CN116382254A - Automatic travel method, work vehicle, and automatic travel system - Google Patents

Abstract

Provided are an automatic travel method, a work vehicle, and an automatic travel system, which can efficiently perform work regardless of the outer peripheral shape of a field when automatically traveling along a preset target travel path. A rice transplanter as a work vehicle is provided with a control device and a portable terminal. The mobile terminal includes a control device that functions as a route creation unit that creates a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in a field, and sets a turning start position and a turning end position of the turning route in advance on the unit routes. The control device functions as a travel control unit that automatically travels the rice transplanter along the target travel path. The present invention also functions as a path changing unit that changes the turning start position in the unit path in accordance with a predetermined operation of the rice transplanter that travels on the straight path of the unit path.

Description

Automatic travel method, work vehicle, and automatic travel system

Technical Field

The present invention relates to an automatic travel method, a work vehicle, and an automatic travel system for automatically traveling the work vehicle in a field.

Background

Conventionally, a work vehicle such as a rice transplanter that performs work in a field is provided with a positioning unit that obtains positional information of the work vehicle by a positioning system, determines an outer peripheral shape of the field, sets a target travel path in advance based on the outer peripheral shape, and automatically travels along the target travel path.

For example, a work vehicle disclosed in patent document 1 includes: a working device for working the field; a positioning unit for detecting the position of the traveling machine body; and a work travel route acquisition unit that acquires a work travel route that the travel machine body travels, and that is provided with an automatic travel control unit that automatically performs operation of a transmission device for travel of the travel machine body and steering operation of the travel machine body based on the position of the travel machine body so that the travel machine body travels along the work travel route at a 1 st set speed that is set in advance. The work vehicle further includes: a turning route acquisition unit that acquires a turning route that connects an end of a work travel route with an end of a next work travel route; and an automatic turning control unit that automatically performs an operation of the transmission and a steering operation based on a position of the traveling machine body so that the traveling machine body travels along the turning route at a 2 nd set speed set in advance.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2018-117560

Disclosure of Invention

The outer peripheral shape of the field is determined by using a regression line or the like based on a measurement point of position information in a travel track when the work vehicle travels along the outer periphery of the field. However, ridges constituting a field may be formed not only as straight lines but also as follows: the outer peripheral shape of the field is difficult to accurately determine because the field has a portion protruding inward for providing a water intake and the like and a portion protruding outward for forming a deep space. Therefore, since the target travel path including the straight travel path and the turning path is set in advance based on the outer peripheral shape of the field determined by the regression line or the like, when the entire field is operated, if the vehicle travels automatically along the target travel path, the vehicle may contact with an obstacle such as a water intake and may be excluded from traveling in a deep space. That is, with respect to a work vehicle that performs automatic traveling, there is a possibility that the work efficiency may be lowered due to the outer peripheral shape of a field constituted by a ridge or the like.

The present invention aims to provide an automatic travel method, a work vehicle and an automatic travel system, which can efficiently perform work regardless of the outer peripheral shape of a field when automatically traveling along a preset target travel path.

In order to solve the above-described problems, an automatic travel method according to the present invention is an automatic travel method for automatically traveling a work vehicle in a field, comprising: a route creation step of creating a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and setting a turning start position and a turning end position of the turning route in advance in the unit routes; an automatic travel step of automatically traveling the work vehicle along the target travel path; and a path changing step of changing the turning start position in the unit path in accordance with a predetermined operation of the work vehicle traveling on the straight path of the unit path.

In order to solve the above-described problems, a work vehicle according to the present invention is a work vehicle for automatically traveling in a field, comprising: a route creation unit that creates a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and sets a turning start position and a turning end position of the turning route in advance in the unit routes; a travel control unit that automatically travels the work vehicle along the target travel path; and a route changing unit that changes the turning start position in the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

In order to solve the above-described problems, an automatic traveling system according to the present invention is an automatic traveling system for automatically traveling a work vehicle in a field, comprising: a route creation unit that creates a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and sets a turning start position and a turning end position of the turning route in advance in the unit routes; a travel control unit that automatically travels the work vehicle along the target travel path; and a route changing unit that changes the turning start position in the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

According to the present invention, there are provided an automatic travel method, a work vehicle, and an automatic travel system capable of efficiently performing work regardless of the outer peripheral shape of a field when automatically traveling along a preset target travel path.

Drawings

Fig. 1 is a side view of a rice transplanter according to an embodiment of the present invention.

Fig. 2 is a plan view of the rice transplanter according to the embodiment of the present invention.

Fig. 3 is a block diagram of a rice transplanter according to an embodiment of the present invention.

Fig. 4 is a plan view showing an example of a field where the rice transplanter according to the embodiment of the present invention operates.

Fig. 5 is a plan view showing another example of a field where the rice transplanter according to the embodiment of the present invention operates.

Fig. 6 is a plan view showing another example of a field where the rice transplanter according to the embodiment of the present invention operates.

Fig. 7 is a flowchart showing an example of the operation of the rice transplanter according to the embodiment of the present invention for performing the 3 rd turning operation by automatic traveling.

Description of the reference numerals

1 … rice transplanter (working vehicle); 5 … portable terminals; 16 … steering wheel; 17 … shift operating pedal; 18 … main gear lever; 40 … control means; 41 … storage; 45 … travel control unit; 50 … control means; 51 … storage; 55 … route creation unit; 56 … path changing section; 60 … target travel path; 61 … unit path; 62 … straight path; 63 … turn path; 66 … turn start position; 67 … end of turn position; 68 … to the forward and reverse switching positions.

Detailed Description

The work vehicle of the present invention performs work such as planting while traveling on a field of a work object by automatic driving or manual operation, and in particular, performs automatic traveling along a predetermined target travel path 60 (see fig. 4, etc.). A rice transplanter 1 according to an embodiment of the work vehicle of the present invention will be described with reference to the accompanying drawings. As shown in fig. 1 and 2, the rice transplanter 1 includes a body 2 and a planting unit 3, and is configured to perform a planting operation of seedlings by the planting unit 3 while traveling by the body 2. The rice transplanting machine 1 is provided with a control device 40 and is configured to be capable of communicating with a portable terminal 5 held by an operator.

The rice transplanter 1 sets any one of the manual travel mode and the automatic travel mode. When the manual travel mode is set, the rice transplanter 1 performs manual travel in accordance with an operation of the driving operation tool by the operator. On the other hand, when the automatic travel mode is set, the rice transplanter 1 is controlled by the control device 40 along a target travel path 60 (see fig. 4 and the like) created in advance by the mobile terminal 5 so that the rice transplanter 1 automatically travels.

As shown in fig. 1, the vehicle body section 2 includes: an engine 11 mounted on the front portion near the center in the lateral direction; a transmission 12 mounted behind the engine 11; a pair of front wheels 13 rotatably attached to the front at both ends in the left-right direction; and a pair of rear wheels 14 rotatably attached to the rear portion at both ends in the left-right direction.

The vehicle body portion 2 includes a driver seat 15 near the center, steering operation elements such as a steering wheel 16, a shift operation pedal 17, and a main shift lever 18 around the driver seat 15, and a work operation portion 19 and a display device 20 (see fig. 3). The body section 2 includes a plurality of preliminary seedling tables 22 at the front portion, and includes positioning means 23.

The engine 11 generates rotational power that drives the respective parts, and is covered from above by an engine cover 24. The transmission 12 is connected to the engine 11, and transmits power of the engine 11 to the pair of front wheels 13 and the pair of rear wheels 14 while shifting the speed. The transmission 12 is connected to a power take-off shaft (PTO shaft) 25 provided at the rear portion of the vehicle body portion 2, and transmits power of the engine 11 to the planting portion 3 via the PTO shaft 25.

The pair of front wheels 13 and the pair of rear wheels 14 are rotationally driven in accordance with the power transmitted from the engine 11 and the transmission 12, so that the vehicle body 2 travels forward or backward. The pair of front wheels 13 are driven to steer the vehicle body 2 in response to the operation of the steering wheel 16.

The steering wheel 16 is an operation tool for steering the rice transplanting machine 1 by an operator, and is disposed in front of the driver's seat 15 to adjust the steering transmitted to the pair of front wheels 13 in accordance with the rotation operation of the steering wheel 16 by the operator. The shift operation pedal 17 is an operation member for adjusting the traveling speed of the seedling planting machine 1 by the operator, and is disposed in the front lower portion of the driver's seat 15, and the rotational power transmitted to the pair of rear wheels 14 is adjusted in accordance with the stepping operation of the shift operation pedal 17 by the operator. The main shift lever 18 is disposed on the left side of the steering wheel 16, and transmits a shift operation of an operator to the transmission 12, and switches between forward travel, reverse travel, and stop of the rice transplanter 1, and also switches between a forward set speed and a reverse set speed. For example, the main shift lever 18 is switched to any one of the "forward" position, the "reverse" position, and the "stop" position, and is switched to the forward travel, the reverse travel, and the stop.

The work operation unit 19 operates the planting work by the planting unit 3, and includes, for example, a seedling planting ridge stop switch for switching the on/off of the planting of each ridge. The display device 20 displays various information related to the traveling and work of the rice transplanter 1, and is constituted by a liquid crystal display, an organic EL display, or the like, for example.

The plurality of preliminary seedling tables 22 are mounted on preliminary seedling table frames provided to stand up on the left and right sides of the engine cover 24 with a space therebetween in the vertical direction, and are placed on seedling mats to be supplied to the planting unit 3.

The positioning unit 23 is configured to acquire positional information of the rice transplanter 1 by using a satellite positioning system such as a GNSS, to receive positioning signals from positioning satellites via a positioning antenna, and to acquire positional information of the positioning unit 23, that is, positional information of the rice transplanter 1, based on the positioning signals.

The planting unit 3 is disposed behind the vehicle body 2 and is connected to the vehicle body 2 via a lifting link mechanism 27, and the lifting link mechanism 27 can lift the planting unit 3 relative to the vehicle body 2. The planting unit 3 includes a planting input box 28, a plurality of (e.g., 3) planting units 29, a seedling stage 30, and a plurality of floats 31, and is configured to sequentially supply seedlings from the seedling stage 30 to the planting units 29 to perform a planting operation. The planting input box 28 is configured to transmit power transmitted from the transmission 12 via the PTO shaft 25 to the plurality of planting units 29.

The plurality of planting units 29 are arranged at intervals in the left-right direction, and each planting unit 29 includes a planting gear box portion 32 and a rotary box portion 33. The front part of the planting transmission case part 32 is connected to the planting input case part 28, and power is transmitted to the planting transmission case part 32 through the planting input case part 28. The rotary box portion 33 is provided on both left and right sides of the planting transmission box portion 32, and is rotatably mounted on the rear portion of the planting transmission box portion 32. 2 planting claws 34 are attached to the outer side of each rotary box portion 33 in the left-right direction (the opposite side to the planting gear box portion 32 side).

The 2 planting claws 34 are rotatably attached to the rotary box 33 at both end sides of the rotary box 33 separated from the rotary shaft of the rotary box 33 with respect to the planting gear box 32. The rotary case portion 33 rotates relative to the planting transmission case portion 32 such that the 2 planting claws 34 rotate about the rotation axis of the rotary case portion 33. At this time, each planting claw 34 rotates while raking up the seedling from the seedling raising pad of the seedling stage 30 and planting the seedling in the field.

The seedling stage 30 is disposed above and in front of the plurality of planting units 29, and is configured to be capable of placing seedling mats thereon.

The float 31 is swingably provided at a lower portion of the planting unit 3, and a lower surface of the float 31 contacts the field surface to stabilize a planting posture of the planting unit 3 with respect to the field surface.

Next, the mobile terminal 5 will be described. The portable terminal 5 is one of the components of the rice seedling transplanting machine 1, and is a terminal capable of remotely operating the rice seedling transplanting machine 1, and is constituted by a tablet terminal having a touch panel, a notebook personal computer, or the like, for example. Further, the same operation device as the portable terminal 5 may be provided around the driver's seat 15. In the present invention, the rice transplanter 1 and the portable terminal 5 constitute an automatic traveling system.

As shown in fig. 3, the mobile terminal 5 includes a control device 50 formed of a computer such as a CPU, and the control device 50 is connected to a storage unit 51 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 52 for communicating with an external device. The mobile terminal 5 includes a display unit 53 including a liquid crystal display, an organic EL display, and the like for displaying and outputting various information to an operator, and an input unit 54 including a plurality of operation keys and the like for receiving an input operation of various information from the operator. The display unit 53 and the input unit 54 may be configured separately, or may be configured integrally with a touch panel or the like.

The storage unit 51 stores programs and data for controlling various components and functions of the mobile terminal 5, and the control device 50 performs arithmetic processing based on the programs and data stored in the storage unit 51 to control the various components and functions of the mobile terminal 5.

The storage unit 51 stores field information of a field to be operated by the rice transplanter 1. The field information includes, for example: the size and position information (coordinates, etc.) of the outer peripheral shape a of the field, the size and position information (coordinates, etc.) of the work area B and the land area C constituting the field, and the like.

As shown in fig. 4, the outer peripheral shape a of the field is created based on a travel track (each anchor point) when the rice transplanter 1 travels along the outer periphery of the field, and for example, each anchor point is linearized to create each side constituting the outer peripheral shape a of the field. The work area B is an area where the transplanting work is performed while the transplanting machine 1 automatically travels along the straight path 62 of the target travel path 60, and the ground area C is an area for turning from one straight path 62 to the other straight path 62 of the target travel path 60. The ground region C is a region including at least 2 turns of the ground width from the outer peripheral shape a of the field at intervals of the work width of the rice transplanter 1, and the work region B is a region inside the ground region C. The work width and the turning radius of the rice transplanter 1 may be set in advance, or may be arbitrarily changed in accordance with the operation of the portable terminal 5 by the operator.

The communication unit 52 is communicably connected to the communication unit 42 of the rice seedling planting machine 1 via a wireless communication antenna. The control device 50 controls the communication unit 52 to perform wireless communication with the rice transplanter 1, and transmits and receives various information to and from the rice transplanter 1.

The control device 50 of the mobile terminal 5 executes a program stored in the storage unit 51, and performs operations as the route creation unit 55 and the route changing unit 56. The route creation unit 55 and the route changing unit 56 implement a route creation step and a route changing step of the automatic travel method according to the present invention.

The route creation unit 55 creates a target travel route 60 for automatic travel in the field of the work object, stores the target travel route in the storage unit 51, and transmits the target travel route to the rice transplanter 1 via the communication unit 52. The route creation unit 55 creates a target travel route 60 having a plurality of unit routes 61 each including a plurality of straight routes 62 and a turning route 63 connecting the straight routes 62 as shown in fig. 4, based on the field shape a, for example, based on the field information stored in the storage unit 51. In fig. 4, a target travel path 60 for performing the planting operation while automatically traveling in the work area B is indicated by a solid line, an outer peripheral path 64 for performing the planting operation while traveling around the outer peripheral shape a of the field in the ground area C is indicated by a broken line, and an entry path 65 from the outside of the field into the field is indicated by a one-dot chain line.

For example, the route creation unit 55 sets a plurality of straight routes 62 in a field at work width intervals of the rice transplanter 1, and sets a turning route 63 for turning from one straight route 62 to another straight route 62 (for example, adjacent straight routes 62). As shown in fig. 4, the route creation unit 55 sets a turning start position 66 at which turning starts and a turning end position 67 at which turning ends in advance in the turning route 63 of each unit route 61, the turning start position 66 being set on the straight route 62 of one unit route 61, and the turning end position 67 being set on the straight route 62 of the next unit route 61.

The route creation unit 55 may set the straight route 62 so as to be straight at the shortest distance from one side to the other side of the 2 sides facing each other among the sides constituting the outer peripheral shape a of the field. For each unit route 61, the route creation unit 55 sets a turning start position 66 in advance at a position separated by a predetermined land width from the side (terminal side) of the field on the terminal side of the straight route 62, and sets a turning end position 67 in advance at a position separated by a predetermined land width from the side (terminal side) of the field on the start side of the next straight route 62.

However, in order to prevent invasion into the work area B where the planting work is completed and to safely perform turning travel, the rice transplanter 1 is provided with a soil area C having a soil width of at least 2 turns at work width intervals of the rice transplanter 1. In this case, after the planting operation in the work area B is completed, the transplanting machine 1 performs the planting operation while traveling around the ground area C at least 2 turns as shown by the outer peripheral path 64 in fig. 4. However, when the surrounding travel of the land area C is reduced according to the wishes of the operator or according to the condition of the field, for example, only 1 turn may be performed.

Therefore, in the present embodiment, the route creation unit 55 performs the planting work in the header area C in order to automatically advance the rice transplanter 1 beyond the turning start position 66, and as shown in fig. 5, sets the advance/retreat switching position 68 in advance on the straight route 62 at a position (position near the terminal side) that advances in the advancing direction (direction toward the ridge) from the turning start position 66, that is, sets the advance/retreat switching position 68 in the header area C. The rice transplanter 1 may be turned after being moved backward from the forward/backward switching position 68 to the turning start position 66, and the backward distance between the turning start position 66 and the forward/backward switching position 68 may be set in advance, or may be arbitrarily changed in accordance with the operation of the portable terminal 5 by the operator. In fig. 5, the reverse path 69 for performing the automatic reverse travel from the forward/reverse switching position 68 is shown at a position offset from the straight path 62 for performing the automatic forward travel, but may be set at a position overlapping along the straight path 62.

The route changing unit 56 is configured to: the turning start position 66 of each unit path 61 preset in the target travel path 60 is changed in accordance with a predetermined operation of the rice transplanter 1 traveling along the straight path 62 of the unit path 61, and the target travel path 60 stored in the storage unit 51 is updated. The route changing unit 56 may change the turning route 63 with the turning start position 66 as a starting point as the turning start position 66 is changed.

Each side constituting the outer peripheral shape a of the field is created by linearizing a travel track (each anchor point) when the working vehicle such as the rice transplanter 1 travels along the outer periphery of the field, but ridges of the field along each side are sometimes formed not in a straight line, for example, may protrude further inside or outside than the side of the outer peripheral shape a of the field. Therefore, even if the target travel path 60 is created in accordance with the outer peripheral shape a of the field, the turning start position 66 set at a predetermined distance from each side of the outer peripheral shape a may not be set at an appropriate position with respect to the ridge of the field.

Accordingly, the rice transplanter 1 determines the shape of the ridge ahead when automatically traveling along the straight path 62 of each unit path 61, and the path changing unit 56 changes the turning start position 66 so as to perform the planting work and the turning travel in accordance with the shape of the ridge.

For example, when the rice transplanter 1 stops the automatic forward travel at a position farther from the terminal side than the turning start position 66 set in advance on the unit path 61 and performs the automatic turning travel in accordance with the turning start operation (for example, forward operation), the path changing unit 56 changes the turning start position 66 to a position at which the turning travel is started. In this case, the route changing unit 56 changes the turning end position 67 to a position distant from the terminal side by the change distance from the turning start position 66 before the change to the turning start position 66 after the change.

Alternatively, as shown in fig. 6, when the rice transplanter 1 stops the automatic forward travel at a position farther from the terminal side than the forward/reverse switching position 68 preset on the unit path 61 and performs the automatic reverse travel along the reverse path 69 of the straight path 62 in accordance with the reverse operation, the path changing unit 56 changes the forward/reverse switching position 68' to a position where the reverse operation is performed. In fig. 6, ridges extending inward from the outer peripheral shape a of the field are indicated by hatching, and a straight path 62 before changing, a turning path 63, a turning start position 66, a turning end position 67, and a forward/reverse switching position 68 are indicated by broken lines. In this case, the route changing unit 56 changes the turning start position 66 'to a position distant from the terminal side by the amount of the change distance from the forward/reverse switching position 68 before the change to the forward/reverse switching position 68' after the change. Alternatively, the route changing unit 56 changes the turning start position 66 'to a position separated from the terminal side by the above-described reverse distance from the changed forward/reverse switching position 68'. Alternatively, the route changing unit 56 may change the turning start position 66' to a position at which the stop operation of the automatic reverse travel is performed or a position at which the turning start operation (for example, the forward operation) is performed after the automatic reverse travel is stopped. By changing the forward/reverse switching position 68', the straight traveling path 62' to the forward/reverse switching position 68 'and the reverse traveling path 69' for automatically performing reverse traveling from the forward/reverse switching position 68 'to the turning start position 66' are also changed, and therefore, the unit path 61 'and the target traveling path 60' are also changed.

When the path changing unit 56 changes the turning path 63' with the change of the turning start position 66' so that the turning start position 66' is set as a starting point, the turning end position 67' may be changed to a position distant from the terminal side by the amount of the change distance from the turning start position 66 before the change to the turning start position 66' after the change. In addition, when the rice transplanter 1 stops the automatic forward travel at a position closer to the terminal side than the preset forward/reverse switching position 68 and performs the automatic reverse travel in accordance with the reverse operation, the path changing unit 56 may change the forward/reverse switching position 68, but does not change the turning start position 66 and the turning end position 67 to a position closer to the terminal side than the preset turning start position 66 and the turning end position 67 (for example, a position toward the ridge).

Next, the control device 40 included in the rice transplanter 1 will be described. As shown in fig. 3, the control device 40 is configured by a computer such as a CPU, and is connected to a storage unit 41 such as a ROM, a RAM, a hard disk drive, and a flash memory, and a communication unit 42 for communicating with an external device.

The storage unit 41 stores programs and data for controlling various components and various functions of the rice transplanter 1, and the control device 40 performs arithmetic processing based on the programs and data stored in the storage unit 41, thereby controlling the various components and the various functions. The control device 40 acquires positional information of the rice transplanter 1 from the positioning unit 23, for example.

The communication unit 42 can perform wireless communication with external devices such as the mobile terminal 5 held by the operator via a wireless communication antenna. The control device 40 controls the communication unit 42 to perform wireless communication with the mobile terminal 5, and transmits and receives various information to and from the mobile terminal 5.

Further, the control device 40 executes a program stored in the storage unit 41 to perform an operation as the travel control unit 45. The travel control unit 45 also realizes an automatic travel process of the automatic travel method according to the present invention.

The travel control unit 45 controls travel of the seedling transplanting machine 1. For example, when the manual running mode is set, the running control unit 45 controls the vehicle speed and the steering of the rice transplanter 1 in accordance with the operation of the steering operation elements such as the steering wheel 16, the shift operation pedal 17, and the main shift lever 18.

When the automatic travel mode is set, the travel control unit 45 acquires the target travel path 60 set for the field from the mobile terminal 5, acquires the positional information of the rice transplanter 1 from the positioning unit 23, and controls the steering of the rice transplanter 1 based on the positional information and the target travel path 60 so that the rice transplanter 1 automatically travels along the target travel path 60. The travel control unit 45 may control the engine 11 and the transmission 12 so as to achieve a preset automatic travel speed, or may control the engine 11 and the transmission 12 in accordance with the operation states of the shift operation pedal 17 and the main shift lever 18.

For example, in the case where the main shift lever 18 is operated to the "forward" position, the travel control portion 45 controls as follows: the rice transplanter 1 is automatically driven at a forward drive speed based on the forward set speed of the main shift lever 18 and the amount of depression of the shift operating pedal 17. When the main shift lever 18 is operated to the "reverse" position, the travel control unit 45 controls the following manner: the rice transplanter 1 is automatically driven in reverse at a reverse drive speed based on a reverse set speed of the main gear lever 18 and a stepping amount of the shift operation pedal 17. When the main shift lever 18 is operated to "stop", the travel control unit 45 controls the following manner: the rice transplanter 1 is stopped regardless of the amount of stepping on the shift operation pedal 17.

When a predetermined turning start operation is performed during the automatic forward travel of the rice transplanter 1, for example, when turning steering and forward operation are performed after stopping the automatic forward travel, the travel control unit 45 controls the following manner: the rice transplanter 1 is caused to perform automatic turning travel with a set turning radius. Alternatively, when the rice transplanter 1 stops the automatic forward travel, then performs the automatic backward travel, and then performs the predetermined turning start operation, for example, when the forward operation is performed after stopping the automatic backward travel, the travel control unit 45 controls the following manner: the rice transplanter 1 is caused to perform automatic turning travel with a set turning radius.

For example, when the automatic travel of the target travel path 60 having the plurality of unit paths 61 including the plurality of straight paths 62 and the turning path 63 connecting the straight paths 62 is performed, the travel control unit 45 first controls the travel of the rice transplanter 1 so as to automatically advance while performing the planting work along the straight paths 62. When detecting that the rice transplanter 1 that is traveling automatically has reached the turning start position 66, the control device 50 of the mobile terminal 5 notifies the operator of the arrival of the turning start position 66 by the display of the display unit 53 or the like, and prompts the operator to stop the rice transplanter 1 and start turning.

Here, when turning is performed at the preset turning start position 66 as the normal 1 st turning operation, the travel control unit 45 controls the travel of the seedling transplanting machine 1 so that the automatic forward travel is stopped in accordance with the stop operation and the planting operation is stopped, and in this state, the automatic turning travel is performed along the turning path 63 in accordance with the predetermined turning start operation and the seedling transplanting machine moves to the other straight path 62.

On the other hand, when the rice transplanter 1 is automatically driven forward beyond the turning start position 66 and planting work is performed in the soil region C, if the control device 50 of the portable terminal 5 detects that the rice transplanter 1 is automatically driven forward and reaches the forward/backward switching position 68, the control device notifies that the rice transplanter 1 has reached the forward/backward switching position 68 by the display of the display unit 53 or the like, and prompts the operator to perform backward operation of the rice transplanter 1. When turning is performed after the forward/reverse switching position 68 set in advance is switched as the 2 nd turning operation, the travel control unit 45 controls the travel of the seedling transplanting machine 1 so that the automatic forward travel is stopped in accordance with the stop operation and the planting operation is stopped, and in this state, the automatic reverse travel along the reverse path 69 of the straight path 62 is performed in accordance with the reverse operation.

Further, if the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 that is automatically traveling backward reaches the turning start position 66, it notifies the operator of the arrival of the turning start position 66 by the display of the display unit 53 or the like, and prompts the operator to stop the rice transplanter 1 and start turning. Here, the travel control unit 45 controls the travel of the seedling transplanting machine 1 so that the automatic backward travel is stopped in response to the stop operation and the planting operation is stopped, and in this state, the automatic turning travel is performed along the turning path 63 and the seedling transplanting machine moves to the other straight path 62 in response to the predetermined turning start operation.

When turning is performed after switching the forward/backward movement of the rice transplanter 1 at a position farther from the terminal side than the preset forward/backward switching position 68 as the 3 rd turning operation, the travel control unit 45 controls the travel of the rice transplanter 1 so that the automatic forward travel is stopped in accordance with the stop operation and the planting operation is stopped, and in this state, the automatic backward travel along the backward path 69 of the straight path 62 is performed in accordance with the backward operation.

Here, when the path changing unit 56 of the mobile terminal 5 changes the turning start position 66 based on the changed forward/backward switching position 68', if the control device 50 of the mobile terminal 5 detects that the rice transplanter 1 that is performing the automatic backward travel reaches the changed turning start position 66', the control device notifies that the rice transplanter has reached the turning start position 66' by the display of the display unit 53 or the like, and prompts the operator to perform the stop operation and the turning start operation of the rice transplanter 1. In this case, the travel control unit 45 controls the travel of the seedling transplanting machine 1 so that the automatic backward travel is stopped in response to the stop operation and the planting operation is stopped, and in this state, the automatic turning travel is performed along the changed turning path 63 'in response to the predetermined turning start operation and the seedling transplanting machine moves to the other straight path 62'.

Alternatively, when the route changing unit 56 of the mobile terminal 5 changes the turning start position 66' to a position where the turning start operation has been performed, the travel control unit 45 controls the travel of the seedling transplanting machine 1 so that the automatic reverse travel is stopped in accordance with the stop operation regardless of the set turning start position 66, and the planting work is stopped, and in this state, the automatic turning travel is performed along the changed turning route 63' in accordance with the predetermined turning start operation, and the seedling transplanting machine moves to the other straight route 62 '.

Next, an operation example when the turning start position 66 is changed based on the forward/reverse switching position 68 changed by the 3 rd turning operation of the rice transplanter 1 will be described with reference to the flowchart of fig. 7.

First, the rice transplanter 1 starts automatic travel based on the target travel path 60 acquired from the portable terminal 5, and performs automatic forward travel along the straight travel path 62 of each unit path 61 in the target travel path 60 (step S1). When not only the turning start position 66, the turning path 63, but also the forward/reverse switching position 68 are preset on the straight path 62, the 3 rd turning operation of turning toward the next straight path 62 can be performed.

Regarding the 3 rd turning operation, when the rice transplanter 1 automatically travels on the straight path 62, after passing through the preset turning start position 66 and before reaching the preset forward/backward switching position 68, the rice transplanter 1 is stopped (step S2), and when the backward operation is performed (step S3), the path changing unit 56 of the mobile terminal 5 changes the forward/backward switching position 68' to the position where it was stopped at this time and changes the straight path 62' and the unit path 61' (step S4), and the travel control unit 45 performs automatic backward travel of the rice transplanter 1 on the backward path 69' along the straight path 62' (step S5).

The route changing unit 56 of the mobile terminal 5 changes the turning start position 66' based on the changed forward/reverse switching position 68' and thereby changes the turning route 63' (step S6), and the travel control unit 45 urges the stop operation and the turning start operation at the changed turning start position 66' during the automatic reverse travel of the reverse route 69 '. The change of the turning start position 66 'may be performed simultaneously with the change of the forward/reverse switching position 68'. When the changed turning start position 66 'is reached and the stop operation and the turning start operation are performed (step S7), the travel control unit 45 performs the automatic turning travel of the rice transplanter 1 according to the changed turning path 63' (step S8).

As described above, according to the present embodiment, the rice transplanter 1 as a work vehicle includes the control device 40 and the mobile terminal 5. The mobile terminal 5 includes a control device 50, and the control device 50 functions as a route creation unit 55 as follows: a target travel path 60 having a plurality of unit paths 61 each including a plurality of straight paths 62 and a turning path 63 connecting the straight paths 62 is created in the field, and a turning start position 66 and a turning end position 67 of the turning path 63 are preset in the unit paths 61. The control device 40 functions as a travel control unit 45 that automatically travels the rice transplanter 1 along the target travel path 60. The path changing unit 56 functions as a path changing unit 56 that changes the turning start position 66 in the unit path 61 in accordance with a predetermined operation of the rice transplanter 1 traveling on the straight path 62 of the unit path 61.

In other words, the automatic traveling method of the present invention for automatically traveling a work vehicle such as the rice transplanter 1 in a field includes: a route creation step of creating a target travel route 60 having a plurality of unit routes 61 each including a plurality of straight routes 62 and a turning route 63 connecting the straight routes 62 in a field, and setting a turning start position 66 and a turning end position 67 of the turning route 63 in the unit routes 61 in advance; an automatic travel step of automatically traveling the work vehicle along the target travel path 60; and a path changing step of changing the turning start position 66 in the unit path 61 in accordance with a predetermined operation of the work vehicle traveling on the straight path 62 of the unit path 61. The automatic traveling method includes a ridge determining step of determining a ridge in a field, so that an operator can change the turning start position 66 in the unit path 61 by operating the working vehicle in accordance with the determined ridge.

Thus, even in the case where the actual outer peripheral shape of the field is not a straight line but has a portion where the ridge protrudes inward and a portion where the ridge protrudes outward, the rice transplanter 1 can set the turning start position 66 of the target travel path 60 in accordance with the actual outer peripheral shape of the field. Therefore, the vehicle can continue to automatically travel in accordance with the actual outer peripheral shape of the field while avoiding the ridge or the like, and therefore, the work efficiency can be improved.

For example, in the case of performing work in the field in the first year, if the turning start position 66 or the like is set in accordance with the actual outer peripheral shape of the field as described above to create the target travel route 60, the automatic travel of the rice transplanter 1 can be performed based on the target travel route 60 created in the 1 st year after the 2 nd year.

In addition, according to the present embodiment, the route changing unit 56 changes the turning end position 67 in the unit route 61 based on the change distance between the turning start position 66 before the change and the turning start position 66 after the change in the unit route 61.

Thus, even in the case where the actual outer peripheral shape of the field is not a straight line but has a portion where the ridge protrudes inward and a portion where the ridge protrudes outward, the rice transplanter 1 can set the turning end position 67 of the target travel path 60 in accordance with the actual outer peripheral shape of the field. Therefore, the vehicle can continue to automatically travel in accordance with the actual outer peripheral shape of the field while avoiding the ridge or the like, and therefore, the work efficiency can be improved.

In addition, according to the present embodiment, the route creation unit 55 sets the forward/reverse switching position 68 in advance on the straight route 62, sets the turning start position 66 in advance on the straight route 62 at a position further backward than the forward/reverse switching position 68, and the route changing unit 56 changes the forward/reverse switching position 68 in the unit route 61 in accordance with a predetermined operation of the rice transplanter 1 traveling on the straight route 62 of the unit route 61.

In this way, the rice transplanter 1 can reduce the non-work area in the ground area C by performing automatic backward travel and then performing automatic turning travel after approaching the outer periphery of the field by the automatic forward travel accompanying the planting work. Thus, the travel along the outer periphery of the planting work can be reduced, and therefore the work efficiency can be improved.

In addition, according to the present embodiment, the route changing unit 56 is configured to set in accordance with a predetermined operation of the rice transplanter 1: after the rice transplanter 1 reaches the forward/backward switching position 68 on the unit path 61, the backward distance is set to the turning start position 66 on the unit path 61.

In this way, the rice transplanting machine 1 can be set in accordance with a predetermined operation by an operator: the turning start position 66 is set by approaching the outer periphery of the field by the automatic forward travel accompanying the planting work, then by performing the automatic backward travel and then by performing the automatic turning travel. Accordingly, since the appropriate turning start position 66 can be set according to the judgment of the operator, the automatic turning travel can be appropriately performed, and the work efficiency can be improved.

Alternatively, according to the present embodiment, the route changing unit 56 changes the turning start position 66 in the unit route 61 based on the change distance between the forward/reverse switching position 68 before change and the forward/reverse switching position 68 after change in the unit route 61.

In this way, since the rice transplanter 1 can automatically set the turning start position 66 at which the automatic turning travel is performed based on the degree of change of the forward/backward switching position 68 without requiring an operator's operation, the automatic turning travel can be appropriately performed, and the work efficiency can be improved.

In addition, according to the present embodiment, when the route changing unit 56 changes the forward/reverse switching position 68 on the unit route 61, the turning start position 66 in the unit route 61 is changed to a position that is retracted by a predetermined reverse distance from the changed forward/reverse switching position 68.

Accordingly, since the rice transplanter 1 can automatically set the turning start position 66 for performing the automatic turning travel based on the predetermined set back distance without requiring an operation by the operator, the automatic turning travel can be appropriately performed, and the work efficiency can be improved.

Further, according to the present embodiment, when the rice transplanter 1 reaches the changed turning start position 66 during the automatic backward traveling, the traveling control unit 45 notifies the rice transplanter of the arrival at the turning start position 66 or stops the automatic traveling.

Accordingly, even when the turning start position 66 is changed, the rice transplanter 1 can grasp the appropriate turning start position 66 during the automatic backward travel and shift to the automatic turning travel, and can prevent an operation that cannot be predicted by the operator.

In addition, according to the present embodiment, when the forward/backward switching position 68 is changed to the direction toward the ridge on the unit path 61, the path changing unit 56 does not change the turning start position 66 and the turning end position 67.

Accordingly, even when the end position of the automatic forward travel is shifted to the outer peripheral side of the field, the rice transplanter 1 can suppress collision with the ridge forming the outer periphery of the field without shifting the turning path 63 of the automatic turning travel to the outer peripheral side of the field, and can suppress damage to the machine body.

The rice transplanter 1 according to another embodiment may be configured with: and a ridge determining section for monitoring and determining obstacles such as a ridge in front. The ridge determining unit is constituted by a distance measuring sensor such as an infrared sensor, a laser sensor, an ultrasonic sensor, and a camera such as a CCD, for example. The path changing unit 56 of the mobile terminal 5 changes the turning start position 66 and the forward/backward switching position 68 based on the distance between the ridge and the body of the rice transplanter 1 determined by the ridge determining unit, and is disposed such that the turning start position 66 and the forward/backward switching position 68 are spaced apart from the ridge by a predetermined distance.

In the above embodiment, the example in which the work vehicle is constituted by the rice transplanter 1 has been described, but the present invention is not limited to this example. For example, the work vehicle of the present invention may be configured by other agricultural machines such as a combine and a tractor, or may be configured by other work vehicles other than the agricultural machines.

The present invention can be appropriately modified within a range not departing from the gist or the idea of the invention that can be read from the entire claims and the specification, and an automatic travel method, a work vehicle, and an automatic travel method that accompany such modification are also included in the technical idea of the present invention.

Claims (11)

1. An automatic travel method for automatically traveling a work vehicle in a field, characterized by comprising the steps of,

the automatic travel method includes:

a route creation step of creating a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and setting a turning start position and a turning end position of the turning route in advance in the unit routes;

An automatic travel step of automatically traveling the work vehicle along the target travel path; and

and a path changing step of changing the turning start position in the unit path in accordance with a predetermined operation of the work vehicle traveling on the straight path of the unit path.

2. The automatic traveling method according to claim 1, wherein,

the automatic traveling method has a ridge determining step of determining a ridge in the field.

3. The automatic traveling method according to claim 1 or 2, characterized in that,

the path changing step changes the turning end position in the unit path based on a change distance between the turning start position before the change and the turning start position after the change in the unit path.

4. The automatic traveling method according to any one of claim 1 to 3, characterized in that,

in the route creation step, a forward/reverse switching position is set in advance on the straight route, and the turning start position is set in advance on the straight route at a position further backward than the forward/reverse switching position,

In the route changing step, the forward/reverse switching position in the unit route is changed in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

5. The automatic traveling method according to claim 4, wherein,

in the route changing step, setting is performed in accordance with a predetermined operation of the work vehicle: a reverse distance from the unit route to the turning start position after the work vehicle reaches the forward/reverse switching position on the unit route.

6. The automatic traveling method according to claim 4, wherein,

in the path changing step, the turning start position in the unit path is changed based on a change distance between the forward/reverse switching position before the change and the forward/reverse switching position after the change in the unit path.

7. The automatic traveling method according to claim 4, wherein,

in the path changing step, when the forward/reverse switching position is changed on the unit path, the turning start position in the unit path is changed to a position that is retracted by a predetermined reverse distance from the changed forward/reverse switching position.

8. The automatic traveling method according to claim 6 or 7, characterized in that,

in the automatic travel step, when the work vehicle reaches the changed turning start position, a notification of the arrival at the turning start position or a stop of automatic travel is performed.

9. The automatic traveling method according to any one of claims 4 to 8, characterized in that,

in the path changing step, when the forward/backward switching position is changed to a direction toward a ridge on the unit path, the turning start position and the turning end position are not changed.

10. A work vehicle for automatically traveling in a field, characterized in that,

the work vehicle includes:

a route creation unit that creates a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and sets a turning start position and a turning end position of the turning route in advance in the unit routes;

a travel control unit that automatically travels the work vehicle along the target travel path; and

and a route changing unit that changes the turning start position in the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

11. An automatic traveling system for automatically traveling a work vehicle in a field, characterized in that,

the automatic travel system is provided with:

a route creation unit that creates a target travel route having a plurality of unit routes each including a plurality of straight routes and a turning route connecting the straight routes in the field, and sets a turning start position and a turning end position of the turning route in advance in the unit routes;

a travel control unit that automatically travels the work vehicle along the target travel path; and

and a route changing unit that changes the turning start position in the unit route in accordance with a predetermined operation of the work vehicle traveling on the straight route of the unit route.

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