as an example of the collaborative work between the worker M and the work vehicle 23, the cereals that are hand-harvested and placed in the four corners of the field 400 are It is assumed that M performs a work in a hand handling mode in which a threshing is performed by manually feeding into a feed chain (not shown) of the combine 2.

  As shown in FIG. 6, as an upstream operation, a worker M carrying the wireless communication terminal 4 is placed at the four corners of the farm field 400 while walking along the walking route R4 defined on the inner periphery of the farm field 400. Pick up the harvested cereal and put it into the feed chain (not shown) of the combine 2 that has been followed. The combine 2 travels at approximately the same speed as the walking speed of the worker M along the traveling route R2 set inside the walking route R4 with a very short time difference (for example, a delay of about 1 second) as the subsequent work. It stops at the nearest positions of the four corners of the field 400 and waits for the worker M to put in the cereal.

  The second information related to the subsequent work of the combine 2 in this case is information that defines the travel route R2, and is the first information acquired from the wireless communication terminal 4 (the position of the worker M acquired by the GNSS control unit 31). Based on the information including the change information) and the specification information of the combine 2, it is derived by the work information deriving unit 51 of the controller 5.

  That is, the work information deriving unit 51 of the combine 2 derives the worker follow-up route information defined to follow the worker M carrying the wireless communication terminal 4 as the second information. Therefore, the combine 2 is controlled to follow the worker M along the traveling route R <b> 2 defined by the worker following route information, and to stop at the nearest positions of the four corners of the farm field 400.

  In this case, the first information need not be stored at least on the cloud. In addition, the first information is directly stored in the controller 5 of the combine 2 via the near field communication standard C each time it is stored in the work area without being stored in the storage unit 410 of the wireless communication terminal 4 in a nonvolatile manner. It may be delivered.

  Further, in this case, the combine 2 is provided with a lamp (not shown), a speaker (not shown), etc., and is configured to be notified by lighting or sounding when stopping or making a call. You can also. Since the worker M can easily grasp the movement of the combine 2 visually or audibly, the safety of the work is increased.

  Here, the information regarding the change in the position of the worker M included in the first information is acquired by the GNSS control unit 31, but for example, a predetermined transmission device is provided in the wireless communication terminal 4, and this transmission is performed. A transmission signal from the apparatus may be received on the combine 2 side and input to the controller 5 to analyze the position change of the worker M.

  Moreover, in the case of the combine 2 in which the combine 2 is unmanned and capable of autonomous traveling and performs the threshing operation in the handling mode as described above, the handling mode is executed in the middle of the cutting operation. It is possible to select a hand-handling mode and a second hand-handling mode that is executed after the end of the cutting operation. The first handling mode and the second handling mode can be executed in response to a command from the worker M via the carried wireless communication terminal 4.

  FIG. 7A is a schematic diagram illustrating an example of the first handling mode, and FIG. 7B is a schematic diagram illustrating an example of the second handling mode. As shown in FIG. 7A, when the first handling mode is designated by the operator M, the combine 2 moves the field 400 along the first cutting travel route R21 set for initial automatic cutting. After traveling and performing an initial automatic harvesting operation, the vehicle stops at a predetermined position S set in the vicinity of the grain shed 600 where the harvested grain culms are placed. Then, when the worker M finishes putting the harvested culm placed in the cereal yard 600 into the feed chain (not shown), the combine 2 moves forward by the first distance Fw, and then the steering motor 530 ( 4), the vehicle is automatically steered to correct the direction and move backward by the second distance Re and stop. In such a position, the combine 2 stands by in a posture in which the combine 2 can smoothly move to the next grain yard yard 600 set on the travel route orthogonal to the first harvesting travel route R21.

  On the other hand, when the second hand-handling mode is designated, as shown in FIG. 7B, the combine 2 does not go around the field 400 along the second cutting travel route R22 but performs a predetermined hand-working operation. I do. Then, the combine 2 that has reached the final position E derives the shortest route Rmin to the remaining grain yard 600 in order to perform the final handling operation, and the grain yard 600 along the shortest route Rmin. Automatically move to.

  Thus, the combine 2 which acquired the field outline information etc. of the field 400 as 1st information which concerns on a front | former stage operation | work WHEREIN: The operation | work from a mowing including the handling operation | work of a grain straw to a threshing is the 2nd which concerns on a back | latter stage work. It is possible to work efficiently while traveling according to the travel route information derived as the information.

  Note that the first information is not necessarily obtained from the outside. For example, if the so-called sowing is made once, the outer shape information of the farm field 400 can be acquired. Therefore, the external information acquired by the combine 2 itself can be used as the first information.

  Although the work vehicle 23 used in the above-described farm work support system 100 has been described with the combine 2 as a robotic farm machine, the work vehicle 23 may be manned. In that case, it is preferable to provide a monitor in the cabin of the combine 2. For example, when the field contour information is received as the first information of the field 400 from the worker M carrying the wireless communication terminal 4, for example, “Do you want to record the field shape?” Is displayed on the monitor. Thus, it is possible to adopt a configuration in which the record of the field shape can be selected.

  At this time, for example, when recording is selected, an identifier such as a name can be input so that the field 400 can be identified.

  Furthermore, when the field shape is recorded and then read out, it is preferable that the field shape is superimposed on the map information on the monitor. With this configuration, it is possible to easily recognize information regarding the farm field 400 visually.

  In addition, after displaying “Do you want to record the field shape?” On the monitor, for example, “Do you want to keep the operation record in this field?” Can be displayed. That is, it is possible to select whether or not to record a work history associated with the field 400.

  When it is selected to leave the operation record, the operation history data such as the operation of the main transmission lever, the operation of the steering wheel, the operation state of the work implement, and the like are recorded. Therefore, for example, automatic operation based on the previous work history data at the time of work in the same year in the same field 400 is also possible.

  In addition, while the operator is in the cab, for example, it is possible to automatically drive based on last year's work history data, but if the operator operated the handle or lever during automatic driving, It is possible to cancel the automatic operation and switch to manual operation. As a result, it is possible to prevent danger avoidance or damage to the machine due to human judgment.

  In addition, when the work history is left, when performing work on the same field 400 in the next year, automatic operation based on the work history data may be started unconditionally, but conditions are set for starting automatic operation. You can also. For example, since the outer shape of the field 400 can be acquired by performing the mowing during the next year's work, the “automatic driving” is displayed on the monitor only when the acquired contour information is substantially the same as the contour information acquired last year. (Do you want to perform (driving assistance)?) Is displayed and the operator can select it.

  In addition, when the contour information obtained by performing the cutting operation is different from the information of the previous year, it is possible to display on the monitor “Do you want to update the data?” To make it selectable by the operator.

  In addition, when automatic operation is selected and executed, “Please select this year's lodging state” is displayed on the monitor before starting operation, allowing the operator to input the falling state of cereals. can do. The lodging state may be selected, for example, between levels 1 to 3. The combine 2 performs automatic operation at a speed according to the lying state. For example, when there are many overlaid grains, the work speed is controlled to be slow.

  In addition, when the moisture content of the soot is constantly measured by the moisture sensor 210 and becomes a value equal to or higher than a predetermined value, “the moisture of the soot is high (○ ×%). Do you want to continue the work?” Etc., and the operator can select whether or not to continue the work.

  With such a configuration, there is no risk of excessive load on the drying process due to a large amount of moisture in the koji.

  By the way, the farm work support system 100 according to the present embodiment can be applied to the two combines 2 and 2 that are input to the same field 400. At this time, it is preferable that at least one of the combiners 2 is capable of unmanned travel, and the two combiners 2 and 2 are configured to communicate with each other so that work information can be shared between the two. Further, in that case, the unmanned combine 2 is configured so that the unmanned combine 2 works by following the manned combine 2, and the unmanned combine 2 is stopped when the preceding manned combine 2 stops. Good.

  By adopting such a configuration, for example, when the setting relating to the threshing operation is changed in one combiner 2 that is working by manned, the change information is automatically transmitted to the other uncombined combine 2, and as a result, It becomes possible to share work information between the two combines 2 and 2. Moreover, for example, when an abnormality occurs in the manned combine 2 and stops, the unmanned combine 2 also stops, so that there is no fear that the combines 2 and 2 come into contact with each other, and safety is improved.

  As described above, when the present farm work support system 100 is applied to the two combines 2 and 2, the work efficiency can be doubled while performing the work safely, and the setting related to the threshing control is also common, so Loss can be reduced as much as possible.

  FIG. 8 is a schematic diagram schematically showing an example of work using the two combiners 2a and 2b. Hereinafter, the two combiners 2 and 2 are introduced into the field 400 while applying the present farm work support system 100. A further example of the case where the work is performed will be described.

  As shown in FIG. 8, the first combine 2 a and the second combine 2 b are positioned at two diagonal corners of the four corners in the field 400. Then, the cutting operation is performed while traveling so as to be point-symmetrical with respect to the center of the field 400. That is, the first combine 2a travels along the first route R2a, and the second combine 2b travels along the second route R2b. Each of the two combiners 2a and 2b includes a controller 5 (see FIG. 4), a terminal communication unit 41a (see FIG. 4), and a GNSS control device 32 (see FIG. 4). In addition to a moisture sensor 210 for detecting the moisture content of the soot and a weight sensor 220 such as a load cell for detecting the weight, the cabin has a monitor capable of displaying a screen.

  The controllers 5 of the two combines 2a and 2b in the opposed state perform the cutting operation while always maintaining a point-symmetrical state based on the received position information of the other party and the own position information. Therefore, the work can be efficiently performed while preventing the two combines 2a and 2b from coming into contact as much as possible.

  Further, when the cutting work proceeds and the remaining area to be cut decreases, the two combines 2a and 2b come close to each other at the center of the field 400 as shown in the figure. The controller 5 calculates the remaining area to be an uncut portion from the stored area of the farm field 400, the travel route, and the specifications (cutting width, etc.) of the cutting unit 200, and performs the cutting operation simultaneously for two units. Determine whether it is possible.

  When it is determined that it is difficult to work on two units at the same time, the controller 5 determines the amount of soot by the moisture sensor 210 or the weight sensor 220 provided in the Glen tank, and the Glen tank of the two combines 2a and 2b. Control is performed so that the one with the larger free space will work to the end. The person who has finished the work may stop on the spot or may automatically return to a predetermined initial position.

  In addition, when two harvesters 2a and 2b are put into the field 400 to perform the cutting operation, as shown in FIG. 8, the operations are not started from the diagonal positions, but from the parallel state. Each cutting operation can be carried out while proceeding in the same direction. In that case, when making a turn at the corner of the field 400, it is preferable to provide a time difference. That is, for example, when the first combine 2a turns first, the second combine 2b stops while the first combine 2a requires a turn by combining the reverse and forward movements, and the first combine 2a 2a starts the turn delayed by the time required for the turn.

  Even in this case, the cutting operation of the cutting control unit 440 can be efficiently performed while preventing contact accidents between the two combines 2a and 2b as much as possible.

  Through the above-described embodiment, the following farm work support system 100 is realized.

  (1) A work vehicle 23 equipped with a work device and performing a predetermined work while traveling on the field 400, a GNSS control unit 31 and a GNSS control device 32 for acquiring position information, and a worker M carrying the GNSS control unit 31 And a communication unit capable of transmitting and receiving information between the work machine and the work vehicle 23 provided with the GNSS control device 32, and a front stage in the field 400 accompanied by the position change of the worker M and the work machine acquired by the GNSS control unit 31. A farm work support system comprising: a work information deriving unit 51 for deriving second information related to subsequent work in the field 400 by the work vehicle 23 based on the first information related to the work and the specification information of the work vehicle 23. 100.

  (2) In the above (1), the working machine is the seedling transplanter 1, and the seedling transplanter 1 transplants the seedling N1 as the first information based on the position information acquired by the GNSS control unit 31. The work information deriving unit 51 of the work vehicle 23 includes the specification information of the work vehicle 23 and the planting position information received from the controller 5 via the communication unit. Based on this, the farm work support system 100 for deriving work route information as second information.

  (3) In the above (2), the work vehicle 23 is the combine 2 including the cutting unit 200, and the work information deriving unit 51 is based on the specification information of the cutting unit 200 and the planting position information of the seedling N1. Then, the farm work support system 100 for deriving the cutting route information related to the cutting work as the work route information.

  (4) In the above (1), the GNSS control unit 31 is provided in the wireless communication terminal 4 having a function as the storage unit 410 that stores the first information and a function as a communication unit. The work information deriving unit 51 is a farm work support system 100 that derives second information based on the first information accompanied by a change in the position of the worker M carrying the wireless communication terminal 4.

  (5) In the above (4), the work information deriving unit 51 derives, as the second information, worker tracking route information that is defined to track the worker M carrying the wireless communication terminal 4 as the second information. 100.

  (6) In the above (4), the work information deriving unit 51 acquires the specification information of the work vehicle 23 and the worker M carrying the wireless communication terminal 4 by moving the peripheral edge 460 of the farm field 400. A farm work support system 100 for deriving work route information as second information based on the field contour information as the information.

  (7) In the above (1), the work vehicle 23 is the unmanned combine 2 including the reaping unit 200, and the GNSS control unit 31 has a function as a storage unit 410 that stores the first information and a communication unit. The unmanned combine 2 provided in the wireless communication terminal 4 has a first handling mode that is executed in the middle of the cutting operation, and a second handling mode that is executed after the end of the cutting operation. The 1 hand-handling mode and the second hand-handling mode are the farm work support system 100 that is executed in response to a command transmitted from the worker M who is a carrying body via the wireless communication terminal 4.

  (8) In the above (1), the work vehicle 23 includes two harvesters 2 and 2 each having a cutting unit 200 and a vehicle body communication unit 41b, capable of mutual communication, and at least one of which can run unattended. A farm work support system 100 configured to be able to share work information between two combiners 2 and 2.

  The embodiment described above is merely an example, and is not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the scope of the invention. In addition, specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration, shape, display element, etc. are changed as appropriate. Can be implemented.

DESCRIPTION OF SYMBOLS 1 Seedling transplanter 2 Combine 3 Passenger management machine 4 Wireless communication terminal 5 Controller (control device)
23 work vehicle 31 GNSS control unit (first position information acquisition device)
32 GNSS control device (second position information acquisition device)
51 Work Information Deriving Unit 100 Agricultural Work Support System 200 Harvesting Unit 400 Farm Field 410 Storage Unit M Worker N1 Seedling

Claims (8)

A work vehicle that is equipped with a work device and performs a predetermined work while traveling in the field;
A first position information acquisition device and a second position information acquisition device for acquiring position information;
A communication unit capable of transmitting and receiving information between a carrying body carrying the first position information acquisition device and the work vehicle including the second position information acquisition device;
In the field by the work vehicle based on the first information related to the previous work in the field with the position change of the carrying body acquired by the first position information acquisition device and the specification information of the work vehicle. A work information deriving unit for deriving second information related to the latter stage work in
A farm work support system comprising: The carrying body is a seedling transplanter,
The seedling transplanter
Based on the position information acquired by the first position information acquisition device, and comprising a control device for deriving and storing the planting position information of the seedling that is the first information,
The work information deriving unit of the work vehicle is
The work route information as the second information is derived based on the specification information of the work vehicle and the planting position information received from the control device via the communication unit. Farm work support system. The work vehicle is a combine equipped with a cutting part,
The work information deriving unit
The farm work support system according to claim 2, wherein the cutting route information related to the cutting work is derived as the work route information based on the specification information of the cutting unit and the planting position information of the seedling. The first position information acquisition device includes:
Provided in a wireless communication terminal having a function as a storage unit for storing the first information and a function as the communication unit,
The work information deriving unit of the work vehicle is
The farm work support system according to claim 1, wherein the second information is derived based on the first information accompanied by a change in position of an operator who is the carrying body carrying the wireless communication terminal. The work information deriving unit
The farm work support system according to claim 4, wherein worker follow-up route information defined to follow the worker carrying the wireless communication terminal is derived as second information. The work information deriving unit
Based on the specification information of the work vehicle and the field contour information as the first information acquired by moving the periphery of the field by the worker carrying the wireless communication terminal, the second The agricultural work support system according to claim 4, wherein work route information is derived as information on the farm. The work vehicle is an unmanned combine equipped with a cutting part,
The first position information acquisition device includes:
It is provided in a wireless communication terminal having a function as a storage unit that stores the first information and the communication unit,
The unmanned combine is
A first handling mode that is executed in the middle of the harvesting operation, and a second handling mode that is executed after the termination of the harvesting operation;
2. The farm work according to claim 1, wherein the first handling mode and the second handling mode are executed in response to a command transmitted from the worker who is the carrying body via the wireless communication terminal. Support system. Each of the work vehicles includes a harvesting unit and a communication device, and is capable of communicating with each other, and at least one of the two combines is capable of traveling unattended.
The farm work support system according to claim 1, wherein work information can be shared between the two combines.

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