KR20190139812A - Agricultural work vehicle - Google Patents

Abstract

The present invention relates to an agricultural work vehicle capable of reducing labor and time required for secondary work such as supply of a loaded object on the agricultural work vehicle. The agricultural work vehicle includes: a memory unit (70D) memorizing a predetermined auxiliary work point and a driving route in a pavement; an automatic driving control unit (70E) performing automatic driving of a vehicle body based on a positioning result of a positioning unit (83) and the driving route in an automatic driving route; and a work driving determining unit (70K) determining whether work driving can be continued based on a vehicle loading amount of the loaded object, calculated by a vehicle loading amount calculating unit (70G). The automatic driving control unit (70E) performs automatic work driving control in multiple work driving routes in the automatic driving routes while it is determined that the work driving can be continued by the work driving determining unit (70K). Also, the automatic driving control unit (70E) stops the automatic work driving control when it is determined that the work driving cannot be continued by the work driving determining unit (70K) while the automatic work driving control is performed. Also, the automatic driving control unit (70E) can perform automatic moving control for auxiliary work moving the vehicle body from an automatic work driving control stop position to an auxiliary work point.

Description

Agricultural work vehicle {AGRICULTURAL WORK VEHICLE}

The present invention is based on a storage unit in which a traveling route in a pavement set in advance, a positioning unit for measuring the position and orientation of a vehicle body, and a positioning result of the traveling route and the positioning unit. The agricultural work vehicle provided with the automatic driving control part which performs automatic driving of a vehicle body in the included automatic driving path | route.

In the agricultural work vehicle as described above, for example, when the autonomous turning operation tool is operated autonomously on the target path (automatic driving path) and operated by the operator, after turning autonomously toward the next target path, the next target path When the vehicle runs autonomously and detects that the residual amount of the agricultural processing material (an example of the vehicle payload) is less than the preset threshold, the operation of the automatic turning operation tool is invalidated, and the vehicle automatically runs straight to the packing stage. There is one configured to automatically stop at the packaging end (see Patent Document 1, for example).

In the agricultural work vehicle described in Patent Literature 1, the operation of the automatic swing operation tool by the operator is invalidated and the agricultural work vehicle does not automatically turn, thereby assisting in distributing vehicle payloads such as seedlings and fertilizers to the agricultural work vehicle. It tells the operator what needs to be done.

In addition, in the agricultural work vehicle described in Patent Literature 1, a seedling linkage which informs the operator that the remaining amount of vehicle payloads such as abnormal display lamps, seedlings, and fertilizers that light up when an abnormality occurs in each part or system of the agricultural work vehicle is reduced. Warning lamps and fertilizer warning lamps are provided on the meter panel.

Japanese Patent Laid-Open No. 2008-92818 (paragraphs 0006 to 0009, 0014, 0021 to 0022, Figs. 3 to 4, Fig. 7)

According to the above configuration, there is a case where the stop position of the farm work vehicle automatically stopped at the packing end is largely separated from the place where the agricultural processing object is set at a predetermined position in the head around the pavement. In this case, the operator Alternatively, the assistant worker transports the agricultural processing object for supply from the place where the agricultural processing object is placed to the stop position of the agricultural work vehicle and supplies it to the agricultural work vehicle. As a result, subsidiary work for distributing agricultural processing products to agricultural work vehicles took time and time.

In other words, it is desired to reduce the time required for auxiliary work, such as dissemination of vehicle payloads for agricultural work vehicles.

In the agricultural work vehicle described in Patent Literature 1, when the auxiliary work is required, if the agricultural work vehicle does not automatically turn in the turning area close to the paving stage, the operator does not automatically turn the agricultural work vehicle before the paving stage It is necessary to confirm the abnormality of the abnormality indicator lamp in a short time until the automatic stop at. And it is not possible to judge whether driving | running | working of a farm work vehicle is normal until it turns out that abnormality display lamp turns off, and an operator may fear.

In addition, even if the operator knows that the remaining amount of vehicle payloads such as seedlings and fertilizers is reduced by the operation of the seedling linking warning lamp or the fertilizer supply warning lamp, the agricultural work vehicle does not automatically turn in the turning area near the packing stage. When it is done, we know that auxiliary work is necessary and stop position of farm work vehicle.

Therefore, the operator cannot inform the auxiliary worker waiting at the periphery of the pavement until the farm truck is automatically stopped at the packing stage, and the auxiliary worker cannot prepare for the auxiliary work in advance. As a result, auxiliary work cannot be efficiently performed.

In other words, there is no fear of fear for the operator, and it is desired to be able to efficiently perform auxiliary tasks such as dissemination of vehicle payloads to farm vehicles.

As a means for solving the above problems,

Farm work vehicle according to the invention,

A storage unit in which a predetermined auxiliary work point for performing auxiliary work on a supply route of the vehicle payload in which the vehicle payload changes with driving is written;

A positioning unit for measuring the position and orientation of the vehicle body,

An autonomous driving control unit that performs autonomous driving of the vehicle body in the autonomous driving route included in the driving route based on the positioning result of the traveling route and the positioning unit;

A vehicle payload calculating unit for obtaining a vehicle payload of the vehicle payload;

A work travel determination unit that determines whether work travel is possible based on the vehicle pay amount of the vehicle payload calculation unit;

The autonomous driving control unit executes autonomous job driving control for automatically driving the vehicle body in a plurality of job driving paths included in the autonomous driving path while the job driving determination unit determines that the job driving can be continued. If it is determined that continuation of work travel is impossible by the work travel determination unit during execution of the automatic work travel control, the automatic work travel control is stopped, and the auxiliary work point starts from the stop point of the automatic work travel control. The automatic movement control for auxiliary work which automatically moves the vehicle body until

According to this means, the agricultural work vehicle changes the vehicle payload of the vehicle payload determined by the vehicle payload calculation unit to the vehicle payload determined by the work travel determining unit to be unable to continue the work while the work travel is performed by the automatic work travel control. Then, after stopping work travel by automatic work travel control, it automatically moves from the interruption point of work travel to the auxiliary work point by the automatic movement control for auxiliary work.

That is, when a need arises to perform a subsidiary work during work | work driving, since an agricultural work vehicle automatically moves to the auxiliary work point suitable for an auxiliary work, an operator does not need the effort of moving an agricultural work vehicle to the auxiliary work point. And when an operator or an auxiliary worker performs auxiliary work, the farm vehicle will always stop at the auxiliary work point.

As a result, for example, the vehicle payload of the on-vehicle vehicle determined that the farm work vehicle is a farm material supply work vehicle that supplies agricultural materials to the packaging, and that the work travel determination is impossible by the work travel determining unit, is the remaining amount of the agricultural material. In this case, the operator or the assistant worker supplies the preliminary agricultural material placed on the head portion adjacent to the auxiliary work point to the agricultural material supply work vehicle stopped at the auxiliary work point.

In addition, for example, when the agricultural work vehicle is a harvesting work vehicle which harvests a packaged crop, and the vehicle payload of the vehicle payload determined by the work travel determining unit to be unable to continue work travel is an operator or The assistant worker moves and mounts the crops loaded on the harvesting work station which is stopped at the auxiliary work point, for example, on a truck rack, etc. placed on the ridge portion adjacent to the auxiliary work point.

For example, when the vehicle payload of the vehicle payload determined by the work travel determining unit to be unable to continue work travel is a residual amount of fuel, the operator or the assistant worker reserves the spare portion placed in the head portion adjacent to the auxiliary work point. The fuel is supplied to the farm vehicle stopped at the auxiliary work point.

As a result, the time required for the auxiliary work can be reduced, and the auxiliary work can be efficiently performed.

Incidentally, in agricultural work in a pavement using an agricultural work vehicle, a predetermined position suitable for auxiliary work in a ridge or the like surrounding the pavement includes vehicle payloads such as spare agricultural materials and spare fuel, and a truck for loading crops. Since it is set in the place, the auxiliary work point is set to the specific point in the package adjacent to the place, and is set as the point suitable for auxiliary work.

As one of the means for making the present invention more suitable,

And a change amount estimating unit for estimating a change amount of the vehicle payload in a next work travel path during execution of the automatic work travel control in the current work travel path,

The work running determination unit determines whether the work travel to the work end point of the next work travel path is possible based on the vehicle pay amount of the vehicle payload calculation unit and the change amount of the change amount estimating unit,

The automatic driving control unit executes the automatic work driving control in the next working travel path when it is determined that the working travel to the work end point of the next working travel path is possible in the working travel determining unit. When it is determined by the work traveling determining unit that the work travel to the work end point of the next work travel path is not possible, the vehicle body reaches the work end point on the current work travel path and the automatic work The driving control is interrupted and the automatic movement control is executed.

According to this means, the agricultural work vehicle travels to the work end point of the next work travel path by the work travel determination part by the work travel determination part by the vehicle travel amount of the vehicle payload calculated | required by the vehicle payload calculation part during the work travel by automatic work travel control. When the vehicle load amount is determined to be impossible to continue, when the job end point in the current work travel path is reached, the work travel by the automatic work travel control is stopped, and then, by the automatic travel control for the auxiliary work. It automatically moves from the end point of work on the current work route to the auxiliary work point.

That is, since the stop point of work travel by the automatic work travel control is always the work end point in the current work travel path, when the agricultural work vehicle is moved from the auxiliary work point to the work resume point after the completion of the auxiliary work, The work resume point becomes the work start point in the next work travel path. As a result, it becomes easier to move to the work restart point of a farm truck compared with the case where a work resume point becomes a point along the work travel route.

This is particularly effective when the agricultural work vehicle is a farm material supply work vehicle that aligns and supplies agricultural materials in a plurality of sets to the package, and the aligning and supplying of the plural pairs may occur when the work resume point becomes a point along the work path. The misalignment of agricultural materials can be avoided.

As one of the means for making the present invention more suitable,

The plurality of work travel paths may include a plurality of work paths including a path work path heading from the heads adjacent to the auxiliary work point toward the heads opposing the heads, and a return path running the paths adjacent to the path heads. A reciprocating work path is included,

When the next work travel path is the reciprocating work path, the work travel determining unit performs the work to the work end point of the reciprocating work path based on the vehicle pay amount of the vehicle payload calculation unit and the change amount of the change amount estimating unit. Determine whether it is possible to continue driving,

The automatic driving control unit executes the automatic work driving control in the next reciprocating work path when it is determined that the work travel to the work end point of the next reciprocating work path is possible in the work traveling determining unit. When it is determined by the work traveling determining unit that the work travel to the work end point of the next reciprocating work path is not possible, the vehicle body reaches the work end point in the current reciprocating work path and the automatic work The automatic control is executed by stopping the traveling control.

According to this means, the agricultural work vehicle runs the work to the work end point of the next reciprocating work path by the work travel determining unit by the work travel determining unit by the vehicle travel amount of the vehicle payload obtained by the vehicle payload calculating unit during the work travel by the automatic work travel control. When the vehicle load amount is determined to be impossible to continue, when the job end point in the current reciprocating work path is reached, the work travel by the automatic work travel control is stopped, and then by the automatic travel control for auxiliary work. It automatically moves from the end of work in the current round-trip work path to the auxiliary work point.

That is, since the stop point of work travel by the automatic work travel control is always the work end point in the current reciprocating work path, when the agricultural work vehicle is moved from the auxiliary work point to the work resume point after the completion of the auxiliary work, The work resume point becomes the work start point in the next round trip work path. As a result, it becomes easier to move to the work resumption point of a farm vehicle compared with the case where a work resumption point becomes the midway point of a path | route work path or a return work path | route.

This is particularly effective when the agricultural work vehicle is a farm material supply work vehicle that aligns and supplies a plurality of farm materials to a package, and there is a possibility that the work resume may occur when the work resumption point becomes a midway point of the return work path or the return work path. The misalignment of the agricultural materials to be aligned and supplied in the tank can be avoided.

And the stop point of the work run in the reciprocating work path by automatic work run control always becomes the work end point in the current reciprocating work path, and the work end point of the reciprocating work path is the start of work of the reciprocating work path. Similar to the point, as the point is close to the auxiliary work point in the reciprocating work path, the travel distance of the farm work car from the interruption point to the auxiliary work point and the travel distance of the farm work car from the auxiliary work point to the work resume point are shortened. . As a result, work efficiency can be improved, fuel consumption can be reduced, and the like.

As one of the means for making the present invention more suitable,

The automatic driving control unit instructs the storage unit to write the interruption point in accordance with the interruption of the automatic work traveling control, and when the resumption of the automatic work traveling control is commanded after reaching the auxiliary work point. Reading out the interruption point from the storage section, executing automatic movement control for job restart which automatically moves the vehicle body from the auxiliary work point to the interruption point, and controlling the automatic movement for job restart after movement to the interruption point Terminates and resumes the automatic operation travel control.

According to this means, when the auxiliary work at the auxiliary work point is terminated and the restart of the automatic work travel control is instructed, the agricultural work vehicle starts from the auxiliary work point by the automatic movement control for work restart before resuming the automatic work travel control. It will automatically move to the stop point.

That is, since the operator does not need to manually drive the farm work vehicle to the stop point after the completion of the auxiliary work at the auxiliary work point, the burden on the operator related to the auxiliary work can be reduced.

As one of the means for making the present invention more suitable,

The automatic driving control unit instructs the storage unit to write the work end point at which the automatic work travel control is stopped in accordance with the interruption of the automatic work travel control, and further, after reaching the auxiliary work point, the automatic work travel. When resumption of control is instructed, the work end point is read from the storage unit, and the work start point of the next work travel path having the read work end point is read as the work resume point. Set, execute the automatic resumption control for job resumption which automatically moves the vehicle body from the auxiliary work point to the resumption point, and terminate the automatic movement control for resumption of work after the movement to the work resumption point; Resume travel control.

According to this means, when the auxiliary work at the auxiliary work point is terminated and the restart of the automatic work travel control is instructed, the agricultural work vehicle starts from the auxiliary work point by the automatic movement control for work restart before resuming the automatic work travel control. It automatically moves to the above-mentioned work resume point.

That is, since the operator does not need to manually drive the agricultural work vehicle to the above-mentioned work resumption point after the completion of the auxiliary work at the auxiliary work point, the burden on the operator related to the auxiliary work can be reduced.

As one of the means for making the present invention more suitable,

In the automatic movement control for the subsidiary work, the autonomous driving control unit performs autonomous driving of the vehicle body so that the vehicle body automatically stops at the auxiliary work point in a stop position suitable for the subsidiary work.

According to this means, it becomes easy to perform auxiliary work with respect to the agricultural work vehicle which stopped at the auxiliary work point by an operator or an auxiliary worker.

Incidentally, for example, when the agricultural work vehicle is a passenger rice transplanter having a preliminary seedling loading unit at the front end, the stationary posture at the auxiliary work point of the agricultural work vehicle is defined as the front end of the agricultural work vehicle adjacent to the auxiliary work point. It is conceivable to set it in a forward facing position facing the head.

For example, when the agricultural work vehicle is a passenger rice transplanter having a preliminary seedling stacking unit long in the front-rear middle part in the left-right direction, the left and right sides of the agricultural work vehicle assist the stopping posture at the auxiliary work point of the agricultural work vehicle. It is conceivable to set it in the horizontal posture facing the head area adjacent to the work point.

In addition, for example, when the agricultural work vehicle is a tractor provided with the chemical | medical agent spreading apparatus in a rear end, the stationary posture at the auxiliary work point of an agricultural work vehicle may be set to the head part which the rear end of an agricultural work vehicle adjoins the auxiliary work point. It is conceivable to set the face to face rearward.

In addition, for example, when a farm truck is a combine with a grain tank on the right side, the farm vehicle may have a stopping posture at the auxiliary work point of the farm work car, and the right side of the farm work car faces a hollow portion adjacent to the auxiliary work point. It is conceivable to set it to the horizontal orientation.

As one of the means for making the present invention more suitable,

A farm material supply device for supplying farm materials to the packaging,

In the automatic movement control, the automatic driving control section sets an unworked traveling route, to which the agricultural material is not supplied, as a movement route, and performs the automatic operation of the vehicle body so that the vehicle body travels the movement route.

According to this means, when the automatic movement control is for the auxiliary work, when the farm vehicle automatically moves from the interruption point at which the work stops running or the work end point to the auxiliary work point, and when the automatic movement control is for the work resume, As a result, when the truck is automatically moved from the auxiliary work point to the stop point at which the work is resumed or the work resume point, the concern that the farm work vehicle is supplied with the farm material can be avoided.

As one of the means for making the present invention more suitable,

Having a harvesting device for harvesting the crops in the field,

In the automatic movement control, the automatic driving control section sets the working route on which the crops are harvested as the movement route, and performs the automatic operation of the vehicle body so that the vehicle body travels the movement route.

According to this means, when the automatic movement control is for the auxiliary work, when the farm vehicle automatically moves from the interruption point at which the work stops running or the work end point to the auxiliary work point, and when the automatic movement control is for the work resume, As a result, when the truck is automatically moved from the auxiliary work point to the stop point at which work is resumed or the work resume point, the unworked driving path where the crops are not harvested can be avoided by the farm truck.

As a means for solving the above problems,

Farm work vehicle according to the invention,

A storage unit in which a travel route in a pre-set package is written;

A positioning unit for measuring the position and orientation of the vehicle body,

An autonomous driving control unit that executes autonomous job driving control for automatically driving the vehicle body in a plurality of job driving paths included in the driving path, based on the positioning result of the driving path and the positioning unit;

A vehicle payload calculating unit for obtaining a vehicle payload of a vehicle payload that changes with driving;

A change amount estimating unit for estimating a change amount of the vehicle payload in a next work travel path during execution of the automatic work travel control in the current work travel path;

A work travel determination unit that determines whether work travel to the work end point of the next work travel path is possible on the basis of the vehicle pay amount of the vehicle payload calculation unit and the change amount of the change amount estimation unit;

And a notification control unit for operating the notifier when it is determined by the work travel determining unit that the work travel continuation to the work end point of the next work travel path is impossible.

According to the above means, the vehicle payload of the vehicle payload is a vehicle payload capable of continuing the work travel to the work end point of the current work travel path at the stage when the notifier operates, and the work completion of the next work travel path. Since the vehicle payload cannot continue the work to the point, the work end point in the current work travel path is set as the stop point of the work drive, and the dungare position close to the stop point is mounted on the farm vehicle. It is conceivable to set it to a stop position (hereinafter referred to as a stop position for auxiliary work) of an agricultural work vehicle for carrying out auxiliary work such as water supply.

Then, as described above, if the stop point of the work travel and the stop position for the auxiliary work are set, and the auxiliary work is performed at the stop position, the work travel during the work travel in the next work travel path due to the lack of the vehicle payload. It is possible to avoid the possibility of the continuation of In addition, since the work resume point after the completion of the auxiliary work becomes the work start point in the next work travel path, the work resume point moves to the work resume point of the agricultural work car as compared with the case where the work resume point becomes the midway point of the work travel path. It becomes easy to carry out. This is particularly effective when the agricultural work vehicle is a farm material supply work vehicle that aligns and supplies agricultural materials in a plurality of sets to the package, and the aligning and supplying of the plural pairs may occur when the work resume point becomes a point along the work path. The misalignment of agricultural materials can be avoided.

In addition, according to the above means, the work travel determining unit, at a relatively early stage after the agricultural work vehicle starts work travel in the current work travel path, the vehicle payload of the vehicle payload is the work end point of the next work travel path. It is possible to determine whether or not the vehicle payload is impossible to continue the work travel up to, and if the vehicle payload is impossible, the notifier can be operated at the relatively early stage described above. Then, by the operation of the notifier, the operator can know that it is impossible to continue the work travel to the work end point of the next work travel path in the relatively early stage described above.

Thereby, for example, when the agricultural work vehicle is configured to move to the auxiliary work stop position by the manual operation of the operator, the operator can stop the work travel stop point and the auxiliary work stop position at the relatively early stage as described above. Can be set, and preparation for manual operation which moves a farm truck to the stop position for auxiliary work can be performed easily. In addition, the operator can inform the auxiliary worker waiting at the periphery of the packaging to perform the auxiliary work and the set auxiliary work stop position at the relatively early stage as described above, whereby the auxiliary worker stops the auxiliary work. The auxiliary work at the position can be prepared in advance.

That is, the movement to the stop position for auxiliary work by manual operation of the farm work vehicle can be performed without difficulty, and after that movement, the farm work vehicle stops at the stop position for the auxiliary work and can perform the auxiliary work quickly. Can be performed efficiently without difficulty.

For example, when it is comprised so that the movement of an agricultural work vehicle to the stop position for auxiliary work, etc. may be performed by the control operation of an automatic driving control part, an operator may operate in the control operation of an automatic driving control part in the comparatively quick stage mentioned above. The stop position for the auxiliary work can be estimated, whereby the agricultural work vehicle does not turn from the work end point of the current work travel path to the work start point of the next work travel path in the turning area close to the paving stage. Have no fear. In addition, the operator can inform the auxiliary worker of the estimated auxiliary work stop position at the relatively early stage described above, whereby the auxiliary worker can prepare for the auxiliary work at the auxiliary work stop position in advance.

As a result, even when the movement of the agricultural work vehicle to the auxiliary work stop position or the like is performed by the control operation of the automatic driving controller, the agricultural work vehicle can be moved to the auxiliary work stop position without fear of the operator. After the movement, the agricultural work vehicle stops at the stop position for the auxiliary work and can perform the auxiliary work quickly, so that the auxiliary work can be efficiently performed.

As one of the means for making the present invention more suitable,

In the plurality of work travel paths, a backward work path from a head close to a specific auxiliary work point performing auxiliary work on the rapid dispatch of the vehicle payload and heading toward a head facing the head, and a return work path adjacent to the back path working path. Includes a plurality of reciprocating work paths that make the work travel path of one stroke,

When the next work travel path is the reciprocating work path, the work travel determining unit performs the work to the work end point of the reciprocating work path based on the vehicle pay amount of the vehicle payload calculation unit and the change amount of the change amount estimating unit. Determine whether it is possible to continue driving,

The notification control unit operates the notifier when it is determined by the work run determining unit that the work travel to the work end point of the next reciprocating work path cannot be continued.

According to the above means, the vehicle payload of the vehicle payload is a vehicle payload that can continue work travel to the work end point of the current reciprocating work path at the stage when the notifier operates, and the work of the next reciprocating work path is ended. It is conceivable to set the work end point in the current reciprocating work path as the stop point of the work travel since the vehicle payload in which work travel to the point cannot be continued.

And if the interruption point of work travel is set as mentioned above, the interruption point of work travel in a reciprocating work path will always become a work end point in a current reciprocating work path, and the work end point of a reciprocating work path will be Similar to the starting point of the reciprocating work path, it is a point close to the auxiliary work point in the reciprocating work path, so that the distance of movement of the agricultural work vehicle from the stopping point to the auxiliary work point and the agricultural work car from the auxiliary work point to the work resume point Travel distance becomes shorter. As a result, work efficiency can be improved, fuel consumption can be reduced, and the like.

As one of the means for making the present invention more suitable,

The notification control unit, when the current work travel path is the reciprocating work path, determines that the work travel from the work travel determination unit to the work end point of the next work travel path is impossible, and the Activate the notifier while traveling in the work path home.

According to the above means, it is possible to avoid the fear that the operator sets the end point of the work path as the stop point of the work travel due to the operation of the notifier while the work travels on the work path.

Incidentally, when the work end point of the route work path is set as the stop point of the work run, the travel distance of the farm work vehicle from the interruption point to the auxiliary work point and the farm work vehicle from the auxiliary work point to the work resume point. The moving distance becomes longer, resulting in a decrease in working efficiency and an increase in fuel consumption.

That is, the above means can more reliably improve the work efficiency, reduce the fuel consumption, and the like.

As one of the means for making the present invention more suitable,

The notification control unit operates at least one of the existing on-vehicle devices which can be notified to the outside of the vehicle including the indicator light, the headlight and the buzzer as the notifier to notify the assistant worker outside the vehicle.

According to this means, it can be seen that, by the operation of the notifier, it is impossible for the operator and the assistant worker to continue work travel to the work end point of the next work travel path at the relatively early stage described above. As a result, the operator does not need to inform the auxiliary worker of performing the auxiliary work, and can prepare for moving the agricultural work vehicle to the auxiliary work stop position (secondary work point) without difficulty. In addition, the auxiliary worker can prepare in advance for the auxiliary work at the auxiliary work stop position (secondary work point). And by these, an agricultural work vehicle stops at the stop position for auxiliary work (auxiliary work point), and can perform an auxiliary work quickly.

Moreover, since it is not necessary to provide the exclusive notification device for notifying a subsidiary worker, the rise of cost can be suppressed.

As a result, auxiliary work can be efficiently performed while reducing the burden on an operator and suppressing the rise of cost.

As one of the means for making the present invention more suitable,

A communication module configured to be wirelessly connected to an external communication terminal having a notification unit,

The notification control unit operates the notification unit as the notifier through the communication module when it is determined that the job running from the job travel determination unit to the job end point of the next job travel path is impossible.

According to this means, for example, when the communication terminal is arranged near the auxiliary worker, the auxiliary worker operates the notification unit of the communication terminal, so that the agricultural work vehicle stops the auxiliary work for the auxiliary work even if there is no communication from the operator. It can be seen at a relatively early stage as described above that it moves to the (secondary work point). Thereby, the auxiliary worker can prepare in advance for the auxiliary work in the auxiliary work stop position (secondary work point).

In addition, when the operator and the assistant worker own a portable communication terminal such as a smartphone or a tablet, the operator and the assistant worker operate the notification unit as a notifier by using the portable communication terminal as the notification communication terminal. By doing so, it can be seen that it is impossible to continue work travel to the work end point of the next work travel path in the relatively early stage described above. As a result, the operator does not need to inform the auxiliary worker of performing the auxiliary work, and can prepare for moving the agricultural work vehicle to the auxiliary work stop position (secondary work point) without difficulty. In addition, the auxiliary worker can prepare in advance for the auxiliary work at the auxiliary work stop position (secondary work point).

That is, in any case, while reducing the burden on the operator, the agricultural work vehicle stops at the stop position for the auxiliary work (secondary work point) and can perform the auxiliary work quickly, and as a result, the auxiliary work can be efficiently performed. .

In addition, when using the portable communication terminal owned by the operator and the assistant worker as the communication terminal for notification, it is not necessary to provide a dedicated communication terminal, so that the rise in cost can be suppressed.

As one of the means for making the present invention more suitable,

The vehicle payload calculating unit calculates the vehicle payload for each vehicle payload having a different type,

The change amount estimating unit estimates the change amount for each of the vehicle payloads having different types,

The work running determination unit determines whether or not the work travel to the work end point of the next work travel path is possible on the basis of the vehicle payload and the change amount for each of the vehicle payloads having different types, and the work In the case where it is determined that the continuation of driving is impossible, the vehicle payload which is a factor of the determination is specified.

The notification control unit, when it is determined in the operation running determination unit that it is impossible to continue the operation travel to the operation end point of the next work driving route, the operation driving determination unit in the operating state according to the specified vehicle payload; Activate the notifier.

According to this means, the operator is unable to continue work travel to the work end point of the next work travel path by the operation and operation state of the notifier at the relatively early stage as described above, and the on-vehicle which is a factor thereof. You can see the kind. Thereby, an operator can make preparations, etc. for stopping the agricultural work vehicle to the stop posture suitable for the auxiliary work of the vehicle-mounted object which is a target of auxiliary work in the stop position for auxiliary work (auxiliary work point). In addition, the operator can notify the auxiliary worker of the type of vehicle-mounted object which is to be subjected to the auxiliary work, the object of the auxiliary work, or the like at the relatively early stage described above. Thereby, the auxiliary worker can prepare in advance the appropriate auxiliary work according to the vehicle payload which is the object of the auxiliary work in the auxiliary work stop position (secondary work point).

As a result, the agricultural work vehicle stops at the stop position (secondary work point) for the auxiliary work, and can perform auxiliary work on the vehicle payload that is the target of the auxiliary work quickly. As a result, accurate auxiliary work can be efficiently performed. have.

As one of the means for making the present invention more suitable,

The vehicle payload calculating unit calculates the vehicle payload for each vehicle payload having a different type,

The change amount estimating unit estimates the change amount for each of the vehicle payloads having different types,

The work running determination unit determines whether or not the work travel to the work end point of the next work travel path is possible on the basis of the vehicle payload and the change amount for each of the vehicle payloads having different types, and the work In the case where it is determined that the continuation of driving is impossible, the vehicle payload which is a factor of the determination is specified.

The notification control unit, when it is determined in the work run determination unit that the work run to the job end point of the next work run path is not possible to continue, can notify the outside of the vehicle including the indicator light, the headlight and the buzzer. Of the on-vehicle devices, the work travel determination unit operates the on-vehicle device corresponding to the specified on-vehicle as the notification device.

According to this means, it is impossible for the operator and the assistant operator to continue the work travel to the work end point of the next work travel path by the operation of the notifier and the kind of the notified work, which is relatively quick. It is possible to know the type of vehicle payload that is a factor. Thereby, an operator can make preparations, etc. for stopping the agricultural work vehicle to the stop position suitable for the auxiliary work of the vehicle-mounted object which is the object of auxiliary work in the auxiliary work stop position (auxiliary work point). In addition, the auxiliary worker can prepare in advance an appropriate auxiliary work according to the vehicle payload that is the object of the auxiliary work at the stop position for the auxiliary work (secondary work point).

As a result, the agricultural work vehicle stops at the stop position (secondary work point) for the auxiliary work, and can perform auxiliary work on the vehicle payload that is the target of the auxiliary work quickly. As a result, accurate auxiliary work can be efficiently performed. have.

1 is a left side view of a passenger rice transplanter.
2 is a schematic plan view showing a transmission configuration, a steering configuration, and the like of a passenger rice transplanter.
3 is a schematic plan view showing a traveling electric drive configuration.
4 is a schematic plan view showing a working transmission configuration.
5 is a block diagram showing a control configuration.
6 is a plan view showing a traveling route of a work vehicle in a pavement, an auxiliary work point for auxiliary work, and the like.
It is a top view which shows the movement path | route etc. of the vehicle body in automatic movement control for auxiliary work.
8 is a plan view illustrating a stopping point of work travel in another embodiment, a moving path of a vehicle body in automatic movement control, and the like.
9 is a block diagram showing a notification form in another embodiment.

EMBODIMENT OF THE INVENTION Hereinafter, as an example of the form for implementing this invention, embodiment which applied this invention to the rice transplanter which is an example of an agricultural work vehicle is demonstrated based on drawing.

In addition, the direction indicated by the arrow of symbol F shown in FIG. 1 is the front side of the rice transplanter, and the direction indicated by the arrow of the symbol U is the upper side of the rice transplanter.

In addition, the direction indicated by the arrow of symbol F shown in FIG. 2 is the front side of the rice transplanter, and the direction indicated by the arrow of symbol R is the right side of the rice transplanter.

As shown in FIG. 1, the passenger rice transplanter illustrated in this embodiment is a four-wheel drive type traveling body 1 of a four-wheel drive type, and the parallel four-section link type connected to the rear part of the traveling body 1 so that raising / lowering was possible. Of the seedling planting apparatus for eight sets (rolling material supply device A) of the link mechanism 2, the hydraulic lifting cylinder 3 which oscillates-drives the link mechanism 2, and the back end of the link mechanism 2 so that rolling is possible. An example) 4 and the 8-piece fertilizer application (an example of the agricultural material supply apparatus A) 5 etc. which extended from the rear end of the traveling vehicle body 1 to the seedling planting apparatus 4 are provided.

Thereby, the rice transplanter is comprised by the mid mount fertilization specification which can carry out planting and fertilization of up to 8 sets of seedlings. Moreover, the seedling planting apparatus 4 and a part of the fertilizer 5 are lift-driven by the operation of the lift cylinder 3, and the lifter.

As shown in FIGS. 1 to 4, the traveling vehicle body 1 includes, as the traveling device 6, front and rear wheels 6A as steering wheels that can be steered, and rear and rear wheels 6B as steering wheels that cannot be steered. have. In the traveling vehicle body 1, the engine 7 is dust-proof mounted on the front part. The power from the engine 7 is belt-driven to the main transmission 8, and the power after the shift by the main transmission 8 is inside the transmission case (hereinafter referred to as T / M case) 9. Branching for driving and work. The driving power is transmitted to the front wheel differential 11 via the sub transmission 10 inside the T / M case 9. The front wheel driving power is transmitted from the front wheel differential apparatus 11 to the left and right front wheels 6A via the left and right differential shafts 12 and the like. In addition, the first external transmission shaft from the T / M case 9 to the transmission gear 13 and the rear axle case 14 in which the rear wheel driving power is integrally rotated with the front wheel differential 11 among the driving powers. 15 is transmitted to the left and right rear wheels 6B via the rear wheel drive mechanism 16 and the like built in the rear axle case 14. The rear wheel transmission mechanism 16 includes a left and right side clutch 17 for intermittent transmission to the left and right rear wheels 6B, a deceleration unit 18 for decelerating and transmitting the rear wheel driving power to the left and right rear wheels 6B, and The brake 19 etc. which act on 6 A of left and right front wheels, and 6 B of right and left rear wheels are provided. Work power is seedling planting device (4) from the one-way clutch 20, the weekly transmission device 21, the first work clutch 22 and the T / M case (9) built in the T / M case (9) It is transmitted to the seedling planting apparatus 4 via the 2nd external transmission shaft 23 etc. over.

As the engine 7, a water-cooled gasoline engine is employed. As the main transmission 8, a hydrostatic stepless speed changer is adopted. The sub transmission 10 employs a gear type transmission that can shift in two stages of high and low speeds in the low speed state for work travel and the high speed state for movement travel. Each of the left and right side clutches 17 includes a multi-plate friction clutch, and is provided with a spring (not shown) for pressing the side clutches 17 to the connected state. The weekly transmission 21 employs a gear type transmission that enables six-speed shifting.

As shown in FIG. 1, FIG. 4, FIG. 5, the seedling planting apparatus 4 is an operation state which operates by the power from the traveling vehicle body 1 by the intermittent operation of the 1st work clutch 22, The power from the traveling vehicle 1 is cut off and is switched to a non-operational state in which the driving stops. The seedling planting apparatus 4 includes five stationary floats 24, seedling loading tables 25 for eight sets, horizontal feed mechanisms (not shown), belt type vertical feed mechanisms 26, and eight planting mechanisms ( 27) and the like. Each stationary float 24 slides the mud surface of a faucet with the running of the traveling vehicle body 1 in the state which they ground, and evens mud surfaces, such as a seedling planting location. The seedling loading stand 25 is formed so that 8 sets of mat-like seedlings can be loaded. The horizontal conveyance mechanism reciprocally drives the seedling loading stand 25 to the left-right direction by the fixed stroke corresponding to the left-right width | variety of a mat-shaped seedling with the power from the traveling vehicle body 1. The vertical feed mechanism 26 vertically conveys each mat-like seedling on the seedling loading table toward the lower end of the seedling loading table 25 at a predetermined pitch whenever the seedling loading table 25 reaches the left and right stroke ends. Each planting mechanism 27 is a rotary type and is arrange | positioned at the left-right direction at fixed intervals corresponding to a planting intercalation. And each planting mechanism 27 cuts seedlings by predetermined amount from the lower end of each mat-like seedling mounted on the seedling loading stand 25 by the power from the traveling vehicle body 1, To plant.

Thereby, in the operating state of the seedling planting apparatus 4, seedlings can be taken out from the mat-shaped seedling mounted on the seedling loading stand 25 by predetermined amount, and can be planted in the Ito part of a faucet. The working width W (see FIG. 6) of the seedling planting apparatus 4 is a length obtained by multiplying the planting assistant of the seedling planting apparatus 4 and the inter-group distance.

As shown in FIG. 1, the seedling planting apparatus 4 is provided with the float support point axis | shaft 28 extended to the left and right both ends so that relative rotation is possible. Each of the stationary floats 24 is supported so that their rear end sides can swing up and down at the end portions of five pairs of support arms 29 extending downward from the float support point shaft 28.

As shown to FIG. 1, FIG. 5, the fertilizer 5 is a horizontally hopper 31, four feeding mechanism 32, an electric blower 33, eight fertilizing hoses 34, and 8 Two small play machines 35 and the like. The hopper 31 stores particulate or powdery fertilizers. Each feeding mechanism 32 operates by the power transmitted via the time-strain transmission mechanism 36. And each feeding mechanism 32 draws out two sets of fertilizers by predetermined amount from the hopper 31 by the operation. The blower 33 operates with electric power from a battery (not shown) mounted in the traveling vehicle body 1. And the blower 33 generate | occur | produces the conveyance wind which conveys the fertilizer conveyed by each feeding mechanism 32 toward the mud surface of a faucet by the operation. Each fertilizing hose 34 guides each fertilizer 35 to which fertilizer conveyed by conveyance wind is carried out. Each implement 35 is arranged in each stationary float 24. Each of the implements 35 moves up and down together with each stop float 24 to form a fertilizer groove in the Ito part of the faucet at the time of work travel in which the stop float 24 is grounded. To guide.

The fertilizing device 5 controls each feeding mechanism 32 by intermittent operation of the second work clutch 38 included in the fertilizer transmission mechanism 36 and intermittent operation of the blower relay 39 provided in the electric circuit. ) And the blower 33 operate, and each feeding mechanism 32 and the blower 33 are switched to the non-operational state in which the operation stops. And in the operating state of the fertilizer 5, the fertilizer stored in the hopper 31 can be taken out by predetermined quantity, and can be supplied to the inside of the faucet in the earth.

As shown in FIGS. 1-3 and 5, the traveling vehicle body 1 is equipped with the drive part 40 in the rear part side.

The driving unit 40 includes a steering wheel 41 for steering the front wheel, a change in the setting of the engine speed, and a shift control of the main shift lever 42 and the sub transmission 10 that enable shifting operations of the main transmission 8. Sub shift lever 43 which enables the shift operation, brake pedal 44 which enables the braking operation of the brake 19, the lifting and lowering operation of the seedling planting apparatus 4, and the agent which enables switching of an operating state, etc. The display unit 47, the operator's driving seat 48, etc. which display various information, such as the 1st work lever 45, the 2nd work lever 46, the engine speed, and inform an operator, are provided.

The main shift lever 42 is disposed adjacent to the left direction of the steering wheel 41. The main shift lever 42 is a swing operation type that can swing in the front-rear direction and the left-right direction, and is linked to the operation axis (not shown) of the main transmission 8 through a mechanical linkage mechanism (not shown) for main shifting. It is. The main shift lever 42 has a neutral position, each shift position of five steps forward on the front side of the vehicle body than the neutral position, and reverses on the rear side of the vehicle body from the neutral position by the holding action of the detent unit (not shown). It is comprised so that a position can be maintained in each shift position of three steps, and the work interruption position adjacent to the horizontal side of a neutral position.

The auxiliary shift lever 43 is disposed adjacent to the left direction of the driver's seat 48. The sub transmission lever 43 is a swing operation type that can be switched to two positions, and is linked to an operation axis (not shown) of the sub transmission 10 through a mechanical linkage mechanism for sub transmission (not shown). The sub transmission device 10 is switched between the high speed state for moving travel and the low speed state for working travel in conjunction with the operation of the sub transmission lever 43.

The brake pedal 44 is disposed in the lower right front of the driver 40. The brake pedal 44 is a depression operation type that automatically returns to the depression release position, and is connected to an operation axis (not shown) of the brake 19 through the mechanical linkage mechanism 58 for brakes.

The first work lever 45 is a swing type that can be switched to each of the planting, lowering, neutral, rising, and automatic operation positions, and is disposed adjacent to the right direction of the driver's seat 48. The 2nd work lever 46 is an up-down rocking neutral return type | mold, and is arrange | positioned adjacent to the lower right side of the steering wheel 41. As shown in FIG.

The display unit 47 is disposed in front of the steering wheel 41 in the driving unit 40. The display unit 47 is provided with 47 A of liquid crystal display parts, various alarm lamps 47B which consist of LEDs, 47 b of notification buzzers, etc.

As shown in FIG. 2, the steering wheel 41 is a steering gear 50 which rotates integrally with the steering wheel 41 via the steering shaft 49, and a sector gear 51 that meshes with and cooperates with the steering gear 50. ), The steering member 52 which swings integrally with the sector gear 51, and the left and right through the left and right tie rods 54, etc., which span the steering arm 52 and the operation arms 53 of the front wheels 6A on either side. It is linked with the front wheel 6A.

The traveling vehicle body 1 is provided with the side clutch operation mechanism 55 which intermittently operates the left and right side clutch 17 in conjunction with the operation of the steering wheel 41. The side clutch operation mechanism 55 is provided with the left-right linkage rod 57 which connects the steering member 52 and the operation arms 56 of the left-right side clutch 17 so that interlocking is possible. The left and right linkage rods 57 are long holes for setting the relationship between the operation angle θ of the steering member 52 and the intermittent operation of the left and right side clutches 17 at a linkage point with the operation arm 56. 57a is provided.

According to the above configuration, when the operator rotates the steering wheel 41 from the straight position to the left direction, the steering member 52 swings from the straight position (reference angle) θo to the right direction in accordance with the rotational manipulation amount. . As a result, the left and right front wheels 6A are steered in the left turning direction from the straight position in accordance with the rotational manipulation amount of the steering wheel 41. In addition, the left and right side clutch 17 has the spring and the angle of each side clutch 17 until the steering member 52 reaches the 1st set angle (theta) of the right side from the straight position (theta) o. The connection state is maintained by the action of the long hole 57a of the linkage rod 57. Thereafter, when the steering member 52 swings from the first set angle θa on the right side to the second set angle θb, the side clutch 17 on the left side cooperates with this swing, and the left linkage rod ( 57) and the operation arm 56 on the left side, the state changes from the connected state to the disconnected state. On the other hand, the side clutch 17 on the right side is maintained in the connected state by the action of the spring of the side clutch 17 on the right side and the long hole 57a of the linkage rod 57 on the right side. As a result, as the direction change state of the traveling vehicle 1, transmission to the rear wheel 6B on the left side located inside the swing is interrupted to obtain a left swing state in which the turning radius of the traveling vehicle 1 becomes small.

When the operator rotates the steering wheel 41 in the right direction toward the straight position in this left swing state, the steering member 52 swings in the left direction toward the straight position θo in accordance with the rotational manipulation amount. Thereby, 6 A of front and rear wheels are steered toward a straight position according to the rotation operation amount of the steering wheel 41. FIG. And when the steering member 52 oscillates from the 2nd set angle (theta) b of the right side to the 1st set angle (theta) a, the side clutch 17 of the left side will link with this oscillation, and the left side linkage | column 17 And the spring action of the left side clutch 17 are switched to the connected state from the blocked state. On the other hand, the side clutch 17 on the right side is maintained in the connected state by the action of the spring of the side clutch 17 on the right side and the long hole 57a of the linkage rod 57 on the right side. Thereafter, the left and right side clutches 17 are springs of the respective side clutches 17 until the steering member 52 reaches the straight position θo from the first set angle θa on the right side. The connection state is maintained by the action of the elongated hole 57a of each linkage rod 57.

On the contrary, when the operator rotates the steering wheel 41 from the straight position to the right direction, the steering member 52 swings from the straight position (reference angle) θo to the left direction in accordance with this turning operation amount. As a result, the left and right front wheels 6A are steered in the right turning direction from the straight position in accordance with the rotational manipulation amount of the steering wheel 41. In addition, the left and right side clutch 17 has the springs and the angles of the respective side clutches 17 until the steering member 52 reaches the first set angle θa on the left side from the straight position θo. The connection state is maintained by the action of the long hole 57a of the linkage rod 57. Thereafter, when the steering member 52 swings from the first set angle θa on the left side to the second set angle θb, the side clutch 17 on the right side cooperates with this swing, and the right side linkage rod ( 57) and the operation arm 56 on the right side to switch from the connected state to the disconnected state. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the long hole 57a of the left side linkage rod 57. As a result, as the direction change state of the traveling vehicle body 1, transmission to the right rear wheel 6B located inside the swing is cut off, thereby obtaining a circumferential swing state in which the turning radius of the traveling vehicle body 1 becomes small.

When the operator rotates the steering wheel 41 in the left direction toward the straight position in this slewing state, the steering member 52 swings in the right direction toward the straight position θo in accordance with the rotational manipulation amount. Thereby, 6 A of front and rear wheels are steered toward a straight position according to the rotation operation amount of the steering wheel 41. FIG. And when the steering member 52 oscillates from the 2nd set angle (theta) b of the left side to the 1st set angle (theta) a, the side clutch 17 of the right side will link with this oscillation, and the right side linkage rod 57 And the spring action of the side clutch 17 on the right side, the state is switched from the blocked state to the connected state. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the long hole 57a of the left side linkage rod 57. Thereafter, the left and right side clutches 17 include the springs of the respective side clutches 17 until the steering member 52 reaches the straight position θo from the first set angle θa on the left side. The connection state is maintained by the action of the elongated hole 57a of each linkage rod 57.

The 2nd set angle (theta) b of right and left is basically the turning radius of the traveling vehicle body 1 in the left and right small swing states, and is an angle from which the half length of the working width W of the seedling planting apparatus 4 is obtained. Is set to.

As shown in FIG. 1, the traveling vehicle body 1 includes a preliminary seedling stacking unit 59 for storing a preliminary mat-like seedling. The preliminary seedling loading unit 59 is an inverted U-shaped preliminary seedling frame 59A and left and right sides of the preliminary seedling frame 59A as viewed from the front extending upward from the left and right both ends of the front part in the traveling vehicle body 1. The preliminary seedling stand 59B etc. of 4 sheets of left and right supported by the part are provided. Thereby, the preliminary seedling stacking unit 59 can divide and load eight mat-like seedlings by 4 left and right as a preliminary mat shape seedling.

As shown in FIG. 1, FIG. 2, FIG. 5, the traveling vehicle body 1 detects the operating position of the rotation sensor 60 which detects the output rotation speed of the engine 7, and the 1st work lever 45. FIG. The seedling planting apparatus (FIG. 1) shows a vertical swing angle of the second lever sensor 62 and the link mechanism 2 which detect the operation of the first lever sensor 61, the second work lever 46 in the vertical direction and the front-rear direction. 4) the height sensor 63 which detects as a height position of the height, the float sensor 64 which detects the up-down rocking angle of the stop float (henceforth a center float) 24 of a left-right center, and a main shift with respect to a work interruption position. A steering angle switch 66 for detecting movement of the lever 42, a steering angle sensor 66 for detecting the swinging operation angle from the straight position θo of the steering member 52 as the steering angle of the front wheel 6A, and a sub transmission device. The vehicle speed sensor 67 which detects the output rotation speed of 10 as a vehicle speed, and the fuel stored in the vehicle-mounted fuel tank (not shown) The liquid level sensor for detecting the height (68), and the like.

As shown in FIG. 5, the traveling vehicle body 1 includes an electronic control unit for main control 70 (hereinafter referred to as a main ECU) 70, an electronic control unit for engine (hereinafter referred to as an engine ECU) 71, and the like. It is mounted. The main ECU 70 and the engine ECU 71 include a microprocessor having a CPU, an EEPROM, and the like.

Various electrical appliances including the ECUs 70 and 71, the sensors 60 to 68, and the like are connected to each other via the in-vehicle LAN or the power line such as a controller area network (CAN) and can be energized.

The main ECU 70 is provided with a lift controller 70A that controls the lift of the seedling planting apparatus 4. The lifting control unit 70A has various control programs for enabling the lifting control of the seedling planting apparatus 4 and the like. The lift control unit 70A controls the lift of the seedling planting device 4 by controlling the operation of the lift valve unit 74 that controls the flow of oil to the lift cylinder 3.

As shown in FIG. 1, FIG. 5, the elevation control part 70A is based on the output of the 1st lever sensor 61 and the height sensor 63, when the artificial operation of the 1st work lever 45 is performed. 1st lifting control which raises and lowers the seedling planting apparatus 4 is performed.

Hereinafter, the control operation in the first lift control of the lift controller 70A will be described.

When the lift control unit 70A detects an operation of the first work lever 45 to the lifted position based on the output of the first lever sensor 61, the lift control unit 70A performs a lift process of raising the seedling planting device 4. In the lifting process, the lifting control unit 70A switches the valve unit 74 to a supply state for supplying oil to the lifting cylinder 3, thereby causing the lifting cylinder 3 to contract and lift the seedling planting device 4. Let's do it.

The lifting control unit 70A detects an operation to the lowering position of the first work lever 45 based on the output of the first lever sensor 61, and performs the lowering process of lowering the seedling planting apparatus 4. In the lowering process, the lifting control unit 70A switches the valve unit 74 to a discharge state for discharging oil from the lifting cylinder 3, thereby extending and lowering the seedling planting device 4 by extending the lifting cylinder 3. Let's do it.

The lifting control unit 70A stops the seedling planting apparatus 4 at the height position at that time when detecting the operation to the neutral position of the first work lever 45 based on the output of the first lever sensor 61. The lifting stop processing is performed. In the lift stop processing, the lift control unit 70A stops the expansion and contraction operation of the lift cylinder 3 by switching the valve unit 74 to the discharge stop state for stopping the supply / discharge of oil to the lift cylinder 3. The planting apparatus 4 is stopped.

When the lifting control unit 70A detects the arrival of the seedling planting apparatus 4 to the upper limit position based on the output of the height sensor 63 during the above-described lifting processing, the lifting control unit 70A performs the lifting stop processing described above. The seedling planting apparatus 4 is stopped in an upper limit position.

When the lifting control unit 70A detects reaching the lower limit position of the seedling planting apparatus 4 based on the output of the height sensor 63 during the above-described lowering process, the lifting control unit 70A performs the lifting stop processing described above. The seedling planting apparatus 4 is stopped at a lower limit position.

That is, the operator operates the 1st work lever 45 by the control operation | movement in the 1st lifting control of 70A of lifting | lowering control parts, and it makes the seedling planting device 4 between an upper limit position and a lower limit position. Can be moved up and down to any height position.

The lift control unit 70A detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 61, and the second lever sensor 62 and the height sensor 63. ) And a second lift control for lifting and lowering the seedling planting device 4 based on the output of the float sensor 64.

Hereinafter, the control operation in the second lift control of the lift controller 70A will be described.

When the lift control unit 70A detects the operation under the second work lever 46 based on the output of the second lever sensor 62, the seedling planting device 4 is controlled to the center float 24. When the seedling planting apparatus 4 reaches the working height position of the seedling planting apparatus 4 based on the output of the float sensor 64, the automatic descending process of lowering to the work height position corresponding to the angle is performed. Automatic lifting and lowering processing to be held at the work height position is started. In the automatic lowering process, the lifting control unit 70A has a vertical swing angle of the center float 24 that matches the control target angle based on the output of the float sensor 64 (the output of the float sensor 64 is the control target angle). The above-described lowering process is performed until it detects the thing falling within the dead band width of. In the automatic elevating process, the elevating control unit 70A controls the operation of the valve unit 74 to expand and contract the elevating cylinder 3 so that the state in which the output of the float sensor 64 matches the control target angle is maintained. , Seedling planting device 4 is maintained at the working height position.

When the lifting control unit 70A detects an operation to the upper side of the second work lever 46 based on the output of the second lever sensor 62, the lifting control unit 70A terminates the automatic lifting and lowering the seedling planting device 4. An automatic ascending process is performed to ascend to. In the automatic raising process, the raising and lowering control unit 70A performs the above-described raising process until it detects the arrival of the seedling planting apparatus 4 to the upper limit position based on the output of the height sensor 63, and the seedling planting apparatus ( When the arrival at the upper limit position of 4) is detected, the lifting stop processing described above is performed to stop the seedling planting apparatus 4 at the upper limit position.

That is, by the control operation in the 2nd lifting control of the lifting control part 70A, an operator performs operation of the 2nd work lever 46, and automatically sets the seedling planting apparatus 4 to an upper limit position or a work height position. It can move up and down, and can hold the seedling planting apparatus 4 in an upper limit position or a work height position.

Thereby, the seedling planting apparatus 4 is center-float irrespective of the pitching of the traveling vehicle body 1 resulting from the ups and downs of the faucet, etc. at the time of the work travel which placed the seedling planting apparatus 4 in the work height position. It can hold | maintain at the working height position corresponding to the control target angle of (24).

In addition, the work height position (control target angle of the center float 24) of the seedling planting apparatus 4 is arbitrary height positions by the artificial operation of the work height setter 75 arrange | positioned at the driving part 40. You can change the setting.

As shown in FIG. 5, the main ECU 70 is equipped with the 1st operation control part 70B which controls operation | movement of the seedling planting apparatus 4 and the fertilizing apparatus 5. As shown in FIG. The 1st operation control part 70B has various control programs, etc. which enable the operation control of the seedling planting apparatus 4 and the fertilizing apparatus 5, and the like. The first operation control unit 70B includes an electric first clutch motor 76 for intermittently operating the first work clutch 22, an electric second clutch motor 77 for intermittently operating the second work clutch 38, and By controlling the operation of the blower relay 39, the operation of the seedling planting apparatus 4 and the fertilizing apparatus 5 is controlled.

As shown in FIG. 1, FIG. 5, the 1st operation control part 70B outputs the 1st lever sensor 61 and the float sensor 64, when the artificial operation of the 1st work lever 45 is performed. Based on the seedling planting apparatus 4 and the fertilization apparatus 5, the 1st operation control which controls the operation | movement is based on.

Hereinafter, the control operation in the first operation control of the first operation control unit 70B will be described.

Based on the output of the 1st lever sensor 61, the 1st operation control part 70B detects the operation from the neutral position of the 1st work lever 45 to a falling position, and then to the output of the float sensor 64. FIG. When the ground of the center float 24 is detected on the basis, a blower start process for starting the blower 33 is performed. In the blower start-up process, the 1st operation control part 70B energizes the blower relay 39 and switches the blower relay 39 to the closed state which allows the electricity supply to the blower 33, and starts the blower 33. FIG. Let's do it.

Then, when the 1st operation control part 70B detects operation to the planting position of the 1st work lever 45 based on the output of the 1st lever sensor 61, the seedling planting apparatus 4 and a fertilizing apparatus Operation start processing for switching (5) from the stopped state to the operating state is performed. In the operation start processing, the first operation control unit 70B controls the operation of the first clutch motor 76 and the second clutch motor 77 to operate the first work clutch 22 and the second work clutch 38. By switching from the off state to the on state, the seedling planting apparatus 4 and the fertilizing apparatus 5 are switched from the stationary state to the operating state.

Then, the 1st operation control part 70B is planting of the 1st working lever 45 based on the output of the 1st lever sensor 61 in the operating state of the seedling planting apparatus 4 and the fertilizing apparatus 5. When the operation from the position to the lowered position is detected, a blow stop process for stopping the blower 33 and an operation stop process for switching the seedling planting device 4 and the fertilizer 5 from the operating state to the stopped state are performed. In the blower stop processing, the 1st operation control part 70B stops the electricity supply to the blower relay 39, and switches the blower relay 39 to the open state which prevents electricity supply to the blower 33, and blows 33 To stop. In the operation stop processing, the first operation control unit 70B controls the operation of the first clutch motor 76 and the second clutch motor 77 to operate the first work clutch 22 and the second work clutch 38. By switching from the on state to the off state, the seedling planting apparatus 4 and the fertilizing apparatus 5 are switched from the operating state to the stationary state.

That is, by the control operation in the 1st operation control of the 1st operation control part 70B, an operator performs operation of the 1st operation lever 45, and the seedling planting apparatus 4 and the fertilizing apparatus 5 are operated. You can switch between operating and stopped states.

When the 1st operation control part 70B detects operation to the automatic position of the 1st work lever 45 based on the output of the 1st lever sensor 61, the 1st operation control part 70B outputs the 2nd lever sensor 62, etc. Based on the seedling planting apparatus 4 and the fertilizing apparatus 5, 2nd operation control which performs the operation is performed based on this.

Hereinafter, the control operation in the second operation control of the first operation control unit 70B will be described.

The 1st operation control part 70B detects the operation to the automatic position of the 1st work lever 45 based on the output of the 1st lever sensor 61, or after outputting to the output of the 2nd lever sensor 62. FIG. After detecting the operation to the upper side of the second work lever 46 based on the above, if the first operation to the lower side of the second work lever 46 is detected based on the output of the second lever sensor 62, One blower start process is performed. Subsequently, when the second operation below the second work lever 46 is detected based on the output of the second lever sensor 62, the seedling planting apparatus 4 may be based on the output of the float sensor 64. In response to detecting the arrival at the working height position, the above-described start operation processing is performed.

The 1st operation control part 70B is operation to the upper direction of the 2nd work lever 46 based on the output of the 2nd lever sensor 62 in the operating state of the seedling planting apparatus 4 and the fertilizing apparatus 5. Is detected, the blower stop processing and the operation stop processing described above are performed.

That is, by the control operation in the 2nd operation control of the 1st operation control part 70B, an operator operates the 2nd operation lever 46, and, as a result, the seedling planting apparatus 4 and the fertilizer 5 are operated. You can switch between operating and stopped states.

2 and 5, the main ECU 70 controls the operation of the seedling planting apparatus 4 and the fertilizing apparatus 5 based on the detection of the stop switch 65 or the steering angle sensor 66. 2nd operation control part 70C is provided. 2nd operation control part 70C has various control programs, etc. which enable the operation control of the seedling planting apparatus 4 and the fertilizing apparatus 5, and the like. The second operation control unit 70C controls the operation of the seedling planting device 4 and the fertilizing device 5 by outputting control commands to the elevation control unit 70A and the first operation control unit 70B.

When the interruption switch 65 detects the movement of the main shift lever 42 to the work interruption position, the second operation control unit 70C moves the seedling planting device 4 and the fertilizer 5 into the non-working state. The seedling planting apparatus 4 and the fertilizing apparatus 5 work when the 1st switching control which switches is performed, and the interruption switch 65 detects the movement of the main shift lever 42 from a work interruption position. Second switching control for switching to the state is executed.

First, the control operation in the first switching control of the second operation control unit 70C will be described.

In the working state of the seedling planting apparatus 4 and the fertilizing apparatus 5, the 2nd operation control part 70C moves the main shift lever 42 to the work interruption position based on the detection of the interruption switch 65. FIG. When it detects, it is determined based on the output of the 1st lever sensor 61 whether the operation position of the 1st working lever 45 is a planting position or an automatic position.

If the operation position of the first work lever 45 is a planting position, the lifting control unit 70A is instructed to execute the above-mentioned automatic raising processing, and the execution of the blower stop processing and the operation stopping processing described above is executed in the first operating control unit 70B. Command).

If the operation position of the first work lever 45 is an automatic position, in addition to the control operation at the planting position described above, the end of the above-described automatic elevating processing is instructed to the elevating control section 70A.

Thereby, the seedling planting apparatus 4 and the fertilizing apparatus 5 are located in the upper limit position, and the seedling planting apparatus 4 is located in the upper limit position in connection with the rocking | fluctuation operation to the work interruption position of the main shift lever 42. (4) and the fertilizer 5 can be automatically switched to the non-working state in which the stationary state is stopped.

Next, the control operation in the second switching control of the second operation control unit 70C will be described.

In the non-working state of the seedling planting apparatus 4 and the fertilizing apparatus 5, the 2nd operation control part 70C moves from the work interruption position of the main shift lever 42 based on the detection of the interruption switch 65. Is detected, it is determined based on the output of the first lever sensor 61 whether the operation position of the first work lever 45 is a planting position or an automatic position.

If the operation position of the first work lever 45 is a planting position, the above-described automatic lowering processing is instructed to the lifting control unit 70A, and then the center float 24 is based on the output of the float sensor 64. When grounding is detected, the first operation control unit 70B commands the execution of the above-described blower start-up process. Then, when the arrival of the seedling planting apparatus 4 to the work height position is detected based on the output of the float sensor 64, the 1st operation control part 70B is instruct | indicated of execution of the operation start process mentioned above.

If the operation position of the 1st work lever 45 is an automatic position, in addition to the control operation in the said planting position, execution of the above-mentioned automatic raising / lowering process is detected when the arrival of the seedling planting apparatus 4 to the work height position is detected. Command is given to the lift control unit 70A.

Thereby, the seedling planting apparatus 4 and the fertilizing apparatus 5 are connected to the rocking | operation operation | movement from the work interruption position of the main shift lever 42, and the seedling planting apparatus 4 is located in a working height position, and a seedling planting is planted. The apparatus 4 and the fertilizing apparatus 5 can be automatically switched to the working state in which the operating state is brought into operation.

That is, when it is necessary during the seedling planting operation to supply seedlings from the preliminary seedling stacking unit 59 to the seedling planting apparatus 4 or to supply the fertilizer to the fertilizer 5 from the vehicle-mounted fertilizer bag. The operator travels by operating the main shift lever 42 to the work interruption position while performing a travel stop operation by operating the neutral shift lever 42 to the neutral position, depressing the brake pedal 44, or the like. While the vehicle body 1 can be stopped running, the seedling planting device 4 and the fertilizing device 5 can be switched from the working state to the non-working state.

As a result, the operator can quickly perform the replenishment work. And in the non-working state of the seedling planting apparatus 4, since the seedling planting apparatus 4 raises to an upper limit position and the seedling loading stand 25 is close to the driving part 40, the operator has the driving part 40 It is easy to carry out seedling supply to the seedling loading stand 25 from the.

Then, when the replenishment work is finished, the operator operates the main shift lever 42 from the work stop position to the neutral position, thereby switching the seedling planting device 4 and the fertilizing device 5 from the non-working state to the work state. By moving the main shift lever 42 in the forward direction from the neutral position, the traveling vehicle body 1 can be moved forward, and the seedling planting device 4 and the fertilizing device 5 can be driven. .

As a result, the operator can quickly resume the seedling planting work after the work interruption for carrying out the replenishment work with a simple operation.

The second operation control unit 70C is switched to the swing interlocking state and the non-swing interlocking state based on the operation of the manual changeover switch 78 disposed on the driving unit 40. In the swing interlocking state, the second operation control unit 70C executes the first switching control or the second switching control based on the detection of the steering angle sensor 66 instead of the detection of the stop switch 65.

The steering angle sensor 66 shifts the swing from the first setting angle θa on the right side of the steering member 52 to the second setting angle θb from the left turning state of the traveling vehicle body 1 to the left turning state. Detection as. The steering angle sensor 66 shifts the rocking motion from the second set angle θb on the right side of the steering member 52 to the first set angle θa from the left turn state of the traveling vehicle body 1 to the left turn state. Detection as. The steering angle sensor 66 shifts the swing from the first setting angle θa on the left side of the steering member 52 to the second setting angle θb from the right turning state of the traveling vehicle body 1 to the right turning state. Detection as. The steering angle sensor 66 shifts the swing from the second set angle θb on the left side of the steering member 52 to the first set angle θa from the right turn state of the traveling vehicle body 1 to the right turn state. Detection as.

In the turning interlocking state, when the steering angle sensor 66 detects the shift from the left turning state of the traveling vehicle body 1 to the left turning state or from the right turning state to the right turning state, In conjunction with the detection, the first planting control is performed to switch the seedling planting apparatus 4 and the fertilizing apparatus 5 to the non-working state. In addition, when the steering angle sensor 66 detects the shift from the left turn state of the traveling vehicle 1 to the left turn state or the shift from the right turn state to the right turn state, the second operation control unit 70C detects this. In conjunction with, the second switching control is executed to switch the seedling planting apparatus 4 and the fertilization apparatus 5 to the working state.

That is, when the operator performs the seedling planting work by the reciprocating planting, if the operator switches the second operation control part 70C to the turning interlocking state by operating the changeover switch 78, the operator makes a turn around the traveling vehicle body 1 in the hurdle. At the start of the dung turning, the steering wheel 41 rotates the driving state of the traveling vehicle body 1 from the straight state to the left turning state or the right turning state by interlocking operation. Thus, the seedling planting apparatus 4 and the fertilizing apparatus 5 can be switched from the working state to the non-working state. In addition, at the end of the turnaround turn, the driving state of the traveling vehicle body 1 is changed from the left turn turn or the right turn turn straight to the straight state by the turning operation of the steering wheel 41. In conjunction, the seedling planting apparatus 4 and the fertilizing apparatus 5 can be switched from a non-working state to a working state.

The engine ECU 71 uses the engine control unit 71A for controlling the fuel injection amount and the like and the fuel injection amount calculation unit 71B for calculating the fuel injection amount based on the outputs of the rotation sensor 60 and the main shift lever sensor 61 and the like. Equipped. The engine control unit 71A has various control programs for enabling control of the fuel injection amount and the like. The fuel injection amount calculation unit 71B has various control programs for enabling the calculation of the fuel injection amount and the like.

As shown in FIG. 1, FIG. 2, and FIG. 5, the traveling vehicle body 1 is a manual selection switch 80 which enables selection of the manual driving mode and the automatic driving mode of a driving mode, and 6 A of left and right front wheels. Positioning unit 83 for measuring the position and orientation of the automatic steering unit 81 for enabling automatic steering of the vehicle, the electric transmission motor 82 for enabling automatic operation of the main shift lever 42, and the traveling vehicle body 1; ).

The automatic steering unit 81 includes an electric steering motor 84 and a gear mechanism 85 for transmitting power from the steering motor 84 to the steering shaft 49.

The positioning unit 83 is a satellite navigation device that measures the position and orientation of the traveling vehicle body 1 using a known Global Positioning System (GPS), which is an example of a global navigation satellite system (GNSS). 86). The positioning method using GPS includes DGPS (Differential GPS), RTK-GPS (Real Time Kinematic GPS) and the like. In this embodiment, RTK-GPS suitable for positioning of a moving object is employed.

The satellite navigation device 86 includes an antenna unit 87 for satellite navigation that receives radio waves transmitted from a GPS satellite (not shown) and positioning data transmitted from a reference station (not shown) installed at a known position. Doing. The reference station transmits positioning data obtained by receiving radio waves from the GPS satellites to the satellite navigation device 86. The satellite navigation device 86 calculates the position and orientation of the traveling vehicle body 1 based on the positioning data obtained by receiving radio waves from the GPS satellites and the positioning data from the reference station.

The antenna unit 87 is arrange | positioned at the left and right center part of the upper end in 59 A of preliminary seedling frames so that the reception sensitivity of the electric wave from a GPS satellite may become high. Therefore, the position error and orientation of the traveling vehicle body 1 measured using GPS include the positioning error resulting from the position shift of the antenna unit 87 accompanying the yawing, pitching, or rolling of the traveling vehicle body 1. have.

Therefore, in order to enable the correction to remove the positioning error, the antenna unit 87 has a three-axis gyroscope (not shown) and a three-way acceleration sensor (not shown) to drive the vehicle body ( An inertial measurement unit (IMU) 88 for measuring yaw angle, pitch angle, roll angle, and the like of 1) is provided.

As shown in FIG. 5, FIG. 6, the main ECU 70 is a storage unit 70D in which map data indicating the traveling route R, the auxiliary work point P0, etc. in the pavement set in advance is written. And an autonomous driving control unit 70E which performs autonomous driving of the vehicle body on the autonomous driving path Ra included in the driving path R based on the positioning result of the driving path R and the positioning unit 83, have. The automatic driving control unit 70E has various control programs for appropriately controlling the operations of the speed change motor 82, the steering motor 84, and the like.

In the traveling path R of this pavement, the first travel travel paths Rb1 to the seventh work travel path Rb7 as the plurality of work travel paths Rb, and the first travel travel as the plurality of travel travel paths Rc. The path Rc1 to the tenth moving travel path Rc10, the plurality of work starting points P1, the plurality of work ending points P2, and the like are included. Among the plurality of work travel paths Rb, the first work travel path Rb1 to the third work travel path Rb3 are the paths of the work path heading from the heads adjacent to the auxiliary work point P0 toward the heads opposite to the heads. It is a reciprocating work path | route which makes Rba and the return work path | route Rbb adjacent to this path | route work path | route Rba the work travel path | route Rb of one stroke. Among the plurality of moving travel paths Rc, the second moving travel paths Rc2 to sixth moving travel paths Rc6 are dungare turning paths that connect the backward working path Rba and the return working path Rbb, The seventh moving travel path Rc7 to the tenth moving travel path Rc10 are switch turn paths that connect the third work travel path Rb3 to the seventh work travel path Rb7.

Auxiliary work point P0 is a specific point suitable for performing auxiliary work regarding the rapid dispatch of the vehicle payload in which the vehicle payload is changed in accordance with the traveling of the passenger rice transplanter. The above-mentioned vehicle payload in this passenger rice transplanter is fuel, a seedling (an example of agricultural material), and a fertilizer (an example of agricultural material), and an auxiliary operation is a supply operation of either fuel, seedling, and fertilizer for a passenger rice transplanter. . The auxiliary work point P0 of this pavement is specified at a point adjacent to the entry / exit path Rz for the pavement, and the auxiliary work point P0 is placed with a reserve fuel, seedlings, and fertilizer. An assistant worker is waiting to perform an auxiliary operation for a passenger rice transplanter.

When the autonomous driving mode is selected by the manipulating operation of the selection switch 80, the autonomous driving control unit 70E selects each reciprocating work route (first work traveling route to third work) from the above-described traveling route R. FIG. The driving route (Rb1 to Rb3) is set as the automatic driving route Ra, and automatic work traveling control is performed to automatically travel the passenger rice transplanter in this automatic driving route Ra. When the manual driving mode is selected by the manipulating operation of the selection switch 80, the automatic driving control unit 70E stops the execution of the automatic work running control.

Hereinafter, the control operation in automatic job travel control of the automatic drive control unit 70E will be described.

In the automatic operation control control 70E, first, in the automatic work travel control, the traveling vehicle body 1 is the first automatic driving path by manual driving based on the positioning result of the traveling path R and the positioning unit 83. It is determined whether or not it has moved to the work start point P1 in the backward work path Rba of the first work travel path Rb1 which is Ra.

The autonomous driving is not performed until the traveling vehicle 1 moves to the work start point P1. When the traveling vehicle 1 moves to the work start point P1, autonomous driving is started.

In the autonomous driving, based on the positioning result of the traveling route R and the positioning unit 83, it is determined whether the current position and the current orientation of the traveling vehicle body 1 are within the allowable range of the route work path Rba; At the same time, it is determined whether the traveling vehicle body 1 has moved to the work end point P2 of the work path Rba in the first work travel path Rb1.

If either or both of the current position and the current orientation of the traveling vehicle 1 is out of the allowable range of the backward working path Rba, until the traveling vehicle 1 moves to the work end point P2, The trajectory correction process is performed to return the current position and the current orientation of the traveling vehicle 1 to within the allowable range of the path work path Rba.

In the trajectory correction process, the deviation amount from the path work path Rba of either or both of the current position and the current orientation which is out of the allowable range is obtained. In addition, based on the output of the vehicle speed sensor 67, the operation of the transmission motor 82 is controlled so that the vehicle speed is lowered from the normal traveling speed to the track correcting speed. Based on the obtained deviation amount and the correction data for track correction written in the storage unit 70D, the control target steering angle for right and left front wheels 6A is determined, and the steering angle sensor ( The operation of the steering motor 84 is controlled based on the output of 66. After that, based on the positioning result of the traveling route R and the positioning unit 83, when detecting that the current position and the current orientation of the traveling vehicle body 1 have returned to within the allowable range of the route work path Rba, the vehicle speed Based on the output of the sensor 67, the operation of the transmission motor 82 is controlled so that the vehicle speed rises from the track correction speed to the normal travel speed.

When the traveling vehicle body 1 moves to the work end point P2, the automatic driving on the path work path Rba of the first work travel path Rb1 ends.

After the completion of the automatic driving, based on the positioning result of the traveling route R and the positioning unit 83, the first vehicle traveling route 1, in which the traveling vehicle body 1 is the next automatic driving route Ra by manual driving ( It is determined whether or not it has moved to the work start point P1 in the work path Rbb by the ear of Rb1).

The autonomous driving is not performed until the traveling vehicle 1 moves to the work start point P1. When the traveling vehicle 1 moves to the work start point P1, autonomous driving is started.

In the automatic operation in this return work path Rbb, the control operation similar to the control operation in the automatic operation of the above-mentioned working path work path Rba is performed, and the traveling vehicle body 1 moves to the work end point P2. If so, the automatic operation on the work path Rbb to the return of the first work travel path Rb1 ends.

After the completion of the automatic driving in the return work path Rbb, based on the positioning result of the traveling route R and the positioning unit 83, the traveling vehicle body 1 is driven by the manual driving to the next automatic driving route ( It is determined whether or not it has moved to the work start point P1 in the backward work path Rba of the second work travel path Rb2 which is Ra).

The autonomous driving is not performed until the traveling vehicle 1 moves to the work start point P1. When the traveling vehicle 1 moves to the work start point P1, autonomous driving is started.

In the automatic operation in the second work travel path Rb2, the control operation similar to the control operation in the automatic drive of the first work travel path Rb1 described above is performed, and the traveling vehicle body 1 performs the second work travel path. When it moves to the work end point P2 of the work path Rbb by the return home in Rb2, automatic operation in the 2nd work travel path Rb2 is complete | finished.

After the completion of the automatic driving in the second work travel route Rb2, the traveling vehicle body 1 performs the next automatic driving by manual driving based on the positioning result of the traveling route R and the positioning unit 83. It is determined whether or not it has moved to the work start point P1 in the backward work path Rba of the third work travel path Rb3 which is the path Ra.

The autonomous driving is not performed until the traveling vehicle 1 moves to the work start point P1. When the traveling vehicle 1 moves to the work start point P1, autonomous driving is started.

In the automatic operation on the third work travel path Rb3, the same control operation as the control operation in the automatic drive of the first work travel path Rb1 and the second work travel path Rb2 described above is performed, and the travel vehicle body When (1) moves to the work end point P2 of the work route Rbb to the home in the third work travel route Rb3, the automatic operation on the third work travel route Rb3 ends and the automatic work End driving control.

That is, when the autonomous driving mode is selected, the traveling vehicle body 1 automatically travels the respective work traveling paths Rb1 to Rb3 by the control operation of the automatic driving control unit 70E, so that the operator runs the traveling vehicle body 1. Does not need to be steered so as not to deviate from each of the work travel paths Rb1 to Rb3. As a result, the labor force of an operator required at the time of agricultural work using the rice transplanter in a package can be reduced.

As shown in FIG. 5, the traveling vehicle body 1 includes eight seedling replenishment sensors 90 for detecting whether the upper end of each mat-shaped seedling stacked in eight rows on the seedling loading table 25 has reached the seedling replenishment position. ) And a fertilizer replenishment sensor 91 for detecting whether the remaining amount of fertilizer stored in the hopper 31 has reached a fertilizer replenishment amount.

The main ECU 70 includes a notification control unit 70F that prompts the operator to supply seedlings or fertilizers based on the output of each seedling diffusion sensor 90 or the output of the fertilizer diffusion sensor 91. When the notification control part 70F detects that the upper end of any one of the mat-like seedlings stacked in 8 rows on the seedling loading table 25 has reached the seedling replenishing position, based on the output of each seedling replenishment sensor 90, The seedling supply alarm lamp 47B and the notification buzzer 47C in the unit 47 are operated to prompt the operator to supply the mat-shaped seedlings to the seedling loading table 25. Then, based on the output of each seedling replenishment sensor 90, when detecting that the upper end of the all mat-like seedlings mounted on the seedling loading stand 25 exceeded the seedling replenishment position, the seedling replenishment warning lamp 47B And operation of the notification buzzer 47C. When the notification control part 70F detects that the remaining amount of fertilizer has reached the amount of fertilizer replenishment based on the output of the fertilizer replenishment sensor 91, the fertilizer replenishment warning lamp 47B and the notification buzzer (in the display unit 47) 47C) is operated to prompt the operator to supply fertilizer to the hopper 31. Then, based on the output of each fertilizer replenishment sensor 91, when it detects that the residual amount of fertilizer exceeded the fertilizer replenishment amount, operation | movement of the fertilizer replenishment warning lamp 47B and notification buzzer 47C is stopped.

The traveling vehicle body 1 is provided with the daytime sensor 92 which detects the gear shift stage of the weekly speed changer 21. In the driving unit 40, a first input unit 93A for inputting the number of sheets of mat-like seedlings stacked on the seedling loading table 25 and the preliminary seedling loading unit 59, and the input amount of the fertilizer introduced into the hopper 31. The input device 93 which has the 2nd input part 93B which inputs is provided. The seedling planting by the each planting mechanism 27 is changed to the seedling planting apparatus 4 by changing the height position of the seedling loading stand 25 with respect to each planting mechanism 27 in conjunction with the operation of the seedling quantity setting member 94. Seedling quantity adjusting mechanism (not shown) which adjusts seedling quantity from each mat-shaped seedling of the loading table 25, seedling quantity sensor 95 which detects the operation position of seedling quantity setting member 94, horizontal feed amount setting Seedling loading table by each planting mechanism 27 by changing the transverse feed amount of the seedling loading stand 25 by the horizontal feeding mechanism with respect to the planting stroke of each planting mechanism 27 in conjunction with operation of the member 96 ( The horizontal feed adjustment mechanism (not shown) which adjusts the seedling intake from each mat-like seedling of 25) and the horizontal feed amount sensor 97 which detect the operation position of the horizontal feed amount setting member 96 are provided. The fertilizer 5 has a feeding amount adjusting mechanism (not shown) for adjusting the fertilizer feeding amount of each feeding mechanism 32 in conjunction with the operation of the feeding amount setting member 98, and the feeding amount setting member 98. The feeding amount sensor 99 which detects the operation position of this is provided.

As shown in Figs. 1 and 5 to 7, the main ECU 70 includes a vehicle amount calculation unit 70G having a vehicle payload calculation control program and the like, a change amount estimating unit 70H having a vehicle payload estimation control program and the like. ) And a work running determination unit 70K having a control program for continuing determination of work running and the like.

The vehicle payload calculating unit 70G calculates the remaining amount of fuel (an example of the vehicle payload) in the traveling vehicle body 1 based on the output of the liquid level sensor 68 described above. The vehicle-mounting amount calculating unit 70G is a moving distance of the traveling vehicle body 1 based on the input value by the first input unit 93A, the output of the positioning unit 83, the output of the weekly sensor 92, the seedling quantity sensor ( Based on the output of the 95 and the output of the horizontal feed amount sensor 97, the remaining amount of seedlings (an example of the vehicle payload) in the traveling vehicle body 1 is calculated. The vehicle payload calculating unit 70G is based on the input value by the second input unit 93B, the moving distance of the traveling vehicle body 1 based on the output of the positioning unit 83, and the output of the feeding amount sensor 99. The remaining amount (an example of the vehicle payload) of the fertilizer in the traveling vehicle body 1 is calculated.

The change amount estimating unit 70H is the second to become the next work travel path Rb when the current work travel path Rb is the first work travel path Rb1 or the second work travel path Rb2. Since the work travel path Rb2 or the third work travel path Rb3 is the reciprocating work automatic driving path Ra, the fuel injection amount calculation unit 71B during the execution of the automatic work travel control in the current work travel path Rb. Based on the fuel consumption per unit travel distance based on the output of the vehicle and the output of the positioning unit 83, and the travel distance of the traveling vehicle body 1 in the next work travel route (return work route) Rb, The amount of change of fuel in the work travel path (return work path) Rb is estimated. Moreover, the seedling consumption per unit traveling distance based on the output of the daytime sensor 92, the output of the seedling quantity sensor 95, and the output of the horizontal feed amount sensor 97, and the following work travel path (round trip work path) (Rb) Based on the moving distance of the traveling vehicle body 1 in), a change amount of the seedlings in the next work travel path (return work path) Rb is estimated. Moreover, based on the fertilizer consumption per unit traveling distance based on the output of the feeding amount sensor 99, and the moving distance of the traveling vehicle body 1 in the next work travel path (return work path) Rb, The amount of change of fertilizer in the work travel path (return work path) Rb is estimated.

When the current work travel path Rb is the third work travel path Rb3, the change amount estimating unit 70H has the present work travel path Rb because the next work travel path Rb is the fourth work travel path Rb4. During the execution of the automatic work travel control in the work travel path Rb, the fuel consumption per unit travel distance based on the output of the fuel injection amount calculation unit 71B and the output of the positioning unit 83, and the next work travel path Rb. Based on the moving distance of the traveling vehicle body 1 in the (fourth work travel path Rb4), the amount of change of fuel in the next work travel path Rb (fourth work travel path Rb4) is estimated. do. Moreover, the seedling consumption per unit traveling distance based on the output of the daytime sensor 92, the output of the seedling quantity sensor 95, and the output of the horizontal feed amount sensor 97, and the following work travel path Rb (fourth job Based on the movement distance of the traveling vehicle body 1 in the travel route Rb4, the amount of seedling change in the next work travel route Rb (fourth work travel route Rb4) is estimated. Further, the fertilizer consumption per unit travel distance based on the output of the feeding amount sensor 99 and the travel distance of the traveling vehicle body 1 in the next work travel path Rb (fourth work travel path Rb4). Based on this, the change amount of the fertilizer in the next work travel path Rb (fourth work travel path Rb4) is estimated.

When the current work travel path Rb is the first work travel path Rb1 to the third work travel path Rb3, the work travel determination unit 70K determines the remaining amount of fuel determined by the vehicle payload calculation unit 70G. And a first work travel determination that determines whether the work travel to the work end point P2 of the next work travel path Rb is possible on the basis of the change amount of fuel estimated by the change amount estimating unit 70H. The process is performed. Moreover, based on the residual amount of the seedling calculated | required by the vehicle-mounted amount calculating part 70G, and the amount of change of the seedling which the change amount estimation part 70H estimated, the operation | work running to the work | work end point P2 of the following work travel path | route Rb is carried out. A second work travel determination process is performed to determine whether or not continuation is possible. Moreover, the work travel to the work end point P2 of the next work travel path Rb is based on the remaining amount of fertilizer obtained by the onboard calculation unit 70G and the change amount of fertilizer estimated by the change amount estimating unit 70H. A third work travel determination process is performed to determine whether or not continuation is possible.

When the current work travel path Rb is the fourth work travel path Rb4 to the sixth work travel path Rb6, the work travel determination unit 70K determines the remaining amount of fuel determined by the vehicle payload calculation unit 70G. Based on the fourth work travel determination process for determining whether the work travel can be continued or not and the fifth work travel determination for determining whether the work travel can be continued on the basis of the remaining amount of seedlings determined by the onboard calculation unit 70G. The sixth work travel determination process is performed to determine whether the work travel can be continued on the basis of the processing and the remaining amount of fertilizer determined by the onboard computing unit 70G.

The notification control part 70F judges that it is impossible to continue work travel to the work end point P2 of the next work travel path Rb in the first work travel determination process, or in the fourth work travel determination process. When it is determined that continuation of work travel is impossible, the indicator 100A of the center mascot 100 disposed at the left and right center positions of the front end portion of the traveling vehicle body 1 flashes as the fuel request notifier 101. Let's do it. The notification control part 70F judges that it is impossible to continue work travel to the work end point P2 of the next work travel path Rb in the second work travel determination process, or in the fifth work travel determination process. When it is determined that continuation of work travel is impossible, the left and right wingers (examples of indicator lamps) disposed at the left and right both ends of the seedling loading table 25 are blinked and operated as the seedling requesting notifier 101. The notification control part 70F judges that it is impossible to continue work travel to the work end point P2 of the next work travel path Rb in the third work travel determination process, or in the sixth work travel determination process. When it is determined that continuation of work travel is impossible, the left and right headlights 103 disposed at the front end of the traveling vehicle body 1 are flashed and operated as the fertilizer request notifier 101.

With this configuration, when the continuous running of the work becomes impossible due to lack of at least one of the remaining amount of fuel, the remaining amount of seedlings, and the remaining amount of fertilizer, the above-described notifier 101 corresponding to the shortage is operated, thereby operating the operator and The assistant can easily identify the deficiency, so that the deficiency can be easily supplied. In particular, the auxiliary worker can prepare the auxiliary work for supplying the shortage to the passenger rice transplanter from the stage before the passenger rice transplanter moves to the auxiliary work point P0, and thereby can carry out auxiliary work quickly. have.

The notification control part 70F of the work travel from the work travel determination part 70K to the work end point P2 of the next work travel path Rb when the current work travel path Rb is a reciprocating work path. If it is determined that continuation is impossible, the notifier 101 is operated during the work travel in the work path Rbb to the traveling vehicle body 1.

Thereby, due to the operation of the notifier 101 during the travel of the work route Rba, the operator stops the travel of the work at the work end point P2 of the work route Rba, and thus the travel work route. The possibility of moving the traveling vehicle body 1 from the work end point P2 of Rba to the auxiliary work point P0 can be avoided.

The automatic driving control unit 70E performs the first work travel determination processing and the second work travel determination processing when the current work travel route Rb is the first work travel route Rb1 or the second work travel route Rb2. And when it is determined that continuation of work travel from the third work travel determination process to the work end point P2 of the next work travel path Rb is possible, the second to be the next work travel path Rb. Automatic work travel control is executed in the work travel path Rb2 or the third work travel path Rb3.

The automatic driving control unit 70E performs the first work travel determination processing and the second work travel determination processing when the current work travel route Rb is the first work travel route Rb1 to the third work travel route Rb3. And continuation of the work travel from the second work travel path Rb, which is the next work travel path Rb, to the work end point P2 of the fourth work travel path Rb4 in any one of the third work travel determination processing. When it is determined that this is impossible, the traveling vehicle body 1 reaches the work end point P2 of the first work travel path Rb1 to the third work travel path Rb3 which is the current work travel path Rb. In addition, after the automatic work running control is stopped and the writing of the stopped work end point P2 is instructed to the storage unit 70D, the auxiliary work described above starts from the work end point P2 where the automatic work running control is stopped. Automatic movement control for auxiliary work to automatically move the traveling vehicle 1 to the point P0 It is carried out.

By this structure, when the need arises to perform an auxiliary | work operation | work during the operation | work running in the 1st work travel path | route Rb1 thru | or 3rd work travel path | route Rb3, a riding rice transplanter will move to the auxiliary work point P0 automatically. Therefore, the operator does not need the trouble of moving the traveling vehicle body 1 to the auxiliary work point P0. And when an operator and an auxiliary worker carry out auxiliary work, since the passenger rice transplanter always stops at the auxiliary work point P0 suitable for auxiliary work, the preliminary fuel and mat which are located in the hollow part adjacent to the auxiliary work point P0. By moving and mounting a shape seedling and a fertilizer to the rice transplanter stopped at the auxiliary work point P0, a preliminary fuel, a mat shaped seedling, and a fertilizer can be supplied to a passenger rice transplanter. As a result, the time required for the auxiliary work can be reduced, and the auxiliary work can be efficiently performed.

In addition, since the interruption point P5 of the work travel by the automatic work travel control always becomes the work end point P2 in the current work travel path Rb, the auxiliary work is carried out after the completion of the auxiliary work. In the case of moving from the point P0 to the work resumption point P4, the work resumption point P4 becomes the work start point P1 in the next work travel path Rb. As a result, it becomes easier to move the traveling vehicle body 1 to the work resume point P4 as compared with the case where the work resume point P4 becomes a point along the work travel path Rb.

This is effective in a passenger weaving machine, and it is possible to avoid the positional shift of the seedlings which are aligned and planted in a plurality of sets, which may occur when the work resume point P4 becomes a point along the work travel path Rb.

And the work travel path | route Rb in which automatic work travel control is performed is a reciprocating work path, and the interruption point P5 of the work travel in the work travel path Rb by automatic work travel control is the auxiliary work point P0. Since it becomes the work end point P2 of the work path Rbb to the ear close to), the movement distance of the traveling body 1 from the interruption point P5 to the auxiliary work point P0, and from the auxiliary work point P0 The moving distance of the traveling vehicle body 1 to the work resumption point P4 becomes short. As a result, work efficiency can be improved, fuel consumption can be reduced, and the like.

In the automatic movement control for auxiliary work, the automatic driving control unit 70E performs the automatic driving of the traveling vehicle body 1 so that the traveling vehicle body 1 automatically stops at the auxiliary work point P0 in a stop position suitable for the auxiliary work.

For example, when the auxiliary work is supplying fuel to the fuel tank of the traveling vehicle body 1, the fuel tank is located at the head portion adjacent to the auxiliary work point P0 so that the fuel supply to the fuel tank can be easily performed. The running vehicle body 1 is stopped at the auxiliary work point P0 in the transverse attitude of the traveling vehicle body 1 facing away.

For example, when the auxiliary work is supply of mat-like seedlings to the seedling loading table 25 and the preliminary seedling loading unit 59, so that it is easy to supply the mat-like seedlings to the preliminary seedling loading unit 59, The preliminary seedling loading unit 59 stops the traveling vehicle body 1 at the auxiliary working point P0 in a posture facing the front of the traveling vehicle body 1 facing the head portion adjacent to the auxiliary working point P0.

For example, when the auxiliary operation is a fertilizer supply to the hopper 31, the head portion at which the left and right ends of the hopper 31 are adjacent to the auxiliary work point P0 so that the fertilizer supply to the hopper 31 can be easily performed. The traveling vehicle body 1 is stopped at the auxiliary work point P0 in the horizontal posture of the traveling vehicle body 1 facing.

Thereby, it is easy to carry out auxiliary work with respect to the rice transplanter stopped at the auxiliary work point P0.

After reaching the auxiliary work point P0 by the automatic movement control for auxiliary work, the automatic driving control part 70E resumes automatic work travel control by the artificial operation of the automatic driving switch 93C provided in the input device 93. When is commanded, the job end point P2 at which the automatic job travel control is stopped is read from the storage unit 70D. Then, the second work travel path Rb2 to the fourth work travel path set next to any one of the first work travel path Rb1 to the third work travel path Rb3 having the read job end point P2. Automatic movement for job resumption which sets the work start point P1 of (Rb4) as the work resume point P4 and automatically moves the traveling vehicle body 1 from the auxiliary work point P0 to the work resume point P4. Run control. And when the traveling vehicle body 1 moves to the work resumption point P4 by this work resumption automatic movement control, the work travel path | route Rb which has the work resumption point P4 is complete | finished, and the work resumption point P4 is complete | finished. If) is the autonomous driving route Ra, the automatic work driving control is resumed.

Thereby, when the artificial operation of the automatic drive switch 93C is performed after completion | finish of the auxiliary work in auxiliary work point P0, the traveling vehicle body 1 will support the auxiliary work point P0 by automatic movement control for job resumption. To the job resume point (P4) automatically.

That is, since the operator does not need to manually drive the traveling vehicle 1 to the work restart point P4 after the completion of the auxiliary work at the auxiliary work point P0, the burden on the operator related to the auxiliary work can be reduced.

As shown in FIG. 7, the automatic driving control part 70E uses the non-working travel path | path Rd in which some planting is not performed as a movement path in automatic movement control for auxiliary work and automatic movement control of work resumption. It sets and performs autonomous driving of the vehicle body so that the traveling vehicle body 1 may run | move this movement path.

Thereby, when the automatic movement control is for the auxiliary work, when the passenger rice transplanter automatically moves from the work end point P2 which stopped working travel to the auxiliary work point P0, and when the automatic movement control is for job resumption When the passenger rice transplanter automatically moves from the auxiliary work point P0 to the work resumption point P4 where the work travel is resumed, there is a concern that the traveling work path on which some planting and the like has been stepped on by the traveling vehicle body 1. Can be avoided.

In the automatic movement control for auxiliary work, the automatic driving control unit 70E automatically moves the traveling vehicle body 1 to the auxiliary work point P0 by reversing the traveling vehicle body 1, and in the automatic movement control for resumption of work. The traveling vehicle body 1 is automatically moved to the work restart point P4 by the advancement of the traveling vehicle body 1.

Thereby, the movement to the auxiliary work point P0 of the traveling vehicle body 1 by the automatic movement control for auxiliary work, and the movement to the work resume point P4 of the traveling vehicle body 1 by the automatic movement control of work resumption, Compared with the case where the traveling vehicle body 1 is moved forward, the cumbersome operation of changing the direction of the traveling vehicle body 1 can be made unnecessary.

[Other Embodiments]

This invention is not limited to the structure illustrated by said embodiment, Hereinafter, the other typical embodiment which concerns on this invention is illustrated.

[1] A work vehicle is a straight wave machine or a tractor equipped with a seeding device (an example of the agricultural material supply device A) that sprays seeds (an example of the vehicle payload) to the package as the vehicle travels, and a drug (the vehicle payload of the vehicle payload). An rice transplanter or a tractor provided with a chemical | medical agent spreading apparatus (an example of agricultural material supply apparatus A) which sprays an example) to a package, and harvesters, such as a combine harvester, a corn harvester, etc. which harvest a crop and store it in a storage part according to running. do.

[2] In the autonomous driving mode, the entirety of the travel route R is set to the autonomous driving route Ra, and the autonomous driving control section 70E is configured to perform autonomous driving of the vehicle body in the entirety of the traveling route R. FIG. You may be.

In this configuration, the work travel determining unit 70K includes the following in each work travel path Rb other than the final work travel path Rb among all the work travel paths Rb included in the travel path R. FIG. It is determined whether the work travel to the work end point P2 of the work travel path Rb is possible.

In this structure, the automatic driving control part 70E links the seedling planting apparatus 4 and the fertilizing apparatus 5 with the arrival of the work end point P2 of each work travel path | route Rb of a vehicle body, for example. The seedling planting apparatus 4 and the fertilizing apparatus 5 are executed in conjunction with the execution of the first switching control for switching to the non-working state and in conjunction with the arrival of the work start point P1 of each work travel path Rb of the vehicle body. It may be comprised so that 2nd switching control which switches a to a work state is performed.

[3] In the autonomous driving mode, all work travel paths Rb except for all the moving travel paths Rc in the travel path R are set as the autonomous driving path Ra, and the autonomous driving control unit 70E It may be comprised so that automatic operation of a vehicle body may be performed in all the work travel path | routes Rb.

In this configuration, the work travel determination unit 70K includes the following in each work travel path Rb other than the final work travel path Rb among all the work travel paths Rb included in the travel path R. FIG. It is determined whether the work travel to the work end point P2 of the work travel path Rb is possible.

[4] The autonomous driving control unit 70E includes an autonomous driving mode in which the entire area of the travel path R is set as the autonomous driving path Ra, and performs autonomous driving of the vehicle body in the entire area of the driving path R, and the driving path. A part of all the work travel paths Rb or all the work travel paths Rb in (R) is set as the autonomous driving path Ra, so that autonomous driving of the vehicle body is performed on all or part of the work travel paths Rb. It may be comprised so that switching to the semi-automatic operation mode is possible.

[5] If the automatic driving control unit 70E determines that the continuous running of the work is impossible by the working travel determining unit 70K during the execution of the automatic work traveling control, the current vehicle body position is determined by the work travel path Rb. Regardless of whether it is in the middle of the position, it is configured to immediately stop the automatic work driving control and to execute the automatic movement control for auxiliary work which automatically moves the vehicle body from the interruption point P5 of the automatic work driving control to the auxiliary work point P0. You may be.

In this configuration, the automatic driving control unit 70E instructs the storage unit 70D to write the interruption point P5 in response to the interruption of the automatic work travel control, and automatically after reaching the auxiliary work point P0. When the resumption of work running control is commanded, automatic movement for job resumption for reading the stop point P5 from the storage unit 70D and automatically moving the vehicle body from the auxiliary work point P0 to the stop point P5. It may be comprised so that control may be performed and the automatic movement control for job resumption may end after the movement to the interruption point P5.

[6] As shown in FIG. 8, the automatic driving control unit 70E continues the work travel in the work travel determining unit 70K during the execution of the automatic work travel control in the path work path Rba of the reciprocating work path. When it is determined that this is impossible, the vehicle body may reach the work end point P2 of the path work path Rba, and may be configured to stop the automatic work running control and execute the automatic movement control for the auxiliary work.

In this configuration, the automatic driving control unit 70E stores the writing of the job ending point P2 (interruption point P5) in which the automatic work running control is interrupted in accordance with the interruption of the automatic work running control. Command, and when the resumption of automatic work travel control is commanded after reaching the auxiliary work point P0, the work end point P2 is read from the storage unit 70D, and the read work end point ( Set the work start point P1 of the return work path Rbb set next to the home work path Rba having P2) as the work resume point P4, and the vehicle body from the auxiliary work point P0 to the work resume point. It may be comprised so that automatic movement control for job resumption which automatically moves to (P4) may be performed, and the automatic movement control for job resumption will be terminated after the movement to the job resume point P4.

[7] When the work vehicle is a harvester such as a combine harvester that harvests crops in the field and harvests the crops along with the running, and stores them in the storage unit, the automatic driving control unit 70E automatically moves for auxiliary work. In the automatic movement control for control and resumption of work, it may be configured to set the machine operation traveling path Re on which the crops have been harvested as the moving path, and to automatically drive the vehicle body so that the moving body travels.

Thereby, when the automatic movement control is for the auxiliary work, when the harvester automatically moves from the work end point P2 which stopped working travel to the auxiliary work point P0, and when the automatic movement control is for job resumption, When the harvester automatically moves from the auxiliary work point P0 to the work resume point P4 which resumes work travel, the non-working travel path Rd where the crops are not harvested is stepped on by the traveling vehicle 1. Concerns can be avoided.

[8] When the notification control unit 70F determines that continuation of work travel to the work end point P2 of the next work travel path Rb is impossible in the work travel determination unit 70K, the display unit ( The notification buzzer 47C of 47 may be operated, and the liquid crystal display 47A may display the name of the vehicle payload that caused the determination.

[9] When the notification control unit 70F determines that the job travel to the job end point P2 of the next job travel path Rb is impossible in the job travel determination unit 70K, the left and right heads are left. Both the left and right headlights which operate the light 103 and flash only the headlight 103 on the right side, which causes only the left headlight 103 to flash, depending on the kind of vehicle payload which has been a factor of this determination. You may be comprised so that the operation state of the left and right headlights 103 may differ, such as flashing 103.

[10] As shown in Fig. 9, an auxiliary site worker, a work manager, or the like carries a communication terminal 104 such as an external smartphone or tablet having a notification unit 104A such as an alarm or a liquid crystal display unit. In such a case, the traveling vehicle body 1 is provided with a communication module 105 which is connected to the communication terminal 104 and wireless communication by Bluetooth (registered trademark) or Wi-Fi communication. When it is determined in the traveling determination unit 70K that continuation of the work travel to the work end point P2 of the next work travel path Rb is impossible, the notification control unit 70F passes through the communication module 105. The notification unit 104A of the communication terminal 104 may be operated.

The present invention relates to a passenger rice transplanter, a vehicle seeder, a seeding tractor, a fertilizer tractor, a combine, a corn harvester, in which the vehicle payload of vehicle-mounted materials such as fuel, seedlings, seeds, fertilizers, drugs, and harvests changes with traveling. It can be applied to work vehicles such as.

47C: Buzzer 70D: Memory
70E: automatic operation control unit 70F: notification control unit
70G: vehicle payload calculator 70H: change amount estimator
70K: work travel determination unit 83: positioning unit
100A: Indicator 101: Notifier
103: headlight 104: communication terminal
104A: notification unit 105: communication module
A: Agricultural feeder P0: Secondary work point
P1: work start point P2: work end point
P4: Work resume point P5: Break point
R: driving route Ra: automatic driving route
Rb: working route Rba: working route
Rbb: work path back home Rd: unworked travel path

Claims (15)

A storage unit 70D in which the traveling path R in the pavement set in advance and the specific auxiliary work point P0 for performing the auxiliary work on the rapid delivery of the vehicle payload in which the vehicle payload changes with driving are written;
A positioning unit 83 for measuring the position and orientation of the vehicle body;
An autonomous driving control unit 70E that performs autonomous driving of the vehicle body on the autonomous driving path Ra included in the driving path R based on the positioning result of the driving path R and the positioning unit 83;
A vehicle payload calculating unit 70G for obtaining a vehicle payload of the vehicle payload;
A change amount estimating unit 70H for estimating a change amount of the vehicle payload;
It is provided with the operation | work running determination part 70K which judges whether it is possible to continue work travel | work based on the estimation of the vehicle loading amount and the change amount estimation part 70H of the said vehicle loading amount calculation part 70G,
The autonomous driving control unit 70E is a vehicle body in a plurality of work driving paths Rb included in the autonomous driving path Ra, while the job driving determination unit 70K determines that the work driving can be continued. Is executed, and when it is determined that continuation of work travel is impossible by the work travel determination unit 70K during execution of the automatic work travel control, the automatic work travel control is stopped. And automatic movement control for auxiliary work for automatically moving the vehicle body of the host vehicle from the interruption point (P5) of the automatic work running control to the auxiliary work point (P0).
A storage unit 70D in which the traveling path R in the pavement set in advance and the specific auxiliary work point P0 for performing the auxiliary work on the rapid delivery of the vehicle payload in which the vehicle payload changes with driving are written;
A positioning unit 83 for measuring the position and orientation of the vehicle body;
An autonomous driving control unit 70E that performs autonomous driving of the vehicle body on the autonomous driving path Ra included in the driving path R based on the positioning result of the driving path R and the positioning unit 83;
A vehicle payload calculating unit 70G for obtaining a vehicle payload of the vehicle payload;
And a work running determination unit 70K that determines whether work travel can be continued on the basis of the vehicle pay amount of the vehicle payload calculating unit 70G,
The autonomous driving control unit 70E is a vehicle body in a plurality of work driving paths Rb included in the autonomous driving path Ra, while the job driving determination unit 70K determines that the work driving can be continued. Is executed, and when it is determined that continuation of work travel is impossible by the work travel determination unit 70K during execution of the automatic work travel control, the automatic work travel control is stopped. And perform automatic movement control for auxiliary work to automatically move the vehicle body from the interruption point P5 of the automatic work travel control to the auxiliary work point P0,
And a change amount estimating unit 70H for estimating the change amount of the vehicle payload in the next work travel path Rb during the execution of the automatic work travel control in the current work travel path Rb,
The work running determination part 70K is a work end point P2 of a next work travel path Rb based on the vehicle pay amount of the vehicle payload calculating part 70G and the change amount of the change amount estimating part 70K. To determine whether it is possible to continue work travel to
When the automatic driving control section 70E determines that the work travel to the work end point P2 of the next work travel path Rb is possible in the work travel determining unit 70K, the next work is performed. The automatic work travel control is executed in the travel route Rb, and it is determined that the work travel from the work travel determination unit 70K to the work end point P2 of the next work travel route Rb is impossible. In this case, the agricultural work vehicle reaches the work end point P2 in the current work travel path Rb and stops the automatic work travel control to execute the automatic movement control. 3. The path work path Rba and the path work path Rba according to claim 2, wherein the plurality of work travel paths Rb are provided from the dung adjacent to the auxiliary work point P0 toward the dung facing the dung. Includes a plurality of reciprocating work paths in which the return work path Rbb is an operation travel path Rb of one stroke adjacent to
When the next work travel path Rb is the reciprocating work path, the work travel determination unit 70K is provided with the vehicle pay amount of the vehicle payload calculation unit 70G and the change amount of the change amount estimation unit 70H. On the basis of this, it is determined whether the work travel to the work end point P2 of the reciprocating work path is possible,
When the automatic driving control unit 70E determines that the work traveling to the work end point P2 of the next reciprocating work path is possible in the work traveling determining unit 70K, the automatic driving control unit 70E moves to the next reciprocating work path. In this case, when the automatic work travel control is executed and it is determined that the work travel to the job end point P2 of the next reciprocation work path is impossible by the work travel determination unit 70K, the current reciprocation work path is not possible. The agricultural work vehicle which reaches | attains the vehicle end body at the operation | work end point P2 in, and interrupts the said automatic work running control, and performs the said automatic movement control. The automatic driving control unit 70E instructs the storage unit 70D to write the interruption point P5 in accordance with the interruption of the automatic work travel control, and further, the auxiliary work point ( When the resumption of the automatic work running control is commanded after reaching P0, the interruption point P5 is read from the storage unit 70D, and the vehicle body is read from the auxiliary work point P0 from the interruption point P5. And an automatic movement control for resuming work to be automatically moved up to), and ending the automatic movement control for resuming work after the movement to the interruption point (P5) to resume the automatic work running control. The said automatic drive control part 70E writes the said operation | movement end point P2 which stopped the said automatic work run control according to the interruption of the said automatic work run control, The said memory | storage part (4) of Claim 2 or 3 characterized by the above-mentioned. 70D), and when resumption of the automatic work travel control is commanded after reaching the auxiliary work point P0, the work end point P2 is read from the storage unit 70D. Set the work start point P1 of the work travel path Rb set next to the work travel path Rb having the read-out work end point P2 as the work resume point P4, and the vehicle body as the auxiliary; Executes automatic movement control for job resumption which automatically moves from the work point P0 to the job resume point P4, and terminates the automatic movement control for job resumption after the movement to the job resume point P4; Work odometer , Agricultural work vehicle to resume. The autonomous driving control unit 70E performs autonomous driving of the vehicle body so that the vehicle body automatically stops at the auxiliary work point P0 in a stopping posture suitable for the auxiliary operation. , Farm truck. The agricultural material supply apparatus (A) of Claim 1 provided with agricultural materials for packaging,
In the automatic movement control, the automatic driving control portion 70E sets an unworked traveling route Rd to which the agricultural material is not supplied as a movement route, and performs the automatic operation of the vehicle body so that the vehicle body travels the movement route. , Farm truck. A storage unit 70D in which the traveling path R in the pavement set in advance and the specific auxiliary work point P0 for performing the auxiliary work on the rapid delivery of the vehicle payload in which the vehicle payload changes with driving are written;
A positioning unit 83 for measuring the position and orientation of the vehicle body;
An autonomous driving control unit 70E that performs autonomous driving of the vehicle body on the autonomous driving path Ra included in the driving path R based on the positioning result of the driving path R and the positioning unit 83;
A vehicle payload calculating unit 70G for obtaining a vehicle payload of the vehicle payload;
And a work running determination unit 70K that determines whether work travel can be continued on the basis of the vehicle pay amount of the vehicle payload calculating unit 70G,
The autonomous driving control unit 70E is a vehicle body in a plurality of work driving paths Rb included in the autonomous driving path Ra, while the job driving determination unit 70K determines that the work driving can be continued. Is executed, and when it is determined that continuation of work travel is impossible by the work travel determination unit 70K during execution of the automatic work travel control, the automatic work travel control is stopped. And perform automatic movement control for auxiliary work to automatically move the vehicle body from the interruption point P5 of the automatic work travel control to the auxiliary work point P0,
Having a harvesting device for harvesting the crops in the field,
In the automatic movement control, the automatic driving control unit 70E sets the machine-working driving route Re on which the crops have been harvested as the movement route, and performs the automatic operation of the vehicle body so that the vehicle body travels the movement route. , Farm truck. A storage unit 70D in which the traveling route R in the package set in advance is written;
A positioning unit 83 for measuring the position and orientation of the vehicle body;
On the basis of the positioning results of the traveling route R and the positioning unit 83, automatic work traveling control for automatically running the vehicle body in a plurality of work traveling paths Rb included in the traveling path R is performed. An automatic driving control unit 70E to be executed,
A vehicle payload calculating unit (70G) for obtaining a vehicle payload of a vehicle payload that changes with driving;
A change amount estimating unit 70H for estimating a change amount of the vehicle payload in a next work travel path Rb during execution of the automatic work travel control in the current work travel path Rb, and
Whether work travel to the work end point P2 of the next work travel route Rb is possible on the basis of the vehicle pay amount of the vehicle payload calculating section 70G and the change amount of the change amount estimating section 70H. Work running determination unit 70K for determining
The notification control part 70F which operates the notifier 101 when it is determined that the job travel to the job end point P2 of the next job travel path Rb is impossible by the said job travel determination part 70K is carried out. Farm work car equipped with. 10. The work path according to claim 9, wherein in the plurality of work travel paths Rb, a headway heading toward the headhead opposite to the headhead from the headhead adjacent to a specific auxiliary work point P0 for performing the auxiliary work on the dispatch of the vehicle payload. A plurality of reciprocating work paths including a path Rba and a return work path Rbb adjacent to the backward work path Rba as a work travel path Rb of one stroke,
When the next work travel path Rb is the reciprocating work path, the work travel determination unit 70K is provided with the vehicle pay amount of the vehicle payload calculation unit 70G and the change amount of the change amount estimation unit 70H. On the basis of this, it is determined whether the work travel to the work end point P2 of the reciprocating work path is possible,
The notification control unit 70F operates the notifier 101 when it is determined that the job travel to the job end point P2 of the next reciprocating work path is impossible by the job travel determination unit 70K. , Farm truck. The said control part 70F of the Claim 10 WHEREIN: The said operation control part 70F is complete | finished the job | work of the next work travel path Rb by the said work travel determination part 70K, when the current work travel path | route Rb is the said reciprocating work path. And if it is determined that the continuation of the work travel to the point P2 is impossible, the agricultural work vehicle is operated during the work travel on the work path Rbb in the vehicle body. The said notification control part 70F is the said notification device of Claim 9 which is at least any one of the existing vehicle-mounted apparatus which can notify the exterior of a vehicle including the indicator light 100A, the headlight 103, and the buzzer 47C. The agricultural work vehicle which operates as 101, and notifies the auxiliary worker outside a vehicle. 10. A communication module (105) according to claim 9, further comprising a communication module (105) configured to be wirelessly connected to an external communication terminal (104) having a notification unit (104A).
When the notification control section 70F determines that continuation of work travel to the work end point P2 of the next work travel path Rb is impossible in the work travel determining unit 70K, the communication module ( A farm truck, operating the notification unit 104A as the notifier 101 through 105. 10. The vehicle payload calculator 70G calculates the vehicle payload for each vehicle payload having a different kind.
The change amount estimating unit 70H estimates the change amount for each of the vehicle payloads having different types,
The work running determination unit 70K continues the work travel to the work end point P2 of the next work travel path Rb based on the vehicle payload and the change amount for each of the vehicle payloads having different types. And determining the vehicle payload which is a factor of the determination when it is determined that continuation of work travel is impossible,
When the notification control section 70F determines that the work travel to the work end point P2 of the next work travel path Rb is impossible in the work travel determination unit 70K, the work travel board is impossible. And a government (70K) operating the notifier (101) in an operating state according to the particular vehicle payload.
10. The vehicle payload calculator 70G calculates the vehicle payload for each vehicle payload having a different kind.
The change amount estimating unit 70H estimates the change amount for each of the vehicle payloads having different types,
The work running determination unit 70K continues the work travel to the work end point P2 of the next work travel path Rb based on the vehicle payload and the change amount for each of the vehicle payloads having different types. And determining the vehicle payload which is a factor of the determination when it is determined that continuation of work travel is impossible,
The notification control section 70F indicates an indicator light 100A when it is determined that the work travel to the work end point P2 of the next work travel path Rb is impossible in the work travel determining section 70K. Among the existing in-vehicle devices which can be notified to the outside of the vehicle including the headlight 103 and the buzzer 47C, the on-vehicle device corresponding to the specific vehicle on-board is determined by the work driving determination unit 70K. A farm work vehicle, operating as the notifier 101.

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