Cooperating management of farm machinery operation

在农活上，常常有几台机器同时运转。研究的目的是使这些机器能够有效地协同工作。本研究对以下三个课题进行了研究。(1)有效的协作方式；(2)机器与其他机器的通信方式；(3)农用车上位置的自我识别。有效的合作方式。将合作农作分为串联式、并联式和复合式。对复合农场作业之一--牧草收割作业进行了数字仿真。结果表明：1.合作方式比每个操作者各自独立工作的情况更有效。沟通方式。首先对数字信号的调频无线通信进行了尝试。但由于受无线电波控制规律的限制，有效通信距离不足。利用BC波段收发机在水稻收割作业中作为噪声农活进行了试验。联合收割机的作业和通讯都没有问题。尝试了BC波段收发信机的分组无线通信，该方法效果较好，但还需要继续试验。农用车的自我认知。在每辆农用车的田间位置决策中，检测车辆的角速度和行驶速度，并对各个信号进行综合，做出位置决策。经调查，该方法具有较强的实用性。

On the farm work, often a few machines operate at the same time. The purpose of the study is to make effective cooperation of these machines. On this study following three subjects were researched. (1)effective cooperation method, (2)communication method from a machine to other machines, (3)self-recognition of position on the farm vehicles.1. Effective cooperating method. Cooperative farm work were classified to series, parallel and compound operations. One of the compound farm operation, forage harvesting operation were simulated by digital method. Cooperative method was effective compared with a case that each operators worked independently by their mind.2. Communication method. A-t first FM wireless communication of digital signal was tried. But the effective communication distance was shortage by limitation of radio wave control law. Using BC-band transceiver was tried on the rice harvesting operation as noisy farm work. There were no problem on the combine harvesting operation and communication. Packet wireless communication with BC-band transceiver was tried, the method was good but it was required continued experiments.3. Self-recognition of farm vehicle. For the decision of farm vehicle position in the field on each farm vehicle, angular velocity and running velocity of the vehicle was detected and each signals were integrated and decision of the position was made. By the investigation, it was estimated that this method was practical.