JP6864253B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle that is provided with automatic straight-ahead control and works in a field.

The work vehicle described in the prior patent document is provided with automatic straight-ahead control to ensure the straightness of the seedling planting work in the field.

JP-A-2016-82946 Japanese Unexamined Patent Publication No. 2016-24541

However, the above-mentioned work vehicle has a problem that the work route cannot be easily changed according to the field condition. In addition, there is a problem that it is not possible to set a range in which field work is not performed, or to avoid it due to the shape of the field or obstacles.

An object of the present invention is to provide a work vehicle such as a seedling transplanter capable of improving workability by enabling straight-ahead work traveling corresponding to individual conditions of a field.

The invention according to claim 1 includes a GNSS sensor (L) for detecting the position of the machine body, and a control unit (C) for controlling the steering of the traveling unit (T) and the operation of the working unit (W). In a work vehicle that automatically travels straight through the work process based on the aircraft position information of the GNSS sensor (L), the control unit (C) is a tablet terminal for inputting a work range (A) for a field specified as a work target. (R) is provided, the work unit (W) is operated and controlled only within the work range (A), and the field entrance / exit (E) and the inside of the field are controlled by the tablet terminal (R) for the field to be worked. When the work obstacle portion (H) of the above is input, the control unit (C) excludes the peripheral area leading to the entrance / exit (E) and the range of the obstacle portion (H) from the work range (A). A front camera (Sf) and a right front camera (SR) that monitor the front, right front, and left front of the traveling vehicle body by configuring the work unit (W) so that seedlings can be transplanted at a predetermined pitch. ) And the left front camera (SL) can be controlled by the control unit (C), and for a group of straight-ahead work strokes adjacent to each other, the first stroke control applied to the first straight-ahead work stroke is the GNSS sensor ( The second stroke control applied to the adjacent straight work stroke after the straight steering control toward the front target position by the detection position information of L) and the detection information of the front camera (Sf) is the left front camera (SL). ) Or the detection information of the right front camera (SR) and the detection position information of the GNSS sensor (L), straight-ahead steering control is performed along the planted seedling row, and the control unit (C) determines the traveling end position. A determination means based on the field edge position information of the field to be worked and the GNSS sensor (L), and a determination means based on the end detection of adjacent seedling rows by the left and right front cameras (SL, SR) are provided. The traveling unit (T) is stopped and controlled by determining the end position of the above .

The invention according to claim 2 describes the actual work locus of the first stroke, which is the first straight work stroke, and the second stroke, which is an adjacent straight work stroke after the first stroke , in the invention according to claim 1. recorded in the control unit (C), calculated straight working stroke of the second stage or later, the actual work locus in the immediately preceding stroke to the standards candidate path, wherein the GNSS (L) by field entrance and obstacle information a work guidance route that is, compares the reference candidate path, if the difference between the reference candidate locus and the working guide route is within the specified range, the reference candidate locus a working guide route of the following criteria: stroke, also the reference candidate locus If the difference in the work guidance route is out of the specified range and the reference candidate trajectory is shifted to the side where the amount of seedlings to be planted is less than the planned amount, the next step is the GNSS (L), the field entrance / exit, and obstacle information. It is characterized in that it is based on the work guidance route calculated by.

The invention according to claim 3 is the invention according to claim 1 or 2 , wherein the control unit (C) is the type and work width of the work unit (W) by input from the tablet terminal (R), and the GNSS. It is characterized in that the machine body position and the working position during traveling are calculated from the working position of the working unit (W), the rear end position of the machine body, and the both side end positions of the machine body with reference to the position of the sensor (L).

The invention according to claim 1 is learned from the fact that the control unit (C) controls the operation of the work unit (W) within the work range (A) input by the tablet terminal (R) for the straight running of the work vehicle. By operating the tablet terminal (R), it is possible to accurately set the work range (A) reflecting the work exclusion area (N) of the field without requiring the field travel for data acquisition.
Further, by inputting the entrance / exit (E) of the field and the work obstacle part (H) by the tablet terminal (R), the work part (W) can be operated except for the final headland process which is the surrounding area. In addition, the obstacle information registration point can be avoided when the farm is self-sustaining and straight, by operating the tablet with the work obstacle portion (H) such as a floodgate for putting water in and out of the field.
Furthermore, by the first stroke control, for the first straight work stroke, in addition to the detection position information of the GNSS sensor (L), the front information is recognized by the front camera (Sf), and the front information is set as the target position. In addition to the detection position information of the GNSS sensor (L), the planted seedling row information can be obtained with either the left or right front camera for the subsequent adjacent straight work strokes by improving the straightness and controlling the second stroke. Highly accurate self-sustaining straight-ahead is possible by recognizing and straight-ahead steering that takes into account straightness and imitation of planted seedling rows.
Further, since the traveling is stopped at the earliest traveling end determination position of any one of the GNSS sensor (L) and the side camera (SL, SR), the safety of straight traveling can be ensured.

In the invention according to claim 2 , in addition to the effect of the invention according to claim 1, the actual work loci of the first stroke and the second stroke are recorded in the control unit, and the direct progress stroke after the second stroke is in the previous stroke. actual operation trajectory as a reference candidate locus of, compared to the work guidance route calculated by GNSS and field entrance and obstacle information, if the difference between the reference candidate locus and the working guide route is within the specified range, the reference candidate locus By using the above as the reference work guide route for the next process, it is possible to appropriately correct the gap between the actually planted running locus and the locus to be planted in the next process and minimize the influence of growth.
In addition, if the difference between the reference candidate locus and the work guidance route is out of the specified range , and the reference candidate locus deviates to the side where the amount of seedlings to be planted is less than the planned amount, the next step is GNSS, the field entrance / exit, and obstacles. By using the work guide route calculated from the physical information as a reference, it is possible to secure the planned amount of seedlings to be planted in one field and prevent a decrease in the yield.

In the invention according to claim 3 , in addition to the effect of the invention according to claim 1 or 2 , the planting portion (W) is different in the type such as mat seedlings and direct sowing by the input operation of the tablet terminal (R). It is possible to respond to changes in the planting work route due to differences in the planting position or changes in the type and number of work parts (W), and the work start position and work end position for planting etc. are clearer. Therefore, the planting work accuracy can be improved, and efficient work can be performed up to the ridge.

Control system configuration block diagram Flowchart of the entire running work control Top view of a field example with working conditions Floor plan of the field during running work Relationship diagram of work guidance route between the first process and the second process Screen example of tablet terminal R for model-specific input Examples of driving patterns (a to d) Top view of obstacle avoidance driving route

An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings. In the description, it is referred to as front / rear and left / right with reference to the forward direction F of the aircraft.

The seedling transplanting machine 1, which is a work vehicle to which the present invention is applied, supports the planting part W as a working device at the rear part of the traveling part T, and also detects the position information of the machine body, the surrounding image information, and the distance information. It is configured to be able to run in the field by operating the running unit T and the working unit W.

FIG. 1 is a control system configuration diagram.
The work vehicle 1 includes a tablet terminal R for identifying a work target field, inputting a work range A, inputting an obstacle H position, etc., a GNSS sensor L for detecting the position of an aircraft, and traveling sensors Sf, SL by a camera or the like. , The control unit C that processes SR information is configured to include a work unit W for planting work or the like on a traveling unit T capable of vehicle speed control and steering control.
The control unit C calculates the field area by the GNSS sensor L, calculates the route to avoid based on the obstacle information, and generates the route where the planting work end position is near the field entrance / exit (work guidance) based on the field entrance / exit information. ..

FIG. 2 is a flowchart of the entire traveling work control.
When the work vehicle 1 arrives at the straight-ahead control point in the first stroke based on the field information of the field specified by the operation of the tablet terminal R in the first processing step (hereinafter, abbreviated as "S1"). In (S2), the GNSS sensor L and the forward sensor Sf start the straight-ahead traveling planting work (S3a) of the work guide route, start the recording of the work route (S3b), and stop the traveling when the straight-ahead end is reached (S2). S3c, SSd).

Next, when the work vehicle 1 turns to an adjacent position and arrives at the straight-ahead control point of the second stroke (S1, S2, S5), the GNSS sensor L and the left front camera SL or the right front, which is a traveling sensor, are used. The straight-ahead planting work (S5a) of the work guide route and the recording of the work route (S5b) by the camera SR are started.
At this time, depending on the size of the difference d between the work guide route of the first process and the travel route record (S5c), if the difference d is within a predetermined range, the above difference d is reflected in the initial work guide route (S6a). By stopping the running (S6b, S6c, S7b, S7c) when the work end is reached by the side cameras SL, SR, the running planting work following the adjacent seedling row is performed, and the running is further turned to the adjacent position. Move and repeat the same straight-ahead work for the remaining range.

Explaining the control process of the traveling work in detail, the field traveling work of the work target field is configured so that the field information can be obtained from the information acquisition means such as the external memory M by the individual number of the field, and the outside (rectangle) of each field. (Square, etc.) can be registered as GNSS (Global Positioning Satellite System) position information, and the work range A is generated as a work guidance route by a plurality of straight work routes adjacent to each other.

For the field address information, the map information provided based on the World Geodetic System (Japan Geodetic System 2000) is used as the source material. This is an indispensable requirement for correlating with the GNSS antenna reception data including the altitude.

FIG. 3 is a plan view of a field example with working conditions.
The outside (rectangular square, etc.) position information for each field can be registered by tapping the position (square, etc.) required for outside formation on the map information enlarged and displayed on the display device such as the tablet terminal R. Therefore, it is possible to easily register the field outside information without requiring the field running for acquiring the running standard data.

For outside (rectangular square, etc.) position information registration for each field, position the antenna position of the GNSS sensor L at the outside formation reference position (a to d in the figure) for each field, and register it in the map information for each field. By configuring in, the position information can be registered accurately, and if there is a work exclusion area N in the field (for example, an area used in a passage or the like and not cultivated, planted, etc.), this is excluded. It is configured so that it can be registered as a field shape.

FIG. 4 is a plan view of the field during running work.
By arranging at least a camera Sf that monitors the front and a camera SR that monitors the right front on the body of the seedling transplanting machine 1 and utilizing it for unmanned operation, the position information of the GNSS sensor L depends on the surrounding environment and the weather of the field. When multiple pieces of information cannot be obtained, high-precision work can be realized by performing straight-ahead interpolation (complementing by route matching) with the front camera Sf or the right front camera SR.

The memory M has the outside information (topography information) of the field, automatically creates an efficient work guidance route based on the information of the approach road E and the work width information, and the seedling transplanting machine 1 automatically operates using that route as the basic operation process. By configuring so as to perform the above, automatic operation by a precise operation path based on the position information of the GNSS sensor L becomes possible.

(Running control)
The standard is changed for the straight-ahead work automatic operation after the first stroke P1 and the second stroke P2 of the running. That is, the first step P1 is given priority to go straight, and the second and subsequent steps P2 are automatically operated in consideration of the straightness and the imitability of the planted seedling row, so that the operation with less loss is possible.

(First step)
In the first stroke P1, when the vehicle enters the straight-ahead stroke, a contour formed by shading the features of the landscape in front is formed, and a straight-ahead operation targeting the center thereof and a straight-ahead operation based on the detection position of the GNSS sensor L are performed. By performing this while prioritizing, high-precision work can be realized by performing straight-ahead interpolation (complementing by route matching) centered on the front camera Sf.

Furthermore, in order to finish the field efficiently, it is important to have a starting point based on the entrance and exit of the field, and there is a waterway as an obstacle H, so avoid contact with the water management port of the field. Therefore, it is possible to register the topographical information of the field entrance / exit E and the information of the obstacle H in the outermost information for each field so that a driving route without any trouble can be generated.

In this case, in general, there are many cases where the operation is started with the vicinity of the entrance / exit E that is separated from the final headland stroke as the final exit. Therefore, the operation route based on the topographical information of the field entrance / exit E is such that the start point is the entrance / exit E. By forming it near the opposite side, it is possible to perform automatic operation that is easy to get used to, and by registering the obstacle information H, it is possible to generate a work guidance route that avoids obstacles.

(After the second stroke)
FIG. 5 is a diagram showing the relationship between the work guide routes of the first stroke P1 and the second stroke P2.
The reference line (work guidance route) G of the direct progress after the second stroke P2 calculates the reference candidate line U1 by linearly interpolating the actual driving locus T1 that has traveled along the initial work guidance route G1 in the previous stroke. Then, it is determined according to the difference d between the reference candidate line U1 and the initial work guidance route G1.

If the difference d is within the specified range, the difference d is corrected to the work guide path G2 of the next process to be a new work guide path G, so that the actual planting line T1 and the next process can be used. The inter-row spacing between the planting lines is optimized and the effect of growth can be minimized.

In addition, when the above difference d is out of the specified range, it is possible to secure the amount of seedlings to be planted in one field by configuring the work guide route G as the reference from the initial work guide route G2. it can.

In the above case, the reference line (work guide path) G of the direct progress after the second stroke P2 compares the reference candidate line U1 in which the actual operation locus T1 in the previous stroke is linearly interpolated with the initial work guide route G1. However, when the difference d is out of the specified range, if there is a deviation on the side where the amount of seedlings to be planted decreases from the planned amount, the field is configured to be the reference line G with the initial work guidance route G2 as the reference. It is possible to secure the amount of seedlings to be planted on one sheet.

That is, the actual work loci of the first and second strokes are recorded in the vehicle ECU (information processing device), and the actual work loci of the previous strokes (first and second strokes) are recorded for the direct progress after the second stroke. Work guidance route calculated from GNSS, field entrance / exit, topographical information, and obstacle information as a reference candidate trajectory (field area is calculated by GNSS, route to be avoided is calculated from obstacle information, and planting work is performed based on field entrance / exit information. Compose a work guide route whose end position is near the entrance / exit of the field.) If the difference between the reference candidate locus and the work guide route is within the specified range, the reference candidate locus is used as the reference work guide route for the next process. By doing so, the gap between the actually planted running locus and the locus to be planted in the next process is properly corrected to minimize the influence of growth.

If the difference between the reference candidate locus and the work guide route is out of the specified range, the next process is planted in one field by using the work guide route calculated from GNSS, the field entrance / exit, topographical information, and obstacle information as the reference. It is possible to secure the planned amount of seedlings and prevent a decrease in yield.

In addition, if the difference between the reference candidate trajectory and the work guidance route is out of the specified range, the side where the amount of seedlings to be planted in the field decreases (if it deviates in the direction of travel), the next process is GNSS, the field entrance / exit, topographical information, and obstacle information. By using the work guidance route calculated by the above method as a reference, it is possible to secure the planned amount of seedlings to be planted in one field and prevent a decrease in the yield.

In this way, since the position where the planting work is completed in one field is near the field entrance / exit, it is possible to prevent the aircraft from passing through the planted area, so that the field scene becomes rough due to excessive movement in the field. Prevents seedlings from being stepped on the running wheels (improved workability).

(Farm edge)
Next, regarding the handling at the end of the straight-ahead work process, the field edge of the straight-ahead process of the first process P1 is the field edge position (vehicle straight-ahead stop position) based on the position information of the GNSS sensor L and the field edge distance provided in the field. About the index The GNSS sensor L is configured to detect the field edge position in parallel with a distance sensor Sd such as an ultrasonic sensor provided at the front of the machine and complete the straight planting at the position detected earlier. When a plurality of information cannot be obtained due to the surrounding environment of the field and the weather, the forward distance sensor Sd can be used to supplement the position information. In particular, the detection accuracy can be improved by installing a board or the like at the edge of the field in order to ensure the distance sensor Sd.

Further, in the field edge detection of the straight progress after the second stroke P2, the field edge position (vehicle straight stop position) based on the position information of the GNSS sensor L and the planting end position detected by the right front camera SR are simultaneously detected in parallel. By configuring the straight planting to be completed at the position detected first, when multiple information cannot be obtained due to the surrounding environment of the field or the weather, the planting of the planted seedling row The straight-ahead work process can be completed by detecting the end position.

(Data by model)
FIG. 6 is a screen example of the tablet terminal R for model-specific input.
In the field operation route generation system, detailed settings are possible by inputting the work machine and the work field on the input screen of the tablet R or the like and configuring the system to generate the operation route of the specified field. Therefore, it can contribute to the unmanned operation of the seedling transplanting machine.

For the generation of the operation route, the "work part type" can be selected for each model on the input screen, and the number of planting parts of the seedling transplanter can be selected, so that the robot agricultural machine can operate the same pattern. In addition to improving the accuracy, it is possible to select the same operation pattern as the number of planting rows by the operator's operation.

The operation pattern is configured so that it can be selected for each type of the work unit W as in the operation pattern example of FIG. 7, and an optimum operation path is formed by a plurality of operation patterns.
For example, the adjacent swivel with a don in FIG. 7 (a) is applied to the pillow operation of 7 to 10 rows planted once, and the adjacent swivel in FIG. 7 (b) is applied to the pillow reciprocating operation of 6 to 10 rows planted. Apply.

The general operation pattern differs depending on the number of planting rows, and in the robot agricultural machine, automatic operation with as few operation patterns as possible can be configured, and the optimum one can be selected from the general operation patterns different depending on the number of rows.

(Antenna position)
In addition, by inputting the position information of the left and right ends with respect to the GNSS antenna according to the planting portion W mounted on the seedling transplanter 1, the delicate position depending on the type of planting portion (seedling mat planting, direct seeding planting). It is possible to correct the deviation and improve the accuracy of the planting position.

In addition, the work unit position is configured to indicate the rear end of the planting unit W, so that the field position at the start of planting work (position near the start end) and the work end position (planting end position at the time of adjacency, etc.) ) Can be clearly determined by the route.

In addition, the position of the working part is configured to indicate the position of the right rear end of the working part, thereby determining how to form a route in the planting part to the outside of the field (for example, fine accuracy). If you can get it, you can get close to the edge).

(Example of running work route generation)
Regarding the work start position, the work start position in the field is determined based on the number of work sections and the GNSS-work section distance information for each operation pattern, and the route from that position to the finish of the field is automatically generated. Since the route is automatically generated on the map and the starting point is also determined, it is possible to automatically complete the field finishing just by moving to the work field.

The operation route is divided into an adjacent operation area and a surrounding finishing operation area, and the operation routes in each area are connected by a connection method of a plurality of patterns so as to finish a single field. Since the operation route can be formed by combining the above, the operation route formation program can be simplified.

In the adjacent driving area, the driving route reference line is determined, and the routes drawn in parallel according to the determined rules are configured to form the driving route as the adjacent line, and by combining several patterns of ideas. Since the driving route can be formed, the driving route forming program can be simplified.

The connection of the adjacent operation lines is configured so that the adjacent lines are connected by an adjacent turn with a don or an adjacent turn that is planted straight to the field edge, and the operation route is combined with several patterns of ideas. Can be formed, so that the operation route formation program can be simplified.

(Around area)
The surrounding area is configured to be determined by the line that finishes in one or two strokes according to the rule that takes into account the width of the working part according to the distance from the outermost side. By configuring the line to be generated in two strokes, it is possible to combine a small number of operation patterns.

The connection of each corner of the surrounding line can be formed by connecting by the 90-degree turning (square turning pattern) shown in FIG. 7 (c) to form an operation pattern, so that the 90-degree direction change can be formed by one pattern. , It is possible to generate an automatic driving route with a small number of route formation rules.

(Obstacle)
When there is obstacle information H in the field, as shown in the plan view of the traveling route example of FIG. 8, the obstacle H is connected to the basic line P so as to connect the routes with the obstacle avoidance driving pattern Ph. By providing a rule to avoid the above, it is possible to form a route with a default pattern.

In this case, the avoidance route can be formed with a small number of patterns by having two avoidance patterns in the case of the edge of the field and the case of the middle of the field so that the route is formed with at least two avoidance patterns.

That is, as shown in FIG. 7D, the first avoidance pattern forms a route with respect to the basic route P by a simple avoidance rule that avoids the number of work portion width divisions while traveling inside the field. be able to.

Further, as shown in the avoidance pattern of 90-degree turning in FIG. 7C, the second avoidance pattern is adopted as the surrounding planting start point, and the stroke is the same as the turning operation in the square, and only the moving distance is different. By doing so, the surrounding cultivation start position may differ from the normal square due to the size of the passage such as the approach road, and by taking this into consideration, automatic route generation becomes possible.

Obstacles based on the obstacle map are matched by the self-position information detected by the GNSS sensor L while driving and the obstacle position information on the map, and the obstacles are configured to take evasive action against the obstacles. When approaching a position, it is possible to perform an operation to avoid interference or collision with an obstacle by position matching. In addition, it can be generated in advance as a work guidance route for avoidance driving.

(Technical point)
The technical points regarding the running work of the work vehicle having the above configuration are summarized as follows.
First, the control unit C includes a tablet terminal R for inputting the work range A for the field specified as the work target, and operates and controls the work unit W only within the work range A to control the work vehicle. Since the control unit C controls the operation of the work unit W within the work range A input by the tablet terminal R for the straight-ahead travel, the operation of the tablet terminal R does not require field travel for learning data acquisition. , The planting range A reflecting the work exclusion area N of the field can be set accurately.

Secondly, for the work target field, when the entrance / exit E of the field and the work obstacle portion H in the field are input by the tablet terminal R, the surrounding area leading to the entrance / exit E and the range of the obstacle portion H are excluded from the work range A. By setting the new work range A, the work section W can be operated except for the final headland stroke, which is a peripheral area extending from the entrance / exit E, and the work obstacle section H can be used as a floodgate for putting water in and out of the field. By operating the tablet, the obstacle information registration point can be avoided as the work obstacle portion H when the vehicle goes straight on its own.

Thirdly, the working unit W is configured so that seedlings can be transplanted at a predetermined pitch, and the front camera Sf, the right front camera SR, and the left front camera SL that monitor the front, right front, and left front of the traveling vehicle body are used as the control unit C. The first stroke control applied to the first straight work stroke for a group of straight work strokes adjacent to each other is controlled by the detection information of the GNSS sensor L and the front camera Sf to steer straight toward the front target position, and then. The second stroke control applied to the adjacent straight-ahead work stroke is a straight-ahead steering control along the planted seedling row by the detection information of either the GNSS sensor L or the left and right front cameras (SR, SL). For the first straight work stroke, in addition to the detection position information of the GNSS sensor L, the front camera recognizes the front information and sets the front information to the target position to improve the straightness, and the second stroke control For the subsequent straight-ahead work process adjacent to each other, in addition to the detection position information of the GNSS sensor L, the planted seedling row information is recognized by either the left or right front camera, and the straightness and the imitation of the planted seedling row are copied. The straight-ahead steering that takes into account the characteristics enables highly accurate self-directed straight-ahead movement.

Fourth, the actual work locus of the first and second strokes is recorded in the control unit C, and for the direct progress of the second and subsequent strokes, the actual work locus of the immediately preceding stroke is used as a reference candidate locus, and GNSS and the field entrance / exit. The work guide routes calculated from the obstacle information were compared, and if the difference between the reference candidate locus and the work guide route was within the specified range, the reference candidate locus was used as the reference work guide route for the next stroke, and the plant was actually planted. Appropriately correct the gap between the running locus and the locus to be planted in the next stroke to minimize the influence of growth, and if the difference between the reference candidate locus and the work guidance route is out of the specified range, the next stroke is GNSS and the field. By using the work guide route calculated from the entrance / exit and obstacle information as a reference, it is possible to secure the planned amount of seedlings to be planted in one field and prevent a decrease in the yield.

Fifth, regarding the determination of the traveling end position by the control unit C, the determination means by the field edge position information of the field to be worked and the GNSS sensor L, and the determination means by the field edge distance index and the distance sensor Sd on the field side. The GNSS sensor L, the distance sensor Sd, and the side camera SL are provided with a determination means for detecting the end of an adjacent seedling row by the side cameras SL and SR, and the traveling unit T is stopped and controlled by each end position determination. Since the running is stopped at the leading running end judgment position of either SR or SR, the safety of the straight running of the first step is ensured, and the adjacent step is planted according to the planting seedling line of the immediately preceding step. It is possible to ensure accuracy.

Sixth, the control unit C is used during traveling according to the type and width of the work unit input from the tablet terminal R, the working position of the work unit based on the GNSS sensor L position, the rear end position of the machine body, and the position of both side ends of the machine body. By displaying the machine position and work position, the type of planting part W is different between mat seedlings and direct sowing, and the planting position is different, or the planting work route changes due to changes in the type of work part and the number of rows. In addition, since the work start position and work end position at the time of planting become clearer, the planting work accuracy can be improved, and efficient work can be performed up to the ridge.

1 Work vehicle (seedling transplanter)
A Work range C Control unit E Doorway H Work obstacle part L GNSS sensor N Work exclusion area R Tablet terminal Sd Distance sensor Sf Front camera SL Left front camera SR Right front camera T Traveling part W Working part (planting part)

Claims (3)

The GNSS sensor (L) for detecting the position of the machine body and the control unit (C) for controlling the steering of the traveling unit (T) and the operation of the working unit (W) are provided, and the GNSS sensor (L) is provided with a predetermined straight-ahead work path. ) In a work vehicle that automatically travels straight based on the aircraft position information
The control unit (C) includes a tablet terminal (R) for inputting a work range (A) for a field specified as a work target, and the work unit (W) is limited to the work range (A). Operation control ,
When the entrance / exit (E) of the field and the work obstacle portion (H) in the field are input by the tablet terminal (R) for the field to be worked, the control unit (C) leads to the entrance / exit (E). The area and the range of the obstacle portion (H) are excluded from the work range (A) to obtain a new work range (A).
The working unit (W) is configured so that seedlings can be transplanted at a predetermined pitch, and the front camera (Sf), the right front camera (SR), and the left front camera (SL) monitor the front, right front, and left front of the traveling vehicle body, respectively. Is prepared so that the operation can be controlled by the control unit (C).
For a group of straight-ahead work strokes adjacent to each other, the first stroke control applied to the first straight-ahead work stroke is set to a forward target position by the detection position information of the GNSS sensor (L) and the detection information of the front camera (Sf). Direct steering control toward
The second stroke control applied to the adjacent straight-ahead work stroke after that is the seedlings that have been planted based on the detection information of the left front camera (SL) or the right front camera (SR) and the detection position information of the GNSS sensor (L). Straight steering control along the line,
Regarding the determination of the traveling end position by the control unit (C), the determination means by the field edge position information of the field to be worked, the GNSS sensor (L), and the adjacent seedling rows by the left and right front cameras (SL, SR). A work vehicle comprising a determination means based on the terminal detection of the above, and stopping and controlling the traveling unit (T) by determining each terminal position. The actual work locus of the first stroke, which is the first straight work stroke, and the second stroke, which is an adjacent straight work stroke after the first stroke, is recorded in the control unit (C), and the straight work stroke after the second stroke is recorded. is the actual work locus in the immediately preceding stroke to the standards candidate path, compared the the GNSS (L) and work guidance route calculated by field entrance and obstacle information, the reference candidate locus,
If the difference between the reference candidate locus and the work guidance route is within the specified range, the reference candidate locus is used as the reference work guidance route for the next process.
If the difference between the reference candidate locus and the work guidance route is out of the specified range and the reference candidate locus is shifted to the side where the amount of seedlings to be planted is less than the planned amount, the next step is referred to as the GNSS (L). The work vehicle according to claim 1, wherein the work guide route calculated based on the field entrance / exit and obstacle information is used as a reference. The control unit (C) has a type and work width of the work unit (W) input from the tablet terminal (R), an action position of the work unit (W) based on the detection position of the GNSS sensor (L), and the like. The work vehicle according to claim 1 or 2 , wherein the machine body position and the work position during traveling are calculated based on the machine body rear end position and the machine body both side end positions.

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