JP2024090918A - Work vehicles - Google Patents

Abstract

[Problem] For conventional work vehicles such as rice planters, it is not necessarily easy for the vehicle body to travel automatically.
[Solution] The vehicle is equipped with a controller that performs automatic driving control to turn the vehicle body to move along a straight path or to transition from a straight path to a straight path, and if it determines that traveling on the path is impossible, it changes to another path.The controller determines whether or not it is possible to turn to an adjacent straight path at the time of turning to the adjacent straight path, and if it determines that turning to the adjacent straight path is impossible, it skips the adjacent straight path and turns to another straight path, and is equipped with an alarm device that alarms that the vehicle will turn to another straight path.
[Selected figure] Figure 4

Description

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

There is known a work vehicle such as a rice planter that has a planting device that is attached to the vehicle body so that it can be raised and lowered, a steering motor that drives a steering wheel, and a control device that controls the vehicle body to move in a straight line by having the steering motor drive the steering wheel (see, for example, Patent Documents 1 and 2).

JP 2016-24541 A JP 2002-335720 A

However, for work vehicles such as the conventional rice planters mentioned above, it is not necessarily easy to make the vehicle body move automatically.

The present invention takes into consideration the above-mentioned problems with the conventional technology and aims to provide a work vehicle that can perform automatic driving control of the vehicle body.

The first aspect of the present invention is a controller (500) that performs automatic driving control to turn a vehicle body (100) along a straight path or to transition from a straight path to a straight path,
This work vehicle is characterized in that, if it is determined that traveling on the route is impossible, it changes to another route.

In a second aspect of the present invention, the controller (500) judges whether or not the turning to the adjacent straight path is possible at a timing when the turning to the adjacent straight path is made, and when it is judged that the turning to the adjacent straight path is impossible, the controller skips the adjacent straight path and makes the turning to another straight path;
2. The work vehicle according to claim 1, further comprising an alarm device that notifies the driver that the work vehicle will turn to another straight route.

The third aspect of the present invention is a remote control device that can start and stop automatic driving along a route and can operate forward and backward movement,
The work vehicle according to claim 2, characterized in that the notification device issues a notification that an abnormality in the automatic driving route occurs when the vehicle deviates from the route by a certain distance.

The fourth invention is a work vehicle as described in 2 or 3, characterized in that when a load is detected in the steering of the automatic driving along the route, the notification device notifies the driver that the steering has been manually operated.

The fifth invention is a work vehicle as described in 1 or 2, characterized in that when an obstacle is detected during automatic driving along a route and the vehicle stops, an alarm device issues an alarm.

The first aspect of the present invention makes it possible for the vehicle body to travel automatically.

The second invention of the present invention makes it possible to control the turning of the vehicle body in addition to the effects of the first invention.

The third invention provides the effects of the second invention, as well as making it possible to perform highly convenient automated driving of the vehicle.

The fourth aspect of the present invention, in addition to the effects of the second or third aspect of the present invention, makes it possible to perform highly convenient automatic driving of the vehicle.

The fifth aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, makes it possible to perform highly convenient automatic driving of the vehicle.

FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention. Block diagram of a rice transplanter according to an embodiment of the present invention. FIG. 1 is an explanatory diagram of turning control of a rice transplanter according to an embodiment of the present invention; FIG. 2 is an explanatory diagram of turning control of a rice transplanter according to an embodiment of the present invention (part 2) FIG. 1 is an explanatory diagram of an automatic adjustment function of a robot rice transplanter according to an embodiment of the present invention; FIG. 1 is an explanatory diagram of an automatic adjustment function of a robot rice transplanter according to an embodiment of the present invention; FIG. 2 is an explanatory diagram of the automatic adjustment function of the robot rice transplanter according to the embodiment of the present invention (part 2) FIG. 3 is an explanatory diagram of the automatic adjustment function of the robot rice transplanter according to the embodiment of the present invention; FIG. 1 is an explanatory diagram of a headland process of a robot rice transplanter according to an embodiment of the present invention; FIG. 2 is an explanatory diagram of the headland process of the robot rice planter of the embodiment of the present invention (part 2) FIG. 3 is an explanatory diagram of the headland process of the robot rice planter of the embodiment of the present invention; FIG. 13 is an explanatory diagram of an error display of the robot rice transplanter according to the embodiment of the present invention; FIG. 1 is an explanatory diagram of a method for setting a steering angle sensor of a robot rice transplanter according to an embodiment of the present invention; FIG. 1A is an explanatory diagram (part 1) of an automatic work start position setting of a robot rice transplanter of an embodiment of the present invention; FIG. 1B is an explanatory diagram (part 2) of an automatic work start position setting of a robot rice transplanter of an embodiment of the present invention; FIG. 1 is an explanatory diagram of a robot rice transplanter assist function of a rice transplanter according to an embodiment of the present invention; FIG. 2 is an explanatory diagram of the robot rice transplanter assist function of the rice transplanter according to the embodiment of the present invention (part 2) FIG. 2 is an explanatory diagram of a rice transplanter remote controller connection status icon of the rice transplanter according to the embodiment of the present invention; FIG. 2 is an explanatory diagram of a rice transplanter remote operation state display of the rice transplanter according to the embodiment of the present invention; FIG. 2 is an explanatory diagram of a rice transplanter work area acquisition state display of the rice transplanter according to the embodiment of the present invention; FIG. 2 is an explanatory diagram of a screen layout of the robot rice transplanter automatic travel of the rice transplanter according to the embodiment of the present invention; FIG. 13 is an explanatory diagram of a rice transplanter seedling amount icon of the rice transplanter according to the embodiment of the present invention. FIG. 13 is an explanatory diagram of a rice transplanter lateral feed count icon of the rice transplanter according to the embodiment of the present invention. FIG. 2 is an explanatory diagram of an automatic driving icon of the rice transplanter according to the embodiment of the present invention; FIG. 13 is an explanatory diagram of a rice transplanter planting depth icon of the rice transplanter according to the embodiment of the present invention. FIG. 2 is an explanatory diagram of a rice transplanter hydraulic pressure sensitivity icon of the rice transplanter according to the embodiment of the present invention;

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

The same applies below, but some components may not be shown in the drawings or may be shown in perspective or in an omitted form.

First, the configuration and operation of the rice transplanter of this embodiment will be specifically described with reference primarily to Figures 1 and 2.

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

The rice transplanter of this embodiment is a rice transplanter that travels along multiple parallel straight paths, and is an example of a work vehicle of the present invention.

While explaining the operation of the rice transplanter, we will also explain a work vehicle operation control method related to the present invention.

The rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual or automatic steering operation of a steering device 240, levels the field with a ground leveling device 260 having a ground leveling float 261, plants seedlings in the field with a seedling planting device 230, and fertilizes the field with a fertilizer applicator 250.

The traveling device 220, the seedling planting device 230, the fertilizer applicator 250 and the soil leveling device 260 are driven by the power of the engine 210, which is transmitted via the main transmission 300 and the sub-transmission 400, which are HSTs.

Next, the configuration and operation of the rice transplanter of this embodiment will be described in more detail, mainly with reference to Figures 1 to 4.

Here, Figures 3 and 4 are explanatory diagrams (parts 1 and 2) of the rotation control of a rice transplanter according to an embodiment of the present invention.

The controller 500 performs turning control to turn the vehicle body 100 in order to transition from a straight path to a straight path.

The following turning control ensures smooth entry into the planting path, reducing the risk of damage to the field.

The controller 500 determines whether turning to the adjacent straight path is possible or not at a predetermined timing based on the direction of the vehicle body 100 to be turned to the adjacent straight path, and if it determines that turning to the adjacent straight path is not possible, (A) the vehicle may reverse and then turn to the adjacent straight path, or (B) the vehicle may skip the adjacent straight path and turn to another straight path.

The direction of the vehicle body 100 is detected, for example, using GNSS position information. (A) The determination of the specific reversing distance over which reversing is performed, and (B) the specific selection of another straight path, such as the next straight path to the skipped straight path or an even more distant straight path, are also performed, for example, based on the positional relationship between the vehicle body 100 and the straight path, using GNSS position information. In cases where skipping is repeated and straight paths on which no travel is performed are generated at intervals, it goes without saying that travel on those straight paths may be performed together, for example, at the end.

The specified timing is preferably the timing when the direction of the vehicle body 100 that is turned to the adjacent straight path becomes perpendicular to the direction of the straight path.

The specified timing may not be the timing when the direction of the vehicle body 100 that is turned to the adjacent straight path becomes perpendicular to the direction of the straight path. However, in such a case, it may be difficult to accurately recognize the distance to the entrance of the straight path in the direction of the straight path or in the direction perpendicular to the direction of the straight path due to a deviation in the direction of the vehicle body 100, and it may be difficult to reliably control the turn.

It is desirable for the vehicle body 100 to stop at a specified time.

There may also be a situation in which the vehicle body 100 does not stop at the specified timing. However, in such a situation, it may be difficult to accurately recognize the distance to the entrance of the straight path in the direction of the straight path or in the direction perpendicular to the direction of the straight path due to the movement of the vehicle body 100, and it may be difficult to reliably perform turning control.

A more detailed explanation, mainly referring to Figures 3 and 4, is as follows.

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

Of course, if the controller 500 determines that turning to the adjacent straight line path S1 is possible, the controller 500 will perform the turning to the adjacent straight line path S1.

(A) In the embodiment shown in FIG. 3, if the controller 500 determines that turning to the adjacent straight path S1 is not possible, the controller 500 reverses and then turns to the adjacent straight path S1.

Typically, a system like a robotic rice transplanter is considered, which controls the robot to stop turning once again after it has completed a 90 degree turn based on the straight-line process, temporarily stopping travel in the direction indicated by the arrow when the robot has completed a 90 degree turn based on the straight-line process, and if it is not possible to enter the next route, then it will move backwards in a straight line until it is possible to enter the next route, and then resume turning.

(B) In the embodiment shown in FIG. 4, if the controller 500 determines that turning to the adjacent straight path S1 is not possible, the controller 500 skips the adjacent straight path S1 and turns to another straight path S2.

Typically, a system like a robotic rice transplanter can be envisaged in which, after the turning that was started and temporarily stopped at the end of the straight-line process is resumed, when a 90-degree turn based on the straight-line process is completed, travel along the direction indicated by the arrow is temporarily stopped again, and if entry into the next route is not possible, the next route, the Nth route, is skipped and entry into the (N+1)th route is made, after which the planting travel of the Nth route and the planting travel of the (N+2)th route are performed in that order.

The next path, the Nth path, is skipped. The turning control described above is preferably not performed twice in succession. This is because if turning control is performed twice in succession, a path will be created in which the planting run is performed twice.

When the controller 500 skips an adjacent straight path to turn to another straight path, and turns to the skipped straight path after traveling along the other straight path, the controller 500 determines whether or not turning to the skipped straight path is possible at a predetermined timing based on the direction of the vehicle body 100 that is turned to the skipped straight path, and (B1) if it is determined that turning to the skipped straight path is possible, turns to the skipped straight path, and (B2) if it is determined that turning to the skipped straight path is impossible, turns to the skipped straight path after moving in reverse.

It is desirable that such a predetermined timing is the timing when the direction of the vehicle body 100 that is turned along the skipped straight path becomes perpendicular to the direction of the straight path.

It is desirable for the vehicle body 100 to stop at such a predetermined timing.

The following is a more specific explanation, mainly referring to Figure 4.

When the vehicle skips an adjacent straight path S1 and turns to another straight path S2, and turns to the skipped straight path S1 after traveling along the other straight path S2, the controller 500 determines whether or not it is possible to turn to the skipped straight path S1 at a predetermined timing based on the direction of the vehicle body 100 that is turned to the skipped straight path S1.

(B1) If the controller 500 determines that turning to the skipped straight path S1 is possible, it performs turning to the skipped straight path S1.

Therefore, if it is possible to turn along the skipped straight line, the vehicle can simply turn along the skipped straight line.

When the driving performance during turning decreases, in riding rice transplanters that turn by improving driving performance using a differential lock or drive of the inner rear wheel, the field is likely to become rough. Even if a differential lock or drive of the inner rear wheel is used, if the vehicle gets stuck, it is often necessary for the operator to judge and free the vehicle body 100 from the stuck state. Therefore, even in robotic rice transplanters, advanced control during turning is required to deal with slipping or getting stuck.

The controller 500 determines whether the vehicle body 100 is unable to turn to the next step due to slippage or being stuck, and if it determines that the vehicle body 100 is unable to turn to the next step, it performs a turning operation to the next step by skipping one step. After the planting work of the next step is completed, a return turning operation to the unplanted step that occurred due to the skipping of one step is performed, and it goes without saying that after the planting work of the unplanted step is completed, a normal turning operation is performed with the skipping of the planted step.

A robotic rice transplanter that can continue planting work with simple control is realized because complex drive and steering control during turning is not required, so that work interruptions due to slipping or getting stuck during turning and soil damage in the field due to unreasonable turning movements are suppressed.

(B2) If the controller 500 determines that turning to the skipped straight path S1 is not possible, the controller 500 reverses and then turns to the skipped straight path S1.

Therefore, even if it is not possible to turn along the skipped straight path, the vehicle can make a turn along the skipped straight path after moving in reverse.

Switching between a mode in which a turn is made to an adjacent straight path after reversing and a mode in which a turn is made to another straight path by skipping the adjacent straight path, and turning these turn control operations on and off, may be possible by operating a dial setting operation on the operation panel, an LCD monitor setting operation, or a remote controller setting operation. Also, a notification may be sent to the remote controller that a turn will be made to another straight path by skipping. If it is determined that traveling is not possible on the path, a notification may be sent to the remote controller that a change to another path will be made.

Next, the configuration and operation of the rice transplanter of this embodiment will be explained in more detail, mainly with reference to Figures 1 to 4.

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

A riding rice transplanter having a vehicle body position detection device that detects the vehicle body position based on a signal from a positioning satellite may have a turning area recording device that records a turning area in which the planting unit is raised and turning is performed when planting work is not being performed, and an automatic adjustment device that automatically reduces the hydraulic sensitivity and reduces the rotor height when planting work is performed in the turning area recorded by the turning area recording device in which a turning trace is formed on the field scene. Such an automatic adjustment area for improving planting performance may be created during automatic driving, rather than being set when the planting area is acquired.

<Robot rice planter travel route deviation prevention function>
The robot rice transplanter automatic adjustment function of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 6 to 8, which are explanatory diagrams (parts 1 to 3) of the robot rice transplanter automatic adjustment function of the rice transplanter of the embodiment of the present invention.

If the wheels of the robotic rice planter spin when turning and the rice planter becomes unable to move, the vehicle speed can be reduced and the steering angle can be reduced to allow the rice planter to escape. If the vehicle deviates from the travel path, the vehicle can be reversed to correct the trajectory or a step can be skipped. This function is considered to be able to resolve the slippage that prevents the rice planter from moving even if slippage caused by wheel spin occurs during automatic driving (see Figure 6).

Such slippage events, in which the wheels spin and the rice transplanter becomes unable to move, are determined from GNSS position information, planting route information, front wheel pulse information, or rear wheel pulse information (see Figure 7).

When it is detected that the rice transplanter is stuck, the electric differential lock may be used, but if the slippage cannot be resolved by the electric differential lock activation, a function may be considered to allow the vehicle to escape by reducing the vehicle speed and easing the steering angle (see Figure 8).

After this control of reducing the vehicle speed and reducing the steering angle, the elimination of the slip state may be determined based on GNSS position information, planting travel path information, front wheel pulse information, or rear wheel pulse information, and the reduction in the steering angle may be stopped and turning may be resumed.

<Robot rice planting machine headland process>
The robot rice transplanter headland process of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 9 to 11, which are explanatory diagrams (parts 1 to 3) of the robot rice transplanter headland process of the rice transplanter of the embodiment of the present invention.

A planting path generation system for a robotic rice planter is conceivable in which, in the vicinity of the field side Ea, which is the opposite side of the field to which materials are supplied, headland planting parallel to the field side Ea is ultimately performed by hand. This is because, for example, if planting parallel to the field side Ea is performed in the two steps of the teaching step and the subsequent inner circumference planting step of automatic operation, poor ventilation can result, making it easier for diseases to occur. More specifically, a planting path generation system for the following automatic planting drive is conceivable, which operates to improve ventilation and make it harder for diseases to occur.

In a robotic rice transplanter that can perform teaching operations while planting on the periphery of a field, the teaching process is performed so that headland planting parallel to the field edge Ea is not performed (see Figure 9).

In the automated reciprocating planting process after such a teaching process, turning is performed by utilizing the headland space near the field edge Ea, and the space corresponding to one process near the field edge Eb that is parallel to the planting path of the reciprocating planting process and the row alignment process, together with the headland space corresponding to one process near the field edge Ea, remain in an unplanted state when the reciprocating planting process is completed (see Figure 10).

In the inner planting process following the reciprocating planting process, automatic planting is performed in the space corresponding to one step near the field edge Eb, but automatic headland planting may be performed near the field edge Ea that remains unplanted, but preferably headland planting is performed by hand in the end to improve ventilation without automatic headland planting (see Figure 11).

<Error display on robotic rice planter>
The robot rice transplanter error display of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 12 which is an explanatory diagram of the robot rice transplanter error display of the rice transplanter according to the embodiment of the present invention.

A function for the robotic rice planter could be considered that displays abnormalities in the rice planter detected by sensors, etc., as warnings on gadgets such as an LCD monitor, stacked lights, tablet, remote controller for operating the robotic rice planter, or an autonomous driving monitor. Errors that occur during unmanned driving can be difficult to confirm, but abnormalities in the rice planter can be confirmed even from the ridges.

<How to set the steering angle sensor for the robot rice planting machine>
The method for setting the robot rice transplanter steering angle sensor of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 13, which is an explanatory diagram of the method for setting the robot rice transplanter steering angle sensor of the rice transplanter according to the embodiment of the present invention.

In order to prevent mistakes associated with an improper steering angle sensor setting in a robotic rice transplanter, a configuration is considered in which the steering angle sensor is set by button operation using a jog dial, etc. This is because in a configuration in which the steering angle sensor is set automatically when the key is turned on, if the key is turned on even though the steering wheel is not in a straight line, normal automatic driving is often not achieved.

Specifically, when the key of the rice transplanter is turned on or the engine is started, a pop-up display or announcement is made on the LCD monitor or the like, urging the user to make sure the steering wheel is straight and then press the jog dial.

When the jog dial is pressed in this state, the steering angle sensor is set appropriately at the steering angle sensor position that corresponds to the state when the steering wheel is straight.

A function to check the status of the steering angle sensor is possible.

Specifically, when the mode for checking the status of the steering angle sensor is selected in the LCD monitor mode settings, the steering motor operates to realize the state in which the steering wheel is straight, as recognized by the steering angle sensor. Therefore, if the steering wheel is straight after the steering motor operates, it is understood that the steering angle sensor is set properly.

It is possible to have a configuration in which the steering angle sensor is set when the azimuth angle recognition operation is being performed.

Specifically, when the engine is on, a pop-up display or announcement is made on the LCD monitor or the like, encouraging the user to drive straight forward or backward.

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

<Setting the robot rice planter's automatic work start position>
The setting of the automatic work start position of the robot rice transplanter of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 14(a) and 14(b), which are explanatory diagrams (part 1 and part 2) of the setting of the automatic work start position of the robot rice transplanter of the rice transplanter of the embodiment of the present invention.

In a robotic rice transplanter, a function is considered that allows the selection of the automatic work start position by displaying an LCD monitor that allows the user to freely change the teaching work start position side or teaching work completion side as the automatic work start position after the teaching work is completed using a jog dial. Since the automatic work start position is not automatically determined in the teaching work procedure but can be changed later, the work path can be changed later, teaching failures can be easily dealt with, and work efficiency is improved.

A screen for setting the automatic operation start position is displayed on the LCD monitor, and by turning the jog dial, a function is realized that allows the user to select either the teaching operation start position side or the teaching operation completion position side as the automatic operation start position.

For example, if you turn the jog dial to the left, the automatic operation will start from the teaching operation start position, and if you turn the jog dial to the right, the automatic operation will start from the teaching operation completion position.

<Robot rice planter assist function>
The robot rice transplanter assist function of the rice transplanter of the embodiment of the present invention will be described with reference to Figures 15 and 16, which are explanatory diagrams (part 1 and part 2) of the robot rice transplanter assist function of the rice transplanter of the embodiment of the present invention.

It is conceivable that a robotic rice transplanter could have a function that automatically calculates the amount of seedlings consumed in the back-and-forth process. Since it would be possible to know the amount of seedlings consumed in one back-and-forth process, it would be possible to reduce the number of times the seedlings need to be replenished.

A function to adjust the amount of seedlings removed according to the amount of remaining seedlings before the inner circumference process is considered. Since there are less chances of leftover seedlings or seedling shortages, seedlings can be used efficiently.

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

A function could be considered that uses a lamp or buzzer to notify the user when the planting width adjustment process has begun. The so-called ridge clutch may suddenly be turned off, or the machine may travel at an angle, which may give the impression that an error has occurred, but a lamp or buzzer notification would prevent the user from misunderstanding the situation and make it easier for the user to understand the status of the automatic operation.

The timing when GNSS position information is restored after being lost may be notified by a buzzer sounding on the rice transplanter or remote controller, or by vibration of the remote controller. This makes it easier to understand the timing when GNSS position information is restored. In addition, the remote controller can start and stop the automatic operation of the rice transplanter, and operate it forward and backward.

A route setting function is being considered that allows access roads to be set that are not at the edge of a ridge. Access roads are often at the edge of a ridge, but having an access road at the edge of a ridge is no longer a prerequisite for creating a route, allowing for flexible handling of a variety of fields.

When the approach road is not the edge of the ridge, the position information of the approach road may be recognized at the time of entering the field from the approach road, for example, by using a remote controller, an LCD monitor, a button on a monitor panel, or an operation of a mobile terminal. Also, if the vehicle deviates from the route by a certain distance, an abnormality in the autonomous driving route may be reported to the remote controller. Also, if the steering wheel is manually operated during autonomous driving, it may be recognized that a load has been applied to the steering of the autonomous driving along the route, and this may be reported to the remote controller.

In the automatic driving mode, a round trip may be performed so that one process is left on the extension of the approach path and one process adjacent to it (see Figure 16).

When the ridge clutch is turned on and off during automatic operation, a buzzer on the rice transplanter side may sound, or the blinking pattern of the lamp on the remote controller may be changed. This makes it easier to understand the status of automatic operation. In addition, an obstacle sensor that detects obstacles in the field during automatic operation may be installed on the machine, and when an obstacle is detected, the machine may stop and the remote controller may be notified that the machine has stopped.

When planting is being performed along the first process path in teaching mode during automatic operation, a buzzer on the rice transplanter may sound, or the blinking pattern of the lamp on the remote controller may be changed. This makes it easier to understand the status of automatic operation.

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

Such an autonomous driving on-board mode and an autonomous driving unmanned mode may be selectable by operating a remote controller, an LCD monitor, or a button on the rice transplanter monitor panel.

<Robotic rice planting machine field management function>
A robotic rice planter equipped with a GNSS receiver could be designed to link with the water management system of the field when rice planting is completed, and automatically add water to the field. Since the rice planter links with the water management system, water management can be performed simply by operating the rice planter, realizing labor savings.

When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a planting operation has been performed over a certain distance in another field area, a signal may be sent to the field's water management system to allow water to be let into the field. The planting operation is recognized using a sensor around the planting clutch motor, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that allows water to be let into the field even though the rice transplanter has not left the field, is suppressed.

When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and area acquisition for the other field area is completed, a signal may be sent to the field's water management system to allow water to be let into the field. For example, if the other field area for which GNSS position information has been acquired overlaps with the previous field area, water does not have to be let in. Operation of the water management system, such as a malfunction that allows water to be let into the field even though the rice transplanter has not left the field, is suppressed.

When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a movement operation in another field area is performed over a certain distance with the center float on the ground, a signal may be sent to the field's water management system to allow water to be let into the field. Movement operations with the center float on the ground are recognized using sensors around the center float, sensors around the lifting link, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that allows water to be let into the field even though the rice transplanter has not left the field, is suppressed.

When it is recognized that the rice transplanter has left the field area based on the most recently acquired GNSS position information, etc., and a movement operation in another field area has been performed over a certain distance in the rotor-driven state, a signal may be sent to the field's water management system to let water into the field. Movement operation in the rotor-driven state is recognized using sensors around the rotor case, sensors around the lifting link, a rear wheel rotation sensor, GNSS position information, a front wheel rotation sensor, etc. Operation of the water management system, such as a malfunction that allows water to be let into the field even though the rice transplanter has not left the field, is suppressed.

When the robotic rice planter is planting, the mode is switched from automatic to manual when moving from the inner circumference process to the final process at the edge of the field, and in response to this mode switch, a signal may be sent to the field's water management system to allow water to enter the field. This prevents the water management system from malfunctioning, allowing water to enter the field even though the rice planter has not left the field.

One possible function would be to monitor the planting status with a camera installed above the seedling tank, and display areas where plants are missing on a map. Since the planting status of the eight rows can be monitored with a single camera installed above the seedling tank, costs are expected to be reduced.

The planting status would be monitored by two cameras installed at both ends of the seedling tank, and any missing plants would be displayed on a map. The planting status of the eight rows would be monitored by two cameras installed at both ends of the seedling tank, and because inexpensive cameras with a narrow monitoring range could be used, it is expected that costs would be reduced.

Labor savings can be achieved by using drones to work in conjunction with rice transplanters to automatically perform replanting work based on data on missing stalks collected by the camera described above.

<Straight-line assistance for autonomous rice planting machine>
In a rice transplanter having an autonomous driving function, a specification is conceivable in which switching between a manual driving mode and an autonomous driving mode is performed by a switching means such as a switch, and the straight-line assist can be used in either mode. Although a specification is conceivable in which the straight-line assist can be effectively used only in the manual driving mode, manual operations such as teaching, ridge-building, and the final process of planting on the headland are performed even during the autonomous driving mode, so a specification in which straight-line driving can be performed by manual operation while using the straight-line assist regardless of the transition to the autonomous driving mode is highly convenient.

A portion of the position information acquired during teaching of the working area may be used to set points A and B, which are reference points for straight-line assistance, and straight-line assistance may be performed. Driving straight along a teaching path is often ideal, but in a specification in which a reference point is acquired each time straight-line driving is performed, the correlation between the reference point for straight-line assistance and the teaching path cannot be obtained during straight-line assistance. By performing straight-line assistance using a portion of the position information acquired during teaching, straight-line driving along an automatic driving path can be easily achieved even during manual driving in an autonomous driving mode in which automatic driving is performed.

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

Information on the immediately preceding travel route, which is the planting route before turning, may be used as travel route information to set points A and B, which are reference points for straight-line assistance, and straight-line assistance may be performed. Because information on the immediately preceding travel route is used, transitioning to straight-line assistance is easy, and the straight-line assistance function can be turned on without obtaining or selecting a reference point.

Any two points on the generated autonomous straight-line path may be selected as the reference points for the straight-line assist. When performing manual driving while using the straight-line assist during the autonomous driving mode, a specification may be considered in which an extra driving path without planting is required as a path for setting the reference point for the straight-line assist. However, by selecting any two points on the autonomous straight-line path as the reference points for the straight-line assist, not only is it possible to smoothly switch between the manual driving mode and the autonomous driving mode, but the accuracy of the spacing between adjacent planting rows and straightness is less likely to vary due to the driving technique of the operator, and highly accurate and aesthetic manual planting that matches the planting rows of the autonomous straight-line path is realized using the straight-line assist function.

On the map on the monitor that displays the generated planned driving route and the actual planting route, which is the route along which planting actually took place, the reference points A and B for the straight-line assist and at least one of the line segments with these reference points as both ends may be displayed superimposed. Since the relationship between the automatic driving route and the reference points for the straight-line assist can be easily understood by checking the map, planting can be performed without mistakes due to user misunderstandings, etc., particularly when switching from autonomous driving mode to manual driving mode.

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

In manual operations such as planting on the headland in the final step, which is the finishing process, the reference points A and B for the straight-line assist may be automatically set when the start of the final step is recognized by using coordinate information acquired during teaching. It is not necessarily realistic to acquire the reference points for the straight-line assist for one step in the final step and use the straight-line assist, as this is time-consuming, but because such reference points are automatically set, the accuracy of straightness is less likely to vary due to the driving technique of the worker, and the straight-line assist function can be used to achieve highly accurate and aesthetic manual planting.

When manual operation is performed during the autonomous driving mode, whether or not the straight-line assist function is available may be notified by a display device such as a monitor or other announcement device. Even in a specification in which an extra driving route without planting is required as a route for setting the reference point for the straight-line assist, such a notification makes it possible to recognize whether or not the reference point has already been acquired, so the operator can determine for himself or herself whether or not to use the straight-line assist function, taking into account the process of acquiring points A and B.

<Rice planting machine in-place planting operation>
In on-the-spot planting, also known as pita planting, in which seedlings are planted on the spot while the vehicle is stopped, one seedling is planted at a stopping point, such as the edge of a field, when the vehicle begins planting travel, and then the vehicle begins traveling again.In order to do this, it is possible to consider a specification in which the planting unit is driven by HST drive or motor drive independent of the traveling unit drive, thereby preventing missed planting at the edge of the field.

When the planting unit is grounded and the planting clutch is switched to the on state, control is required to drive the planting unit with rotation without driving the traveling unit so that only one seedling is planted on the spot.

For example, when the planting unit is in contact with the ground and the planting clutch is in the on state, if the HST lever is tilted so that the lever position is in the forward position, the planting unit will rotate without driving the travel unit, and the planting unit drive control will be performed so that only one seedling is planted on the spot.

In this type of planting unit drive control, the planting unit rotates at high speed to plant only one seedling on the spot, but it is desirable to control the planting unit to rotate at a normal speed that matches the vehicle speed thereafter.

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

An icon showing the remote controller connection status is possible.

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

<Display of rice planter remote operation status>
The rice transplanter remote operation status display of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 18 which is an explanatory diagram of the rice transplanter remote operation status display of the rice transplanter of the embodiment of the present invention.

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

The rice transplanter remote operation status display makes it easy to determine whether remote operation is possible.

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

When displaying the acquisition state of the work area required for the robotic rice transplanter to travel automatically, the following are possible: (State 1) work area not yet acquired state, (State 2) work area acquired state, and (State 3) work area acquired state with a sub-route.

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

<Robotic rice planting machine automatic driving screen layout>
The robot rice transplanter automatic driving screen layout of the rice transplanter according to the embodiment of the present invention will be described with reference to FIG. 20 which is an explanatory diagram of the robot rice transplanter automatic driving screen layout of the rice transplanter according to the embodiment of the present invention.

The layout of the robot rice transplanter's automatic driving screen can have the following functions: (1) a function to display information required for planting in tabs on the left side of the screen, (2) a function to display the robot mode on the top right side of the screen, (3) a function to display the robot mode status in the middle right side of the screen, (4) a function to display the status of the robot mode changeover switch using the robot ON icon at the bottom right of the screen, (5) a function to display the connection status of the remote controller using the remote controller icon on the right side of the screen, and (6) a function to display the acquisition status of the work area using the field check icon at the bottom right of the screen.

There are multiple conditions for starting autonomous driving, so it is difficult to start autonomous driving if the situation cannot be understood.

In order to start the robot's automatic driving, four conditions must be met: (1) GNSS reception state condition, (2) robot mode switch on condition, (3) remote controller connection condition, and (4) working area acquisition condition. If these four display states are active and a display such as "Auto OK" is shown in the status display, automatic driving is possible. By performing the operations in this order to clear the four conditions, automatic driving can be started easily.

<Rice planter seedling volume icon>
The rice transplanter seedling removal amount icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 21 which is an explanatory diagram of the rice transplanter seedling removal amount icon of the rice transplanter of the embodiment of the present invention.

It would be possible to display an icon to show the amount of seedlings harvested.

The amount of seedlings harvested can be communicated efficiently on a screen with a wealth of information.

<Rice planter lateral feed count icon>
The rice transplanter lateral feed count icon of the rice transplanter of the embodiment of the present invention will be described with reference to FIG. 22 which is an explanatory diagram of the rice transplanter lateral feed count icon of the rice transplanter of the embodiment of the present invention.

It is possible to display an icon showing the number of lateral feeds.

The set value for the number of traverses can be communicated efficiently on a screen with a large amount of information.

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

It is possible to use displays that indicate three states regarding autonomous driving, such as (1) a state in which autonomous driving is occurring, (2) a state in which autonomous driving is possible, and (3) a state in which autonomous driving is not possible.

It is easy to determine whether autonomous driving can begin.

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

An icon showing planting depth could be considered.

The planting depth setting can be communicated efficiently on a screen with a lot of information.

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

An icon display showing hydraulic sensitivity is possible.

The hydraulic sensitivity setting value can be communicated efficiently on a screen with a large amount of information.

The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

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

Note that "some steps (or processes, operations, actions, etc.)" mentioned above means one or some of those multiple steps.

In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or part of the above-mentioned step.

A function may be provided that allows the error history to be checked using a remote controller. Also, the grip portion of the main shift lever may have a switch that allows the vehicle speed to be increased by one step during automatic driving.

If the distance calculated based on the rear wheel rotation speed is longer than the distance calculated by the GNSS sensor, the amount of seedlings removed is controlled to be less, and if the distance calculated based on the rear wheel rotation speed is shorter than the distance calculated by the GNSS sensor, the amount of seedlings removed is controlled to be more. In addition, when lowering the planting section, the hydraulic motor may be used to charge. In addition, when planting on the bank, the torque distribution to the inside wheels may be increased to improve straight-line running.

A rice transplanter that uses GNSS for positioning and travels automatically may have a vehicle information setting function, and in vehicle setting mode, may travel in the forward and reverse directions on the same straight line at least once each, and if there is a difference between the left and right positions of the GNSS, may have a function to register a position shifted by 1/2 of the difference as the center position of the vehicle.

Rice transplanters that use GNSS for positioning and travel automatically may be equipped with a vehicle information setting function, and the rear wheel clutch disengagement position may be changed to an optimal value by setting whether or not auxiliary wheels are used.

On the displayed route screen, the lines indicating teaching may be colored dotted lines.

By installing a variable motor HST and making the motor variable, high efficiency is achieved by constantly using the HST at a certain pressure or higher. However, compared to gear shifting, a problem has been raised in that the slip ratio worsens due to leakage from inside the HST, and the greater the driving load, the worse the slip ratio becomes. A load cell installed on the axle can detect the driving load, and a correction current value to return the vehicle to the original preset vehicle speed according to the load can be applied to the HST pump side servo solenoid, adjusting the inclination of the pump side sheath and preventing a decrease in vehicle speed (increase in slip ratio).

In addition, a torque sensor installed on the axle can detect the running load, and depending on the load, a correction current value for returning the vehicle speed to the original preset value can be applied to the HST pump side servo solenoid, adjusting the inclination of the pump side sheath and preventing a decrease in vehicle speed (increase in slip ratio).

GNSS-based positioning and storage of aircraft width: The system can be configured to calculate overlapping planting areas based on GNSS positioning data and planting width, and automatically perform fertilization row cutting.

When operation of a switch to rotate the spare seedling frame is detected, the remote controller screen may be forcibly changed to another screen, thereby refusing to operate the spare seedling frame using the remote controller.

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

In addition, recording media include ROM (Read Only Memory) and the like.

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

As mentioned above, the configuration of the present invention may be realized in either software or hardware.

The work vehicle of the present invention is capable of controlling the turning of the vehicle body, and is useful for use as a work vehicle such as a rice planter.

100 Body 210 Engine 220 Traveling device 221 Front wheel 222 Rear wheel 230 Seedling planting device 240 Steering device 250 Fertilizer application device 260 Land leveling device 261 Land leveling float 300 Main transmission 400 Auxiliary transmission 500 Controller S1, S2 Straight path Ea, Eb Field edge

Claims (5)

A controller (500) is provided for performing automatic driving control to turn the vehicle body (100) along a straight path or to transition from a straight path to a straight path;
A work vehicle characterized in that, when it is determined that traveling on the route is impossible, the work vehicle changes to another route. the controller (500) judges whether or not turning to the adjacent straight path is possible at the timing when the vehicle is turned to the adjacent straight path, and when it judges that the turning to the adjacent straight path is impossible, skips the adjacent straight path and turns to another straight path;
2. The work vehicle according to claim 1, further comprising an alarm device for notifying the user that the work vehicle will turn to another straight route. The notification device is a remote control device that can start and stop automatic driving along a route and can operate forward and backward movement.
3. The work vehicle according to claim 2, characterized in that the notification device notifies the user of an abnormality in the automatic driving route when the vehicle deviates from the route by a certain distance. 4. The work vehicle according to claim 2 or 3, wherein when a load is detected against steering during automatic driving along a route, the notification device issues a notification that the steering has been manually operated.
Work vehicle. The work vehicle according to claim 1 or 2, characterized in that if an obstacle is detected during automatic driving along a route and the vehicle stops, an alarm device issues an alarm.