JP7120931B2 - Field work system - Google Patents

Description

The present invention relates to field work systems.

Conventionally, there has been known a configuration in which a field working machine is caused to change direction (turning) when it reaches a furrow area in a field. Patent Literature 1 discloses a configuration of this type.

The field working vehicle disclosed in Patent Document 1 performs linear work traveling between two furrows in a field. A field work vehicle advances from a point on one ridge side (work start point) of two ridges toward the other ridge, and when it reaches a ridge edge area on the other ridge side, the reached point is the turning start point. Record as At this point, the field work vehicle raises the work implement to the non-work position. The field work vehicle changes direction and travels from the recorded turn start point to the turn end point. When the field work vehicle reaches the turn end point, the work device is lowered to the work position. The field work vehicle performs linear work travel again from the turning end point. With such a configuration, the field work vehicle, after recording the turn start point, estimates another turn start point and turn end point based on the turn start point and the work start point.

JP 2017-123829 A

In the configuration disclosed in Patent Document 1, the turning start point and turning end point corresponding to the ridge area are estimated on the premise that the ridge extends in a direction orthogonal to the traveling direction during linear work travel. do. Therefore, for example, in the case of a deformed field, when the actual ridge extends at an angle to the direction perpendicular to the traveling direction during linear work travel, the exact turn start point and The turning end point (ridge edge area) cannot be estimated. As a result, there is a risk that turning will be performed at an incorrect location, resulting in reduced work efficiency and finish.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to provide a field work system capable of estimating an accurate ridge edge area corresponding to an actual ridge.

Means and Effects for Solving Problems

The problems to be solved by the present invention are as described above. Next, the means for solving the problems and the effects thereof will be described.

According to the aspect of the present invention, an agricultural field work system having the following configuration is provided. That is, in this field work system, the field work machine travels straight so as to approach the ridge around the field, and after traveling straight, repeats turning to travel straight again. The work by the work device is performed on the agricultural field. This field work system includes a position acquisition section, a storage section, and an estimation section. The position acquisition unit acquires the position of the field work machine. The storage unit stores the position of the farm work machine acquired by the position acquisition unit in association with the behavior of the farm work machine that performs straight traveling and turning traveling in the field. The estimating unit estimates a ridge edge region based on two or more positions of the agricultural field work machine adjacent to the ridge stored by the storage unit , and one point adjacent to the ridge. and a second mode of estimating a furrow area based on the position of the farm work machine .

As a result, even if the ridge extends obliquely and not perpendicularly to the traveling direction of the field work machine when it travels straight, it is possible to accurately estimate the ridge edge region according to the actual orientation of the ridge. Therefore, since the field work machine can be turned and traveled at an appropriate position, the work efficiency can be improved and the finish can be improved.

The field work system described above preferably has the following configuration. That is, when the farm field includes a first ridge orthogonal to the traveling direction of the agricultural working machine and a second ridge inclined with respect to the traveling direction of the agricultural working machine, the estimation unit may , the ridge edge area is estimated by the second mode, and the ridge edge area is estimated by the first mode in the second ridge.

The field work system described above preferably has the following configuration. In other words, the behavior of the agricultural field work machine is the transition from straight travel to turning travel, and the transition from turning travel to straight travel. The storage unit sets a position of the agricultural work machine when the agricultural work machine shifts from straight travel to turning travel as a turn start point, and sets a position of the agricultural work machine as a turning start point when the agricultural work machine makes a transition from turning travel to straight travel. The position of the agricultural implement is stored as the turning end point. The estimating unit calculates the ridge edge based on two of the turning end points or two of the turning starting points among the positions of the agricultural implement stored in the storage unit in the first mode. Estimate the area.

When the distance between the ridge and the turning start point is compared with the distance between the ridge and the turning end point, the difference may be large. On the other hand, if the distance between the ridge and the turning start point for each turning route is taken out and compared when the same ridge is turned a plurality of times, the variation is often small. Similarly, even when only the distance between the ridge and the turning end point for each turning route is extracted and compared, there is often little variation. Therefore, by using the two turning start points or the two turning end points as references, the ridgeline area can be accurately estimated.

The field work system described above preferably has the following configuration. In other words, the behavior of the agricultural field work machine is the transition from straight travel to turning travel, and the transition from turning travel to straight travel. The storage unit sets a position of the agricultural work machine when the agricultural work machine shifts from straight travel to turning travel as a turn start point, and sets a position of the agricultural work machine as a turning start point when the agricultural work machine makes a transition from turning travel to straight travel. The position of the agricultural implement is stored as the turning end point. The estimating unit detects when the newly stored position of the turning start point or the turning end point is a position a predetermined distance away from the virtual straight line generated based on the previously stored turn starting point or turning end point. estimates the ridgeline area based on the newly stored turn start point or turn end point .

BRIEF DESCRIPTION OF THE DRAWINGS The side view of the rice transplanter used with the field work system which concerns on one Embodiment of this invention. The top view of a rice transplanter. A block diagram of a rice transplanter. 4 is a flowchart showing a process of estimating a furrow edge area of a field; The figure which shows a mode that the turning start point is memorize|stored. The figure which shows a mode that the turning end point is memorize|stored. The figure which shows the furrow edge area|region of the agricultural field in the modification of this embodiment. 10 is a flowchart showing processing before estimating a furrow edge area in a field in a modified example of the present embodiment;

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a rice transplanter 1 used in a field work system according to one embodiment of the present invention. FIG. 2 is a plan view of the rice transplanter 1. FIG. FIG. 3 is a block diagram of the rice transplanter 1. As shown in FIG.

The field work system of the present embodiment uses a rice transplanter 1 as a field work machine that performs work in a field, and causes the rice transplanter 1 to perform rice planting (seedling planting work). In addition, the field working machine in the present invention is not limited to the rice transplanter 1, and for example, a seeding machine, a tractor, a combine harvester, etc. can be used.

As shown in FIGS. 1 and 2 , the rice transplanter 1 includes a vehicle body portion 11 , front wheels 12 , rear wheels 13 , and a planting portion (working device) 14 . The front wheels 12 and the rear wheels 13 are provided as a pair on the left and right sides of the vehicle body portion 11, respectively.

The vehicle body portion 11 has a bonnet 21 . The bonnet 21 is provided on the front portion of the vehicle body portion 11 . An engine 22 is provided inside the bonnet 21 .

Power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via the mission case 23 . This power is also transmitted to the planting portion 14 via the transmission case 23 and the PTO shaft 24 arranged at the rear portion of the vehicle body portion 11 .

The vehicle body 11 further includes a driver's seat 25 and a plurality of operating members. An operator can sit on the driver's seat 25 . The driver's seat 25 is arranged between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body portion 11 . The plurality of operation members have a steering handle 26 , a shift operation pedal (shift operation member) 27 , and a planted elevation lever (planted elevation operation member) 30 .

The rice transplanter 1 can be steered by operating the steering handle 26 . By operating the shift operation pedal 27, the traveling speed (vehicle speed) of the rice transplanter 1 can be adjusted. By operating the planting lifting lever 30, the planting part 14 can be moved up and down.

The planting portion 14 is arranged behind the vehicle body portion 11 . The planting portion 14 is connected to the vehicle body portion 11 via an elevating link mechanism 31 . The lifting link mechanism 31 is composed of parallel links including a top link 31a and a lower link 31b.

In the lifting link mechanism 31, the lifting cylinder 32 of the lifting device is connected to the lower link 31b. The elevating device can vertically elevate the planting part 14 with respect to the vehicle body part 11 by expanding and contracting the elevating cylinder 32 .

The planting part 14 can move up and down between a lowered position for planting work and an elevated position for not performing planting work. This elevated position is the position where the lifting device raises the planting section 14 to the maximum with respect to the vehicle body section 11 .

In addition, although the elevating cylinder 32 is a hydraulic cylinder in this embodiment, it may be an electric cylinder. Moreover, the said raising/lowering apparatus may raise/lower the planting part 14 by actuators other than a cylinder.

The planting section 14 includes a planting input case section 33 , a plurality of planting units 34 , a seedling platform 35 , a plurality of floats 36 and a spare seedling platform 37 . The planting section 14 can sequentially supply seedlings to each planting unit 34 from a seedling mounting table 35 to continuously plant the seedlings.

Each planting unit 34 has a planting transmission case portion 41 and a rotating case portion 42 . Power is transmitted to the planted transmission case portion 41 via the PTO shaft 24 and the planted input case portion 33 .

The rotating case portion 42 is rotatably attached to the planting transmission case portion 41 . The rotating case portions 42 are arranged on both sides of the planted transmission case portion 41 in the vehicle width direction. Two planting claws 43 are attached to one side of each rotary case portion 42 .

The two planting claws 43 are arranged in the traveling direction of the rice transplanter 1 . The two planting claws 43 are displaced as the rotary case portion 42 rotates. One row of seedlings is planted by displacing the two planting claws 43 .

The seedling mounting base 35 is arranged in front and above the plurality of planting units 34 . A seedling mat can be placed on the seedling mounting table 35 . The seedling mounting table 35 is configured to supply the seedlings of the seedling mat placed on the seedling mounting table 35 to each planting unit 34 .

Specifically, the seedling mounting table 35 is configured to be laterally movable (slideable in the lateral direction) so as to reciprocate in the vehicle width direction. In addition, the seedling mounting table 35 is configured so that the seedling mat can be transported vertically downward intermittently at the reciprocating end of the seedling mounting table 35 .

The float 36 is swingably provided in the lower part of the planting part 14 . The float 36 can bring the lower surface of the float 36 into contact with the field surface in order to stabilize the planting posture of the planting part 14 with respect to the field surface.

A pair of spare seedling stands 37 are provided on the left and right sides of the vehicle body portion 11 . The spare seedling stand 37 is arranged outside the bonnet 21 in the vehicle width direction. The spare seedling stand 37 can be loaded with a seedling box containing spare mat seedlings.

The upper parts of the pair of left and right spare seedling stands 37 are connected to each other by a connecting frame 28 extending in the vertical direction and the vehicle width direction. A housing 29 is provided at the center of the connecting frame 28 in the vehicle width direction. A positioning antenna 61 and an inertial measurement device 62 are provided inside the housing 29 .

The positioning antenna 61 can receive radio waves from positioning satellites that form a positioning system (GNSS). The position of the rice transplanter 1 can be acquired by performing known positioning calculation based on the radio waves received by the positioning antenna 61 .

As the positioning system, there is a satellite positioning system that utilizes GPS technology (GPS satellites). However, the positioning system is not limited to this, and may be a system using other satellites such as quasi-zenith satellites and Glonass satellites. Also, as a positioning system using GNSS technology, a system using single positioning, relative positioning, DGNSS positioning, RTK-GNSS positioning, or the like can be adopted.

The inertial measurement device 62 has three gyro sensors (angular velocity sensors) and three acceleration sensors. The accuracy of the positioning result of the rice transplanter 1 is enhanced by using the angular velocity and acceleration of the rice transplanter 1 detected by the inertial measurement device 62 in an auxiliary manner.

As shown in FIG. 3 , the rice transplanter 1 has a control section 50 . The control unit 50 is configured as a known computer. The control unit 50 has, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and an input/output unit.

The control unit 50 can acquire the up-and-down position of the planting unit 14 using an appropriate sensor. For example, the control unit 50 can detect a change of the planting unit 14 from the lowered position to the raised position and from the raised position to the lowered position.

The control unit 50 has a travel control unit 51 , a storage unit 52 and an estimation unit 53 . The controller 50 is electrically connected to the inertial measurement device 62 . Also, the control unit 50 is electrically connected to the position acquisition unit 65, the vehicle speed sensor 66, and the steering angle sensor 67, respectively.

Position acquisition unit 65 is electrically connected to positioning antenna 61 . The position acquisition unit 65 performs GNSS positioning based on signals output by the positioning antenna 61 after receiving radio waves. As a result, the position acquisition unit 65 can acquire the position (current position) of the rice transplanter 1 as latitude and longitude information, for example.

A vehicle speed sensor 66 can detect the vehicle speed of the rice transplanter 1 . A vehicle speed sensor 66 is provided at an appropriate position of the rice transplanter 1 , for example, at the axle of the front wheel 12 . In this case, the vehicle speed sensor 66 generates pulses according to the rotation of the axle of the front wheels 12 .

A steering angle sensor 67 can detect the steering angle of the front wheels 12 . The steering angle sensor 67 is provided at an appropriate position of the rice transplanter 1, for example, at a kingpin (not shown) provided at the front wheel 12. As shown in FIG. Note that the steering angle sensor 67 may be provided on the steering wheel 26 .

The travel control unit 51 can automatically control the travel of the rice transplanter 1 . For example, the travel control unit 51 can perform vehicle speed control and steering control. The travel control unit 51 may perform both vehicle speed control and steering control at the same time, or may perform only steering control. In the latter case, the vehicle speed of the rice transplanter 1 is controlled by the operator using the speed change operation pedal 27 .

In vehicle speed control, the vehicle speed of the rice transplanter 1 is adjusted based on predetermined conditions. Specifically, the vehicle speed control is performed by the running control unit 51 to bring the current vehicle speed obtained from the detection result of the vehicle speed sensor 66 closer to the target vehicle speed. This control is realized by changing at least one of the gear ratio of the transmission in the mission case 23 and the rotation speed of the engine 22 . In addition, this vehicle speed control includes the control which makes a vehicle speed zero so that the rice transplanter 1 may stop.

Steering control is control for adjusting the steering angle of the rice transplanter 1 based on predetermined conditions. Specifically, the steering control is performed by the travel control unit 51 to bring the current steering angle obtained from the detection result of the steering angle sensor 67 closer to the target steering angle. This control is realized, for example, by driving a steering actuator provided on the rotating shaft of the steering wheel 26 . Regarding steering control, the travel control unit 51 may directly adjust the steering angle of the front wheels 12 of the rice transplanter 1 instead of the rotation angle of the steering wheel 26 .

The storage unit 52 can store the position of the rice transplanter 1 that performs straight traveling and turning traveling in association with the behavior of the rice transplanter 1 during planting work. In this embodiment, the behavior of the rice transplanter 1 is a change in the running state of the rice transplanter 1 during planting work. More specifically, the behavior of the rice transplanter 1 is the transition of the rice transplanter 1 from straight travel to turning travel, and the transition of the rice transplanter 1 from turning travel to straight travel.

In the present embodiment, the change in the running state of the rice transplanter 1 is a change in the elevation position of the planting section 14 (as described later, the planting section 14 is changed from the lowered position to the raised position, and from the raised position to the raised position). changed to the lowered position). However, the change of the running state of the rice transplanter 1 may be recognized based on switching of the presence or absence of power transmission to the planting part 14, for example. The state of power transmission to the planting section 14 can be detected based on the state of the planting clutch provided in the power transmission mechanism between the engine 22 and the planting section 14 .

The estimating unit 53 estimates a ridge edge area corresponding to the ridge based on two or more positions of the rice transplanter 1 adjacent to the ridge around the field. In this embodiment, the two or more positions of the rice transplanter 1 are the position (turning start point) when the rice transplanter 1 shifts from straight travel to turning travel during the planting work, and the position at which the rice transplanter 1 starts turning travel. The position is selected from the position (turning end point) when shifting to straight traveling. The details of the estimation of the ridge edge area will be described later.

Note that the storage unit 52 and the estimation unit 53 may be provided in a member separate from the rice transplanter 1 instead of being provided in the control unit 50 .

Next, with reference to FIGS. 4 to 6, the process of estimating the furrow edge area 72 of the field 70 by the estimation unit 53 during the planting operation of the rice transplanter 1 will be described. FIG. 4 is a flow chart showing the process of estimating the edge of furrow area 72 of the farm field 70 . 5 and 6 are schematic diagrams for explaining the process of storing the turn start point or turn end point. The straight path 76 and the turning path 78 in FIG. 6 are imaginary paths for clarifying the operation of the rice transplanter 1, and are not set before the rice transplanter 1 travels. Further, in this embodiment, it is assumed that automatic steering is performed on the straight path 76 and manual steering by the operator is performed on the turning path 78 .

As shown in FIGS. 5 and 6, when focusing on two ridges 74 generally facing each other among the ridges 74 around the field 70, the rice transplanter 1 moves from one of the two ridges 74A to the field 70. come in. After that, the rice transplanter 1 travels straight so as to approach the other ridge 74B, and after traveling straight, performs turning travel to travel straight again. The rice transplanter 1 repeats such traveling.

That is, the rice transplanter 1 intervenes between the straight traveling and the second straight traveling, and reciprocates between one ridge 74A and the other ridge 74B. The route along which the rice transplanter 1 travels at this time can be divided into a plurality of straight routes 76 and a plurality of turning routes 78 .

The straight route 76 is a route along which the rice transplanter 1 travels straight. The straight path 76 extends linearly between the ridges 74A and 74B that are arranged in pairs with the field 70 interposed therebetween. The operator causes the rice transplanter 1 to travel straight from the planting work start point A1 toward the ridge 74B. In the following description, the straight path 76 at this time may be referred to as a first straight path 76A. Next, the operator causes the rice transplanter 1 to travel straight from the ridge 74B toward the ridge 74A while maintaining a predetermined distance from the first straight path 76A. In the following description, the straight path 76 at this time may be referred to as a second straight path 76B. A first straight path 76A, a second straight path 76B, a third straight path 76C, a fourth straight path 76D, . be done. A plurality of rectilinear paths 76 are arranged in parallel.

In the present embodiment, as described above, during straight running, the travel control unit 51 of the rice transplanter 1 uses the positioning result of the position acquisition unit 65 so that the travel locus of the rice transplanter 1 follows a linear route. Autopilot.

The turning path 78 is a path for the rice transplanter 1 to turn. The operator performs turning traveling at a position close to one ridge 74A of the farm field 70 and a position close to the other ridge 74B.

The first turning path 78 at the start of the planting work is arranged near the ridge 74B so as to connect the first straight path 76A and the second straight path 76B, as shown in FIG. If the first turn path 78 is the first turn path 78A, then the second turn path 78B connecting the second straight path 76B and the third straight path 76C is arranged near the ridge 74A. Next, a third turning path 78C connecting the third straight path 76C and the fourth straight path 76D is arranged near the ridge 74B. Thus, the turning path 78 is alternately arranged near the two ridges 74A, 74B.

In the farm field 70, the rice transplanter 1 alternately performs straight traveling and turning traveling as follows.

That is, as shown in FIG. 5, during the planting work, the rice transplanter 1 first travels straight from the planting work start point A1 located on one ridge 74A side toward the other ridge 74B in the field 70. conduct. When the rice transplanter 1 approaches the ridge 74B to an appropriate distance, the operator manually operates the steering wheel 26 to start turning the rice transplanter 1. At this timing, the straight travel ends.

Next, the rice transplanter 1 shifts from straight travel to turning travel. As shown in FIG. 6 , the rice transplanter 1 performs turning travel in the vicinity of the ridge 74B of the field 70 in order to reverse its traveling direction. When the direction change of the rice transplanter 1 is completed, the operator manually operates the steering wheel 26 to start the rice transplanter 1 to move straight. At this timing, the turning travel ends.

Subsequently, the rice transplanter 1 shifts from turning traveling to straight traveling. In the farm field 70, the rice transplanter 1 travels straight again from the other ridge 74B side toward the one ridge 74A. The rice transplanter 1 advances in the opposite direction to the previous straight traveling. When the rice transplanter 1 approaches the ridge 74A to an appropriate distance, the operator manually operates the steering wheel 26 to start turning the rice transplanter 1. At this timing, the straight travel ends.

Then, the rice transplanter 1 shifts from straight travel to turning travel. The rice transplanter 1 performs turning travel in the vicinity of the ridge 74A of the field 70 in order to reverse its traveling direction. When the direction change of the rice transplanter 1 is completed, the operator manually operates the steering wheel 26 to start the rice transplanter 1 to move straight. At this timing, the turning travel ends.

The rice transplanter 1 performs the planting work on the farm field 70 during straight running while appropriately performing such a transition from straight running to turning running or from turning running to straight running. The rice transplanter 1 holds the planting section 14 at the lowered position and plants the seedlings in the field 70 by the planting section 14 when the rice transplanter 1 travels straight. On the other hand, the rice transplanter 1 holds the planting part 14 at the raised position and does not plant the seedlings in the field during turning traveling. The elevation position of the planting part 14 is changed by the operator manually operating the planting elevation lever 30 .

In such a configuration, the estimating unit 53 performs a process of estimating the furrow edge area 72 of the farm field 70 during the planting operation of the rice transplanter 1 . As a positional reference for the rice transplanter 1 when switching between straight traveling and turning traveling, the operator uses an imaginary boundary in which the shape of the field 70 (the shape of the ridge 74) is offset inward by a predetermined distance. The furrow area 72 can be considered to be the area outside the boundary. At the timing when the planting part 14 reaches this boundary, the operator switches the planting part 14 between the raised position and the lowered position.

The width of the furrow area 72 (in other words, the distance by which the field 70 is offset inward) is determined by the operator in consideration of the minimum turning radius of the rice transplanter 1 and the like. When the rice transplanter 1 later travels along the furrow area 72 to perform planting work, the working width of the planting section 14 and an appropriate margin are considered when determining the width of the furrow area 72 .

Specifically, processing such as the flowchart in FIG. 4 is performed. When the rice transplanter 1 is traveling straight while performing planting work by the planting unit 14 in the field 70, the control unit 50 determines whether the planting unit 14 has been changed from the lowered position to the raised position. (Step S101).

When it is determined in step S101 that the planting unit 14 has changed from the lowered position to the raised position, the control unit 50 acquires the position of the rice transplanter 1 at that time by the position acquisition unit 65 (step S102). The control unit 50 causes the storage unit 52 to store the position of the rice transplanter 1 acquired by the position acquisition unit 65 in association with information indicating that the planting unit 14 has been changed from the lowered position to the raised position (step S103). .

Specifically, the control unit 50 detects the change of the planting unit 14 from the lowered position to the raised position, thereby recognizing the behavior of the rice transplanter 1 that the rice transplanter 1 has shifted from straight travel to turning travel. Then, in the control unit 50, the storage unit 52 stores the position at which the rice transplanter 1 transitions from straight travel to turning travel as a turning start point S1 of the rice transplanter 1. FIG.

Note that the turning start point S1 is a point at which straight running of the rice transplanter 1 ends and a point at which the rice transplanter 1 starts turning. The turning start point S1 can also be considered as a point at which the planting part 14 is changed from the lowered position to the raised position so as not to plant seedlings.

After the processing of step S103, the control unit 50 determines whether or not the planting unit 14 has changed from the raised position to the lowered position (step S104).

When it is determined in step S104 that the planting unit 14 has changed from the raised position to the lowered position, the control unit 50 acquires the position of the rice transplanter 1 at that time by the position acquiring unit 65 (step S105). The control unit 50 causes the storage unit 52 to store the position of the rice transplanter 1 acquired by the position acquisition unit 65 in association with information indicating that the planting unit 14 has been changed from the raised position to the lowered position (step S106, Figure 4).

Specifically, the control unit 50 recognizes the behavior of the rice transplanter 1 that the rice transplanter 1 has shifted from turning travel to straight travel by detecting that the planting unit 14 has changed from the raised position to the lowered position. Then, in the control unit 50, the storage unit 52 stores the position at which the rice transplanter 1 transitions from the turning travel to the straight travel as the turning end point E1 of the rice transplanter 1. FIG.

The turning end point E1 is the point at which the turning travel of the rice transplanter 1 ends and the point at which the rice transplanter 1 starts straight travel. The turn end point E1 can also be considered as a point at which the planting part 14 is changed from the raised position to the lowered position so that seedlings are planted.

In the control unit 50, when the storage unit 52 stores the turning start point S1 and the turning end point E1 of the rice transplanter 1, an estimated The unit 53 estimates the second edge of ridge area 72B (step S107).

A virtual straight line connecting the turning start point S1 and the turning end point E1 can be considered to represent the imaginary boundary described above. Therefore, the estimating unit 53 obtains a straight line L1 including a straight line connecting the turning start point S1 and the turning end point E1 in plan view, and forms an angle φ Calculate The estimation unit 53 estimates the shape of the ridge 74B and the second ridge region 72B based on the calculated angle φ.

FIG. 5 shows an example of a non-rectangular farm field 70, in which the ridge 74B is not perpendicular to the traveling direction of the rice transplanter 1 when it travels straight, but is inclined in plan view. Even in this case, by using the positional relationship between the turning start point S1 and the turning end point E1 as a reference, the second ridge edge region 72B can be correctly estimated as an inclined region that conforms to the actual shape of the ridge 74B. .

Then, when the rice transplanter 1 again shifts from straight traveling to turning traveling, and further shifts from this turning traveling to straight traveling again, the control unit 50 controls the traveling state of the rice transplanter 1 in the vicinity of one ridge 74A. changes in the same way as above. Accordingly, the storage unit 52 stores the turning start point S2 and the turning end point E2. The estimation unit 53 estimates the first ridge area 72A corresponding to the ridge 74A based on the stored turning start point S2 and turning end point E2.

After the estimating unit 53 estimates the furrow area 72 (the second furrow area 72B and the first furrow area 72A), the control unit 50 determines that the turning start point is near during the next straight traveling of the rice transplanter 1. can be notified to the operator. Specifically, based on the current position of the rice transplanter 1 obtained from the position acquisition unit 65, the control unit 50 calculates the distance to the next turning start point (current end point of straight travel). The next turning start point can be obtained as a point at which a straight line extending the route of the rice transplanter 1 running straight reaches the furrow area 72 . The control unit 50 compares the distance obtained by the calculation with a predetermined threshold value, and when the distance is equal to or less than the threshold value, controls the notifying unit (not shown) provided in the rice transplanter 1 to perform an appropriate notifying operation. .

Means of notification by the notification unit include, in the rice transplanter 1, generating a warning sound, turning on a warning lamp, displaying a warning on a display unit provided near the steering wheel 26, and the like. . The notification timing can be appropriately changed by setting the above threshold.

Since the planting work is performed in the planting section 14 at the rear of the rice transplanter 1, the operator often looks backward from the driver's seat 25 when the rice transplanter 1 travels straight ahead, and often makes a mistake in the timing of starting turning. . In this respect, with the above configuration, the operator can be informed that the rice transplanter 1 will soon reach the turning start point S3 when the rice transplanter 1 is traveling straight on the third straight path 76C, for example. As a result, the planting portion 14 can be reliably moved to the raised position when the rice transplanter 1 is turning.

In addition, automatic traveling by the traveling control unit 51 may be performed when the rice transplanter 1 travels straight. In this case, in addition to notifying the operator, the control unit 50 can automatically decelerate the rice transplanter 1 toward the turning start point by the traveling control unit 51 . The deceleration of the rice transplanter 1 at this time includes the case where the rice transplanter 1 is stopped at the next turning start point.

In the third turning path 78C after the rice transplanter 1 starts turning traveling at the turning start point S3, the operator is informed that the turning end point E3 will be reached soon, and automatic traveling control is performed accordingly. can also

In this embodiment, the rice transplanter 1 can travel in the furrow area 72 estimated by the estimation unit 53 . For example, the rice transplanter 1 completes the planting work in the area (inner area 82) inside the ridge area 72, and then travels in the ridge area 72 to perform the planting operation. Then, the control unit 50 automatically steers the rice transplanter 1 by the traveling control unit 51 when passing through the work area in the ridge area 72 . This work area is an area for planting work in the ridge edge area 72 .

As described above, in the field work system of the present embodiment, the rice transplanter 1 travels straight so as to approach the ridge 74 around the field 70, and after traveling straight, turns to travel straight again. The planting work by the planting unit 14 is performed on the farm field 70 while repeating the above operations. This field work system includes a position acquisition unit 65 , a storage unit 52 and an estimation unit 53 . The position acquisition unit 65 can acquire the position (current position) of the rice transplanter 1 . The storage unit 52 can store the position of the rice transplanter 1 acquired by the position acquisition unit 65 in association with the behavior of the rice transplanter 1 that performs straight running and turning in the field 70 . The estimation unit 53 can estimate the ridge edge area 72 corresponding to the ridge 74 based on the positions of the rice transplanter 1 at two or more points close to the ridge 74 stored by the storage unit 52 .

As a result, even if the ridge 74B is not perpendicular to the traveling direction of the rice transplanter 1 when the rice transplanter 1 travels straight as shown in FIG. A region 72 can be estimated. Therefore, it is possible to perform reliable control (for example, control of the above-mentioned notification) regarding switching between straight traveling and turning traveling. As a result, the rice transplanter 1 can be turned and traveled at an appropriate position, so that the work efficiency can be improved and the finish can be improved.

Further, in the field work system of the present embodiment, the behavior of the rice transplanter 1 is the transition of the rice transplanter 1 from straight traveling to turning traveling, and the transition of the rice transplanter 1 from turning traveling to straight traveling. Then, the storage unit 52 stores the position of the rice transplanter 1 at the time when the rice transplanter 1 shifts from the straight travel to the turning travel as the turning start point S1, and the shift of the rice transplanter 1 from the turning travel to the straight travel. The position of the rice transplanter 1 at that time is stored as the turning end point E1. The estimation unit 53 estimates the furrow area 72 based on the adjacent turning start point S1 and turning end point E1 among the positions of the rice transplanter 1 stored in the storage unit 52 .

As a result, the ridge edge area 72 can be easily estimated. For example, the rice transplanter 1 can estimate the furrow area 72 only by making one turn.

In addition, in the field work system of the present embodiment, the rice transplanter 1 is arranged in the furrow area 72 estimated by the estimation unit 53 so that the rice transplanter 1 passes through the working area of the rice transplanter 1 in the furrow area 72 . automatic steering.

By repeating the predetermined behavior of the rice transplanter 1 a plurality of times at timings when the distance to the ridge 74B is approximately the same, the ridge region 72 estimated by the estimation unit 53 is located on the ridge 74B as described above. extending substantially parallel to it. Therefore, by automatically steering along the obtained ridgeline area 72, it is possible to reduce the burden on the operator during field work in the ridgeline area 72, and as a result, the overall finish can be improved. can be

Although the preferred embodiments of the present invention have been described above, the above configuration can be modified, for example, as follows.

The estimation unit 53 includes at least two turning end points located on both sides of the turning start point on the ridge 74 side in the direction in which the ridge 74 extends, or two turning start points located on both sides of the turning end point. The ridgeline area may be estimated from a plurality of points. For example, the estimation unit 53 may estimate the second furrow area 72B from the turn start point S1 and the turn start point S3 located on both sides of the turn end point E1 as shown in FIG.

In the same turning path 78, the orientation of the rice transplanter 1 differs by 180° between the turning start point and the turning end point. Therefore, the transition from straight travel to turning travel and the transition from turning travel to straight travel require different and unique operation skills. Therefore, for example, when the distance between the ridge 74B and the turning start point S1 is compared with the distance between the ridge 74B and the turning end point E1, there may be a large difference depending on the skill of the operator. This variation affects the accuracy of estimating the ridge edge region 72 .

On the other hand, if only the distances between the ridge 74B and the turning start points S1, S2, . many. Similarly, even when only the distances between the ridge 74B and the turning end points E1, E2, . Therefore, by using the two turning start points or the two turning end points as references, the ridge edge region 72 can be accurately estimated. Due to factors such as the habits of the operator, there may be a difference between the ridgeline area estimated between the two turning start points and the ridgeline area estimated between the two turning end points. In that case, the estimating unit 53 estimates a wider furrow area from the viewpoint of securing a margin around the rice transplanter 1 .

In order to estimate the ridge area 72, the estimating unit 53 uses at least one turn start point and at least Three or more positions of the rice transplanter 1 including one turning end point may be used. For example, the estimation unit 53 may use the turn start point S1, the turn end point E1, and the turn start point S3 adjacent to the turn end point E1 in order to estimate the second ridge area 72B. . Also, for estimation of the ridgeline area 72, three or more turning start points S1, S2, S3, . may be used. When three or more points are given, the straight line for determining the above angle φ can be determined by a known method such as the least squares method.

As modes of the estimating section 53, the first mode for estimating the ridgeline area 72 based on two or more points as described above and the second mode for estimating the ridgeline area 72 from only one point, for example, the turning start point. and may be switchable. In the second mode, the estimating unit 53 estimates the ridge edge area 72 by drawing a straight line from the obtained one point, assuming that the angle φ is 90°. In one farm field 70, the mode may be specified for each of the facing ridges 74A and 74B.

The switching of power transmission of the planting part 14 and the raising/lowering of the planting part 14 may be automatically performed in conjunction with the operation of the steering handle 26 by the operator.

The shape of the ridge edge region 72 estimated by the estimation unit 53, the straight line L1 indicating the boundary described above, and the like may be displayed on an appropriate display unit (for example, a liquid crystal display).

After the estimating unit 53 estimates the second furrow area 72B, the control unit 50 may estimate a new furrow area of the field 70 . In this case, the control unit 50 continuously stores the turning start point/turning end point of the rice transplanter 1 in the storage unit 52 even after the estimation unit 53 estimates the second furrow area 72B, and stores the latest turning start point/turning end point. When it is determined that the turning end point is not located on the straight line L1 obtained by the estimating unit 53, it is determined that the shape of the ridge edge region has changed. Then, the control unit 50 determines that estimation of a new edge area is necessary, and the estimation unit 53 estimates the new edge area. This configuration can be used, for example, when the farm field 70 has a new ridge area (third ridge area 72C) corresponding to another ridge 74C shown in FIG. Another ridge 74C connects to ridge 74B in field 70 and extends in a different direction. Here, the turning start point/turning end point positioned on the straight line L1 means that the turning start point/turning end point are positioned within a predetermined allowable range with respect to the straight line L1.

In the example shown in FIG. 7, the estimation of the third ridge edge area 72C is performed in the same manner as in the above-described embodiment, but before the estimation, the processing shown in the flowchart of FIG. 8 is performed. Specifically, the control unit 50 determines whether or not the elevation position of the planting unit 14 has been changed after the estimation unit 53 estimates the second furrow area 72B (step S201). When determining that the elevation position of the planting unit 14 has been changed, the control unit 50 acquires the position of the rice transplanter 1 at that time by the position acquiring unit 65 (step S202). The control unit 50 stores the position of the rice transplanter 1 acquired by the position acquisition unit 65 in the storage unit 52 in association with the information indicating that the elevation position of the planting unit 14 has been changed (step S203). Then, the control unit 50 determines whether or not the position of the rice transplanter 1 stored in the storage unit 52 is set as the turn start point/turn end point, and whether or not the turn start point/turn end point is located on the straight line L1. (Step S204). For example, if the distance D1 between the turn end point E5 and the straight line L1 shown in FIG. 7 is greater than or equal to a predetermined value, the turn end point E5 is deviated from the straight line L1 and a new ridge area (third ridge area 72C) is formed. It means that an estimate is required. Therefore, the control unit 50 uses the estimation unit 53 to estimate the third ridge area 72C based on the subsequent positions of the turning start point/turning end point (step S205).

Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the invention may be practiced otherwise than as described herein.

1 rice transplanter (field work machine)
14 Planting part (working device)
52 Storage Unit 53 Estimation Unit 65 Position Acquisition Unit 70 Field 72 Ridge 74 Ridge Area

Claims (4)

The field working machine travels straight so as to approach the ridge around the field, and after traveling straight, repeats turning traveling to travel straight again. In the field work system for
a position acquisition unit that acquires the position of the field work machine;
a storage unit that stores the position of the farm work machine acquired by the position acquisition unit in association with the behavior of the farm work machine that performs straight traveling and turning traveling in the field;
a first mode for estimating a ridge edge area based on the positions of two or more points of the field work machine proximate to the ridge stored by the storage unit; an estimating unit capable of switching between a second mode for estimating a ridge edge area based on the position of
A field work system comprising: The field work system according to claim 1,
When the farm field includes a first ridge perpendicular to the traveling direction of the agricultural working machine and a second ridge inclined with respect to the traveling direction of the agricultural working machine,
The field work system , wherein the estimating unit estimates a ridge edge area in the first ridge using the second mode, and estimates a ridge edge area in the second ridge using the first mode . The field work system according to claim 1 or 2 ,
The behavior of the agricultural field work machine includes a transition from straight running to turning driving of the agricultural field working machine, and a transition from turning driving to straight driving of the agricultural field working machine,
The storage unit sets a position of the agricultural work machine when the agricultural work machine shifts from straight travel to turning travel as a turn start point, and sets a position of the agricultural work machine as a turning start point when the agricultural work machine makes a transition from turning travel to straight travel. Store the position of the field work machine as the turning end point,
The estimating unit calculates the ridge edge based on two of the turning end points or two of the turning starting points among the positions of the agricultural implement stored in the storage unit in the first mode. A field work system characterized by estimating an area. The field work system according to any one of claims 1 to 3,
The behavior of the agricultural field work machine includes a transition from straight running to turning driving of the agricultural field working machine, and a transition from turning driving to straight driving of the agricultural field working machine,
The storage unit sets a position of the agricultural work machine when the agricultural work machine shifts from straight travel to turning travel as a turn start point, and sets a position of the agricultural work machine as a turning start point when the agricultural work machine makes a transition from turning travel to straight travel. Store the position of the field work machine as the turning end point,
The estimating unit detects when the newly stored position of the turning start point or the turning end point is a position a predetermined distance away from the virtual straight line generated based on the previously stored turn starting point or turning end point. A field work system characterized by estimating the ridgeline area based on a newly stored turn start point or turn end point .

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