JP2023039844A - Automatic travel control system and farm field work vehicle - Google Patents

Abstract

To efficiently replenish an agricultural material, or discharge harvested farm crops.SOLUTION: There is provided an automatic travel control system of a farm field work vehicle for executing farm field work to supply an agricultural material to a farm field by repeating automatic reciprocal travel for travelling in a travel route consisting of an internal route and a turning route. The farm field work vehicle includes: a travel control unit 32 for executing replenishment preparation processing in which travelling is stopped at a replenishment preparation position each time automatic reciprocal travel with a predetermined number of times of travelling is executed for executing replenishment of an agricultural material on a predetermined replenishment side, the replenishment preparation position being set in the internal route toward the replenishment side, and controlling automatic travelling including the replenishment preparation processing; a work control unit 33 for controlling farm field work; a work distance input part 56 for receiving an input of a work distance from the execution of the replenishment preparation processing until next replenishment preparation processing is started; and a material replenishment setting unit 41 for setting the replenishment preparation position according to the work distance.SELECTED DRAWING: Figure 6

Description

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

A field work vehicle that performs automatic work traveling to supply agricultural materials to a field replenishes agricultural materials or discharges harvested crops during automatic work traveling.

The field work vehicle (rice transplanter) disclosed in Patent Document 1 stops the machine every time it reciprocates in the field, and if it is necessary to replenish agricultural materials (seedlings), it replenishes agricultural materials. If there is no need for replenishment, work travel is continued.

JP 2021-106613 A

However, there is a demand for more efficient replenishment of agricultural materials in automatic work travel.

An object of the present invention is to efficiently supply agricultural materials or discharge harvested crops.

In order to achieve the above object, an automatic travel control system according to an embodiment of the present invention supplies agricultural materials to a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route. In the automatic travel control system for a field work vehicle that performs work, the field work vehicle moves to a replenishment preparation position each time the automatic reciprocation travels a predetermined number of times in order to replenish materials at a predetermined replenishment side. Replenishment preparation processing for stopping travel is performed, the replenishment preparation position is set on the internal route toward the replenishment side, a travel control unit that controls automatic travel including the replenishment preparation processing, and the field work is controlled. a working distance input unit that receives an input of a working distance from the replenishment preparation process to the next replenishment preparation process; and a material that sets the replenishment preparation position according to the work distance. and a replenishment setting unit.

A field work vehicle according to an embodiment of the present invention performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel that travels on a travel route consisting of an internal route and a turning route, and supplies agricultural materials to a field. A farm work vehicle that performs replenishment preparation processing to stop traveling at a replenishment preparation position each time the automatic reciprocating travel is performed for a predetermined number of times in order to replenish materials, the work device performing the farm work; A travel control unit that controls automatic travel including replenishment preparation processing, a work control unit that controls the field work, and an input of a work distance from the replenishment preparation processing to the next replenishment preparation processing is received. A working distance input section and a material replenishment setting section for setting the replenishment preparation position according to the working distance are provided.

With the above configuration, it is possible to perform replenishment preparation processing according to the travel distance (working distance) that can be traveled for work with the mounted agricultural materials. can be suppressed, agricultural materials can be efficiently replenished, and efficient work traveling can be performed.

An automatic travel control system according to an embodiment of the present invention automatically travels a field work vehicle that performs field work to harvest crops from a field by repeating automatic reciprocating travel that travels along a travel route consisting of an internal route and a turning route. A control system, wherein the farm work vehicle stops traveling at a discharge preparation position each time the automatic reciprocating travel is performed for a predetermined number of times in order to discharge the harvested agricultural products at a predetermined discharge side. a travel control unit that performs processing, the discharge preparation position is set on the internal route toward the discharge side, and controls automatic travel including the discharge preparation processing; a work control unit that controls the field work; a working distance input unit for receiving an input of a working distance from the discharge preparation process to the next discharge preparation process; and a material discharge setting part for setting the discharge preparation position according to the work distance. .

With the above configuration, it is possible to perform discharge preparation processing according to the work traveling distance (working distance) until the amount of harvested crops that can be stored in the aircraft is stored. It is possible to suppress stop and travel restart operations, efficiently discharge crops, and perform efficient work travel.

Further, when the position traveling the working distance along the internal route in the automatic reciprocation from the immediately preceding replenishment preparation position is not the end region of the internal route, the material replenishment setting unit selects the replenishment preparation position as the end region of the internal route. , may be set to the end region just before the position traveled by the working distance.

If the working distance is determined by the supply amount of agricultural materials, the working distance may not be an integral multiple of the internal route. In such a case, the replenishment preparation position is not the end region of the internal route, and the replenishment preparation processing is performed at a position away from the replenishment side, so that the replenishment of agricultural materials and the resumption of work traveling after replenishment are efficiently performed. I can't.

With the configuration as described above, the replenishment preparation position is set in the vicinity of the replenishment side, the agricultural materials can be efficiently replenished, and the work traveling can be efficiently resumed.

Further, when the position traveling the working distance along the internal route in the automatic reciprocation from the immediately preceding replenishment preparation position is not the end region of the internal route, the material replenishment setting unit selects the replenishment preparation position as the end region of the internal route. , may be set to the end region closest to a position traveled by the working distance.

With such a configuration, the replenishment preparation position is set in the vicinity of the replenishment side, the agricultural material can be replenished efficiently, and the work traveling can be resumed efficiently.

Further, the field working vehicle may be a seedling transplanting vehicle for planting seedlings as the agricultural material in the field.

As a result, even in the seedling transplant vehicle, it is possible to efficiently replenish agricultural materials and perform efficient work travel.

Further, the seedling transplanter has a seedling platform, a planting mechanism, and a position calculator for calculating the position of the body of the seedling transplanter on the traveling route, and the seedling platform has a mat shape. The seedlings are placed, and the mat-like seedlings are continuously sent to the planting mechanism at a predetermined vertical feed amount, and the mat-like seedlings are continuously laterally fed in the lateral direction of the machine body at a predetermined number of lateral feeds. Then, the planting mechanism takes out the seedlings of the amount of seedlings taken according to the amount of vertical feeding and the number of times of horizontal feeding from the mat-shaped seedlings, plants the seedlings in the field at a predetermined interval, and prepares for supply. A position change operation unit that receives an artificial operation to change the position, a notification unit that performs a predetermined notification, information on the position of the aircraft on the travel route, information on the amount of longitudinal feed, and information on the number of times of lateral feed. a distance comparison unit that compares, based on the information, the travel distance from the location where the material supply was performed immediately before until the material supply is next required and the work distance, wherein the distance comparison unit compares the travel distance with the work distance; When the distance and the working distance do not match, the information is notified to the notification unit, and the material replenishment setting unit changes the replenishment preparation position to the travel route according to the operation received by the position change operation unit. Alterations may be made to the terminating regions of the internal pathways that run forwards or backwards.

The working distance is often determined based on an estimate of seedling consumption per unit working distance traveled. Consumption of seedlings is predicted based on the settings of the seedling planting device. However, such predicted seedling consumption may not match the actual seedling consumption during the work run.

With the above configuration, if the working distance based on the predicted consumption of seedlings and the traveling distance based on the actual consumption of seedlings do not match, the replenishment preparation position can be changed. Agricultural materials can be replenished in a timely manner, and efficient work traveling can be performed.

Further, the seedling transplanter has a seedling platform, a planting mechanism, and a position calculator for calculating the position of the body of the seedling transplanter on the traveling route, and the seedling platform has a mat shape. The seedlings are placed, and the mat-like seedlings are continuously sent to the planting mechanism at a predetermined vertical feed amount, and the mat-like seedlings are continuously laterally fed in the lateral direction of the machine body at a predetermined number of lateral feeds. Then, the planting mechanism takes out the seedlings in an amount corresponding to the amount of vertical feeding and the number of times of horizontal feeding from the mat-like seedlings, and plants the seedlings in the field at a predetermined interval between plants. a consumption prediction unit for predicting the theoretical seedling consumption consumed when traveling the working distance from the vertical feeding amount and the number of horizontal feedings, and the length and width of the mat-like seedling, and the traveling route; a consumption amount calculation unit that calculates the consumption amount of seedlings consumed when traveling the working distance from the information on the position of the machine body, the information on the amount of vertical feeding, and the information on the number of times of horizontal feeding. When the theoretical seedling consumption amount and the actual seedling consumption amount are different, the work control unit may adjust the spacing between plants according to the difference between the theoretical seedling consumption amount and the actual seedling consumption amount.

With such a configuration, the distance between plants can be adjusted according to the difference between the working distance based on the theoretical seedling consumption amount and the traveling distance based on the actual seedling consumption amount, and the actual traveling distance can be brought closer to the working distance. Replenishment preparation processing can be performed appropriately at the replenishment preparation position.

Further, the adjustment between the plants may be performed in an area inside by a predetermined distance or more from the outer periphery of the field.

By adjusting the spacing between plants in the inner area of the field in this way, it is possible to prevent the mismatch between the plants from being seen from the outside of the field, thereby improving the appearance of the working conditions.

Further, the amount of vertical feeding and the number of times of horizontal feeding can be changed. The replenishment preparation position may be changed according to the condition.

If at least one of the amount of longitudinal feed, the number of times of lateral feed, and the distance between the stocks is changed, the actual traveled distance will not match the predicted working distance.

With the above configuration, the replenishment preparation position can be changed in accordance with the actual travel distance, replenishment preparation processing can be performed at an appropriate position, and agricultural materials can be replenished efficiently.

Further, the seedling transplanter has a satellite antenna for receiving a satellite signal from a satellite, and a positioning unit for outputting positioning data based on the satellite signal. is preferably calculated.

With such a configuration, the position of the aircraft can be calculated more accurately, and the actual traveling distance can be calculated more accurately.

A storage unit for storing the replenishment side in the farm field is provided, and can be linked with a harvester. Alternatively, the supply side may be referred to.

The replenishment side is set at a position for efficient work travel in the field. Harvesting work can be efficiently performed in many cases by providing the discharge position of the harvested material on the replenishment side.

With the above configuration, it is possible to efficiently and appropriately set the discharge position of the harvested material.

Further, the harvester has a sensor for measuring the three-dimensional shape of the field, the storage unit stores the three-dimensional data of the field measured by the sensor, and the field work vehicle for performing the field work is the When performing field work, the material replenishment setting unit may set the replenishment preparation position in consideration of the three-dimensional data.

With such a configuration, it is possible to set the replenishment side and the replenishment preparation position in consideration of the field conditions such as the height of the ridge and the swell at the edge of the ridge. As a result, the replenishment preparation position can be set at an appropriate position, and agricultural materials can be replenished efficiently.

Further, the material replenishment is performed at a material replenishment point at which the machine body of the farm work vehicle is advanced in the direction along the internal route from the replenishment preparation position to the replenishment side, or at a material replenishment point provided near the replenishment side. It may be done at a material replenishment point.

Replenishment of materials may be carried out on the supply side advanced from the supply preparation position, but may also be carried out at predetermined material supply points along the supply side.

With the above configuration, even when replenishment is performed at material replenishment points, agricultural materials can be replenished efficiently, and work traveling can be performed efficiently.

Further, an imaging device for photographing the farm field and a material replenishment point detection unit for detecting the material replenishment point from the image photographed by the imaging device may be further provided.

With such a configuration, it is possible to easily detect the position of the material replenishment point and easily replenish agricultural materials.

It is a left view of the rice transplanter which can run automatically. It is a schematic diagram explaining work traveling of a rice transplanter. 1 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 1; FIG. FIG. 10 is a diagram illustrating a setting screen for a replenishment side and a replenishment interval according to the first embodiment; FIG. 5 is a diagram illustrating steps for setting replenishment and changing the implementation interval according to the first embodiment; FIG. 7 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 2; FIG. 11 is a diagram illustrating a setting screen for a replenishment side and a supply interval according to the second embodiment; FIG. 10 is a diagram illustrating a process of setting replenishment and changing a replenishment preparation position according to the second embodiment; FIG. 11 is a diagram for explaining a replenishment preparation position in Embodiment 2; FIG. 11 is a block diagram illustrating the functional configuration of an automatic cruise control system according to Embodiment 3; FIG. 11 is a diagram illustrating a screen for setting a replenishment side according to the third embodiment; FIG. 11 is a diagram illustrating a process of making replenishment settings in Embodiment 3;

[Embodiment 1]
Hereinafter, a rice transplanter for planting seedlings (agricultural material) in a field (field work) will be described as an example of the field working vehicle of the present invention.

Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means forward in the longitudinal direction of the aircraft (running direction). "Rear" (the direction of arrow B shown in FIG. 1) means the rear in the longitudinal direction (running direction) of the aircraft. In addition, the left-right direction or the lateral direction means the transverse direction of the fuselage (body width direction) perpendicular to the longitudinal direction of the fuselage. shall mean the direction of orientation.

[Overall structure]
As shown in FIG. 1, the rice transplanter includes a ride-on, four-wheel-drive body 1 . The body 1 includes a parallel quadruple link type link mechanism 13 connected to the rear part of the body 1 so as to be able to swing up and down, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, and a rear end region of the link mechanism 13. a seedling planting device 3 that is rollably connected to the machine body 1;

The body 1 includes wheels 12, an engine 2, and a hydraulic continuously variable transmission 9 as a mechanism for traveling. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. Power output from the engine 2 is transmitted to a continuously variable transmission 9 via a traveling transmission mechanism, and from the continuously variable transmission 9, front wheels 12A, rear wheels 12B, working devices (seedling planting device 3, fertilizing device 4). etc.). The engine 2 and the continuously variable transmission 9 are mounted on the front portion of the airframe 1 .

The seedling planting device 3 is configured in an eight-row planting format, for example. The seedling planting device 3 includes a seedling platform 21, a planting mechanism 22 for eight rows, and the like. This seedling planting device 3 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).

The seedling mounting table 21 is a pedestal on which 8 rows of mat-like seedlings are mounted. The seedling mounting table 21 is continuously reciprocated (horizontally fed) in the left-right direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the seedling mounting table 21 is moved to the left and right stroke ends by the lateral feeding of a predetermined number of times. Each mat-like seedling on the seedling mounting table 21 is longitudinally fed toward the lower end of the seedling mounting table 21 at a predetermined pitch (longitudinal feeding amount). The eight planting mechanisms 22 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the intervals between the planting rows. Each planting mechanism 22 receives power from the engine 2 when a planting clutch (not shown) shifts to a transmission state, and the lower end of each mat-like seedling placed on the seedling placement table 21 A seedling (planting seedling) for one strain is cut and planted in a muddy area after leveling with a predetermined interval between strains. As a result, when the seedling planting device 3 is in operation, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placement table 21 and planted (supplied) in the mud part of the paddy field.

Moreover, the seedling platform 21 may be provided with a sensor 23 for detecting the remaining amount of mat-like seedlings. For example, the sensor 23 is an optical sensor, and is provided on the surface (mounting surface) of the seedling placement table 21. By blocking the light from entering the sensor 23, the mat-like seedling is placed on the seedling placement table. It may be configured to detect whether or not the mat-like seedlings are present at the arrangement position of the sensor 23, and to detect whether or not there are a predetermined amount or more of mat-like seedlings.

Information such as the number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, the amount of seedlings taken from one plant, and the dimensions (length and width) of mat-like seedlings can be obtained from any device that can be communicated with the information terminal 5 or the like. (storage unit 35, storage unit 42, etc. described later with reference to FIG. 3, etc.). The number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, and the amount of seedlings taken may be fixed, but the configuration may be such that the settings can be arbitrarily changed. In this case, the storage unit stores the set information.

The fertilizing device 4 (supplying device) includes a hopper 25 (storage unit) that stores granular or powdery fertilizer (medicine and other agricultural materials), a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and delivery mechanism 26. and a fertilizing hose 28 for conveying the applied fertilizer and discharging the fertilizer to the field. Fertilizer stored in the hopper 25 is delivered by a delivery mechanism 26 by a predetermined amount and sent to the fertilizing hose 28, conveyed through the fertilizing hose 28 by the carrying wind of the blower 27, and discharged from the ditching device 29 to the field. be. Thus, the fertilizing device 4 supplies fertilizer to the field.

As shown in FIG. 1, the airframe 1 has an operating section 14 in the rear area. The driving unit 14 includes a steering wheel 10 for steering the front wheels, a main gear shift lever 7A that adjusts the vehicle speed by performing a gear shift operation of the continuously variable transmission 9, an auxiliary gear shift lever 7B that enables gear shift operation of the sub transmission, and a seedling. A work operation lever 11 that enables the planting device 3 to be moved up and down, and a touch panel 50 that displays (notifies) various types of information and notifies (outputs) the operator, and receives input of various types of information. (refer to FIG. 3, etc., which corresponds to a “display unit”), a detachable information terminal 5, a driver's seat 16 for an operator (driver/worker), and the like. The sub-transmission lever 7B is used to switch the traveling vehicle speed between a work speed during work and a movement speed during movement. For example, movement between fields is performed at the movement speed, and planting work and the like are performed at the work speed. Further, a preliminary seedling storage device 17A for storing preliminary seedlings is supported by a preliminary seedling support frame 17 in front of the operating section 14. As shown in FIG.

Further, the airframe 1 has a positioning unit 8 . The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 . The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 . The positioning unit 8 is supported on top of the preliminary seedling support frame 17 . Note that the calculated position information and azimuth information are stored in the storage unit described above.

Further, a remote controller 6 (see FIG. 3 and the like) capable of remotely controlling the information terminal 5 and the body 1 may be further provided.

[Automatic driving]
Automatic work traveling in which a rice transplanter performs seedling planting work in a field by automatic traveling will be described with reference to FIGS. 1 and 2. FIG.

The rice transplanter in this embodiment can selectively perform manual traveling and automatic traveling. Manual travel (manual work travel) and automatic travel (automatic work travel) are selected by switching an automatic/manual selector switch (not shown) arranged in the operation unit 14 .

When the rice transplanter performs seedling planting work, first, the driver manually causes the rice transplanter to travel along the outer periphery (outer edge) of the field. At this time, the vehicle may travel while performing the work, or may travel during non-work travel. By this outer circumference traveling, the outer circumference shape (field map) of the farm field is generated, and the farm field is divided into the outer circumference area OA and the inner area IA (map creation processing). At this time, one side or a plurality of specified sides of the outer perimeter of the field is set as a replenishment side SL for replenishing agricultural materials such as mat-like seedlings, fertilizers, chemicals, and fuel to the rice transplanter.

When the field map is generated, a target travel route along which the rice transplanter travels for work is set (route creation processing). In the internal area IA, an internal round-trip route IPL (corresponding to an "internal route") and a turning route are generated as a target travel route (corresponding to a "travel route"). The internal round-trip routes IPL are a plurality of routes substantially parallel to one side of the field, and the turning route is a route connecting the two internal round-trip routes IPL. The internal round-trip route IPL is a travel route for work travel throughout the entire internal area IA. Automatic work travel is performed along the inner round trip path IPL. The turning travel of the turning route connecting the inner round-trip routes IPL is automatically performed by a predetermined method.

In the outer peripheral area OA, the round planting travel is performed to go around the outer peripheral area OA one or more times along the outer periphery (outer edge) of the farm field. For example, two travel routes, an inner loop route IRL and an outer loop route ORL, are generated as routes for round-tripping. By traveling for work on the inner loop route IRL and the outer loop route ORL, the entire outer peripheral area OA is traveled for work. The inner circuit route IRL is traveled by unmanned automatic work travel or manned automatic work travel (automatic work travel with a person on board), and the outer circuit route ORL is traveled by manual work travel. In addition, depending on the mode selection, the inner loop route IRL may be manually traveled for work, and the outer loop route ORL may be automatically traveled for work.

The rice transplanter replenishes seedlings when the seedlings run out. At the time of seedling supply, the machine body 1 is brought to the ridge of the supply side SL by traveling forward. When the seedling replenishment ends, the machine body 1 moves backward and returns to the traveling route.

Specifically, during automatic travel (automatic reciprocating travel), the aircraft 1 temporarily stops at the replenishment preparation position SPP when transitioning from the internal reciprocating route IPL to the turning route (seedling replenishment side automatic stop / replenishment preparation processing) In the meantime, by performing an artificial operation, the machine body 1 advances at a predetermined speed to the supply point (corresponding to the "material supply point") SP on the supply side SL. Airframe 1 is sent to . The replenishment preparation position SPP for performing the replenishment preparation process is set in the terminal region of the internal round-trip route IPL or the region near the boundary between the internal round-trip route IPL and the turning route. Note that such replenishment preparation processing is not limited to replenishment of seedlings, and may be performed when various agricultural materials such as fertilizers, chemicals, and fuels are replenished.

The replenishment position for replenishing the seedlings is not limited to the replenishment point SP, which is a position straight from the internal reciprocating route IPL to the replenishment side SL, but may be any replenishment point SA provided along the replenishment side SL. When supplying seedlings at the supply point SA, the machine body 1 is moved from the supply preparation position SPP to the supply point SA.

The rice transplanter performs the map creation process and the route creation process as described above in order to automatically travel. In the route creation process, the setting of the replenishment side, the setting related to the replenishment preparation process (replenishment setting), and the like are also performed. Although such various processing and settings can be performed in the machine body 1, they may be performed using the information terminal 5. FIG.

[Supply settings]
As shown in FIG. 3 , the automatic cruise control system includes a control unit 30 provided on the body 1 , a positioning unit 8 provided on the body 1 and an information terminal 5 . Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.

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

The information terminal 5 includes a control section 38 , a communication section 39 , a touch panel 50 , a seedling supply setting section 41 (corresponding to a “material supply setting section”), and a storage section 42 . The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.

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

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

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

The replenishment side setting operation section 52 can select any of the candidate sides, all the candidate sides, or no replenishment preparation process (no side selected). The side selected by the replenishment side setting operation section 52 is set as the replenishment side SL (step #2 in FIG. 5). In the example of FIG. 4, there are two candidate sides, side A and side B, but one or three or more sides may be candidates. may be selected.

Further, when "do not perform replenishment preparation processing" is selected in the replenishment side setting operation section 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment. Note that the movement to the replenishment position may be performed automatically.

Further, the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation section 52, and may be set by an operation tool (not shown) provided separately. In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.

Next, an automatic stop interval is set to indicate how many round trips of the internal round trip route IPL the replenishment preparation process should be performed. The round trip of the internal round trip route IPL starts from the end of the internal round trip route IPL on the replenishment side, travels on the internal round trip route IPL with a turning run in between, travels on the next internal round trip route IPL, and then travels on the internal round trip route IPL on the replenishment side. It is traveling up to the end of the round-trip route IPL. Specifically, the number-of-runs operation unit 53 is displayed as a software switch on the setting screen. The number-of-travels operation unit 53 can select the number of round trips. The seedling replenishment setting unit 41 sets the number of times selected by the running number operation unit 53 as the reciprocating number (implementation interval) of the replenishment preparation process, stores it in the storage unit 42 , and transmits the information to the running control unit 32 . The traveling control unit 32 stores the set number of round trips in the storage unit 35, and temporarily stops the machine body 1 in order to perform the replenishment preparation process each time the set number of round trips is performed (step in FIG. 5). #3).

For example, when one round trip is set as the number of round trips, seedling supply preparation processing is performed at the position SP1 next to the supply preparation position SPP in FIG. 2, and when two round trips are set as the number of round trips, the supply preparation position SPP Next, seedling replenishment preparation processing is performed at position SP2, and when 3 reciprocations are set as the number of reciprocations, seedling replenishment preparation processing is performed at position SP3 next to replenishment preparation position SPP. Then, when all necessary settings are made, automatic work traveling is started by accepting a predetermined operation (step #4 in FIG. 5).

Even if the replenishment preparation process is performed for each reciprocation along the internal round-trip route IPL, there are cases in which work travel can be continued without replenishment. In such a case, when the machine body 1 stops, work traveling is resumed by a predetermined operation of the operator. Such an operation for stopping unnecessary travel for work and restarting the travel for work lowers work efficiency.

In addition, depending on the size of the field (the length of the internal round-trip route IPL), the amount of mat-like seedlings to be loaded, the amount of seedlings taken, the distance between rows, etc., the travel distance until replenishment is required (the interval between replenishment preparation processing ) can be predicted.

Therefore, by adopting a configuration in which the number of reciprocations, which is the execution interval of the replenishment preparation process, can be set, unnecessary operations for stopping work travel and restarting work travel can be suppressed, and work efficiency can be improved. can be done.

If the replenishment sides are set on both front and rear sides of the internal round-trip route IPL in the traveling direction, the replenishment preparation process can be performed each time the internal round-trip route IPL is traveled. Therefore, the number-of-travels operation unit 53 may be configured to select not only the number of round trips but also the number of round trips of the internal round-trip route IPL as the execution interval of the replenishment preparation process.

For example, when 3 times is set as the number of times of travel, seedling supply preparation processing is performed at position SP4 next to supply preparation position SPP in FIG.

By performing the replenishment preparation process each time the internal reciprocating route IPL is traveled a set number of times, the replenishment preparation process can be performed more accurately according to the need for replenishment, and the working efficiency is further improved.

In some cases, it may not be possible to accurately predict the distance traveled until replenishment is required (the interval at which replenishment preparation processing is performed), and the amount of seedlings consumed per distance traveled may change depending on the conditions of the field. In such a case, even if the replenishment preparation process is carried out at intervals set in advance, seedlings may not be replenished at an appropriate timing.

For example, there are cases where it can be predicted that there will be no seedlings before the next replenishment preparation position SPP during work travel, or there will still be sufficient seedlings remaining even after the replenishment preparation processing is performed.

In such a case, it is preferable that the next replenishment preparation position SPP (interval of replenishment preparation processing) can be changed during automatic work travel. As a result, work traveling can be performed more efficiently.

Therefore, a frequency changing operation unit 54 may be provided that enables changing of the execution interval during automatic work travel. For example, the number change operation unit 54 is a software switch displayed on the touch panel 50 during work travel. The number-of-times change operation unit 54 may be configured to select the implementation interval similarly to the number-of-runs operation unit 53, or may be configured to increase or decrease the implementation interval. For example, the number-of-times change operation unit 54 may be configured to determine the implementation interval according to the number of times it is operated. Alternatively, the number of times change operation unit 54 changes the implementation interval displayed on the touch panel 50 while the number of times change operation unit 54 is being operated (such as a long press), and changes the implementation interval displayed when the operation is stopped. The configuration may be changed to Further, the frequency change operation unit 54 may be configured to perform an operation to speed up the implementation interval by one round trip (one running count) and an operation to extend it (increase or decrease the implementation interval) instead of directly inputting the implementation interval. .

Then, when it can be predicted that there will be no seedlings before the next replenishment preparation position SPP during automatic work travel, or when it can be predicted that sufficient seedlings will remain even if the work travels to the next replenishment preparation position SPP, the number of times The change operation unit 54 is operated (step #5 in FIG. 5) to change the next replenishment preparation position SPP. In other words, it is possible to perform replenishment earlier than the preset implementation interval, or to skip the replenishment preparation position SPP.

For example, if two reciprocations are set as the number of reciprocations, and it is determined that a sufficient number of mat-like seedlings are loaded during automatic work travel after replenishment at the replenishment preparation position SPP in FIG. The user performs an operation to change the number of reciprocations to three with the number of reciprocations operation section 54 . The frequency change operation unit 54 transmits a change instruction to the seedling replenishment setting unit 41 based on this operation. The seedling replenishment setting unit 41 transmits this information to the running control unit 32, and the running control unit 32 carries out replenishment preparation processing based on this information. Specifically, the replenishment preparation process subsequent to the replenishment preparation position SPP is not performed at the position SP2, but is performed at the position SP3.

Note that when the number of times change operation unit 54 is operated, only the execution interval from the immediately preceding replenishment preparation processing to the next replenishment preparation processing is changed, and the subsequent execution interval is returned to the initially set execution interval. (Step #6-1 in FIG. 5), but it is also possible to change the implementation interval from the next time onward (Step #6-2 in FIG. 5). That is, the set implementation interval itself may be changed.

In this case, the seedling supply setting unit 41 changes the implementation interval stored in the storage unit 42 to the implementation interval according to the operation of the number change operation unit 54, and transmits the implementation interval after the change to the travel control unit 32. do. Then, the travel control unit 32 changes the implementation interval stored in the storage unit 35 to the changed implementation interval, and performs subsequent seedling supply preparation processing at the changed implementation interval.

In addition, in the case of a configuration in which an operation to advance or extend the implementation interval is performed, one round trip (one number of runs) is reduced in the case of the operation to advance the set implementation interval, and one round trip (number of runs) in the case of the operation to extend it. In addition, change the set implementation interval.

Furthermore, it may be configured such that it is possible to select whether to change only the next implementation interval or to change all subsequent implementation intervals. When the amount of seedlings consumed per distance traveled changes due to field conditions, etc., the implementation interval often becomes inappropriate temporarily. On the other hand, if the seedling consumption amount is different from the actual work, the implementation interval may not be appropriate for the entire work run. Therefore, by adopting a configuration in which the change period of the implementation interval can be selected from only the next time or from the next time onward, the implementation interval can be appropriately changed according to the situation at that time.

When the replenishment side setting operation unit 52 selects "do not perform replenishment preparation processing" to set the non-replenishment preparation mode, when replenishment is performed at the operator's discretion, the number of times change operation unit 54 is changed. May be used. In this case, when the operator determines that replenishment is necessary during automatic work traveling and operates the number of times change operation unit 54, the travel control unit 32 receives information that the number of times change operation unit 54 has been operated, and replenishes the seedlings. to run toward the outer perimeter of the field (replenishment side SL).

Specifically, when the number-of-times change operation unit 54 is operated, the travel control unit 32 controls the machine body 1 to stop without transitioning to turning travel after travel on the internal reciprocating route IPL during travel. After that, the machine body 1 is moved forward as it is, and when it reaches the outer periphery of the field (replenishment side SL), the machine body 1 is stopped.

Further, when the replenishment side SL is set and the non-replenishment preparation mode is set, when the number of times change operation unit 54 is operated, the vehicle turns after traveling on the internal reciprocating route IPL toward the next replenishment side SL. is not performed, and replenishment may be performed at the next replenishment side SL. After that, the seedling replenishment setting unit 41 determines the implementation interval based on the number of round trips (number of runs) in which replenishment is performed by operating the number change operation unit 54 from the start of work travel, and performs replenishment preparation processing. May be set.

Further, in the above configuration, instead of the number of times changing operation section 54, a configuration may be adopted in which the execution interval is changed based on the voice of the operator (worker). For example, when the operator utters "change number of times" and then utters "three times", the implementation interval may be changed to three times. Further, after saying "change the number of times", by saying "increase" or "decrease", the execution interval may be increased or decreased by one time. Further, these speech recognition technologies may be configured to recognize speech based on deep learning by artificial intelligence.

Specifically, the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that responds to a predetermined voice and recognizes the voice. When the operator's voice instruction is input, the microphone 44 transfers the voice data to the voice recognition section 45, and the voice recognition section 45 recognizes the voice data as the specific contents of the instruction. The voice recognition unit 45 transmits the content of the instruction to the travel control unit 32, and the travel control unit 32 instructs the vehicle to travel toward the outer periphery (replenishment side SL) of the field in order to replenish the seedlings according to the content of the instruction. to control the airframe 1.

Further, the information terminal 5 includes a notification unit 47 that performs predetermined notification and a remaining amount determination unit 48, and when it is predicted that the remaining amount of seedlings will be insufficient when the replenishment preparation process is performed at the set implementation interval. It is also possible to have a configuration in which the fact is notified to the user.

Specifically, the remaining amount determination unit 48 determines the number of seedlings per unit traveling distance from the stored seedling amount information, vertical feeding amount information, mat-like seedling length information, and distance information. In addition to calculating the amount of consumption, the remaining amount of seedlings is calculated from information on the remaining amount of the mat. Then, based on the calculated consumption amount and remaining amount, the remaining amount determination unit 48 determines whether or not the remaining amount of seedlings is insufficient during the work traveling until the next replenishment preparation process is performed. When determining that the remaining amount of seedlings is insufficient, the remaining amount determination unit 48 causes the notification unit 47 to issue a warning that the remaining amount of seedlings is insufficient.

In this way, by warning that the remaining amount of seedlings is insufficient, the operator can replenish the seedlings before the replenishment preparation process, and during the automatic work traveling, when the remaining amount of seedlings is insufficient. It is possible to suppress the occurrence of cut seedlings and efficiently perform work traveling.

[Embodiment 2]
Next, another embodiment of replenishment setting will be described as Embodiment 2 with reference to FIGS. 6 to 9. FIG. The replenishment setting of the second embodiment differs from the replenishment setting of the first embodiment in that the interval is set not by the number of reciprocations (number of runs) but by the working distance. In addition, in the following description, the description of the same configuration as that of the first embodiment is omitted.

As shown in FIG. 6 , the automatic cruise control system includes a control unit 30 provided on the body 1 , a positioning unit 8 provided on the body 1 and an information terminal 5 . Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.

The information terminal 5 includes a control section 38 , a communication section 39 , a touch panel 50 , a seedling supply setting section 41 (corresponding to a “material supply setting section”), and a storage section 42 . The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.

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

The replenishment side setting operation section 52 can select any of the candidate sides, all the candidate sides, or no replenishment preparation process (no side selected). The side selected by the supply side setting operation unit 52 is set as the supply side SL (step #2 in FIG. 8). In the example of FIG. 7, there are two candidate sides, side A and side B, but one or more sides may be candidates. may be selected.

Note that when "do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and a temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.

Further, the non-replenishment preparation mode is not limited to the case where "do not perform replenishment preparation processing" is selected in the replenishment side setting operation section 52, and may be set by an operation tool (not shown) provided separately. In this case, after the supply side SL is set by the supply side setting operation unit 52, the no-supply preparation mode can be set.

Next, an execution interval for replenishment preparation processing is set. Specifically, the working distance input section 56 is displayed as a software switch on the setting screen (step #3 in FIG. 8). A working distance input unit 56 is used to input a working distance that allows the seedlings to be replenished to work. The working distance input unit 56 may be configured to directly input a number corresponding to the working distance, or may be configured to increase or decrease the number as shown in FIG. The working distance can be predicted in advance from information such as the amount of mat-like seedlings mounted on the seedling mounting table 21, the number of times of horizontal feeding, the amount of vertical feeding, the distance between plants, etc., and is empirically determined in consideration of the field conditions. Also good. The seedling supply setting unit 41 sets the supply preparation position SPP based on the working distance and the supply side SL input by the working distance input unit 56, stores it in the storage unit 42, and transmits the information to the travel control unit 32. do. The travel control unit 32 stores the set replenishment preparation position SPP in the storage unit 35, and temporarily stops the machine body 1 in order to perform replenishment preparation processing at the set replenishment preparation position SPP.

For example, from the planting start position S, the internal round-trip route IPL1, the internal round-trip route IPL2, and the internal round-trip route IPL3 are traveled, and the distance traveled to the position PA on the internal round-trip route IPL4 is the set working distance. Above, the end region of the internal reciprocating path IPL closest to the replenishment side SL to the position PA is set to the replenishment preparation position SPP. In the example of FIG. 9, the position PB is set to the supply preparation position SPP.

Here, the traveling distance from the position planting start position to the position PA is longer than the set working distance. In such a case, the distance between plants is lengthened or the amount of seedlings taken is reduced so that the planter can travel from the planting start position S to the replenishment preparation position SPP (position PB).

It should be noted that if the spacing between the plants is partially adjusted, the appearance may be spoiled. In such a case, it is preferable that the adjustment between plants is carried out in the central part of the field. For example, the spacing between plants is adjusted only in a region that is at least a predetermined distance away from the outer edge of the field.

Moreover, when the distance from the position PA to the replenishment side SL is long, there are cases in which work travel is not performed from the planting start position S to the position PB even if the spacing between plants and the amount of seedlings are adjusted. When such a state is expected, the end region of the internal round-trip route IPL toward the replenishment side SL next to the planting start position S side of the internal round-trip route IPL including the position PA is set to the replenishment preparation position SPP. be. For example, when the supply side SLB is included as the supply side SL in FIG. 9, the position PC is set to the supply preparation position SPP. Further, when the supply side SL is only the supply side SLA, the position PD is set to the supply preparation position SPP. Then, when all necessary settings are made, automatic work travel is started by accepting a predetermined operation (step #4 in FIG. 8).

By setting the replenishment preparation position SPP based on the working distance in this way, the replenishment preparation position SPP can be set more accurately according to the amount of replenished seedlings. As a result, it is possible to suppress unnecessary operations for stopping the traveling for work and for restarting the traveling for work, and it is possible to further improve the working efficiency.

In addition, when adjusting the spacing between plants and the amount of seedlings taken, the theoretical seedling consumption, which is considered when determining the work distance, is compared with the actual consumption obtained as a result of the work during automatic work driving, and there is a difference between the two. may be done if there is Further, a wheel rotation speed sensor is provided, and the slip ratio in the field is measured by comparing the travel distance calculated from the wheel rotation speed sensor and the travel distance calculated based on the positioning data output from the positioning unit 8. , An appropriate spacing between plants is calculated based on the slip ratio, and the spacing between plants is adjusted by a stepless transmission mechanism such as a stepless hydrostatic mechanism (HST) provided in the drive system of the work device, resulting in highly accurate seedling consumption. It is possible to calculate the amount.

Specifically, the information terminal 5 further includes a position calculator 57 , a consumption predictor 58 , and a consumption calculator 59 .

The position calculator 57 calculates the position of the body 1 on the target travel route by any method. For example, the position calculator 57 continuously acquires the positioning data output by the positioning unit 8 and continuously calculates the position of the machine body 1 in the field. Information on the calculated position of the aircraft 1 is stored in at least one of the storage unit 42 and the storage unit 35 . The positions of the machine body 1 to be stored may be at least the positions of the start and end parts of each internal round-trip route IPL. or all of them.

The consumption amount prediction unit 58 predicts the theoretical seedling consumption amount consumed when traveling the working distance from the vertical feeding amount and the number of horizontal feeding times of the seedling planting device 3 and the length and width of the mat-like seedling. It is transmitted to the control unit 30 (step #5-1 in FIG. 8).

Based on the amount of change in the position of the machine body 1 calculated by the position calculation unit 57 on the internal reciprocating route IPL, the stored information on the amount of longitudinal feed, and the information on the number of times of lateral feed, the consumption calculation unit 59 calculates: The amount of seedlings consumed per unit distance is calculated, and the actual seedling consumption amount that would be consumed if the working distance is traveled with the current settings is calculated and transmitted to the control unit 30 (step #6-1 in FIG. 8). .

Then, the work control unit 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares them, and adjusts at least one of the spacing between plants and the amount of seedlings taken according to the comparison result (step #7 in FIG. 8). -1).

As a result, adjustment of the spacing between plants and the amount of seedlings taken is performed only when necessary, and the work can be efficiently carried out while planting seedlings with higher accuracy.

In addition, an error may occur in the working distance depending on the conditions of the field. In such a case, the replenishment preparation position SPP may be changed according to the distance that can actually be traveled for work with the amount of seedlings to be loaded.

In order to implement such a configuration, the information terminal 5 may include a position calculation section 57 , a distance comparison section 61 , a position change operation section 62 and a notification section 47 .

First, the distance comparison unit 61 determines, based on the amount of seedlings consumed per unit distance calculated by the consumption amount calculation unit 59 and the amount of seedlings to be loaded, that seedlings need to be replenished next from the immediately preceding replenishment preparation position SPP. Then, the travelable distance is calculated (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used for setting (step #6-2 in FIG. 8). Then, if there is a difference equal to or greater than a predetermined threshold value between the possible travel distance and the working distance, the distance comparison section 61 causes the notification section 47 to notify that fact (step #7-2 in FIG. 8). . At this time, it is preferable to notify both of which distance is longer.

The position change operation unit 62 receives an operation for changing the replenishment preparation position SPP. When the operator receives notification from the notification unit 47 and determines that the replenishment preparation position SPP needs to be changed, the operator operates the position change operation unit 62 (step #8-2 in FIG. 8). Then, the seedling replenishment setting unit 41 sets the replenishment preparation position SPP to a position adjacent to the replenishment side SL in the end region of the internal reciprocating path IPL in the forward or rearward direction in the traveling direction in accordance with the operation of the position change operation unit 62. change (step #9-2 in FIG. 8).

As a result, the replenishment preparation position SPP can be changed to the working distance corresponding to the actual consumption of seedlings, and the replenishment of seedlings can be performed more efficiently. The replenishment preparation position SPP is not limited to being changed by the operator operating the position change operation section 62 , but the replenishment preparation position SPP is automatically changed according to the comparison result of the distance comparison section 61 . It may be a configuration.

As described above, the setting of the number of times of horizontal feeding, the amount of vertical feeding, and the amount of seedling picking can be changed. Also, stock intervals may change. By changing these, the distance that can be traveled for work after replenishment of seedlings is changed. Accordingly, it is preferable that the replenishment preparation position SPP is changed.

Therefore, when the number of times of horizontal feeding, the amount of vertical feeding, the amount of seedling removal, or the spacing between plants is changed (step #5-3 in FIG. 8), the seedling supply setting unit 41 changes the supply preparation position SPP according to the amount of change. may be changed (step #6-3 in FIG. 8).

[Embodiment 3]
Next, another embodiment of replenishment setting will be described as Embodiment 3 with reference to FIGS. 10 to 12. FIG. The replenishment setting of the third embodiment sets the seedling replenishment side in a configuration different from the configuration described above in the first or second embodiment. In addition, in the following description, the description of the configuration similar to that of the first embodiment or the second embodiment will be omitted.

As shown in FIG. 10 , the automatic cruise control system includes a control unit 30 provided on the body 1 , a positioning unit 8 provided on the body 1 , and an information terminal 5 . Also, the information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the operation unit 14, or may be held in a state that can be operated by a worker who is away from the machine body 1. FIG.

The information terminal 5 includes a control section 38 , a communication section 39 , a touch panel 50 , a seedling supply setting section 41 (corresponding to a “material supply setting section”), and a storage section 42 . The information terminal 5 also includes an operation unit such as switches and buttons for changing information displayed on the touch panel 50 and performing various settings.

In the replenishment setting of the third embodiment, a setting screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12). On the setting screen, a supply side setting operation section 52 and a route selection operation section 64 are displayed as software switches. The replenishment side setting operation section 52 receives a selection operation as to whether or not to perform replenishment preparation processing (step #2 in FIG. 12). When the replenishment side setting operation unit 52 selects not to perform replenishment preparation processing, the replenishment side SL is not set. The setting screen displays the outer peripheral shape of the field and a pattern such as an arrow corresponding to the internal reciprocating route IPL. Candidates for the replenishment side SL are sides corresponding to the start and end of the internal round-trip route IPL in the outer perimeter of the field.

When the replenishment preparation process is selected (step #2 Yes in FIG. 12), the operator operates the route selection operation section 64 to select the internal round-trip route IPL (step #3 in FIG. 12). The operator grasps the traveling direction from the arrows or the like displayed on the internal round-trip route IPL, and selects the supply side SL by selecting the internal round-trip route IPL so that the outer periphery on the traveling direction side becomes the supply side SL. do. The route selection operation unit 64 is an operation tool that can select one of the displayed internal round-trip routes IPL. , it may be an operating tool that sequentially feeds the selected internal round-trip route IPL to the left and right. Further, the internal round-trip route IPL may be selected by directly touching a pattern corresponding to the internal round-trip route IPL on the touch panel 50 without providing the route selection operation unit 64 . In addition, the selected internal round-trip route IPL changes so that the selected internal round-trip route IPL can be identified by emitting light or coloring.

A pattern such as an arrow indicating the traveling direction is displayed on the internal round-trip route IPL displayed on the setting screen. The seedling replenishment setting unit 41 sets the outer perimeter LA of the field on the traveling direction side of the internal round-trip route IPL selected by the route selection operation unit 64 as the replenishment side SL (step #4 in FIG. 12). When a plurality of replenishment sides SL can be set, the seedling replenishment setting unit 41 sets the replenishment side SL not only to the outer periphery LA but also to the outer periphery LB of the field opposite to the traveling direction of the internal reciprocating path IPL. can be

After all necessary settings such as setting of the replenishment preparation position SPP are performed, automatic work traveling is started by receiving a predetermined operation. Further, even when it is selected not to perform the replenishment preparation process (step #2 No in FIG. 12), the predetermined operation is accepted after all necessary settings such as setting of the replenishment preparation position SPP are performed. starts the automatic work traveling (step #5 in FIG. 12).

Thus, the supply side SL can be set by a simple method of selecting the internal round-trip route IPL displayed on the setting screen. It can be performed.

If no replenishment preparation processing is selected by the replenishment side setting operation unit 52, a non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and temporary stop for replenishment is not performed. In this case, the operator determines the necessity of replenishment, stops the work at an arbitrary position, moves the machine body 1 to the replenishment position, and replenishes the replenishment.

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

Specifically, when the seedling replenishment operation unit 65 is operated, the traveling control unit 32 does not shift to turning traveling after traveling on the internal reciprocating route IPL during traveling, but continues to move forward, and the outer periphery of the field ( Control is performed so that the machine body 1 is stopped when it reaches the replenishment side SL).

In addition, instead of providing the seedling replenishment operation unit 65, a pattern corresponding to the route selection operation unit 64 and the internal reciprocating route IPL is displayed even during the automatic work traveling in the non-replenishment preparation mode, and the route selection operation unit 64 A configuration may be adopted in which the round-trip route IPL is selected. The seedling replenishment setting unit 41 transmits information to the travel control unit 32 so that the machine body 1 travels toward the outer periphery of the field in order to replenish the seedlings after traveling on the selected internal round-trip route IPL.

Furthermore, when the seedling replenishment operation unit 65 is operated to replenish seedlings, the seedling replenishment setting unit 41 sets the outer perimeter on the traveling direction side of the internal round-trip route IPL that was running immediately before the replenishment of seedlings. That is, the outer perimeter where seedlings have been replenished may be set as the replenishment side SL (step #7 in FIG. 12).

Further, after the replenishment side SL is set and the replenishment preparation position SPP is set, the replenishment amount of seedlings required for replenishment may be notified. This replenishment amount is the amount of seedlings necessary for carrying out work travel to the next replenishment preparation position SPP after the replenishment of seedlings. The necessary replenishment amount can be calculated from the work travel distance between the replenishment preparation positions SPP, the amount of vertical feeding, the number of times of horizontal feeding, the amount of seedlings taken, the size of mat-like seedlings, and the like.

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

After the replenishment preparation position SPP is set, the notification control unit 66 causes the notification unit 47 to notify the calculated replenishment amount.

Furthermore, the seedling replenishment setting unit 41 may correct at least one of the replenishment side SL and the replenishment preparation position SPP according to the calculated replenishment amount. For example, when the calculated replenishment amount is significantly smaller than the amount of mat-like seedlings that can be mounted on the seedling placement table 21, the replenishment preparation position SPP may be set at a farther position. In some cases, the replenishment side SL can be set at another outer perimeter of the field. In such a case, the seedling supply setting unit 41 may correct the supply side SL.

Further, it may be configured such that the operation of the seedling replenishment operation unit 65 is accepted for the first time when the notification that the seedling shortage is detected is performed during the automatic work traveling when the no-replenishment preparation mode is set.

When the sensor 23 or the like detects seedling shortage, the notification control unit 66 causes the notification unit 47 to notify that effect. After such notification, at least one of the replenishment preparation position SPP and the replenishment side SL may be set. The sensor 23 may be configured to directly detect runout of seedlings, or may be configured to detect the remaining amount of seedlings (mat-like seedlings) as described above. When the sensor 23 is configured to detect the remaining amount of seedlings, the notification control unit 66 determines that the seedlings are out of stock and notifies the notification unit 47 when the remaining amount of seedlings is equal to or less than a predetermined amount. to do

The detection of the lack of seedlings is not limited to the sensor 23 and may be performed using the remaining amount estimation unit 68 . The remaining capacity estimation unit 68 can be provided in the information terminal 5 . The remaining amount estimating unit 68 calculates the expected consumption using information on the amount of vertical feeding, information on the number of times of horizontal feeding, information on the amount of seedlings collected, information on the interval between plants, information on the travel distance, etc. in work traveling after replenishment. Then, the remaining amount estimating unit 68 is installed at the time of replenishment of seedlings, and subtracts the calculated expected consumption amount from the amount of mat-shaped seedlings stored in the storage unit 42 of the information terminal 5 to calculate the remaining amount of real seedlings. presume.

Furthermore, the configuration may be such that both the detection of the remaining amount of seedlings by the sensor 23 and the estimation of the remaining amount of seedlings by the remaining amount estimating section 68 are performed. In this case, the notification control unit 66 may control the notification using either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of actual seedlings selected by the operator.

For this purpose, a remaining amount selection operation section 69 may be provided. The remaining amount selection operation unit 69 is provided as a software switch or the like displayed on the touch panel 50 of the information terminal 5 .

During the automatic work traveling, the operator operates the remaining amount selection operating unit 69 to select either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of seedlings. The notification control unit 66 determines that seedlings are out of stock when the remaining amount of selected seedlings or the remaining amount of real seedlings is equal to or less than a predetermined amount, and causes the notification unit 47 to notify that fact.

[Another embodiment]
(1) In each of the above-described embodiments, the control unit 30 and the information terminal 5 are not limited to those configured from the above functional blocks, and may be configured from arbitrary functional blocks. For example, each functional block of the control unit 30 and the information terminal 5 may be further subdivided, or conversely, a part or all of each functional block may be grouped together. Also, the functions of the control unit 30 and the information terminal 5 may be realized by a method executed by arbitrary functional blocks, not limited to the above functional blocks. Also, part or all of the functions of the control unit 30 and the information terminal 5 may be configured by software. A program related to software is stored in an arbitrary storage device such as the storage unit 35 and the storage unit 42, and is executed by a processor such as a CPU provided in the control unit 30 or the information terminal 5, or a processor provided separately.

(2) In each of the above embodiments, the seedling supply setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption The amount calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to the configuration provided in the information terminal 5, and at least one of them may be provided in the control unit 30. It may be provided in an external management computer or the like that can communicate with the unit or body 1 . For example, the microphone 44 and the notification unit 47 are provided in the operation unit 14, the seedling supply setting unit 41, the voice recognition unit 45, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption amount prediction unit 58, the consumption At least one of the amount calculation unit 59 , the notification control unit 66 , and the remaining amount estimation unit 68 may be provided in the control unit 30 or the like provided in the body 1 . In addition, at least one of the number-of-travels operation unit 53, the number-of-times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the seedling supply operation unit 65 is attached to the machine body 1 such as the operation unit 14. may be provided. Seedling supply setting unit 41, microphone 44, voice recognition unit 45, notification unit 47, remaining amount determination unit 48, position calculation unit 57, distance comparison unit 61, consumption prediction unit 58, consumption calculation unit 59, notification control unit 66 , remaining amount estimation unit 68, number of times of running operation unit 53, number of times change operation unit 54, working distance input unit 56, position change operation unit 62, route selection operation unit 64, seedling supply operation unit 65 may be provided in

(3) In each of the above embodiments, the configuration may be such that the imaging device 19 for photographing the periphery of the body 1 and the seedling replenishment point detection unit 20 are provided on the body 1 . When the seedlings are replenished at the replenishment point SA as the replenishment position, the seedling replenishment point detection unit 20 identifies the replenishment point SA by image analysis from the image captured by the imaging device 19, and the travel control unit 32 identifies the replenishment point SA. It may be configured to automatically move to the replenishment point SA.

(4) In each of the above embodiments, the automatic travel control system or the field work vehicle may be configured to be able to cooperate with a combine harvester. Further, the information of the supply side SL set when the rice transplanter performs the seedling planting work is transmitted to the combine harvester, and the discharge position of the grain during the harvesting work by the combine is determined based on the information of the supply side SL. Also good.

In addition, if the combine is equipped with a lidar sensor or the like and can collect 3D data of the field during harvesting work, the automatic travel control system or the field work vehicle can collect the 3D data of the field when setting the replenishment side SL. You can consider it.

The outer perimeter of the field may not be suitable as the replenishment side SL due to the height of the ridge, the undulation of the ridge (perimeter of the field), and the like. By setting the replenishment side SL in consideration of the 3D data of the field acquired in the previous year or the like, the replenishment side SL is prevented from being set at an inappropriate position, and the replenishment side SL is appropriately set. .

(5) In each of the above embodiments, the sensor 23 may be configured to detect how many mat-like seedlings remain by arranging a plurality of such sensors 23 side by side in the longitudinal feed direction. Furthermore, the sensor 23 may be a camera for photographing the mat-like seedlings on the seedling placement table 21, and may be configured to detect the remaining amount of mat-like seedlings by analyzing the photographed image. Moreover, the sensor 23 is a weight sensor, and may be configured to measure the remaining amount of seedlings from the change in the weight of the mat-like seedlings mounted on the seedling mounting table 21 .

Also, a configuration in which a drone is mounted instead of the sensor 23 may be employed. In this case, the seedling platform 21 is photographed by a drone, and the photographed image is image-analyzed to detect the remaining amount of seedlings on the seedling platform 21 .

Further, instead of detecting the remaining amount of seedlings by the sensor 23, a configuration may be adopted in which the lack of seedlings or the like is recognized by the voice uttered by the operator. In this case, the information terminal 5, the machine body 1, or the remote control 6 is provided with a voice recognition system, and the voice recognition system analyzes the voice uttered by the operator and recognizes whether the seedling is cut or the like.

For example, the voice recognition system recognizes the operator's voice saying "seedling cut" and detects that the seedling is cut. In addition, the voice recognition system recognizes the worker's voice saying "there are many seedlings" and detects that the work can travel longer than planned.

According to these detection contents, the seedling supply setting unit 41 changes the timing of performing the supply preparation process.

(6) In each of the above embodiments, the farm work vehicle is not limited to a rice transplanter, and may be a seeding machine that supplies agricultural cooperative materials to a field, a chemical sprayer, a fertilizer applicator, or other work vehicle. It may be a harvester such as a combine that discharges harvested crops.

In this case, a discharge side along the discharge position for discharging the harvested crops is set from the outer periphery of the field, and discharge preparation processing is performed at the discharge preparation position of the internal reciprocating route IPL set by the material discharge setting unit. In other words, the “replenishment side” in the automatic travel control system of the rice transplanter corresponds to the “discharge side” in the automatic travel control system of the harvester, the “agricultural material” corresponds to the “harvested crops”, and the “material replenishment setting "Part" corresponds to "Material discharge setting part", "Replenishment preparation position" corresponds to "Discharge preparation position", and "Replenishment preparation process" corresponds to "Discharge preparation process".

INDUSTRIAL APPLICABILITY The present invention can be applied not only to seedling transplant vehicles such as rice transplanters, but also to various field work vehicles such as combine harvesters and tractors.

1 body 3 seedling planting device (working device)
8 positioning unit 19 imaging device 20 seedling supply point detector 21 seedling platform 22 planting mechanism 23 sensor 32 traveling control section 33 work control section 41 seedling supply setting section (material supply setting section)
42 storage unit 47 notification unit 56 working distance input unit 57 position calculation unit 58 consumption prediction unit 59 consumption calculation unit 61 distance comparison unit 62 position change operation unit IPL internal round-trip route (internal route)
SA supply point SL supply side SPP supply preparation position

Claims (15)

An automatic travel control system for a field work vehicle that performs field work for supplying agricultural materials to a field by repeating automatic reciprocating travel along a travel route consisting of an internal route and a turning route,
In order to replenish materials at a predetermined replenishment side, the agricultural field work vehicle performs replenishment preparation processing to stop traveling at a replenishment preparation position each time the automatic reciprocating travel is performed for a predetermined number of times, and the replenishment preparation position is , is set on the internal path toward the supply side,
a travel control unit that controls automatic travel including the replenishment preparation process;
a work control unit that controls the field work;
a working distance input unit that receives an input of a working distance from when the replenishment preparation process is performed to when the next replenishment preparation process is performed;
and a material replenishment setting unit that sets the replenishment preparation position according to the working distance. If the position traveling the working distance along the internal route in the automatic reciprocating travel from the immediately preceding replenishment preparation position is not the end region of the internal route, the material replenishment setting unit sets the replenishment preparation position to the replenishment preparation position as described above. 2. The automatic travel control system according to claim 1, wherein the end region is set immediately before a position traveled by a working distance. If the position traveling the working distance along the internal route in the automatic reciprocating travel from the immediately preceding replenishment preparation position is not the end region of the internal route, the material replenishment setting unit sets the replenishment preparation position to the replenishment preparation position as described above. 2. The automatic cruise control system according to claim 1, wherein the terminal area is set closest to a position where the vehicle travels the working distance. The automatic travel control system according to any one of claims 1 to 3, wherein the field working vehicle is a seedling transplanting vehicle for planting seedlings as the agricultural material in the field. The seedling transplanting vehicle has a seedling platform, a planting mechanism, and a position calculation unit that calculates the position of the seedling transplanting vehicle body on the traveling route,
The seedling placement table places mat-shaped seedlings, continuously feeds the mat-shaped seedlings to the planting mechanism at a predetermined vertical feed amount, and continuously feeds the mat-shaped seedlings at a predetermined number of horizontal feeds. laterally feed the fuselage in the lateral direction,
The planting mechanism extracts the seedlings from the mat-shaped seedlings in an amount corresponding to the amount of vertical feeding and the number of times of horizontal feeding, and plants the seedlings in the field at a predetermined interval,
a position change operation unit that receives an artificial operation to change the replenishment preparation position;
a notification unit that performs a predetermined notification;
Based on the information on the position of the machine body on the traveling route, the information on the amount of vertical feed, and the information on the number of times of horizontal feeding, travel from the position where the material supply was performed immediately before until the material supply is next required. further comprising a distance comparison unit that compares the distance and the working distance,
When the travel distance and the working distance do not match, the distance comparison unit causes the notification unit to notify the information,
5. The material replenishment setting unit according to the operation received by the position change operation unit, according to claim 4, wherein the replenishment preparation position is changed to a terminal area of the internal route continuing forward or backward of the travel route. automatic driving control system. The seedling transplanting vehicle has a seedling platform, a planting mechanism, and a position calculation unit that calculates the position of the seedling transplanting vehicle body on the traveling route,
The seedling placement table places mat-shaped seedlings, continuously feeds the mat-shaped seedlings to the planting mechanism at a predetermined vertical feed amount, and continuously feeds the mat-shaped seedlings at a predetermined number of horizontal feeds. laterally feed the fuselage in the lateral direction,
The planting mechanism extracts the seedlings from the mat-shaped seedlings in an amount corresponding to the amount of vertical feeding and the number of times of horizontal feeding, and plants the seedlings in the field at a predetermined interval,
a consumption prediction unit that predicts the theoretical seedling consumption to be consumed when traveling the working distance from the preset amount of vertical feeding and the number of times of horizontal feeding, and the length and width of the mat-like seedling;
a consumption amount calculation unit that calculates the seedling consumption amount consumed when traveling the working distance from information on the position of the machine body on the traveling route, information on the amount of vertical feeding, and information on the number of times of horizontal feeding; further comprising
5. The automatic system according to claim 4, wherein, when the theoretical seedling consumption amount and the actual seedling consumption amount are different, the work control unit adjusts the spacing between plants according to the difference between the theoretical seedling consumption amount and the actual seedling consumption amount. travel control system. 7. The automatic travel control system according to claim 6, wherein the adjustment between the plants is performed in an area inside by a predetermined distance or more from the outer perimeter of the field. The amount of longitudinal feed and the number of times of lateral feed can be changed,
8. The material replenishment setting unit according to claim 6 or 7, wherein when at least one of the longitudinal feed amount, the number of lateral feeds, and the plant spacing is changed, the replenishment setting unit changes the replenishment preparation position according to the change amount. Automatic driving control system. The seedling transplant vehicle is
a satellite antenna for receiving satellite signals from satellites;
a positioning unit that outputs positioning data based on the satellite signals;
The automatic cruise control system according to any one of claims 5 to 8, wherein the position calculator calculates the position of the aircraft from the positioning data. A storage unit that stores the replenishment side in the farm field,
It is possible to cooperate with the harvester,
10. The automatic traveling according to any one of claims 1 to 9, wherein when the harvester performs harvesting work, the harvested material discharge position is determined with reference to the replenishment side stored in the storage unit. control system. The harvester has a sensor that measures the three-dimensional shape of the field,
The storage unit stores three-dimensional data of the farm field measured by the sensor,
11. The automatic travel control system according to claim 10, wherein when the field work vehicle that performs the field work performs the field work, the material replenishment setting unit sets the replenishment preparation position in consideration of the three-dimensional data. . The material replenishment is performed at a material replenishment point at which the body of the farm work vehicle is advanced in the direction along the internal route from the replenishment preparation position to the replenishment side, or a predetermined material replenishment provided near the replenishment side. 12. The automatic cruise control system according to any one of claims 1 to 11, which is performed at points. an imaging device for photographing the field;
13. The automatic travel control system according to claim 12, further comprising a material replenishment point detection unit that detects the material replenishment point from the image captured by the imaging device. An automatic travel control system for a field work vehicle that performs field work for harvesting crops from a field by repeating automatic reciprocating travel along a travel route consisting of an internal route and a turning route,
In order to discharge the crops harvested at a predetermined discharge side, the field work vehicle performs a discharge preparation process of stopping traveling at a discharge preparation position each time the automatic reciprocating travel is performed a predetermined number of times. a preparation position is set on the internal path toward the discharge side;
a travel control unit that controls automatic travel including the discharge preparation process;
a work control unit that controls the field work;
a working distance input unit that receives an input of a working distance from when the discharge preparation process is performed to when the next discharge preparation process is performed;
an automatic travel control system comprising: a material discharge setting unit that sets the discharge preparation position according to the working distance. By repeating the automatic back-and-forth traveling along a traveling route consisting of an internal route and a turning route, the agricultural field work for supplying agricultural materials to the field is performed, and in order to replenish the materials at a predetermined replenishment side, the predetermined number of times of travel is performed. A field work vehicle that performs replenishment preparation processing to stop traveling at a replenishment preparation position each time automatic reciprocating travel is performed,
a working device for performing the field work;
a travel control unit that controls automatic travel including the replenishment preparation process;
a work control unit that controls the field work;
a working distance input unit that receives an input of a working distance from when the replenishment preparation process is performed to when the next replenishment preparation process is performed;
and a material replenishment setting unit that sets the replenishment preparation position according to the working distance.

Images