JP2020113123A - Farming system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a farming system capable of easily evaluating a difference between an expected work result and an actual work result. SOLUTION: The farming system has a work plan map creation unit 52 that creates a work plan map showing a plan of field work for each section, and a field work simulation based on the work plan map as a result of the simulation. A work prediction map creation unit 53 that creates a work prediction map, a work record map creation unit 54 that creates a work record map based on work data generated by a field work machine that performed field work, a work plan map, and work. It is provided with a display control unit 55 that displays either a prediction map, a work performance map, or all of them on the display 58 so as to be mutually comparable. [Selection diagram] Fig. 1

Description

The present invention relates to a farming system that manages a field divided into a plurality of sections using a field work machine.

The farming system according to Patent Document 1 includes an agricultural section management unit that manages agricultural sections, an agricultural work management section that manages agricultural work events such as fertilization and harvesting that are carried out successively for each agricultural section, and agricultural work events that have been carried out. A data recording unit that records the contents (fertilization amount, harvest amount, etc.) and cost as an agricultural work record, an actual output data generation unit that generates actual output data for outputting the history of agricultural work events as an agricultural work record table, and an agricultural work A plan output data generation unit that generates plan output data for outputting the farm work plan based on the criteria of the farm work event calculated from the results is provided. The farm worker carries out the farm work while looking at the output farm work plan.

A farming system according to Patent Document 2 includes a map data recording unit that records field map data, and a field work data recording unit that records field work data generated for each work performed on a field by various farm work machines. A data management unit that manages the field map data and the field work data at a common coordinate position, and an evaluation unit that performs farm management evaluation of the field based on the field work data. The field work data includes yield, taste, and fertilizer application amount per minute section. Based on the yield distribution of micro-divisions in the field, which is output based on the yield per micro-division in the field, a good division and a bad division in which the field harvest is better than the average are determined. Based on this determination result, it is possible to plan a reduction in the fertilizer drop to the excellent section and an increase in the fertilizer drop to the poor section.

JP, 2014-194653, A JP, 2017-068533, A

In the conventional farming system described above, work data relating to field work such as fertilization work performed in the past, and actual data such as the amount of harvest as a result of the field work are recorded for each field. When planning a new field work plan, it is important to refer to the recorded work data and actual data so as to plan for efficient harvesting. The farmer grasps the shape of the field to be worked on the display or printout, and makes a field work plan by assuming the work content according to the shape. For this reason, the farmer divides the farm field with boundaries or farm roads that define the shape of the farm field as boundaries, and allocates optimal work contents to the divided farm field areas (sections). When such a field work plan is created, the field work machine performs work traveling in the field so that the field work plan can be realized. At this time, since the field work machine sets the work width, it is necessary to travel so that the travel locus having this work width (including overlap) covers the field. When planning work, the working width of the field working machine is not taken into account so strictly. Furthermore, since there may be unexpected traveling obstacles and the like in the field, the travel route of the field work vehicle does not always match between the time of work planning and the time of actual work travel. As a result, the actual work record due to the actual work and the expected work record predicted in the work plan differ. However, it has been difficult to easily evaluate the difference between the expected work record and the actual work record in the farm management system up to now.

An object of the present invention is to provide a farming system that can easily evaluate the difference between the expected work record and the actual work record.

A farming system according to the present invention is a system for managing a field divided into a plurality of sections by using a field work machine, and a work plan map creation unit for creating a work plan map showing a plan of field work for each section. A work prediction map creation unit that creates a work prediction map as a result of the simulation by simulating the field work based on the work plan map; and work data created by the field work machine that has performed the field work. A work performance map creation unit that creates a work performance map based on the above, and a display control unit that displays any or all of the work plan map, the work prediction map, and the work performance map on the display in a mutually comparable manner. Equipped with.

With this configuration, when the work plan map for the field work is created, the simulation of the field work is executed based on the work plan map. The simulation result is created as a work prediction map. This allows the farmer to evaluate the work plan while looking at the work plan map and the work prediction map displayed on the display, and if necessary, correct the work plan to improve the work plan map. be able to. Further, when the field work based on the work plan map is carried out by the field work machine, a work result map is created from the work data obtained through the field work. A series of work plan maps, work prediction maps, and work performance maps created in this way are displayed on the display so that they can be compared with each other. Homes can gain valuable guidance for their next field work plan.

When planning field work such as fertilization work and drug administration work, the farmer roughly divides the field into a plurality of areas and considers the results of past field work and the current field status for each area. The contents of the field work are determined for each area. At that time, the farmer divides the farm field with boundaries or farm roads that define the shape of the farm field as boundaries, and allocates optimum work contents to the divided farm field areas (divisions) while drafting a work plan. On the other hand, in the simulation of field work and the actual field work, the work result is calculated for each field region (section) defined by the traveling locus of the field work machine and its working width. From this, it is convenient to create the respective work maps by using a coordinate system different from that of the work prediction map and the work performance map. Therefore, in one of the preferred embodiments according to the present invention, the work plan map is represented by a first coordinate system, and the work prediction map and the work record map are second coordinates different from the first coordinate system. Shown in the system.

The field work machine, which performs field work while automatically traveling, always calculates the coordinate position of the vehicle by satellite positioning. Therefore, preferably, the work prediction map and the work performance map are created by combining the coordinate values obtained by satellite positioning and the contents of the field work. From this, in one of the preferred embodiments of the present invention, the first coordinate system is a field coordinate system in which two boundaries that demarcate the field are a vertical axis and a horizontal axis, and the second coordinate system is used. The system is a satellite positioning coordinate system in which the vertical axis and the horizontal axis are the latitude and longitude acquired from the satellite positioning data.

When the work plan map is shown in the first coordinate system, and the work prediction map or work performance map is shown in the second coordinate system, the field plan contents for each section in the work plan map are calculated by the work prediction map generation unit or the field work. It is necessary to perform coordinate conversion from the first coordinate system to the second coordinate system in order to accurately transmit the information to the machine. From this, in one of the preferred embodiments of the present invention, a coordinate conversion unit that performs coordinate conversion from the first coordinate system to the second coordinate system is provided.

The farmer makes a field work plan while comprehensively grasping the field status based on the shape of the field. On the other hand, the simulation results and results of the field work plan are brought about by the work traveling of the field work machine. Therefore, in one of the preferred embodiments of the present invention, the shape of the section used in the work plan map and the shape of the section used in the work prediction map are different, and the work The shapes of the sections used in the prediction map and the work performance map are the same. The shape of the section used in the work prediction map and the work performance map is defined by the work width of the field work machine that performs the field work. At that time, considering that the simulation result and the actual result based on the field work plan map are brought by the work traveling of the field work machine, the shape of the section used in the work prediction map and the work result map is It is preferable that the width is defined by the working width of the field work machine that performs the field work.

When a rented field work vehicle or the like is used for the field work, the work vehicle specifications such as the work width may be changed immediately before the field work. Further, the working width may be changed during the work depending on the state of the field. The change of the working width of the field work vehicle brings about the change of the shape of the worked section. In order to solve this problem, in one of the preferred embodiments of the present invention, a partition data conversion unit that allocates the work plan data assigned to the partition of the work plan map to the partition of the work prediction map is provided. Has been.

It is a schematic diagram which shows the schematic structure of a farming system. It is a side view of the rice transplanter with a fertilizer application which is an example of a field work machine. It is a schematic diagram which shows schematic structure of a seedling removal amount adjustment mechanism and a feeding amount adjustment mechanism. It is a functional block diagram which shows the control system of the rice transplanter participating in the farming system. It is a screen figure which shows an example of a work plan map. It is a screen figure which shows an example of a work prediction map. It is a screen figure for comparing a work plan map and a work prediction map. It is a screen figure which shows an example of a work record map. It is a screen figure for comparing a work plan map and a work performance map. It is a screen figure for comparing a work prediction map and a work performance map.

The outline of the farming system according to the present invention will be described with reference to FIG. The farming system is mainly used for wheat crops and rice crops, but is also used for various agricultural crops such as wheat, corn, carrots and onions. This farming system is suitable for managing field work by a field work machine, particularly fertilization work and chemical spraying work, and is constructed by a computer system. This farming system may be built on a computer system that farmers use individually (stand-alone), or may be built on a cloud computer system that many farmers jointly use. Using this farming system, the farmer plans a field work for a field divided into a plurality of sections, and causes the field work machine to run based on the plan.

The farming system includes a data storage unit 51, a work plan map creation unit 52, a work prediction map creation unit 53, a work performance map creation unit 54, and a display control unit 55 as basic components. The farming system of this embodiment further includes a coordinate conversion unit 56 and a section data conversion unit 57. Furthermore, the farming system can exchange data directly (using a data communication network) or indirectly (using a portable memory) with a field work machine that is input for field work. ..

The data storage unit 51 stores, for each field, all the data generated by this farming system and the data sent from the field working machine. The data is stored for each field, and the types of data are field characteristic data, field work plan data, field performance data, and the like.

The work plan map creation unit 52 creates a work plan map showing a plan of field work for each section by converting the field work plan drafted by the farmer into data. In this work plan map, work content data indicating the contents of the field work performed based on the work plan map and work specifications of the field work vehicle performing the field work (work width, work amount per unit distance, vehicle speed, etc.) Field work machine data including specification data indicating is attached. The work prediction map creation unit 53 simulates a field work based on the work plan map created by the work plan map creation unit 52, and creates a work prediction map as a result of the simulation. Before this simulation, a field work machine to be input to the field work is selected, and specifications such as the work width and work performance of the selected field work machine are given to the work prediction map creation unit 53 as simulation input parameters. The work performance map creation unit 54 creates a work performance map based on the work data generated by the field work machine that carried out the field work. For example, if the field work machine is a fertilizer application machine, the work performance map includes the fertilizer application amount for each section. The section length in the transverse direction with respect to the traveling direction of the field work machine is preferably matched with the work width determined by the specifications of the field work machine or is a multiple of the work width. The proper minimum section length in the traveling direction of the field work implement depends on the work control speed. That is, the section length in the traveling direction depends on the control responsiveness of the work equipment equipped in the field work implement. If a meaningful work result value is not assigned to the continuous sections even if the section length in the traveling direction is reduced, such a short section is useless. Therefore, the section length in the traveling direction is set to be equal to or longer than the section length to which a meaningful work result value is assigned in the maximum control response. The work plan map and the work prediction map are stored in the data storage unit 51 as field work plan data, and the work record map is stored as field record data.

The display control unit 55 extracts the data stored in the data storage unit 51 and displays it on the display 58. For example, any or all of the work plan map, the work prediction map, and the work performance map can be displayed on the display 58 in a mutually comparable manner. Therefore, the farmer can see the past field work status displayed on the display 58 when making a fertilizer application plan for this year.

The farmer draws a picture of the farm field and draws up the work plan of the farm field by referring to the results of fertilization work and harvest work in the previous year. Therefore, as the coordinate system (first coordinate system) used in the work plan map created by the work plan map creating unit 52, here, two boundary lines that demarcate the field are set to the vertical axis (indicated by Y in FIG. 1). Field) and the horizontal axis (indicated by X in FIG. 1) are used. On the other hand, the work prediction map and the work record map are created based on the work locus of the field work vehicle whose position is calculated by the satellite positioning system, and thus the coordinate system used for them (second coordinate system). Here, here, the satellite positioning coordinate system having the latitude and longitude acquired from the satellite positioning data as the vertical axis (indicated by M in FIG. 1) and the horizontal axis (indicated by L in FIG. 1). Is used. Therefore, before the work plan map is given to the work prediction map creation unit 53 and the work performance map creation unit 54, the coordinate conversion unit 56 coordinates the data of the work plan map from the first coordinate system to the second coordinate system. Convert.

The work plan map adopts a partition shape that facilitates the drafting of a work plan, whereas the shape of the partition used in the work prediction map and the work result map depends on the work width of the field work machine. Stipulated. Therefore, here, in the work plan map, a square section (plan section) of 3 m×3 m is used, and in the work prediction map, since the working width of the field work vehicle is 2 m, the square of 2 m×2 m is used. Sections (predicted sections) are used. That is, the shape of the section is different between the work plan map and the work prediction map. Therefore, before the work plan map is given to the work prediction map creation unit 53 and the work performance map creation unit 54, the partition data conversion unit 57 performs the coordinate conversion by the coordinate conversion unit 56 and the work plan assigned to the work partition. Section data conversion is performed in which the data value (section data value) is assigned to the section of the work prediction map. At that time, divide the average value (arithmetic mean value or weighted average value) of the partition data values of the planned partition located at the position corresponding to the target predicted partition and the planned partition located around the planned partition by the area of the planned partition. By multiplying the data density thus obtained by the area of the prediction section, the section data value of the target prediction section is calculated. By performing this calculation process for all the prediction sections, the conversion of the section data from the work plan map to the work prediction map is completed.

Next, fertilization work in rice cultivation will be described as an example of field work managed by the farming system according to the present invention. For this fertilization work, a riding type rice transplanter shown in FIG. 2 is used as a field work machine.

As shown in FIG. 2, the rice transplanter is equipped with a riding type four-wheel drive type traveling machine body (hereinafter referred to as a machine body 1). The machine body 1 includes a parallel four-link type link mechanism 11, which is connected to the rear portion of the machine body 1 so as to be movable up and down, a hydraulic lifting cylinder 11a that swings and drives the link mechanism 11, and a rear end portion of the link mechanism 11. A seedling planting device 3 (an example of a working equipment group) connected in a rollable manner, and a fertilizer application device 4 (an example of a working equipment group) installed from the rear end of the machine body 1 to the seedling planting device 3. I have it.

The machine body 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as a mechanism for traveling. The wheels 12 have steerable left and right front wheels 12A and unsteerable rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front part of the machine body 1. Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B and the like via the continuously variable transmission 14 and the like.

The seedling planting device 3 is configured in an eight-row planting format as an example. The seedling planting device 3 includes a seedling platform 31, an eight-row planting mechanism 32, and the like. The seedling planting device 3 can be changed to a two-row planting, four-row planting, six-row planting system or the like by controlling each row clutch (not shown).

The seedling placing table 31 is a pedestal on which eight mats of seedlings are placed. The seedling placing table 31 reciprocates in the left and right direction with a constant stroke corresponding to the left and right width of the mat-like seedling, and the vertical feed mechanism 33 causes the seedling placing table 31 to move on the seedling placing table 31 each time it reaches the left and right stroke ends. The mat-shaped seedlings are fed vertically to the lower end of the seedling placing table 31 at a predetermined pitch. The eight planting mechanisms 32 are of the rotary type and are arranged in the left-right direction at regular intervals corresponding to the spacing between planting lines. Then, each of the planting mechanisms 32 cuts one seedling of a single plant from the lower end of each mat-shaped seedling placed on the seedling placing table 31 by the power from the machine body 1, and plantes the seedling in the muddy soil portion after leveling. Thereby, in the operating state of the seedling planting device 3, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placing table 31 and planted in the mud soil portion of the paddy field.

As shown in FIG. 3, the seedling planting device 3 is provided with a seedling taking amount adjusting mechanism 30 for adjusting the seedling taking amount by the planting mechanism 32. The planting mechanism 32 passes through a seedling take-out opening formed in a guide rail 31a that slides and guides the lower end of the seedling placing table 31, and takes out one seedling of the seedling and plant it. The amount of seedlings is adjusted by vertically moving the seedling placing table 31 and the guide rails 31a for slidingly guiding the lower end of the seedling placing table 31.

The seedling removal amount adjusting mechanism 30 includes a seedling taking amount adjusting motor 36 with a speed reduction mechanism, which is an actuator for vertically moving the seedling placing table 31 and the guide rail 31a, and an output shaft of the seedling taking amount adjusting motor 36. It is provided with a pinion gear provided and a fan-shaped gear 35 meshing with the pinion gear. Further, the seedling removal amount adjusting mechanism 30 includes a support arm 301 inserted in the front part of the guide rail 31a and a support shaft 302 that supports the support arm 301 so as to be swingable. The support arm 301 and the sector gear 35 are linked by a connecting arm 303. The rotation shaft 304 of the fan gear 35 is provided with a seedling picking amount sensor 305 that detects a turning angle (a seedling picking amount) of the fan gear 35. By driving the seedling removal amount adjusting motor 36 in one direction, the seedling placing table 31 and the guide rails 31a are moved upward, and by driving the seedling removing amount adjusting motor 36 in the other direction, the seedling placing table 31 and the guide rail 31a are moved. Move to the descending side. The seedling removal amount is changed by vertically moving the seedling placing table 31 and the guide rail 31a.

As shown in FIG. 2, the fertilizer application device 4 includes a horizontally-long hopper 41, a feeding mechanism 42, an electric blower 43, a plurality of fertilizer application hoses 44, and a grooving device 45 provided for each row. .. The hopper 41 stores granular or powdered fertilizer. The feeding mechanism 42 is operated by the power transmitted from the engine 13, and feeds two fertilizers from the hopper 41 by a predetermined amount.

The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1 and generates a carrying wind for carrying the fertilizer fed by each feeding mechanism 42 toward the mud surface of the field. The fertilizer application device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by an intermittent operation of the blower 43 or the like.

Each fertilizer application hose 44 guides the fertilizer conveyed by the conveyance wind to each grooving device 45. Each grooving device 45 is provided in each leveling float 15. Then, each grooving device 45 moves up and down together with each leveling float 15 and forms a fertilization groove in the mud portion of the paddy field and guides the fertilizer into the fertilization groove during work traveling in which each leveling float 15 is grounded.

As shown in FIG. 3, the fertilizer application device 4 is provided with a feeding amount adjusting mechanism 40 capable of changing and adjusting the feeding amount of fertilizer by the feeding mechanism 42. The feeding amount adjusting mechanism 40 includes a screw shaft 403 for displacing the adjusting body 402 for adjusting the feeding amount in the feeding mechanism 42, and a fertilizer adjusting motor 404 for rotating the screw shaft 403 in forward and backward directions via a gear. A position detection sensor 405 for detecting the displacement position of the adjusting body 402 based on the rotation of the screw shaft 403 and the like.

As shown in FIG. 2, the machine body 1 includes an operation unit 20 on the rear side thereof. The driving unit 20 includes a steering wheel 21 for steering front wheels, a main speed change lever 22 that adjusts a vehicle speed by performing a speed change operation of the continuously variable transmission 14, an auxiliary speed change lever 23 that enables a speed change operation of an auxiliary speed change device, and a seedling. A work operation lever 25 that enables the raising/lowering operation of the planting apparatus 3 and switching of operating states, and a touch panel that displays (notifies) various information and notifies (outputs) to an operator, and also receives input of various information. It has a general-purpose terminal 9 and a driver's seat 16 for an operator. Further, a spare seedling frame 17 for storing spare seedlings is provided in front of the operating unit 20.

The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. Further, as shown in FIG. 3, a steering motor M1 is also connected to the steering mechanism, and the steering angle of the front wheels 12A is changed by operating the steering motor M1 based on a command from the control unit 6 during automatic traveling. Adjusted. Further, a gear shift operation motor M2 for automatically operating the main gear shift lever 22 is also provided, and during automatic traveling, the gear shift operation motor M2 operates based on a command from the control unit 6, so that there is no stepless operation. The shift position of the transmission 14 is adjusted.

FIG. 4 shows a control block diagram of the control system of this rice transplanter and the external computer system 5 that constitutes the farming system described above. The control unit 6, which is the core of the control system of the rice transplanter, is connected to the communication unit 81 used when exchanging data with the external computer system 5 and the general-purpose terminal 9 provided in the rice transplanter. The general-purpose terminal 9 has a built-in travel route generation unit 91 that generates a target travel route during automatic travel. Signals from the positioning unit 8, the automatic changeover switch 27, the traveling sensor group 28, and the work sensor group 29 are input to the control unit 6. A control signal from the control unit 6 is output to the traveling equipment group 1A and the working equipment group 1B.

The positioning unit 8 outputs positioning data for calculating the position and orientation of the machine body 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS) and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the airframe 1. The automatic changeover switch 27 is a switch for selecting an automatic travel mode in which the machine body 1 is automatically traveled along the travel route generated by the travel route generation unit 91 and a manual travel mode in which the aircraft 1 is manually traveled. The traveling sensor group 28 includes various sensors that detect states such as a steering angle, a vehicle speed, an engine speed, and set values for them. The work sensor group 29 includes various sensors that detect the states of the link mechanism 11, the seedling planting device 3, the fertilizer application device 4 and set values for them.

The traveling device group 1A includes, for example, a steering motor M1 and a gear shifting operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control unit 6. The vehicle speed is adjusted by controlling the shift operation motor M2.

The work equipment group 1B includes, for example, an elevating cylinder 11a, a seedling removal amount adjusting mechanism 30, and a feeding amount adjusting mechanism 40. Based on the control signal from the control unit 6, the seedling removal amount adjustment motor 36 (see FIG. 3) is controlled to adjust the seedling removal amount, and the fertilizer adjustment motor 404 (see FIG. 3) is controlled. The amount of fertilizer applied is adjusted.

The control unit 6 includes a traveling control unit 61, a work control unit 62, a vehicle position calculation unit 63, a work parameter setting unit 64, and a work data creation unit 65.

The vehicle position calculation unit 63 calculates the map coordinates (vehicle position) of the machine body 1 based on the satellite positioning data sequentially sent from the positioning unit 8. This rice transplanter is capable of automatic traveling and manual traveling, and the traveling controller 61 is in the automatic traveling mode in which automatic traveling is performed or in the manual traveling in which manual traveling is performed based on a command from the automatic changeover switch 27. One of the modes is set. In the automatic travel mode, the automatic travel control unit 611 controls the steering control amount so as to reduce the lateral deviation and the azimuth deviation based on the lateral deviation and the azimuth deviation calculated by comparing the own vehicle position and the target travel route. Is calculated. The steering motor M1 is controlled based on the steering control amount, and the steering angle of the front wheels 12A is adjusted. In the manual travel mode, the manual travel control unit 612 controls the steering motor M1 based on the operation amount of the steering wheel 21 to adjust the steering angle of the front wheels 12A.

The work control unit 62 automatically controls the work equipment group 1B based on a program given in advance in the automatic travel mode, and controls the work equipment group 1B based on a driver's operation in the manual travel mode. To do.

The work parameter setting unit 64 sets work parameters for the work equipment group 1B based on the work content included in the work plan map downloaded from the external computer system 5. The details of this work are set for each section of the field. When the field work is fertilization work, the work parameter setting unit 64 specifies the section in which the grooving device 45 is located based on the own vehicle position calculated by the own vehicle position calculation unit 63, and this is specified. The adjustment amount is calculated as a work parameter corresponding to the fertilizer dose allocated to each section. The delivery amount adjusting mechanism 40 is controlled so that the calculated adjustment amount is realized.

The work data creation unit 65 creates work data by converting the work results of the field work performed by the rice transplanter based on the field work plan into data, and creates a work result file including this work data. When the rice transplanter is performing fertilization work as field work, this work result file includes work date and time, data for identifying the field, traveling locus of the machine body 1, fertilizer type, fertilizer application amount for each section, and the like. The created work result file is uploaded to the external computer system 5 through the communication unit 81.

If the field work is seedling planting work, the work data of the work result file uploaded from the rice transplanter to the external computer system 5 includes the seedling planting amount for each section instead of the fertilizer application amount for each section. .. If the field work is a harvesting work, a combine is used as the field work machine, and the work data of the work result file includes the yield and taste of each section. If the field work is a soil work, the work data of the work result file includes the soil depth for each section.

The external computer system 5 has the same function as the farming system described with reference to FIG. 1, and therefore its description is omitted. Here, a part of the contents displayed on the display 58 is displayed while the farmer makes a work plan using this farming system, creates a final work plan map to send to the rice transplanter through simulation, Explained.

FIG. 5 shows a work plan map (here, a fertilization plan map) created by the work plan map creation unit 52 and displayed on the display 58. The fertilization plan map for this year is created by the farming farmers inputting the amount of fertilization for each section while referring to the last year's yield performance map (an example of work performance map) of the same field. The work plan map creating unit 52 can automatically create the fertilization plan map map from the yield result map if a fixed relationship between the yield and the fertilizer application amount is set. While displaying the fertilization plan map that has been automatically created on the display screen, it is possible for a farmer to specify an arbitrary section and correct the fertilization amount.

FIG. 6 shows a work prediction map (here, a fertilization prediction map) created by the work prediction map creation unit 53 and displayed on the display 58. The work prediction map creation unit 53 is provided with a simulation calculation function, and is used when a fertilizer of the fertilizer application amount for each section included in the input fertilization plan map is administered by the designated fertilizer application machine. The distribution is calculated as a fertilization prediction map. In this simulation, the working width of the designated fertilizer application machine is the length of one side of the section. In the rice transplanter and the fertilizer application machine, the working width can be changed by controlling each row clutch, etc., so that a variable compartment width that also changes the compartment width according to the changed working width may be adopted. .. As the length of the other side of the section, that is, the section length in the traveling direction of the fertilizer application machine, different values can be adopted depending on the fertilizer application pitch. However, a partition length that is shorter than the administration pitch is not adopted because a wasteful partition occurs. As shown in FIG. 7, the fertilization prediction map created is displayed alongside the fertilization plan map. Such a display screen is used for determining the quality of the fertilization plan. In FIG. 7, the fertilization plan map and the fertilization prediction map are displayed side by side for easy comparison, but in place of this, the fertilization plan map and the fertilization prediction map can also be displayed in a selectable overlapping manner. Is.

FIG. 8 shows a work performance map (here, the fertilization performance map) created by the work performance map creation unit 54 and displayed on the display 58. The work performance map creation unit 54 is based on the fertilization results based on the fertilization amount for each section included in the work data of the work result file created by the work data creation unit 65 of the rice transplanter and uploaded to the external computer system 5. Create a map. When the work width differs between the simulation and the actual work, the work prediction map and the work performance map may use different size sections. Since the work result file also includes the traveling locus of the rice transplanter, it is possible to display the traveling locus of the rice transplanter performing fertilization work on the fertilizer application map. In FIG. 8, a part of the traveling locus is shown by a dotted line. In the display screen diagram of FIG. 9, the fertilization plan map and the fertilization result map are displayed side by side, and in the display screen diagram of FIG. 10, the fertilization prediction map and the fertilization result map are displayed side by side. The farmer can evaluate the display screen shown in FIG. 9 to examine how the actual fertilization results differ from the fertilization plan, and at what place a large difference occurs. Further, by comparing the simulation result and the actual result through the display screen of FIG. 10, the improvement point of the simulation can be found.

[Another embodiment]
(1) In the embodiment shown in FIG. 4, the farming system is built in the external computer system 5, but it may be built in the field working machine side such as the general-purpose terminal 9. Alternatively, it may be constructed by being divided into the external computer system 5 and the general-purpose terminal 9.
(2) In the above-described embodiment, the field work machine is a vehicle that can run automatically, but it may be a vehicle that cannot run automatically. In that case, the own vehicle position (work position) is calculated based on the positioning data from the positioning unit 8, and the work result map is created by combining the own vehicle position and the work result. In the case of manual travel, the travel route generated by the travel route generation unit 91 is used as a travel support map.
(3) In the case of a field work machine having a variable work width, a structure may be adopted in which a work prediction map or a work performance map having a section width that is linked to a change in the work width is created. Furthermore, a configuration may be adopted in which a work prediction map or work performance map having a section length in the traveling direction is created in accordance with the minimum response timing in the field work by the field work machine.

In the above-described embodiment, the present invention employs a rice transplanter with a fertilizer application as a field working machine, but a fertilizer-dedicated machine or the like can also be incorporated in the farming system of the present invention.

4: fertilizer application device 40: feeding amount adjusting mechanism 402: adjusting body 403: screw shaft 404: fertilizer adjusting motor 405: position detecting sensor 41: hopper 42: feeding mechanism 43: blower 44: fertilizing hose 45: grooving device 5: external Computer system 51: Data storage unit 52: Work plan map creation unit 53: Work prediction map creation unit 54: Work performance map creation unit 55: Display control unit 56: Coordinate conversion unit 57: Section data conversion unit 58: Display 6: Control Unit 61: Travel control unit 62: Work control unit 63: Own vehicle position calculation unit 64: Work parameter setting unit 65: Work data creation unit 8: Positioning unit 9: General-purpose terminal 91: Travel route generation unit

Claims (7)

A farming system for managing a field divided into a plurality of sections using a field work machine,
A work plan map creation unit that creates a work plan map showing a plan of field work for each section,
A work prediction map creation unit that performs a simulation of the field work based on the work plan map and creates a work prediction map as a result of the simulation;
A work performance map creation unit that creates a work performance map based on work data generated by the field work machine that has performed the field work;
A display control unit for displaying any of the work plan map, the work prediction map, and the work performance map, or all of them on the display in a mutually comparable manner,
Farming system equipped with. The farming system according to claim 1, wherein the work plan map is shown in a first coordinate system, and the work prediction map and the work result map are shown in a second coordinate system different from the first coordinate system. .. The first coordinate system is a field coordinate system having two boundary lines that demarcate the field as a vertical axis and a horizontal axis, and the second coordinate system represents a latitude and a longitude acquired by satellite positioning data. The farming system according to claim 2, which is a satellite positioning coordinate system having an axis and a horizontal axis. The farming system according to claim 2, further comprising a coordinate conversion unit that performs coordinate conversion from the first coordinate system to the second coordinate system. The shape of the section used in the work plan map and the shape of the section used in the work prediction map are different, and the section used in the work prediction map and the work result map The farming system according to any one of claims 1 to 4, wherein the farming systems have the same shape. The farming system according to claim 5, wherein the shape of the section used in the work prediction map and the work record map is defined by the work width of a field work machine that performs the field work. The farming system according to claim 5 or 6, further comprising: a section data conversion unit that allocates the work plan data assigned to the sections of the work plan map to the sections of the work prediction map.

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