CN117897045A

CN117897045A - Automatic travel control system and field operation vehicle

Info

Publication number: CN117897045A
Application number: CN202280059444.5A
Authority: CN
Inventors: 铃川惠; 国安恒寿; 吉水健悟; 大久保树; 宇谷直晃
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2021-09-09
Filing date: 2022-09-07
Publication date: 2024-04-16
Also published as: KR20240056505A; WO2023038040A1; JP2023039843A

Abstract

An automatic travel control system for a field work vehicle that repeatedly performs a field work for supplying agricultural materials to a field by performing automatic round-trip travel on a travel path including an internal path and a turning path, the field work vehicle performing replenishment preparation processing for stopping travel so as to replenish materials at a predetermined replenishment side each time travel of the internal path is performed a predetermined number of times, the automatic travel control system comprising: a travel control unit (32) for controlling automatic travel including replenishment preparation processing; a work control unit (33) for controlling the field work; a travel number operation unit (53) that receives a selection of travel numbers; and a material replenishment setting unit (41) that sets the number of traveling times based on an input to the traveling time operation unit (53).

Description

Automatic travel control system and field operation vehicle

Technical Field

The present invention relates to a field work vehicle that automatically travels and supplies agricultural materials to a field or discharges harvested crops, and an automatic travel control system that controls automatic operation travel of the field work vehicle.

Background

A field work vehicle that runs automatically to supply agricultural materials to a field performs replenishment of agricultural materials or discharge of harvested crops during the automatic operation running.

The field work vehicle (rice seedling machine) disclosed in patent document 1 stops the machine body every time the machine moves to and from the field, supplies agricultural materials (seedlings) when the agricultural materials need to be supplied, and continues the work travel without supplying the agricultural materials.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2021-106613

Disclosure of Invention

Problems to be solved by the invention

However, in automatic operation traveling, more efficient replenishment of agricultural materials is required.

The purpose of the present invention is to efficiently supply agricultural materials or discharge harvested crops.

Solution for solving the problem

In order to achieve the above object, an automatic travel control system according to one embodiment of the present invention is an automatic travel control system for a field work vehicle that repeatedly performs automatic round-trip travel on a travel path including an internal path and a turning path to thereby perform a field work for supplying agricultural materials to a field, wherein the field work vehicle performs a replenishment preparation process for stopping travel so as to replenish materials at a predetermined replenishment side each time travel of the internal path is performed for a predetermined number of times, the automatic travel control system comprising: a travel control unit that controls automatic travel including the replenishment preparation process; a job control unit that controls the field job; a travel number operation unit that receives a selection of the travel number; and a material replenishment setting unit that sets the number of traveling times based on an input to the traveling times operation unit.

A field work vehicle according to an embodiment of the present invention is a field work vehicle for performing a field work for supplying agricultural materials to a field by repeating an automatic round trip travel traveling on a travel path including an internal path and a turning path, the field work vehicle performing a replenishment preparation process for stopping travel so as to replenish materials at a predetermined replenishment side each time travel of the internal path is performed a predetermined number of times, the field work vehicle comprising: a working device for performing the field work; a travel control unit that controls automatic travel including the replenishment preparation process; a job control unit that controls the field job; a travel number operation unit that receives a selection of the travel number; and a material replenishment setting unit that sets the number of traveling times based on an input to the traveling times operation unit.

With the above configuration, since the replenishment preparation process can be performed in accordance with the travel distance, which is a distance over which the mounted agricultural material can travel for the work, the stopping and returning operations due to the unnecessary replenishment preparation process can be suppressed, and the replenishment of the agricultural material can be efficiently performed, and the efficient work travel can be performed.

An automatic travel control system according to an embodiment of the present invention is an automatic travel control system for a field work vehicle that repeatedly performs automatic round-trip travel on a travel path including an internal path and a turning path, thereby performing a field work of harvesting crops from a field, wherein the field work vehicle performs discharge preparation processing for stopping travel each time travel of the internal path is performed for a predetermined number of times so as to discharge harvested crops while predetermined discharge, the automatic travel control system comprising: a travel control unit that controls automatic travel including the discharge preparation process; a job control unit that controls the field job; a travel number operation unit that receives a selection of the travel number; and a material discharge setting unit that sets the number of traveling times based on an input to the traveling times operation unit.

With the above configuration, since the discharge preparation process can be performed every time the number of times of travel corresponding to the operation travel distance when the body stores the harvested crop in the storable amount is reached, the stop and return travel operation due to the unnecessary discharge preparation process can be suppressed, the discharge of the crop can be efficiently performed, and the efficient operation travel can be performed.

Further, the number of traveling may be a number of times of reciprocal traveling on the two inner routes across the turning route.

When the replenishment side is set to one of the outer peripheries of the fields, the replenishment preparation process is performed at the terminal end of the internal route which is directed to travel toward the replenishment side, among the internal routes. Therefore, by setting the number of travel times for the number of travel trips, the replenishment preparation process can be set easily and without waste.

Further, the present invention may further include: and a number-of-times changing operation unit that receives a change instruction of the number of traveling times, wherein when the change instruction is received during the automatic round-trip traveling, the supply material replenishment setting unit changes the number of traveling times from the previous replenishment preparation process to the next replenishment preparation process based on the change instruction.

In automatic work traveling, it may be predicted that insufficient agricultural materials are cut off to the position where replenishment preparation is to be performed, or that sufficient agricultural materials remain (remain) even when work traveling to the position where replenishment preparation is to be performed.

According to the above configuration, since the position to be subjected to the replenishment preparation process can be changed as needed, the replenishment of agricultural material can be performed at an appropriate timing, and the replenishment of agricultural material can be performed more efficiently.

Further, the supply material replenishment setting unit may return the number of traveling times after the replenishment preparation process to the number of traveling times after the change to the number of traveling times selected by the traveling times operation unit.

Depending on the condition of a part of the field, the working condition may temporarily change, and there may be cases where agricultural materials are insufficient or remain at the position where the replenishment preparation process is to be performed. In this case, it is appropriate to correct the timing of the replenishment preparation process for a part of the field.

According to the above configuration, the agricultural material can be supplied at an appropriate timing, and the agricultural material can be supplied more efficiently.

Further, when the change instruction is received, the supply material replenishment setting unit may change the number of traveling times thereafter to the number of traveling times corresponding to the change instruction.

The number of traveling times is determined by predicting the consumption amount of agricultural materials per unit traveling distance. If the prediction of the consumption amount is inaccurate, the timing of the replenishment preparation process cannot be appropriately set in the entire field.

In this case, according to the above configuration, the agricultural material can be supplied at an appropriate timing, and the agricultural material can be supplied more efficiently.

The number-of-times changing operation unit may be provided in a body of the field work vehicle.

According to this configuration, the timing of replenishing agricultural materials can be easily changed by the operator riding on the machine body.

Further, the present invention may further include: and an information terminal detachable from the field work vehicle, wherein the number-of-times changing operation unit is provided in the information terminal, and the change instruction is determined based on the number of times the number-of-times changing operation unit is operated.

According to this configuration, the timing of replenishing the agricultural material can be changed while confirming the display content of the information terminal, and the timing of replenishing the agricultural material can be easily changed.

Further, the present invention may further include: and an information terminal attachable to and detachable from the field work vehicle, wherein the number-of-times changing operation unit is provided in the information terminal, and the change instruction is determined by selecting the number of traveling times that changes during operation of the number-of-times changing operation unit.

Further, the present invention may further include: and a remote controller capable of remotely operating the field work vehicle, wherein the number-of-times changing operation unit is provided on the remote controller.

The automatic work travel may be performed with the operator not riding on the machine body. At this time, the operator carries a remote controller for operating the body.

According to the above configuration, the timing of replenishing the agricultural material can be changed in a state where the operator is not riding on the machine body, and the timing of replenishing the agricultural material can be easily changed.

Further, the present invention may further include: and a microphone for inputting a voice, wherein the material replenishment setting unit has a voice recognition unit that reacts to the voice determined in advance, the voice recognition unit recognizes the voice inputted to the microphone, and the material replenishment setting unit changes the number of traveling times based on the voice recognized by the voice recognition unit.

According to this configuration, the operator can change the timing of replenishing the agricultural material only by emitting a sound without performing a special operation, and can easily change the timing of replenishing the agricultural material.

Further, the present invention may further include: and the remote controller can be used for remotely operating the field operation vehicle, and the microphone is arranged on the remote controller.

According to the above configuration, the timing of replenishing the agricultural material can be changed simply by emitting the sound in a state where the operator is not riding on the machine body, and the timing of replenishing the agricultural material can be changed easily.

In addition, the number of times of travel operation unit may select a no-replenishment preparation mode in which the replenishment preparation process is not executed, and the travel control unit may execute the replenishment preparation process when the number of times change operation unit is operated during the automatic round-trip travel in which the no-replenishment preparation mode is selected, the next time the travel control unit approaches the replenishment side.

According to this configuration, even when the replenishment preparation process is performed at an irregular period, the replenishment preparation process can be performed at the judgment of the operator, and unnecessary stoppage can be further suppressed, and the replenishment of agricultural materials can be performed more efficiently, and efficient work travel can be performed.

The field work vehicle may be a seedling transplanting vehicle for transplanting seedlings as the agricultural material to the field, the seedling transplanting vehicle including a seedling stage for placing mat-shaped seedlings thereon and continuously feeding the mat-shaped seedlings to the transplanting mechanism with a predetermined vertical transfer amount, and a transplanting mechanism for taking out the seedlings of a predetermined seedling taking amount from the mat-shaped seedlings and transplanting the seedlings to the field with a predetermined plant spacing, the seedling stage having a sensor for detecting a remaining amount of the mat-shaped seedlings, the automatic travel control system further including a notifying unit for notifying a predetermined notification, the material replenishment setting unit including: and a surplus determination unit configured to determine whether or not the surplus of the seedling is insufficient in the field operation until the next replenishment preparation process is performed, based on the information on the remaining amount of the mat detected by the sensor, the information on the amount of seedlings to be picked up, the information on the longitudinal transfer amount, the information on the length of the mat-shaped seedling, and the information on the plant spacing, wherein the surplus determination unit causes the notification unit to notify that the surplus of the seedling is insufficient when the surplus of the seedling is insufficient.

According to this configuration, since the shortage of the remaining amount of seedlings required until the position where the replenishment preparation process is to be performed is notified, the operator can appropriately cope with the situation by adjusting the plant spacing, the amount of seedlings to be taken, or the replenishment of seedlings as soon as possible in order to suppress the empty planting. Therefore, work travel can be performed appropriately and efficiently.

Drawings

Fig. 1 is a left side view of a rice transplanter capable of traveling automatically.

Fig. 2 is a schematic view illustrating the operation travel of the seedling transplanting machine.

Fig. 3 is a block diagram illustrating a functional configuration of the automatic travel control system according to embodiment 1.

Fig. 4 is a view illustrating a setting screen of the replenishment side and the execution interval in embodiment 1.

Fig. 5 is a diagram illustrating a procedure of changing the replenishment setting and the execution interval in embodiment 1.

Fig. 6 is a block diagram illustrating a functional configuration of the automatic travel control system according to embodiment 2.

Fig. 7 is a view illustrating a setting screen of the replenishment side and the execution interval in embodiment 2.

Fig. 8 is a diagram illustrating a procedure of changing the replenishment setting and the replenishment preparation position in embodiment 2.

Fig. 9 is a diagram illustrating a replenishment preparation position in embodiment 2.

Fig. 10 is a block diagram illustrating a functional configuration of the automatic travel control system according to embodiment 3.

Fig. 11 is a view illustrating a setting screen of the replenishment side in embodiment 3.

Fig. 12 is a diagram illustrating a procedure for performing replenishment setting in embodiment 3.

Detailed Description

[ embodiment 1 ]

Hereinafter, as a field work vehicle of the present invention, a rice transplanter for transplanting (field work) seedlings (agricultural materials) in a field will be described as an example.

For ease of understanding, in the present embodiment, unless otherwise specified, "front" (direction of arrow F shown in fig. 1) refers to the front in the machine body front-rear direction (traveling direction), and "rear" (direction of arrow B shown in fig. 1) refers to the rear in the machine body front-rear direction (traveling direction). The left-right direction or the lateral direction refers to a machine body transverse direction (machine body width direction) orthogonal to the machine body front-back direction, the "left" refers to the forward direction of the paper surface in fig. 1, and the "right" refers to the depth direction of the paper surface in fig. 1.

[ integral Structure ]

As shown in fig. 1, the rice transplanter is a riding type, and includes a four-wheel drive type machine body 1. The machine body 1 includes: a parallel four-link type link mechanism 13, a hydraulic lifting link 13a, a seedling transplanting device 3, a fertilizer application device 4 and the like, wherein the link mechanism 13 is connected to the rear part of the machine body 1 in a lifting swinging manner, the lifting link 13a drives the link mechanism 13 to swing, the seedling transplanting device 3 is connected to the rear end part area of the link mechanism 13 in a swinging manner, and the fertilizer application device 4 is erected between the rear end part area of the machine body 1 and the seedling transplanting device 3.

The machine body 1 includes, as a mechanism for traveling: the wheels 12, the engine 2, and the hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission: hydrostatic continuously variable transmission). The wheels 12 have steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The power output from the engine 2 is transmitted to the continuously variable transmission 9 via the running transmission mechanism, and is also transmitted from the continuously variable transmission 9 to the front wheels 12A, the rear wheels 12B, the working devices (the seedling planting device 3, the fertilizer application device 4, etc.), and the like. The engine 2 and the continuously variable transmission 9 are mounted on the front portion of the machine body 1.

The seedling planting device 3 is constituted by eight rows of planting devices as an example. The seedling transplanting device 3 includes a seedling stage 21, eight-row transplanting mechanisms 22, and the like. The seedling-transplanting device 3 can be changed to a two-row transplanting, a four-row transplanting, a six-row transplanting, or the like by controlling each row of clutches, which are not shown.

The seedling stage 21 is a pedestal for placing eight rows of mat seedlings. The seedling stage 21 is continuously reciprocated (laterally transferred) in the left-right direction by a fixed stroke corresponding to the left-right width of the mat-shaped seedlings, and each mat-shaped seedling on the seedling stage 21 is longitudinally transferred at a predetermined pitch (longitudinal transfer amount) toward the lower end of the seedling stage 21 each time the seedling stage 21 reaches the left-right stroke end by the lateral transfer of the predetermined number of lateral transfers. The eight transplanting mechanisms 22 are rotatable and arranged in the left-right direction at fixed intervals corresponding to the transplanting rows. Then, by switching the transplanting clutch (not shown) to the transmission state, each transplanting mechanism 22 is transmitted power from the engine 2, and a single seedling (transplanting seedling) is cut from the lower end of each mat-shaped seedling placed on the seedling stage 21, and is transplanted to the soil portion after soil preparation at a predetermined planting distance. In this way, in the operating state of the seedling transplanting device 3, seedlings can be taken out from the mat seedlings placed on the seedling stage 21 and transplanted (supplied) into the soil portion of the paddy field.

The seedling stage 21 may also include a sensor 23 for detecting the remaining amount of the mat-shaped seedlings. For example, it may be configured such that: the sensor 23 is a photosensor and is provided on the surface (mounting surface) of the seedling stage 21, and the mounted mat seedlings block light from the sensor 23, thereby detecting whether or not the mat seedlings are present at the arrangement position of the sensor 23, and detecting whether or not the mat seedlings are present at a predetermined amount or more.

Information such as the number of times of horizontal transfer, the amount of vertical transfer, the plant spacing, the amount of seedlings, i.e., the amount of seedlings taken, and the size (length, width) of the mat-shaped seedlings is stored in an arbitrary storage unit (storage unit 35, storage unit 42, etc., which will be described later with reference to fig. 3, etc.) capable of communicating with the information terminal 5, etc. The number of times of transverse transfer, the amount of longitudinal transfer, the plant spacing, and the amount of seedling taking may be fixed, but may be configured to be changeable as desired. In this case, the storage unit stores the set information.

The fertilizer applicator 4 (supply device) includes: a hopper 25 (storage unit) for storing granular or powdery fertilizers (medicines and other agricultural materials); a discharge mechanism 26 for discharging fertilizer from the hopper 25; and a fertilizer hose 28 that conveys the fertilizer sequentially discharged by the discharge mechanism 26 and discharges the fertilizer to the field. The fertilizer stored in the hopper 25 is discharged by the discharge mechanism 26 in a predetermined amount, fed to the fertilizer hose 28, fed into the fertilizer hose 28 by the air blown by the blower 27, and discharged from the furrow opener 29 to the field. Thus, the fertilizer applicator 4 supplies fertilizer to the field.

As shown in fig. 1, the body 1 includes a driving unit 14 in a rear region thereof. The driving unit 14 includes: a steering wheel 10 for front wheel steering; a main shift lever 7A for adjusting the vehicle speed by performing a shift operation of the continuously variable transmission 9; a sub-shift lever 7B capable of performing a shift operation of the sub-shift device; an operation lever 11 for performing lifting operation of the seedling transplanting device 3, switching of an operation state, and the like; the detachable information terminal 5 includes a touch panel 50 (see fig. 3, etc., corresponding to a "display unit") for displaying (notifying) various information, notifying (outputting) the information to an operator, and receiving the input of the various information; and a driver seat 16 for an operator (driver/operator), and the like. The sub-shift lever 7B is used to perform an operation of switching the running vehicle speed to a work speed during work and a moving speed during movement. For example, the field is moved at a moving speed, and the transplanting operation is performed at an operating speed. Further, a preliminary seedling storage device 17A for storing a preliminary seedling is supported by the preliminary seedling support frame 17 in front of the driving unit 14.

The body 1 is also provided with a positioning unit 8. The positioning unit 8 outputs positioning data for the position and orientation of the computer body 1. The positioning unit 8 includes a satellite positioning module 8A that receives electric waves from satellites of a Global Navigation Satellite System (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the body 1. The positioning unit 8 is supported on the upper part of the preliminary seedling supporting frame 17. The calculated position information and orientation information are stored in the storage unit.

A remote controller 6 (see fig. 3, etc.) capable of remotely operating the information terminal 5 and the body 1 may be provided.

[ automatic travel ]

An automatic operation travel of the transplanting machine for performing a seedling transplanting operation to a field by automatic travel will be described with reference to fig. 1 and 2.

The rice transplanter according to the present embodiment can selectively perform manual travel and automatic travel.

The manual travel (manual work travel) and the automatic travel (automatic work travel) are selected by switching an automatic/manual change-over switch (not shown) disposed in the driving unit 14.

When the seedling transplanting machine performs a seedling transplanting operation, first, a driver manually operates the seedling transplanting machine to travel along the outer periphery (outer edge) of a field. In this case, the vehicle may travel while performing work, or may travel in a non-work travel mode. By this peripheral travel, a peripheral shape of the field (field map) is generated, and the field is divided into a peripheral area OA and an internal area IA (map making process). In this case, one or a plurality of predetermined sides of the outer periphery of the field are set as a supply side SL for supplying agricultural materials such as mat seedlings, fertilizer, chemical, and fuel to the transplanting machine.

When the field map is generated, a target travel path (route creation process) for the rice transplanter to travel for the job is set. In the internal area IA, an internal round-trip path IPL (corresponding to "internal path") and a turning path are generated as target travel paths (corresponding to "travel paths"). The internal round-trip path IPL is a plurality of paths substantially parallel to one side of the field, and the turning path is a path connecting two internal round-trip paths IPL. The internal round trip path IPL is a travel path for performing work travel throughout the entire internal area IA. The automatic work travel is performed along the internal round trip path IPL. The turning travel of the turning path connected to the internal round-trip path IPL is performed by automatic travel according to a predetermined method.

In the outer peripheral area OA, the planting travel is performed around one or more turns within the outer peripheral area OA along the outer periphery (outer edge) of the field. For example, as a route for performing surrounding implant travel, two travel routes, that is, an inner surrounding route IRL and an outer surrounding route ORL, are generated. By performing the work travel on the inner surrounding route IRL and the outer surrounding route ORL, the work travel of the entire outer peripheral area OA is performed. The inner surrounding route IRL is operated by unmanned automatic operation travel or automated operation travel (automated operation travel in a state where a person is riding on the vehicle), and the outer surrounding route ORL is operated by manual operation travel. Further, by the mode selection, the inner surrounding route IRL may be operated by manual operation travel, and the outer surrounding route ORL may be operated by automatic operation travel.

When the seedlings are exhausted, the seedling transplanting machine performs seedling replenishment. When seedlings are fed, the machine body 1 is driven forward to approach the ridge of the feeding edge SL. When the seedling replenishment is completed, the machine body 1 is retracted and returned to the running path.

Specifically, during the automatic travel (automatic round trip travel), when the vehicle body 1 is shifted from the internal round trip path IPL to the turning path, the vehicle body 1 is temporarily stopped at the replenishment preparation position SPP (seedling replenishment side automatic stop/replenishment preparation process), and during this time, the vehicle body 1 is manually operated, whereby the vehicle body 1 advances (slightly stops) at a predetermined speed toward the replenishment point (corresponding to the "supply point") SP of the replenishment side SL, and the vehicle body 1 approaches the ridge of the replenishment side SL. The replenishment preparation position SPP at which the replenishment preparation process is performed is set in the end region of the internal round-trip path IPL and in the region near the boundary between the internal round-trip path IPL and the turning path. The replenishment preparation process is not limited to seedling replenishment, and may be performed when replenishing various agricultural materials such as fertilizer, chemical, and fuel.

The seedling replenishment position is not limited to the replenishment point SP, which is the position from the inner reciprocation path IPL to the replenishment side SL, and may be a replenishment point SA provided along the replenishment side SL. When seedlings are replenished at the replenishment point SA, the machine body 1 moves from the replenishment preparation position SPP to the replenishment point SA.

The rice transplanter performs the map creation process and the route creation process described above for automatic travel. In the route creation process, setting of the replenishment side, setting related to replenishment preparation process (replenishment setting), and the like are performed together. Such various processes and settings may be performed in the body 1, but may also be performed using the information terminal 5.

[ supply setting ]

As shown in fig. 3, the automatic travel control system includes: a control unit 30 provided in the machine body 1; a positioning unit 8 arranged on the machine body 1; and an information terminal 5. The information terminal 5 is communicably connected to the rice transplanter. The information terminal 5 may be attached to the driver 14, but may be held in an operable state by an operator who is away from the body 1.

The control unit 30 controls the automatic operation travel of the rice transplanter according to the conditions set by the information terminal 5 and the like. The control unit 30 includes a travel control unit 32 that controls travel, a job control unit 33 that controls a job, a communication unit 34 that communicates with the information terminal 5 and the like, and a storage unit 35.

The information terminal 5 includes: the control unit 38, the communication unit 39, the touch panel 50, the seedling replenishment setting unit 41 (corresponding to the "supply replenishment setting unit") and the storage unit 42. The information terminal 5 further includes an operation unit such as a switch or a button for changing information displayed on the touch panel 50 or for performing various settings.

The control unit 38 controls the operations of the respective functional blocks of the information terminal 5. The communication unit 39 communicates with the body 1 and the like. The touch panel 50 displays various information, and displays various software switches. The seedling replenishment setting unit 41 refers to the information displayed on the touch panel 50 and sets the replenishment side SL, the replenishment preparation position SPP, and the like based on the operation of the operating tool, the software switch, and the like. The storage unit 42 stores various information.

The replenishment setting in embodiment 1 will be described below with reference to fig. 2 to 5. The replenishment setting is performed after the map creation process is performed and the target travel route is set in the route creation process.

In the replenishment setting, a setting screen shown in fig. 4 is displayed on the touch panel 50 (step #1 in fig. 5). The supplemental edge setting operation unit 52 is displayed as a software switch on the setting screen. The replenishment side SL is selectively set by the replenishment side setting operation section 52. The outer peripheral shape of the field and the pattern such as an arrow corresponding to the internal round-trip path IPL are displayed on the setting screen, and the sides corresponding to the start and end of the internal round-trip path IPL are displayed as candidates of the replenishment side SL.

The replenishment side setting operation unit 52 may select any one of the sides as candidates, all the sides as candidates, or may not perform replenishment preparation processing (not select a side). The side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in fig. 5). In the example of fig. 4, the sides that are candidates are two sides a and B, but one or three or more sides may be candidates, and if there are a plurality of sides that are candidates, a plurality of sides may be selected.

When the "no replenishment preparation process is performed" is selected by the replenishment side setting operation unit 52, a no-replenishment preparation mode is set in which no replenishment preparation process is performed, and no suspension for replenishment is performed. In this case, the operator determines the necessity of replenishment, interrupts the work at an arbitrary position, and moves the machine body 1 to the replenishment position to perform replenishment. The movement to the replenishment position may be automatically performed.

The no-replenishment preparation mode is not limited to the case where "no replenishment preparation process is performed" is selected by the replenishment side setting operation section 52, and may be set by an operation tool (not shown) provided separately. In this case, the replenishment side SL can be set to the no-replenishment preparation mode in addition to the replenishment side setting operation unit 52.

Then, an automatic stop interval is set at which replenishment preparation processing is performed every time the internal round trip path IPL makes a round trip several times. The round trip of the internal round trip path IPL is a travel as follows: the travel of the internal round-trip path IPL is performed from the end of the internal round-trip path IPL on the replenishment side, and the travel is performed on the next internal round-trip path IPL with a turning travel therebetween until the end of the internal round-trip path IPL on the replenishment side is reached. Specifically, the running number operation unit 53 is displayed as a software switch on the setting screen. The travel number operation unit 53 may select the number of trips. The seedling replenishment setting unit 41 sets the number of times selected by the running number operation unit 53 as the number of rounds (execution interval) of replenishment preparation processing, stores the number of rounds in the storage unit 42, and transmits the information to the running control unit 32. The travel control unit 32 stores the set number of trips in the storage unit 35, and suspends the machine body 1 for performing replenishment preparation processing every time the set number of trips is performed (step #3 in fig. 5).

For example, when one round trip is set as the round trip number, seedling replenishment preparation processing is performed at the position SP1 after the replenishment preparation position SPP of fig. 2, when two round trips are set as the round trip number, seedling replenishment preparation processing is performed at the position SP2 after the replenishment preparation position SPP, and when three round trips are set as the round trip number, seedling replenishment preparation processing is performed at the position SP3 after the replenishment preparation position SPP. When all necessary settings are made, the automatic work travel is started by accepting a predetermined operation (step #4 in fig. 5).

Even if the replenishment preparation process is performed every round trip along the internal round trip path IPL, the work travel may be continued without replenishment. In that case, when the machine body 1 is stopped, the operation travel is resumed by a predetermined operation of the operator. If such unnecessary stopping of the work travel and an operation for resuming the work travel are performed, the work efficiency is lowered.

Further, depending on the size of the field (length of the internal round trip path IPL), the amount of the mat seedlings to be mounted, the amount of the seedlings to be taken, the row spacing, and the like, a travel distance (execution interval of replenishment preparation processing) until replenishment is required may be predicted.

Therefore, by adopting a configuration in which the execution interval of the preparation process, that is, the number of trips can be replenished, unnecessary stopping of the job travel and an operation for resuming the job travel can be suppressed, and the job efficiency can be improved.

In the case where the replenishment side SL is provided on both front and rear sides in the forward direction of the internal round-trip path IPL, the replenishment preparation process may be performed every time the internal round-trip path IPL travels. Therefore, the travel time operation unit 53 is not limited to the execution interval of the replenishment preparation process as the travel time, and may be configured to select the travel time of the internal travel route IPL.

For example, when the number of traveling times is set to three, seedling replenishment preparation processing is performed at the position SP4 after the replenishment preparation position SPP of fig. 2.

By performing replenishment preparation processing every time the vehicle travels on the internal round trip path IPL at the set number of traveling times, replenishment preparation processing can be performed with higher accuracy according to the necessity of replenishment, and work efficiency can be further improved.

The travel distance (execution interval of replenishment preparation process) until replenishment is required may not be accurately predicted, and the consumption amount of seedlings per travel distance may vary depending on the field condition or the like. In this case, even if the replenishment preparation process is performed at predetermined execution intervals, the replenishment of seedlings may not be performed at an appropriate timing.

For example, during the operation traveling, it may be predicted that seedlings will run out until the next replenishment preparation position SPP is reached, or that sufficient seedlings remain even when replenishment preparation processing is performed.

In this case, it is preferable that the next replenishment preparation position SPP (execution interval of replenishment preparation processing) can be changed during the automatic operation travel. Thus, work travel can be performed more efficiently.

Therefore, the number-of-times changing operation unit 54 that can change the execution interval during the automatic operation travel may be provided. For example, the number-of-times changing operation unit 54 is a software switch displayed on the touch panel 50 during operation traveling. The number-of-times changing operation unit 54 may be configured to select the execution interval as in the case of the travel number-of-times operation unit 53, or may be configured to increase or decrease the execution interval. For example, the number-of-times changing operation unit 54 may be configured to determine the execution interval according to the number of times operated. Alternatively, the number-of-times changing operation unit 54 may have the following configuration: the execution interval displayed on the touch panel 50 changes in sequence while the operation number changing operation unit 54 is operated (long press, etc.), and changes to the execution interval displayed at the time of stopping the operation. The number-of-times changing operation unit 54 may be configured to perform an operation of accelerating the execution interval by one round trip (number of times of travel) and an operation of extending (increasing or decreasing the execution interval) without directly inputting the execution interval.

Further, in the case where it is predicted that seedlings will run out until the next replenishment preparation position SPP is reached during the automatic work travel, the operation number changing operation unit 54 (step #5 in fig. 5) changes the next replenishment preparation position SPP if it is predicted that sufficient seedlings remain even when the work travel reaches the next replenishment preparation position SPP. That is, replenishment can be performed earlier than a preset execution interval, or the replenishment preparation position SPP can be skipped.

For example, when two trips are set as the number of trips and the replenishment is performed at the replenishment preparation position SPP in fig. 2 to perform the automatic operation travel, and it is determined that sufficient seedlings in the form of mats are mounted, the operator performs an operation of changing the number of trips to three in the number changing operation unit 54. The number-of-times changing operation unit 54 transmits a changing instruction to the seedling replenishment setting unit 41 based on this operation. The seedling replenishment setting unit 41 transmits the information to the running control unit 32, and the running control unit 32 performs replenishment preparation processing based on the information. Specifically, the next replenishment preparation process at the replenishment preparation position SPP is not performed at the position SP2 but performed at the position SP 3.

When the number of times change operation unit 54 is operated, it is possible to change only the execution interval from the previous replenishment preparation process to the next replenishment preparation process and to return the subsequent execution interval to the originally set execution interval (step #6-1 in fig. 5), but it is also possible to change the next and subsequent execution intervals (step #6-2 in fig. 5). That is, the set execution interval itself may be changed.

In this case, the seedling replenishment setting unit 41 changes the execution interval stored in the storage unit 42 to an execution interval corresponding to the operation of the number-of-times changing operation unit 54, and transmits the changed execution interval to the running control unit 32. Then, the travel control unit 32 changes the execution interval stored in the storage unit 35 to the changed execution interval, and executes the seedling replenishment preparation processing thereafter at the changed execution interval.

In the case of a configuration in which an operation is performed to advance or lengthen the execution interval, the set execution interval is changed by decreasing one round trip (number of times of travel) in the case of the advanced operation and increasing one round trip (number of times of travel) in the case of the prolonged operation, with respect to the set execution interval.

Further, it is also possible to select to change only the next execution interval or to change all the execution intervals thereafter. In many cases, when the consumption amount of seedlings per driving distance is changed according to the condition of the field or the like, the execution interval becomes temporarily inappropriate. On the other hand, when the prediction of the seedling consumption amount is different from the actual operation, the execution interval during the whole operation may become inappropriate. Therefore, by adopting a configuration in which only the period of change of the next execution interval or the period of change of all the execution intervals after the next execution interval can be selected, the execution interval can be appropriately changed according to the situation at that time.

When the "no replenishment preparation process" is selected and the no replenishment preparation mode is set in the replenishment side setting operation unit 52, the number of times change operation unit 54 may be used when replenishment is performed at the judgment of the operator. In this case, when the operator determines that replenishment is required and the number-of-times changing operation unit 54 is operated during automatic operation traveling, the traveling control unit 32 receives information that the number-of-times changing operation unit 54 is operated and controls the traveling to travel toward the outer periphery of the field (replenishment side SL) so as to replenish seedlings.

Specifically, when the number-of-times changing operation unit 54 is operated, the travel control unit 32 controls the body 1 to stop so as not to shift to the cornering travel after the travel of the internal round-trip path IPL during the travel. After that, the machine body 1 advances as it is, and the machine body 1 stops when it reaches the outer periphery of the field (the replenishment side SL).

When the replenishment side SL is set and the no-replenishment preparation mode is set, the number of times change operation unit 54 is operated, the vehicle may travel to the internal round trip path IPL of the next replenishment side SL without turning the vehicle, and replenishment may be performed at the next replenishment side SL. Thereafter, the seedling replenishment setting unit 41 may set: the execution interval is determined based on the number of trips (travel times) for which replenishment is performed by the operation of the number-of-times changing operation unit 54 from the start of the work travel, and replenishment preparation processing is performed.

In the above configuration, the configuration may be: the replacement number change operation unit 54 changes the execution interval based on the voice of the operator (operator). For example, when the operator makes a sound of "three times" after making a sound of "number of times change", the execution interval may be changed to three times. Further, the following constitution may be adopted: after the sound of "number of times change" is made, the sound of "increase" or "decrease" is made, thereby increasing or decreasing the interval one at a time. Further, these speech recognition techniques may be artificial intelligence based deep learning to recognize the composition of speech.

Specifically, the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that recognizes a predetermined voice in response to the voice. When an instruction from the voice of the operator is input, the microphone 44 transfers the voice data to the voice recognition unit 45, and the voice recognition unit 45 recognizes the voice data as specific instruction contents. The voice recognition unit 45 transmits the instruction to the travel control unit 32, and the travel control unit 32 controls the machine body 1 to travel toward the outer periphery of the field (replenishment side SL) so as to replenish seedlings, based on the instruction.

The information terminal 5 may be configured to: the seedling replenishment device is provided with a notification unit 47 and a remaining amount determination unit 48 for performing predetermined notification, and when replenishment preparation processing is performed at a set execution interval, the notification unit notifies that the remaining amount of seedlings is predicted to be insufficient.

Specifically, the surplus determination unit 48 calculates the consumption of seedlings per unit travel distance based on the stored information on the amount of seedlings to be taken, the information on the amount of longitudinal transfer, the information on the length of the mat-shaped seedlings, and the information on the plant spacing, and calculates the surplus of seedlings based on the information on the surplus of the mat. Then, the remaining amount determination unit 48 determines whether or not the remaining amount of the seedling is insufficient during the operation travel until the next replenishment preparation process is performed, based on the calculated consumption amount and the remaining amount. When the remaining amount determination unit 48 determines that the remaining amount of the seedling is insufficient, the notification unit 47 is caused to notify that the remaining amount of the seedling is insufficient.

In this way, by warning that the remaining amount of seedlings is insufficient, the operator can perform replenishment before the replenishment preparation process, and can efficiently perform work travel by suppressing the occurrence of seedling exhaustion during automatic work travel.

[ embodiment 2 ]

Next, another embodiment of the replenishment setting according to embodiment 2 will be described with reference to fig. 6 to 9. The replenishment setting according to embodiment 2 differs from that according to embodiment 1 in that the execution interval is not set for the number of trips (the number of traveling times) but is set for the working distance. In the following description, the same configuration as in embodiment 1 will be omitted.

As shown in fig. 6, the automatic travel control system includes: a control unit 30 provided in the body 1, a positioning unit 8 provided in the body 1, and an information terminal 5. The information terminal 5 is communicably connected to the rice transplanter. The information terminal 5 may be attached to the driver 14, but may be held in an operable state by an operator who is away from the body 1.

In the replenishment setting according to embodiment 2, a setting screen shown in fig. 7 is displayed on the touch panel 50 (step #1 in fig. 8). The supplemental edge setting operation unit 52 is displayed as a software switch on the setting screen. The replenishment side SL is selectively set by the replenishment side setting operation section 52. The outer peripheral shape of the field and the pattern such as an arrow corresponding to the internal round-trip path IPL are displayed on the setting screen, and the sides corresponding to the start and end of the internal round-trip path IPL are displayed as candidates of the replenishment side SL.

The replenishment side setting operation unit 52 may select any one of the sides as candidates, all the sides as candidates, or may not perform replenishment preparation processing (not select a side). The side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in fig. 8). In the example of fig. 7, the sides that are candidates are two sides a and B, but one or three or more sides may be candidates, and if there are a plurality of sides that are candidates, a plurality of sides may be selected.

When the replenishment side setting operation unit 52 selects "no replenishment preparation process," it sets a no-replenishment preparation mode in which no replenishment preparation process is performed, and no suspension for replenishment is performed. In this case, the operator determines the necessity of replenishment, interrupts the work at an arbitrary position, and moves the machine body 1 to the replenishment position to perform replenishment.

Next, an execution interval for performing the replenishment preparation process is set. Specifically, the working distance input unit 56 is displayed as a software switch on the setting screen (step #3 in fig. 8). The working distance input unit 56 inputs a working distance that can be traveled for the seedling to be replenished. The working distance input unit 56 may be configured to directly input a number corresponding to the working distance, but may be configured to increase or decrease the number as shown in fig. 7. The working distance may be predicted in advance based on information such as the amount of mat seedlings loaded on the seedling stage 21, the number of times of lateral transfer, the amount of longitudinal transfer, and the plant spacing, and may be empirically determined in accordance with the condition of the field. The seedling replenishment setting unit 41 sets the replenishment preparation position SPP based on the working distance and the replenishment side SL input from the working distance input unit 56, stores the replenishment preparation position SPP in the storage unit 42, and transmits the information to the travel control unit 32. The travel control unit 32 stores the set replenishment preparation position SPP in the storage unit 35, and suspends the machine body 1 so as to perform replenishment preparation processing at the set replenishment preparation position SPP.

For example, when the distance from the insertion start position S to the position PA on the internal round-trip path IPL1, the internal round-trip path IPL2, and the internal round-trip path IPL3, which is traveled on the internal round-trip path IPL4, is a set working distance, the end region of the internal round-trip path IPL closest to the replenishment side SL at the position PA on the travel path is set as the replenishment preparation position SPP. In the example of fig. 9, the position PB is set to the replenishment preparation position SPP.

Here, the travel distance from the insertion start position S to the replenishment preparation position SPP is longer than the set working distance. In this case, the plant distance is increased or the amount of seedlings taken is reduced, and the vehicle is adjusted so that the vehicle can travel from the planting start position S to the replenishment preparation position SPP (position PB).

If the plant spacing is partially adjusted, the appearance may be impaired. In this case, the plant spacing is preferably adjusted at the center of the field. For example, the plant spacing is adjusted only in a region at a predetermined distance or more from the outer edge of the field.

Further, when the distance from the position PA to the replenishment side SL is long, the work travel from the insertion start position S to the position PB may not be performed even if the plant distance or the seedling amount is adjusted. In the case where such a state is expected, the end region of the internal shuttle path IPL toward the replenishment side SL on the next insertion start position S side of the internal shuttle path IPL including the position PA is set as the replenishment preparation position SPP. For example, in the case where the replenishment side SL includes the replenishment side SLB in fig. 9, the position PC is set to the replenishment preparation position SPP. When the replenishment side SL is only the replenishment side SLA, the position PD is set to the replenishment preparation position SPP. Then, when all necessary settings are made, the automatic job traveling is started by accepting a predetermined operation (step #4 in fig. 8).

By setting the replenishment preparation position SPP based on the working distance in this way, the replenishment preparation position SPP can be set with higher accuracy according to the amount of seedlings to be replenished. As a result, unnecessary stopping of the work travel and an operation for resuming the work travel can be suppressed, and the work efficiency can be further improved.

In addition, the theoretical seedling consumption amount considered in determining the working distance during the automatic working travel may be compared with the actual consumption amount obtained as a result of the working travel, and when there is a difference between the two, the plant spacing and the seedling taking amount may be adjusted. Further, by providing a wheel rotation speed sensor, comparing the travel distance calculated by the wheel rotation speed sensor with the travel distance calculated based on the positioning data outputted from the positioning unit 8, the slip ratio in the field is measured, an appropriate plant distance is calculated based on the slip ratio, and the plant distance is adjusted by a stepless speed change mechanism such as a stepless hydrostatic unit (HST) provided in the drive system of the working device, whereby the seedling consumption amount with high accuracy can be calculated.

Specifically, the information terminal 5 further includes: a position calculating unit 57, a consumption predicting unit 58, and a consumption calculating unit 59.

The position calculating unit 57 calculates the position of the body 1 on the target travel path by any method. For example, the position calculating unit 57 continuously acquires the positioning data output from the positioning unit 8, and continuously calculates the position of the machine body 1 in the field. The information of the calculated position of the body 1 is stored in at least one of the storage unit 42 and the storage unit 35. The stored positions of the body 1 may be at least the positions of the leading end portion and the trailing end portion of each internal round trip path IPL, but may be any ratio or all of the positions of the body 1 calculated continuously.

The consumption predicting unit 58 predicts the theoretical seedling consumption consumed when the running distance is reached based on the longitudinal transfer amount and the number of lateral transfers of the seedling transplanting device 3 and the length and the width of the mat-shaped seedlings, and sends the predicted seedling consumption to the control unit 30 (step #5-1 in fig. 8).

The consumption calculating unit 59 calculates the consumption of seedlings per unit distance based on the amount of change in the position of the machine body 1 on the internal reciprocating path IPL calculated by the position calculating unit 57, the stored information on the longitudinal transfer amount and the information on the number of lateral transfers, calculates the actual consumption of seedlings consumed when the working distance is travelled with this setting, and transmits the calculated actual consumption of seedlings to the control unit 30 (step #6-1 of fig. 8).

Then, the job control part 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares the theoretical seedling consumption amount and the actual seedling consumption amount, and adjusts at least one of the plant spacing and the seedling taking amount based on the comparison result (step #7-1 in fig. 8).

Thus, the seedling transplanting operation can be performed with higher accuracy and the operation travel can be performed with high efficiency by adjusting the plant spacing and the seedling taking amount only when necessary.

Further, depending on the field condition, an error may occur in the working distance. In this case, the replenishment preparation position SPP may be changed according to the distance that the seedlings can actually travel in accordance with the amount of seedlings to be loaded.

In order to achieve such a configuration, the information terminal 5 may include: a position calculating unit 57, a distance comparing unit 61, a position changing operation unit 62, and a notifying unit 47.

The distance comparing unit 61 first calculates the travel distance that can be traveled from the previous replenishment preparation position SPP to the next replenishment of seedlings that is required, based on the consumption amount of seedlings per unit distance calculated by the consumption amount calculating unit 59 and the amount of seedlings that are loaded (step #5-2 in fig. 8). Next, the distance comparing unit 61 compares the calculated travel distance that can be traveled with the set working distance (step #6-2 in fig. 8). Then, when there is a difference of a predetermined threshold or more between the distance that can be traveled and the working distance, the distance comparing unit 61 causes the notifying unit 47 to notify this (step #7-2 in fig. 8). In this case, it is preferable to notify which distance is longer.

The position changing operation unit 62 receives an operation for changing the replenishment preparation position SPP. When the operator has received the notification from the notification unit 47 and has determined that the replenishment preparation position SPP needs to be changed, the operator operates the position change operation unit 62 (step #8-2 in fig. 8). Then, the seedling replenishment setting unit 41 changes the replenishment preparation position SPP to a position adjacent to the replenishment side SL in the end region of the inner traverse path IPL forward or backward in the forward direction in accordance with the operation of the position changing operation unit 62 (step #9-2 in fig. 8).

This makes it possible to change the replenishment preparation position SPP to a working distance corresponding to the actual consumption amount of seedlings, and to more efficiently replenish seedlings. The configuration of changing the replenishment preparation position SPP by the operator operating the position changing operation unit 62 is not limited to this, and the replenishment preparation position SPP may be automatically changed according to the comparison result of the distance comparison unit 61.

As described above, the number of times of the horizontal transfer, the amount of the vertical transfer, and the amount of the seedlings taken out may be changed in setting. In addition, the plant distance may be changed. By changing these data, the distance that can be traveled for the work after the seedling replenishment is performed changes. It is preferable to change the replenishment preparation position SPP simultaneously with the change of these data.

Therefore, when the number of times of transverse transfer, the amount of longitudinal transfer, the amount of seedlings taken, and the plant spacing are changed (step #5-3 in fig. 8), the seedling replenishment setting unit 41 may change the replenishment preparation position SPP in accordance with the amount of change (step #6-3 in fig. 8).

[ embodiment 3 ]

Next, another embodiment of the replenishment setting according to embodiment 3 will be described with reference to fig. 10 to 12. The replenishment setting of embodiment 3 sets the seedling replenishment side in a configuration different from the configuration described above in embodiment 1 or embodiment 2. In the following description, the same configuration as in embodiment 1 or embodiment 2 will be omitted.

As shown in fig. 10, the automatic travel control system includes: a control unit 30 provided in the body 1, a positioning unit 8 provided in the body 1, and an information terminal 5. The information terminal 5 is communicably connected to the rice transplanter. The information terminal 5 may be attached to the driver 14, but may be held in an operable state by an operator who is away from the body 1.

In the replenishment setting according to embodiment 3, a setting screen shown in fig. 11 is displayed on the touch panel 50 (step #1 in fig. 12). The supplementary edge setting operation unit 52 and the route selection operation unit 64 are displayed as software switches on the setting screen. The replenishment side setting operation unit 52 receives a selection operation as to whether or not to perform replenishment preparation processing (step #2 in fig. 12). When the replenishment side setting operation unit 52 selects not to perform the replenishment preparation process, the replenishment side SL is not set. The outer peripheral shape of the field and a pattern such as an arrow corresponding to the internal round trip path IPL are displayed on the setting screen. The supply side SL is a side corresponding to the start and end of the internal round trip path IPL in the outer periphery of the field.

When the replenishment preparation process is selected (yes in step #2 in fig. 12), the operator operates the route selection operation unit 64 to select the internal round trip route IPL (step #3 in fig. 12). The operator grasps the advancing direction based on an arrow or the like displayed on the inner traverse path IPL, and selects the inner traverse path IPL so that the outer periphery on the advancing direction side becomes the replenishment side SL, thereby selecting the replenishment side SL. The path selection operation unit 64 is an operation tool capable of selecting one of the displayed internal round-trip paths IPL, and may be, for example, a switch capable of selecting one of the plurality of internal round-trip paths IPL, or an operation tool capable of stepping left and right to the selected internal round-trip path IPL as shown in fig. 11. The following structure may be used: the route selection operation unit 64 is not provided, and the internal round-trip path IPL is selected by directly touching a pattern corresponding to the internal round-trip path IPL on the touch panel 50. The selected internal round-trip path IPL is lighted or colored, and is changed in such a manner that the selected internal round-trip path IPL can be recognized.

A pattern such as an arrow indicating the advancing direction is displayed on the internal round trip path IPL displayed on the setting screen. The seedling replenishment setting unit 41 sets the outer periphery LA of the field on the advancing direction side of the internal round-trip path IPL selected by the path selection operation unit 64 as a replenishment side SL (step #4 in fig. 12). In addition, when the seedling replenishment setting unit 41 can set a plurality of replenishment sides SL, the outer periphery LB of the field on the opposite side to the direction of travel of the internal round trip path IPL may be set as the replenishment side SL in addition to the outer periphery LA.

When all necessary settings such as setting of the replenishment preparation position SPP are performed, the automatic operation travel is started by receiving a predetermined operation. When it is selected not to perform the replenishment preparation process (no in step #2 in fig. 12), after all necessary settings such as setting of the replenishment preparation position SPP are performed, the automatic operation travel is started by accepting a predetermined operation (step #5 in fig. 12).

In this way, the replenishment side SL can be set by a simple method of selecting the internal round trip path IPL displayed on the setting screen, and the replenishment side SL can be set easily and the setting process can be performed efficiently.

When the replenishment side setting operation unit 52 selects the replenishment preparation process to be not performed, it sets the replenishment-free preparation mode in which the replenishment preparation process is not performed, and does not suspend the replenishment. In this case, the operator determines the necessity of replenishment, interrupts the work at an arbitrary position, and moves the machine body 1 to the replenishment position to perform replenishment.

The seedling replenishment operation unit 65 (corresponding to the "supply replenishment operation unit") may be provided so that the operator can arbitrarily replenish seedlings. The seedling replenishment operation section 65 may be a software switch displayed on the touch panel 50 of the information terminal 5. When the operator determines that replenishment is necessary and the seedling replenishment operation unit 65 is operated during automatic operation traveling, the traveling control unit 32 receives information that the seedling replenishment operation unit 65 is operated and controls the traveling to travel toward the outer periphery of the field (replenishment side SL) so as to replenish the seedlings (step #6 in fig. 12).

Specifically, when the seedling replenishment operation section 65 is operated, the travel control section 32 controls the travel control section to move forward so as not to change to cornering after traveling on the inner round trip path IPL during traveling, and to stop the machine body 1 when reaching the outer periphery (replenishment side SL) of the field.

In addition, the structure may be as follows: instead of providing the seedling replenishment operation section 65, a pattern corresponding to the route selection operation section 64 and the internal round-trip route IPL is displayed during the automatic operation running in the no replenishment preparation mode, and the internal round-trip route IPL is selected by the route selection operation section 64. After the selected travel along the internal reciprocating path IPL, the seedling replenishment setting unit 41 transmits information to the travel control unit 32 so that the machine body 1 travels toward the outer periphery of the field to replenish seedlings.

When the seedling replenishment operation unit 65 is operated to replenish the seedlings, the seedling replenishment setting unit 41 may set the outer periphery of the inner round-trip path IPL, which is immediately before the replenishment of the seedlings, on the outer periphery of the inner round-trip path IPL on the advancing direction side, which is immediately before the replenishment of the seedlings, as the replenishment side SL (step #7 in fig. 12).

After the replenishment side SL is set and the replenishment preparation position SPP is set, the replenishment amount of seedlings required for replenishment may be notified. The replenishment amount is the amount of seedlings required to travel to the next replenishment preparation position SPP for the purpose of performing work after replenishment of seedlings. The required replenishment quantity can be calculated from the operation travel distance between the replenishment preparation positions SPP, the longitudinal transfer quantity, the number of lateral transfer times, the seedling taking quantity, the size of the mat-like seedlings, and the like.

In order to achieve such a configuration, the information terminal 5 may further include a notification unit 47 and a notification control unit 66.

The notification control unit 66 notifies the notification unit 47 of the calculated replenishment quantity after setting the replenishment preparation position SPP.

The seedling replenishment setting unit 41 may correct at least one of the replenishment edge SL and the replenishment preparation position SPP based on the calculated replenishment amount. For example, when the calculated replenishment quantity is significantly smaller than the quantity of mat seedlings that can be carried on the seedling stage 21, the replenishment preparation position SPP may be set at a more distant position. In addition, the replenishment side SL may be provided at another outer periphery of the field. In this case, the seedling replenishment setting unit 41 may correct the replenishment side SL.

In addition, the structure may be as follows: in the automatic operation travel when the no-replenishment preparation mode is set, the seedling replenishment operation unit 65 is first operated by notifying that the seedling exhaustion is detected.

When the seedling exhaustion is detected by the sensor 23 or the like, the notification control section 66 causes the notification section 47 to notify this. The structure can be as follows: after such notification, at least one of the replenishment preparation position SPP and the replenishment side SL can be set. The sensor 23 may be configured to directly detect the seedling exhaustion, but may be configured to detect the remaining amount of the seedling (mat-shaped seedling) as described above. When the sensor 23 is configured to detect the remaining amount of seedlings, the notification control unit 66 determines that the seedlings are in a depleted state when the remaining amount of seedlings is equal to or less than a predetermined amount, and notifies the notification unit 47 of the depleted state.

The seedling exhaustion detection is not limited to the sensor 23, and may be performed using the remaining amount estimating unit 68. The remaining amount estimating unit 68 can be provided in the information terminal 5. The remaining amount estimating unit 68 calculates the estimated consumption amount by using the information on the vertical transfer amount, the information on the number of lateral transfers, the information on the seedling amount, the information on the plant spacing, the information on the travel distance, and the like during the operation travel after replenishment. Then, the remaining amount estimating unit 68 subtracts the calculated estimated consumption amount from the amount of mat-shaped seedlings stored in the storage unit 42 or the like of the information terminal 5 mounted at the time of seedling replenishment, and estimates the actual seedling remaining amount.

Further, both the detection of the remaining amount of the seedling by the sensor 23 and the estimation of the actual seedling remaining amount by the remaining amount estimating unit 68 may be performed. In this case, the notification control unit 66 may control the notification using either one of the remaining amount of the seedling detected by the sensor 23 and the actual remaining amount of the seedling selected by the operator.

Accordingly, the margin selection operation section 69 may be provided. The margin selection operation section 69 is provided in the form of a software switch displayed on the touch panel 50 of the information terminal 5.

During the automatic operation travel, the operator operates the remaining amount selection operation unit 69 to select one of the remaining amount of seedlings detected by the sensor 23 and the actual remaining amount of seedlings. The notification control unit 66 determines that the seedling is exhausted when the remaining amount of the selected seedling or the actual seedling remaining amount is equal to or less than a predetermined amount, and notifies the notification unit 47 of this.

[ other embodiments ]

(1) In the above embodiments, the control unit 30 and the information terminal 5 are not limited to the above-described functional blocks, and may be any functional blocks. For example, the respective functional blocks of the control unit 30 and the information terminal 5 may be further subdivided, and instead, a part or all of the respective functional blocks may be combined. The functions of the control unit 30 and the information terminal 5 are not limited to those of the above-described functional blocks, and may be realized by a method executed by any functional block. In addition, part or all of the functions of the control unit 30 and the information terminal 5 may be constituted by software. The program of the software is stored in any of the storage devices such as the storage unit 35 and the storage unit 42, and is executed by a processor such as a CPU or a processor provided separately in the control unit 30 or the information terminal 5.

(2) In the above embodiments, the seedling replenishment setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption amount calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to the configuration provided in the information terminal 5, and at least one of these components may be provided in the control unit 30, another unit of the machine body 1, an external management computer capable of communicating with the machine body 1, or the like. For example, the microphone 44 and the notification unit 47 may be provided in the driving unit 14, and at least one of the seedling replenishment setting unit 41, the voice recognition unit 45, the residual amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption amount calculation unit 59, the notification control unit 66, and the residual amount estimation unit 68 may be provided in the control unit 30 or the like provided in the machine body 1. At least one of the travel time operation unit 53, the time change operation unit 54, the working distance input unit 56, the position change operation unit 62, the routing operation unit 64, and the seedling replenishment operation unit 65 may be provided in the machine body 1 such as the driving unit 14. At least one of the seedling replenishment setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the allowance determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption amount calculation unit 59, the notification control unit 66, the allowance estimation unit 68, the number of runs operation unit 53, the number of times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the routing operation unit 64, and the seedling replenishment operation unit 65 may be provided on the remote controller 6.

(3) In the above embodiments, the machine body 1 may be provided with the imaging device 19 for imaging the periphery of the machine body 1 and the seedling replenishment point detecting unit 20. The structure may be as follows: when seedlings are replenished at replenishment points SA as replenishment positions, the seedling replenishment point detection unit 20 recognizes the replenishment points SA by image analysis based on the captured image of the imaging device 19, and the travel control unit 32 moves to the recognized replenishment points SA by automatic travel.

(4) In the above embodiments, the automatic travel control system or the field work vehicle may be configured to be compatible with a combine harvester. Further, the information on the replenishment side SL set when the seedling transplanting operation is performed by the seedling transplanting machine may be transmitted to the combine harvester, and the discharge position of the grain during the harvesting operation by the combine harvester may be determined based on the information on the replenishment side SL.

In addition, the combine harvester is provided with a radar sensor or the like, and when the 3D data of the field can be collected during the harvesting operation, the automatic travel control system or the field work vehicle may consider the 3D data of the field when the replenishing side SL is set.

The outer periphery of the field is sometimes unsuitable as the replenishment side SL due to the height of the ridge, the undulation of the ridge (outer periphery of the field), and the like. By setting the replenishment side SL in consideration of the 3D data of the field acquired in the previous year or the like, it is possible to suppress the replenishment side SL from being set at an inappropriate position and to appropriately set the replenishment side SL.

(5) In the above embodiments, the sensor 23 may be configured to detect how much of the mat-shaped seedlings remain by arranging a plurality of such sensors 23 in the longitudinal transfer direction. The sensor 23 may be a camera that photographs the mat-shaped seedlings on the seedling stage 21, and may be configured to analyze the photographed image to detect the remaining amount of the mat-shaped seedlings. The sensor 23 may be a weight sensor, and may be configured to measure the remaining amount of seedlings from a change in the weight of the mat-shaped seedlings mounted on the seedling stage 21.

Further, an unmanned aerial vehicle may be mounted instead of the sensor 23. In this case, the unmanned aerial vehicle photographs the upper part of the seedling stage 21, and the photographed image is subjected to image analysis to detect the remaining amount of seedlings on the seedling stage 21.

Further, instead of detecting the remaining amount of seedlings by the sensor 23, the operator may know the seedling exhaustion or the like by a voice. In this case, a voice recognition system is provided in the information terminal 5, the machine body 1, or the remote controller 6, and the voice recognition system interprets the voice uttered by the operator to know the seedling exhaustion, etc.

For example, the voice recognition system recognizes the operator's voice of "seedling depletion" to sense that seedling depletion has occurred. Further, the voice recognition system recognizes the voice of the operator's "seedling number", and senses that the work travel can be performed over a longer distance than intended.

Based on these sensing contents, the seedling replenishment setting section 41 changes the timing of performing replenishment preparation processing.

(6) In the above embodiments, the farm work vehicle is not limited to the transplanting machine, and may be another work vehicle such as a seeding machine, a chemical spreader, or a fertilizer spreader that supplies agricultural materials to the field, or may be a combine harvester such as a combine harvester that discharges crops harvested in the field.

In this case, a discharge edge along a discharge position of the harvested crop is set from the outer periphery of the field, and a discharge preparation process is performed at a discharge preparation position of the internal round trip path IPL set by the material discharge setting unit. That is, the "replenishment side" in the automatic travel control system of the rice transplanter corresponds to the "discharge side" in the automatic travel control system of the harvester, the "agricultural material" corresponds to the "harvested crop", the "material replenishment setting unit" corresponds to the "material discharge setting unit", the "replenishment preparation position" corresponds to the "discharge preparation position", and the "replenishment preparation process" corresponds to the "discharge preparation process".

Industrial applicability

The invention is not limited to seedling transplanting vehicles such as rice transplanting machines, and can be applied to various field operation vehicles such as combine harvesters, tractors and the like.

Description of the reference numerals

1: a body; 5: an information terminal; 6: a remote controller; 21: a seedling carrying table; 22: an transplanting mechanism; 23: a sensor; 32: a travel control unit; 33: a job control unit; 41: a seedling replenishment setting unit (material replenishment setting unit); 44: a microphone; 45: a voice recognition unit; 47: a notification unit; 48: a margin determination unit; 53: a running number operation unit; 54: a number-of-times changing operation unit; IPL: internal round-trip paths (internal paths); SL: and (5) replenishing edges.

Claims

1. An automatic travel control system for a field work vehicle that repeatedly performs automatic round trip travel on a travel path including an internal path and a turning path, thereby performing a field work for supplying agricultural materials to a field,

the field work vehicle performs replenishment preparation processing for stopping travel every time travel of the internal route is performed for a predetermined number of travel times so as to perform replenishment of materials while performing predetermined replenishment,

the automatic travel control system includes:

a travel control unit that controls automatic travel including the replenishment preparation process;

a job control unit that controls the field job;

A travel number operation unit that receives a selection of the travel number; and

and a material replenishment setting unit that sets the number of traveling times based on an input to the traveling time operation unit.

2. The automatic running control system according to claim 1, wherein,

the number of traveling times is the number of round-trip traveling times of traveling on the two inner paths across the turning path.

3. The automatic running control system according to claim 1 or 2, characterized in that,

the device further comprises: a number change operation unit for receiving the change instruction of the number of traveling times,

when the change instruction is received during the automatic round-trip traveling, the supply material replenishment setting unit changes the number of traveling times from the previous replenishment preparation process to the next replenishment preparation process in accordance with the change instruction.

4. The automatic travel control system according to claim 3, wherein,

the supply replenishment setting unit returns the number of traveling times after the replenishment preparation process to the number of traveling times selected by the traveling times operation unit.

5. The automatic travel control system according to claim 3, wherein,

when the change instruction is received, the supply material replenishment setting unit changes the number of traveling times thereafter to the number of traveling times corresponding to the change instruction.

6. The automatic running control system according to any one of claims 3 to 5, characterized in that,

the frequency changing operation part is arranged on the machine body of the field operation vehicle.

7. The automatic running control system according to any one of claims 3 to 5, characterized in that,

the device further comprises: an information terminal which can be detached from the field operation vehicle,

the number-of-times changing operation unit is provided in the information terminal, and the changing instruction is determined based on the number of times the number-of-times changing operation unit is operated.

8. The automatic running control system according to any one of claims 3 to 5, characterized in that,

the number-of-times changing operation unit is provided in the information terminal, and the change instruction is determined by selecting the number of traveling times that changes during operation of the number-of-times changing operation unit.

9. The automatic running control system according to any one of claims 3 to 5, characterized in that,

The device further comprises: a remote controller capable of remotely operating the field operation vehicle,

the frequency changing operation part is arranged on the remote controller.

10. The automatic running control system according to any one of claims 3 to 5, characterized in that,

the device further comprises: a microphone for inputting a voice,

the material replenishment setting unit has a voice recognition unit that reacts to the predetermined voice,

the voice recognition section recognizes the voice inputted to the microphone,

the supply material replenishment setting unit changes the number of traveling times based on the voice recognized by the voice recognition unit.

11. The automatic travel control system according to claim 10, wherein,

the microphone is arranged on the remote controller.

12. The automatic running control system according to any one of claims 3 to 11, characterized in that,

the running number operation unit can select a no-replenishment preparation mode in which the replenishment preparation process is not executed,

in the automatic round-trip travel in which the no-replenishment preparation mode is selected, when the number-of-times changing operation unit is operated, the travel control unit executes the replenishment preparation process when the travel control unit approaches the replenishment side next time.

13. The automatic running control system according to any one of claims 1 to 12, characterized in that,

the field operation vehicle is a seedling transplanting vehicle for transplanting seedlings serving as the agricultural materials in the field, and is provided with a seedling carrying table and a transplanting mechanism,

the seedling carrier carries cushion-shaped seedlings and continuously sends the cushion-shaped seedlings to the transplanting mechanism with a specified longitudinal transfer amount,

the transplanting mechanism takes out the seedling with specified seedling taking amount from the cushion-shaped seedling, and the seedling is transplanted in the field with specified plant spacing,

the seedling carrying table is provided with a sensor for detecting the cushion allowance of the cushion-shaped seedling,

the automatic travel control system further includes a notification unit that notifies a predetermined notification,

the material replenishment setting unit comprises: a surplus amount determination unit configured to determine whether or not the surplus amount of the seedlings is insufficient in the field operation until the next replenishment preparation process is performed, based on the information on the surplus amount of the mat detected by the sensor, the information on the amount of seedlings taken, the information on the longitudinal transfer amount, the information on the length of the mat-shaped seedlings, and the information on the plant spacing,

the remaining amount determination unit causes the notification unit to notify that the remaining amount of the seedling is insufficient when the remaining amount of the seedling is insufficient.

14. An automatic travel control system for a field work vehicle that repeatedly performs automatic round trip travel on a travel path including an internal path and a turning path, thereby performing a field work for harvesting crops from the field,

the field work vehicle performs a discharge preparation process for stopping travel every time travel of the internal route is performed for a predetermined number of travel times so as to discharge the harvested crop while discharging the crop,

the automatic travel control system includes:

a travel control unit that controls automatic travel including discharge preparation processing;

a job control unit that controls the field job;

and a material discharge setting unit that sets the number of traveling times based on an input to the traveling times operation unit.

15. A field work vehicle for performing a field work for supplying agricultural materials to a field by repeating an automatic round trip travel along a travel path including an internal path and a turning path, wherein the field work vehicle performs a replenishment preparation process for stopping travel every time travel of the internal path is performed a predetermined number of times, so as to perform material replenishment while performing predetermined replenishment,

The field work vehicle includes:

a working device for performing the field work;

a job control unit that controls the field job;