JP2020174676A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of improving ground leveling property on a farm field and capable of grasping in advance, presence/absence of a non-levelled region where is not levelled by a ground leveling unit.SOLUTION: A work vehicle comprises: a travel vehicle body; a work unit which is coupled to the travel vehicle body and can perform prescribed work to a farm field; a ground leveling unit for leveling the farm field; a position information acquisition unit for acquiring positional information of the travel vehicle body; and a control part for causing the travel vehicle body to travel automatically on the basis of the positional information acquired by the position information acquisition unit and prescribed travel path information. The prescribed travel path information includes positional information of a target line on and after a next step which is determined by the control part, with respect to positional information of a standard line acquired as a standard of direct advance travel by manual travel in the farm field, and the positional information of the target line is determined so that edge parts of a ground-leveling width of the ground-leveling unit in a lateral direction overlap to edge parts of the ground-leveling widths in adjacent steps.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work vehicle.

Conventionally, a work vehicle such as a seedling transplanter used when planting seedlings in a field is equipped with GPS to hold the steering member in a straight-ahead position to perform automatic straight-ahead travel and automatically set the direction of travel of the machine. An automatic steering device that can be modified is provided (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, in the conventional work vehicle, the position information of the target line to be the automatic traveling line after the next process is determined by using the position information of the reference line and the planting width of the seedlings of the planting device. It was not possible to grasp in advance the presence or absence of unleveled areas by the ground leveling device between processes.

In view of the above-mentioned problems of the conventional work vehicle, the present invention determines the position information of the target line from the next step onward by using the leveling width of the leveling device. Therefore, the presence or absence of the unleveled area by the leveling device is determined in advance. The purpose is to be able to grasp.

A traveling vehicle body (2), a working device (50) connected to the traveling vehicle body (2) and capable of performing predetermined work on the field, a ground leveling device (40) for leveling the field, and the traveling vehicle body (2). ), The position information acquired by the position information acquisition device (300), and the predetermined travel route information, the traveling vehicle body is automatically driven. With a control unit (400)
The predetermined travel route information includes the position information of the reference line acquired as the reference for straight travel by manual travel in the field, and the target line for the next step and thereafter determined by the control unit (400). Includes location information,
The work vehicle is characterized in that the position information of the target line is determined so that the lateral leveling width of the ground leveling device (40) overlaps the edges of the ground leveling widths of adjacent steps.

The second invention is
The work vehicle according to claim 1, wherein the overlapping distance is variable.

The third invention is
The work vehicle according to claim 1 or 2, wherein the position information of the target line is determined so that a predetermined gap is formed between the edges, and the distance of the predetermined gap is variable. ..

The fourth invention is
A variable operation unit (43) capable of varying the overlapping distance and the distance of the predetermined gap is provided.
The work vehicle according to claim 3, wherein the variable operation unit (43) is arranged in the vicinity of the steering wheel (24) to be steered by the traveling vehicle body (2).

According to the first invention, if the position information of the target line is determined so that the edges of the ground leveling widths of the adjacent steps overlap each other, the ground leveling property of the field is improved and the water in the field is uniform. The seedlings are less likely to grow unevenly because they are easily supplied to the plant.

According to the second invention, in addition to the effect of the first invention, for example, the overlapping distance can be adjusted according to the characteristics of the field, so that the seedling growth can be improved more effectively.

According to the third invention, in addition to the effects of the first and second inventions, the position information of the target line is determined so that a predetermined gap is generated between the edges of the ground leveling widths of the adjacent steps. If this is the case, the ventilation of the gaps between adjacent processes can be improved and the growth of seedlings can be improved as compared with the case where the edges of the ground leveling width overlap. Further, for example, since the distance of a predetermined gap can be adjusted according to the characteristics of the field, it is possible to improve the growth of seedlings more effectively.

According to the fourth invention, in addition to the effect of the third invention, if the variable operation unit (43) is adjusted according to the situation of the field, the occurrence of the unleveled area can be prevented and the leveling property of the field can be improved. The planting accuracy is improved, and the water in the field is easily supplied uniformly, so that the growth of seedlings is less likely to be uneven. Further, if the variable operation unit (43) is adjusted, the gap between the rows where the edges of the ground leveling width are adjacent to each other is widened, the ventilation is improved, and the growth of seedlings can be improved. In addition, the operator can manually adjust it.

Left side view of a robot riding rice transplanter according to an embodiment of the present invention. Top view of the robot riding rice transplanter in this embodiment A block diagram showing a connection relationship between a control unit and various devices, various sensors, etc. in the robot riding rice transplanter of the present embodiment. Schematic diagram of the field for explaining the outline of the traveling route and the work procedure of the robot riding rice transplanter in the field of the present embodiment. Schematic diagram of the field for explaining the outline of the work procedure for acquiring the shape information of the field based on the manual running along each side of the field of the present embodiment.

Hereinafter, an eight-row planting robot riding rice transplanter according to an embodiment of the work vehicle of the present invention will be described with reference to the drawings.

1 and 2 are a left side view and a plan view of the robot riding rice transplanter according to the present embodiment.

In the robot riding rice transplanter 1 of the present embodiment, as shown in FIGS. 1 and 2, the planting device 50 is mounted on the rear side of the traveling vehicle body 2 via an elevating link device 30 so as to be able to move up and down. A hopper 3a of the fertilizer application device 3 is provided on the upper rear side. The elevating link device 30 is a parallel link including an upper link arm 31 and a lower link arm 32.

Further, below the planting device 50, fertilizer supplied from a fertilizer application hose (not shown) of the fertilizer application device 3 is put into a groove formed in a field in a groove (not shown), and then soil is covered. A unit 90 (see FIG. 3) is provided. Further, the soil covering plate drive device 91 provided in the soil covering portion 90 is configured to operate the soil covering plate (not shown) of the soil covering portion 90 in response to a command from the control unit 400, whereby the amount of soil covering is increased. It is a configuration that can be changed.

The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 4 and 4 and a pair of left and right rear wheels 5 and 5, which are driving wheels.

Further, the robot riding rice transplanter 1 of the present embodiment is provided with a pH measuring device 80 (see FIG. 3) for measuring the hydrogen ion index (pH value) of the field. Specifically, the electrode sensors of the pH measuring device 80 are arranged to face each other on the rim portions of the pair of left and right front wheels 4 of the robot riding rice transplanter 1.

During the fertilization operation of the robot riding rice transplanter 1 of the present embodiment, the control unit 400 (see FIG. 3) measured the pH value (hydrogen ion index) of the field by the pH meter 80 (see FIG. 3). When it is determined that the pH value at a certain measurement position in the field is equal to or higher than a predetermined threshold value, it is determined that the measurement position is a place having a high reducing action (that is, poor drainage), and the soil covering plate drive device. A command is issued to 91 to operate the soil covering plate to change the amount of soil covering to be less than a predetermined standard. As a result, the drainage property of the measurement position determined to have a high reducing action can be improved, oxidation can be promoted, and the soil quality can be improved.

Further, the front end portion of the vehicle body main frame 7 is fixed to the back surface portion of the transmission case 6, while the left and right ends of the rear end end of the vehicle body main frame 7 rotatably support the elevating link device 30. A pair of link support stays 10 are fixed.

The engine 20 is mounted on the vehicle body main frame 7, and the rotational power of the engine 20 is transmitted to the transmission case 6 via the belt transmission device 12 and the HST (hydrostatic stepless transmission) 13. The rotational power transmitted to the transmission case 6 is changed by a transmission mechanism (auxiliary transmission or the like) in the transmission case 6, and then separated into traveling power and external extraction power and taken out. Then, the traveling power drives the front wheels 4, 4 and the left and right rear wheels 5, 5.

Further, the external extraction power extracted from the transmission case 6 is transmitted to the planting device 50 by the planting transmission shaft 21 via the planting clutch (not shown).

Further, as shown in FIGS. 1 and 2, the planting device 50 includes a first seedling planting portion 55a, a second seedling planting portion 55b, a third seedling planting portion 55c, and a fourth seedling planting portion 55d. In addition, two planting tools 51 having claws for planting seedlings are rotatably provided on each of the left and right side of each seedling planting section, so that a total of eight seedlings can be planted in the field. is there.

Further, as shown in FIGS. 1 and 2, floats 53 are provided in the lower part of the planting device 50 at the center position and the positions on both the left and right sides, respectively. These floats 53 slide on the mud surface of the field while leveling the ground, and seedlings are planted in the field by the planting tool 51 at the land leveling traces.

Further, in the lower part of the planting device 50, a rotor 41 arranged in a substantially gate shape in a plan view is rotated by power taken out from the left rear wheel gear case 18L via a universal joint 40a, thereby causing a field. A ground leveling rotor 40 for leveling the surface is provided.

Further, the leveling rotor 40 is attached to the planting device 50 so as to be able to move up and down by the operation of an elevating motor (not shown), and the rotation of the rotor 41 is turned on and off in the left rear wheel gear case 18L. It is performed by an on / off operation of a predetermined clutch (not shown).

A steering wheel 24 is provided in front of the driver's seat 22. A ground leveling rotor on / off switch 42 (see FIG. 3) for turning the ground leveling rotor 40 on and off is provided on the right side or the left side of the control handle 24. When the ground leveling rotor on / off switch 42 is turned on, the ground leveling rotor 40 descends to the field scene and the rotor 41 starts rotating in response to a command from the control unit 400 (see FIG. 3) described later. is there. Further, when the ground leveling rotor on / off switch 42 is turned off, the ground leveling rotor 40 rises from the field scene and the rotor 41 stops rotating in response to a command from the control unit 400 (see FIG. 3) described later. It is a configuration.

Further, on the right side or the left side of the control handle 24, an HST operation lever (not shown) for switching between forward traveling and reverse traveling of the traveling vehicle body 2 and for setting the traveling speed, etc. Various levers such as a planting work lever 14 (see FIG. 2) for operating the cutting are provided.

In the robot riding rice transplanter 1 of the present embodiment, when the traveling vehicle body 2 turns or travels backward, the lifting link device 30 rises in conjunction with the movements of the traveling vehicle body 2, so that the planting device 50 is raised. The structure is such that the planting work is stopped as it rises.

Further, below the steering handle 24, various operation buttons (not shown), an automatic operation mode on / off switch 61 (see FIG. 3) for turning on / off the automatic operation mode, which will be described later, and various meters and display units. A meter panel 60 (see FIG. 2) is provided.

Further, as shown in FIG. 3, the robot riding rice transplanter 1 of the present embodiment includes a transmission / reception device 70, an automatic steering device 200, a position information acquisition device 300, etc., and various sensors and the like. These are electrically connected to the control unit 400 (see FIG. 3) described later.

FIG. 3 is a block diagram showing a connection relationship between the control unit 400 in the robot passenger rice transplanter 1 and various devices, various sensors, and the like.

The transmission / reception device 70 is a remote control device 71 carried by a worker who is in the ridge of the field and monitors the automatic planting work by the robot riding rice transplanter 1 during unmanned operation, if necessary. This is a device for transmitting and receiving signals when the robot riding rice transplanter 1 is remotely controlled by using (FIG. 3).

The automatic steering device 200 has a configuration capable of automatically operating the steering handle 24 to maintain or turn the traveling vehicle body 2 in the straight-ahead direction.

That is, the automatic steering device 200 automatically applies an arbitrary rotational force to the steering handle 24 to rotate the steering handle 24 and to detect the rotation angle (steering steering angle) of the steering handle 24. It has a potentiometer 220 and.

Further, the position information acquisition device 300 has a configuration of acquiring the position information (that is, coordinate information) of the robot riding rice field plant 1 on the earth based on GNSS (Global Navigation Satellite System), and receives a signal from an artificial satellite. A receiving antenna 310 for receiving at predetermined intervals is provided, and the position information acquired by the position information acquisition device 300 is sent to the control unit 400.

The position information sent to the control unit 400, the shape information of the field obtained based on the position information, which will be described later, and the target travel route to which the robot riding rice transplanter 1 should travel during the automatic planting work in the field. The position information (position coordinates) and the like can be recorded in the memory unit 410 (see FIG. 3). Further, the shape information of the field, the position information of the target traveling route, and the like are calculated by the calculation unit 420 described later.

Further, as shown in FIGS. 1 and 2, the receiving antenna 310 is fixed to the central portion of the upper surface of the portal-shaped antenna fixing member 320 when viewed from the front, and the left and right lower end portions 321L and 321R of the antenna fixing member 320 are It is fixed to the left and right sides of the front end of the floor step 23.

The traveling vehicle body 2 of the present embodiment corresponds to an example of the traveling vehicle body of the present invention, and the planting device 50 of the present embodiment corresponds to an example of the working device of the present invention. Further, the ground leveling rotor 40 of the present embodiment corresponds to an example of the ground leveling device of the present invention, and the ground leveling rotor on / off switch 42 of the present embodiment corresponds to an example of the ground leveling device on / off switch of the present invention. Further, the position information acquisition device 300 of the present embodiment corresponds to an example of the position information acquisition device of the present invention, and the control unit 400 of the present embodiment corresponds to an example of the control unit of the present invention. Further, the fertilizer application device 3 of the present embodiment corresponds to an example of the fertilizer application device of the present invention. Further, the pH measuring device 80 of the present embodiment corresponds to an example of the detection device of the present invention, and the soil covering portion 90 of the present embodiment corresponds to an example of the soil covering portion of the present invention.

In the above configuration, the operation of automatic operation using the robot riding rice transplanter 1 of the present embodiment will be described mainly with reference to FIGS. 4 and 5.

First, with reference to FIG. 4, the outline of the traveling route and the work procedure of the robot riding rice transplanter 1 will be described.

FIG. 4 is a schematic plan view of the field for explaining the outline of the traveling route and the work procedure of the robot riding rice transplanter 1 in the field.

FIG. 5 is a schematic plan view of a field for explaining an outline of a work procedure for acquiring shape information of a field based on manual running (manual running) along each side of the field.

The field 500 of the present embodiment is a substantially rectangular field surrounded on all sides by a first side 501, a second side 502, a third side 503, and a fourth side 504.

Further, in the present embodiment, since the replenishment work of seedlings and fertilizer to the robot riding rice transplanter 1 is performed on the fourth side 504 side of the field 500, the remote control device 71 is used while the robot riding rice transplanter 1 is in automatic operation. It is assumed that the carrying worker stands by on the fourth side 504 side and monitors its operation.

Further, in the present embodiment, a setting switch (not shown) is provided so that it can be set in advance that the ridge on the fourth side 504 side of the field 500 is for replenishing seedlings and fertilizer. The control unit 400 that has received the setting information from the setting switch is configured to record the information in the memory unit 410. The setting switch is provided around the steering wheel 24 or around the meter panel 60 (see FIG. 2) in order to improve operability.

In the present embodiment, first, a worker gets on the robot riding rice transplanter 1, sets the automatic operation mode on / off switch 61 to "on", and the worker operates the control handle 24 to operate the field 500. While manually traveling the A process 511, the B process 512, and the C process 513 along the first side 501, the second side 502, and the third side 503, the ground leveling rotor 40 is operated without performing the planting work. Perform land preparation work on the headland.

By manually running the steps A 511 to C 513 while appropriately repeating the "on" operation and the "off" operation of the ground leveling rotor on / off switch 42, the control unit 400 can specify the shape information of the field 500. Obtain the necessary position information about the four corners of the field and the position information of the reference line necessary for calculating the target line. Further, the control unit 400 is based on the various acquired position information, and automatically turns the automatic traveling route information (position information of the target line after L2 in the second row, the first planting start line LU1 and the first planting start line LU1. (2) The planting start line (including the position information with the LU2) is obtained by calculation, and the information is stored in the memory unit 410.

Next, the D step 514 (indicated by the broken line in FIG. 4) along the fourth side 504 of the field 500 is manually run without performing the planting work, and the first planting start position of the second row L2 is performed. After turning clockwise in front of L2S (the intersection of the first planting start line LU1 and the second row L2) and stopping the running at the first planting start position L2S, the worker is a robot passenger rice transplanter. Get off from 1 and move to the ridge on the 4th side 504 side.

In the robot riding rice transplanter 1 of the present embodiment, when the operator manually runs the D step 514, the ground leveling rotor on / off switch 42 is set to the "off" state. It is not limited to this.

After that, the operator operates the remote controller 71 that he / she carries from the position of the ridge on the fourth side 504 to transmit a command to the robot passenger rice transplanter 1 to start unmanned automatic operation.

The control unit 400, which has received the automatic operation start command via the transmission / reception device 70, issues a command to the automatic steering device 200 or the like based on the automatic travel route information stored in the memory unit 410, and issues a command to the second row. With the exception of fertilizer and seedling replenishment work performed on the ridge side of the fourth side 504, the traveling operation including turning and the planting work in the L2 to nth row Ln are automatically performed unattended.

Next, after the automatic planting work of the nth row Ln is completed, the control unit 400 subsequently issues a command to the automatic steering device 200 and the like based on the automatic traveling route information recorded in the memory unit 410. The headland of the field 500 (including the first row L1 and the row substantially parallel to the second side 502, the first (n + 1) row Ln + 1 and the row substantially parallel to the fourth side 504) is unmanned. After the automatic planting work is performed while the worker gets on the vehicle and runs by automatic operation, the automatic operation is terminated. The control unit 400 uses the position information of the reference line of the first row, which will be described later, for the automatic running of the first row L1, and the first (n + 1) for the automatic running of the first (n + 1) row Ln + 1. ) Use the position information of the target line corresponding to the column Ln + 1. In the case of unmanned operation, the automatic operation is terminated by a command from the remote controller 71 by the operator.

The headland planting work may be manually performed in all or part of the traveling / turning process.

Here, the first planting start line LU1 shown in FIG. 4 shows the reference positions of the planting start position and the planting stop position on the fourth side 504 side of the second row L2 to the nth row Ln. The second planting start line LU2 is for indicating the planting stop position and the reference position of the planting start position on the second side 502 side of the second row L2 to the nth row Ln. It is a straight line. The setting by the calculation unit 420 of these lines will be further described later.

Next, mainly using FIG. 5, the control unit 400 acquires the shape information of the field 500 and the automatic traveling route information by calculation when the operator gets on the vehicle and manually travels in the steps A 511 to 513. The operation will be further described.

In step A 511 (see FIG. 4), the operator puts the left end of the rotor 41 of the ground leveling rotor 40 of the robot riding rice transplanter 1 at the corners of the first side 501 and the fourth side 504 of the field 500. Arrange the robot riding rice transplanter 1 so as to be as close as possible.

As described above, the operator sets the automatic operation mode on / off switch 61 to “on”, then sets the ground leveling rotor on / off switch 42 (see FIG. 3) to the “on” state, and performs the planting work. The manual running in step A 511 is started without any trouble. The control unit 400 receives a signal indicating the "on" state from the leveling rotor on / off switch 42 (see FIG. 3), lowers the leveling rotor 40 to the field scene, and starts the rotation of the rotor 41.

In the manual running in the present embodiment, the operator runs the robot riding rice transplanter 1 along the unevenness of each side of the field 500, and the running locus is not always linear. ..

Further, when the automatic operation mode on / off switch 61 is set to "on" and the automatic operation mode is in the "on" state, it indicates that the ground leveling rotor on / off switch 42 is set to "on". The control unit 400 that has received the signal determines that the signal is also a start point acquisition trigger signal in addition to the original meaning, and is acquired by the position information acquisition device 300 immediately after or immediately before the determination with respect to the calculation unit 420. Using the latest position information (coordinate value) of the receiving antenna 310 and a predetermined rear end position conversion constant described later, the position information (coordinate value) of the left end portion of the rotor 41 of the ground leveling rotor 40 is obtained. The calculation result is stored in the memory unit 410 as position information (coordinate values) of the first side start point P1S (see FIG. 5).

The latest position information of the position of the receiving antenna 310 (see the step A antenna start point PA1S in FIG. 5) acquired by the position information acquisition device 300 immediately before or immediately after determining that the signal is the start point acquisition trigger signal is also available. The configuration is such that recording is performed in the memory unit 410, and even when the control unit 400 determines the end point acquisition trigger signal described later, the latest position of the receiving antenna 310 (see the end point PA1E of the step A antenna in FIG. 5) is similarly obtained. The position information of the above is recorded in the memory unit 410.

When the robot riding rice transplanter 1 is manually driven along the unevenness of the first side 501 of the field 500 to reach the end of step A 511, the operator can see the front end 2a of the traveling vehicle body 2 of the robot riding rice transplanter 1. (See FIG. 1) stops the running of the robot riding rice transplanter 1 at a position just before the second side 502 of the field 500, and sets the ground leveling rotor on / off switch 42 to the “off” state. In conjunction with this, the ground leveling rotor 40 stops rotating and rises to a predetermined height according to a command from the control unit 400.

Further, when the automatic operation mode on / off switch 61 is set to "on" and the automatic operation mode is in the "on" state, it indicates that the ground leveling rotor on / off switch 42 is set to "off". The control unit 400 that has received the signal determines that the signal is also an end point acquisition trigger signal in addition to the original meaning, and is acquired by the position information acquisition device 300 immediately or immediately before or immediately before the determination with respect to the calculation unit 420. Using the latest position information (coordinate values) of the receiving antenna 310 and a predetermined front end position conversion constant described later, the position information (coordinate values) of the left front end virtual point of the robot riding rice field planting machine 1 described later is obtained. Then, the calculation result is stored in the memory unit 410 as the position information (coordinate value) of the first side end point P1E (see FIG. 5).

Here, the predetermined rear end position conversion constant is the position of the left end portion of the rotor 41 of the ground leveling rotor 40 (that is, the above-mentioned first side start point P1S) by using the position information (coordinate value) at the position of the receiving antenna 310. It is a conversion constant for obtaining the position information (coordinate value) in the position (see FIG. 5) by calculation, and the positional relationship between the two is a value determined in advance depending on the configuration and size of the robot riding rice planting machine 1, and is a memory unit. It is assumed that it is stored in 410 in advance.

Further, the predetermined front end position conversion constant is the traveling vehicle body passing through the front end portion 2a (see FIG. 1) of the traveling vehicle body 2 of the robot riding rice planting machine 1 by using the position information (coordinate value) at the position of the receiving antenna 310. The intersection (in plan view) of the first virtual straight line extending parallel to the left-right direction of 2 and the second virtual straight line extending parallel to the front-rear direction of the traveling vehicle body 2 passing through the position of the left end portion of the rotor 41 of the ground leveling rotor 40. This is a conversion constant for calculating the position information (coordinate value) at the position of the left front end virtual point (that is, the position of the first side end point P1E (see FIG. 5)), and is a robot riding rice planting machine. It is assumed that the positional relationship between the two is a predetermined value depending on the configuration and size of 1 and is stored in the memory unit 410 in advance.

As described above, the robot riding rice transplanter 1 is manually operated so as to be as close as possible to the corner of the field 500, and the position information of the first side start point P1S (see FIG. 5) and the first side end point P1E (FIG. 5). By obtaining the position information of (see 5), these position information can be used as approximate values of the position information of both ends of the first side 501 of the field 500.

Further, the control unit 400 includes the position information (coordinate points) of the A process antenna start point PA1S (see FIG. 5) in the manual travel of the A process 511 and the A process antenna end point PA1E (see FIG. 5) in the manual travel of the A process 511. The reference line of the first column is calculated and recorded in the memory unit 410 by using the position information (coordinate points) of the antenna.

Further, as described above, when the automatic operation mode is in the "ON" state, the operation of "ON" and "OFF" of the existing switch, the ground leveling rotor on / off switch 42, is the original meaning of the operation. In addition to this, the configuration also serves as a trigger signal for acquiring the position information of the start point and the position information of the end point, so that a dedicated switch, lever, etc. for acquiring the position information of the start point and end point, etc. It is possible to reduce the number of parts without the need for.

Next, the operator finishes the ground leveling work in step A 511, turns clockwise while raising the ground leveling rotor 40, and executes the same operation as step A described above in step B 512.

That is, in step B 512, the operator manually travels by performing the same operation as the operation in step A 511 described above, so that the ground leveling rotor on / off switch 42 (see FIG. 3) is set to "on". Similarly to the above, the control unit 400 that has received the signal indicating that the signal is determined to be the start point acquisition trigger signal, and the position information (coordinate value) of the left end portion of the rotor 41 of the ground leveling rotor 40 is second. It is calculated as the position information (coordinate value) of the side start point P2S (see FIG. 5), stored in the memory unit 410, and further receives a signal indicating that the ground leveling rotor on / off switch 42 is set to the "off" state. Similarly to the above, the control unit 400 determines that the signal is also an end point acquisition trigger signal, and obtains the position information (coordinate value) of the above-mentioned left front end virtual point (not shown) of the robot riding rice planting machine 1. It is stored in the memory unit 410 as the position information (coordinate value) of the side end point P2E (see FIG. 5).

Further, in the manual running of the B process 512, the control unit 400 is at least the position of the receiving antenna 310 acquired when the start point acquisition trigger signal is received (the B process antenna start point in FIG. 5), as in the case of the A process. The latest position information of (see PB2S) and the latest position information of the position of the receiving antenna 310 acquired when the end point acquisition trigger signal is received (see the end point PB2E of the B process antenna in FIG. 5) are stored in the memory unit 410. It is a configuration to record.

Further, the control unit 400 includes the position information (coordinate points) of the B process antenna start point PB2S (see FIG. 5) in the manual travel of the B process 512 and the B process antenna end point PB2E (see FIG. 5) in the manual travel of the B process 512. Using the position information (coordinate points) of the antenna, the reference line of the headland on the second side to be used when automatically traveling on the headland along the second side 502 is calculated and recorded in the memory unit 410. It is a composition.

Further, even after moving from the B step 512 to the C step 513, the control unit 400 obtains the start point acquisition trigger signal and the position information (coordinate value) of the third side start point P3S (see FIG. 5) in the same manner as described above. ) Is calculated and stored in the memory unit 410, the end point acquisition trigger signal is obtained, and the position information (coordinate value) of the third side end point P3E (see FIG. 5) is stored in the memory unit 410.

In the calculation unit 420, the control unit 400 determines the position information of the first side start point P1S (see FIG. 5) and the position information of the first side end point P1E (see FIG. 5) stored in the memory unit 410 as described above. Position information of the second side start point P2S (see FIG. 5), position information of the second side end point P2E (see FIG. 5), position information of the third side start point P3S (see FIG. 5), and third side end point P3E (see FIG. 5). The shape information of the field 500 is calculated by using the position information of (see 5).

That is, the calculation unit 420 uses the position information of the first side start point P1S (see FIG. 5) and the position information of the first side end point P1E (see FIG. 5) to obtain the first side start point P1S and the first side end point P1E. The position information of the first straight line 521 (see FIG. 5) passing through the above is obtained, and similarly, the position information of the second straight line 522 passing through the second side start point P2S and the second side end point P2E is obtained, and similarly, the third side The position information of the third straight line 523 passing through the side start point P3S and the third side end point P3E is obtained, and similarly, the position information of the fourth straight line 524 passing through the first side start point P1S and the third side end point P3E is obtained.

In this way, the control unit 400 approximately recognizes the shape of the quadrangle surrounded on all sides by the first straight line 521 to the fourth straight line 524 as the shape information of the field 500.

The control unit 400 uses the position information of a parallel straight line separated from the position information of the fourth straight line 524 by a predetermined distance (a distance obtained by adding a predetermined margin to half the distance of the leveling width WR), and uses the position information of the fourth straight line. The reference line of the headland on the fourth side used when automatically traveling on the headland along the side 502 is calculated and recorded in the memory unit 410.

As described above, according to the present embodiment, the robot riding rice transplanter 1 can be brought as close to the corner as possible to obtain the start point and the end point on each side of the first side 501 to the third side 503 of the field 500. The accuracy of automatic planting can be improved by appropriately setting the first planting start line LU1 and the second planting start line LU2, which are the reference of the turning start position and the turning end position of the automatic turning.

According to the above configuration, the first side start point P1S (see FIG. 5), the first intersection of the first straight line 521 and the second straight line 522, and the second intersection of the second straight line 522 and the third straight line 523. The position information of a total of four points including the end point of the third side is simultaneously acquired by the calculation unit 420. Therefore, the shape information of the field 500 of the present embodiment includes a first line segment connecting the first side start point P1S (see FIG. 5) and the first intersection, and a second line segment connecting the first intersection and the second intersection. It may be recognized as a quadrangle formed by a third line segment connecting the second intersection and the third side end point, and a fourth line segment connecting the third side end point and the first side start point P1S.

Regarding the position information of the start point and the end point on each side of the first side 501 to the third side 503 acquired as the position information of the four corners of the field 500, the shape of the field and the corners of the robot riding rice planting machine 1 can be obtained. Depending on the arrangement situation, the position information of the first side end point and the second side start point may or may not match, and the position information of the second side end point and the third side start point may match. It may or may not be different.

As described above, in the present embodiment, the first side 501 to the fourth side 504 of the field 500 may actually have uneven portions, but as described above, the first side 501 to the third side 503 From the position information of the start point and the end point acquired in, the straight line (or line segment) passing through them, that is, the shape surrounded by the first straight line 521 to the fourth straight line 524 (or the first line segment to the fourth line segment). The structure is such that the shape of the field 500 is approximately recognized.

Next, the operation of obtaining the automatic traveling route information of the second and subsequent columns by calculation in the control unit 400 based on the above-mentioned field shape information will be described.

As described above, the control unit 400 has at least the latest position of the receiving antenna 310 (see the step A antenna start point PA1S in FIG. 5) acquired when the start point acquisition trigger signal is received in the manual running of the step A 511. The position information and the latest position information of the position of the receiving antenna 310 acquired when the end point acquisition trigger signal is received (see the process antenna A end point PA1E in FIG. 5) are stored in the memory unit 410.

Therefore, the control unit 400 receives the position information of the A process antenna start point PA1S (see FIG. 5) in the manual running of the A process 511, that is, the start point acquisition trigger signal, which is stored in the memory unit 410 as described above. The coordinate point of the position of the receiving antenna 310 at the time of the operation and the position information of the end point PA1E (see FIG. 5) of the antenna in step A in the manual running of step A 511, that is, the receiving antenna 310 when the end point acquisition trigger signal is received. The coordinate point of the position and the straight line passing through it are calculated as the reference line of the first column, and the automatic traveling route of the second column L2 to the (n + 1) th column Ln + 1 is parallel to the reference line and the first It is calculated as a plurality of straight lines (target lines) separated from each other by a predetermined distance using the ground leveling width by the ground leveling rotor 40 in each of the adjacent rows in the second row L2 to the second (n + 1) row Ln + 1. The position information of the reference line in the first column and the position information of the target line are recorded in the memory unit 410.

As described above, in the robot riding rice transplanter 1 of the present embodiment, the start point acquisition trigger signal is used as an on / off signal from the leveling rotor on / off switch 42, which cannot be operated by an operator outside the field. Alternatively, by using it as an end point acquisition trigger signal, it is possible to prevent erroneous acquisition of the position information of the reference line outside the field by adopting a configuration in which the position information of the reference line is acquired.

In the calculation of the automatic traveling route of the second row L2 to the second (n + 1) row Ln + 1, the ground leveling width WR in the left-right lateral direction of the ground leveling rotor 40 of the robot riding rice planting machine 1 stored in advance in the memory unit 410. (See FIG. 2) and the dimension of the overlap margin between the edges of the ground leveling width preset by the overlapping width variable volume 43 (see FIG. 3) (plus direction setting value, zero setting value, and minus direction). (Including the set value) and the distance between the first straight line 521 and the third straight line 523 obtained from the shape information of the field 500 stored in the memory unit 410 by the above calculation are used.

The overlapping width variable volume 43 (see FIG. 3) is arranged in the vicinity of various operation buttons (not shown) below the control handle 24, and measures the overlap margin of the leveling width WR of the leveling rotor 40 in adjacent rows. , A volume switch for the operator to manually adjust. When the overlapping width variable volume 43 is turned clockwise from the reference position (zero position), the dimension of the overlap margin of the leveling width WR gradually increases from zero to the plus direction, and when it is turned counterclockwise, the leveling width WR It is possible to set the size of the overlapping allowance to gradually increase from zero to the minus direction, that is, a gap is generated between the edges of the leveling width WR and the gap is gradually increased.

As a result, the overlapping width variable volume 43 allows the dimension of the overlapping allowance of the leveling width WR to be freely adjusted in either the positive direction or the negative direction with reference to zero. Therefore, the overlapping width variable volume can be adjusted according to the field conditions. If 43 is adjusted in the positive direction, the occurrence of undeveloped land area can be prevented, the leveling property of the field is improved, the planting accuracy is improved, and the water in the field is easily supplied uniformly, so that the growth of seedlings is uneven. If the overlapping width variable volume 43 is adjusted in the minus direction, the gap between adjacent rows becomes wider and the ventilation becomes better than when the edges of the leveling width WR overlap each other. The growth of seedlings can be improved.

Further, as a result of calculating the automatic traveling route of the second row L2 to the second (n + 1) row Ln + 1, the space for the planting width of the second (n + 1) row Ln + 1 is narrowed, and the planting width for eight rows is secured. When the control unit 400 determines that the operation is not possible, the control unit 400 sets the interval between the columns within a predetermined range from the set width based on the set value preset in advance by the overlapping width variable volume 43. Adjust using the narrowed change width. In that case, the control unit 400 displays on the meter panel 60 that the interval between the rows has been adjusted by the change width.

As a result, the second row L2 to the (n + 1) row Ln + 1 are not provided with a mechanism such as a partial clutch (not shown) for partially turning on and off the planting work by the planting tool 51 of the planting device 50. Eight-row planting can be performed in all rows, and the number of parts can be reduced and the manufacturing cost can be reduced.

As a result of calculating the automatic traveling route of the second column L2 to the (n + 1) column Ln + 1, when the space of the planting width of the first (n + 1) column Ln + 1 becomes wider than the planting width of eight rows, the control unit When determined by 400, the control unit 400 increases the interval between the columns within a predetermined range from the set width based on the set value preset in advance by the overlapping width variable volume 43. Use and adjust. In that case, the control unit 400 displays on the meter panel 60 that the interval between the rows has been adjusted by the change width.

Next, in the control unit 400, the first planting start line LU1 and the second planting are carried out in consideration of the turning width in order to enable automatic turning within the range of the leveling width by the leveling rotor 40 in the headland. A configuration for appropriately setting the start line LU2 and a turning operation using the configuration will be described.

That is, the control unit 400 is the robot riding rice planting machine 1 on the second side 502 side of the calculation unit 420 with reference to the position information of the fourth straight line 524 obtained from the shape information of the field 500 stored in the memory unit 410. The above-mentioned first planting start line LU1 is set at a position (see FIG. 4) separated by a distance obtained by adding a predetermined margin width Wα to the ground leveling width WR (see FIG. 2), and the first planting start line LU1 is set. The position information of the line LU1 is stored in the memory unit 410.

Further, in the calculation unit 420, the control unit 400 sets the robot riding rice planting machine 1 on the fourth side 504 side with reference to the position information of the second straight line 522 obtained from the shape information of the field 500 stored in the memory unit 410. The second planting start line LU2 described above is set at a position (see FIG. 4) separated by a distance obtained by adding a predetermined margin width Wα to the ground preparation width WR (see FIG. 2), and the second planting start line LU2 is set. The position information of the line LU2 is stored in the memory unit 410.

Here, the predetermined margin width Wα is, for example, a seedling planted at the beginning or end of each row and a seedling planted at the left-right width direction end of the headland (in FIG. 4, the right end with respect to the traveling direction). It is set to secure an interval (for example, about 30 cm), and is configured to be changeable by a volume or the like.

Further, in the present embodiment, the turning width WT (see FIG. 4) of the robot riding rice transplanter 1 when the steering wheel turning angle by the steering motor 210 is set to the maximum turning angle is configured to be smaller than the leveling width WR. ing. Furthermore, when the automatic operation mode is in the "ON" state, the control unit 400 sets the steering angle of the steering motor 210 to the maximum turning angle when the automatic steering device 200 is made to perform automatic turning. It is configured in.

As a result, the robot passenger rice transplanter 1 automatically travels straight on the target line of the second row L2, for example, with automatic planting work and ground leveling work, and the planting position of the planting tool 51 is set to the second planting position. When the control unit 400 determines that the attachment start line LU2 has been reached, the control unit 400 stops and raises the ground leveling operation by the ground leveling rotor 40, stops and raises the planting operation by the planting device 50, and automatically steers. The steering wheel turning angle of the steering motor 210 is set to the maximum turning angle of the device 200, and the device 200 is made to turn approximately 90 ° in order to move to the target line of the third row L3. Then, the control unit 400 further travels straight in parallel with the second planting start line LU2 by a predetermined straight line distance previously recorded in the memory unit 410 according to the distance between the adjacent target lines. Finally, the control unit 400 causes the automatic steering device 200 to set the steering angle of the steering motor 210 to the maximum turning angle, moves it onto the target line of the third row L3, and implants the second. At the start line LU2, the planting device 50 and the ground leveling rotor 40 are lowered, and the automatic straight running with the automatic planting work and the ground leveling work is started.

The robot riding rice transplanter 1, for example, automatically travels straight on the target line of the third row L3 with automatic planting work and ground leveling work, and the planting position of the planting tool 51 is the first planting position. When the control unit 400 determines that the start line LU1 has been reached, the same turning operation as described above is performed.

From the above, in the present embodiment, since the automatic turning is performed within the range of the leveling width by the leveling rotor 40 in the headland, the occurrence of the unleveled land and the unplanted area around the turning start position is prevented and the automatic turning is performed. The accuracy of planting can be improved.

Here, it will be further described to prevent the occurrence of unleveled and unplanted areas around the turning start position.

In another robot riding rice transplanter different from the above configuration, the turning operation when the turning width WT is larger than the leveling width WR of the ground leveling rotor 40 in the headland will be described below with reference to FIG. ..

That is, for example, in order to automatically travel straight on the target line of the second row L2 and then turn so as not to interfere with the ridges of the second side 502, a predetermined distance before the above-mentioned second planting start line LU2. It is necessary to stop the planting work from the position of and start automatic turning. Therefore, when the last planting work of the headland is completed, among the seedlings at both ends of the 8-row planting planted in the headland, the seedlings on the second planting start line LU2 side and the second row L2 As described above, the planting work is stopped from the position in front of the predetermined distance and the automatic turning is started between the seedlings planted at the end of the seedlings, so that the area corresponding to the predetermined distance is the seedlings. It remains as an area that has not been planted and has not been leveled. Therefore, in such an area, the worker manually plants the seedlings, but since the land is in an unleveled state, it is necessary to manually perform the ground leveling work before the planting work, which reduces the work efficiency.

On the other hand, according to the configuration of the robot riding rice transplanter 1 of the present embodiment as described above, such a decrease in work efficiency can be prevented.

As described above, the control unit 400 provides the position information of the target line required for automatic straight running in the second row L2 to the nth row Ln and the planting in the second row L2 to the nth row Ln. The first, which is necessary for setting the reference position of the start and the stop of planting, in other words, the reference position of the turning end position corresponding to the planting start position and the turning start position corresponding to the planting stop position. The planting start line LU1 (also referred to as a first turning reference line) and the second planting start line LU2 (also referred to as a second turning reference line) are set and stored in the memory unit 410.

In the above embodiment, in the calculation of the automatic traveling route of the second row L2 to the second (n + 1) row Ln + 1, the leveling width WR (see FIG. 2) and the overlapping width are variable in the horizontal and horizontal directions of the leveling rotor 40. The dimension of the overlap margin between the edges of the leveling width preset by the volume 43 (see FIG. 3) (including the setting value in the plus direction, the setting value of zero, and the setting value in the minus direction), and the shape of the field. The case where information or the like is used has been described, but the present invention is not limited to this. For example, in addition to the above items, the planting width WU between the planting tools 51 arranged at the left and right ends of the planting device 50 (that is, planting). The planting width between the left and right ends of the device 50) (see FIG. 2) may also be used. In the case of this configuration, from the information of the leveling width WR and the planting width WU, the left and right ends of the leveling rotor 40 are the planting positions of the planting tools 51 arranged at the left and right ends of the planting device 50 in a plan view. Since the protrusion dimension Wd (= (WR-WU) ÷ 2) indicating how much it protrudes outward can be specified as a fixed value with reference to, the edge of the leveling width is determined by the overlapping width variable volume 43 (see FIG. 3). When the size of the overlapping allowance is set to zero, the planting interval Nk between seedlings planted at the outermost positions of adjacent rows can be specified as twice the protrusion size Wd.

Therefore, the dimension of the overlap margin between the edges of the leveling width set by the overlapping width variable volume 43 (see FIG. 3) (including the setting value in the plus direction, the setting value of zero, and the setting value in the minus direction) is set. Assuming Wk, the planting interval Nk between seedlings planted at the outermost positions of adjacent rows can be expressed as 2 × Wd-Wk, so that the operator can use the overlapping width variable volume 43 to set the overlap margin dimension Wk. By adjusting, the planting interval Nk (= 2 × Wd-Wk = WR-WU-Wk) can also be controlled.

For example, when the protrusion dimension Wd is a fixed value of 20 cm, if the planting interval Nk between seedlings planted at the outermost positions of adjacent rows is set to the normal 30 cm, the overlap allowance due to the overlapping width variable volume 43 The dimension Wk (= 2 × Wd-Nk) may be set to 10 cm. Further, for example, when the protrusion dimension Wd is a fixed value of 20 cm, if the planting interval Nk between seedlings planted at the outermost positions of adjacent rows is set to 50 cm by making it wider than usual, the overlapping width variable volume The size Wk of the overlapping allowance according to 43 may be set to -10 cm. That is, when the overlapping allowance dimension Wk is set to -10 cm, there is a gap between the edges of the ground leveling width WR by the ground leveling rotor 40 in the adjacent rows, and the gap becomes 10 cm, and the planting interval between the adjacent rows Nk can be set to 50 cm, which is wider than 30 cm, which improves ventilation and improves seedling growth.

That is, in the case of the above configuration, the overlapping width variable volume 43 is clockwise (in the plus direction) with respect to the reference position for setting, for example, the dimension Wk = 0 of the overlap margin between the edges of the ground leveling width having a cylindrical shape. If the knob can be turned in either the direction (setting) or counterclockwise (setting in the minus direction), the overlapping width is variable on the operation panel side where the overlapping width variable volume 43 is arranged. An arc-shaped first line centered on the rotation axis of the volume 43 is shown, and the numerical value of the dimension Wk of the overlap margin between the edges of the leveling width is displayed as a scale on the first line. .. Further, on the outer peripheral side of the first line, an arc-shaped second line centered on the rotation axis of the overlapping width variable volume 43 is written, and seedlings to be planted at the outermost positions of adjacent rows are written. The numerical value of the planting interval Nk may be displayed as a scale on the second line in association with the scale on the first line. Further, instead of the analog display using the scale on the first line and the scale on the second line, the set value of the overlapping width variable volume 43 may be digitally displayed. Next, during the automatic operation control of the robot riding rice transplanter 1 of the present embodiment, the configuration and operation for avoiding the situation where fertilizer runs out in the middle of the next one round trip will be mainly described.

In the present embodiment, as described above, the ridges on the fourth side 504 side of the field 500 are used to replenish seedlings and fertilizers, which is set in advance by the setting switch in the memory unit 410. It shall be recorded.

That is, a fertilizer delivery amount detection sensor 82 (see FIG. 3) for detecting fertilizer delivered to the field from the fertilizer application device 3 is provided, and the control unit 400 integrates the fertilizer application amount from the detection result and calculates the remaining amount of fertilizer in the hopper. In the control unit 400, the aircraft is in the first planting start line LU1 (first turning reference line) during automatic straight running in the odd row of the second row L2 to the nth row Ln. From the amount of fertilizer remaining, the amount of fertilizer delivered, the distance of one round trip, and the vehicle speed calculated immediately before approaching (see Fig. 4) and entering the next turning motion, one round trip is automatically performed after the next turning motion. During the run, in other words, after the next turn operation, will the fertilizer run out during the run until the aircraft next reaches the first planting start line LU1 (first turn reference line) (see FIG. 4)? Judge whether or not.

That is, when the control unit 400 determines that the fertilizer is exhausted in the middle of the next one round trip, the control unit 400 stops the next turn and continues to travel straight toward the fourth side 504 as it is, and the first planting start line. After reaching LU1 (first turning reference line), the vehicle speed is reduced and stopped at the ridge of the fourth side 504.

As a result, it is possible to prevent the fertilizer from running out in the middle of the next one round-trip planting process, so that the worker can use the hopper for the robot riding rice transplanter 1 that is stopped at the ridge on the fourth side 504. It is possible to quickly replenish fertilizer to No. 3 and improve work efficiency. After the fertilizer replenishment work, the worker can continue the automatic operation control for the robot passenger rice transplanter 1 by turning on the automatic operation continuation switch (not shown).

In addition, when the operator is on board because the vehicle speed is reduced and stopped at the ridge of the fourth side 504 after reaching the first planting start line LU1 (first turning reference line). Safety can be ensured.

In the above description, the control unit 400 has described the configuration and operation for avoiding the situation where the fertilizer runs out in the middle of the next round trip, but the present invention is not limited to this, for example, the seedling tank in the middle of the next round trip. In order to avoid the situation where the seedlings on the seedling 52 are exhausted and the stock is missing, the control unit 400 determines that the seedlings on the seedling tank 52 will be exhausted in the middle of the next round trip, the next turn. Stop and continue straight toward the 4th side 504, reach the 1st planting start line LU1 (1st turning reference line), then slow down the vehicle speed at the ridge of the 4th side 504. It may be configured to stop.

Here, in order to determine whether or not the seedlings on the seedling tank 52 will disappear in the middle of the next one round trip, each data such as the amount of seedlings taken from the planting tool 51 and the amount of lateral feed of the seedling tank 52 is stored in the memory unit. By recording in 410, the control unit 400 determines whether or not the planting work can be performed in the next one round trip based on the remaining amount of seedlings on the seedling tank 52.

As a result, it is possible to avoid running out of seedlings in the middle of the next one round-trip planting process, so that the worker can use the seedlings for the robot riding rice transplanter 1 that is stopped at the ridge on the fourth side 504. Seedlings can be quickly replenished to the tank 52, and work efficiency can be improved. After the seedling replenishment work, the worker can continue the automatic operation control for the robot passenger rice transplanter 1 by turning on the automatic operation continuation switch (not shown).

Further, in the above description, the control unit 400 has described the configuration and operation for avoiding the situation where the fertilizer runs out in the middle of the next round trip, but in addition to this, at the timing of the fertilizer replenishment work, the auxiliary seedlings The replenishment work may also be performed in conjunction with each other. That is, in the case of this configuration, when the robot riding rice transplanter 1 stops at the ridge of the fourth side 504 because the control unit 400 determines that the fertilizer will run out in the middle of the next one round-trip planting process, In conjunction with this, an electric auxiliary seedling frame that automatically enters the rail state according to a command from the control unit 400 is provided. Further, the electric auxiliary seedling frame can be returned to its original position by manual operation, and by returning to the original position, the control unit 400 can continue the automatic operation control for the robot passenger rice transplanter 1.

As a result, since auxiliary seedlings are usually replenished at the timing of fertilizer replenishment, work efficiency can be improved by performing both replenishment operations in conjunction with each other.

Further, in the above configuration, when the control unit 400 determines that the seedlings on the seedling tank 52 will disappear in the middle of the next one round trip, the next turn is stopped and the control unit 400 goes straight to the ridge of the fourth side 504 as it is. The case of running and stopping has been described. In the case of this configuration, the aircraft travels straight toward the fourth side 504, reaches the first planting start line LU1 (first turning reference line), and then turns 90 ° while decelerating to move the aircraft to the fourth side 504. The state parallel to the ridges of the seedlings may be stopped as the seedling supply position. Further, in the case of this configuration, a rail-shaped auxiliary seedling frame is provided above the seedling tank 52, and the seedling supply position is set at a position where the rail reaches the ridge.

In the above embodiment, the case where the shape information of the field 500 is acquired by manually running on the headland of the field 500 has been described, but the present invention is not limited to this, and for example, the shape information of the field 500 is acquired in advance. You may record and use the map information and the running information by the tractor or the like.

Further, in the above embodiment, in order to secure the planting of 8 rows of the (n + 1) th column Ln + 1, the control unit 400 sets the interval of each column in advance by the overlapping width variable volume 43 before the work. The configuration for automatically changing from the set width based on the set value to the change width has been described, but the present invention is not limited to this, and for example, it is planted at the outermost positions of the nth column Ln and the (n + 1) th column Ln + 1. When the control unit 400 determines that it is possible to secure the planting of 8 rows of Ln + 1 in the (n + 1) row by changing only the planting interval Nk between adjacent seedlings, it is referred to as Ln in the nth row. Only the planting interval Nk between adjacent seedlings to be planted at the outermost position of the first (n + 1) row Ln + 1 may be changed from the set width to the change width.

Further, in the above embodiment, when moving from an arbitrary target line to the adjacent target line by automatic turning, a predetermined linear distance previously recorded in the memory unit 410 according to the distance between the adjacent target lines. Only the configuration in which the vehicle travels straight on the first planting start line LU1 or in parallel with the second planting start line LU2 has been described, but the present invention is not limited to this, and for example, a predetermined linear distance recorded in the memory unit 410 is worked. The configuration may be such that the person can make fine adjustments by operating the volume. As a result, the accuracy of the planting start position can be improved.

Further, in the above embodiment, when the operator manually travels in step D 514, the ground leveling rotor on / off switch 42 has been described as being set to the “off” state, but the present invention is not limited to this. When the automatic operation mode is in the "on" state and the operator starts manual running in step D 514, the operator operates the ground leveling rotor on / off switch 42 "on" to perform manual running in step D 514. The ground leveling rotor on / off switch 42 may be turned off when the vehicle is stopped.

In the case of this configuration, the control unit 400 determines that the “on” signal and the “off” signal of the ground leveling rotor on / off switch 42 are the start point acquisition trigger signal and the end point acquisition trigger signal, respectively, as in the above configuration example. Then, based on each determination, the latest position information of the position of the receiving antenna 310 at that time is used as the position information (coordinate value) of the start point of the D process antenna and the position information (coordinate value) of the end point of the D process antenna, respectively. The position information (coordinate value) of the left end portion (referred to as the fourth side start point) of the rotor 41 of the ground preparation rotor 40 at that time and the left front end virtual point (coordinate value) of the robot riding rice planting machine 1 are recorded in the memory unit 410. This may be configured to calculate the position information (coordinate value) of the fourth side end point) and record it in the memory unit 410. As a result, the fourth straight line 524 can be determined as a straight line passing through the start point of the fourth side and the end point of the fourth side, and the position information thereof can be obtained. Further, in the case of this configuration, the control unit 400 has the position information (coordinate points) of the D process antenna start point in the manual travel of the D process 514 and the position information (coordinate points) of the D process antenna end point in the manual travel of the D process 514. The reference line of the headland on the fourth side to be used when automatically traveling on the headland along the fourth side 504 may be calculated and recorded in the memory unit 410.

Further, in the above embodiment, the automatic traveling in the second row and after L2 is configured to automatically travel based on the position information of the target line regardless of the actual traveling locus in the row immediately before the robot riding rice planting machine 1. Although not limited to this, for example, the position information of the actual traveling locus in the row immediately before the robot passenger rice planting machine 1 is recorded in the memory unit 410, and the target line corresponding to the immediately preceding row and the actual traveling locus are recorded. If the control unit determines that the calculation result exceeds a predetermined range, the control unit moves to the next column based on the position of the deviation and the calculation result (deviation amount). After modifying the position information of the corresponding target line, the automatic running of the next row may be executed.

Further, in the above-described embodiment, when seedling replenishment or fertilizer replenishment is required, the configuration in which the next turn is stopped, the vehicle travels straight toward the fourth side 504 and is stopped at the ridge has been described. In addition to this, for example, when the control unit 400 determines that an error has occurred, it may be configured to return to the ridge of the fourth side 504 in order to ensure safety.

Further, when the control unit 400 determines that an error has occurred during automatic driving in the automatic driving mode state, it sounds a warning sound to stop the vehicle, and changes to manual operation while the warning sound is sounding. , The configuration may give priority to manual operation.

Further, the robot passenger rice transplanter 1 is provided with a sensor for detecting that a person is on board, and when the sensor detects that a person is on board, the control unit 400 is used to ensure safety. May be configured to slow down the turning speed as compared with the unmanned case.

Further, in the robot passenger rice transplanter 1, a pressure sensor (not shown) is provided at the link fulcrum portion of the float 53 as a mud pushing detection device for the float 53, and it is determined from the detection result that the pressure value has increased due to the mud pushing. In this case, the sensitivity of the float 53 may be changed from the standard to the sensitive side. As a result, the sensitivity can be adjusted automatically.

Further, in the robot passenger rice planting machine 1, a spring steel and a limit switch (not shown) are provided behind the link fulcrum of the float 53 as a mud pushing detection device for the float 53, and when the float 53 is mud pushed, a spring is provided. The limit switch is turned on when the link fulcrum moves backward from the standard position against the restoring force of the steel, and when there is no mud pushing, the link fulcrum returns to the standard position due to the restoring force of the spring steel and the limit The switch may be turned off. As a result, automatic sensitivity adjustment can be performed by a mechanical configuration without using an expensive pressure sensor.

Further, in the robot riding rice transplanter 1, in order to facilitate water management, a groove may be dug on the outside of the end strip at the time of planting. In the case of this configuration, by providing a grooving mechanism in a part of the front plate guard portion, grooving can be performed at the same time as planting.

Further, in the robot riding rice transplanter 1, in order to facilitate water management, a groove may be dug on the outside of the end strip at the time of planting. In the case of this configuration, by providing a grooving mechanism in a part of the float 53, grooving on the outside of the machine body can be performed at the same time as planting.

Further, in the robot riding rice transplanter 1, a groove digging machine is provided in the front plate guard portion, and when teaching the entire circumference of steps A 511 to D 514 by manual running, a groove is dug between the ridge and the planting strip. This may reduce the damage to mole crickets and mice and prevent weeds from entering the field. As a result, uneven growth of seedlings can be avoided and the yield can be increased. In addition, later growth management (water supply / drainage, medium drying) will be easier.

Further, in the robot riding rice transplanter 1, a groove digging machine is provided in the front plate guard portion, and an image recognition device is provided for discriminating the ridges, and the ridges are provided especially when the boundary is ambiguous (discontinuous) such as soil ridges. A groove may be dug between the planting strip and the planting strip. As a result, uneven growth of seedlings can be avoided and the yield can be increased. In addition, later growth management (water supply / drainage, medium drying) will be easier.

Further, in the robot riding rice transplanter 1 provided with the height control device of the planting portion, if a groove digging machine is provided in the planting portion and the planting portion is lowered further, the depth of the groove becomes deeper and the planting portion becomes more. Since the depth of the groove becomes shallower when it is raised, the groove may be cut so that the height of the groove is lowered by gradually lowering the planting portion toward the drainage side of the water outlet. In the case of this configuration, the position information of the water outlets (water supply side, drainage side) is set in advance, and the position information of the robot riding rice transplanter 1 acquired by the position information acquisition device 300 is used to optimize the groove cutting. It can be planned. As a result, drainage is improved and seedling growth is stabilized.

Further, in the robot riding rice transplanter 1 provided with the rolling control mechanism, a trench digging machine may be provided to perform trench cutting so that the altitude of the groove decreases toward the drainage side of the water outlet. In the case of this configuration, the position information of the water outlets (water supply side, drainage side) is set in advance, and the position information of the robot riding rice transplanter 1 acquired by the position information acquisition device 300 is used to roll the vehicle body in the left-right direction. By controlling the inclination angle to, the altitude of the groove can be changed to optimize the groove cutting. As a result, drainage is improved and seedling growth is stabilized.

Further, in the above embodiment, the configuration for adjusting the amount of soil covering is described from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80 (see FIG. 3), but the present invention is not limited to this, for example. In addition to measuring the ionization tendency, the pH value will be measured at the same time, and the control unit will estimate the drainage property of the soil according to the pH value, and in places where the drainage property is poor, it will be alkalized by the reducing action. In consideration of the fact that the fertilizer application effect is weak, the control unit may set the fertilizer application amount to be smaller than the standard amount. Thereby, the efficiency of variable fertilization can be improved. Further, in the case of this configuration, the pH meter electrode may be shared with the electrical resistance value measuring mechanism.

Further, in the above embodiment, the case where the work vehicle of the present invention is a robot passenger rice transplanter in which the planting device 50 is connected to the traveling vehicle body 2 is described as an example of the work device, but the present invention is not limited to this, for example. The work vehicle of the present invention may be a robot work vehicle to which a seeder is connected as another example of the work device. In the case of this configuration, the control unit may estimate the drainage property by measuring the pH value of the field, and the control unit may change the soil cover accordingly. Specifically, in a place where the control unit determines that the drainage property is poor, the soil cover may be controlled to be smaller than the standard amount. As a result, the seedling standing property is improved.

Further, in the above embodiment, the case where the work vehicle of the present invention is a robot passenger rice transplanter in which the planting device 50 is connected to the traveling vehicle body 2 is described as an example of the work device, but the present invention is not limited to this, for example. The work vehicle of the present invention may be a robot work vehicle to which a seeder is connected as another example of the work device. In the case of this configuration, the control unit may estimate the drainage property by measuring the pH value of the field, and the control unit may change the groove according to the estimation. Specifically, in a place where the control unit determines that the drainage property is poor, the grooving may be controlled to be deeper than the standard amount. As a result, the seedling standing property is improved.

Further, in the above embodiment, the configuration for adjusting the amount of soil covering is described from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80 (see FIG. 3), but the present invention is not limited to this, for example. The drainage property is estimated by measuring the pH value with a pH meter, and variable fertilization is performed according to the estimation result (for example, the amount of fertilizer applied is increased compared to the standard amount in a place with good drainage property). May be. As a result, variable fertilization can be realized at low cost without having to equip expensive sensors.

Further, in the above embodiment, the configuration for adjusting the amount of soil covering has been described from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80) (see FIG. 3), but the present invention is not limited to this. , The cultivation depth (field depth) is measured according to the link angle detected by the link sensor, and the variable fertilizer application is performed accordingly (for example, the amount of fertilizer applied is increased compared to the standard amount in a shallow place). good. In the case of this configuration, originally, in order to detect the height of the planting device 50, a link sensor for detecting the link angle of the rotation fulcrum supporting the float 53 is provided, and the detection result of the link sensor is provided. In addition to its original role, it also serves to realize variable fertilization. As a result, variable fertilization can be realized at low cost without newly equipping expensive sensors.

Further, in the robot riding rice planting machine 1 of the above embodiment, the control unit classifies whether the field corresponds to gray lowland soil, yellow soil, or gly soil from the topographical data, satellite image data, and soil distribution data. If it is determined that the soil is classified as yellow soil, the amount of fertilizer may be increased from the basic set value, and if it is determined that the soil is classified as gly soil, shallow planting and grooving may be performed. Normally, nutrients flow easily in yellow soil, and in the case of gley soil, the transmittance of nutrients in the soil tends to be poor, but according to the above configuration, by changing the planting work depending on the soil condition, Yield can be increased even without know-how.

Further, in the robot riding rice planting machine 1 of the above-described embodiment, the control unit determines that the field soil quality is gray lowland based on the soil quality distribution classified by the topographical data and the satellite image data and the soil image of the field actually photographed. Classify whether it applies to soil, yellow soil, or gly soil, and if it is judged to be classified as yellow soil, increase the amount of fertilizer above the basic set value, and if it is judged to be classified as gly soil, shallow It may be configured to plant and make grooves. Normally, nutrients flow easily in yellow soil, and in the case of gley soil, the transmittance of nutrients in the soil tends to be poor, but according to the above configuration, by changing the planting work depending on the soil condition, Yield can be increased even without know-how.

In addition, in the robot riding rice planting machine 1 of the above embodiment, the control unit classifies whether the field soil quality corresponds to gray lowland soil, yellow soil, or gley soil from the soil image of the field actually taken. If it is determined that the soil is classified as yellow soil, the amount of fertilizer may be increased from the basic set value, and if it is determined that the soil is classified as gray soil, shallow planting and grooving may be performed. Normally, nutrients flow easily in yellow soil, and in the case of gley soil, the transmittance of nutrients in the soil tends to be poor, but according to the above configuration, by changing the planting work depending on the soil condition, Yield can be increased even without know-how.

In addition, in the autonomous straight rice transplanter, as a learning opportunity, if the expected output and the actual output are the same but the actual input is different, the one with the highest contribution rate is picked up and the same. It may be configured to add a lot of weight as a control parameter in the field. Normally, if learning is left to artificial intelligence, a large amount of data is required and it takes time, but according to the above configuration, the learning speed can be increased while using steering during teaching.

Further, in the above-mentioned robot riding rice transplanter 1, noise due to weeds or the like may be easily removed by taking a picture with a camera while performing air blow as automatic detection of ridges. Normally, a stationary object is recognized as an obstacle, but according to the above configuration, noise can be reduced and ridges can be automatically detected. Further, instead of the air blow, the exhaust direction of the engine may be directed to the ridge. As a result, noise during shooting can be reduced without newly providing a blower.

Further, the robot riding rice transplanter 1 may be configured to detect ridges by using an ultrasonic sensor. In the case of this configuration, the sensor is provided at the side marker position to detect the ridges from the difference in distance from the planted field, and the detected value is corrected by the change in the attitude of the aircraft. This makes it possible to map the terrain.

In addition, in autonomous straight-ahead control, it is equipped with a swivel device that changes the output according to the slip rate and plowing depth, and uses a satellite positioning system and plowing depth sensor (elevating link angle sensor) to display data along with deviation from the route and output for it. It may be configured to collect data, calculate the strength of the correlation, and link the strongly correlated data with the output. As a result, straight-ahead control can be performed without any difference in straightness depending on the field condition.

In addition, in autonomous straight-ahead control, it is equipped with a turning device that changes the output according to the traveling speed, and when the traveling speed is fast, the turning output is reduced, when the traveling speed is slow, the turning output is increased, and the weighting is from the route by the satellite positioning system. The configuration may be determined by the deviation of the speed and the speed data collected together with the output for the deviation. As a result, the weighting value, which is influenced by situations other than speed, is not fixed uniformly, so that it can be adapted to various situations, and straight-ahead control can be performed without any difference in straightness depending on the field condition. ..

In addition, in autonomous straight-ahead control, it is equipped with a swivel device that changes the output according to various conditions, and the correlation is based on the deviation from the route by the satellite positioning system and the data (speed, field slip ratio, cultivation depth) collected together with the output for it. The data may be weighted according to the height, and the weighted value may be recorded in the memory unit as field information. As a result, since the weighting value does not become a constant value, it is possible to adapt to various situations, and straight-ahead control can be performed without any difference in straightness depending on the field condition.

In addition, in the robot riding rice transplanter 1 described above, field data (speed, field slip ratio, cultivation depth) and planting data (number of planted plants, seedling amount, planting depth) at the time of planting are recorded and satellites are used. The configuration may be such that the degree of fruiting in the image and the correlation with the measurement result by the yield combine are investigated, the data having the highest correlation is determined, and the planting conditions are optimized. As a result, planting can be performed under optimum conditions regardless of the field condition, and overfitting can be avoided.

Further, in the above embodiment, the 8-row type robot riding rice transplanter 1 has been described as an example of the work vehicle of the present invention, but the present invention is not limited to this, and for example, 4-row planting, 5-row planting, 6-row planting, etc. It may be configured and is not limited to the number of articles.

According to the present invention, the presence or absence of an unleveled area can be grasped in advance by the leveling device, which is useful as, for example, a robot riding rice transplanter.

1 Robot passenger rice transplanter 2 Traveling vehicle body 24 Steering wheel 40 Leveling rotor 43 Overlapping width variable volume 300 Position information acquisition device 400 Control unit

Claims (4)

A traveling vehicle body (2), a working device (50) connected to the traveling vehicle body (2) and capable of performing predetermined work on the field, a ground leveling device (40) for leveling the field, and the traveling vehicle body (2). ), The position information acquired by the position information acquisition device (300), and the predetermined travel route information, the traveling vehicle body is automatically driven. With a control unit (400)
The predetermined travel route information includes the position information of the reference line acquired as the reference for straight travel by manual travel in the field, and the target line for the next step and thereafter determined by the control unit (400). Includes location information,
A work vehicle characterized in that the position information of the target line is determined so that the horizontal leveling width of the ground leveling device (40) overlaps the edges of the ground leveling widths of adjacent steps. The work vehicle according to claim 1, wherein the overlapping distance is variable. The work vehicle according to claim 1 or 2, wherein the position information of the target line is determined so that a predetermined gap is formed between the edges, and the distance of the predetermined gap is variable. A variable operation unit (43) capable of varying the overlapping distance and the distance of the predetermined gap is provided.
The work vehicle according to claim 3, wherein the variable operation unit (43) is arranged in the vicinity of the steering wheel (24) to be steered by the traveling vehicle body (2).