KR20210091652A - Agricultural work machine and transplanting machine - Google Patents

Abstract

Working efficiency in the automatic running of an agricultural work machine can be further improved. Moreover, the state in which planting is not started at a planting start position can be suppressed. The agricultural work machine performs work while automatically traveling along a driving route within a set work site, and includes an automatic driving control unit (611) which controls automatic driving in a manual driving mode, which is a driving mode when a driver rides the agricultural work machine, or an automated driving mode, which is a driving mode when the driver does not ride the same. The automatic driving control unit (611) performs control so that a driving speed is higher when the automated driving mode is set than when the manual driving mode is set. In addition, a transplanting machine starts planting from a predetermined planting start position on a pavement area. The transplanting machine includes: a rice loading stand for mounting mat-type rice; a planting device for performing a planting operation of cutting out a predetermined amount of rice from the rice loading stand and planting the same; and an operation control unit (1062) for controlling the planting operation of the planting device. The operation control unit (1062) makes the planting device start the planting operation on a side further forward than the planting start position by a predetermined distance.

Description

Agricultural work machine and rice transplanter {AGRICULTURAL WORK MACHINE AND TRANSPLANTING MACHINE}

[0001] The present invention relates to an agricultural machine that performs automatic work travel in a work area.

Moreover, this invention relates to the rice transplanter which performs a planting operation, driving|running|working in a field.

As disclosed in Patent Document 1, some work machines (agricultural machines) that work-travel a pavement serving as a work site perform work while automatically traveling along a preset travel route.

In addition, some of these work machines limit the traveling speed during automatic travel. For example, a traveling speed may be reduced at the time of turning traveling, or an agricultural machine may be temporarily stopped in the edge part area|region of a work place.

Moreover, as disclosed by patent document 2, there exists a rice transplanter which sets the travel route in a pavement, and performs a simulation planting, automatically running along the set travel route.

Moreover, as disclosed by patent document 3, in the travel route which performs an automatic running, based on the travel distance on the basis of the starting point or the end point of turning running, a planting start position is set and memorized, and planting is carried out at a planting start position during automatic running. There is also a rice transplanter which operates a mechanism and starts planting automatically from the set planting start position. Moreover, in such a rice transplanter, the planting arm of a planting mechanism rotates when a planting clutch becomes a transmission state, and a pair of planting arms take out and plant a seedling from a seedling mounting stand (near mounting stand) alternately.

Japanese Patent Laid-Open No. 2015-112071 Japanese Patent Laid-Open No. 2019-176801 Japanese Patent Laid-Open No. 2017-60504

However, it is calculated|required to aim at the further improvement of the work efficiency in the automatic running of an agricultural machine.

In addition, since a planting arm rotates, according to the position of the planting arm with respect to the hair|bristle mounting stand at the time of the start of a planting operation, after a planting clutch becomes a transmission state, hair is planted in a paddy field floor (pavement surface) the time until Therefore, even if a planting clutch turns into a transmission state at a planting start position, the position actually planted in a rice paddy field is not stabilized. As a result, there existed a problem that planting was not performed in the area|region to the position away from the planting start position only by predetermined distance, and there existed a problem that the quantity of the grain in a field|pavement may decrease by that much.

An object of this invention is to suppress the state by which planting is not started at a planting start position.

In order to achieve the above object, an agricultural work machine according to an embodiment of the present invention is an agricultural work machine that performs work while automatically traveling along a travel route within a set work site, and a manned running mode, which is a running mode when a driver is on board, or and an automatic driving control unit for controlling the automatic driving in an unmanned driving mode, which is a driving mode when the driver is not on board, wherein the automatic driving control unit is configured to be in the unmanned driving mode rather than when the manned driving mode is set Controls the side to increase the driving speed.

In automatic driving, in consideration of the driver's comfort or the like, the automatic driving control unit lowers the traveling speed during turning, or suppresses sudden start or sudden stop. However, when the driver is not on board, it is not necessary to perform such control. Therefore, by setting it as the above configuration, it is possible to improve work efficiency by increasing the running speed in the unmanned mode while ensuring the driver's comfort and the like in the manned driving mode.

In addition, a driving unit on which the driver rides, and an occupancy detection unit for detecting whether the driver is in the driving unit, wherein the automatic driving control unit is configured to detect that the driver is in the driving unit, the occupancy detecting unit The automatic driving may be set to the manned driving mode when , and the automatic driving may be set to the unmanned driving mode when the occupancy detecting unit detects that the driver is not in the driving unit.

With such a configuration, it is confirmed with high accuracy that the driver is riding in the driving unit, and it is possible to appropriately set the manned driving mode or the unmanned driving mode, so that work efficiency can be more appropriately improved.

Further, the driver may include a driver's seat provided in the driver's seat on which the driver is seated, and the occupancy detection unit may determine that the driver is in the driver's seat by detecting that the driver is seated in the driver's seat.

If there is a driver's seat, the on-board driver is often seated in the driver's seat. Therefore, according to the above configuration, it is confirmed with high accuracy that the driver is riding in the driving unit, and it is possible to appropriately set the manned driving mode or the unmanned driving mode, so that work efficiency can be more appropriately improved.

Further, an operation tool for operating the automatic driving may be provided, and the boarding detection unit may determine that the driver is in the driving unit by detecting that the driver is in contact with the operation tool.

The driver is in contact with the operation tool during work travel in many cases. Therefore, according to the above configuration, it is confirmed with high accuracy that the driver is riding in the driving unit, and it is possible to appropriately set the manned driving mode or the unmanned driving mode, so that work efficiency can be more appropriately improved.

and a speed setting unit for selecting a maximum speed in the automatic travel from a plurality of candidate speeds, wherein when the manned travel mode is set, the automatic travel control unit is configured to cause the selected candidate speed to be the maximum speed. When automatic running is controlled and the unmanned running mode is set, the automatic running control unit may control the automatic running so that the fastest candidate speed becomes the maximum speed.

With such a configuration, while the driving speed in the manned driving mode and the unmanned driving mode is appropriately set, the driving speed in the unmanned driving mode is controlled to a speed that is appropriately faster than the driving speed in the manned driving mode, thereby more appropriately improving work efficiency can do it

Further, even in the unmanned driving mode, the automatic driving control unit may reduce the traveling speed when changing direction and turning on the head of the work site.

With such a configuration, it is suppressed that the work sheet is ruined. Also, there may be people in the headland, and if you change direction or turn at a fast driving speed, you may feel anxious about that person. In particular, by decelerating the traveling speed at the time of changing direction and turning at the headboard, the anxiety of the person standing at the headboard can be reduced.

In addition, a material detection unit for detecting the remaining amount of material to be used during the automatic travel is provided, wherein the automatic travel includes a reciprocating path running between two facing outer perimeters of the work sheet, and a turning path connecting the two reciprocating paths. , and replenishment of the material is performed at an arbitrary first outer periphery of the outer periphery of the work sheet, and when the material detecting unit detects that the material is not left, the automatic running control unit is configured to include the first outer periphery control to stop the aircraft without performing turning travel in an area adjacent to , and when the material detection unit detects that the material remains, the automatic travel control unit controls to perform the turning travel without stopping the aircraft You can do it.

With this configuration, the automatic travel control unit continues working travel in a situation where material replenishment is unnecessary, and stops the aircraft before turning travel only when material replenishment is required, in a state in which operations necessary for material replenishment can be performed. You can control it to wait. As a result, unnecessary stoppage of travel can be suppressed and work efficiency can be improved.

In addition, when traveling in the outer peripheral region of the work sheet, the automatic traveling control unit may reduce the traveling speed.

Obstacles often exist in the outer periphery of the work site. Therefore, according to the said structure, the traveling speed is reduced in the area|region with many obstacles, operation for avoiding an obstacle can be easily performed, and work efficiency can be improved.

Further, an obstacle detecting unit for detecting an obstacle may be provided, and when the obstacle detecting unit detects the obstacle, the automatic travel control unit may control the aircraft to stop.

With such a structure, collision with an obstacle is avoided, and since it becomes possible to avoid an obstacle by appropriate operation after that, work efficiency can be improved.

In addition, in order to achieve the above object, the rice transplanter according to another embodiment of the present invention is a rice transplanter that starts planting from a predetermined planting start position of the pavement, and a seedling loading stand on which mat-type hair is mounted, and small from the seedling loading stand. A planting mechanism that performs a planting operation to cut out and plant a fixed amount of hair, and an operation control unit for controlling the planting operation of the planting mechanism, wherein the operation control unit is from the front by a predetermined distance from the planting start position to the planting mechanism Initiate the planting operation.

There is a fluctuation in the time from when the planting operation is started until the hairs are actually planted on the pavement surface. When the position where a hair is actually planted becomes the position which passed the planting start position, the quantity of hairs planted will decrease than what was planned, As a result, the quantity of a grain will also decrease.

According to the said structure, since planting operation is started from the front rather than a planting start position, an operation control part can control so that a simulation planting may be actually started at a planting start position at the latest, and reduction of the quantity of planting wool planted is suppressed, and a grain A decrease in the quantity of is also suppressed.

Moreover, the said planting start position may also include the position which starts planting after the turning which moves from a reciprocating path|route to the next reciprocating path|route.

By such a structure, also in the winding straight path after turning, an operation control part can control so that a simulation planting may be actually started at a planting start position at the latest, and the decrease of the amount of planting wool to be planted is suppressed, and the quantity of grains also decreases is suppressed

Moreover, when starting a planting operation in the said pavement, the said operation control part may make the said planting mechanism start a planting operation from the front only by a predetermined distance from the said planting start position.

When a planting mechanism starts a planting operation|movement in the state which does not hold|maintain a hair|bristle, the possibility that the position where a hair|bristle is actually planted will become the position which passed the planting start position is high. The seedling varieties to be planted may be different for each field, and there is a high possibility that the planting mechanism does not hold the seedlings at the time of the first planting in the planting operation in the field.

According to the above configuration, in the planting operation in the field, when the rice transplanter first reaches the planting start position, even if the planting mechanism does not hold the seedling, the operation control unit is at the latest in a state where simulated planting is started at the planting start position. It is controllable, and the decrease in the quantity of the planting wool to be planted is suppressed, and it is also suppressed that the quantity of water of a grain decreases.

Moreover, when the said operation|work control part performs planting at the beginning of a day, you may make the said planting mechanism start a planting operation from the front only by a predetermined distance from the said planting start position.

After a day's work, the rice transplanter is usually cleaned. Therefore, at the time of the first operation|work of a day, the possibility that a planting mechanism does not hold|maintain a hair is high. According to the said structure, when a rice transplanter arrives at a planting start position, even if a planting mechanism does not hold a seedling, an operation control part can control it in the state which a simulation planting is started at a planting start position at the latest, and the amount of planting seedlings planted is suppressed and the decrease in grain yield is also suppressed.

Moreover, in the case of the planting operation after predetermined time or more passes from the planting operation performed before, the said operation control part may make the said planting mechanism start a planting operation from the front only by a predetermined distance from the said planting start position.

When more than predetermined time passes from the planting operation|movement performed previously, a day may be exceeded or the seedling kind to plant may be changed, and there is a high possibility that a planting mechanism does not hold|maintain a seedling. According to the said structure, when a rice transplanter arrives at a planting start position, even if a planting mechanism does not hold a seedling, an operation control part can control it in the state which a simulation planting is started at a planting start position at the latest, and the amount of planting seedlings planted is suppressed and the decrease in grain yield is also suppressed.

Moreover, when it travels sequentially on the some travel route set in the said pavement, planting from the said planting start position, and the said work control part drive|works the said travel path which performs a work run for the first time in the said pavement, the said planting start position You may make the said planting mechanism start a planting operation from the front only by a more predetermined distance.

Since the planting operation has already been performed in the travel route after the second among the plurality of travel routes, the possibility that the planting mechanism holds the hair is high, whereas the possibility that the planting mechanism does not hold the hair in the first travel route There is this. By the above structure, in the first travel route, since planting operation is started from the front rather than a planting start position, it can control so that a simulation planting may be actually started at a planting start position at the latest, and the amount of planting wool planted is suppressed and the decrease in grain yield is also suppressed.

Moreover, the said planting mechanism is equipped with the hair holding sensor which detects whether the hair is hold|maintained, When it is detected by the said hair holding sensor that the said planting mechanism does not hold a hair, from the said planting start position You may make the said planting mechanism start a planting operation from the front only by predetermined distance.

By such a structure, since a planting operation can be started from the front rather than a planting start position when a planting mechanism does not actually hold a hair|bristle, in a necessary situation, a planting operation can be started more reliably from the front than a planting start position. there is. Therefore, the decrease of the quantity of planting wool planted efficiently is suppressed, and it is also suppressed that the quantity of water of a grain decreases.

1 is a side view of a rice transplanter, which is an example of an agricultural work machine capable of automatically running.
It is explanatory drawing which shows the division|segmentation of the area|region of the pavement in which a travel route is set.
It is explanatory drawing explaining the running of the circumferential travel route and rice transplanter set in the outer peripheral area|region.
4 is an explanatory view for explaining the reciprocating travel route set in the central region and travel of the rice transplanter.
It is a functional block diagram which shows the control system of a rice transplanter.
6 is a side view of a rice transplanter capable of running automatically.
It is a side view of a mother planting apparatus.
It is explanatory drawing explaining the running of the circumferential travel path|route and rice transplanter set in the outer periphery area|region.
9 is an explanatory view for explaining a reciprocating travel route set in the central region and travel of the rice transplanter.
It is a functional block diagram which shows the control system of a rice transplanter.
It is a figure explaining the rotational state of a planting arm, and the positional relationship of a hair|bristle mounting stand.
It is a figure explaining the state in which a planting operation was started beyond a planting start position.
It is a figure explaining the state in which the planting operation|work was started to a planting start position.

Hereinafter, as one Embodiment of the agricultural work machine of this invention, the rice transplanter which work-travels a pavement (corresponding to a "work place") is mentioned as an example and demonstrated.

[Overall structure]

As shown in FIG. 1, the rice transplanter is equipped with the traveling body (it is hereafter called the body 1) which is a riding type and a four-wheel drive type. The base body 1 includes a link mechanism 11 of a parallel four-link type connected to the rear portion of the base body 1 so as to be able to move up and down, a hydraulic lifting cylinder 11a for swinging and driving the link mechanism 11, and a link mechanism. A seed planting device 3 connected to the rear end region of (11) so as to be able to roll, and a fertilization device 4 installed from the rear end region of the base 1 to the seed planting device 3, etc. there is. The seedling planting apparatus 3 and the fertilization apparatus 4 are an example of a work apparatus.

The base body 1 is equipped with the wheel 12, the engine 13, and the hydraulic|hydraulic continuously variable transmission device 14 as a mechanism for traveling. The wheel 12 has left and right front wheels 12A which can be steered, and left and right rear wheels 12B which cannot be steered. The engine 13 and the continuously variable transmission device 14 are mounted on the front part of the body 1 . Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B, the work device, etc. via the continuously variable transmission device 14 or the like.

The seedling planting apparatus 3 is comprised by the 8-row planting form as an example. The seedling planting apparatus 3 is equipped with the seedling mounting stand 31, the planting mechanism 32, etc. for 8 sets. In addition, this seed planting apparatus 3 can be changed into types, such as 2 row planting, 4 row planting, and 6 row planting, by control of each group clutch which is not shown in figure.

The hair|bristle mounting stand 31 is a receiving stand which loads 8 sets of mat-shaped hair|bristle. The bristle loading table 31 reciprocates in the left and right direction with a constant stroke corresponding to the left and right width of the mat-shaped wool, and the longitudinal feed mechanism 33, whenever the bristle loading table 31 reaches the stroke end of the left and right. Each mat-shaped hair on the hair loading table 31 is transversely fed at a predetermined pitch toward the lower end of the hair loading table 31 . The eight planting mechanisms 32 are rotary, and are arrange|positioned in the left-right direction at the fixed space|interval corresponding to between planting troughs. And each planting mechanism 32 cuts out the hair for one round from the lower end of each mat-shaped hair|bristle mounted on the hair|bristle mounting stand 31 with the motive power from the base|substrate 1, and plants it in the soil part after a stop. Thereby, in the operating state of the seedling planting apparatus 3, hair can be taken out from the mat-shaped hair|bristle mounted on the hair|bristle mounting stand 31, and can be planted in the soil part of a faucet.

As shown in FIG. 1, the fertilization apparatus 4 was equipped with the horizontally long hopper 41, the feeding mechanism 42, the electric blower 43, the some fertilization hose 44, and every jaw. (45) is provided. The hopper 41 stores granular or powdery fertilizer. The feeding mechanism 42 operates with the motive power transmitted from the engine 13, and feeds out the fertilizer for two sets from the hopper 41 every predetermined amount.

The blower 43 operates with electric power from a battery (not shown) mounted on the base body 1, and generates a conveying wind that conveys the fertilizer fed by each feeding mechanism 42 toward the mud surface of the pavement. make it The fertilization apparatus 4 can switch between the operation state which supplies the fertilizer stored in the hopper 41 to a field|package by predetermined amount by intermittent operation of the blower 43 etc., and the non-operation state which stops supply. .

Each fertilization hose 44 guides the fertilizer conveyed by the conveyance wind to each planter 45. As shown in FIG. Each implement 45 is arranged on each stationary float 15 . And each grocer 45 goes up and down together with each stop float 15, forms a fertilization groove in the soil part of the faucet at the time of the work run to which each stop float 15 is grounded, and guides the fertilizer into the fertilization groove.

As shown in FIG. 1, the base body 1 is equipped with the driving|operation part 20 in the area|region on the rear part side. The driving unit 20 includes a main gear lever 22 (“Operation”) that adjusts the vehicle speed by performing a shift operation of the steering wheel 21 (corresponding to “operation tool”) for front-wheel steering and the continuously variable transmission 14 . sphere), the auxiliary transmission lever 23 (corresponding to the “operation tool”) that enables the shift operation of the auxiliary transmission device, the lifting operation of the model unit 3 and switching of the operating state, etc. A general-purpose terminal 9 having a work operation lever 25 (corresponding to “operation tool”), a touch panel for displaying (notifying) various types of information and notifying (outputting) the operator, and receiving input of various types of information; A driver's seat 16 or the like for an operator (driver) is provided. Moreover, in front of the driving part 20, the spare hair|bristle frame 17 which accommodates a spare hair|bristle is provided.

The steering wheel 21 is connected to the front wheel 12A via a steering mechanism (not shown), and the steering angle of the front wheel 12A is adjusted through the rotation operation of the steering wheel 21 .

[Travel route]

The traveling route used in the seedling operation (an example of a pavement operation) by this rice transplanter is demonstrated below. As shown in FIG. 2 , the pavement is divided into an outer periphery area in which a revolving travel route is set and a central area in which a reciprocating travel route is set. The rice transplanter first performs a seed planting operation on the central region along a reciprocating travel path, and then performs a seed planting operation on the outer periphery region along a circumferential travel path.

3 shows a circumferential travel route. The circling travel path consists of a circling straight path extending parallel to the pavement boundary line (headline), and a direction change path in which forward and reverse are introduced in order to connect the circling linear paths. In addition, in FIG. 3, the code|symbol R1 is attached|subjected to a winding straight path, and the code|symbol R2 is attached|subjected to the direction change path|route. 4 shows a reciprocating travel route. The reciprocating travel path consists of a plurality of mutually substantially parallel reciprocating paths and a turning path (U-turn path) connecting the reciprocating paths. In addition, in FIG. 4, R3 is attached|subjected to a reciprocating path, and the code|symbol R5 is attached|subjected to a turning path. 3 and 4, a reference symbol R4 is assigned to a transition path for transitioning from the reciprocating travel path to the circumferential travel path. In the example here, the transition path is similar to the turn path. In addition, in FIG.3 and FIG.4, the working width of a rice transplanter is shown by the code|symbol W, and the doorway GA to the pavement of a rice transplanter is drawn with the oblique line. In FIG. 4, the start guide path (symbol R6 is attached|subjected) from the entrance GA to the travel start position S of the reciprocating travel route is shown. In the turning path, the turning path, the starting guidance path, and the transition path, the rice transplanter travels without performing an operation, so these paths are indicated by dotted lines. In a round straight path and a reciprocating path, since a rice transplanter travels while performing an operation|work, these paths are shown by a solid line.

[control system]

Next, the control system of a rice transplanter is demonstrated using FIG. 5, referring FIG.

The control unit 6, which forms the core of the control system of the rice transplanter, includes a positioning unit 8, a seating sensor 26 (equivalent to "boarding detection unit"), an automatic changeover switch 27, a travel sensor group 28, and a work sensor. A signal from the group 29 and the speed setting unit 30 is input. A control signal is output from the control unit 6 to the traveling device group 1A, the working device group 1B, and the general purpose terminal 9 .

The positioning unit 8 outputs positioning data for calculating the position and orientation of the base body 1 . The positioning unit 8 includes a satellite positioning module 8A for receiving radio waves from satellites of the global navigation satellite system (GNSS), and an inertial measurement module 8B for detecting the inclination and acceleration of three axes of the body 1 . This is included.

The seating sensor 26 is a sensor that detects whether or not the driver is seated in the driver's seat 16 . The automatic changeover switch 27 is provided in the driving unit 20 and is a switch for selecting an automatic traveling mode in which the aircraft 1 is automatically driven and a manual traveling mode in which the vehicle 1 is driven manually. The travel sensor group 28 includes various sensors for detecting the steering angle, the operating position of the main gear lever 22 or the auxiliary gear lever 23, the vehicle speed, the engine speed, and the like, and set values for them. has been The work sensor group 29 includes various sensors for detecting the state of the link mechanism 11 , the seed planting device 3 , and the fertilization device 4 , and a set value for them.

The traveling device group 1A includes, for example, the front wheels 12A and the continuously variable transmission device 14 . Based on the control signal from the control unit 6, while the steering angle of 12A of front wheels is controlled, the vehicle speed is controlled by operating the continuously variable transmission 14. As shown in FIG.

The working equipment group 1B includes, for example, a lifting cylinder 11a, a seed planting device 3, and a fertilizing device 4 . Based on the control signal from the control unit 6, while the amount of seedlings of the seedling planting apparatus 3 is adjusted, the amount of fertilization to which the fertilization apparatus 4 will fertilize is adjusted.

The speed setting unit 30 is provided in the driving unit 20 and may set a candidate speed selected from a plurality of candidate speeds as the maximum speed during automatic driving. As will be described later, the traveling speed in the automatic travel is controlled according to the set maximum speed.

The control unit 6 includes a travel control unit 61 , a work control unit 62 , a host vehicle position calculation unit 63 , a travel route setting unit 64 , and a work parameter setting unit 65 . The control unit 6 is configured to include a processor such as an ECU or a CPU.

The host vehicle position calculation unit 63 calculates map coordinates (own vehicle position) of the body 1 based on the satellite positioning data sequentially transmitted from the positioning unit 8 .

This rice transplanter is capable of automatic driving and manual driving. Therefore, the travel control unit 61 performs control in the automatic travel mode in which the automatic travel is performed or the manual travel mode in which the manual travel is performed based on the command from the automatic changeover switch 27 . The driving control unit 61 includes an automatic driving control unit 611 and a manual driving control unit 612 , wherein the automatic driving control unit 611 operates in the automatic driving mode and the manual driving control unit 612 operates in the manual driving mode. In the automatic driving mode, the automatic driving control unit 611 calculates a steering control amount such that the lateral deviation and the azimuth deviation are reduced based on the lateral deviation and the azimuth deviation calculated by comparing the location of the host vehicle and the target travel path. The steering angle of the front wheel 12A is adjusted based on the steering control amount. In addition, the automatic driving control unit 611 controls the traveling speed to travel at a speed equal to or less than the maximum speed selected by the speed setting unit 30 . In the manual driving mode, the manual driving control unit 612 adjusts the steering angle of the front wheel 12A based on the manipulation amount of the steering wheel 21 . The manual travel control unit 612 controls the continuously variable transmission 14 or the like to travel at a traveling speed corresponding to the operation position of the main gear lever 22 or the auxiliary gear lever 23 .

In addition, the automatic driving control unit 611 performs different controls in the automatic driving mode in the unmanned driving mode and in the manned driving mode. Specifically, as will be described later, the automatic driving control unit 611 controls the driving speed to be faster in the unmanned driving mode than in the manned driving mode. Further, when the seating sensor 26 detects that the driver is seated in the driver's seat 16 , the automatic driving control unit 611 sets to the manned driving mode, and detects that the driver is seated in the driver's seat 16 . When the seating sensor 26 does not detect, it sets to the unmanned driving mode.

The travel route setting unit 64 sets a travel route, which is a target travel route in automatic travel, and gives it to the automatic travel control unit 611 .

The work parameter setting part 65 sets the adjustment amount of the planting mechanism 32, and transmits it to the work control part 62. The adjustment amount of the planting mechanism 32 is set according to the work performed by the work device group 1B set according to the travel position of the target travel route in the automatic travel mode, and the setting detected by the work sensor group 29 in the manual travel mode It is set according to the value. The work control unit 62 controls the work equipment group 1B based on the signal received from the work parameter setting unit 65 .

[automatic driving]

Next, the travel control in the automatic travel will be described with reference to Figs. 1, 4 and 5 .

As described above, the automatic driving control unit 611 controls automatic driving. In the manned driving mode, the driving speed is changed according to the driving route. For example, in the circumferential travel path, the traveling speed is reduced in the direction change path R2 as compared with the winding straight path R1. Further, in the reciprocating travel path, the traveling speed is reduced in the turning path R5 compared to the reciprocating path R3.

Since there is a difference in travel speed between travel on the turning path R5 and travel on the reciprocating path R3, the body 1 accelerates/decelerates. In addition, the base body 1 may accelerate/decelerate according to a work running. In the manned driving mode, acceleration and deceleration are performed gently in consideration of the driver's comfort and the stability of the aircraft 1 during running.

In addition, the automatic driving control unit 611 determines the driving speed in consideration of the maximum speed selected and set by the speed setting unit 30 . For example, the automatic travel control unit 611 controls the vehicle to travel at a set maximum speed when traveling on the winding straight path R1 and the reciprocating path R3, and is slower than the maximum speed when traveling on the direction change path R2 and the turning path R5. Control to drive at speed.

Moreover, the automatic travel control part 611 can make the traveling speed at the time of traveling the winding straight path R1' in the outer peripheral area of a pavement slower than the traveling speed in the other winding linear path R1. There may be obstacles in the outer periphery of the pavement. If it collides with an obstacle while traveling, the body 1 may be damaged. By reducing the traveling speed of the circumferential straight path R1' in the outer peripheral region of the pavement, it becomes possible to avoid collision with the base body 1 and an obstacle, or to reduce damage to the base body 1 .

When the unmanned driving mode is set according to the detection result of the sitting sensor 26 , the automatic driving control unit 611 controls the driving speed to be faster than in the manned driving mode. For example, regardless of the candidate speed selected by the speed setting unit 30 , the automatic driving control unit 611 sets the fastest candidate speed among selectable candidate speeds as the highest speed. Then, the automatic travel control unit 611 controls to travel at a set maximum speed when traveling on the circling straight path R1 and the reciprocating path R3. In addition, the automatic travel control unit 611 may reduce the traveling speed when traveling on the direction change path R2 and the turning path R5, but may control it to travel at a set maximum speed also when traveling on the direction change path R2 and the turning path R5. . When the traveling speed is decelerated, it is suppressed that the pavement is damaged by the turning marks, and when the speed is not decelerated, the work efficiency is improved. Also, there may be people in the headland, and if you change direction or turn at a fast driving speed, you may feel anxious about that person. In particular, by decelerating the traveling speed at the time of changing direction and turning at the headboard, the anxiety of the person standing at the headboard can be reduced. Further, the automatic travel control unit 611 may make the acceleration/deceleration in the unmanned travel mode steep compared to the acceleration/deceleration in the manned travel mode. It is preferable that acceleration/deceleration in the unmanned driving mode be performed as steeply as possible within a range in which the aircraft 1 can travel stably.

According to the above configuration, in the unmanned driving mode, the driving speed can be increased without considering the driver's comfort or the like, so that it is possible to improve the working efficiency.

In addition, even when the unmanned driving mode is set, the automatic running control unit 611 sets the running speed when running on the circling straight path R1' in the outer peripheral area of the pavement slower than the running speed on the other circling straight path R1. do. Thereby, it becomes possible to reduce the damage of the base|substrate 1 or something.

[Other embodiment]

(1) The sensor used as a trigger for switching between the unmanned driving mode and the manned driving mode is not limited to the seated sensor 26, and various occupancy detectors (corresponding to the "boarding detection unit") may be used. The occupancy detector only needs to be able to determine whether the driver is in the driver unit 20 , and when the driver is in the driver unit 20 , the manned driving mode is set. For example, the occupancy detector is a sensor that detects whether the driver is in contact with an operation tool such as the main gear lever 22 or the steering wheel 21 . Even with such a configuration, it is possible to detect that the driver is riding in the driving unit 20 .

In addition, a manned unmanned changeover switch (not shown) may be provided instead of or together with an occupancy detector such as the seating sensor 26 . When the driver operates the manned unmanned changeover switch, the unmanned driving mode and the manned driving mode are manually switched. In the case where the manned unmanned changeover switch is provided together with the occupancy detector, even if the unmanned driving mode is selected by the manned unmanned changeover switch, the driver is riding in the driver 20 by the occupancy detector such as the seated sensor 26 When detected, it is automatically set to the manned driving mode. As a result, switching between the unmanned running mode and the manned running mode is appropriately performed, and work efficiency can be improved more reliably.

(2) When supplying mat-type wool to the hair loading table 31, the base 1 moves to one outer periphery L (corresponding to the "first outer periphery") of the pavement where the entrance GA is provided, and this Mat-type hair is replenished from the headrest to the hair loading table 31 in a state in which the base body 1 is stopped along the outer periphery L. At this time, after traveling the reciprocating path R3 toward the outer periphery L, the base body 1 goes straight to the outer periphery L without traveling on the turning path R5. During automatic driving in the manned driving mode, in the vicinity of the end of the reciprocating path R3 running toward the outer periphery L, the aircraft 1 is operated in a predetermined direction so that a driver or a supervisor can determine whether or not to replenish the mat-shaped simulation. Time, once stopped. The driver or supervisor judges whether or not to perform mat-type simulation replenishment while the aircraft 1 is temporarily stopped, and when it is determined that mat-type simulated replenishment is to be performed, automatic travel or manual travel follows the outer periphery L An operation to move the base body 1 to the position is performed. In addition, the outer periphery L to which the mat-shaped hair is replenished is not limited to the outer periphery in which the entrance GA is provided, You can also set it as arbitrary outer periphery.

In consideration of such mat-type wool replenishment operation, in each of the above embodiments, the rice transplanter according to the present embodiment furthermore, a hair detection unit (“free”) that detects whether or not a predetermined amount of mat-type hair remains on the hair transplanter mounting table 31 . detection unit”) 40 may be provided. In automatic driving in the unmanned driving mode, the automatic driving control unit 611 determines the detection result of the hair detection unit 40 when the aircraft 1 reaches the end region of the reciprocating path R3 traveling toward the outer periphery L. Check it. And when it is judged that it is necessary to replenish the mat-type hair|bristle less than a predetermined amount of hair, the automatic running control part 611 stops the base body 1 in the vicinity of the terminal part of the reciprocating path R3 traveling toward the outer periphery L. When sufficient hairs remain, the automatic travel control unit 611 continues the automatic travel as it is without stopping the body 1 at the end of the reciprocating path R3 traveling toward the outer periphery L.

Thereby, an unnecessary stop period can be reduced, and the improvement of the work efficiency in automatic running can be aimed at.

(3) In each said embodiment, the rice transplanter which concerns on this embodiment may be provided with the obstacle detection part 46 further. The obstacle detection unit 46 detects whether or not there is an obstacle in front of the body 1 during travel, and notifies the automatic travel control unit 611 of the detection result. When receiving a notification from the obstacle detection unit 46 that an obstacle exists in the traveling direction of the aircraft 1 , the automatic travel control unit 611 decelerates the aircraft 1 and stops thereafter.

According to such a structure, it can suppress that the base body 1 collides with an obstacle during automatic running. In particular, when the vehicle is automatically driving in the unmanned driving mode, it is difficult to avoid obstacles because the driving speed is high and the driver is not on board. By providing the obstacle detecting unit 46 and stopping the aircraft 1 when an obstacle is detected, it is possible to suppress the collision of the aircraft 1 with the obstacle during automatic driving while increasing the traveling speed and improving work efficiency.

(4) In each of the above embodiments, the revolving linear paths R1, R1' and the reciprocating path R3 are not limited to straight lines, and may be partially or completely curved, and may be zigzag paths or meander paths.

(5) The travel control unit 61 , the work control unit 62 , the own vehicle position calculation unit 63 , the travel route setting unit 64 , and the work parameter setting unit 65 provided in the control unit 6 function as described above. Although it may be divided into blocks, one or more of these functional blocks may be integrated, or may be divided into a plurality of functional blocks. In addition, all or part of the functions of the control unit 6 may be realized in software. The software (program) is stored in an arbitrary storage unit (not shown) and executed by a processor or other processor included in the control unit 6 .

(6) Hereinafter, the rice transplanter which work-runs a pavement is demonstrated.

[Overall structure]

As shown in FIG. 6 , the rice transplanter is equipped with a traveling body (hereinafter, referred to as body 1001) of a riding type and a four-wheel drive type. The base body 1001 includes a link mechanism 1011 of a parallel four-link type connected to the rear portion of the base body 1001 so as to be able to move up and down, a hydraulic lifting cylinder 1011a for swinging and driving the link mechanism 1011 , a link mechanism A seed planting device 1003 connected to the rear end region of 1011 so as to be rollable, and a fertilization device 1004 installed from the rear end region of the base 1001 to the seed planting device 1003, etc. are provided. there is. The seedling planting apparatus 1003 and the fertilization apparatus 1004 are an example of a work apparatus.

The base body 1001 is equipped with the wheel 1012, the engine 1013, and the hydraulic|hydraulic continuously variable transmission device 1014 as a mechanism for traveling. The wheel 1012 includes left and right front wheels 1012A that can be steered, and left and right rear wheels 1012B that cannot be steered. The engine 1013 and the continuously variable transmission 1014 are mounted on the front part of the body 1001 . Power from the engine 1013 is supplied to the front wheels 1012A, the rear wheels 1012B, a work device, and the like via a continuously variable transmission device 1014 or the like.

The seedling planting apparatus 1003 is comprised as an example in the 8 row planting form. The seedling planting apparatus 1003 is equipped with the seedling mounting stand 1031, the planting mechanism 1032, etc. for 8 sets. Moreover, this seed|mode planting apparatus 1003 can be changed into forms, such as 2 row planting, 4 row planting, and 6 row planting, by control of each group clutch which is not shown in figure.

The hair|bristle loading stand 1031 is a receiving stand which loads 8 sets of mat-shaped hair|bristle. The hair loading table 1031 reciprocates in the left and right direction with a constant stroke corresponding to the left and right width of the mat-shaped wool, and the longitudinal feed mechanism 1033 is, whenever the hair loading table 1031 reaches the stroke end of the left and right. Each mat-type wool on the hair loading table 1031 is transversely transferred at a predetermined pitch toward the lower end of the hair loading table 1031 . Eight planting mechanism 1032 is a rotary type, and is arrange|positioned in the left-right direction at the fixed space|interval corresponding to between planting troughs. And each planting mechanism 1032 cuts out the hair (it is also called planting hair) for 1 round from the lower end of each mat-shaped hair|bristle mounted on the hair|bristle mounting stand 1031 with the power from the base|substrate 1001, and the soil after stopping feed on wealth Thereby, in the operating state of the seedling planting apparatus 1003, hair can be taken out from the mat-shaped hair|bristle mounted on the hair|bristle mounting stand 1031, and can be planted in the soil part of a faucet.

As shown in FIG. 6, the fertilization apparatus 1004 is equipped with the horizontally long hopper 1041, the feeding mechanism 1042, the electric blower 1043, the some fertilization hose 1044, and every jaw. (1045) is provided. The hopper 1041 stores granular or powdery fertilizer. The feeding mechanism 1042 operates with the power transmitted from the engine 1013 and feeds out two sets of fertilizers from the hopper 1041 each by a predetermined amount.

The blower 1043 operates with electric power from a battery (not shown) mounted on the base 1001, and generates a conveying wind that conveys the fertilizer fed by each feeding mechanism 1042 toward the mud surface of the pavement. make it The fertilization apparatus 1004 can switch between the operation state which supplies the fertilizer stored in the hopper 1041 to a field|package by predetermined amount by intermittent operation of the blower 1043 etc., and the non-operation state which stops supply. .

Each fertilization hose 1044 guides the fertilizer conveyed by conveyance wind to each planter 1045. Each implement 1045 is disposed on each stationary float 1015 . In addition, each grommet 1045 raises and lowers together with each stop float 1015 , forms a fertilization groove in the soil part of the faucet during work travel where each stop float 1015 is grounded, and guides the fertilizer into the fertilization groove.

As shown in FIG. 6, the base body 1001 is equipped with the driving|operation part 1020 in the area|region on the rear part side. The driving unit 1020 includes a steering wheel 1021 for front wheel steering and a main gear lever 1022 that adjusts the vehicle speed by performing a shift operation of the continuously variable transmission 1014, and enables shift operation of the auxiliary transmission device. The auxiliary transmission lever 1023, the operation operation lever 1025 that enables the lifting operation of the model planting device 1003 and switching of the operating state, and various information are displayed (notified) and notified (output) to the operator. A general-purpose terminal 1009 having a touch panel for accepting input of various types of information, a driver's seat 1016 for an operator (driver), and the like are provided. In addition, in front of the driving unit 1020, a spare hair frame 1017 for accommodating the spare hair is provided.

The steering wheel 1021 is connected to the front wheel 1012A via a steering mechanism (not shown), and the steering angle of the front wheel 1012A is adjusted through the rotation operation of the steering wheel 1021 .

[parent planting device]

As shown in FIG. 7, the seed planting apparatus 1003 is a feed case 1034 supported by the substantially central part in the lateral width direction of the rear part area|region of the base|substrate 1001, the back part area|region of the base|substrate 1001 suitably in the lateral width direction. A frame body is constituted by a plurality of planting transmission cases 1035 etc. arranged and supported at intervals, and in the front part of the frame body, the mother loading stand 1031 is reciprocally lateral movement driven in a constant stroke in the lateral width direction of the body. provided A drive is freely supported by the planting mechanism 1032 by the right and left both sides of the rear part of the planting transmission case 1035.

Power is supplied from the base 1001 side to the seedling planting apparatus 1003, and a part of mat-type wool mounted on the seedling mounting stand 1031 by the seedling claw 1037B with which the planting mechanism 1032 was equipped ( 1 share) is cut off, and it is comprised so that it may be planted on the pavement surface (Ito part) with running|running|working of the base|substrate 1001.

The planting mechanism 1032 is a rotation case 1036 of a substantially rectangular shape in a body side view supported so as to be rotatably driven via a rotor support shaft 1035A in the body transverse direction to the transverse side of the planting transmission case 1035; A pair of planting arms 1037 supported so as to be rotatably driven through an arm support shaft 1036A in the body lateral direction are provided at both ends of the rotation case 1036 separately.

A driving force is transmitted from the engine 1013 (refer FIG. 6) through the feed case 1034 and the planting transmission case 1035 by a planting clutch (not shown) shifting to an electric state. The rotary case 1036 is rotationally driven around the axis of the rotor support shaft 1035A in the lateral direction of the body by rotationally driving the rotor support shaft 1035A by this driving force. A pair of planting arms 1037 revolve around the rotor rotation axis center of 1035 A of rotor support shafts when the rotation case 1036 is rotationally driven. The pair of planting arms 1037 are formed from the body lateral axis of the arm support shaft 1036A when the arm support shaft 1036A of the rotary case 1036 is rotationally driven, and the arm rotation shaft center parallel to the rotor rotation shaft center. It is rotationally driven to rotate with respect to the rotation case 1036 around.

Each of a pair of planting arms 1037 is equipped with the support case 1037A, and the mother planting claw 1037B is supported by the support case 1037A. In the inside of each support case 1037A, the hair extrusion port 1037C which is supported so that a slidable movement is possible and pushes out hair|hair from the bristle part claw 1037B with slid movement is provided.

As for each planting mechanism 1032 by the above structure, when the rotation case 1036 is rotationally driven, the front-end|tip side of each seedling claw 1037B of a pair of planting arms 1037 is the lower end side of the hair|bristle mounting stand 1031. and the pavement, the seed planting claws 1037B of the pair of planting arms 1037 alternately remove a part from the lower end of the mat-type wool stacked on the hair loading table 1031 to plant the planting hair (simply "hairy"). '), holding the removed planting hairs, descending to the pavement surface, planting, raising after planting, and returning to the lower end side of the seedling loading table 1031 is performed.

[Travel route]

The traveling route used in the seedling operation (an example of a pavement operation) by this rice transplanter is demonstrated below. As shown in FIG. 2 , the pavement is divided into an outer periphery area in which a revolving travel route is set and a central area in which a reciprocating travel route is set. The rice transplanter first performs a seed planting operation on the central region along the reciprocating travel path, and then performs the seed planting operation on the outer peripheral region along the circumferential travel path.

8 shows a circumferential travel route. The circling travel path consists of a circling straight path extending parallel to the pavement boundary line (headline), and a direction change path in which forward and reverse are introduced in order to connect the circling linear paths. In addition, in FIG. 8, the code|symbol R1001 is attached|subjected to the winding straight path, and the code|symbol R1002 is attached|subjected to the direction change path|route. 9 shows a reciprocating travel route. The reciprocating travel path consists of a plurality of mutually substantially parallel reciprocating paths and a turning path (U-turn path) connecting the reciprocating paths. Each reciprocating path WHEREIN: Simulation planting is started from planting start position US100, and simulation planting is complete|finished in planting end position UF100. Moreover, in FIG. 9, R1003 is attached|subjected to a reciprocating path, and the code|symbol R1005 is attached|subjected to a turning path. 8 and 9, a reference symbol R1004 is assigned to a transition path for transitioning from the reciprocating travel path to the circumferential travel path. In the example here, the transition path is similar to the turn path. In addition, in FIG. 8 and FIG. 9, the working width of a rice transplanter is shown by the code|symbol W100, and the doorway GA100 to the pavement of a rice transplanter is drawn with the diagonal line. In FIG. 9, the start guide route (sign R1006 is attached|subjected) from the entrance GA100 to the travel start position S100 of the reciprocating travel route is shown. In the turning path, the turning path, the starting guidance path, and the transition path, since the rice transplanter travels without performing any work, these paths are indicated by dotted lines. In the round straight path and the reciprocating path, since the rice transplanter travels while working, these paths are indicated by solid lines.

[control system]

Next, the control system of a rice transplanter is demonstrated using FIG. 10, referring FIG.

Signals from the positioning unit 1008 , the automatic changeover switch 1027 , the travel sensor group 1028 , and the work sensor group 1029 are input to the control unit 1006 , which forms the core of the control system of the rice transplanter. A control signal is output from the control unit 1006 to the traveling device group 1001A, the working device group 1001B, and the general-purpose terminal 1009 .

The positioning unit 1008 outputs positioning data for calculating the position and orientation of the base body 1001 . The positioning unit 1008 includes a satellite positioning module 1008A for receiving radio waves from satellites of the global navigation satellite system (GNSS), and an inertial measurement module 1008B for detecting the inclination and acceleration of three axes of the base body 1001 . This is included.

The automatic changeover switch 1027 is provided in the driving unit 1020 and is a switch for selecting an automatic traveling mode in which the aircraft 1001 is automatically driven and a manual traveling mode in which the aircraft 1001 is driven manually. The travel sensor group 1028 includes various sensors for detecting the steering angle, the operating position of the main gear lever 1022 or the auxiliary gear shift lever 1023, the vehicle speed, the engine speed, etc. has been Various sensors which detect the state of the link mechanism 1011, the seedling planting apparatus 1003, the fertilization apparatus 1004, and the set value with respect to them are contained in the work sensor group 1029.

The traveling device group 1001A includes, for example, a front wheel 1012A and a continuously variable transmission device 1014 . Based on the control signal from the control unit 1006 , the steering angle of the front wheels 1012A is controlled, and the vehicle speed is controlled by operating the continuously variable transmission 1014 .

The working equipment group 1001B includes, for example, a lifting cylinder 1011a, a seed planting device 1003, and a fertilizing device 1004. Based on the control signal from the control unit 1006, while the seedling amount of the seedling planting apparatus 1003 is adjusted, the fertilization amount which the fertilization apparatus 1004 will fertilize is adjusted.

The control unit 1006 includes a travel control unit 1061 , a work control unit 1062 , a host vehicle position calculation unit 1063 , a travel route setting unit 1064 , and a work parameter setting unit 1065 . The control unit 1006 is configured including a processor such as an ECU or a CPU.

The host vehicle position calculation unit 1063 calculates map coordinates (own vehicle position) of the base unit 1001 based on the satellite positioning data sequentially transmitted from the positioning unit 1008 .

This rice transplanter is capable of automatic driving and manual driving. Therefore, the travel control unit 1061 performs control in the automatic travel mode in which the automatic travel is performed or the manual travel mode in which the manual travel is performed based on the command from the automatic changeover switch 1027 . The driving control unit 1061 includes an automatic driving control unit 1611 and a manual driving control unit 1612 , wherein the automatic driving control unit 1611 operates in the automatic driving mode and the manual driving control unit 1612 operates in the manual driving mode. In the automatic travel mode, the automatic travel control unit 1611 calculates the steering control amount so that the lateral deviation and the azimuth deviation are reduced based on the lateral deviation and the azimuth deviation calculated by comparing the host vehicle position and the target travel path. The steering angle of the front wheel 1012A is adjusted based on the steering control amount. In the manual driving mode, the manual driving control unit 1612 adjusts the steering angle of the front wheel 1012A based on the operation amount of the steering wheel 1021 . The manual travel control unit 1612 controls the continuously variable transmission device 1014 or the like to travel at a traveling speed corresponding to the operation position of the main gear lever 1022 or the auxiliary gear lever 1023 .

The travel route setting unit 1064 sets a travel route that is a target travel route in automatic travel, and gives it to the automatic travel control unit 1611 .

The work parameter setting part 1065 sets the adjustment amount of the planting mechanism 1032, and transmits it to the work control part 1062. The adjustment amount of the planting mechanism 1032 is set according to the work performed by the work equipment group 1001B set according to the travel position of the target travel route in the automatic travel mode, and is detected by the work sensor group 1029 in the manual travel mode It is set according to the set value.

The work control unit 1062 controls the work equipment group 1001B based on the signal received from the work parameter setting unit 1065 . The operation control part 1062 especially performs control which makes the planting clutch (not shown) shift to an electric state or a non-motorized state so that it may mention later, and controls which descend|falls and raises the seedling planting apparatus 1003.

[planting work]

Next, the operation|movement of the seedling apparatus 1003 in a reciprocating path|route is demonstrated using FIGS. 9-13.

When the rice transplanter running automatically reaches the planting start position US100 of the reciprocating route, the operation control unit 1062 moves the planting clutch (not shown) to the electric state and rotates the pair of planting arms 1037, By lowering the seedling apparatus 1003, it controls so that a planting operation may be started from the planting start position US100. Moreover, while shifting a planting clutch to a non-electric state in planting end position UF100, the operation|work control part 1062 raises the mother planting apparatus 1003.

Here, with rotation of the planting arm 1037, the seedling planting claw 1037B takes out a planting hair from the hair|bristle mounting stand 1031, and plants a planting hair on a pavement surface. Therefore, after a planting clutch transfers to a transmission state and rotation of the planting arm 1037 starts, time until actually planting a planting seedling on a pavement surface is the planting arm 1037 at the time of a planting clutch shifting to a transmission state. ), specifically, it fluctuates according to the positional relationship between the seedling mounting table 1031 and the seedling part claw 1037B. That is, when the position of the seedling planting claw 1037B with respect to the seedling mounting table 1031 is just in front of the seedling mounting table 1031 in the rotation direction of the planting arm 1037, as shown by the solid line of FIG. The planting hairs are planted on the pavement surface immediately after a planting clutch transfers to a transmission state. On the other hand, as the position of the seedling planting claw 1037B with respect to the hair|bristle mounting stand 1031 is shown by the dashed-dotted line of FIG. 11, the hair|bristle mounting stand 1031 in the rotation direction of the planting arm 1037 is just In the case of being behind, the seedling claw 1037B cannot take out the planting hair from the seedling loading stand 1031 unless the planting arm 1037 rotates close to the accompaniment after the planting clutch is shifted to the electric state, so it is packed by that much The timing at which the seedlings are planted on the noodles is delayed. The time until the planting hairs are actually planted on the pavement surface after the planting clutch is transferred to the electric state becomes the time when the planting arm 1037 rotates halfway at the maximum, and after the planting clutch transfers to the electric state, the rice transplanter is the maximum A planting simulation is actually performed at the position advanced by about 20 cm (about 15 cm to 25 cm).

From the above points, even if the operation control part 1062 shifts a planting clutch to an electric state in planting start position US100, and intends to start a planting operation from planting start position US100, the position of the seedling loading stand 1031 and seedling claw 1037B Depending on the relationship, the position at which planting is actually started will fluctuate.

When the position where especially planting hairs are actually planted becomes the position which passed the planting start position US100, the quantity of the planting hairs planted will become less than what was planned, As a result, the quantity of grains also decreases. In the example shown in FIG. 12, the case where the planting clutch is made into a transmission state in planting start position US100 is shown, according to the positional relationship of the seedling loading stand 1031 and the seedling planting claw 1037B, an actual planting position is a planting It has shown that it may be delayed by distance d from the start position US100.

Therefore, the operation control part 1062 speeds up the timing which makes a planting clutch into an electric state with respect to planting start position US100, and makes the planting mechanism 1032 start a planting operation from the front only by a predetermined distance from planting start position US100. do. For example, the operation control part 1062 controls so that the seedling planting apparatus 1003 descend|falls to a pavement surface from the front before reaching the planting start position US100. At this time, the operation control part 1062 makes a planting clutch a transmission state from the front only by a predetermined distance earlier than the seedling apparatus 1003 descending to a pavement surface, or a predetermined distance from planting start position US100.

Thereby, even if the timing at which the seedling planting claw 1037B takes out the planting hair from the seedling loading table 1031 after the planting clutch is transferred to the transmission state fluctuates, the position to actually plant the planting seedling is at least in the planting start position US100. On the other hand, shifting|deviate from the advancing direction of a rice transplanter is suppressed, and planting is started in planting start position US100. As a result, the decrease in the quantity of planting wool to be planted is suppressed, and it is also suppressed that the quantity of water quantity of a grain decreases as a result.

In particular, as for the operation control part 1062, a rice transplanter runs at the time when the planting arm 1037 semi-turns earlier than the seedling apparatus 1003 descend|falls to the pavement surface, or the planting arm 1037 half-turns. Put the planting clutch in the electric state from the front as much as the distance that you want. In other words, since the distance that the rice transplanter travels at the time when the planting arm 1037 is half-rotated is the same distance between the poles, the operation control unit 1062 is the planting clutch from the front by the same distance as between the poles from the planting start position US100. Make it electric.

Thereby, even if the timing at which the seedling planting claw 1037B takes out the planting hairs from the seedling mounting table 1031 fluctuates after the planting clutch is transferred to the transmission state, as shown in FIG. 13, at least from the planting start position US100 The actual planting simulation planting is started from the front. As a result, the decrease in the amount of planting wool to be planted is suppressed and the decrease in the amount of grains is also suppressed. Moreover, the distance which a rice transplanter travel|works in time when the planting arm 1037 turns semi-rotation is computable with a vehicle speed and the rotation speed of the planting arm 1037.

(7) The seedling planting claw 1037B takes out the planting hair of the seedling loading stand 1031, and plants it on the pavement surface. Therefore, if a planting clutch transfers to a non-electric state in the middle of a planting operation, possibility that the seedling planting claw 1037B will hold|maintain a planting hair or will stop in the state just before taking out a planting hair will become high. In such a case, the need to start a planting operation from the front of the planting start position US100 is small, and it is mainly necessary to perform a planting operation from the front from the planting start position US100, The parent planting claw 1037B holds the planting hair is not present

A rice transplanter performs the operation|work of several pavement. The rice variety may be different depending on the field. In that case, the planting hair prepared for the previous field is removed from the seedling loading stand 1031 or the planting device 1032 before work in the field. Therefore, when the operation control part 1062 of the rice transplanter which concerns on another embodiment (7) starts a planting operation in a field|pavement, for example, at the time of an automatic running, the position which starts a planting operation first in a field|pavement. That is, in travel start position S100 of a reciprocating travel route, you may start a planting operation by making a planting clutch into a transmission state in front from travel start position S100 which is planting start position US100. And in planting start position US100 of another reciprocating path|route, the operation|work control part 1062 does not perform control which starts a planting operation|movement before planting start position US100.

By performing such control, since a planting operation is started from the front side of planting start position US100 only when the possibility that a planting will become late than planting start position US100 is high, the decrease of the quantity of planting wool planted efficiently is suppressed, and the quantity of grain This decrease is also suppressed. In addition, it is not limited to the case where the traveling route shown in FIG. 8, FIG. 9 is preset, In the first planting start position US100 at the time of starting a planting operation first in a pavement, the operation control part 1062 is You may control so that a planting operation may be started before planting start position US100.

(8) In each said embodiment, when the work control part 1062 performs a planting at the beginning of a working day, it may make a planting clutch into a transmission state from the front rather than planting start position US100, and may start a planting operation. And the operation|work control part 1062 does not perform control which starts a planting operation|movement in front of planting start position US100 in subsequent planting start position US100.

When planting for the first time in one day (working day), the planting hairs held by the seedling planting claw 1037B until the previous day may be removed. Therefore, in order to start a planting operation from the front of planting start position US100 only when the possibility that planting will become late than planting start position US100 is high by performing the control as mentioned above, the reduction of the quantity of planting hairs planted efficiently is suppressed, A decrease in the yield of grains is also suppressed.

(9) In each said embodiment, after planting operation is performed by making a planting clutch into an electric state, and planting operation is stopped by making a planting clutch into a non-electric state, after a predetermined time or more passes, the planting clutch is put into an electric state again, When performing a planting operation|movement, the work control part 1062 may make a planting clutch into a transmission state from the front rather than planting start position US100, and may start a planting operation. And the operation control part 1062 is the planting start position US100 when a planting clutch becomes an electric state again and a planting operation is performed while it does not pass more than predetermined time, In planting start position US100, the control which starts a planting operation from the front. do not do

When more than predetermined time passes after planting operation is stopped, the planting hair which the seedling planting claw 1037B hold|maintained may be removed. Therefore, in order to start a planting operation from the front of planting start position US100 only when the possibility that planting will become late than planting start position US100 is high by performing the control as mentioned above, the reduction of the quantity of planting hairs planted efficiently is suppressed, A decrease in the yield of grains is also suppressed.

(10) In each said embodiment, the control which makes a planting clutch into an electric state from the front of planting start position US100, and starts a planting operation is not limited to the case where it is performed in an automatic running, Working running in manual running It may be done at the time. At this time, a rice transplanter may be equipped with operation tools, such as a switch and a lever, for making a planting clutch into an electric state before planting start position US100, and starting a planting operation. When a driver makes a planting clutch into a transmission state from the front of planting start position US100 and starts a planting operation, a driver operates an operation tool and makes a planting clutch into a transmission state in front of planting start position US100. Moreover, when providing such an operation tool, also in automatic running, in arbitrary planting start position US100, a planting clutch can also be made into a transmission state from the front side.

Thereby, when a driver finds out that a planting simulation planting is started beyond the planting start position US100 unexpectedly by this, a driver responds quickly and it becomes possible to operate so that planting is performed from the front more reliably than planting start position US100. .

(11) In each said embodiment, the rice transplanter may be equipped with the hair holding sensor which detects whether the seedling planting claw 1037B of the planting mechanism 1032 hold|maintains planting hair. And when the work control part 1062 detects that the seedling planting claw 1037B does not hold|maintain a planting hair with a seedling holding sensor, if a rice transplanter is going to pass planting start position US100, planting start position US100 Control to start a planting operation|movement by making a planting clutch into a transmission state from the front side is performed.

The state with the highest possibility that planting will be started after passing through planting start position US100 is a state in which a rice transplanter is going to pass through planting start position US100, when the seedling planting claw 1037B is not holding a planting seedling. The seedling claw 1037B which is a state with a high possibility that it becomes necessary to make a planting clutch into an electric state from the front of planting start position US100 and to start a planting operation by performing the control as described above does not hold a planting hair At this time, the planting operation can be started from the front of the planting start position US100. Therefore, the decrease of the quantity of planting wool planted efficiently is suppressed, and it is also suppressed that the quantity of water of a grain decreases.

(12) In each said embodiment, the rice transplanter may be equipped with the seedling residual quantity sensor which detects the change of the mat-shaped bristle residual quantity of the seedling loading stand 1031. And according to the detection result of the seedling residual quantity sensor, the work control part 1062 controls whether or not to start a planting operation|movement by making a planting clutch into an electric state from the front of planting start position US100.

When there is no mat-shaped hair|bristle mounted on the hair|bristle mounting stand 1031, the seedling planting claw 1037B will be in the state which does not hold a planting hair. After that, even if mat-shaped hair is replenished, it may take some time until the hair planting claw 1037B holds the planting hair. When the operation control part 1062 detects that it is in such a state when a rice transplanter is going to pass planting start position US100, it will control to start a planting operation by making a planting clutch into a transmission state from the front rather than planting start position US100. As a result, the possibility that a planting operation can be started from the front rather than planting start position US100 improves. Therefore, the decrease of the quantity of planting wool planted efficiently is suppressed, and it is also suppressed that the quantity of water of a grain decreases.

(13) In each of the above embodiments, the travel control unit 1061 , the operation control unit 1062 , the host vehicle position calculation unit 1063 , the travel route setting unit 1064 , and the operation parameter setting unit included in the control unit 1006 . 1065 may be divided into such functional blocks, but one or more of these functional blocks may be integrated or divided into a plurality of functional blocks. In addition, all or part of the functions of the control unit 1006 may be realized in software. The software (program) is stored in an arbitrary storage unit (not shown) and executed by a processor or other processor included in the control unit 1006 .

This invention is also applicable to the rice transplanter which performs automatic running or manual running.

In addition, the agricultural work machine of the present invention is not limited to a rice transplanter, and may be an agricultural work machine that performs work while automatically traveling on a work site, such as a combine or a tractor, and can be applied to various work machines that perform work while automatically driving a specific work site.

16: driver's seat
20: driver
25: operation operation lever (operation tool)
26: seating sensor (boarding detection unit)
30: speed setting unit
611: automatic driving control
L: outer periphery (first outer periphery)
R3: round-trip route
R5: turn path
1031: mother loading stand
1032: planting apparatus
1062: task control

Claims (16)

It is an agricultural machine that performs work while automatically driving along the driving route within the set work area.
An automatic driving control unit for controlling the automatic driving in a manned driving mode, which is a driving mode when the driver is on board, or an unmanned driving mode, which is a driving mode when the driver is not on board;
The automatic driving control unit controls the driving speed to be faster when the unmanned driving mode is set than when the manned driving mode is set. According to claim 1,
a driving unit on which the driver rides;
and a boarding detection unit configured to detect whether the driver is riding in the driving unit;
The automatic driving control unit is configured to set the automatic driving to the manned driving mode when the occupancy detection unit detects that the driver is riding in the driving unit, and determines that the driver is not in the driving unit. is detected, the automatic driving is set to the unmanned driving mode. 3. The method of claim 2,
and a driver's seat provided in the driver's seat on which the driver is seated;
wherein the boarding detection unit determines that the driver is in the driving unit by detecting that the driver is seated in the driver's seat. 3. The method of claim 2,
an operation tool for operating the automatic driving;
wherein the boarding detecting unit determines that the driver is riding in the driving unit by detecting that the driver is in contact with the operating tool. 5. The method according to any one of claims 1 to 4,
a speed setting unit that selects a maximum speed in the automatic running from a plurality of candidate speeds;
When the manned driving mode is set, the automatic driving control unit controls the automatic driving so that the selected candidate speed becomes the maximum speed, and when the unmanned driving mode is set, the automatic driving control unit is configured to: Controlling the automatic running so that the fast candidate speed becomes the maximum speed, an agricultural machine. 6. The method of claim 5,
Even in the unmanned running mode, when changing direction and turning on the head of the work site, the automatic running control unit decelerates the running speed. 5. The method according to any one of claims 1 to 4,
A material detection unit for detecting the remaining amount of material to be used during the automatic driving is provided;
In the automatic driving, a reciprocating path traveling between the two opposite outer perimeters of the work sheet and a revolving path connecting the two reciprocating paths are run, and the replenishment of the material is any 1 It is done on the periphery,
When the material detection unit detects that the material is not left, the automatic travel control unit controls the aircraft to stop without performing turning travel in an area adjacent to the first outer periphery, and that the material remains When the material detection unit detects, the automatic travel control unit controls the turning travel to be performed without stopping the aircraft. 5. The method according to any one of claims 1 to 4,
When traveling in the outer circumferential area of the work site, the automatic travel control unit reduces the traveling speed. 5. The method according to any one of claims 1 to 4,
An obstacle detecting unit for detecting an obstacle is provided;
When the obstacle detecting unit detects the obstacle, the automatic running control unit controls the aircraft to stop. It is a rice transplanter which starts planting from the predetermined planting start position of a pavement,
A wool loading stand for mounting mat-type wool,
A planting mechanism for performing a planting operation of cutting out and planting a predetermined amount of hair from the hair loading table;
A work control unit for controlling the planting operation of the planting mechanism,
The said operation control part is made to start a planting operation to the said planting mechanism from the front only by a predetermined distance from the said planting start position, The rice transplanter. 11. The method of claim 10,
The said planting start position contains the position which starts planting after the turning which moves from a reciprocating path to the next reciprocating path, The rice transplanter. 12. The method of claim 10 or 11,
When the said operation control part starts a planting operation in the said pavement, it is made to start a planting operation to the said planting mechanism from the front only by a predetermined distance from the said planting start position. 12. The method of claim 10 or 11,
When the said operation|work control part performs planting at the beginning of a day, only a predetermined distance from the said planting start position makes the said planting mechanism start a planting operation from the front. 12. The method of claim 10 or 11,
The said operation control part makes the said planting mechanism start a planting operation from the front only by a predetermined distance from the said planting start position in the case of the planting operation after predetermined time or more has passed from the planting operation performed before. 12. The method of claim 10 or 11,
A plurality of travel paths set in the pavement are run sequentially, and planting is performed from the planting start position,
When the said work control part travels the said travel route which performs a work run first in the said pavement, it is made to start a planting operation to the said planting mechanism from the front only by a predetermined distance from the said planting start position. 12. The method of claim 10 or 11,
A hair holding sensor for detecting whether the planting mechanism holds the hair,
When it is detected by the said hair holding sensor that the said planting mechanism does not hold a seedling, it is made to start a planting operation to the said planting mechanism from the front only by a predetermined distance from the said planting start position.

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