JP2023006578A - work vehicle - Google Patents

Abstract

To address such a problem that turning of a car body is not easy for a work vehicle such as a conventional rice planting machine.SOLUTION: A work vehicle includes: a display control section causing a display device to display a current travel route that a work vehicle body travels, then to display a next travel route that the work vehicle body is to travel next, and causing the display device not to display a travel route that the work vehicle body is to travel after the next, when the work vehicle body approaches an end position of the current travel route, causing the display device to display a turning direction from the end position of the current travel route to a start position of the next travel route, when the work vehicle body reaches the start position of the next travel route, removing the turning direction from the display device, the work vehicle body traveling along a plurality of parallel travel routes; and a controller for controlling the turning of a car body in order to transfer from a travel route to a travel route. The controller determines whether it is possible to turn to an adjacent travel route at prescribed timing based on the direction of the car body to be turned to the adjacent travel route, and when determining that it is impossible to turn to the adjacent travel route, after causing the car body to retreat, turns to the adjacent travel route.SELECTED DRAWING: Figure 3

Description

The present invention relates to a work vehicle such as a rice planter.

A rice transplanter having a planting device attached to a vehicle body so as to be able to move up and down, a steering motor for driving a steering handle, and a control device for controlling the straight movement of the vehicle body by causing the steering motor to drive the steering handle. Work vehicles are known (see, for example, U.S. Pat.

JP 2016-24541 A JP-A-2002-335720

However, it is not always easy to turn the vehicle body of a work vehicle such as the above-described conventional rice planter.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work vehicle capable of performing turning control of a vehicle body in consideration of the conventional problems described above.

A first aspect of the present invention comprises a positioning unit that detects the position of an airframe, a controller (500) that acquires a travel route along which the airframe travels, and a controller that allows the airframe to travel along the travel route based on the position of the airframe. 2, an automatic traveling control unit that performs automatic maneuvering of the aircraft, a display device (CD) for the driver to view, the current traveling route that the aircraft travels, and the next traveling that the aircraft should travel next display the route on the display device (CD); When approaching the position, the turning direction from the end position of the current travel route to the start position of the next travel route is displayed on the display device (CD), and the aircraft reaches the start position of the next travel route. Then, the work vehicle is provided with a display control unit (SS) for turning off the turning direction from the display device (CD), and travels along a plurality of parallel travel routes, wherein the work vehicle moves from one travel route to another travel route. The controller (500) controls the turning of the vehicle body (100) for the purpose of turning the vehicle body (100) to an adjacent travel route at a predetermined timing based on the direction of the vehicle body (100) to It is determined whether or not it is possible to turn to the adjacent travel route, and if it is determined that the turn to the adjacent travel route is impossible, the vehicle moves backward and then the adjacent travel route. The work vehicle is characterized in that it makes the turn to the traveling route that

In the second aspect of the present invention, the controller (500) acquires a plurality of the travel routes in advance, and the display control unit (SS) selects the travel routes from among the travel routes acquired by the controller. A work vehicle that displays on the display device (CD) the current travel route to be carried out and the next travel route on which the machine body should travel next, and travels along a plurality of parallel travel routes, A controller (500) that performs turning control for turning the vehicle body (100) for transition from one driving route to another driving route, wherein the controller (500) controls the turning of the vehicle body (100) to an adjacent driving route. At a predetermined timing based on the direction, it is determined whether the turn to the adjacent travel route is possible or not, and when it is determined that the turn to the adjacent travel route is impossible. , the work vehicle skips the adjacent travel route and makes a turn to another travel route.

A third aspect of the present invention is provided with a controller (500) that acquires a reference travel route, and the controller (500) is set parallel to the reference travel route from the current position of the aircraft based on a driver's command. The display control unit (SS) displays the travel route acquired by the controller (500) on the display device (CD) as the current travel route on which the aircraft travels. and set the virtual travel route parallel to the reference travel route at a position separated from the travel route acquired by the controller (500) by a predetermined distance set in advance. is displayed on the display device (CD) as the next traveling route to be traveled, and the display control unit (SS) displays the current position of the aircraft, the current traveling route on which the aircraft travels, and then The display control unit (SS) displays a mark indicating the direction in which the aircraft should travel on the current travel route and the next travel route. A mark indicating the direction in which the aircraft should travel on the route is displayed on the display device (CD), and the controller (500) skips the adjacent travel route and performs the turn to the another travel route. at a predetermined timing based on the direction of the vehicle body (100) to be turned to the skipped travel route after traveling along the different travel route. , it is determined whether the turn to the skipped travel route is possible or not, and if it is determined that the turn to the skipped travel route is possible, the skipped travel route is determined. The work vehicle according to the second aspect of the present invention is characterized in that it makes the turn to the traveling route.

In the fourth aspect of the present invention, the controller (500) performs the turn to the another travel route by skipping the adjacent travel route, and after traveling along the another travel route, the skipped When making a turn to the skipped travel route, it is determined whether the turn to the skipped travel route is possible at a predetermined timing based on the direction of the vehicle body (100) to be turned to the skipped travel route. It is determined whether it is possible, and if it is determined that the turn to the skipped travel route is impossible, the vehicle reverses and then makes the turn to the skipped travel route. It is a working vehicle of the second present invention.

The fifth aspect of the present invention is characterized in that the predetermined timing is the timing when the direction of the vehicle body (100) turned to the adjacent travel route becomes a direction perpendicular to the direction of the travel route. It is the work vehicle of the 1st or 2nd this invention which carries out.

A sixth aspect of the present invention is the work vehicle according to the first or second aspect of the present invention, wherein the vehicle body (100) is stopped at the predetermined timing.

The first aspect of the present invention provides high convenience. Also, it is possible to perform turning control of the vehicle body.

The second aspect of the present invention provides high convenience. Also, it is possible to perform turning control of the vehicle body.

According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to turn the vehicle body with high convenience.

According to the fourth aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to turn the vehicle body with high convenience.

According to the fifth aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, it is possible to reliably turn the vehicle body.

According to the sixth invention, in addition to the effects of the first or second invention, it is possible to reliably turn the vehicle body.

1 is a left side view of a rice transplanter according to an embodiment of the present invention; FIG. 1 is a block diagram of a rice transplanter according to an embodiment of the present invention; Explanatory drawing of turning control of the rice transplanter of embodiment in this invention (part 1) Explanatory drawing of turning control of the rice transplanter of embodiment in this invention (part 2) Explanatory drawing of the robot rice transplanter automatic adjustment function of the rice transplanter of embodiment in this invention Explanatory drawing of the robot rice transplanter automatic adjustment function of the rice transplanter of embodiment in this invention (part 1) Explanatory drawing of the robot rice transplanter automatic adjustment function of the rice transplanter according to the embodiment of the present invention (part 2) Explanatory drawing of the robot rice transplanter automatic adjustment function of the rice transplanter according to the embodiment of the present invention (Part 3) Explanatory drawing of the headland process of the robot rice transplanter of the embodiment of the present invention (No. 1) Explanatory drawing of the headland process of the robot rice transplanter of the rice transplanter according to the embodiment of the present invention (No. 2) Explanatory drawing of the headland process of the robot rice transplanter of the embodiment of the present invention (No. 3) Explanatory drawing of the robot rice transplanter error display of the rice transplanter of embodiment in this invention FIG. 2 is an explanatory diagram of a robot rice transplanter steering angle sensor setting method for a rice transplanter according to an embodiment of the present invention. (a) Explanatory diagram (part 1) of robot rice transplanter automatic operation start position setting of rice transplanter according to the embodiment of the present invention, (b) Robot rice transplanter automatic operation start position setting of rice transplanter according to the embodiment of the present invention Explanatory diagram of (Part 2) Explanatory drawing of the robot rice transplanter assist function of the rice transplanter of embodiment in this invention (part 1) Explanatory drawing of the robot rice transplanter assist function of the rice transplanter of the embodiment of the present invention (part 2) Explanatory drawing of the rice transplanter remote controller connection state icon of the rice transplanter according to the embodiment of the present invention Explanatory drawing of the rice transplanter remote control state display of the rice transplanter of embodiment in this invention Explanatory drawing of the rice transplanter work area acquisition state display of the rice transplanter of embodiment in this invention Explanatory drawing of robot rice transplanter automatic traveling screen layout of rice transplanter of embodiment in this invention Explanatory drawing of the rice planter seedling amount icon of the rice planter according to the embodiment of the present invention Explanatory drawing of the rice transplanter horizontal feed number icon of the rice transplanter according to the embodiment of the present invention Explanatory drawing of the rice transplanter automatic driving icon of the rice transplanter of embodiment in this invention Explanatory drawing of the rice transplanter planting depth icon of the rice transplanter of embodiment in this invention Explanatory drawing of the rice transplanter oil pressure sensitivity icon of the rice transplanter of embodiment in this invention

Embodiments of the present invention will be described in detail with reference to the drawings.

Similarly, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated manner.

First, mainly referring to FIGS. 1 and 2, the configuration and operation of the rice transplanter of the present embodiment will be specifically described.

Here, FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, and FIG. 2 is a block diagram of the rice transplanter according to an embodiment of the present invention.

The rice transplanter of the present embodiment is a rice transplanter that travels along a plurality of parallel travel paths, and is an example of a work vehicle in the present invention.

While explaining the operation of the rice transplanter, the work vehicle operation control method of the invention related to the present invention will also be explained.

The rice transplanter of the present embodiment travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual control or automatic control on a control device 240, while the ground leveling device having a ground leveling float 261 is operated. This is a rice planting machine for leveling a field by 260 , planting seedlings in the field by a seedling planting device 230 , and applying fertilizer to the field by a fertilizing device 250 .

Traveling device 220, seedling planting device 230, fertilizing device 250, and ground leveling device 260 are driven by power of engine 210 transmitted via main transmission 300 and sub-transmission 400, which are HSTs.

Next, mainly referring to FIGS. 1 to 4, the configuration and operation of the rice transplanter of this embodiment will be described more specifically.

3 and 4 are explanatory diagrams (parts 1 and 2) of the turning control of the rice planter according to the embodiment of the present invention.

The controller 500 performs turning control for turning the vehicle body 100 for transition from one travel route to another.

Since the turning control for achieving smooth entry into the planting route is performed as follows, roughening of the field is less likely to occur.

The controller 500 determines whether or not it is possible to turn to the adjacent travel route at a predetermined timing based on the direction of the vehicle body 100 to be turned to the adjacent travel route. If it is determined that turning is not possible, the vehicle may (A) reverse and then turn to an adjacent travel route, or (B) skip the adjacent travel route and switch to another travel route. You may perform a turn to Note that the controller 500 also serves as an automatic travel control unit.

The direction of vehicle body 100 is detected using, for example, GNSS position information. (A) Determining a specific reverse travel distance for which reverse travel is to be performed, and (B) Specific selection of another travel route, such as a travel route next to the skipped travel route or a further travel route, for example. , based on the positional relationship between the vehicle body 100 and the travel route using GNSS positional information. When skipping is repeated and travel routes on which no travel is performed occur intermittently, it is needless to say that travel on those travel routes may be performed collectively at the end, for example.

The predetermined timing is desirably the timing at which the direction of the vehicle body 100 that is turned to the adjacent travel route is perpendicular to the direction of the travel route.

A mode is also conceivable in which the predetermined timing is not the timing when the direction of the vehicle body 100 to be turned to the adjacent travel route becomes a direction perpendicular to the direction of the travel route. However, in such a mode, it is difficult to accurately recognize the distance to the entrance of the travel route with respect to the direction of the travel route or the direction perpendicular to the direction of the travel route due to the deviation in the direction of the vehicle body 100. As a result, it may be difficult to reliably perform turning control.

It is desirable that the vehicle body 100 is stopped at a predetermined timing.

A mode in which the vehicle body 100 does not stop at a predetermined timing is also conceivable. However, in such a mode, it becomes difficult to accurately recognize the distance to the entrance of the travel route in the direction of the travel route or in the direction orthogonal to the direction of the travel route due to the movement of the vehicle body 100. It may be difficult to reliably perform turning control.

Mainly referring to FIGS. 3 and 4, a more specific description is as follows.

The controller 500 determines whether turning to the adjacent travel route S1 is possible or not at a predetermined timing based on the direction of the vehicle body 100 that is turned to the adjacent travel route S1.

Of course, when the controller 500 determines that turning to the adjacent travel route S1 is possible, the controller 500 makes a turn to the adjacent travel route S1.

(A) In the mode shown in FIG. 3, when the controller 500 determines that turning to the adjacent travel route S1 is impossible, the controller 500 reverses and then turns to the adjacent travel route S1. I do.

Typically, after the turning that was started and temporarily stopped along with the end of the straight traveling process is resumed, when the turning of 90 degrees based on the straight traveling process is completed, along the direction indicated by the arrow Driving is temporarily stopped again, and if it is impossible to enter the next route, the vehicle is driven in reverse by going straight until it becomes possible to enter the next route, and then turning is resumed. A system such as a robotic rice planter that performs

(B) In the mode shown in FIG. 4, when the controller 500 determines that it is impossible to turn to the adjacent travel route S1, the controller 500 skips the adjacent travel route S1 and switches to another travel route. Make a turn to S2.

Typically, after the turning that was started and temporarily stopped along with the end of the straight traveling process is resumed, when the turning of 90 degrees based on the straight traveling process is completed, along the direction indicated by the arrow If the running is temporarily stopped again and it is impossible to enter the next route, the next route, the Nth route, is skipped and the (N+1)th route is entered. A system such as a robot rice planter that generates a travel route such that the planting run of the Nth route and the planting run of the (N+2)th route are performed in this order is conceivable.

The next path, the Nth path, is skipped. The above-described turn control is preferably not performed twice in succession. This is because if the turning control is performed twice in succession, there will be a route in which the planting travel is performed twice.

When the controller 500 skips an adjacent travel route and makes a turn to another travel route, and makes a turn to the skipped travel route after traveling along the different travel route, the controller 500 skips the skipped travel route. At a predetermined timing based on the direction of the vehicle body 100 to be turned toward, it is determined whether turning to the skipped travel route is possible or not, and (B1) Turning to the skipped travel route is possible. (B2) If it is determined that turning to the skipped travel route is not possible, the vehicle reverses and then skips. Make a turn to a new travel route.

Such a predetermined timing is desirably the timing at which the direction of the vehicle body 100 that is turned to the skipped travel route becomes a direction perpendicular to the direction of the travel route.

The vehicle body 100 is desirably stopped at such a predetermined timing.

Mainly referring to FIG. 4, a more specific description is as follows.

When the controller 500 skips the adjacent travel route S1 and makes a turn to another travel route S2, and makes a turn to the skipped travel route S1 after traveling along the different travel route S2, the skip At a predetermined timing based on the direction of the vehicle body 100 to be turned to the skipped travel route S1, it is determined whether the turn to the skipped travel route S1 is possible or not.

(B1) When the controller 500 determines that turning to the skipped travel route S1 is possible, the controller 500 makes a turn to the skipped travel route S1.

Therefore, if it is possible to turn to the skipped travel route, the vehicle can turn to the skipped travel route.

If the running performance during turning is lowered, the paddy field tends to become rough in the riding-type rice transplanter that improves the running performance by utilizing the differential lock or the drive of the rear wheel on the inner side of the turn to improve the running performance. Even if the differential lock or the driving of the inner rear wheel of turning is used, in the case of being stuck, it is often necessary for the operator to decide to get the vehicle body 100 out of the stuck state. Therefore, robot rice transplanters also require advanced control during turning to cope with slips, stacks, and the like.

The controller 500 determines whether or not the vehicle body 100 can turn to the next process due to slip or stuck, and if it determines that the vehicle body 100 cannot turn to the next process, the controller 500 turns to the next process by skipping one process. take action. After the planting work of the next process is completed, a return turning operation is performed toward the planting unworked process caused by the one-process skip, and after the planting work of the planting unworked process is completed, the planted work process is skipped. It goes without saying that a normal turning motion with

In order to suppress work interruptions due to slips or stacks during turning and roughening of the soil in the field caused by unreasonable turning movements, complicated drive control and steering control are not required during turning, so simple control is possible. A robot rice transplanter capable of continuing planting work is realized.

(B2) When the controller 500 determines that turning to the skipped travel route S1 is impossible, the vehicle reverses and then turns to the skipped travel route S1.

Therefore, even when turning to the skipped travel route is impossible, the vehicle can turn to the skipped travel route after backing up.

Mode switching between a mode in which a turn to an adjacent travel route is performed after reverse travel and a mode in which the adjacent travel route is skipped and a turn to another travel route is performed, and turning control of these modes The on/off of the operation may be operable by a dial setting operation on the operation panel, a liquid crystal monitor setting operation, or a remote controller setting operation.

Next, mainly referring to FIGS. 1 to 4, the configuration and operation of the rice transplanter of the present embodiment will be explained more specifically.

<Robot rice transplanter automatic adjustment function>
The robot automatic adjustment function of the rice transplanter according to the present embodiment will be described with reference to FIG. 5, which is an explanatory diagram of the robot automatic adjustment function of the rice transplanter according to the embodiment of the present invention.

A ride-on rice transplanter equipped with a vehicle body position detection device that detects the vehicle body position based on signals from positioning satellites records the turning area in which the planting part is raised and no planting work is being performed. Turning area recorder and when planting work is performed in the turning area recorded by the turning area recorder, where turning traces are formed in the field, the rotor height is adjusted along with the adjustment to automatically dampen the hydraulic sensitivity. It may have an automatic adjuster to make it smaller. Such an automatically adjusted area for improving planting performance may be created during automatic driving instead of being set when acquiring a planting area.

<Robot rice transplanter travel route deviation cancellation function>
With reference also to FIGS. 6 to 8, which are explanatory diagrams (parts 1 to 3) of the robot rice transplanter automatic adjustment function of the rice transplanter according to the embodiment of the present invention, the robot rice transplanter automatic adjustment function of the rice transplanter according to the present embodiment will be explained.

In turning the robot rice transplanter, if the wheels spin and the rice transplanter becomes unable to move, the vehicle speed is reduced and the steering angle is relaxed to escape. It is conceivable that even if a slip due to wheel slippage occurs in automatic operation, the slip state in which the rice planter cannot move can be eliminated by correcting the trajectory by using a trajectory correction or by skipping one step ( See Figure 6).

Such a slip event in which the wheels spin and the planter is stuck is determined from GNSS position information, planting travel path information, front wheel pulse information, or rear wheel pulse information (see FIG. 7).

When it is detected that the rice transplanter cannot move, the electric differential lock may be used, but if the slip state cannot be eliminated by operating the electric differential lock, the control reduces the vehicle speed and relaxes the steering angle. (See FIG. 8).

After such control for reducing the vehicle speed and relaxing the steering angle, it is determined from the GNSS position information, planted travel route information, front wheel pulse information, rear wheel pulse information, or the like that the slip state is resolved, and the steering angle is eased. It may be stopped and the turning resumed.

<Robot rice transplanter headland process>
With reference also to FIGS. 9 to 11, which are explanatory diagrams (parts 1 to 3) of the headland process of the robot rice transplanter of the embodiment of the present invention, the headland process of the robot rice transplanter of the embodiment of the present invention will be described. will be explained.

A planting path generation system for a robot rice transplanter is conceivable in which headland planting parallel to the field side Ea is finally performed by manual planting in the vicinity of the field side Ea, which is the opposite side of the field side to which the material is supplied. This is because, for example, if planting is carried out parallel to the field side Ea in the two steps of the teaching process and the subsequent inner peripheral planting process of automatic operation, air circulation is poor and disease outbreaks are likely to occur. More specifically, the following planting route generation system for automatic planting travel, which operates in such a way that ventilation is improved and disease outbreaks are less likely to occur, is conceivable.

In a robot rice transplanter that can perform teaching work while planting on the outer periphery of a field, the teaching process is performed so that headland planting parallel to the field side Ea is not performed (see FIG. 9).

In the reciprocating planting process of automatic operation after such a teaching process, turning is performed by using the headland space near the field side Ea, and the field is parallel to the planting route of the reciprocating planting process and the row alignment process. The space corresponding to one step in the vicinity of edge Eb, together with the headland space corresponding to one step in the vicinity of field edge Ea, remains unplanted when the round trip planting stroke is completed (see Figure 10).

In the inner peripheral planting process after the reciprocating planting process, automatic planting is performed in the space corresponding to one process in the vicinity of the field side Eb, but in the vicinity of the field side Ea that remains without planting. Although automatic headland planting may be performed, preferably headland planting is finally done by manual planting to improve air circulation without automatic headland planting (see Figure 11). .

<Robot rice transplanter error display>
The robot rice transplanter error display of the rice transplanter of the present embodiment will be described with reference also to FIG.

For robot rice transplanters, the function to display abnormalities detected by sensors etc. in gadgets such as liquid crystal monitors, multi-layer lights, tablets, remote controllers for robot rice transplanter operation, and automatic operation monitors, Conceivable. It is sometimes difficult to confirm errors that occur during unmanned driving, but it is possible to confirm abnormalities in the rice transplanter even from a ridge.

<Robot rice transplanter rudder angle sensor setting method>
A robot rice transplanter steering angle sensor setting method for a rice transplanter according to the present embodiment will be described with reference to FIG.

In the robot rice transplanter, a configuration in which the steering angle sensor is set by button operation using a jog dial or the like is conceivable so as to prevent mistakes caused by improper steering angle sensor setting. This is because in a configuration in which the steering angle sensor is automatically set when the key is turned on, normal automatic driving is often not realized when the key is turned on even though the steering wheel is not in a straight-ahead state.

Specifically, when the rice transplanter is turned on or the engine is started, a pop-up display or announcement is made on the LCD monitor, etc., prompting the user to press the jog dial after the steering wheel is in a straight state. .

When the jog dial is pressed in such a condition, the steering angle sensor is properly set at the steering angle sensor position corresponding to the steering wheel being straight.

A function of checking the state of the steering angle sensor is conceivable.

Specifically, when the mode that checks the steering angle sensor state is selected in the mode setting of the LCD monitor, the steering motor is activated so that the steering angle sensor recognizes that the steering wheel is straight. Operate. Therefore, if the steering wheel is straight after the steering motor is activated, it is understood that the steering angle sensor is properly set.

A configuration is conceivable in which the steering angle sensor is set when the azimuth angle recognition operation is being performed.

Specifically, when the engine is on, a pop-up display or announcement is made on the liquid crystal monitor or the like prompting the user to operate the vehicle to move forward or backward in a straight line.

The fact that the vehicle is moving forward or backward may be recognized using the pulse value of the front wheel rotation sensor or the rear wheel rotation sensor, or may be recognized using GNSS or RTK position information.

<Robot rice transplanter automatic operation start position setting>
With reference also to FIGS. 14(a) and 14(b), which are explanatory diagrams (parts 1 and 2) of automatic operation start position setting of the robot rice transplanter of the embodiment of the present invention, the rice planting of the present embodiment will be described. The robot rice transplanter automatic operation start position setting of the machine will be explained.

In the robot rice transplanter, the automatic operation start position can be selected by the liquid crystal monitor display to freely change the teaching operation start position side or the teaching operation completion side as the automatic operation start position after the teaching operation is completed with the jog dial. is conceivable. The starting position of the automatic work in the teaching work procedure is not automatically determined, but can be changed later. Efficiency is improved.

A screen for setting the automatic operation start position is displayed on the LCD monitor, and by turning the jog dial, it is possible to select the teaching work start position side or the teaching work completion side as the automatic work start position.

For example, when the jog dial is turned left, the automatic work is started from the teaching work start position side, and when the jog dial is turned right, the automatic work is started from the teaching work completion position side.

<Robot rice transplanter assist function>
The robot rice transplanter assist function of the rice planter according to the present embodiment will be described with reference to FIGS. do.

In the robot rice transplanter, a function to automatically calculate the amount of seedlings consumed in the reciprocating process is conceivable. Since the amount of seedlings consumed in one round trip can be grasped, the number of replenishment times can be reduced.

A function of adjusting the seedling amount according to the amount of remaining seedlings before the inner circumference process is conceivable. Seedlings are used efficiently because seedling residue and seedling shortages are less likely to occur.

The amount of remaining seedlings may be entered into the monitor panel prior to the inner circumference process (see Figure 15).

A function of notifying the timing at which the planting width adjustment process is started by a lamp or a buzzer is conceivable. The sudden disengagement of the so-called ridge clutch and the fact that the vehicle is traveling in an oblique direction can make it appear that an error has occurred. easier to understand the situation.

The timing of returning from the state in which the GNSS position information is lost may be notified by the buzzer ringing of the rice planter or the remote controller, or the vibration of the remote controller. The return timing of GNSS position information becomes easy to understand.

A routing function is conceivable in which approaches that are not at the edges of ridges can be set. The approach road is often the edge of the ridge, but the presence of the approach road at the edge of the ridge is no longer a precondition for route creation, so flexible handling of various farm fields is realized.

When the approach road is not at the edge of a ridge, for example, by using a remote controller, liquid crystal monitor, monitor panel button, or mobile terminal operation, the position information of the approach road can be obtained from such approach road to the field. It may be recognizable at the timing of entry.

In automatic operation mode, reciprocating strokes may be performed such that one step on the extension of the approach road and one step adjacent to it are left (see FIG. 16).

When the ridge clutch is turned on and off during automatic operation, a buzzer on the rice planter side may be sounded, or the lamp flickering pattern of the remote controller may be changed. The situation of automated driving becomes easier to understand.

When planting is being performed along the first process route in the teaching mode in automatic operation, the buzzer on the rice transplanter side may be sounded, or the lamp flickering pattern of the remote controller may be changed. The situation of automated driving becomes easier to understand.

An autonomous driving boarding mode and an autonomous driving unmanned mode may be implemented in a selectable manner. For example, since the shock caused by switching between forward and backward travel is not necessarily small, the risk associated with the user getting in the vehicle is reduced and safety is improved.

Such automatic driving boarding mode and automatic driving unmanned mode may be selectable by remote controller operation, liquid crystal monitor operation, or rice planter monitor panel button operation.

<Field management function of robot rice transplanter>
A robot rice transplanter equipped with a GNSS receiver, when rice planting in a field is completed, is conceivable to be interlocked with the water management system of the field so that water is automatically supplied to the field. Since the rice transplanter is linked with the water management system, water management can be performed only by operating the rice transplanter, which saves labor.

Based on the most recently acquired GNSS position information, etc., it is recognized that the rice transplanter has left the field area, and when the planting operation in another field area is performed for a certain distance, the field water management system A signal may be sent to allow water to enter the field. Recognition of the planting operation is performed using sensors around the planting clutch motor, rear wheel rotation sensor, GNSS position information, front wheel rotation sensor, and the like. Operation of the water management system, such as a malfunction in which water is introduced into the field even though the rice planter has not left the field, is suppressed.

Based on the most recently acquired GNSS position information, etc., it is recognized that the rice planter has left the field area, and when area acquisition in another field area is completed, a signal is sent to the field water management system. water may be introduced into the field. For example, if another field area for which GNSS position information has been acquired overlaps with the immediately preceding field area, it may not be filled with water. Operation of the water management system, such as a malfunction in which water is introduced into the field even though the rice planter has not left the field, is suppressed.

Based on the most recently acquired GNSS position information, etc., it is recognized that the rice planter has left the field area, and when the movement operation in another field area is performed for a certain distance with the center float on the ground, the field water management system may be signaled to allow water to enter the field. Recognition of movement while the center float is on the ground is performed using sensors around the center float, sensors around the elevating link, rear wheel rotation sensor, GNSS position information, front wheel rotation sensor, and so on. Operation of the water management system, such as a malfunction in which water is introduced into the field even though the rice planter has not left the field, is suppressed.

Based on the most recently acquired GNSS position information, etc., it is recognized that the rice transplanter has left the field area, and when the movement operation in another field area is performed for a certain distance in a rotor-driven state, the field is moved. A signal may be sent to the water management system to allow water to enter the field. Recognition of the moving motion in the rotor driven state is performed using sensors around the rotor case, sensors around the lift link, rear wheel rotation sensor, GNSS position information, front wheel rotation sensor, and the like. Operation of the water management system, such as a malfunction in which water is introduced into the field even though the rice planter has not left the field, is suppressed.

In the planting work of the robot rice transplanter, the mode is switched from the automatic operation mode to the manual operation mode at the time of transition from the inner circumference process to the last process performed at the edge of the ridge. Then, a signal may be sent to the field's water management system to allow water to enter the field. Operation of the water management system, such as a malfunction in which water is introduced into the field even though the rice planter has not left the field, is suppressed.

A camera installed above the seedling tank recognizes the planting state, and a function that displays the location of the missing seedling on a map is conceivable. Since the planting state of eight rows can be monitored by one camera provided above the seedling tank, cost reduction is expected.

Two cameras installed at both ends of the seedling tank will recognize the planting status, and a function that displays the location of missing plants on a map is conceivable. The planting state of the eight rows is monitored by two cameras provided at both ends of the seedling tank, and since inexpensive cameras with a narrow monitoring range can be used, cost reduction is expected.

Labor saving can be realized by using a drone for automatically performing supplementary planting work in cooperation with the rice transplanter based on the data of the missing plant parts created by the camera described above.

<Autonomous traveling rice transplanter straight-ahead assist>
In a rice transplanter with an autonomous driving function, switching between the manual driving mode and the autonomous driving mode is performed by a switching means such as a switch, and a specification that allows the use of the straight assist in either mode is conceivable. Although it is conceivable that the straight-ahead assist can be used effectively only in manual driving mode, manual operations such as teaching, ridge gathering, and headland planting in the final process are also performed during autonomous driving mode, so autonomous driving is possible. Regardless of the transition to the mode, the specification that allows straight driving by manual operation while using straight driving assist is highly convenient.

A part of the position information acquired during teaching of the work area may be used to set points A and B, which are reference points for straight-ahead assistance, and straight-ahead assistance may be performed. Although straight-ahead travel along the teaching path is often ideal, in specifications where a reference point is obtained each time a straight-ahead travel is performed, the relationship between the straight-ahead assist reference point and the teaching path is limited during straight-ahead assistance. I can't get it. By using part of the position information acquired during teaching to assist in straight driving, it is possible to easily realize straight driving along the automatic driving route even in manual driving in autonomous driving mode where automatic driving is performed. can.

The so-called driving route information may be used to set points A and B, which are reference points for straight-ahead assistance, and straight-ahead assistance may be performed.

Using the information of the immediately preceding travel route, which is the planting route before turning, as the travel route information, points A and B, which are reference points for straight-ahead assistance, may be set and straight-ahead assistance may be performed. Since the information on the immediately preceding travel route is used, it is easy to shift to straight-ahead assistance, and the straight-ahead assistance function can be turned on without acquiring or selecting a reference point.

Any two points on the generated autonomous driving route may be selected as reference points for straight-ahead assistance. In the case of manual driving while using straight-ahead assist in the middle of autonomous driving mode, it is possible to consider specifications that require an extra driving route without planting as a route for setting the reference point of straight-ahead assist. By selecting any two points on the driving route as reference points for straight-ahead assistance, not only is switching between manual driving mode and autonomous driving mode performed smoothly, but also the accuracy of the distance between adjacent plantings and straightness can be improved. However, due to the driving skill of the operator, highly accurate and aesthetic manual planting that matches the planting line of the autonomous driving route is realized using the straight-ahead assist function.

On the monitor map displaying the generated scheduled driving route and the actual planting route, which is the actual planting route, points A and B, which are reference points for straight-ahead assist, and these reference points At least one of the line segments at both ends may be displayed in a superimposed manner. Since the relationship between the automatic driving route and the reference point of the straight-ahead assistance can be easily understood by confirming the map, it is possible to avoid mistakes caused by user misunderstanding, especially when switching from the autonomous driving mode to the manual driving mode. Planting can be done without

One side may be selected from the teaching route for autonomous driving displayed on the map of the monitor described above, and the selected one side may be used as a reference line for straight-ahead assistance. Since such a selection operation is performed while checking the map, mistakes due to misunderstanding by the user are less likely to occur. For example, in a polygonal field, the sides of the polygon determined from the vertices of adjacent polygons are usually used as the straight assist reference line, so the straight assist reference point A One side given by the teaching path can be selected as the straight assist reference line without the need to select points and B points.

In manual operations such as headland planting in the final process, which is a finishing process, the start of the final process is recognized by using coordinate information obtained during teaching for points A and B, which are reference points for straight-ahead assistance. may be set automatically along with Acquiring a reference point for the straight-travel assist for one of the final processes and using the straight-travel assist takes time and effort, so it is not necessarily realistic, but such a reference point is automatically set. , high-precision and aesthetically pleasing manual planting can be achieved using the straight-travel assist function, in which straight-travel precision is less likely to vary due to the operator's driving technique.

When the manual operation is performed in the middle of the autonomous driving mode, whether or not the straight-ahead assist function is available may be notified by a display device such as a monitor or another announcement device. Even in a specification that requires an extra running route without planting as a route for setting a reference point for straight-ahead assist, it is possible to recognize whether or not the reference point has already been obtained by such notification. The operator can determine by himself/herself whether or not to use the straight-ahead assist function, taking into account the process of obtaining the points A and B, and the like.

A liquid crystal monitor is provided as a display device CD for the driver's eyes to see, and can display the current travel route along which the aircraft travels. Of course, it is also possible to display the travel route after the current travel route on the display device CD.

In addition, when the aircraft approaches the end position of the current travel route without displaying the travel route on which the aircraft should travel after the next time on the display device CD, the next travel route is displayed from the end position of the current travel route. A display control unit SS may be provided which causes the display device CD to display the turning direction to the starting position of the next travel route, and erases the turning direction from the display device when the aircraft reaches the starting position of the next traveling route.

Therefore, the driver can recognize whether the next travel route is located on the right side or the left side of the current travel route, how far away from the current travel route, and the like. In addition, when the aircraft is automatically traveling along the traveling route, the current traveling route that the aircraft travels and the next traveling route that the aircraft should travel next among the plurality of traveling routes are displayed. Displayed on the device CD. As a result, the driver is less likely to see things that are unrelated to the next travel route, so misunderstandings by the driver are reduced.

A controller 500 for acquiring a reference travel route is provided, and the controller 500 can acquire the travel route set parallel to the reference travel route from the current position of the aircraft based on a command from the driver.

The display control unit SS causes the display device CD to display the travel route acquired by the controller 500 as the current travel route on which the machine body travels, and displays the previously set travel route from the travel route acquired by the controller 500. A virtual travel route set parallel to the reference travel route at a position separated by a predetermined distance can be displayed on the display device CD as the next travel route on which the aircraft should travel next.

The display control unit SS causes the display device CD to display the current position of the aircraft, the current travel route on which the aircraft travels, and the next travel route on which the aircraft should travel next. A mark indicating the direction in which the aircraft should travel on the current travel route and a mark indicating the direction in which the aircraft should travel on the next travel route can be displayed on the display device CD. 3 to 5, 7, 9 to 11, 14b, and 15 to 16 may be displayed on a liquid crystal monitor (display device CD) to notify the driver.

Although the liquid crystal monitor may be provided in the portion shown in FIG. 1, it may be provided in the vehicle body 100, or may be removed from the vehicle body 100 so that the liquid crystal monitor can be carried and checked from a position away from the vehicle body 100. .

Further, the display section for displaying the information of the aircraft (for example, the hour meter) and the display for indicating the travel route may be displayed by separate display devices. The separately provided display device may be provided in the portion shown in FIG. 1 or may be provided in the vehicle body 100 . Further, it may be configured to be detachable from the vehicle body 100 so that confirmation and operation can be performed even from a position away from the vehicle body 100 .

<In-situ planting operation of the rice transplanter>
In spot planting, which is also called pita planting, in which the seedlings are planted on the spot while the vehicle is stopped, the planting part drive is used to start running after planting one seedling at a stop point such as a ridge at the start of the planting run. is performed by HST drive or motor drive independent of the running part drive, and a specification that suppresses the occurrence of planting leakage at the edge of the ridge is conceivable.

When the planting part is grounded and the state of the planting clutch is switched to the ON state, the planting part driving accompanied by the rotation of the planting part is performed without driving the running part so that only one seedling can be planted on the spot. control is needed.

For example, when the planting part is in contact with the ground and the planting clutch is in the ON state, if the HST lever is pushed down so that the lever position is on the forward side, the planting part is rotated without driving the running part. The planting unit drive control is performed so that only the seedlings of the seedlings are planted on the spot.

In such a planting unit drive control, the planting unit is rotated at a high speed for planting only one seedling on the spot, but the subsequent planting unit is rotated at a normal speed that matches the vehicle speed. Control performed as

<Rice transplanter remote controller connection status icon>
The rice transplanter remote controller connection status icon of the rice planter according to the present embodiment will be described with reference to FIG. 17, which is an explanatory diagram of the rice planter remote controller connection status icon of the rice planter according to the embodiment of the present invention.

An icon display indicating remote controller connection status is conceivable.

The remote controller connection status can be efficiently transmitted on a screen with a large amount of information.

<Rice transplanter remote control status display>
The rice transplanter remote control state display of the rice transplanter according to the present embodiment will be described with reference to FIG. 18, which is an explanatory diagram of the rice transplanter remote control state display of the rice transplanter according to the embodiment of the present invention.

In the display showing the two states of remote control, (1) a state in which remote control is possible and (2) a state in which remote control is not possible are conceivable.

Whether or not remote control is possible can be easily determined from the rice transplanter remote control status display.

<Rice transplanter work area acquisition status display>
The rice transplanter work area acquisition state display of the rice transplanter of the present embodiment will be described with reference to FIG. 19, which is an explanatory diagram of the rice transplanter work area acquisition state display of the rice transplanter according to the embodiment of the present invention.

In the display of the acquisition status of the work area required for automatic movement of the robot rice transplanter, (status 1) work area not acquired status, (status 2) work area acquisition status, and (status 3) work area acquisition status with sub-routes. is conceivable.

The work area acquisition status can be efficiently transmitted on a screen with a large amount of information.

<Robot rice transplanter automatic driving screen layout>
The robot rice transplanter automatic traveling screen layout of the rice transplanter of the embodiment of the present invention will be described with reference to FIG.

In the robot rice transplanter automatic driving screen layout, (1) a function to display information necessary for planting in the tab on the left side of the screen, (2) a function to display the robot mode on the right side of the screen, (3) a function on the middle right side of the screen (4) A function to display the state of the robot mode switch with the robot ON icon on the bottom right of the screen. (5) A function to display the connection status of the remote controller with the remote controller icon on the right of the screen. and (6) a function of displaying the acquired state of the work area with the farm field check icon at the bottom right of the screen.

Since there are multiple conditions for starting automatic driving, it is difficult to start automatic driving if the situation cannot be grasped.

In order to start the robot's autonomous driving, it is necessary to meet certain conditions such as (1) GNSS reception status condition, (2) robot mode switching switch on condition, (3) remote controller connected condition, and (4) work area acquired condition. It is necessary to clear four conditions. If these four display states are active and a display such as "automatically OK" is displayed on the state display, automatic running is possible. By performing operations in this order in order to clear the four conditions, automatic driving can be easily started.

<Rice transplanter seedling amount icon>
The rice planting machine seeding amount icon of the rice planter of the present embodiment will be described with reference to FIG.

An icon display indicating the seedling amount is conceivable.

The amount of seedlings collected can be efficiently transmitted on a screen with a large amount of information.

<Rice transplanter horizontal feed number icon>
The rice transplanter horizontal feed number icon of the rice planter according to the present embodiment will be described with reference to FIG.

An icon display indicating the number of traverses is conceivable.

It is possible to efficiently transmit the set value of the number of horizontal feeds on a screen with a large amount of information.

<Rice transplanter automatic driving icon>
The rice transplanter automatic travel icon of the rice transplanter of the present embodiment will be described with reference to FIG. 23, which is an explanatory diagram of the rice transplanter automatic travel icon of the rice transplanter of the embodiment of the present invention.

A display indicating three states related to automatic driving, such as (1) a state in which automatic driving is being performed, (2) a state in which automatic driving is possible, and (3) a state in which automatic driving is not possible, is considered. be done.

It is possible to easily determine whether automatic driving can be started.

<Rice transplanter planting depth icon>
The rice transplanter planting depth icon of the rice transplanter according to the present embodiment will be described with reference to FIG. 24, which is an explanatory diagram of the rice transplanter planting depth icon of the rice transplanter according to the embodiment of the present invention.

An icon display indicating the planting depth is conceivable.

The setting value of planting depth can be efficiently transmitted on a screen with a large amount of information.

<Rice transplanter oil pressure sensitivity icon>
The rice transplanter hydraulic sensitivity icon of the rice transplanter according to the present embodiment will be described with reference to FIG. 25, which is an explanatory diagram of the rice transplanter hydraulic sensitivity icon of the rice transplanter according to the embodiment of the present invention.

An icon display indicating hydraulic sensitivity is conceivable.

The set value of oil pressure sensitivity can be efficiently transmitted on a screen with a large amount of information.

The program of the invention related to the present invention causes a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the work vehicle motion control method of the invention related to the invention described above. It is a program for operating in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention is the recording medium of all or part of the steps (or processes, operations, actions, etc.) of the work vehicle motion control method of the invention related to the above-described invention. It is a recording medium recording a program for causing a computer to execute an operation, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

It should be noted that "some of the steps (or processes, operations, actions, etc.)" mentioned above mean one or some of those steps.

Also, the "operations of steps (or processes, operations, actions, etc.)" mentioned above mean the operations of all or part of the steps mentioned above.

In addition, one usage form of the program of the invention related to the present invention is a form in which it is transmitted in a transmission medium such as the Internet, light, radio waves or sound waves, read by a computer, and operates in cooperation with the computer. may be

Further, the recording medium includes a ROM (Read Only Memory) and the like.

In addition, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and peripheral devices.

It should be noted that, as described above, the configuration of the present invention may be implemented in software or in hardware.

The work vehicle according to the present invention can perform turning control of the vehicle body, and is useful for the purpose of being used as a work vehicle such as a rice planter.

100 vehicle body 210 engine 220 traveling device 221 front wheel 222 rear wheel 230 seedling planting device 240 control device 250 fertilizer applicator 260 ground leveling device 261 ground leveling float 300 main transmission device 400 auxiliary transmission device 500 controller S1, S2 travel route Ea, Eb field side CD display Device SS Display control unit

Claims (6)

a positioning unit that detects the position of the aircraft;
A controller that acquires the travel route on which the aircraft travels,
an automatic travel control unit that automatically steers the aircraft so that the aircraft travels along the travel route based on the position of the aircraft;
a display device for the driver to view;
The current travel route on which the aircraft travels and the next travel route on which the aircraft should travel next are displayed on the display device, and the travel route on which the aircraft travels after the next is displayed on the display device. When the aircraft approaches the end position of the current running route without displaying it on the display device, the turning direction from the current end position of the running route to the starting position of the next running route is displayed on the display device. a display control unit that erases the turning direction from the display device when the aircraft reaches the starting position of the next traveling route,
An airframe that travels along multiple parallel travel paths,
Equipped with a controller that performs turning control to turn the vehicle body to transition from one travel route to another,
The controller determines whether or not it is possible to turn to the adjacent travel route at a predetermined timing based on the direction of the vehicle body to be turned to the adjacent travel route. A work vehicle characterized in that, when it is determined that it is impossible to turn to the adjacent travel route, the work vehicle reverses and then makes the turn to the adjacent travel route. The controller obtains a plurality of the travel routes in advance,
The display control unit displays, on the display device, the current travel route on which the aircraft travels and the next travel route on which the aircraft should travel next, among the plurality of travel routes acquired by the controller. let
An airframe that travels along multiple parallel travel paths,
Equipped with a controller that performs turning control to turn the vehicle body to transition from one travel route to another,
The controller determines whether or not it is possible to turn to the adjacent travel route at a predetermined timing based on the direction of the vehicle body to be turned to the adjacent travel route. A work vehicle characterized by skipping said adjacent travel route and making a turn to another travel route when it is determined that said turn to one is impossible. A controller that acquires a reference travel route is provided,
The controller acquires the travel route set parallel to the reference travel route from the current position of the aircraft based on a driver's command,
The display control unit
causing the display device to display the travel route acquired by the controller as the current travel route along which the aircraft travels, and
The virtual traveling route set parallel to the reference traveling route at a position separated by a predetermined distance from the traveling route obtained by the controller is set to the next said virtual traveling route on which the machine body is to travel next. displayed on the display device as a travel route,
The display control unit
causing the display device to display the current position of the aircraft, the current travel route on which the aircraft travels, and the next travel route on which the aircraft should travel next;
The display control unit
causing the display device to display a mark indicating the direction in which the aircraft should travel on the current travel route and a mark indicating the direction in which the aircraft should travel on the next travel route;
When the controller skips the adjacent travel route and performs the turn to the another travel route, and performs the turn to the skipped travel route after traveling along the another travel route, At a predetermined timing based on the direction of the vehicle body to be turned to the skipped travel route, it is determined whether the turn to the skipped travel route is possible or not, and the skipped travel is performed. 3. The work vehicle according to claim 2, wherein the turn to the skipped travel route is performed when it is determined that the turn to the route is possible. When the controller skips the adjacent travel route and performs the turn to the another travel route, and performs the turn to the skipped travel route after traveling along the another travel route, At a predetermined timing based on the direction of the vehicle body to be turned to the skipped travel route, it is determined whether the turn to the skipped travel route is possible or not, and the skipped travel is performed. 3. The work vehicle according to claim 2, wherein when it is determined that the turning to the route is impossible, the vehicle reverses and then turns to the skipped travel route. 3. The work according to claim 1, wherein the predetermined timing is a timing when the direction of the vehicle body to be turned to the adjacent travel route becomes a direction perpendicular to the direction of the travel route. vehicle. 3. The work vehicle according to claim 1, wherein the vehicle body is stopped at the predetermined timing.

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