KR20220074697A - Working machine - Google Patents

Abstract

In accordance with the above, it is an object to stop the gas in an appropriate manner and to improve work efficiency.
a traveling device 1D, a traveling control unit 312 for controlling the traveling device 1D, a sensor 78 for detecting at least one of a state of the aircraft and an ambient state of the aircraft, and detecting an abnormality corresponding to the detected state; A satellite antenna for receiving a satellite signal from a satellite, a positioning unit 8 for outputting positioning data corresponding to the own vehicle position based on the satellite signal, and driving to automatically travel a predetermined travel route in the pavement based on the own vehicle position An automatic travel control unit 75 for controlling the control unit 312 is provided, and when the sensor 78 detects an abnormality, the automatic travel control unit 75 controls the travel control unit 312 to control the sensor ( 78) stops the aircraft so that the deceleration until it stops is different according to the detection position where the abnormality is detected.

Description

WORKING MACHINE

It relates to a work machine that performs work while automatically traveling with respect to a work place such as a pavement.

As disclosed in Patent Document 1, a work vehicle (work machine) performs work such as a planting work while traveling on a pavement (work place). In addition, the work vehicle (work machine) performs work travel by automatic travel. The work vehicle (work machine) calculates a travel route, and automatically travels along the travel route based on its position calculated using a GNSS (Global Navigation Satellite System) or the like.

Japanese Patent Laid-Open No. 2019-154394

In such a work vehicle (work machine), further improvement in convenience in automatic work travel is desired.

In order to achieve the above object, a work machine according to an embodiment of the present invention includes a traveling device, a traveling control unit for controlling the traveling device, and detecting at least any one of a gas state and an ambient state of the aircraft, and the detected state A sensor for detecting an abnormality corresponding to , a satellite antenna for receiving a satellite signal from a satellite, a positioning unit for outputting positioning data corresponding to the own vehicle position based on the satellite signal, and an automatic travel control unit for controlling the travel control unit to automatically travel on a predetermined travel route, wherein the automatic travel control unit controls the travel control unit when the sensor detects an abnormality so that the sensor in the package Depending on the detection position at which the abnormality is detected, the deceleration until the vehicle stops is different, and the vehicle is stopped.

The work machine may stop the machine when an abnormality is detected. When stopping the aircraft, it may be necessary to suddenly stop the aircraft depending on the position in the pavement where the abnormality is detected. On the other hand, if the aircraft is suddenly stopped, it may be an excessive burden on the operator, work efficiency may deteriorate, or the pavement may become rough, which is rather inappropriate in some cases.

With the above configuration, the deceleration when stopping the aircraft can be varied according to the position at which the abnormality is detected, and the vehicle can be stopped in an appropriate manner according to the position where the abnormality is detected, thereby improving work efficiency. can

In addition, the travel path includes an outer circumferential travel path that goes around the inner side of the pavement along the outer periphery of the pavement, and the automatic travel control unit includes, when the detection position is the outer circumferential travel path, the detection position is the It is preferable to make the said deceleration large compared with the said deceleration in the case of other than an outer circumferential travel route.

With such a configuration, in order to suddenly stop the aircraft on the outer circumferential travel path of many pavements where it is desirable to make an abrupt stop of the aircraft, it is possible to appropriately respond when an abnormality is detected in the outer travel path to improve work efficiency. can

In addition, when the detection position is outside the outer circumferential travel path and the abnormality detected by the sensor is a predetermined or greater, the travel control unit may decelerate the aircraft without stopping it.

Depending on the above content, there are cases where it is possible to respond to the abnormality by decelerating the traveling vehicle speed without stopping the aircraft. According to the said structure, the traveling state of a base|substrate can be suitably controlled by the above content, and work efficiency can be improved.

Further, as the sensor for detecting an abnormality, an obstacle sensor for detecting an obstacle around the body as an abnormality, an inclination sensor for detecting that the substrate is inclined by a predetermined angle or more as an abnormality, and the substrate from the inside of the package at least any one of menstruation sensors for detecting externally menstruation as an abnormality, wherein the automatic driving control unit detects abnormalities in the obstacle sensor, the inclination sensor, and the sensors other than the menstruation sensor, regardless of the detection position In the case of detection, the deceleration may be reduced compared to a case in which any one of the obstacle sensor, the inclination sensor, and the menstruation sensor detects an abnormality.

According to such a configuration, the aircraft can be appropriately brought to a sudden stop during detection of an obstacle, menstruation detection, and inclination detection, which are highly likely to require an abrupt stop, and can appropriately respond to an abnormality.

Further, an imaging device for imaging the periphery of the substrate may be provided, and the obstacle sensor may detect the obstacle as abnormal by analyzing the image photographed by the imaging device.

With such a configuration, an obstacle can be detected in more detail by image analysis.

In addition, the obstacle sensor determines the size of the obstacle, and the automatic driving control unit is configured to reduce the deceleration when the obstacle is smaller than a predetermined size compared to the deceleration when the obstacle is greater than or equal to a predetermined size. do.

If the obstacle is large, it may be difficult to avoid, etc., and there is a high possibility that the aircraft needs to be stopped abruptly. On the other hand, if the obstacle is small, it may be possible to travel as it is, and there is a possibility that it is not necessary to make an abrupt stop of the aircraft. According to the above configuration, it is possible to appropriately stop the gas according to the size of the obstacle, and it is possible to improve the working efficiency.

In addition, the obstacle sensor determines the distance to the obstacle, and the automatic travel control unit is configured to, when the distance to the obstacle is less than or equal to a predetermined distance, the deceleration rate compared to the deceleration when the distance to the obstacle is longer than the predetermined distance. can be made smaller.

When the distance to the obstacle is close, it is necessary to make an abrupt stop of the aircraft, whereas when the distance to the obstacle is long, it is not necessary to make an abrupt stop of the aircraft. According to the above configuration, it is possible to appropriately stop the gas according to the distance to the obstacle, and it is possible to improve the working efficiency.

Further, there is provided a communication unit capable of communicating with a management server that stores pavement information, wherein the pavement information includes contents of abnormalities detected in the past in the pavement and the detection position, and the automatic travel control unit includes the pavement. When automatically traveling in the detection position memorized in the information, the traveling control unit may stop the aircraft at the deceleration according to the above content stored in the pavement information.

According to such a structure, according to the state of past abnormality detection, the base|substrate can be stopped suitably, and work efficiency can be improved.

1 is a side view of a rice transplanter capable of running automatically.
2 is a plan view of a rice transplanter capable of running automatically.
Figure 3 is a front view of the rice transplanter capable of running automatically.
4 is a schematic diagram for explaining the operation of the rice transplanter.
It is a functional block diagram which shows the control system of a rice transplanter.
6 is a plan view of the remote control.
7 is a plan view of the information terminal.
It is a functional block diagram which shows the functional part regarding the map selection process and the pavement shape acquisition process.
Fig. 9 is a functional block diagram showing a functional unit related to route creation.
It is a schematic diagram explaining a connected turning.
It is a schematic diagram explaining a connected turning.
Fig. 12 is a functional block diagram showing a functional unit related to the cancellation instruction invalidation processing.
Fig. 13 is a view showing a running mode in the case where the stop instruction is invalid.
Fig. 14 is a functional block diagram showing a functional unit related to menstruation determination processing.
15 is an explanatory diagram of a boundary line.
16 is an explanatory diagram for menstruation determination.
17 is a functional block diagram for path search and supplementary path setting.
18 is an explanatory diagram showing an example of a travel route in route search.
Fig. 19 is an explanatory diagram showing line feed on the touch panel.
Fig. 20 is an explanatory diagram of a turning running that does not require a supplementary route.
21 is an explanatory diagram for explaining an example in which reverse is used during turning driving.
It is explanatory drawing for demonstrating the turning running supplemented by the supplementary path|route.
It is explanatory drawing which shows the special area set in the vicinity of an entrance/exit.
24 is a functional block diagram of a control system for executing work travel in a special area using a remote control.
It is explanatory drawing which shows power distribution with respect to a planting mechanism, and control of each group clutch.
26 is a diagram illustrating a travel path from a non-work travel path in which straight travel by forward travel is long to a work travel path.
27 is a diagram illustrating a travel path from a non-work travel path in which straight travel by reverse is long to a work travel path;
28 is a view for explaining an embodiment of the amplification function during long-distance driving at the time of forward movement.
29 is a view for explaining an embodiment of the amplification function during long-distance driving when reversing.
30 is a functional block diagram illustrating a configuration of a functional unit for performing an amplification function during long-distance driving.
31 is a diagram illustrating a configuration in which an amplification function is implemented during long-distance driving in a modified pavement.
32 is a view for explaining an embodiment of a turning function dedicated to high-load pavement.
Fig. 33 is a functional block diagram illustrating the configuration of a functional unit for implementing a manual operation regulating function.
Fig. 34 is a diagram for explaining a manual operation control function along a time chart;
35 is a functional block diagram illustrating a configuration of a functional unit for implementing an automatic driving/stop function.

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

Here, in order to facilitate understanding, in the present embodiment, unless otherwise specified, "front" (direction of arrow F shown in Fig. 1) means the front in the aircraft front-back direction (travel direction), and " Back" (direction of arrow B shown in FIG. 1) shall mean the rear in the aircraft front-back direction (travel direction). In addition, the left-right direction or the transverse direction is the body transverse direction (body width direction) orthogonal to the front-back direction of the body, that is, "left" (direction of arrow L shown in FIG. 2) and "right" (shown in FIG. 2). The direction of the arrow R) means the left direction and the right direction of the aircraft, respectively.

[Overall structure]

As shown in FIGS. 1-3, a rice transplanter is equipped with the base|substrate 1 of a four-wheel drive type by a riding type. The base body 1 includes a link mechanism 13 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 link 13a for swinging and driving the link mechanism 13, a link mechanism ( 13), the seed planting device 3 connected to the rear end region so as to be able to roll, the fertilization device 4 erected from the rear end region of the base 1 to the seed planting device 3, and the seed planting device ( The chemical|medical agent spraying apparatus 18 etc. provided in the rear end area|region of 3) are provided. The seedling planting apparatus 3, the fertilization apparatus 4, and the chemical|medical agent spraying apparatus 18 are an example of a work apparatus.

The base body 1 is equipped with the wheel 12, the engine 2 (corresponding to "power source") as a mechanism for traveling, and the hydraulic type continuously variable transmission device 9 which is a main gear unit. The continuously variable transmission 9 is, for example, HST (Hydro-Static Transmission), and by adjusting the angles of the motor swash plate and the pump swash plate, the driving force (revolution speed) output from the engine 2 is changed. 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 2 and the continuously variable transmission 9 are mounted on the front part of the body 1 . Power from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the work device, and the like via the continuously variable transmission 9 or the like.

The seedling planting apparatus 3 is comprised in the 8 row planting form as an example. The seedling planting apparatus 3 is equipped with the seedling mounting stand 21, the planting mechanism 22 for 8 sets, etc. In addition, this mother planting apparatus 3 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 bristle mounting stand 21 is a pedestal on which 8 sets of mat-shaped wools are loaded. The hair loading table 21 reciprocates in the left-right direction with a constant stroke corresponding to the left and right widths of the mat-shaped wool, and the vertical feeding mechanism 23 is, whenever the hair loading table 21 reaches the stroke end of the left and right. , Each mat-type wool on the hair loading table 21 is vertically transferred at a predetermined pitch toward the lower end of the hair loading table 21 . Eight planting mechanisms 22 are rotary type, and are arrange|positioned in the left-right direction at the fixed space|interval corresponding to a planting row. And each planting mechanism 22 transmits a driving force from the engine 2 when a planting clutch (illustration omitted) shifts to an electric state, and it is hair for one round from the lower end of each mat-type wool mounted on the hair|bristle mounting stand 21. (also called 'planting seedlings') is cut out and planted in the Ito part after stopping. 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 21, and can be planted in the soil part of a faucet.

1 to 3, the fertilization device 4 (supply device) is a hopper 25 (reservoir) for storing a granular or powdery fertilizer (a drug or other agricultural material), and a hopper ( It has the feeding mechanism 26 which feeds|feeds out a fertilizer from 25), and the fertilization hose 28 (hose) which discharges|discharges a fertilizer to a field while conveying the fertilizer fed out by the feeding mechanism 26. The fertilizer stored in the hopper 25 is fed out by a predetermined amount each by the feeding mechanism 26 and sent to the fertilization hose 28, and the inside of the fertilization hose 28 is conveyed by the conveyance wind of the blower 27, It is discharged to the packaging from the jug (29). In this way, the fertilization apparatus 4 supplies a fertilizer to a field. The hopper 25 and the feeding mechanism 26 are loaded and supported on the base frame 1E, and the squeezing machine 29 is provided at the lower end of the seedling device 3 . The fertilization hose 28 extends over the feeding mechanism 26 and the grocer 29 , and when the fertilizer is supplied from the hopper 25 to the packaging, the fertilizer passes through the fertilization hose 28 .

The blower 27 operates with the electric power from the battery 73 mounted on the base body 1, and generates the conveyance wind which conveys the fertilizer fed out by each feeding mechanism 26 toward the mud surface of a pavement. The fertilization apparatus 4 can switch between the operation state which supplies the fertilizer stored in the hopper 25 to a field|dwell every predetermined amount by intermittent operation of the blower 27 etc., and the non-operation state which stops supply. .

Each fertilization hose 28 guides the fertilizer conveyed by conveyance wind to each planter 29. As shown in FIG. Each implement 29 is arranged on each stationary float 15 . And, each growing machine 29 raises and lowers together with each stop float 15, and forms a fertilization groove|channel in the soil part of a faucet at the time of the work run which each stop float 15 grounded, and fertilizer is poured into the fertilization groove. guide

1 to 3 , the base body 1 is provided with a driving unit 14 in a region on the rear side thereof. The driving unit 14 includes a front-wheel steering steering wheel 10, a main gear lever 7A for adjusting vehicle speed by performing shift operation of the continuously variable transmission 9, and a unit enabling shift operation of the auxiliary transmission device. The shift lever 7B, the operation operation lever 11 that enables the lifting operation of the model planting device 3 and switching of the operating state, etc., and displaying (notifying) various information to notify (output) the operator, An information terminal 5 having a touch panel for accepting input of various types of information, and a driver's seat 16 for an operator (driver/operator), etc. are provided. The auxiliary shifting lever 7B is used for operation of switching the traveling vehicle speed between the working speed under work and the moving speed under moving. For example, the movement between pavements is performed at a moving speed, and a planting operation|work etc. are performed by a work speed. Moreover, the spare hair|bristle storage apparatus 17A which accommodates a spare hair|bristle is supported by the spare hair|bristle support frame 17 in front of the driving part 14.

As an operation tool for operating the vehicle speed, an accelerator lever 7F may be further provided. The traveling vehicle speed is mainly controlled based on a map scheduled by the angle of the swash plate of the continuously variable transmission 9 and the engine speed according to the operation position of the main speed lever 7A. Here, there are cases where it is desired to increase the engine speed while maintaining the traveling vehicle speed according to the state of pavement or work conditions, or there are cases where it is desired to decrease the engine speed in consideration of fuel efficiency and the like. In such a case, the engine speed is increased/decreased by the accelerator lever 7F. Specifically, by changing the operating position of the accelerator lever 7F, while the angle of the swash plate of the continuously variable transmission 9 is maintained, only the engine speed can be increased or decreased from the current engine speed. Moreover, a potentiometer (not shown) which detects the operation position of the accelerator lever 7F may be provided.

As described above, the engine speed is basically determined according to the operation position of the main gear lever 7A. However, irrespective of the engine speed determined in this way, this engine speed increases or decreases according to the detected value of the potentiometer of the accelerator lever 7F. For example, when the accelerator lever 7F is operated in a direction to increase the engine speed while traveling at an engine speed determined according to the operation position of the main gear lever 7A, the engine speed increases, and the engine speed increases. The rotation speed becomes the minimum required rotation speed indicated by the accelerator lever 7F.

The steering wheel 10 is connected to the front wheel 12A through a steering mechanism (not shown), and the steering angle of the front wheel 12A is adjusted through the rotation operation of the steering wheel 10 .

[automatic driving]

By automatic running, it demonstrates using FIG. 4, referring FIGS.

The rice transplanter in this embodiment can selectively perform manual running and automatic running. Manual travel and automatic travel are selected by switching the automatic/manual changeover switch 7C. In the manual travel, the driver manually operates the operation tools such as the steering wheel 10 , the main gear lever 7A, the auxiliary gear lever 7B, and the work operation lever 11 to perform work travel. The automatic travel is that the rice transplanter travels and works by automatic control along a travel route set in advance. In addition, the automatic driving can perform manned automatic driving (manned automatic driving mode) that requires a driver's boarding, and unmanned automatic driving (unmanned automatic driving mode) that does not require a driver's boarding. In the manned automatic driving, the rice transplanter automatically controls other driving and operations accompanying the operation while the driver performs some operations according to the guidance provided by the rice transplanter. In the unmanned automatic driving, it is not necessary for the driver to get on, but the driver may get on during the unmanned automatic driving. In the unmanned automatic driving, the driver starts the working driving by automatic control, for example, by performing the starting operation of the automatic driving by, for example, the remote control 90 (refer to FIG. 6) described later, and the preset working driving is performed. to be automatically controlled. The manned automatic mode in which the manned automatic driving is performed and the unmanned automatic mode in which the unmanned automatic driving is performed are set using the information terminal 5 .

When a rice transplanter performs a planting operation, first, along the outer periphery of a pavement, a driver makes a rice transplanter run by manual operation, without performing an operation|work. By this outer periphery running, the outer periphery shape (pavement map) of a pavement is produced|generated, and a pavement is divided into outer periphery area|region OA and inner area|region IA. In addition, at this time, the doorway E through which the rice transplanter enters the pavement is set, and one side of the outer periphery of the pavement or multiple sides designated as the rice transplanter is set as a rice supply side SL for replenishing mat-type rice, fertilizer, chemical, fuel, etc. to the rice transplanter. do.

When a pavement map is produced|generated, the traveling route in which a rice transplanter performs a work traveling is set. In the inner region IA, an inner reciprocating path IPL connecting a plurality of paths substantially parallel to one side of the pavement with a turning path is generated. The inner reciprocating path IPL is a travel path that travels throughout the entire inner region IA from the start point S to the end point G. When the internal reciprocating path IPL is generated, in the vicinity of the doorway E, an induction start possible area GA is generated. When the rice transplanter is stopped in this guidance start possible area GA, the rice transplanter becomes possible to move by automatic travel to the starting point S of internal reciprocating path|route IPL. In addition, a dedicated travel route is set for the starting point guidance performed from the guide start possible area GA, but a plurality of these travel routes may be set. Depending on the shape of the pavement, it may be difficult to guide the starting point from the stop position. By setting a plurality of travel routes, the possibility of properly guiding the starting point regardless of the stopping position increases, which is preferable.

In the outer circumferential area OA, two travel paths are generated, an inner circumferential path IRL and an outer circumferential path ORL that go around the inside of the outer circumferential area OA along the periphery of the pavement. Working travel of the inner circumferential path IRL and the outer circumferential path ORL is performed, whereby the entire working travel of the outer circumferential area OA is performed. After the work travel (reciprocating work travel) of the inner reciprocating path IPL is finished, the movement to the work travel start position of the inner reciprocating path IRL is performed by traveling on a travel path set separately. When the external shape of the pavement is complicated, it may be necessary to separate the end point of the inner reciprocating path IPL and the starting point of the inner reciprocating path IRL. In such a case, a travel route including a route parallel to any one side of the pavement may be provided as a travel route moving from the end point of the inner reciprocating route IPL to the starting point of the inner round route IRL.

When performing automatic travel, in the state in which the travel route was generated in this way, the rice transplanter first invades the pavement from the entrance E, moves to the guide start possible area GA, and stops. In the guidance start possible area GA, when automatic running is started, the rice transplanter moves to the starting point S after moving backward once (starting point guidance), and automatic running of the internal reciprocating path IPL of the internal area IA is performed until the end point G is reached. . The traveling vehicle speed in the unmanned automatic driving is controlled according to a preset maximum speed of the traveling vehicle speed. In addition, although the traveling vehicle speed in the automatic driving at the time of starting point derivation may be the traveling vehicle speed corresponding to the set traveling vehicle speed, since traveling in the outer peripheral area OA of the pavement is often performed, the starting point is derived at a lower speed predetermined traveling vehicle speed. Automatic running of the city may be performed.

The fertilization operation by the fertilization apparatus 4 is performed in conjunction with a planting operation. For example, as shown in Fig. 4, the inner reciprocating path IPL is set in the inner area IA, and the turning path is set in the outer peripheral area OA. The internal reciprocating path IPL is a plurality of parallel paths, and the turning path is a path connecting adjacent internal reciprocating path IPLs. The planting operation by the mother planting apparatus 3 is performed along internal reciprocating path|route IPL, and the fertilization operation|work by the fertilization apparatus 4 is also performed along internal reciprocating path|route IPL. On the other hand, in the said turning path|route of outer peripheral area|region OA, a planting operation is not performed, and the fertilization operation|work by the fertilization apparatus 4 is also not performed by the said turning path|route of outer peripheral area|region OA.

When the rice transplanter travels while planting the inner area IA along the inner reciprocating path IPL, the rice transplanter arrives at the boundary area between the inner area IA and the outer peripheral area OA. The said boundary area in internal area|region IA is "end position", the planting mechanism 22 is stopped at this end position, and the seedling planting apparatus 3 is raised. Generally, with the raise of the stop of the planting mechanism 22 or the seedling apparatus 3, the feeding mechanism 26 stops, and the fertilization operation by the fertilization apparatus 4 stops. Thereby, the planting operation and fertilization operation|work along one internal reciprocating path|route IPL in internal area|region IA are completed. Thereafter, the rice transplanter moves to the outer circumferential area OA and rotates in the outer circumferential area OA in order to move to the adjacent inner reciprocating path IPL.

When the turning travel is completed in the outer peripheral area OA, the rice transplanter moves to the inner area IA again, and starts a planting operation and a fertilizing operation along the adjacent inner reciprocating path IPL. The boundary area|region of the inner area|region IA and the outer peripheral area|region OA among inner area|region IA is a "start position", the model planting apparatus 3 descends from this start position, and the planting mechanism 22 operates again. Generally, the feeding mechanism 26 starts to move simultaneously with descent|fall of the mother planting apparatus 3 or the operation start of the planting mechanism 22, and the fertilization operation by the fertilization apparatus 4 is started.

When the work travel in the inner area IA is finished, the work travel in the outer circumferential area OA is performed. First, the rice transplanter is manually moved to the starting point of the inner circumferential path IRL, and thereafter, the rice transplanter performs the working travel of the inner circumferential path IRL by unmanned automatic travel. Next, the rice transplanter is manually moved to the starting point of the outer circumferential path ORL, and then, the manned automatic travel performs the work travel of the outer circumferential path ORL (wandering work travel). In the manned automatic travel, automatic travel along a travel route is performed at a manually operated travel vehicle speed, and the work device is manually operated according to guidance (driving assist). In addition, at the time of turning, if the base body 1 is automatically temporarily stopped at a predetermined position, and operation of a required work device is performed manually according to guidance, turning travel will be performed by automatic travel. The planting operation|work of the whole pavement is complete|finished by the above operation|work running.

Further, the inner reciprocating path IPL and the inner reciprocating path IRL are not limited to unmanned automatic travel, and work travel may be performed by manned automatic travel or manual travel. In addition, the outer circumferential path ORL is not limited to manned automatic travel, and work travel may be performed by manual travel, and work travel may be performed by unmanned automatic travel. Further, the movement from the end point G of the inner reciprocating path IPL to the inner reversing path IRL is not limited to manual travel, but may be performed by manned or unmanned automatic travel. Similarly, the movement from the end point of the inner circumferential path IRL to the outer circumferential path ORL is not limited to manual travel, and may be performed by manned or unmanned automatic travel.

In addition, in the manned automatic driving, at least the driver is on board, and that the main gear lever 7A is in the neutral position are the conditions for starting the automatic driving. In the state where the start condition is satisfied, when the main gear lever 7A is moved in the traveling direction, automatic running is started. In the travel route of the pavement, the manned automatic travel is performed at the time of work travel on the outer circumferential route ORL, but may be performed on other travel routes. In addition, manned automatic running WHEREIN: The raising/lowering of the mother planting apparatus 3 is performed by automatic control. For example, in the work travel in the manned automatic travel in the inner reciprocating path IPL or the inner circumferential path IRL, the raising/lowering of the model planting apparatus 3 is performed by automatic control. However, at the time of a work run in the outer circumferential path ORL, lowering of the seedling planting apparatus 3 is performed by manual operation. Specifically, when the base body 1 arrives at the turning position of the outer circumferential path ORL, the seed planting device 3 will be raised by automatic control. When the turning is completed in that state, the base body 1 stops and the work travel by the automatic travel continues by lowering the model planting apparatus 3 by manual operation. On the outer circumferential path ORL, there is a higher probability of the presence of obstacles around it than on other travel paths. In order to perform a smooth work travel, in the work travel on the outer circumferential path ORL, in the state confirmed that an obstacle etc. do not exist, lowering of the seedling planting apparatus 3 is performed by manual operation.

In the unmanned automatic driving, automatic driving is started when the remote controller 90 is operated, and working driving is performed by automatic control in a preset driving route. In the travel route of the pavement, the unmanned automatic travel can be performed at the time of work travel on the inner reciprocating route IPL and the inner circumferential route IRL. Also in unmanned automatic driving, raising/lowering of the seedling apparatus 3 is performed by automatic control.

[control system]

Next, the control system of a rice transplanter is demonstrated using FIG. 5, referring FIGS. 1-3.

The control unit 30 constituting the core of the control system of the rice transplanter performs running control of the rice transplanter and operation control of various working devices 1C. The control unit 30 performs control according to the operation of the various operation tools 1B performed by the driver during manual driving, and performs control according to the host vehicle position while acquiring the host vehicle position during automatic driving.

For this reason, the control unit 30 including the microcomputer 6 for autonomous driving, etc. includes a positioning unit 8 for calculating the host vehicle position, and an information terminal ( 5), a traveling device including a sensor group 1A for detecting various states of the rice transplanter, various operation tools 1B, various working devices 1C, a front wheel 12A related to steering, a continuously variable transmission device 9, and the like. (1D), etc. are connected. In addition, the mode changeover switch 7E, which is one of the operation tools 1B, selects any of a manual driving mode in which manual driving is performed, a manned automatic driving mode in which automatic driving is performed by manned, and an unmanned automatic driving mode in which automatic driving is performed unattended. switch to select.

The sensor group 1A corresponds to the sonar sensor 60 as an example of an obstacle detecting device that detects an obstacle in the vicinity of the base body 1 . The sonar sensor 60 includes, for example, four front sonars 61 for detecting obstacles in the front region of the aircraft 1 and two rear sonars 62 for detecting obstacles in the rear region of the aircraft 1 , for example. ) and two transverse sonars 63 for detecting obstacles in the lateral region of the base body 1 . In addition, the obstacle detection device is not limited to the sonar sensor 60, Any device can be used as long as it can detect an obstacle. For example, as the obstacle detecting device, a laser sensor or a contact sensor can be used. In addition, the obstacle detection device may be configured such that the periphery of the base body 1 is imaged by the imaging device, and the obstacle is detected by image analysis. Image analysis can also be performed using the learned model produced|generated by machine learning, and can be performed by arbitrary means using artificial intelligence.

The various operation tools 1B correspond to, for example, the main gear lever 7A, the auxiliary gear lever 7B, the accelerator lever 7F, the steering wheel 10, the remote control 90, etc. which were mentioned above. The various work devices 1C correspond, for example, to the work operation lever 11 . The receiving device 72, which receives the radio command signal from the remote control 90 (remote control unit), converts the received radio command signal into an electric signal, and transmits it to the control unit 30, is provided on both lateral sides of the self-propelled vehicle It is provided on the horizontal side of the middle and right side.

The model planting apparatus 3 shown in FIGS. 1 and 2 is a specific example of 1 C of work apparatuses. The seedling planting apparatus 3 performs an operation|work in a faucet. More specifically, the seedling planting apparatus 3 performs a seedling planting operation along a predetermined nail direction.

In addition, this invention is not limited to this, As a specific example of 1 C of working devices, the seeding device which performs a seeding operation along a predetermined nail direction may be provided. That is, 1 C of working devices may be a planting system working device which performs a seed planting operation|work or a seeding operation along a predetermined nail direction.

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 (corresponding to a “satellite positioning unit”) that receives radio waves from satellites of the global navigation satellite system (GNSS), and the inclination and acceleration of three axes of the body 1 . An inertial measurement module 8B (corresponding to "body orientation measurement unit") to detect is included. In addition, the inertial measurement module 8B may be incorporated in the positioning unit 8, but may be provided separately. In addition, the satellite positioning module 8A and the inertial measurement module 8B may be provided separately, respectively, and together, you may comprise the positioning unit 8 functionally.

In the manual driving mode, the control unit 30 controls the traveling device 1D according to the operation of the operation tool 1B or the setting state of the information terminal 5, and controls the traveling by controlling the vehicle speed or the steering amount. do. Further, the control unit 30 controls the operation of the work device 1C according to the operation of the operation tool 1B and the setting state of the information terminal 5 .

In the manned autonomous driving mode or the unmanned autonomous driving mode, the control unit 30 calculates map coordinates (own vehicle position) of the aircraft 1 based on the satellite positioning data sequentially transmitted from the positioning unit 8 . Moreover, the control unit 30 acquires a pavement map, and sets a travel route according to the setting and operation of the pavement map and the information terminal 5 . At the same time, the control unit 30 determines the operation of the working device 1C according to the position on the travel route. Then, the control unit 30 calculates the travel position on the travel route based on the host vehicle position, and according to the travel position on the travel route and the setting state of the information terminal 5 , the travel device 1D and the work device 1C ) to control In this way, the control unit 30 controls the work travel in the automatic travel mode.

In addition, the control unit 30 reduces the vehicle speed in the manned automatic travel mode compared to the unmanned automatic travel mode, and controls so that acceleration/deceleration is performed smoothly. Thereby, work travel can be efficiently performed in the unmanned automatic driving mode, and it is possible to prevent damage to the riding comfort of the driver in the manned automatic driving mode.

The engine speed is set according to the operation position of the main gear lever 7A in manual travel, and in accordance with the control of the automatic travel ECU (microcomputer 6 for automatic travel) in automatic travel, the engine speed control microcomputer ( It is controlled by the control unit 30 or the like (equivalent to or built-in).

In addition, the control unit 30 can be set as arbitrary structures as long as the above-mentioned function can be implement|achieved, and may be comprised from several functional blocks. In addition, some or all of the functions of the control unit 30 may be comprised by software. A program related to software is stored in an arbitrary storage unit, and is executed by a processor such as ECU or CPU included in the control unit 30, or a processor provided separately.

〔remote〕

The rice transplanter is provided with a remote control 90 shown in FIG. 6, and the rice transplanter can be remotely controlled using the remote control 90. This remote control 90 is provided with 7 buttons and 2 indicators. In addition, in this specification, a button should be interpreted in a broad sense, and includes various operating bodies such as a switch or a key, and further includes a software button or a hardware button. The first button 90a is a power ON/OFF button. The second button 90b temporarily stops the aircraft 1 while maintaining the automatic driving mode by a single pressing operation. Moreover, the 2nd button 90b stops the aircraft 1 by simultaneous pressing operation with the function button 90g, and ends the automatic travel mode. At that time, the engine is not stopped. The 3rd button 90c accelerates the body 1 by a single pressing operation, and advances the body 1 at a slow speed by a simultaneous pressing operation with the function button 90g. The fourth button 90d decelerates the aircraft 1 by a single pressing operation, and slowly moves the aircraft 1 backward by a simultaneous pressing operation with the function button 90g. The fifth button 90e starts automatic travel by a simultaneous pressing operation with the function button 90g. The 6th button 90f starts a planting operation by simultaneous push operation with the function button 90g. The first indicator 90x indicates the remaining amount of the battery, and when the remaining amount of the battery decreases, the display color changes from green to red. The second indicator 90y indicates ON/OFF of communication. That is, the second indicator 90y indicates that the remote control 90 has been operated. Moreover, the 2nd indicator 90y can also perform display which shows that operation by the remote control 90 was accepted by the control system of a rice transplanter.

The function of each button realized by the simultaneous pressing operation with the function button 90g may be configured so as to be realized even by pressing and holding each button or pressing it twice. Moreover, you may comprise so that the base body 1 may be stopped by the 1st button 90a which is a power button. In the case where the aircraft 1 is temporarily stopped in the automatic running mode, the second button 90b is individually pressed. The second button 90b may stop the aircraft 1 by a long press or a double press operation to end the automatic travel mode. When the engine is stopped for idling stop, the restart of the engine may be realized by button operation of the remote controller 90 . In addition, the function realized by the simultaneous pressing operation of the function button 90g and each button, the function of each button, and the function of each button realized by the single pressing operation of each button may be replaced. In addition, in this embodiment, although the remote control 90 was provided with 7 buttons and 2 indicators, you may change arbitrarily the number of each.

When the cradle of the remote control 90 or a connector capable of data communication with the remote control 90 is installed in the driver 14 , the remote control 90 can exchange data with the information terminal 5 or the control unit 30 . When the battery of the remote control 90 is rechargeable, it can be charged through a cradle. At that time, if the cradle is provided with a waterproof cover in any case when the remote control 90 is mounted or not, water damage is not caused when washing the rice transplanter. By exchanging data between the remote control 90 and the information terminal 5 , the operation guidance and the operation result of the remote control 90 can be displayed on the touch panel 50 . In addition, a function of managing the distance between the remote control 90 and the aircraft 1 and providing an alert when the distance exceeds a predetermined value is provided among the information terminal 5 , the control unit 30 , and the remote control 90 . You may provide in at least one. Similarly, when communication failure occurs between the information terminal 5 or the control unit 30 and the remote control unit 90 , the function of notifying an alert is provided to the information terminal 5 , the control unit 30 , and the remote control unit 90 . provided in at least one of In addition, it is also possible to employ|adopt the structure which performs the sequential operation|movement set in advance by a rice transplanter autonomously by specific operation with respect to the remote control 90 (demonstration mode operation, etc.).

The remote control 90 may be configured in various forms. For example, it is also possible to use as the remote controller 90 by installing a program corresponding to a mobile phone or tablet computer.

[information terminal]

The information terminal 5 is provided in the driver 14 so that the operator (including a driver, a supervisor, etc.) seated on the driver's seat 16 can manually operate, check the time, and confirm the voice. The information terminal 5 has a network computer function. As shown in Fig. 7, the housing 5A includes a touch panel 50 and a hardware button group 5a composed of a plurality of operation keys. In addition, substantially the same operation keys are also displayed on the touch panel 50 as the software button group 50a. When the display contents of the touch panel 50, for example, a map screen or a route screen are enlarged by operation of an enlargement key, the software button group 50a is erased, but the operation for the software button group 50a is performed by hardware It can be replaced by the button group 5a. For this reason, the positions of the respective operation keys in the software button group 50a and the hardware button group 5a correspond to each other. When a key operation by an operator is requested|required, the corresponding operation key in the software button group 50a is alerted by flashing, lighting, etc. At that time, when the operation keys of the hardware button group 5a are also effective, the corresponding operation keys of the hardware button group 5a blink or light. Since the rice transplanter is basically used outdoors, the characters displayed on the touch panel 50 are displayed with black characters on white paper as much as possible.

[Graphic interface of information terminal]

This rice transplanter can perform the seedling planting operation|work in a field|pavement by automatic running. Information necessary for that is displayed on the touch panel 50 of the information terminal 5 . The information terminal 5 is provided with a graphic interface for displaying information about the operator and inputting operation by the operator through the touch panel 50 . At that time, an icon simulating a rice transplanter is displayed on the touch panel 50 to indicate the running state of the rice transplanter. Since this rice transplanter can perform automatic running by manned and unmanned automatic running, in each case, the shape or color of a rice transplanter icon, or both is changed. The operator inputs various commands while being guided by information displayed on the screen of the touch panel 50 . In automatic work driving, the following processing,

(1) Sensor/remote control check processing;

(2) preparatory treatment;

(3) map creation processing;

(4) route creation processing;

(5) processing of working travel settings;

(6) driving assist processing;

etc. are implemented, and the information required for each process is displayed on the information terminal 5. As shown in FIG.

[Operation of operation tool in control during automatic running]

The operation of the operation tool in the control during automatic running is demonstrated using FIGS. 1-5.

In the unmanned automatic driving, the operation of the operator is basically not intervened after driving is started, the main gear lever 7A remains in the neutral position, and the driving and the operation are controlled by the control unit 30 .

In the manned automatic driving, driving is started when the driver operates the main gear lever 7A, and a certain manual operation is sometimes required even when turning driving or performing work. At this time, the driver receives the guidance performed by the control of the control unit 30, and by performing the operation according to the guidance, a driving|running is started, and a turning driving|work and a work|work are performed. For example, with respect to the advancing direction of a path|route, the guidance which operates 7 A of main gear levers in the advancing direction is performed. Guidance is performed by voice guidance, display on the information terminal 5, etc., and includes guidance for prompting operation of the main gear lever 7A and operation of the work device 1C. In addition, in the manned automatic driving, a notification to that effect is performed at the start of driving, during reversing, or during turning.

In the manned automatic driving, the operation of setting the main gear lever 7A to the neutral position is necessary for starting the automatic driving, and the operation related to the operation of the working device 1C such as lowering of the model planting device 3 is automatic. It is necessary to continue working travel. For example, the working device 1C that is in the non-working state at the time of turning needs to be shifted to the working state after turning. Therefore, guidance by the voice etc. which urge|urge|urges these operations are continuously performed unless these operations are performed. For example, in the outermost pole planting operation|work by manned automatic running, if the seedling planting apparatus 3 does not descend|fall by manual operation, automatic running does not continue. Therefore, the guidance which urges to make 7 A of main gear levers into a neutral position is continuously notified until the seedling planting apparatus 3 descend|falls.

Guidance for returning the main gear lever 7A to the operating position when the main gear lever 7A is operated to the neutral position during turning or reversing in manned automatic driving, or when the main gear lever moves forward or backward during unmanned automatic control Guidance for returning the main gear lever 7A to the neutral position when operating in the direction, guidance for lowering the seed planting device 3 raised by the operator during automatic work running, and the start of each side in the outermost perimeter planting work It is preferable that the guidance which raises and lowers the mother planting apparatus 3 from a part is reported continuously until operation according to guidance is performed. In addition, guidance for returning the main gear lever 7A to the operating position when the main gear lever 7A is operated to the neutral position during turning or reversing in manned automatic driving, or the main gear lever during unmanned automatic control The guidance for returning the main gear lever 7A to the neutral position when operated in the forward/backward direction and the guidance for lowering the seed planting device 3 raised by the operator during automatic work running are manipulations contrary to preset automatic running And, when such an operation is made, guidance (warning) is provided so that an operation suitable for performing the set automatic driving is performed.

At this time, the structure may be sufficient as the structure in which the voice guidance is notified a predetermined number of times and for a predetermined time, and only the guidance by the display to the information terminal 5 continues until the said operation is performed.

Manned automatic travel is started by pressing the automatic travel start/stop switch 7D in a state where manned automatic travel is selected by the mode changeover switch 7E or the like and a predetermined condition is satisfied, and the main gear lever 7A ) is operated in the forward direction to start running. In addition, unattended automatic driving is started when a predetermined condition is satisfied, driving is started by an operation of the remote control 90 , and driving is not started by an operation other than the remote control 90 .

In the manned automatic travel, the automatic travel is started by operating the main gear lever 7A. In addition, in manned automatic running, the seedling planting apparatus 3 is lowered|falling by manual operation after completion|finish of turning. In addition, by operation of the automatic travel start/stop switch 7D, it shifts to the manned automatic travel mode.

However, raising/lowering of the mother planting apparatus 3 at the time of turning at the time of outermost periphery planting is operated according to guidance. Even in this case, when it can confirm that there is no problem even if it raises/lowers the seedling apparatus 3 by image analysis etc. using the imaging device, raising/lowering of the seedling apparatus 3 may also be performed by automatic control.

In addition, the above guidance includes, in addition to voice guidance performed by voice alarms, etc. and display by the information terminal 5, a stacked lamp 71 provided on the upper part of the body 1, a remote control 90, etc. may be notified by Such guidance is controlled by a notification control unit or the like, and the notification control unit may be the control unit 30 , may be incorporated in the control unit 30 , or may be provided separately from the control unit 30 .

[detection by sonar sensor]

A configuration for detecting an obstacle by the sonar sensor and travel control according to the detected content will be described with reference to FIGS. 1 to 3 and 5 .

The sonar sensor 60 detects an obstacle around the aircraft 1, and in automatic driving, the control unit 30 controls the automatic driving according to the detection content of the obstacle. Specifically, such control can be performed by functional blocks such as an automatic travel control unit or an obstacle handling unit incorporated in the control unit 30 including the automatic travel microcomputer 6 or the like, and these function blocks may be provided separately from the control unit 30 .

When the aircraft 1 starts by unmanned automatic travel (at the time of unmanned automatic travel start) and an obstacle is detected, the start is suppressed and travel is not started (transmission suppression mode). For example, at the start of unmanned automatic driving in the forward direction, the detection results of the front sonar 61 and the transverse sonar 63 among the sonar sensors 60 are used, and the front sonar 61 and the transverse sonar are used. When the detector 63 detects an obstacle, the start is suppressed and travel is not started. In addition, when starting unmanned automatic driving in reverse, the detection results of the rear sonar 62 and the transverse sonar 63 among the sonar sensors 60 are used, and the rear sonar 62 and the transverse sonar ( 63) detects an obstacle, the start is suppressed and running is not started. At this time, the sonar 63 detects the periphery of the lifting step (step 14A), which is a boarding area through which the driver passes when boarding, and in particular, detects a person who is going to go up and down by the driver 14 .

During driving by unmanned automatic driving, an obstacle is detected, and when the obstacle is detected, control such as stopping the automatic driving is performed (obstacle detection mode). Specifically, when the sonar sensor 60 detects an obstacle during driving by unmanned automatic driving, driving is stopped or the traveling vehicle speed is decelerated. For example, when the aircraft 1 travels in a straight line by unmanned automatic driving, the detection result of the front sonar 61 is used, and when the aircraft 1 travels backward by unmanned automatic driving, the rear sonar 62 is used. of detection results are used. In addition, when turning by unmanned automatic driving, the detection result of the lateral sonar 63 may be used in addition to these, and the detection result of only the lateral sonar 63 in the turning direction may be used. In addition, when traveling is stopped, the traveling vehicle speed may be gradually decelerated, and the base body 1 may finally be stopped. In addition, the obstacle detection may be performed at the time of the reciprocating work traveling which travels on the inner reciprocating path IPL, and also the obstacle detection may be performed also at the time of outermost periphery planting (outermost periphery work travel). In addition, driving control using the detection result of the sonar sensor 60 is not limited to the case of unmanned automatic driving, You may perform at the time of manned automatic driving or manual driving. In particular, on the outer circumferential path ORL (refer to Fig. 4), work travel is performed by manned automatic travel or manual travel. There are many obstacles such as water polo on the outermost periphery of the pavement. Therefore, the obstacle detection using the sonar sensor 60 may be performed also in the outermost periphery work travel by manned automatic travel or manual travel.

[Supply of seedlings]

1 to 5, hair replenishment and drug replenishment will be described.

The rice transplanter replenishes seedlings when seedling exhaustion occurs. At the time of hair replenishment, the base body 1 is brought close to the hair replenishment position of the head of hair replenishment valve SL by forward travel. When the hair supply is finished, the aircraft 1 moves backward and returns to the travel route.

For automatic driving, the mode with hair supply and the mode without hair supply can be set. In the hair replenishment mode, the aircraft 1 temporarily stops and automatically Driving is paused. When the simulation supply is not necessary, automatic driving is resumed by artificially operating the remote control 90 during a temporary stop, turning toward the next internal reciprocating route IPL, and the aircraft remains in a stationary state until the remote control 90 is operated. (1) stands by. When simulation is necessary, an artificial operation is performed to the effect that hair supply is necessary, so that first, the base body 1 automatically moves straight forward at a predetermined vehicle speed toward the headland for a predetermined distance and stops. Thereafter, the aircraft 1 can be brought close to the head of the parent supply valve SL by another artificial operation by the remote controller 90 . At this time, for example, the aircraft 1 travels at a predetermined vehicle speed for as long as a predetermined button on the remote controller 90 is pressed. As another embodiment, the hair supply location (supply position) may not be a hair supply side but a specific hair supply point (supply position) on the outer periphery of the pavement. In addition, in the hair|hair replenishment presence mode, a path|route may be generate|occur|produced toward a hair|bristle supply side or a hair|hair supply point, and you may drive automatically along a path|route.

In addition, as described above, the function in which hair replenishment is performed in the hair replenishment mode is sometimes referred to as a slightly pasting function or simply slightly pasting, and a run related to the slightly pasting function is sometimes referred to as a slightly pasted run.

In addition, although the operation related to hair supply may be performed by the remote control 90, it may be performed by the other operation tool 1B. For example, when hair replenishment is unnecessary, after operating a predetermined operation tool 1B such as a switch (automatic start operation tool (not shown)) for starting automatic travel, the main gear lever 7A is advanced By operating in the direction, automatic running may be resumed and turning running may be performed. In addition, when hair replenishment is necessary, the base|substrate 1 may be approached close to the head of hair replenishment valve SL according to operation by operating 7 A of main gear levers in the advancing direction. In addition, in the case of unmanned automatic driving, since there are cases in which the occupant does not board the driving unit 14 , it is preferable that the operation is performed by the remote controller 90 .

In addition, in the above description, although the case where hair replenishment is performed was demonstrated, it is not limited to hair, At the material replenishment position of the hair replenishment side SL, when replenishing another material, a slightly pasting function may be used.

Also in the hair replenishment mode, at the boundary between the turning path and the internal reciprocating path IPL, the aircraft 1 temporarily stops for switching control. Even in the mode without hair supply, it may be necessary to bring the base body 1 closer to the head of the hair supply valve SL when unexpected simulation supply is necessary or other circumstances arise. At this time, while the aircraft 1 is temporarily stopped, the aircraft 1 can be brought close to the head of the parent supply valve SL by artificial manipulation by the remote control 90 or the like. Alternatively, the aircraft 1 is gradually decelerated before temporarily stopping, and in the meantime, the aircraft 1 can be brought close to the head of the parent supply valve SL by artificial manipulation by the remote control 90 or the like.

In addition, when a predetermined time passes after the base body 1 temporarily stops, although traveling may be restarted automatically, an artificial operation may be required for restarting a traveling.

During the manned automatic driving, the operation of the main gear lever 7A or the like is guided, and the driving based on the corresponding operation is performed. However, in the outermost periphery planting operation, the turning travel (direction change) connecting each side of the outer circumferential path ORL is switched forward and backward without requiring operator's operation. Therefore, even if it is a manned automatic travel, it is preferable not to give guidance even if a travel is switched at the time of travel which does not require such an operation. However, even in the turning travel connecting each side of the outer circumferential path ORL, the operation of the work device 1C may have a configuration that requires manual operation, and in this case, an operation related to the operation of the work device 1C is performed. Guidance to the effect is notified.

[Control in case of exhaustion of hair, exhaustion of fertilizer, etc.]

Control at the time of hair exhaustion, fertilizer exhaustion, etc. is demonstrated using FIGS. 1-5.

A sensor (one of the sensor group 1A) which detects the residual amount of each material to the apparatus which supplies various materials, such as the seedling planting apparatus 3, the fertilization apparatus 4, the chemical|medical agent spraying apparatus 18, and a seeding machine may be provided. Hereinafter, a hair exhaustion sensor that detects the remaining amount of wool will be described as an example, but it is also applicable to various materials such as fertilizers, pharmaceuticals, rice seeds, and the like.

When the hair exhaustion sensor detects that the remaining amount of simulation has become less than or equal to a predetermined amount, the control unit 30 may notify the information terminal 5, the voice alarm generating device 100, or the like to that effect.

In addition, when the hair exhaustion sensor detects that the remaining amount of the simulation has become less than or equal to a predetermined amount when the work travel is started or when the work travel is resumed after a stop, the control unit 30 may control the travel not to be performed. When a planting operation is performed in the state in which a simulation residual quantity is insufficient, there is a possibility that a defect may arise in the middle of a pavement. Therefore, by setting it as the structure which does not run in the state with such a possibility, generation|occurrence|production of a miss is suppressed.

When it is detected that the simulated residual amount has become less than or equal to a predetermined amount in the middle of the travel route, the base 1 may be stopped, but in the state in which the seedling planting device 3 is raised, it may be run to the hair replenishing valve SL. In addition, based on the detection of the hair exhaustion sensor, the remaining amount of simulation required to run to the next hair replenishment valve SL is calculated based on the detection of the hair exhaustion sensor, and when a predetermined amount in the range in which the amount required to return to the hair replenishment valve SL remains is detected , it may be configured to travel to the hair supply side SL while continuing the work travel. In addition, when the amount of simulation is not sufficient, the operator may be notified to that effect by a notification device such as the information terminal 5 or the remote control 90 without entering the next work route. In addition, it is not limited to hair supply side SL, Depending on the position detected by the hair exhaustion sensor, it is good also as a structure which travel|works to the other side where hair supply is possible. In the case of automatic travel, the movement to the hair replenishment valve SL or other sides may be an automatic travel along the travel route in which a travel route is generated from the location.

The hair exhaustion sensor that detects that the hair has been exhausted may be, for example, a configuration in which image analysis is performed to determine that the hair has been exhausted based on the fact that hair has decreased to a threshold value or less in the imaging device, and the captured image is input to the machine-learned learning model Thus, exhaustion of hair may be detected. Moreover, the hair exhaustion sensor (one of the sensor group 1A) provided in the terminal part of the hair|hair conveyance part of the hair|bristle loading stand 21, and detecting the presence or absence of hair|bristle may be sufficient as the hair exhaustion sensor which detects that the hair|bristle has been exhausted.

The movement to the hair replenishment valve SL can use the slightly pasting function, but in the slightly pasted running in the state (empty work) in which the seed planting device 3 is raised, the speed limit of the slightly pasting is lifted, and the front and rear of the turning area The speed of the traveling vehicle may be higher compared to the slightly pasting performed on the . Accordingly, even if a decrease in the amount of remaining hair is detected at a position far from the hair replenishment valve SL, it is possible to move quickly to the hair replenishment valve SL.

Similarly, the rice transplanter will supply a chemical|medical agent, when the mounted chemical|medical agent disappears. At the time of chemical|medical agent supply, the base|substrate 1 is approached close by the head of hair|bristle supply valve SL in backward travel. When drug supply is complete|finished, the base body 1 advances and returns to a travel route.

In the manned automatic driving at the time of drug replenishment, while maintaining the automatic state, it turns by human operation and travels backward so that the base body 1 is brought close to the head of the mother replenishment valve SL.

In the unmanned automatic driving, when moving from the turning path to the internal reciprocating path IPL, the aircraft 1 is temporarily stopped, and by performing an artificial operation during that time, the aircraft 1 moves backward at a predetermined speed (slightly attached), The aircraft (1) is placed close to the head of the supply side SL. This artificial operation can be performed with the remote control 90 or the like. In addition, such an artificial operation can be accepted when traveling in the middle of a turning, and after turning is complete|finished, the body 1 moves backward at a predetermined speed.

[Map selection processing]

The map selection process in a rice transplanter is demonstrated using FIGS. 1-5 and FIG. The functional block diagram of FIG. 8 includes a functional unit related to map selection processing. In the map selection process in the present embodiment, information and data are mutually transmitted and received between the control unit 30 and the information terminal 5 . In this embodiment, the control unit 30 is provided with the aircraft position calculation unit 311 , the information terminal 5 is provided with a display device 551 (touch panel 50 ), and a map information storage unit 552 . , a map information display unit 553 is provided. Each functional unit is constructed with a CPU as a core member in hardware or software or both in order to perform a process related to map selection.

The aircraft position calculation unit 311 calculates the aircraft position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information composed of, for example, latitude information, longitude information, and altitude information is transmitted from the positioning unit 8 to the aircraft position calculating unit 311 . In addition, in the present embodiment, the height information corresponds to the height of the base 1 (the height of the positioning unit 8 ) in which the geoid height and the elevation are added up. A body position is a position of the body 1 in real space, and is represented by latitude information, longitude information, and altitude information. The aircraft position calculation unit 311 calculates the position of the aircraft 1 in real space based on such GPS information.

The map information storage unit 552 stores map information indicating the shape of the work site based on position information indicating the position of the work site and time information indicating the time at which the map information was created. The shape of the work paper is the shape of the pavement in which the rice transplanter performs a planting operation, and corresponds to the external shape of the pavement. In this embodiment, the information which shows the external shape of such a pavement is handled as map information. The position of the work site is the position of the pavement, the position of the outer periphery of the pavement may be sufficient, and the position of the doorway E through which the rice transplanter enters and exits the pavement may be sufficient. Furthermore, the position of the central part of the pavement may be sufficient. In addition, the time information indicating the time at which the map information was created may be a time stamp indicating the time at which the above-described position information was acquired, or a time stamp indicating the time at which the map information was stored in the map information storage unit 552 . The map information includes time information that defines the time at which the map information was created, together with the position information that defines the position of the pavement described above by latitude information, longitude information, altitude information, and the like. In addition, the positional information in the map information can be generated based on the coordinate position based on the work location coordinates, the X, Y coordinates from a specific reference point, etc. instead of the longitude/latitude information of the positioning.

The display device 551 has a display screen. In the present embodiment, the display device 551 corresponds to the touch panel 50 of the information terminal 5 . In this embodiment, the touch panel 50 also serves as a display screen. For this reason, unless a distinction is made in particular, a display screen is demonstrated as the touch panel 50. As shown in FIG.

The map information display unit 553 causes the touch panel 50 to display the map information extracted based on the aircraft position, position information, and time information among the map information stored in the map information storage unit 552 . As described above, map information is stored in the map information storage unit 552, and the map information includes location information and time information. A base position is the position of the base body 1 in the real space calculated by the base position calculation part 311, Specifically, it is the present position of a rice transplanter. The map information display unit 553 is map information indicating the external shape of the pavement including the current position of the rice transplanter among the map information stored in the map information storage unit 552, and has the latest time stamp based on the time information The map information is extracted, and the extracted map information is displayed on the touch panel 50 . Thereby, when a rice transplanter exists in a field, it becomes possible to display the latest map information which shows the shape of the said field on the touch panel 50 automatically.

[Package shape acquisition processing]

The pavement shape acquisition process in a rice transplanter is demonstrated using FIGS. 1-5 and FIG. The functional block diagram of FIG. 8 includes a functional unit related to the pavement shape acquisition process. In the packaging shape acquisition process in this embodiment, information and data are mutually transmitted and received between the control unit 30 and the information terminal 5 . In the present embodiment, the control unit 30 is provided with an aircraft position calculation unit 311 , and the information terminal 5 includes a display device 551 (touch panel 50 ) and a position information calculation unit 571 . , a map information creation unit 572 , and a travel route generation unit 573 are provided. Each functional unit is constructed by hardware or software or both, with the CPU as a core member, in order to perform processing related to packaging shape acquisition.

The aircraft position calculation unit 311 calculates the aircraft position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information composed of, for example, latitude information, longitude information, and altitude information is transmitted from the positioning unit 8 to the aircraft position calculating unit 311 . In addition, in the present embodiment, the height information corresponds to the height of the base 1 (the height of the positioning unit 8 ) in which the geoid height and the elevation are added up. A body position is a position of the body 1 in real space, and is represented by latitude information, longitude information, and altitude information. The aircraft position calculation unit 311 calculates the position of the aircraft 1 in real space based on such GPS information.

When traveling in each of a plurality of regions partitioned along the outer periphery of the work site, the position information calculating unit 571 is configured to, when starting traveling in one region, the position of the aircraft and the rear side of the outer periphery of the aircraft 1 . Position information is calculated based on the position of the end. The outer periphery of the work site is the outer periphery of the pavement in which the rice transplanter performs the planting operation, and corresponds to the inner periphery of the ridge that divides the pavement. The plurality of regions partitioned along the outer periphery of the work site correspond to, for example, each side of the polygon when the outer shape of the pavement is a polygonal shape. In addition, when the outer shape of the pavement has at least an arc-shaped portion, the arc-shaped portion may be used as one region and divided into a plurality of regions. Of course, even when the external shape has a polygonal shape, one side may be divided into a plurality of regions.

Here, the rice transplanter is provided with the work unit which performs a ground work so that raising/lowering with respect to the base|substrate 1 is possible. The work unit that performs the site work is the seed planting device 3 . In this case, the positional information calculation unit 571 sets the time when the model planting device 3 in the raised position is in the lowered state as the traveling start time, and the model planting device 3 in the lowered state returns to the raised position. It is appropriate to set the starting point as the end of driving. When the seedling apparatus 3 in a raised position became a descending state, it is a planting surface so that the planting mechanism 22 of the seedling apparatus 3 can simulate planting with respect to the planting surface (pavement surface) of a pavement. It is approached and it is a time point where the stop float 15 is grounded. It is also possible to detect by providing a sensor (one of the sensor group 1A) to the stationary float 15, and the descent|fall of such a seedling apparatus 3 is work operation which performs raising/lowering operation of the seedling apparatus 3 It is also possible to detect and perform the position of the lever 11 .

In addition, when the seedling apparatus 3 in a descending state returned to a raised position, the planting mechanism 22 of the seedling apparatus 3 moves away from the planting surface of a pavement, and the still float 15 is a planting surface It is a time away from It is also possible to provide a sensor (one of the sensor group 1A) to the still float 15, and to detect the rising degree of such a seedling apparatus 3, and work operation which performs raising/lowering operation of the seedling apparatus 3 It is also possible to detect and perform the position of the lever 11 .

Thus, the positional information calculation part 571 approaches a planting surface so that the planting mechanism 22 of the seedling apparatus 3 can simulate planting with respect to the planting surface of a pavement, and the still float 15 is grounded. By setting one time point as travel start time, the planting mechanism 22 of the parent planting device 3 moves away from the planting surface of the pavement, and the time point at which the stop float 15 is separated from the planting surface as travel end time, positional information It becomes possible to perform calculation appropriately.

Returning to FIG. 8 , the map information creation unit 572 creates map information indicating the shape of the worksheet based on the position information. The positional information is calculated by the above-described positional information calculating unit 571 and transmitted to the map information creating unit 572 . The map information indicating the shape of the work site corresponds to a map indicating the shape of the pavement by continuously connecting coordinates consisting of latitude information and longitude information indicated by position information obtained by a rice transplanter traveling around the periphery of the pavement. Accordingly, the map information creation unit 572 creates a map indicating the shape of the pavement in which the coordinates made of latitude information and longitude information expressed by the position information calculated by the position information calculation unit 571 are continuously connected. . Since such creation of map information can be created using a well-known method, description is abbreviate|omitted. In addition, here, map information in the middle of creation is also demonstrated simply as map information.

[Route creation process]

The route creation process in a rice transplanter is demonstrated using FIGS. 9-11, referring FIGS. 1-5.

The travel route (route) that is the target of the automatic travel includes an internal reciprocating route IPL for performing a model planting operation of the inner area IA of the pavement, a winding route for performing a model planting operation of the outer peripheral area OA of the pavement, and an exit E It consists of a starting point induction path for movement from the induction start possible area GA set in the vicinity of , to the starting point (work starting point) S of the internal reciprocating path IPL. In addition, the outer periphery area OA of a pavement is an area|region where a model planting operation|work is performed by traveling along a circling path, and the inner area|region IA is an area|region left inside of the outer periphery area|region OA. Here, the route creation process includes a round trip route creation process, a parent replenishment route creation process, a circling route creation process, and a starting point guidance route creation process.

A functional unit necessary for various processes related to route creation is constructed in the information terminal 5 as shown in FIG. 9 . This information terminal 5 is connected to the control unit 30 having functional units such as the aircraft position calculation unit 311, the travel control unit 312, and the operation control unit 313 through a communication line such as an in-vehicle LAN. have. The control unit 30 is also connected to the traveling device 1D and the work device 1C. The functional units built into the information terminal 5 include a reference side setting unit 521 , a round trip route creation unit 522 , a traveling direction determining unit 523 , a supply side setting unit 531 , and a supply control management unit 532 . , a winding path creation unit 524 , a driving mode management unit 525 , a starting point setting unit 541 , and a starting point induction path creation unit 542 .

The reference side setting unit 521 sets one side of the outer shape of the farm (field, etc.) that is the work site of the rice transplanter as the reference side. The reciprocating path creation unit 522 creates an internal reciprocating path IPL including a plurality of straight paths extending in a predetermined direction with respect to the reference side. The traveling direction determining unit 523 sets the traveling direction in the internal reciprocating path IPL. The supply side setting unit 531 sets the specific side of the external appearance of the farm as the material supply side of the material consumed by the rice transplanter. The replenishment control management unit 532 is configured to operate the rice transplanter from the end region of the straight path of the internal reciprocating path IPL traveling toward the material supply side, or from the start end region of the straight path to be run next, or from both regions. It manages the supply travel control for accessing the , in association with the travel control unit 312 . The circling path creation unit 524 creates at least one circling path in the periphery area of the farm based on the running trajectory in the contour calculation driving running along the boundary line of the pavement in order to calculate the external shape of the farm. The driving mode management unit 525 enables selection from manned automatic driving, unmanned autonomous driving, and manual driving as the driving mode of the circumferential route. The starting point setting unit 541 sets the starting point S of the work travel using the internal reciprocating path IPL. The starting point guidance path|route creation part 542 creates the starting point guidance path|route SGL for automatically guide|inducing the rice transplanter which satisfied the guidance condition to the starting point S.

The program for realizing the function unit related to route creation is installed in the information terminal 5 as described above. Various processes are performed by the content displayed on the screen of the touch panel 50 of the information terminal 5, and operation with respect to the touch panel 50. As shown in FIG.

In route creation in internal area|region IA, selection of the reference side of a planting and selection of a planting direction are performed. Numerical values are attached to the sides used as candidates for the planting reference side. An operator selects a desired side as a reference side, and selects whether a planting direction sets it as parallel to a reference side, or sets it as perpendicular|vertical. This planting direction turns into the direction of the straight path|route in reciprocating travel in internal area|region IA. In the reciprocating travel, a path combining a straight path and a turning path is used, but the straight path is not limited to a straight line, and may be a large curved shape or a meandering type.

About selection of a planting direction, if a reference side is selected, you may comprise so that the planting direction in which the number of reciprocations in a reciprocating run will decrease automatically is automatically selected. In addition, at the time of the first selection in the same pavement or similar pavement, the planting direction parallel to the longest side of a pavement is set as a default, At the time of subsequent planting direction selection, the previous selection result is set as a default You can configure it as much as possible.

In addition, the shape of a pavement is not limited to a rectangle, Rectangle, such as a trapezoid and a rhombus, may be sufficient, and a triangle or polygon more than a pentagon may be sufficient as it. Accordingly, the reference side is not limited to the four sides of the rectangle, and a side whose opposite sides are non-parallel may be selected. In addition, when the curved side is selected as the reference side, the traveling path along the side may be set, or the path adapted to the linear shape gradually may be set. On the other hand, in such a case, since the error becomes large, it may be made impossible to select the reference side.

In the work in the reciprocating travel in the inner region IA, hair replenishment is required in the middle of the work. In addition, the replenishment of the seedlings here can be replaced by replenishment of other materials (chemicals, fertilizers, fuels, etc.). In seedling replenishment, the rice transplanter should stop reciprocating travel and approach the headland, but automatic stop of the rice transplanter is possible at a position where headroom approach travel for this seedling replenishment is possible. It is possible to select whether or not to automatically stop (automatic stop of the hair supply valve) for this headland approach driving through this screen. In addition, the side on which hair replenishment is performed is a pavement side that intersects the straight path in reciprocating travel, and this side can also be selected through this screen. One side may be sufficient as a selectable side, and two sides may be sufficient as it. In addition, in a deformed pavement, there is a possibility that two adjacent sides become candidates for the replenishment side.

When the pavement is special, candidates for the material supply side need to be selectable from all pavement sides. For this reason, when such special packaging is considered, the material supply side is configured to be selectable from among all pavement sides.

Hair replenishment may be necessary also in the work run (periphery planting run) along the circling path in an outer peripheral area|region. Even in this case, the base body 1 is automatically stopped at the pavement side. At that time, when the base 1 is spaced apart from the pavement by a predetermined distance or more, the base 1 is horizontally affixed to the pavement, and then it is automatically stopped. When the automatic stop is performed, a notification for urging replenishment is performed.

Regarding the selection of the hair replenishment side, it is preferably configured so that the hair replenishment side in the circumferential planting run is automatically determined by selecting the reference side, or preferably configured so that the hair replenishment side is automatically determined after the hair replenishment side is selected. do.

In hair replenishment, in general, since the front portion of the body 1 needs to approach the head (supply side), it advances toward the head before entering a turning or in the middle of a turning. After replenishment, it enters the next straight path by retreating and turning. In the turning control performed when entering the next straight path, the control in which the turning radius is fixed is preferable. In this case, the base body 1 returns backward to the position where the normal turning travel of the original straight path is performed, and from there, enters the next straight path by the normal turning travel. In drug replenishment, etc., since the rear part of the base body 1 needs to approach the head, as a head|head approach travel, the turning backward head-up running which turns backward after turning is employ|adopted. After replenishment, move forward and enter the next straight path. Remote control using a series of these driving maps, remote control 90, and the like is possible.

When hair replenishment is performed in the vicinity of a deformed head, there is a possibility that the base body 1 approaches the head in a turning run performed when returning to the next straight path after hair replenishment. In such a turning run, compared with the turning performed normally, a turning start position is set to the position far from a head, or a turning radius is changed.

If automatic stop for replenishment of hair is selected, it goes straight to the OA of the outer peripheral area (also referred to as 'canis') on the side of the replenishment side by automatic driving. For this automatic driving, an extended path generated by extending the straight path of the internal reciprocating path IPL is used. During the travel of the extension route, no operations such as planting, seeding, fertilization, etc. are performed, but at the processing position which approached the head, the base|substrate 1 stops automatically.

When replenishment is performed without selecting automatic stop, head approach driving is possible before or during turning, when the seed planting device 3 is rising, by manual operation or interrupt control using the remote control 90 becomes In that case, if the aircraft 1 is not manually driven until the next starting point after replenishment, restarting of the automatic operation becomes impossible. Of course, it is not necessary to select automatic stop when replenishment is unnecessary. The example in which replenishment becomes unnecessary is the case where a direct sowing apparatus is equipped instead of the seedling planting apparatus 3 when wheat hair and long (roll) mat hair are employ|adopted. Regardless of replenishment, you may set so that the aircraft 1 may be stopped before or during turning by operation using the remote control 90 or the like.

In the case of remote control using the remote control 90 or the like, the check of the remaining amount of replenishment material is performed using the remaining amount sensor rather than visually by the operator, and the detection result or material exhaustion is transmitted to the remote control 90. You may employ|adopt a structure and the structure which informs the surroundings by an audio|voice. When material exhaustion (material shortage) is detected by a residual quantity sensor, it can stop automatically. Such automatic stop and notification of material exhaustion (shortage of material) can be performed not only in the work travel in the inner area IA but also in the work travel in the outer periphery area OA. In that case, you may comprise so that the material supply path|route to a material supply position may be created.

The remaining amount sensor can be configured with a machine learning model that outputs a material remaining amount such as wool by inputting a photographed image by a camera. In addition, when the remaining amount of material can be estimated, it is also possible to estimate the position where the material automatically stops in order to replenish the material. Based on this estimated position, an automatic stop for material replenishment can be scheduled. This reservation can be made automatically or manually, and cancellation of the reservation can be made manually.

When the remaining amount of material can be estimated, a determination is made as to whether or not travel is possible to the next replenishable position with the estimated remaining amount. Based on this determination result, the base body 1 is stopped for material reinforcement, and the notification of the expected position for starting a material supply run is performed.

In this embodiment, the work run (circumferential planting travel) in outer periphery area|region OA is an inner circumference path|route IRL located inside the outer circumference area|region (canis) OA, and the outer circumference located outside of outer circumference area|region OA as a circumference path|route. It is done along the path ORL. Traveling along the inner circumferential path IRL is called inner circumferential travel or inner circumferential travel, and traveling along the outer circumferential path ORL is called outer circumferential travel or outer circumferential travel. In map preparation, it is created so that it may correspond substantially with the traveling trajectory which the base|substrate 1 traveled. The inner winding path IRL is a path between the inner reciprocating path IPL and the outer winding path ORL. The inner circumferential running and the outer circumferential running can be performed automatically by manned, unattended, or manually.

In this embodiment, the outer circumferential path ORL is stipulated to be a manned automatic travel even if it is an automatic travel. However, the outer circumferential route ORL is based on the travel trajectory of the teaching travel created by map creation, and the travel is performed using the model planting device 3 . Since the vehicle is driven in a lowered state, the possibility of problems occurring even in unmanned automatic driving is small. From this point of view, you may configure so that unattended automatic driving can also be selected also for an outer circling path ORL. In addition, since the inner circumferential path IRL and the outer circumferential path ORL are set as different paths, the algorithm tends to be complicated, but a connection path of two paths may be provided from the beginning. Alternatively, at the end point of the inner circumferential path IRL, a path leading from the end point to the starting position of the outer circumferential path ORL may be provided.

In this embodiment, in order to sufficiently take the space for the turning travel in the reciprocating travel, the circumferential path formed in the outer circumferential area OA is predetermined as a two-circle circumferential path. However, depending on the model and number of workers, a one-week circling route is sufficient. Therefore, it is good also as a structure which can select that a winding path|route is formed by one winding path|route. However, when the circling path is formed as a lap path of one round, the slewing path used for reciprocating travel includes a transition path using reverse, or a connecting turn connecting two angled swivel paths in a connected straight path that exceeds the working width. It is preferable to employ a route. In that case, in the running of the connecting straight route, running control imitating the circling route is performed, but special measures such as expanding the permissible range of menstruation determination that stipulates the interval with the head are adopted. Furthermore, when there is a risk of interference with the headboard during turning, a turning retry function of gradually turning in multiple transitions using reverse or the like is also employed.

In the route creation process, usually, based on a predetermined trajectory, a normal turn (180 degree turn), or a Japanese U-shaped turn (go straight to approach the headland, then go backwards, then perform the normal turn, and finally move forward, Turning to enter the next work start point) is employed, however, for specific purposes such as hollow planting or when the work width is narrow compared to the space for turning and running around the head, the turning method as shown in Figs. may be employed.

10 and 11 exemplify the above-described special turning travel (turning path). 10 : has shown an example of connecting turning. This connecting turning is a movement travel for moving from one straight path to the next straight path instead of an adjacent straight path. This connected turning includes a first turning path (signed Q1 in Fig. 10), a linear path (signed Q3 in Fig. 10), and a second turning path (Fig. 10, code Q2 is assigned). The straight path length is calculated according to the position of the straight path of the moving destination. 11 : has shown an example of transition turning using reverse. The transition turning is used when the space (distance to the ridge: width of the outer circumferential area OA) for the turning travel is small when moving from the traveling straight path to an adjacent path by turning travel. The transition turning shown in Fig. 11 includes a first turning path (symbol R1 is assigned in Fig. 11), a reverse reverse turning path (symbol R2 is assigned in Fig. 11), and a second turning path (symbol R2 in Fig. 11). in the code R3). The travel called a transition is realized by the first turning path and the reverse reverse turning path, but by increasing this transition, the space required for the turning travel can be made small.

[Suspension/Termination of Automatic Driving, Sending Forward to the Driving Line, Resuming from Suspension of Automated Driving]

If a situation in which automatic travel is difficult occurs in the middle of automatic travel, automatic travel is stopped or terminated, and travel control is transferred manually. When the automatic running is finished, it is impossible to resume the work in the automatic running, but when the automatic running is interrupted, it is possible to resume the work in the automatic running. In the automatic travel, the history of the performed automatic travel (traveled travel route, etc.) is recorded. When automatic travel is resumed after stopping the automatic travel at the same aircraft position or after traveling by manual travel, the location of the aircraft at which automatic travel is stopped and the ID of the travel route of the aircraft position, etc. are read from a memory or the like. In the case where the interruption position and the resume position are different, when the interruption position and the resume position are on the same line, in a state where the aircraft overlapped on the line, a restart instruction can be made with the touch panel. When the stop position and the resume position are on different lines, the set travel route is forwarded using the travel route displayed on the touch panel 50 (referred to as 'line transfer'), and the body 1 Matches the driving route to the current location of

The matters to be further described with respect to the screen display of the travel route on the touch panel 50 are as follows.

(1) The driving route where automatic operation is stopped is drawn with a characteristic color such as red. In that case, the route section to be changed in color is preferably a straight route unit, but may be a partial section of the straight route including a breakpoint.

(2) When a plurality of routes exist in the vicinity of the breakpoint of the automatic driving, the travel route to be processed is selected by the operator.

(3) The travel route is changed in color according to the work attribute of the travel route. For example, along the travel route, the route where the model planting work has been completed, the route where the model planting work is being performed, the route to be performed from now on, the route traveled without performing the model planting work called the empty travel route, etc. Each is painted to be identifiable. In addition, the periphery of the path|route on which the seedling planting operation|work was completed may be painted with the work width (each group unit).

(4) Also in the manual driving, the matching of the driving trajectory and the driving route map is performed, and the work traces driven by the manual driving are also displayed as the original working area.

(5) In order to facilitate forwarding of the travel route when automatic travel is stopped and automatic travel is resumed after manual travel along a plurality of travel routes has been

(6) When resuming automatic running, it is necessary to select a restarting running line. In order to facilitate the selection operation, when automatic driving is resumed, any of the stopped travel route, the travel route following the interrupted travel route, and the travel route before the interrupted travel route is set as the default resume travel route .

[Cancellation instruction invalidation processing]

The cancellation instruction invalidation process in a rice transplanter is demonstrated. 12 is a block diagram showing a functional unit in the cancellation instruction invalidation process. As shown in FIG. 12 , in the cancellation instruction invalidation process in the present embodiment, information and data are mutually transmitted and received between the control unit 30 and the information terminal 5 . In the present embodiment, the control unit 30 is provided with the aircraft position calculation unit 311 and the travel control unit 312 , and the information terminal 5 is provided with a display device 551 (touch panel 50 ), a map An information acquisition unit 51 , a travel stop instruction unit 52 , an invalidation instruction unit 53 , a cancellation unit 54 , a material replenishment position setting unit 55 , a supply instruction reception unit 56 , and a notification unit 57 are provided. . Each functional unit is constructed with a CPU as a core member in hardware or software, or both, in order to perform a process related to packaging shape acquisition.

The aircraft position calculation unit 311 calculates the aircraft position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information composed of, for example, latitude information, longitude information, and altitude information is transmitted from the positioning unit 8 to the aircraft position calculating unit 311 . In addition, in the present embodiment, the height information corresponds to the height of the base 1 (the height of the positioning unit 8 ) in which the geoid height and the elevation are added up. A body position is a position of the body 1 in real space, and is represented by latitude information, longitude information, and altitude information. The aircraft position calculation unit 311 calculates the position of the aircraft 1 in real space based on such GPS information.

The map information acquisition unit 51 acquires map information indicating the shape of the work sheet. The map shape indicating the shape of the work sheet is stored in the map information storage unit 552 as described above. Accordingly, in the present embodiment, the map information acquisition unit 51 acquires map information from the map information storage unit 552 .

Based on the acquired map information and the aircraft position, the travel control unit 312 automatically travels while performing the work in the work place. In the present embodiment, as described above, in the route creation process, based on the map information, a travel route as a target for automatic travel is set. Therefore, the traveling control part 312 makes a rice transplanter run automatically, performing a simulation planting operation in a pavement so that a base body position may follow a traveling route. Control of automatically driving the rice transplanter according to such a traveling route is a known fact, so a detailed description thereof will be omitted.

The travel stop instruction unit 52 instructs the travel control unit 312 to stop working travel when a preset travel stop condition is met. The preset travel stop condition is a condition for stopping the automatic travel. As such a traveling stop condition, for example, it is possible to make the residual amount of the work material used for a work become below a predetermined amount. The work material used for work is equivalent to the seedling used for a planting work, fertilizer, a chemical|medical agent, etc. applied to a field. Of course, the working material may be at least any one of wool, fertilizer, and a chemical|medical agent. Therefore, the travel stop instruction|indication part 52 gives a stop instruction|indication to work running with respect to the travel control part 312, when the residual amount of the fertilizer or chemical|medical agent applied to the seedling used for a planting operation|work becomes below predetermined amount. In addition, you may make it detect with a sensor directly, and the residual amount of a seedling, a fertilizer, and a chemical|medical agent subtracts the quantity used from the loaded amount initially mounted, and what was calculated theoretically may be sufficient as it.

When receiving such a stop instruction from the travel stop instruction unit 52 , the travel control unit 312 stops the automatic travel control. Therefore, a rice transplanter stops automatic running, when the residual quantity of the fertilizer and chemical|medical agent applied to the seedling used for a planting operation|work or a field|medical agent becomes below predetermined amount.

When the travel stop instructing unit 52 is configured to give a stop instruction when the remaining amount of work material is less than or equal to a predetermined amount, the notification unit 57 transmits the amount of work material when the remaining amount of work material is less than or equal to a predetermined amount. It can be configured to notify that the remaining amount is low. A notification may be performed by the information terminal 5, and may be performed from the base body 1. Furthermore, you may make it notify to the portable terminal (for example, a smart phone) possessed by a user. In addition, the timing to notify may be the time when the residual amount of a work material becomes below a predetermined amount, and after the remaining amount of a work material becomes below a predetermined amount, the time point which approached the preset point (for example, a ridge) may be sufficient as it. Thereby, it becomes possible not only to grasp|ascertain that a user can grasp|ascertain that the remaining amount of work material is below a predetermined amount, but also to grasp|ascertain that the stop instruction|indication was given by the travel stop instruction|indication part 52.

Here, even when a stop instruction is received, the rice transplanter is comprised so that an exceptionally automatic driving can be performed according to a user's instruction|indication. Therefore, even when a stop instruction is given, the invalidation instruction unit 53 invalidates the stop instruction by the travel stop instruction unit 52 according to the user's instruction, and enables the automatic travel by the travel control unit 312 to be invalid. It is designed to give instructions. The case where a stop instruction|indication is given is a case where the residual quantity of the fertilizer and chemical|medical agent applied to the seedling used for a planting operation|work becomes below predetermined amount, and the travel stop instruction|indication part 52 gives a stop instruction|indication. The user's instruction corresponds to, for example, a predetermined operation by the information terminal 5 (pressing a predetermined operation button) or a predetermined operation (pressing a predetermined operation button) by the remote controller 90 . Therefore, as for the invalidity instruction|indication part 53, even when the residual amount of the fertilizer and chemical|medical agent applied to the seedling used for a planting operation|work becomes less than predetermined amount, and the running stop instruction|indication part 52 gives a stop instruction|indication, the information terminal by a user A predetermined operation according to (5) (for example, a display to be invalidated is displayed on the touch panel 50, and when the user touches the display, it is possible to recognize that the operation has been performed) or the remote control 90 ), the stop instruction by the travel stop instruction unit 52 is invalidated, and an invalidation instruction for enabling automatic travel is issued to the travel control unit 312 . Thereby, the rice transplanter restarts automatic running.

Moreover, when the stop instruction|indication is made invalid by the invalidation instruction|indication part 53, the rice transplanter can be comprised so that the travel stop instruction|indication part 52 may be invalidated for a predetermined distance or for a predetermined time, and it may be made to run automatically. That is, when the stop instruction is invalidated by the invalidation instruction unit 53, while the rice transplanter travels a preset distance or until a predetermined time elapses, the travel stop instruction unit 52 is invalidated to automatically run. It is possible to configure it to In addition, invalidating the travel stop instruction unit 52 may invalidate the stop instruction by the travel stop instruction unit 52 or invalidate the function of the travel stop instruction unit 52 itself. Anyway, by configuring as described above, when the stop instruction is invalidated by the invalidation instruction unit 53, the rice transplanter automatically travels while the rice transplanter travels a preset distance or until a predetermined time elapses. it becomes possible to do

Here, in the present embodiment, the travel control unit 312 causes the vehicle to automatically travel along the travel route that is the target of the automatic travel set in the worksheet. In particular, in the inner area IA in the pavement, as shown in FIG. 13 , automatic travel is performed along the inner reciprocating path IPL. Such an inner reciprocating path IPL is set as a plurality of reciprocating travel paths reciprocating within the inner region IA. Accordingly, the travel control unit 312 causes the work sheet to travel along a plurality of reciprocating travel paths. In this case, when the above-described invalid instruction is received, that is, when the stop instruction is invalidated by the invalidation instruction unit 53 , the travel control unit 312 extends to the end position or the next start position in the reciprocating travel route. let it drive

The end position in the reciprocating travel route corresponds to the end position G1 of the inner reciprocating route IPL1 when the reciprocating travel route is one one-way travel route (for example, the inner reciprocating route IPL1). In this case, when the stop instruction is invalidated by the invalidation instruction unit 53 while traveling on the internal reciprocating path IPL1, the travel control unit 312 may travel to the end position G1 of the internal reciprocating path IPL1. In addition, when the reciprocating travel route includes the outgoing travel route and the return travel route (for example, it is composed of the inner reciprocating route IPL1 and the inner reciprocating route IPL2), the end position G2 of the inner reciprocating route IPL2 is considerable In this case, while the internal reciprocating path IPL1 or the internal reciprocating path IPL2 is traveling, if the stop instruction is invalidated by the invalidation instruction unit 53, the travel control unit 312 causes the vehicle to travel to the end position G2 of the internal reciprocating path IPL2. do.

The next start position in the reciprocating travel route means, when the reciprocating travel route is one one-way travel route (for example, the internal reciprocating route IPL1), the start position S2 of the internal reciprocating route IPL2, which is the next reciprocating travel route, is considerable In such a case, when a stop instruction is invalidated by the invalidation instruction unit 53 while traveling on the internal reciprocating path IPL1, the traveling control unit 312 may travel to the start position S2 of the internal reciprocating path IPL2. In addition, when the reciprocating travel route includes the outgoing travel route and the return travel route (for example, it is composed of the inner reciprocating route IPL1 and the inner reciprocating route IPL2), the next reciprocating inner reciprocating route IPL3 The starting position S3 of In this case, while the internal reciprocating path IPL1 or the internal reciprocating path IPL2 is traveling, if the stop instruction is invalidated by the invalidation instruction unit 53, the travel control unit 312 causes the vehicle to travel to the start position S3 of the internal reciprocating path IPL3. do. Thereby, it prevents that a rice transplanter stops in the center part of a pavement, for example, it makes it possible to make it drive to the position which is easy to replenish the rice plant and fertilizer in a field, and to make it stop.

In the present embodiment, the cancellation unit 54 is configured to cancel the invalidation instruction by the invalidation instruction unit 53 . Thereby, for example, it becomes possible to cancel the state in which automatic driving was enabled by the invalidation instruction|indication given by the invalidation instruction|indication part 53 in accordance with an instruction|indication to a user, and also according to the user's cancellation intention. Cancellation by the cancellation unit 54 may be performed according to the user's intention to cancel, or may be performed automatically according to an instruction from the information terminal 5 or a host system.

As mentioned above, a rice transplanter is comprised so that the said working materials may be replenished, when working materials, such as rice paddy and a fertilizer mounted in the rice transplanter, are reduced when a simulation planting operation is performed. A material replenishment position setting unit 55 is provided which sets the replenishment position for replenishing such a work material in the reciprocating travel route.

When such a replenishment position is set, the travel control unit 312 may travel to the next replenishment position when the cancellation instruction is invalidated by the invalidation instruction unit 53 . Thereby, a rice transplanter can be made to run automatically to the next replenishment position, and it becomes possible to replenish a work material.

For example, it is suitable if it is known beforehand whether or not the replenishment position mentioned above is set. So, what is necessary is just to configure so that the replenishment instruction receiving part 56 may receive the instruction|indication of whether to replenish a work material when the remaining amount of work material becomes less than a predetermined amount while traveling on a reciprocating travel route. Thereby, it becomes possible for the travel control part 312 to make it travel automatically to the next replenishment position mentioned above.

On the other hand, when the instruction for replenishing the work material is not received, the travel control unit 312 may stop when a preset point in the reciprocating travel path is reached. The preset point may be, for example, an end point in an outbound travel route and an end point in a return travel route, or may be an end point in a reciprocating travel route, among the reciprocating travel routes. Moreover, it is also possible to set it as a point different from the starting point and the end point in a reciprocating travel route. By stopping when such a point is reached, it becomes possible to watch the instruction|indication of a user every time.

In the said embodiment, although the travel stop instruction|indication part 52 demonstrated as what gave a stop instruction|indication when the residual amount of the seedlings and fertilizer used for a simulation planting operation became below predetermined amount, the travel stop instruction|indication part 52 is the base|substrate 1 ), when the object sensor (for example, the sonar sensor 60) detects an object existing in the vicinity, it is also possible to issue a stop instruction. Of course, it is also possible to configure so that a stop instruction|indication is performed in both the case where the residual amount of a seedling and fertilizer becomes a predetermined amount or less, and when an object sensor detects an object.

As described above, for example, when an object is detected around the aircraft 1 by the sonar sensor 60, the aircraft 1 during automatic operation (automatic travel) is temporarily stopped according to the stop instruction. However, when it is determined that the detected object does not interfere with the automatic driving (specifically, for example, a detection result indicating that the size of the object is smaller than or equal to a predetermined size is obtained by another sensor different from the sonar sensor 60 ). It is determined that there is no obstacle to automatic driving based on the size of the detected object, such as when it is acquired or when it is determined that the object is an obstacle of a negligible size when viewed by a human (eg, an operator). ), it is possible to configure so that the automatic travel continues by the above-described stop instruction invalidation processing. At that time, in the vicinity of the detected object, the traveling speed of the body 1 is set to a predetermined traveling speed slower than the normal traveling speed (the traveling speed when the object is not detected), and may be passed through. These operations may be performed by the remote control 90, the information terminal 5, or the like, or may be performed automatically by an automatic control program.

In the above embodiment, the travel control unit 312 causes the work sheet to travel along a plurality of reciprocating travel routes, and when the stop instruction is invalidated by the invalidation instruction unit 53, an end position in the reciprocating travel route or, Although it has been described that the vehicle travels to the next starting position, the travel control unit 312 causes the work sheet to travel along a plurality of reciprocating travel paths, and when the stop instruction is invalidated by the invalidation instruction unit 53, the reciprocating travel path It is also possible to configure so as to cause the vehicle to travel to a place different from the end position or the next start position.

In the above embodiment, it has been described that the cancellation unit 54 for canceling the invalidation instruction by the invalidation instruction unit 53 is further provided, but it is also possible to configure so that the cancellation unit 54 is not provided.

In the above embodiment, the travel stop instructing unit 52 gives a stop instruction when the remaining amount of work material used for the work becomes less than or equal to a predetermined amount. It is also possible to configure so that the stop instruction is not issued even when the amount is less than or equal to the predetermined amount.

In the above embodiment, a material replenishment position setting unit 55 that sets a replenishment position at which work materials are replenished in the reciprocating travel route is provided, and the travel control unit 312 voids the stop instruction by the invalidation instruction unit 53 . In this case, although it has been described that the vehicle is driven to the next replenishment position, it is also possible to configure without the material replenishment position setting unit 55, and the traveling control unit 312 is configured to allow the vehicle to travel to the next replenishment position, even when the stop instruction is invalid. It is also possible to configure so as not to travel to the next replenishment position.

In the above embodiment, a replenishment instruction receiving unit 56 for receiving an instruction as to whether or not to replenish the work material when the remaining amount of the work material becomes less than or equal to a predetermined amount while traveling on the reciprocating travel route is provided, and the travel control unit 312 is provided. has been explained that, when an instruction to replenish the work material is not received, it is stopped when a preset point in the reciprocating travel route is reached, but it is also possible to configure without the replenishment instruction receiving unit 56, It is also possible to configure the travel control unit 312 so as not to stop when it reaches a preset point in the reciprocating travel route when an instruction to replenish the work material is not received.

In the above embodiment, when the remaining amount of work material is less than or equal to a predetermined amount, it has been described as having a notification unit 57 for notifying that the remaining amount of work material is small, but configured without the notification unit 57 It is also possible

In the said embodiment, although the operation|work which a rice transplanter performs was demonstrated as a simulated planting operation|work, a rice transplanter may perform another operation|work. In addition, although the working material demonstrated as at least any one of wool, a fertilizer, and a chemical|medical agent, work materials other than these may be sufficient.

[menstrual determination processing]

The menstruation determination process in a rice transplanter is demonstrated. 14 is a block diagram showing a functional unit in menstruation determination processing. As shown in FIG. 14 , in the menstruation determination processing in the present embodiment, information and data are mutually transmitted and received between the control unit 30 and the information terminal 5 . In the present embodiment, to the control unit 30 , the aircraft position calculation unit 311 , the menstruation determination unit 64 , the menstruation prevention control unit 65 , the menstruation permission unit 66 , the resume instruction unit 67 , and a temporary stop instruction unit (68) is provided. Each functional unit is constructed with a CPU as a core member in hardware or software or both in order to perform processing related to menstruation determination.

The aircraft position calculation unit 311 calculates the aircraft position using satellite positioning. The positioning unit 8 is used for satellite positioning, and GPS information composed of, for example, latitude information, longitude information, and altitude information is transmitted from the positioning unit 8 to the aircraft position calculating unit 311 . In addition, in the present embodiment, the height information corresponds to the height of the base 1 (the height of the positioning unit 8 ) in which the geoid height and the elevation are added up. A body position is a position of the body 1 in real space, and is represented by latitude information, longitude information, and altitude information. The aircraft position calculation unit 311 calculates the position of the aircraft 1 in real space based on such GPS information.

The rice transplanter runs on a demarcated work area. Then, the menstruation determination part 64 determines whether the base|substrate 1 has crossed a boundary line based on the boundary line set in order to avoid contact with a boundary, and a body position. The boundary corresponds to a girdle or distance (hereinafter referred to as a “head gully”) adjacent to pavement, for example, provided in order to divide pavement as shown in FIG. 15 . The boundary line is provided along the outer edge of the pavement (the pavement contour), as shown in FIG. 15 , in order to prevent the rice transplanter from contacting such a boundary object. In a rice transplanter, it is suitable if such a boundary line is provided in the map used for a work run. Such a map is stored in the above-described map information storage unit 552 as map information indicating the shape of the work place, and the map information is acquired from the map information storage unit 552 by the map information acquisition unit 51 . A boundary line may be prescribed|regulated in such map information in advance, and may be calculated and set when the pavement shape information which travels around a pavement and shows pavement shape information is acquired. The gas position is transmitted from the above-described gas position calculation unit 311 . Accordingly, the menstruation determination unit 64 is based on the boundary line virtually provided on the map used by the rice transplanter for work travel and the body position transmitted from the body position calculation unit 311 in order to prevent the rice transplanter from contacting the head or the like. Thus, it is determined whether the body 1 has crossed the boundary line.

When it is determined that the body 1 has crossed the boundary line, the menstruation prevention control unit 65 prohibits the traveling of the body 1 . "The case where it is determined that the base body 1 has crossed the boundary line" is a case where it is determined that the base 1 of the rice transplanter crossed the boundary line by the menstruation determination part 64 mentioned above. For this reason, it is preferable to configure so that the determination result of the menstruation determination unit 64 is transmitted to the menstruation prevention control unit 65 . Here, the rice transplanter is automatically driven by the travel control unit 312 while performing an operation in the work place based on the map information and the body position. Therefore, when it is determined by the menstruation determination unit 64 that the body 1 of the rice transplanter has crossed the boundary line, the menstruation prevention control unit 65 prohibits the travel control unit 312 from automatically traveling, and further automatically travels. In addition, manual driving is prohibited. Thereby, a rice transplanter stops at the position in the pavement corresponding to the position where the boundary line was set in map information.

The menstruation permission unit 66 interrupts the determination by the menstruation determination unit 64 in response to the menstruation permission command, and permits the state in which the aircraft 1 crosses the boundary line. The menstruation determination unit 64 continuously determines whether the body 1 has crossed the boundary line. A cross-border permission order is an order permitting crossing a border line. Such a menstruation permission instruction is equivalent to, for example, an instruction to run across a boundary line by a remote control operation by a user. When such an instruction is acquired, the menstruation permitting unit 66 interrupts the determination by the menstruation determining unit 64, assuming that there is a menstruation permit command that permits the state in which the aircraft 1 has crossed the boundary line by the user. Thereby, for example, a rice transplanter can drive|work to the outer edge side of a pavement over a boundary line by remote control operation, and it becomes possible to replenish the seedling, fertilizer, and chemical|medical agent used for a planting operation, for example.

The resumption instruction unit 67 is configured to, when permitted by the menstruation permitting unit 66, the menstruation determination unit 64, when the preset site on the base 1 enters the center side of the worksheet rather than the boundary line. restarts the determination by , and the permission by the menstruation permitting unit 66 is stopped. The "case permitted by the border permission section 66" is a case in which the state in which the aircraft 1 crosses the boundary line is permitted by the border permission section 66 that has received a menstruation permission command. The preset portion of the base body 1 can be, for example, the central part of the base body 1 , and for example, a predetermined distance between the front end and the central part of the base body 1 at the time of forward travel. It is also possible to set it as the site|part of, for example, it is also possible to set it as a predetermined site|part between the rear end and the center part of the body 1 at the time of backward travel.

In the case where the state in which the body 1 crosses the boundary line is permitted by the menstruation permission unit 66 that has received the menstruation permission command, the resumption instruction unit 67 indicates that the set site set at a predetermined site of the body 1 is the boundary line. In the case of further approaching to the center side, the judgment interrupted by the menstruation determination unit 64 is resumed, and permission in the state where the body 1 crosses the boundary line is stopped with respect to the menstruation permitting unit 66 . Thereby, menstruation determination by the menstruation determination part 64 is restarted.

In addition, it is suitable if the above-mentioned setting site|part can be changed according to the skill level of the work performed in a work place. The skill level of the work performed in a work place is the skill level of the simulation planting work performed by a rice transplanter in a field. Specifically, it is the degree of whether or not you have become accustomed to the simulation planting operation. For example, as for the setting site, the case of the user (beginner worker) who is not used to the simulation planting operation is more than the case of the user (veteran worker) who is accustomed to the simulation planting operation; What is necessary is just to set it on the side close to the front end between the front end and the center part of (1), for example, at the time of backward travel, the side close to the rear end between the rear end and the center part of the body 1 Just set it up. Thereby, the more familiar users can approach the headland etc., and the more unfamiliar users, the more it becomes possible to suppress the approach to a headland etc.

In addition, it is preferable if the setting site|part is set inside the base body 1 in the case of traveling on the central side rather than the case of traveling on the outer peripheral part in the work place, rather than in the case of traveling in the outer peripheral part in the work place. Thereby, when traveling on the central side of the worksheet, the determination conditions can be relaxed compared to when traveling on the outer periphery, and it is possible to smoothly proceed with the work.

Further, the setting portion is provided on the front side of the front-rear central portion of the body 1 when the body 1 is moving forward, and is provided on the rear side of the front-back direction center portion of the body 1 when the body 1 is moving backward. it is suitable if By setting the setting part in this way, the setting part can be set according to the running state, so that it is possible to improve the convenience.

For example, a setting site|part is the front-end|tip part of the preliminary|backup seedling which loads the spare hair used for a planting operation, the base|substrate 1 in the front-end|tip part of the bonnet provided in the front side part in base|substrate 1, and the planting part which plants hair. It is possible to set at least any one of the width direction both ends of the , the mounting part of the GPS antenna used for satellite positioning, and the center of gravity of the aircraft 1 . Thereby, it becomes possible to set a setting site|part easily.

The temporary stop instruction unit 68 temporarily stops the traveling of the aircraft 1 even when permitted by the menstruation permitting unit 66 , when the aircraft 1 exceeds a preset amount above the boundary line. Thereby, it becomes possible to prevent that a rice transplanter contacts a headstock etc.

Next, it demonstrates using FIG. 16. FIG. As shown in Fig. 16(a) , the work travel is performed along the inner reciprocating path IPL set in the inner area IA, and when the boundary portion between the inner area IA and the outer circumferential area OA is reached, the automatic operation is temporarily stopped. In this state, when a predetermined time elapses, the rice transplanter will perform a turning travel in outer peripheral area|region OA, and will perform a work travel along the next internal reciprocating path IPL.

Within a predetermined time after reaching the boundary between the inner area IA and the outer area OA, it is moved forward by manual operation, and it is determined by the menstruation determination unit 64 that the body 1 has crossed the boundary line, i.e., in FIG. 16 ( If it is determined in b) that the position of the set site indicated by a black circle has crossed the boundary line, the movement of the body 1 is prohibited by the menstruation prevention control unit 65 . Thereby, as shown in FIG.16(b), a rice transplanter stops temporarily.

In this state, if there is a menstruation permission command, the menstruation permission unit 66 permits the state in which the aircraft 1 crosses the boundary line. In this case, the permitted state is continued until the base 1 exceeds the preset amount rather than the boundary line. Therefore, between teeth, a rice transplanter becomes possible forward and backward. In addition, the position where the setting site|part after the change in the base body 1 is set is shown by the white circle in FIG.16(c).

In the state in which the state crossing the boundary line of the base body 1 is permitted, the preset set parts (all set parts provided at positions indicated by white circles) of the base body 1 are shown in FIG. 16(d) As described above, upon entering the inner area IA side, the menstruation determination unit 64 restarts menstruation-related determination by the restart instruction unit 67 .

When the menstruation determination unit 64 resumes menstruation-related determination, as shown in Fig. 16(e), the portion used for determining whether the body 1 has crossed the boundary line is shown in Fig. 16(d). ), the preset portion in the base 1 is returned to the original portion (area indicated by a black circle).

In the above embodiment, even when permitted by the menstruation permitting unit 66, when the aircraft 1 exceeds the preset amount above the boundary line, the temporary stop instruction unit 68 for temporarily stopping the traveling of the aircraft 1 Although it has been described as having the , it is also possible to configure without the temporary stop instructing unit 68 .

In the above embodiment, it has been described that the setting site can be changed according to the skill level of the work performed at the work site. However, it is also possible to configure the setting site so that it cannot be changed according to the skill level of the work.

In the above embodiment, the setting portion is provided on the front side of the front-rear central portion of the base body 1 when the base body 1 is moving forward, and is rearward than the front-back direction center part of the base body 1 when the base body 1 moves backward. Although it has been described as being provided on the side, it is also possible to configure the setting portion so as not to change at the time of forward and backward of the base body 1 . Further, it is also possible to provide the rear side of the front-rear central portion of the body 1 when the body 1 is advancing, and it is also possible to provide it on the front side rather than the front-back direction central portion of the body 1 when the body 1 is moving backward. .

In the said embodiment, a setting site|part is the base part in the planting part which plants the front-end|tip part of the bonnet provided in the front side part in the front-end|tip part of the preliminary|backup bristle used for planting operation|work, the base|substrate 1, and hair|bristle. ) has been described as at least any one of the widthwise ends, the mounting part of the GPS antenna used for satellite positioning, and the center of gravity of the body 1, but the setting part can be provided in parts other than these.

In the above embodiment, the setting site is set inside the base body 1 when traveling on the central side rather than on the outer periphery (outer area OA) at the work site than when traveling on the outer periphery at the work site. Although it has been explained that the setting site is to be set in the same position as the case of traveling on the outer periphery of the work site and the place traveling on the central side rather than the outer periphery of the work site, the setting site can be set at the same location It is also possible to set the outer side of the base body 1 in the case of traveling on the central side rather than the case of traveling on the outer periphery of the work site rather than the case of traveling on the outer periphery of the work site.

Next, an embodiment related to interruption of automatic travel and resumption of automatic travel will be described with reference to FIGS. 17 and 18 . In the functional block diagram shown in FIG. 17 , the information terminal 5 is newly provided with a travel route storage unit 526 , a travel route setting unit 527 , and a travel route search unit 528 . The traveling path shown in Fig. 18 is composed of an inner reciprocating path IPL, an inner revolving path IRL, and an outer reversing path ORL. In this modification, the inner reciprocating path IPL consists of a plurality of mutually parallel linear paths (travel path elements), and the inner circumferential path IRL and the outer reciprocating path ORL are linear paths parallel to the upper and left sides of the pavement ( driving path elements) and a curved path along the underside of the pavement. Further, this curved path is managed as a plurality of straight line portions LE connected by the node LN in the path generation process. Accordingly, in this modified example, one curved path can be treated as one travel path element, and each of the plurality of straight portions LE constituting one curved path can also be treated as a travel path element. can That is, travel path elements other than the curved path are traveling sections set at the raising/lowering timing of the model planting device 3, but each straight line portion LE (travel path element) constituting one curved path as described above is, It is regarded as a driving section divided by the route generation algorithm. Accordingly, the curved path is treated as one travel path element as a whole, but is also treated as a set of a plurality of continuous travel path elements in some cases.

The travel route storage unit 526 stores a travel route element group that is a travel route generated by the reciprocating route creation unit 522 or the circling route creation unit 524 according to the shape of the worksheet. The travel path setting unit 527 sets the travel path elements sequentially read from the travel path storage unit 526 as a target travel path to be the target of the automatic travel. The set target travel path is provided to the travel control unit 312 . The travel control unit 312 is configured to steer the aircraft 1 based on the aircraft position calculated by the aircraft position calculation unit 311 and the target travel path (travel path element) in an automatic travel mode, and based on manual operation by the driver. It has a manual driving mode to steer the vehicle body. The travel route search unit 528 searches for a travel route element used for a target travel path necessary for starting automatic travel when the automatic travel mode is resumed to start automatic travel again after the automatic travel mode is stopped. It is given to the travel route setting unit 527 . In addition, when the automatic travel mode is stopped, the automatic travel mode temporarily retreats, and the automatic travel mode is resumed after the lapse of a predetermined time or running in the predetermined manual travel mode. , "complete stop", which requires a start procedure including initial processing, is included. A "complete stop" occurs when an event that substantially shuts down the control system, such as an engine stop or OFF of the main key, occurs. Whether it is a "temporary stop" or a "complete stop", when the automatic travel mode is resumed, an appropriate target travel route must be set by the travel route setting unit.

The transition from the automatic travel mode to the manual travel mode during travel is usually performed by a travel mode switching operation or the like by an operator. However, when the control system of the working vehicle determines that the necessary conditions for the automatic travel mode are lacking, stopping and stopping of the automatic travel mode automatically occurs, and then transition to the manual travel mode occurs. If any automatic release event occurs in the middle of traveling in the automatic travel mode, the automatic travel mode is stopped, and further, the transition to the manual travel mode is performed. Thereafter, in response to the occurrence of an automatic restart event (operation for starting automatic travel) for resuming the automatic travel mode, the travel route search unit 528 searches for a target travel route required at the time of resumption of the automatic travel mode . The search for the target travel route by the travel route search unit 528 can be performed manually or automatically by an operator.

The automatic release event also includes an emergency stop of the engine 2 or a temporary stop of the engine 2, and the stop of the automatic running mode is accompanying. The automatic restart event includes turning on the vehicle main switch, returning from engine pause, turning on the automatic driving start button, and the like. The search processing of the target travel route by the travel route search unit 528 can also be started by clicking the search start button displayed on the touch panel 50 .

Each driving path element constituting the driving path element group is used for road information such as car navigation, and the driving path storage unit ( 526) is stored. Accordingly, the travel route search unit 528 may search for the target travel route based on the desired automatic travel mode resume position and location information. If the desired automatic driving mode resume position is the current aircraft position, extracting a travel path element that is a position close to the current aircraft position and outputting the extracted travel path element as a target travel path can be resumed When the automatic travel mode is resumed from the position where the automatic travel mode is stopped (the automatic release event occurrence position), the aircraft 1 may be driven to the automatic release event occurrence position to generate the automatic restart event. In addition, when the automatic travel mode is resumed at a desired position far from the position where the automatic travel mode is stopped, the aircraft 1 may be driven to a desired position to generate an automatic restart event.

In addition, when the current aircraft 1 is far away from the position where the automatic travel mode is stopped, the guided travel route from the current aircraft position to the travel path element set to the position where the automatic travel mode is stopped Algorithm to set is used.

In addition, in this embodiment, each travel path element used for the work travel is stored in the travel path storage unit 526 with an attribute value of with or without work travel as an attribute value. Accordingly, the travel path search unit 528 can search only travel path elements that have not yet been used for work travel as target travel paths as candidates for the target travel path.

When the target travel route is searched for by the travel route search unit 528 by a manual operation by an operator, a display unit that displays display elements corresponding to the travel route element group is used. In this embodiment, the touch panel 50 of the information terminal 5 is used as a display part. The travel route search unit 528 displays, on the touch panel 50 , a display element group schematically exemplified in FIG. 18 , on the pavement map. The operator selects a desired display element from the displayed display element group. The travel route search unit 528 reads the travel route element corresponding to the selected display element from the travel route storage unit 526 and provides it to the travel route setting unit 527 . The travel route setting unit 527 sets the given travel route element as the target travel route.

When there are many display element groups and it is difficult to click and select a desired display element on the small screen of the touch panel 50, a line transfer function as shown in FIG. 19 can be used. In this line transfer, the display element of interest is displayed so as to be identifiable from other display elements by changing the luminance or the color (indicated by a thick line in Fig. 19). When line search is selected from the menu of the information terminal 5, the display element group corresponding to the travel route element group is displayed on the touch panel 50 and the software button group 50a of the information terminal 5 proceeds. A button (+ button) and a back button (- button) are displayed. By clicking this advance button (+ button) or retreat button (- button), the attention display element advances or retreats in sequence. The operator presses the decision button when the desired display element becomes the attention display element. Accordingly, the travel route search unit 528 reads the travel route element corresponding to the display element from the travel route storage unit 526 and provides it to the travel route setting unit 527 . That is, a line feed function is possible by making the traveling section set for the raising/lowering timing of the seedling apparatus 3 a unit. In the normal line transfer function, the curved path in Fig. 18 is treated as a single line as a set of a plurality of continuous travel path elements, so when the display element corresponding to the curved path becomes the display element of interest , when the proceed button is pressed, the display element of interest advances to the display element corresponding to the next travel path element of the curved path.

However, when the display element corresponding to the curved path becomes the display element of interest, by operating a button set separately, sequential transfer of a plurality of continuous travel path elements (straight part LE) constituting the curved path is possible. Thus, selection of the display element corresponding to any straight portion LE of the curved path becomes possible. With this configuration, it is also possible to select the straight-line portion LE at a desired position in the curved path as shown in Fig. 18 . In addition, in the case of a long curved path, the number of straight part LEs becomes a large number, and handling thereof becomes cumbersome. It is also possible

Next, a modified example of the turning traveling for shifting from the traveling straight path to the straight path will be described with reference to FIGS. 17 and 20 and 21 and 22 . For this special turning driving, as shown in FIG. 17 , a supplementary route setting unit 529 is provided in the information terminal 5 . The functional units that directly exchange data with the supplementary route setting unit 529 are the travel route storage unit 526 and the travel route setting unit 527 .

Here, the travel route storage unit 526 stores at least one or more circumferential routes created for traveling in the outer circumferential area OA and a plurality of internal reciprocating routes IPLs created to travel in the inner area IA located inside the outer circumferential area. Save. The internal reciprocating path IPL is called a straight-forward path when the one is specifically limited. As for the circumferential path, either one of the first round route and the second round route can be selected, and the second route consists of the inner circumferential path IRL and the outer circumferential route ORL. One main path is an outer circumferential path ORL.

The travel route setting unit 527 sets the winding route and the straight-line route read from the travel route storage unit 526 as the target travel route to be the target of the automatic travel. In this modified example, the travel control unit 312 has a turning travel mode in which the aircraft travels non-operation based on a turning path connecting straight paths of the internal reciprocating paths IPL extending in parallel to each other. The supplementary route setting unit 529 sets a supplementary route that complements the turning route, as will be described below.

As shown in Fig. 20 , when the pavement is rectangular, the end point of the straight path during running of the internal reciprocating path IPL and the start point of the straight path to be run next substantially coincide in the lateral direction, so turning driving connecting them , travel along the semicircular or semi-elliptical turning path TP. In addition, in FIGS. 20, 21, and 22, "e" is attached to the end point of a straight path, and "s" is given to the start point of a straight path. The turning path TP used when the interval between the end point of the straight-line route and the starting point of the straight-forward route is short is a route that performs a simple 180 degree turning travel. The turning route TP used when the interval between the end point of the straight-line route and the starting point of the straight-forward route is long is a route in which two 90-degree turning runs and the straight-line running are performed during that time.

However, as shown in Fig. 21 , in the case where the pavement shape is a shape other than a rectangle, the end point of a straight path (internal reciprocating path IPL) during running close to the circumferential path and the straight path to be run next (internal reciprocating path IPL) The viewpoints may be obliquely greatly separated from each other. In such a case, the turning path does not become a simple semicircular turning path or a semi-elliptical turning path. For this reason, as shown in Fig. 21, a simple 180-degree turning travel is performed immediately from the end point of the straight-line route during running, and it shifts to the straight-line route to be driven next, and from that position, Move to the starting point of the straight path you need to drive. From the starting point of the straight forward path reached by the backward movement, the normal forward operation is performed. This driving mode is effective when the end point of the straight-line route during running and the start point of the straight-forward route to be driven next are not so far apart. When the end point of the straight-line route during driving and the start point of the straight-forward route to be driven next are greatly spaced apart, the reverse distance increases. Running in such a backward movement may devastate an unworked area, and may exert a bad influence on the model planting work performed continuously. An example of a running mode for avoiding this problem is shown in FIG. 22 . The basic characteristic of this driving form is that the end point of the straight path that cannot be connected by a simple semicircular turning path or a semi-elliptical turning path and the starting point of the straight path are connected by a simple turning path supplemented by the complementary path CL. This supplementary route CL is set by the supplementary route setting unit 529 .

In FIG. 22 , the supplementary route CL is used in the turning travel from the end point of the straight-forward route (travel while traveling) indicated by L1 to the start point of the straight-forward route (vehicle travel route) indicated by L2. Hereinafter, the straight-line route to which L1 is assigned is referred to as a first straight-line route, and the straight-line route to which L2 is assigned is called a second straight-line route. The extension line of the first straight path intersects the inner circumferential path IRL and the intersection CLS. In addition, let the point which approaches the starting point of the 2nd straight path in the inner winding path IRL which intersects the 1st straight path|route and the intersection CLS as the vicinity point CLE. The supplementary route setting unit 529 sets the extension line section of the first straight route and the section between the intersection CLS of the inner circumferential route IRL and the adjacent point CLE as the supplementary route CL. In this way, the starting point of the second straight-line route from the end point of the first straight-line route can be connected by the complementary route CL and the turning route from the nearby point CLE to the starting point of the second straight-line route. Since the complementary path CL utilizes the previously generated internal round-trip path IPL, it is unnecessary to create a new path. In addition, in the turning path from the near point CLE to the starting point of the second straight path, since the interval between the near point CLE and the second straight path is short, a transition turning path using backward as shown in FIG. 11 is used.

In order to avoid the transition turning path, as shown in Fig. 22, a straight part of the outermost circling path ORL of the outermost periphery can be used as the complementary path CL. In this case, since the interval between the proximity point CLE set in the outer circumferential path ORL and the starting point of the second straight path becomes longer, it is used as a traveling path connecting the meantime, and is not a transition revolving path, as shown by the dotted line in FIG. A 180 degree turn path is used. If the interval is longer, two 90-degree turning paths as indicated by dotted lines in FIG. 10 and a turning path (a type of semi-elliptical turning path) using straight travel in the meantime are used.

In the example of FIG. 22 , the supplementary route setting unit 529 is using the circumferential route already generated and stored in the travel route storage unit 526 as the supplementary route CL. Instead of this, the supplementary route setting unit 529 may set a route parallel to the already generated winding route as the supplementary route CL. The parallel movement of the path has an advantage that the computational load is low compared to the newly generating the complementary path CL.

As another travel mode, the supplementary route setting unit 529 may set a route parallel to the internal reciprocating route IPL as the supplementary route CL. For example, in the example of FIG. 22 , the second linear path can be moved in parallel to a position overlapping the first linear path, and can be used as the complementary path CL. Alternatively, the first linear path may be extended to a position closest to the starting point of the second linear path as it is, and the extension line may be used as the complementary path CL.

In the supplementary route setting unit 529, the following conditions regarding the setting of the supplementary route CL can be registered.

(1) In the driving of the internal reciprocating path IPL in the automatic driving mode, the end point of the internal reciprocating path IPL during driving and the starting point of the internal reciprocating path IPL to be driven next are connected by driving in the turning driving mode. At that time, the supplementary route setting unit 529 is configured to, when the condition that the distance from the end point of the internal reciprocating route IPL during travel to the starting point of the inner reciprocating route IPL to be driven next is equal to or greater than a predetermined value is satisfied, the supplementary route Set CL.

(2) When a plurality of settable supplementary routes CL are calculated, the supplementary route setting unit 529 selects the one with the shortest turning travel route length including the supplementary route CL.

(3) The supplementary route setting unit 529 preferentially sets the supplementary route CL that does not enter the inner area IA or the supplementary route CL with a short travel distance in the inner area IA.

(4) The supplementary route setting unit 529 preferentially sets, as the supplementary route CL, a travel route having a travel direction that coincides with the previous travel direction when the base body 1 travels on the supplementary route CL. For this reason, the circumferential path and the internal reciprocating path IPL are stored in the travel path storage unit 526 with the travel direction as one of the attribute values.

In the description of the above-described embodiment, the remote control 90 is used for start operation or stop operation for automatic driving, and a slight attachment during material replenishment. In particular, in an area where the aircraft 1 is dangerously exposed, such as on a slope, since the driver does not get on the aircraft 1, remote control using the remote control 90 is advantageous.

23, the area near the entrance E is shown as a special area SA having such a high steering difficulty. A functional block diagram of the control system functioning when the work travel in the special area SA is manually controlled by the remote control 90 is shown in FIG. 24 . In this functional block diagram, the information terminal 5 is newly provided with a job management unit 530 . The work management unit 530 divides the farm into an outer peripheral area OA, an inner area IA located inside the outer peripheral area OA, and a special area SA having a high steering difficulty. The travel route setting unit 527 sets a circumferential path consisting of an inner circumferential path IRL and an outer circumferential path ORL for traveling the outer circumferential area OA and an internal reciprocating path IPL for traveling the inner area IA, a target travel as a target for automatic travel Set as a path. The travel control unit 312 is based on an automatic driving mode in which the aircraft is steered based on the aircraft position and the target travel path calculated by the aircraft position calculation unit 311 , and manual operation by an operator on the aircraft 1 . It has a manual driving mode in which the body 1 is driven by doing so, and a remote control driving mode in which the body 1 is driven based on a remote operation using the remote control 90 by an operator outside the vehicle.

As the driving mode in the special area SA, it is possible to assign the remote control driving mode by default, in that case, just before the aircraft 1 enters the special area SA, the driving mode is switched to the remote control driving mode. Thereby, in the special area|region where automatic travel becomes difficult, work travel is performed by remote operation using the remote control 90 by an operator. Since automatic driving in the special area is prohibited, the aircraft 1 is forcibly stopped just before the rice transplanter enters the special area, and the fact that manual driving using the remote control 90 is required is notified.

The model planting work near the entrance E set as the special area SA becomes the final stage of the work of the entire pavement, the shape of the work area is complicated (deformed polygonal shape), and a narrow work width and a wide work width are mixed. In addition, in the model planting operation, while accurate positioning of the work vehicle is required, it must be avoided to perform model planting on top of the area already in which the model planting has been completed. In this regard, in a partial working stroke, the working width needs to be changed frequently. The change of the working width in a seedling operation|work becomes possible by the change of the number of the seedlings of a seedling in the seedling apparatus 3. The change needs to be performed by remote operation using the remote control 90 .

In this regard, for remote control in the special area SA, not only the functions of the remote control 90 as described above, but also the remote control 90 of the function extension specification to which a more special function is added is used. As shown in FIG. 24 , the remote control 90 is provided with a traveling device operating unit 91 and a working device operating unit 92 . The traveling device operation unit 91 is provided for remote operation of starting or stopping traveling of the body 1, vehicle speed, and steering (steering) of the body 1, and transmits a traveling control signal according to the operator's operation to the traveling control unit ( 312) to transmit wirelessly. The work equipment operation unit 92 is provided in order to remotely operate the operation of the work equipment such as the model planting device 3 , and wirelessly transmits a work control signal according to the operator's operation to the work control unit 313 .

The work equipment operation part 92 can command raising/lowering of the seedling apparatus 3, ON/OFF of the planting mechanism 22, etc. In addition, the working device operation unit 92 is provided with an effective adjustment unit 921 . The effective group designation part 921 can designate the working width of the model planting apparatus 3, ie, the number of model planting sets. As shown in FIG. 25, the motive power from the engine 2 is distributed to each planting mechanism 22 via each group clutch EC. Each group clutch EC is comprised so that the work start and work stop by the seedling device 3 can be selected for every predetermined number of sets. In this example, each group clutch EC is comprised so that the work start and work stop by the seedling device 3 can be selected for every 2 sets, but each set clutch EC is selected for every 1 set or every 3 or more sets It may be configured to be possible. The operator operates the effective group designation unit 921 of the remote control 90 to designate the desired number of model group members, and transmits it to the operation control unit 313 . The work control unit 313 controls ON/OFF of each group clutch EC based on the designated number of model group members, and creates a desired number of model group members, ie, a desired working width.

When the boundary line such as the farm head is not a straight line but a concave-convex shape, or the boundary line intersects at an acute angle, the steering in the working run near the area becomes complicated, similar to the area near the entrance E, and the automatic driving becomes complicated. Since it is not suitable, manual operation using the remote control 90 becomes effective. Since such an area is different for each pavement, in order to make it a special area SA, it is necessary to set it for each pavement. For this reason, by using the map of the pavement displayed on the touch panel 50 which is an example of a display part, the work management part 530 built in the information terminal 5, an operator can set the arbitrary area|region of a pavement as a special area SA. have.

The remote control driving mode of the present invention can be implemented under various control conditions as described below.

(1) The ground work such as the model planting work in the special area SA is made possible only in the remote control driving mode. Driving without ground work in the special area SA is possible even in the remote control driving mode.

(2) Program the preset sequential operation, travel start, ON/OFF of each group clutch EC, modeling work for a predetermined distance, travel stop, etc. It is executed by one unit of remote control operation. One unit of remote control operation is a combination operation of a specific button of the remote control 90 or operation of a specially provided program button.

(3) When the aircraft 1 is in the special area SA, the remote control driving mode is maintained unless special operation is performed.

(4) When an operator is on board the aircraft 1 and manual operation is being performed by the operator, even if the aircraft 1 reaches the special area SA, it does not shift to the remote control driving mode, and Manual driving, boarding manual driving mode is continued. When the aircraft 1 reaches the special area SA, it may stop once and execute control to select either the remote control driving mode or the onboard manual driving mode.

Next, steering control used for turning travel will be described. The steering angle of the front wheel 12A is adjusted by the operation of the steering mechanism. Conventionally, with respect to the turning of the rice transplanter, in the turning run (90 degree turn + straight line + 90 degree turn) shown by the solid line in FIG. 11 or the turning run (90 degree turn) shown by the dotted line in FIG. The steering angle was turned to the maximum bending angle, and 90 degree turning was performed by returning the steering angle to neutral after that. Although turning at the maximum bending angle improves turning performance, there exist the problem of ruining a pavement, and the problem that turning precision worsens. In this regard, in this embodiment, the maximum bending angle is not used at the start of the turning, but a turning angle at the start of turning that is smaller than the maximum turning angle according to the turning degree (90 degrees in FIG. 11 ) of the turning travel is used. The turning angle at the start of turning may be calculated using the turning degree as a parameter, but it is more preferable to use the vehicle speed parameter as a parameter. In addition, the target turning path may be set, the deviation amount from the target turning path may be calculated based on the aircraft position calculated by the aircraft position calculation unit 311, and the steering angle may be finely adjusted based on the deviation amount.

In the calculation of the steering angle, the maximum left and right angles of the steering mechanism mounted thereon and the median values of the angles are used as reference values. However, since the steering mechanism mounted on each rice transplanter has each different individuality, this left-right maximum bending angle and the median of a bending angle may differ with each rice transplanter. Therefore, when steering control is performed using a common target steering angle, an appropriate steering angle may not appear. For this reason, in this embodiment, the median value of the left-right maximum bending angle of a steering mechanism, and a bending angle is measured beforehand, and the value is memorize|stored. During actual steering control, a steering angle control signal is generated with reference to the stored left and right maximum bending angles and the median values of the bending angles.

[Amplification function for long-distance driving]

Next, the amplification function during long-distance driving in non-work driving by automatic driving will be described with reference to FIGS. 1 to 5 and FIGS. 26 to 31 .

In the automatic travel, the base body 1 has a working travel path WL serving as a traveling path for work travel in which work such as simulated planting is performed while traveling, and a non-working travel path serving as a travel path for non-work travel in which no work is performed. Drive the route NWL. In the work travel path WL, travel is performed at a preset vehicle speed V0. The vehicle speed V0 is suppressed to a relatively low vehicle speed in order to properly perform the operation. In the non-work travel path NWL, travel is performed at a vehicle speed V1 that is later than the preset vehicle speed V0.

In the case where the work travel is performed following the non-work travel, the travel distance of the non-work travel may be long. For example, as shown in FIG. 26, it travels to the planting start point WSP which is the start position of the work travel of the work travel path WL by forward travel of the non-work travel path NWL, and it travels to the planting start point WSP of the work travel path WL. When performing a simulation planting work travel from , the travel distance of the straight travel in non-work travel path|route NWL may become long. In addition, as shown in Fig. 27, the non-work travel route NWL is reversely non-work travel up to the planting start point WSP of the work travel path WL, and advances from the planting start point WSP of the work travel route WL to simulate planting work travel. In the case of carrying out, the travel distance of the forward traveling in the reverse direction may become long.

In such a case, in the automatic travel, the non-work travel is performed at a relatively low vehicle speed V1, and the time during which the non-work travel is performed becomes long. Therefore, as shown in Figs. 28 and 29, in non-work travel by forward or backward, when the distance traveled straight is equal to or greater than the predetermined distance TS1 (corresponding to the “first distance”), or When the time is equal to or longer than a predetermined time, a process of increasing the traveling vehicle speed to the vehicle speed V2 (corresponding to the “second vehicle speed”) higher than the immediately preceding vehicle speed (corresponding to the “first vehicle speed”) such as the set vehicle speed V1 may be performed.

During non-work travel, no work is performed, and there is no need to suppress the vehicle speed in order to properly perform work. In addition, if the distance or time for performing non-work travel at low speed becomes longer, work efficiency deteriorates. By implementing the amplification function during long-distance driving, the driving vehicle speed during non-work driving can be optimized by increasing the vehicle speed (vehicle speed V2) in a situation where the distance or time for non-work driving at a low speed (vehicle speed V1) becomes long. Thus, work efficiency can be improved.

The driving related to the amplification function during long-distance driving is controlled by the control unit 30 illustrated in FIG. 30 . The control unit 30 includes a travel control unit 312 and an automatic travel control unit 75 . The traveling control unit 312 controls the traveling device 1D (corresponding to “traveling device”) according to the control of the automatic traveling control unit 75 or the operation of an operation tool 1B such as the main gear lever 7A. The aircraft 1 is driven. The automatic travel control unit 75 travels so as to travel on a predetermined travel route according to the host vehicle position obtained based on the positioning data output by the satellite positioning module 8A (corresponding to the “satellite positioning unit”) during automatic driving. 1C of work apparatuses, such as the seedling apparatus 3, are controlled, controlling the control part 312.

The travel control unit 312 increases the traveling vehicle speed in the automatic travel to a vehicle speed V2 that is higher than the preset vehicle speed V1 when the distance traveled straight in the non-work travel is equal to or greater than the predetermined distance TS1 . The distance traveled in a straight line during non-work travel is measured using the traveling device 1D, the positioning unit 8, or the like. When measuring the distance traveled in a straight line using the traveling device 1D, the rotation speed sensor 12C for measuring the rotation speed of the axle of the wheel 12 or the driving shaft that transmits the driving force from the engine 2 to the wheel 12 ), and the travel distance is calculated from the rotation speed of the axle or drive shaft. In addition, when measuring the distance traveled in a straight line using the positioning unit 8, the travel control unit 312 uses the inertial measurement module 8B (corresponding to the “body orientation measurement unit”) of the positioning unit 8 to measure the ratio. The change in the orientation of the vehicle body during working travel is measured, and when the amount of change in the orientation of the vehicle body during travel for a predetermined time or distance is within a predetermined range, it is determined that the body 1 is traveling straight. At the same time, the travel control unit 312 calculates the travel distance from the amount of change in the host vehicle position output by the satellite positioning module 8A of the positioning unit 8 . Then, the travel control unit 312 determines whether or not the distance traveled straight during the non-work travel is equal to or greater than a predetermined distance TS1.

In this way, by judging whether the vehicle is traveling in a straight line using the traveling device 1D or the positioning unit 8, it is possible to easily determine whether the vehicle is traveling in a straight line during non-work travel, so that the amplification function during long-distance travel can be easily improved. can be carried out.

Moreover, when the distance traveled straight from the host vehicle position to the planting start point WSP is more than predetermined distance TS2 (corresponding to a "second distance"), the travel control part 312 is automatic driving regardless of the distance traveled straight. may be increased to a vehicle speed V2 that is higher than the preset vehicle speed V1. The automatic travel travels along a predetermined travel route. Moreover, the position (coordinate) on the pavement map of planting start point WSP is known beforehand, and the position (coordinate) on a pavement map can also be known with the positioning unit 8 in the own vehicle position. Therefore, the travel control part 312 can calculate the distance from the host vehicle position to the planting start point WSP, and can determine whether it is more than predetermined distance TS2.

In this way, not only the traveling vehicle speed is increased after the non-work traveling is performed for a predetermined distance or time, but also, since the traveling route is predetermined during automatic driving, the distance from the own vehicle position to the planting start point WSP is a predetermined distance TS2 or more When it can be known beforehand and it is determined that the distance from the host vehicle position to the planting start point WSP is more than predetermined distance TS2, the traveling vehicle speed is increased. As a result, it becomes possible to increase the traveling vehicle speed from the start time of the non-work travel, and travel can be performed more efficiently.

In addition, the travel control unit 312 controls the vehicle speed when the distance from the host vehicle position to the planting start point WSP becomes less than or equal to a predetermined distance TS3 (corresponding to the “third distance”) during the non-work travel accelerated to the vehicle speed V2. You may decelerate to vehicle speed V1.

Thus, in the acceleration state during non-work running, when planting start point WSP approaches, deceleration will be started toward planting start point WSP by decelerating a traveling vehicle speed to the vehicle speed V1 suitable for work running, and it will start a planting start point WSP It is possible to decelerate to a vehicle speed suitable for the work up to and perform work travel at an appropriate travel vehicle speed.

In addition, the amplification function during long-distance travel may be implemented in the non-work travel path NWL including a turning path connected to the work travel path WL. For example, in the non-work travel path NWL such that straight travel is included during turning by non-work travel, the amplification function may be implemented during long-distance travel when the distance or time of the straight travel is long. Further, in the non-work travel route NWL such that straight travel is included before or after turning in the non-work travel, the amplification function may be implemented during long-distance travel when the distance or time of the straight travel is long. In addition, it is not limited to straight travel, and when the distance or time of the turning travel is long, the amplification function may be implemented at the time of long-distance travel. Although it is preferable that the turning travel is performed at a low speed compared to the straight travel, there is no problem even if the turning travel is performed at a vehicle speed higher than the vehicle speed V1 in the automatic travel. In such a case, when the distance or time of the non-work travel including the turning travel is long, the speed may be increased to the vehicle speed V2 which is faster than the vehicle speed V1 and does not interfere with the turning travel.

In this way, the vehicle speed can be increased even in the straight forward region of the non-work travel path NWL including the turning path or the turning path, so that travel can be performed more efficiently.

As an example of the non-work travel path NWL connected to the work travel path WL, the following cases are exemplified.

As shown in FIG. 31 , in the case of a deformed pavement, when traveling around two straight paths IPSL, the straight travel due to non-work travel may become longer. For example, when working travel is carried out on the work travel path WL1, then turns on the periphery of the inclined pavement, and then, work travel is performed on the work travel path WL2, the straight travel by non-work travel lengthens. The turning travel at this time is mainly performed on the following types of turning travel routes.

In the first turning travel, the work travel is carried out to the end position of the work travel path WL1, then proceeds to the outer circumferential area OA in the non-work travel path, and the work travel path NWL1 is circled. Then, since the outer periphery is inclined, the base body 1 advances to the halfway region of the working travel path WL2, and it is necessary to travel backward on the non-working travel path NWL2 to the starting position of the work travel path WL2. In addition, the amplification function during long-distance travel may be implemented in the non-work travel path NWL2, and the amplification function during long-distance travel may be implemented in the non-work travel path NWL1. In addition, in the drawing, the non-work travel path NWL2 is drawn side by side with the work travel path WL2, but in reality, the non-work travel path NWL2 is provided above the work travel path WL2.

In the second turning travel, after work travel to the end position of the work travel path WL1, the non-work travel path NWL3 proceeds to the outer periphery area OA as the non-work travel, and two turning travels are performed with the straight travel interposed therebetween. , forward travel is performed to the starting position of the work travel path NW2. And, in the non-work travel route NWL3, the amplification function is implemented during long-distance travel.

In addition, as an example of the non-work travel path|route NWL connected to the other work travel path|route WL, the path|route of a slightly pasted|stretched run at the time of replenishing materials, such as wool, may be sufficient.

In a slight attachment, after the aircraft 1 is stopped in the terminal region of the internal reciprocating path IPL, to a replenishment position such as a hair replenishment position, the aircraft 1 performs a non-work travel forward or backward traveling straight forward, After replenishing the material, the non-work travel is performed backward or forward travel is performed, and the end area is returned. Normal slightly extended driving is performed at a predetermined vehicle speed lower than vehicle speed V1, but in the non-working driving between this terminal area and the replenishment position, the amplification function is implemented during long-distance driving, so that the distance or time of the non-working driving is performed. In this long case, the vehicle speed may be increased from the vehicle speed in the immediately preceding travel. Thereby, the non-work travel performed simply for material replenishment can be performed at a relatively high vehicle speed, and a slight jogging travel can be performed efficiently. The speed of the vehicle to be increased can be set in consideration of the balance between traveling efficiency and an appropriate slightly extended running, but the slightly increased vehicle speed may be slower than the vehicle speed V1 in some cases, so the increased vehicle speed may be slower than the vehicle speed V1 in some cases.

In addition, while traveling in the internal reciprocating route IPL, if a predetermined sensor or the like detects that the material such as wool is gone or is running low, the automatic travel control unit 75 may stop the aircraft 1 in some cases. have. In such a case, when the base body 1 travels to the replenishment position by manual travel and the material replenishment is performed, such a pavement moves from an arbitrary position to the material replenishment position, you may apply a slightly pasting function. When the base body 1 is stopped in the middle of packaging, a predetermined operation is performed, so that the automatic travel control unit 75 shifts to a state in which the pasting function is performed slightly. Then, by manual operation, non-working travel by forward or backward is performed toward the replenishment position, and after material replenishment, non-work travel is performed forward or backward toward the stopped position by manual operation. .

In this way, when the pavement applies a slight sticking running to the non-work running between any location and the replenishment position, and the amplification function is implemented during the slightly sticking running and long-distance running, when the distance or time of the non-work running is long. The vehicle speed may be increased from the vehicle speed in the previous run. Thereby, even if it is necessary to replenish the material in the middle of packaging, the non-work travel for replenishing the material can be efficiently performed.

Incidentally, the acceleration and deceleration of the traveling vehicle speed in the amplification function during long-distance travel may be performed rapidly, or the acceleration and deceleration may be performed gradually. By gradually changing the traveling speed, it becomes easy to appropriately respond to changes in surrounding circumstances and the like, and it is possible to suppress the feeling of discomfort to the occupants or the like due to a sudden change in the traveling vehicle speed.

In addition, the vehicle speed and vehicle speed V1 after the vehicle speed increase, such as vehicle speed V2, may be a predetermined vehicle speed, may have a configuration that can be arbitrarily set at the start of automatic running or during automatic running, or may have a configuration that can be arbitrarily changed during automatic running. The distance TS1, distance TS2, and distance TS3 may be predetermined distances, but may have a configuration that can be arbitrarily set at the start of automatic travel or during automatic travel, or may have a configuration that can be arbitrarily changed during automatic travel. Accordingly, it is possible to perform the amplification function for optimal long-distance driving depending on the pavement situation, work situation, driver skill, etc.

Note that these settings and changes can be performed by the information terminal 5 or the like. The amplification function during long-distance travel may be controlled by the control unit 30 mounted on the aircraft 1, or may be remotely controlled by a control system provided outside the aircraft, such as a management server.

[Swiveling function dedicated to high-load pavement]

Next, the turning function dedicated to high-load pavement at the time of turning by automatic driving will be described with reference to FIGS. 1 to 4, 5, 30 and 32 .

In the case of packaging, the situation of the packaging is different from that of other packaging, such as wet packaging, and the situation is not always constant even within the packaging. Further, the automatic travel is controlled to travel at a predetermined traveling vehicle speed, and the engine rotation speed is also maintained at a rotation speed corresponding to the traveling vehicle speed. In the case of a pavement with a high load such as wet pavement, at a predetermined traveling vehicle speed and engine rotation speed in automatic driving, the wheel 12 falls into the ground during turning, the traveling vehicle speed decreases, or the aircraft 1 stops Otherwise, proper turning travel cannot be performed, and efficient travel may not be performed.

In order to avoid such a situation, in the present embodiment, the traveling vehicle speed is increased, the engine rotation speed is increased, or the engine power Performs a turning function dedicated to high-load pavement that improves (torque) and shifts to wet mode.

The running related to the turning function dedicated to the high-load pavement is controlled by the control unit 30 illustrated in FIG. 30 . The control unit 30 includes a travel control unit 312 and an automatic travel control unit 75 . Switching of the wet battle mode from the normal mode may be performed based on the setting by the information terminal 5 or operation by the predetermined|prescribed operation tool 1B, and you may judge and switch the state of a pavement automatically.

When switching to wet power mode at the time of turning by operation/setting, when the driver confirms the condition of the pavement and determines that the load is high, setting by the information terminal 5 or the predetermined operation tool 1B By operation, it is set to wet battle mode. By setting the wet battle mode, the travel control unit 312 performs control corresponding to the wet battle mode when turning. The setting by the information terminal 5 may be performed simultaneously with various settings at the start of the automatic travel, or may be configured to be performed during automatic travel.

In the case of switching to the wet power mode at the time of turning by judging automatically, the automatic travel control unit 75 sets to the wet power mode when determining that the load is high from the condition of the pavement or the slidability of the base body 1 .

When the wet battle mode is set, at the time of turning driving, the travel control unit 312 performs a combination of at least one of increasing the vehicle speed, increasing the engine speed, and improving the engine power (torque). When increasing the vehicle speed, the travel control unit 312 causes the straight path IPSL to travel at the vehicle speed V1 of the automatic travel by automatic driving, and then increases the vehicle speed to the vehicle speed V3 faster than the vehicle speed V1 when turning the turning path IPRL. control Then, when traveling along the straight path IPSL after turning, the vehicle speed is returned to the vehicle speed V1. When the engine rotation speed is increased, the driving control unit 312 controls the straight path IPSL to a rotation speed corresponding to the vehicle speed V1 of the automatic driving by automatic driving, and then, when turning the turning path IPRL, corresponding to the vehicle speed V1. Control is performed so that the engine rotation speed is increased by a predetermined rotation speed greater than the rotation speed. And when traveling along the straight path IPSL after turning, the engine rotation speed is returned to the rotation speed corresponding to the vehicle speed V1. When improving the engine power (torque), the travel control unit 312 controls the continuously variable transmission device 9 during turning driving to improve the engine power (torque).

As described above, in automatic driving in high-load pavement, by setting the wet power mode and performing turning driving in combination with at least one of increasing the vehicle speed, increasing the engine rotational speed, and improving the engine power (torque), turning It becomes possible to suppress the fall of the vehicle speed and the stop of the body 1, and to perform turning travel efficiently.

Further, when it is determined that the load is high from the sliding property of the base body 1, the vehicle speed calculated from the change distance per unit time of the host vehicle position output by the positioning unit 8, and the axle measured by the rotation speed sensor 12C Alternatively, the vehicle speed calculated using the rotation speed sensor 12C is slower than the vehicle speed calculated using the positioning unit 8 by comparing the vehicle speed calculated from the rotation speed of the drive shaft by a predetermined vehicle speed or a predetermined ratio or more In this case, it can be determined that the base body 1 slides and the load on the pavement is high. In this case, it is judged from time to time whether the load is higher than a predetermined level in each area of the pavement during driving in the pavement, and the automatic driving control unit 75 may switch between the wet battle mode and the normal mode each time, but the first time in pavement At the time of outward driving of , it is first determined whether the load on the pavement is higher than a predetermined level, and when it is determined that the load on the pavement is higher than a predetermined level, the automatic driving control unit 75 enters the wet battle mode at the start of the automatic driving. You can set

In addition, the management server (not shown) stores a pavement map in which the condition of the load when driving in the past is recorded, and the automatic driving control unit 75 acquires a past pavement map from the management server (not shown), When the load of the pavement recorded on the pavement map is higher than a predetermined load, it is good also as a structure set to the wet battle mode.

In addition, you may compare the set vehicle speed in automatic running with the vehicle speed of the body 1 actually traveling in judgment of whether a load is high from the sliding property of the base body 1 . For example, as described above, the actual vehicle speed is calculated using the positioning unit 8, and when the vehicle speed is slower than the set vehicle speed by a predetermined vehicle speed or a ratio or more, the automatic travel control unit 75 sets the wet battle mode also be In this case, switching of the wet battle mode may be performed at any time while driving.

As described above, in order for the automatic driving control unit 75 to determine the load of the pavement and set to the wet power mode or the normal mode, it is possible to more accurately determine that the pavement is high load, and to set the wet power mode appropriately.

[Increasing speed function in high-load packaging]

Next, in the high-load pavement, the speed increase function at the time of the high-load pavement for adjusting the vehicle speed by automatic driving will be described with reference to FIGS. 1 to 4 and 5 .

In high-load pavement such as wet pavement as described above, due to the wheel 12 falling into the ground during automatic driving, the traveling vehicle speed is lowered or the aircraft 1 is stopped, so that automatic driving cannot be performed at an appropriate vehicle speed. Driving may not be possible.

In order to prevent such a situation, in the present embodiment, when the traveling vehicle speed is lowered by a certain level or more in the high load pavement, the speed increase function in the high load pavement is implemented by increasing the instructed vehicle speed to increase the traveling vehicle speed.

The running related to the speed increase function at the time of high-load packaging is controlled by the control unit 30 illustrated in FIG. 30 . The control unit 30 includes a travel control unit 312 and an automatic travel control unit 75 .

During automatic travel, the travel control unit 312 controls so that the aircraft 1 travels at a predetermined instructed vehicle speed instructed by the automatic travel control unit 75 . The automatic travel control unit 75 acquires the traveling vehicle speed (actual vehicle speed) of the body 1 during automatic travel and compares it with the instructed vehicle speed. The actual vehicle speed is calculated from the change distance per unit time of the host vehicle position output by the positioning unit 8 .

The automatic driving control unit 75 compares the actual vehicle speed and the instructed vehicle speed, and determines whether the instructed vehicle speed is faster than the actual vehicle speed by a predetermined vehicle speed or more. When the state in which the instructed vehicle speed is faster than the actual vehicle speed by a predetermined vehicle speed or more continues for a predetermined time or longer, the automatic driving control unit 75 increases the instructed vehicle speed and controls the vehicle to travel to the speed instructed by the traveling control unit 312 make it The instructed vehicle speed may be increased by a predetermined vehicle speed, may be increased by a vehicle speed according to a difference between the actual vehicle speed and the instructed vehicle speed, or may be increased by a difference between the actual vehicle speed and the instructed vehicle speed or a vehicle speed obtained by adding a predetermined margin to the actual vehicle speed.

Further, the automatic travel control unit 75 continues to compare the actual vehicle speed with the instructed vehicle speed even after the instructed vehicle speed is increased. Then, when the state in which the instructed vehicle speed is faster than the actual vehicle speed by a predetermined vehicle speed or more continues for a predetermined time or longer, the automatic travel control unit 75 further increases the instructed vehicle speed. Conversely, when the difference between the instructed vehicle speed and the actual vehicle speed becomes smaller than the predetermined vehicle speed, the automatic travel control unit 75 maintains the instructed vehicle speed.

In addition, when the actual used vehicle speed becomes faster than the instructed vehicle speed or when the indicated vehicle speed is changed, the automatic driving control unit 75 may return the indicated vehicle speed to the original indicated vehicle speed or the changed indicated vehicle speed, and set the indicated vehicle speed to a predetermined value. You can slow down as much as the vehicle speed.

In this way, by comparing the actual vehicle speed and the indicated vehicle speed and increasing the indicated vehicle speed according to the difference, the actual vehicle speed is controlled to increase even if the actual vehicle speed is not sufficiently obtained due to the aircraft 1 sliding due to the load on the pavement. This makes it possible to bring the actual vehicle speed close to the instructed vehicle speed, travel at an appropriate traveling vehicle speed, and perform efficient travel.

[Manual operation control function]

Next, the manual operation regulating function during automatic driving will be described.

When a predetermined condition is satisfied during automatic travel, automatic travel is temporarily stopped, and the aircraft stops. When automatic running is temporarily stopped, by performing a predetermined operation or not performing an operation for a predetermined period of time, depending on the contents of the operation or the presence or absence of the operation, automatic running is resumed, or another state related to automatic or manual travel to implement or

For example, in the bristle replenishment mode, when the aircraft 1 travels to a predetermined end region of the internal reciprocating path IPL, the aircraft 1 stops and the automatic travel is temporarily stopped. In a state in which automatic travel is temporarily stopped, a predetermined operation such as operation of the main gear lever 7A in the forward direction is performed following operation of an automatic start operation tool (not shown), or a predetermined time elapses without performing any operation Otherwise, the automatic running is restarted, and the body 1 shifts to the turning running. In addition, when a predetermined operation such as operating the main gear lever 7A in the forward direction is performed in a state in which the automatic running is temporarily stopped, the state is shifted to a state in which the attachment is slightly performed, and the vehicle travels forward by a predetermined distance, In accordance with operation of the main gear lever 7A or the like, running for replenishing wool is started.

In addition, when automatic running is temporarily stopped, guidance, a warning, etc. are performed by the display to the information terminal 5, a voice alarm, etc. As guidance, warning, etc., a warning to the effect that automatic driving has been temporarily stopped, various warnings informing of the state of the aircraft 1, guidance on an operation that can be performed next, etc. are performed. Various warnings informing of the state of the aircraft 1 include a warning to the effect that the positioning unit 8 cannot properly receive a satellite signal, a warning to the effect that automatic driving has been stopped (termination) due to poor reception of a satellite signal, etc. This is included. The guidance includes a procedure related to an operation for resuming automatic driving, a procedure related to an operation for slightly attaching, and the like.

In this way, when automatic running is temporarily stopped, although guidance or a warning is given, an operator/driver (operator) makes an erroneous operation, and travel against the intention of the operator may be performed.

For example, during automatic travel in the mother replenishment mode, when the aircraft 1 stops at the end area of the internal reciprocating route IPL and automatic travel is temporarily stopped, the operator intends to resume automatic travel and start turning travel Although the operation was performed by , there is a case where the operation is erroneous and the aircraft 1 is driven forward by manual travel. Specifically, in a state in which automatic travel is temporarily stopped, by erroneous operation for resuming automatic travel, automatic travel is not resumed and travel corresponding to the erroneous operation is started. In addition, in a state in which automatic running is temporarily stopped, after an automatic start operation tool (not shown) is operated and before the main gear lever 7A is operated in the forward direction, automatic running is stopped due to poor reception of satellite signals, etc. , then, by operating the main gear lever 7A in the forward direction, the forward travel in the manual travel is started in some cases.

In this way, in order to suppress the operator from performing an operation against the intention when the automatic travel is temporarily stopped, the manual operation regulating function is implemented in the present embodiment.

The manual operation regulating function is an operation of an automatic start operation tool (not shown) or an operation tool 1B such as the main gear lever 7A until a predetermined time elapses when the automatic travel is temporarily stopped. It is a function that does not accept .

By implementing the manual operation regulation function in which the operator's manual operation is invalidated, it is urged that the operator is conscious of the guidance or warning, and the possibility of the operator performing an appropriate operation based on the guidance or warning can be improved. As a result, the operator can make the base body 1 travel based on the operator's intention.

Hereinafter, the manual operation control function will be described in detail with reference to FIGS. 1 to 5 , 33 , and 34 .

The manual operation regulation function is controlled by the control unit 30 illustrated in FIG. 33 . The control unit 30 includes a travel control unit 312 , an automatic travel control unit 75 , and a notification control unit 77 . Moreover, the control unit 30 is connected to the operation tool 1B, the traveling device 1D, the information terminal 5, the voice alarm generating device 100, and the like. The traveling control unit 312 controls the traveling device 1D (corresponding to “traveling device”) according to the control of the automatic traveling control unit 75 or the operation of the operation tool 1B such as the main gear lever 7A, The aircraft 1 is driven. The automatic travel control unit 75 controls the travel control unit 312 to travel on a predetermined travel route according to the host vehicle position obtained based on the positioning data output by the positioning unit 8 during automatic travel. The notification control unit 77 causes a notification unit such as the information terminal 5 or the voice alarm generating device 100 to give guidance or a warning according to the control of the automatic travel control unit 75 or the like.

As shown in FIG. 34 , the automatic travel control unit 75 operates the operation tool 1B until a predetermined time elapses after the automatic travel is temporarily stopped or after the aircraft 1 is stopped. We do not accept manipulation by

An example of state transition in the manual operation regulation function will be described with reference to the time chart shown in Fig. 34 .

It is assumed that, during automatic travel, automatic travel stops at a certain time t0 and the aircraft 1 stops. Until this time t0, the automatic travel control unit 75 effectively receives the operation by the operation tool 1B, and controls the notification control unit 77 to control the information terminal 5, the voice alarm generator 100, and the like. Guidance and warning according to the situation during automatic driving are made to the notification unit of .

When the automatic travel stops temporarily and the aircraft 1 stops, the automatic travel control unit 75 does not accept the operation by the operation tool 1B or the like for a predetermined time tw1 (“corresponding to the first time”). Even if it is not operated, the operation is invalidated. Further, when automatic running is temporarily stopped, the automatic running control unit 75, via the notification control unit 77, provides a warning to the effect that automatic running has been temporarily stopped, an operation necessary for transitioning to a transitionable state, or automatic running Inform guidance regarding operations necessary for resumption. And the operator can direct awareness to a warning and guidance during the period which does not accept operation by this operation tool 1B etc.

Specifically, the operator can confirm the guidance regarding the operation etc. which are necessary for resuming automatic running, perform an appropriate operation, and can restart automatic running. In addition, even if automatic driving is stopped (finished) due to poor reception of a satellite signal or the like before operating the main gear lever 7A in the forward direction after operating an automatic start operation tool (not shown), the operator will warn or Because attention is paid to the guidance, the possibility of confirmation of a notification that automatic driving has been stopped (termination) or guidance regarding an operation for resuming automatic driving in this state is improved, and an appropriate operation is performed and automatic driving is performed can be resumed. When automatic running is stopped (finished), in order to resume automatic running, after returning the main gear lever 7A to a neutral position, an automatic start operation tool (not shown) is operated, and thereafter, the main gear lever 7A ) needs to be operated in the forward direction. Therefore, when automatic running is stopped (finished), it is preferable to carry out including the guidance to the effect of returning 7 A of main gear levers to a neutral position. Moreover, even when shifting to another state, the operator confirms the guidance regarding the operation necessary for shifting to the shiftable state, performs the operation appropriately, and the possibility of appropriately performing the transition of the intended state improves. In this way, by providing time for the operator to pay attention to warnings and guidance, and as an opportunity for the operator to perform the next operation in consideration of warnings and guidance, by implementing the manual operation regulating function during the pause of automatic driving, It is possible to improve the possibility that an appropriate operation is performed based on the intention of the operator.

While such a guidance or warning is being notified, when the time t1 comes, the automatic travel control unit 75 receives the operation by the operation tool 1B or the like after the time t1, validates the operation, and responds to the operation. control

After that, at time t2, if it is assumed that an operation is performed by the operation tool 1B or the like, the automatic travel control unit 75 performs control according to the operation. For example, when an operation for resuming automatic travel is performed, the automatic travel control unit 75 resumes automatic travel. In addition, when an operation for shifting to another state, for example, an operation for starting slightly sticking is performed, the state is transferred, and control is performed to perform a little sticking running according to operation of the main gear lever 7A. At the same time, the automatic travel control unit 75 controls the notification control unit 77 so that a guidance or warning performed at the time of traveling performed according to the operation is issued.

In addition, if the operation is not performed until time t3, when the elapsed time from time t0 at which automatic driving is temporarily stopped becomes time tw2 (“equivalent to the second time”) longer than time tw1, that is, automatic driving is temporarily stopped After that, when no operation is performed and the predetermined time tw2 has elapsed, the automatic travel control unit 75 may automatically restart the automatic travel.

In addition, as an operation tool 1B for performing an operation for resuming automatic driving or an operation for shifting to another state, the remote control 90, a button switch provided on the body 1, and the information terminal 5 are displayed Arbitrary things, such as a screen switch, may be included. For example, the main gear lever 7A and another button etc. for performing a slightly extended run may be provided separately in the base body 1 . By providing a button or the like for performing a slight push-up run separately from the main gear lever 7A, it is possible to easily prevent an unintentional minor push run due to an erroneous operation of the main gear lever 7A.

The guidance and warning performed while the automatic travel is temporarily stopped may be performed for a predetermined period of time or may be terminated after being performed a predetermined number of times. In this case, the time tw1 until the operation is validated may be the time t0 at which the automatic driving is temporarily stopped, or may be the time at which the guidance or warning is finished. By making the operation invalid for the predetermined time tw1 after the guidance or warning is finished, the operator can get an opportunity to receive all the guidance and warning, and it becomes easy to perform the correct operation accordingly.

Moreover, it is preferable that guidance or warning accompanying it is given when automatic running is stopped (finished) in the middle of operation after a guidance or a warning is given. In this way, even while the operation tool 1B is being operated, when a separate guidance or warning is notified, the automatic travel control unit 75 disables the operation of the operation tool 1B again when the automatic travel ends. it is preferable In this case, from the time when the automatic travel is finished or the guidance or warning accompanying the end of the automatic travel is finished, for a predetermined period of time tw1, the automatic travel control unit 75 controls the operation by the operation tool 1B. It is preferable to set it as the structure which does not accept.

With such a configuration, even if the automatic travel is terminated in the middle of the operation, the operator is suppressed from performing the operation without noticing that the automatic travel has ended in the middle of the operation. All.

The guidance and warning as described above may be performed by various methods and devices, in addition to displaying characters and illustrations on the information terminal 5, or giving guidance or warning by voice from the voice alarm generating device 100. do. For example, characters or the like may be displayed on the remote control 90, a predetermined vibration may be applied to the remote control 90, characters or the like may be displayed on other portable terminals carried by the operator, and sound may be generated. . In addition, one or more of these may be combined arbitrarily.

In addition, the specific example of the above-mentioned guidance and warning becomes as follows. When the automatic driving is temporarily stopped, a display on the information terminal 5 stating that “automatic driving has been temporarily stopped” is displayed or a voice is generated from the voice alarm generating device 100 . In addition, when poor reception of satellite signals occurs, a display on the information terminal 5 that "GPS has decreased" is performed, or a voice is generated from the voice alarm generating device 100 . In addition, when automatic driving is stopped (termination) due to poor reception of satellite signals or other reasons, a display on the information terminal 5 stating that "automatic driving has ended" is displayed, or the voice alarm generating device 100 voice is generated from In this case, further, a display on the information terminal 5 such as "Please return the lever to the neutral position to resume automatic driving" or "Operate the lever after pressing the GS button" is performed, or a voice alarm A voice is generated from the generating device 100 or the like. In addition, when shifting to a slightly pasted run, the display with respect to the information terminal 5 "it is slightly attached" is performed, or a voice is generated from the voice alarm generating apparatus 100. As shown in FIG.

[alarm sound reduction function]

Next, the manual operation regulating function during automatic driving will be described with reference to FIGS. 1 to 5 .

As described above, during automatic driving, various kinds of guidance, warnings, and the like are issued in order to prompt an operator such as a driver or a worker for a necessary operation or to promote an alert. With such a notification, the operator can grasp the operation required to continue the work and travel, and can grasp the condition of work and travel, the surrounding condition of the aircraft 1, and the like. Therefore, for an operator with little experience, it becomes easy to understand a situation and an operation to be performed, even if they are not proficient in work or driving, and it is possible to continue appropriate work and driving while reducing the burden on the operator.

Such notification is repeatedly performed until the situation changes or a necessary operation is performed. Alternatively, the predetermined notification is repeated for a predetermined time or a predetermined number of times. For example, at the time of resuming the work travel after turning in the work travel on the outer circumferential path ORL, the lowering of the seed planting device 3 is performed by manual operation, and the lowering of the seed planting device 3 is required. After becoming and until descending of the seedling apparatus 3 is performed, the notification which urges|stimulates the fall of the seedling apparatus 3 continues.

However, for the operator skilled in an operation|work, it can perform descent|fall operation of the model planting apparatus 3 by the outer circulating path ORL easily, without even confirming guidance etc. Conversely, if unnecessary notifications continue, the skilled worker may feel cumbersome and burdensome.

In order to suppress such a situation, in this embodiment, the notification sound reduction function which can reduce the notification can be implemented.

Specifically, the notification sound reduction function can be switched between a normal mode in which notifications are not reduced and a reduction mode in which notifications are reduced. The mode switching in the notification sound reduction function can be performed by the information terminal 5 or the like at the start of the automatic driving, and it is also possible to change the setting during the automatic driving. In addition, the alarm sound reduction function is performed by control by a predetermined function block, such as the automatic travel control part 75 (refer FIG. 33 etc.) of the control unit 30. As shown in FIG.

In the reduction mode, the number of times the same notification is repeated or the time for repeating the same notification is reduced. For example, if the notification "Please lower the planting apparatus 3" which urges the descending of the seedling apparatus 3 in the outer circumferential path ORL was repeated until the seedling apparatus 3 descends in the normal mode, , in the reduction mode, this notification is done only once.

In addition, the reduction of notifications in the reduction mode is not limited to the reduction of the number of times or time, and the interval at which the same notifications are made may be wider than the interval in the normal mode, or some or all notifications are not performed in the reduction mode. can do it not to.

Further, in the reduction mode, the number of times or the time is reduced, the interval is widened, or the setting of whether or not to make a notification may be configured to be selectively performed. In addition, the setting in the case of setting not to perform a notification may be set as the structure which can select which notification is not to perform. In addition, the above setting may be a structure which can be performed for each content of a notification.

In addition, notifications, such as guidance and a warning, can be performed by the display to the information terminal 5, generation|occurrence|production of a voice from the voice alarm generating apparatus 100, and other various forms.

[automatic driving stop function]

Next, the automatic driving stop function during automatic driving will be described with reference to FIGS. 1 to 5 and 35 .

During automatic driving, the aircraft 1 may automatically stop when various conditions are satisfied. For example, when the sonar sensor 60 detects an obstacle during automatic driving, the aircraft 1 stops as soon as the obstacle is detected or when it is detected that the distance to the obstacle is shorter than a predetermined distance. In addition, in menstruation determination, it is detected that the base 1 is menstruating or is about to menstruate, that the material such as fertilizer is full is detected, poor reception of satellite signals occurs, or an inclination sensor in the base 1 When 81 is provided, it is detected that the base body 1 is inclined by a predetermined angle or more, that the base body 1 is slipping is detected, or that the base body 1 deviates from the travel path is detected, or When it does, it is controlled so that the base body 1 may stop.

When various conditions are established and the aircraft 1 is stopped, the aircraft 1 is controlled to make a sudden stop immediately with the establishment of the conditions. However, depending on the conditions in which the base body 1 is stopped, it may be necessary to make a sudden stop. Otherwise, the packaging may be rough, which may not be appropriate.

For example, when an obstacle is detected, if the base body 1 is not stopped immediately, the risk of the base body 1 colliding with an obstacle may increase. Moreover, when the base 1 has crossed, if the base 1 is not stopped immediately, the base 1 may protrude from a pavement or collide with a headgear. In addition, when the base body 1 inclines more than predetermined|prescribed, if the base body 1 is not stopped immediately, the base body 1 may overturn.

Conversely, even if some travel is performed in a state where the material is full, after the blockage of the material is cleared, the route traveled without the material supply may be run again after the material is supplied. In addition, in the case of deterioration of the satellite signal reception environment, slip of the aircraft 1, deviation of the travel route, etc., depending on the degree, it may be sufficient to continue traveling or to gradually stop the aircraft 1, etc. In many cases, a sudden stop is rarely required.

In addition, regardless of the conditions for stopping the body 1, the case in which it is better to perform an abrupt stop is divided into a case where it is better to perform an abrupt stop and a case where it is better not to perform it, also depending on the position in the pavement where the need to stop the body 1 arises. In particular, the outer circumferential path ORL may travel in a region close to the crest, and there is a large need to stop the body 1 . For example, there are many obstacles, such as a water ball, around a headboard, and there is a possibility that the body 1 is damaged, etc. that the body 1 collides with a head, and it should be avoided. Therefore, when an obstacle is detected while traveling in the outer circumferential path ORL, it is appropriate to make the body 1 come to a sudden stop. Further, when the satellite signal reception environment deteriorates or the aircraft 1 deviates from the travel route and a positional shift occurs while traveling on the outer circumferential path ORL, the aircraft 1 may collide with an obstacle such as a head. Since this becomes high, it is appropriate to make the body 1 come to a sudden stop.

As described above, depending on the contents of the conditions for stopping the aircraft 1 and the location in the pavement where the conditions for stopping the aircraft 1 are established, it is necessary to make an abrupt stop of the aircraft 1, or it is not necessary to make an abrupt stop On the contrary, there are cases in which it is more appropriate to gradually stop the body 1 .

Therefore, in this embodiment, when the conditions for stopping the aircraft 1 are established, depending on the contents of the conditions or the position in the pavement where the conditions are established, the aircraft 1 is suddenly stopped or stopped gradually, An automatic driving and stopping function that varies the negative acceleration (deceleration) when the aircraft 1 is stopped is implemented.

The automatic driving stop function is controlled by the control unit 30 illustrated in FIG. 35 . The control unit 30 includes a travel control unit 312 , an automatic travel control unit 75 , an abnormality detection unit 78 , and a menstruation determination unit 64 (corresponding to a “menstrual sensor”). Further, the control unit 30 is connected to the traveling device 1D, the sensor group 1A, the information terminal 5, the positioning unit 8, and the like.

The menstruation determination unit 64 detects, from the own vehicle position and the pavement map output by the positioning unit 8 , that the body 1 has menstruated from the pavement. Menstruation detects the distance between the own vehicle position and the outer periphery of the pavement, and detects that the distance between the host vehicle position and the outer periphery of the pavement becomes less than or equal to a predetermined distance as menstruation.

As described later, the abnormality detection unit 78 receives the detection result of the menstruation determination unit 64, various information acquired by the sensor group 1A, and the like, and from the received information, the body 1 or the body ( 1) Detect the abnormality occurring around.

The traveling control unit 312 controls the traveling device 1D (corresponding to the “traveling device”) according to the control of the automatic traveling control unit 75 or the operation of the operation tool 1B to cause the aircraft 1 to travel.

The automatic travel control unit 75 controls the travel control unit 312 to travel on a predetermined travel route according to the host vehicle position obtained based on the positioning data output by the positioning unit 8 during automatic travel. In addition, the automatic travel control unit 75 includes a stop control unit 79 . The stop control unit 79 controls the travel control unit 312 to stop the aircraft 1 based on the abnormality detected by the abnormality detection unit 78 .

The sensor group 1A includes a sonar sensor 60 which is one of obstacle sensors, an inclination sensor 81 that detects the inclination of the aircraft 1, and an axle of the wheel 12 and the wheel 12 from the engine 2 Any one of the rotation speed sensor 12C for measuring the rotation speed of the drive shaft that transmits the driving force to the motor, the material clogging sensor 83 for detecting that the material is full, and the like are included. In addition, the inclination sensor 81 just needs to be able to detect to what direction and how much the base body 1 is inclined, and the inertial measurement module 8B of the positioning unit 8 may be used.

The abnormality detection unit 78 detects various abnormalities, determines whether a condition for stopping the aircraft 1 is satisfied according to the detection contents, and sends the determination result to the stop control unit 79 of the automatic travel control unit 75 give and receive The abnormality detection unit 78, in cooperation with the sensor group 1A, the positioning unit 8, the menstruation determining unit 64, etc., detects a state such as the state of the aircraft or the ambient state of the aircraft 1, and returns to the detected state. It functions as a sensor that detects a corresponding abnormality.

For example, in the case of detecting an obstacle among the conditions for stopping the aircraft 1 , the abnormality detection unit 78 receives an obstacle detection signal indicating that an obstacle has been detected from the sonar sensor 60 , and automatically generates the obstacle detection signal It transmits to the vehicle stop control unit 79 of the travel control unit 75 . The stop control unit 79 that has received the obstacle detection signal controls the travel control unit 312 so that the aircraft 1 stops according to the obstacle detection signal.

Further, in the case of detection of menstruation during which the body 1 menstruates among the conditions for stopping the body 1, the abnormality detection unit 78 receives a menstruation signal indicating that menstruation has been detected from the menstruation determination unit 64, and menstruation. A signal is transmitted to the stop control unit 79 of the automatic travel control unit 75 . The stop control unit 79 that has received the menstruation signal controls the travel control unit 312 so that the aircraft 1 stops according to the menstruation signal.

In addition, in the case of detecting the inclination of the aircraft 1 under the conditions for stopping the aircraft 1 , the abnormality detection unit 78 receives an inclination signal indicating that the inclination of the aircraft 1 is detected from the inclination sensor 81 . received, and transmits the inclination signal to the vehicle stop control unit 79 of the automatic travel control unit 75 . The stop control unit 79 that has received the inclination signal controls the travel control unit 312 so that the aircraft 1 stops according to the inclination signal.

In addition, in the case of material clogging detection in which materials such as wool and fertilizer are piled up among the conditions for stopping the body 1 , the abnormality detection unit 78 is a material clogging signal indicating that the material clogging is detected from the material clogging sensor 83 . , and transmits a material blockage signal to the stop control unit 79 of the automatic travel control unit 75 . The stop control unit 79 that has received the blockage signal controls the travel control unit 312 so that the aircraft 1 stops according to the blockage signal.

Moreover, in the case of the slip detection of the vehicle 1 slipping among the conditions for stopping the vehicle 1 , first, the abnormality detection unit 78 determines the rotation speed of the wheel 12 from the detection value of the rotation speed sensor 12C. Calculate the vehicle speed corresponding to . Separately, the abnormality detection unit 78 calculates the vehicle speed from the amount of change per unit time of the host vehicle position output from the positioning unit 8 . Then, the abnormality detection unit 78 compares the two calculated vehicle speeds, and when the vehicle speed corresponding to the rotation speed of the wheel 12 is faster than the vehicle speed calculated from the change amount of the host vehicle position by a predetermined speed or more, the body 1 determines that the vehicle is slipping, and transmits a slip signal to the vehicle stop control unit 79 of the automatic travel control unit 75 . The stop control unit 79 that has received the slip signal controls the travel control unit 312 so that the aircraft 1 stops according to the slip signal.

In addition, the abnormality detection unit 78 detects a satellite signal reception abnormality in which the positioning unit 8 has lowered satellite signal reception sensitivity, or a positional shift abnormality in which the host vehicle position and the travel route are displaced by a predetermined distance or more, etc. , the traveling control unit 312 is controlled to stop the aircraft 1 even when these abnormalities are detected. In addition, the abnormality detection unit 78 detects as an abnormality when it detects that the driver moves away from the driver's seat 16 during the manned automatic driving, or when materials such as wool or fertilizer are missing, etc. It can also be set as the structure which controls the traveling control part 312 so that it stops.

When such an abnormality is detected, it is judged that the conditions for stopping the base body 1 are satisfied, and the abnormality detection part 78 makes the base body 1 stop. Then, the stop control unit 79 of the automatic travel control unit 75 varies the deceleration when stopping the aircraft 1 according to the above contents corresponding to the contents of the condition. That is, the various abnormalities detectable by the abnormality detection unit 78 are divided into an abnormality corresponding to the condition for rapidly stopping the aircraft 1 and an abnormality corresponding to the condition for gradually stopping the vehicle 1 . Then, the abnormality detection unit 78 of the automatic travel control unit 75 controls the traveling control unit 312 to suddenly stop the aircraft 1 when an abnormality corresponding to the condition for rapidly stopping the aircraft 1 is detected. And, when an abnormality corresponding to the condition for gradually stopping the aircraft 1 is detected, the traveling control unit 312 is controlled to gradually stop the aircraft 1 . In such a stop of the body 1, the deceleration in the case of a sudden stop becomes larger than the deceleration in the case of a gradual stop.

For example, abnormalities corresponding to the condition for rapidly stopping the aircraft 1 are obstacle detection, menstruation detection, and inclination detection, and abnormalities corresponding to the conditions for gradually stopping the aircraft 1 are other blockage detections. , slip detection, satellite signal reception anomaly, position shift error, etc.

In this way, the abnormality corresponding to the condition for stopping the body 1 is divided into the abnormality corresponding to the condition for rapidly stopping the body 1 and the abnormality corresponding to the condition for gradually stopping the body 1 . Then, when an abnormality corresponding to the condition for rapidly stopping the aircraft 1 is detected, the aircraft 1 is suddenly stopped, and when an abnormality corresponding to the condition for gradually stopping the aircraft 1 is detected, the aircraft (1) is gradually stopped. Thereby, even if the base body 1 is stopped, it is possible to suppress, to the extent possible, that an excessive burden is imposed on the worker, the work efficiency deteriorates, or the pavement becomes rough, and in spite of the burden on the worker, the work efficiency, and the devastation of the pavement. , when it is necessary to make an abrupt stop, the aircraft (1) will come to an abrupt stop so that it can respond appropriately to a serious abnormality. Therefore, according to the above content, the base|substrate 1 can be stopped in an appropriate aspect, and work efficiency can be improved.

In addition, the abnormality is not limited to the case of dividing the abnormality into two, an abnormality corresponding to the condition for rapidly stopping the aircraft 1, and an abnormality corresponding to the condition for gradually stopping the aircraft 1, and three or more decelerations are Different stopping modes may be provided, and each abnormality may be assigned to a condition corresponding to three or more stopping modes having different decelerations. And the abnormality detection part 78 controls the traveling control part 312 so that the base body 1 may stop at a different deceleration according to the detected abnormality content.

Thereby, according to the detected abnormality, the base|substrate 1 can be stopped in a more suitable aspect.

In addition, when an abnormality is detected, not only the body 1 stops, but the abnormality detection part 78 may control the traveling control part 312 so that the body 1 may decelerate and travel slowly.

Depending on the above content, it may not be necessary to stop the base body 1 in some cases. When an abnormality is detected, other than the aspect in which the deceleration for stopping the body 1 is different, an aspect is provided in which the body 1 is slowed down, and the abnormality is assigned as a condition for controlling the body 1 in each aspect . Thereby, according to the above content, the running state of the base body 1 can be controlled appropriately.

In addition, depending on the content of the above, the same abnormality may be detected whenever it travel|works in the same position of a pavement. For example, a fixture and a standing tree provided in a pavement are always in the same place, and are detected as an obstacle whenever it travels in the vicinity. In addition, the state of the pavement tends to be the same every year, and there is a possibility that the base body 1 slips even after that at a position where the base body 1 slipped in the past.

Therefore, information (pavement information) of the pavement including the contents of the abnormality and the position where the abnormality occurred is stored, and when driving, referring to the pavement information, in the position memorized as the position where the abnormality occurred, the contents of the stored abnormality Accordingly, the aircraft 1 may come to a sudden stop, gradually stop, or run slowly. For example, the content of the abnormality and the position where the abnormality occurred are stored in the pavement map (pavement information), stored in the management server 85 or the information terminal 5, and when driving thereafter, the abnormality detection unit 78, A pavement map is acquired through the communication unit 86, and an abnormality is detected in the past with reference to the acquired pavement map. The driving control unit 312 is controlled to make

Thereby, even if it is a state in which abnormality cannot be detected appropriately, a running state can be suitably controlled from past performance.

In addition, the obstacle sensor can also be set as the imaging device 82 which can image|photograph the image of the periphery of the body 1 instead of the sonar sensor 60, or together with the sonar sensor 60. The abnormality detection unit 78 analyzes the image photographed by the imaging device 82 and detects the presence of an obstacle. The analysis of an image can also be performed using the learning completion model produced|generated by machine learning using AI. By detecting the obstacle using the imaging device 82, it is possible to easily detect the obstacle.

In addition, when an obstacle is detected using the imaging device 82, the size of the obstacle can be easily determined. When the obstacle is large, it is often necessary to make an abrupt stop of the aircraft 1, but when the obstacle is small, it is not necessary to suddenly stop the aircraft 1, for example, because the obstacle can be easily avoided. .

Therefore, if the size of the obstacle can be determined, the stop control unit 79 of the automatic travel control unit 75 may make the deceleration smaller than the deceleration when the detected obstacle is greater than or equal to a predetermined size.

Thereby, the deceleration at the time of stopping the base body 1 can be optimized according to the magnitude|size of an obstacle, and work efficiency can be improved more.

Also, the sonar sensor 60 can determine the distance from the time the reflected wave returns to the obstacle. Moreover, also when detecting an obstacle using the imaging device 82, the distance to an obstacle can be determined by image analysis. When the distance to the obstacle is close, it is necessary to make an abrupt stop of the aircraft 1, but when the distance to the obstacle is long, the vehicle ( In some cases, it is not necessary to make a sudden stop for 1).

Therefore, when the detected distance to the obstacle is less than or equal to a predetermined distance, the vehicle stop control unit 79 may make the deceleration smaller than the deceleration when it is longer than the predetermined distance.

Thereby, the deceleration at the time of stopping the base body 1 can be optimized according to the distance to an obstacle, and work efficiency can be improved more.

In addition, the necessity to make a sudden stop of the base body 1 changes not only with the above content but also with the position in the pavement where the abnormality was detected. Therefore, as a condition for determining the deceleration at the time of stopping the base body 1, the position in the pavement at which the abnormality was detected may be considered in addition to the above content or in addition to the above content. That is, according to the position in the pavement where the abnormality was detected, the stop control part 79 may vary the deceleration at the time of stopping the base body 1 .

For example, the outer periphery travel path which goes around the inside of a pavement along the outer periphery of a pavement travels in the vicinity of the outer periphery area|region of pavement, such as a headgear. Obstacles, such as a catcher, are provided in the outer peripheral area|region of a pavement in many cases, and when abnormality is detected while traveling along an outer peripheral travel path, the necessity of making the body 1 stop suddenly increases. In addition, when abnormality is detected while traveling on the outer circumferential travel route, if the travel route is slightly shifted, the possibility that the body 1 collides with a head or the like or that the body 1 crosses is increased. Therefore, it is preferable that the stop control unit 79 suddenly stop the base body 1 when an abnormality is detected while traveling along the outer circumferential travel path.

In this way, by varying the deceleration at the time of stopping the base 1 according to the position in the pavement where the abnormality was detected, the base 1 can be appropriately stopped according to the position in the pavement, and work efficiency is improved. can do it

In addition, the deceleration at the time of sudden stop and the deceleration at the time of gradually stopping may each be a predetermined deceleration, but may be made variable by setting. In addition, the ideal which becomes the condition for making a sudden stop and the ideal which becomes the condition for gradually stopping may each be set as predetermined conditions, but it is good also considering the conditions as variable by setting. In addition, the deceleration according to the above contents or the deceleration according to the position in the pavement may be a predetermined deceleration, but may be made variable by setting, and an individual deceleration may be set for each of the above contents or each position in the pavement. It may be configured as possible. In addition, the said setting may be set as the information terminal 5 etc. at the time of start of automatic driving, and it is good also as a structure which can change a setting by the information terminal 5 etc. during automatic driving.

By arbitrarily performing the above settings, it is possible to more optimally control the stopping of the base body 1 according to the condition of the pavement and the work condition, and it is possible to further improve the work efficiency.

[aircraft slip detection function]

Next, the automatic driving stop function during automatic driving will be described with reference to FIGS. 1 to 5 and FIG. 35 .

In the automatic travel, in accordance with the vehicle speed instructed by the automatic travel control unit 75 , the automatic travel control unit 75 controls the traveling device 1D, the engine 2 , and the like to cause the aircraft 1 to travel. Automatic running WHEREIN: According to the vehicle speed of the base|substrate 1, the simulated supply to be planted, and supply of the fertilizer spread|dispersed are adjusted, and appropriate planting and spraying of a fertilizer are performed in the whole field. When the pavement is muddy, even if the aircraft 1 is driven according to the indicated vehicle speed, the aircraft 1 may slip, and the actual vehicle speed of the aircraft 1 may largely fall below the indicated vehicle speed. When the vehicle speed of the actual base body 1 shifts|deviates with respect to the instruction|indication vehicle speed, appropriate planting and application|spreading of a fertilizer will not be performed.

For this reason, when the actual vehicle speed of the aircraft 1 is slower than or equal to a predetermined speed or a predetermined ratio with respect to the instructed vehicle speed or a vehicle speed controlled according to the instructed vehicle speed, the gas slip detection function is implemented. The aircraft slip detection function determines that the aircraft 1 is slipping when the actual vehicle speed of the aircraft 1 is higher than or equal to a predetermined speed or a predetermined ratio with respect to the indicated vehicle speed or a vehicle speed controlled according to the indicated vehicle speed. Thus, it is a function of temporarily stopping the automatic travel under the control of the automatic travel control unit 75 .

In this way, by temporarily stopping the automatic running when it is determined that the body 1 is slipping, the work running is stopped, and by running at an inappropriate vehicle speed, it is possible to suppress that planting and fertilizer application are not carried out as planned, Appropriate work travel can be performed.

Here, the actual vehicle speed of the body 1 is calculated from the amount of change per unit time of the host vehicle position output by the positioning unit 8 . In addition, the vehicle speed controlled according to the indicated vehicle speed is an axle of the wheel 12 or an axle detected by the rotation speed sensor 12C that measures the rotation speed of a drive shaft that transmits a driving force from the engine 2 to the wheel 12 It is calculated from the rotation speed of the drive shaft.

When the vehicle speed calculated from the change amount of the host vehicle position is slower than the indicated vehicle speed, that is, the automatic driving control unit 75 compares the vehicle speed calculated from the change amount of the host vehicle position with the vehicle speed calculated using the rotation speed sensor 12C, , when the vehicle speed calculated from the amount of change in the host vehicle position is slower than a predetermined speed or a predetermined ratio, it is determined that the aircraft 1 is slipping, and automatic running is temporarily stopped.

In addition, when the automatic travel control unit 75 determines that the aircraft 1 is slipping, the automatic travel may be temporarily stopped immediately. Afterwards, the automatic driving may be temporarily stopped.

For example, after determining that the aircraft 1 is slipping continuously for 5 seconds or longer, the automatic travel control unit 75 may temporarily stop the automatic travel. Moreover, if the automatic travel control part 75 determines that the base|substrate 1 is slipping continuously for 3 second or more, it raises the seedling planting apparatus 3, or stops the feeding mechanism 26 of the fertilization apparatus 4 or the like to stop the working device, and after that, after judging that the aircraft 1 is slipping continuously for 5 seconds or more in total, the automatic travel may be temporarily stopped.

Thereby, since the automatic travel is temporarily stopped only when the slip continues as the effect on the work travel is increased, the work travel can be stopped only when the slip continues to perform an appropriate work travel while improving work efficiency.

[Other embodiment]

(1) The travel route is set by performing non-work travel along the periphery of the pavement. The travel route may be generated by the information terminal 5 or the control unit 30 . In this case, the information terminal 5 or the control unit 30 may have a configuration in which a path setting unit is provided as an independent functional block. In addition, it is also possible to have a configuration in which route setting units are provided on both of the information terminal 5 and the control unit 30, and optionally, in which one of the information terminal 5 or the control unit 30 determines whether the route setting is performed. have. Moreover, it is good also as a structure which can generate|occur|produce a travel route in an external server etc., and can receive the information terminal 5 or the control unit 30 for the generated travel route. Various data (data created by map shape acquisition processing, route creation processing, etc., obstacle data related to obstacles detected while driving, driving state data obtained during driving, working state data, pavement state data, etc.) It may be uploaded to a central computer installed externally or to a computer for cloud service. In addition, before the operation, such registered data may be downloaded.

(2) The control unit 30 can be subdivided into arbitrary functional blocks. For example, an automatic travel control unit that controls travel during automatic travel, a manual travel control unit that controls travel during manual travel, a work device control unit that controls various work devices, and the information terminal 5 or other devices a communication unit that transmits and receives information in the , an obstacle detection unit that controls the sonar sensor 60 and detects an obstacle, an obstacle control unit that sends a command to an automatic driving control unit or a manual driving control unit according to the detection result of the obstacle, an obstacle control unit, stacking, etc. (71) A stacking light control unit for controlling , a transmission operation unit for controlling the main gear lever 7A, etc. may be separately provided as functional blocks of the control unit 30 . In addition, although the component of the information terminal 5 and the control unit 30 in FIGS. 8 and 9 has shown only specific components for description, the information terminal 5 and the control unit 30 are each All the components shown in the drawings may be mounted, or any component may be mounted in combination as needed.

(3) In each said embodiment, the notification apparatus which performs various notifications which a rice transplanter performs is not limited to the information terminal 5 or the voice alarm generating apparatus 100, It can perform using various notification apparatuses. For example, an LED may be provided in the remote control 90 to notify various information according to a lighting pattern, or a monitor may be provided in the remote control 90 to display various information. In addition, by the lighting pattern of the laminated light 71, the center mascot 20, the light, and other luminous materials, the display or vibration of the smart phone, mobile terminal, personal computer, etc. possessed by the worker, vibration of the remote control 90, etc. can inform In addition, the various kinds of notifications performed by the notification device include the driving state, work state, various It is controlled according to the detection state of the sensor, etc.

(4) When the location where fuel exhaustion, battery exhaustion, planting and planting, fertilizer, medicine, etc. material exhaustion (material shortage) occurred, or the location where those occurrences are predicted is calculated, in the notification, material exhaustion (material exhaustion) short) position on the touch panel 50, preferably on the travel route.

(5) In each of the above embodiments, a rice transplanter was described as an example, but the present invention is a rice transplanter, a direct planting machine, a management machine (spreading chemicals and fertilizers, etc.), a tractor, various agricultural machines such as a harvester, and further work It can be applied to various working machines that work and run.

INDUSTRIAL APPLICATION This invention is applicable to agricultural work machines, such as a rice transplanter, and other work machines.

1: gas
1A: sensor group
1D: Driving device (Traveling device)
8: positioning unit
60: sonar sensor (obstacle sensor, object sensor)
64: menstruation determination unit (menstrual sensor)
75: automatic driving control
78: abnormality detection unit (sensor)
81: inclination sensor
82: imaging device
85: management server
86: communication department
312: driving control unit

Claims (8)

driving device,
a traveling control unit for controlling the traveling device;
a sensor for detecting at least any state of the gas state and the ambient state of the gas, and detecting an abnormality corresponding to the detected state;
a satellite antenna for receiving satellite signals from the satellite;
a positioning unit for outputting positioning data corresponding to the location of the host vehicle based on the satellite signal;
An automatic driving control unit for controlling the driving control unit to automatically travel a predetermined driving path in the pavement based on the location of the own vehicle;
provided,
When the sensor detects an abnormality, the automatic traveling control unit controls the traveling control unit so that the deceleration rate until the aircraft stops is different according to a detection position where the sensor detects the abnormality in the pavement. A working machine that stops the aircraft. According to claim 1,
The travel path includes an outer circumferential travel path that goes around the inside of the pavement along the outer periphery of the pavement,
wherein the automatic travel control unit increases the deceleration when the detection position is the outer circumferential travel path, compared to the deceleration when the detection position is other than the outer circumferential travel path. 3. The method of claim 2,
wherein the automatic travel control unit causes the traveling control unit to decelerate without stopping the aircraft when the detection position is outside the outer circumferential travel path and the abnormality detected by the sensor is greater than or equal to a predetermined value. 4. The method according to any one of claims 1 to 3,
The sensor for detecting an abnormality, comprising: an obstacle sensor for detecting an obstacle surrounding the gas as an abnormality; an inclination sensor for detecting that the gas is inclined by a predetermined angle or more as an abnormality; At least any of the menstrual sensors for detecting one or more as abnormal,
The automatic travel control unit is configured to, irrespective of the detection position, among the obstacle sensor, the inclination sensor, and the menstruation sensor, when the sensor other than the obstacle sensor, the inclination sensor, and the menstruation sensor detects an abnormality. A work machine which makes the said deceleration small compared with the case where an abnormality was detected. 5. The method of claim 4,
an imaging device for photographing the periphery of the aircraft;
and the obstacle sensor detects the obstacle as an abnormality by analyzing an image captured by the imaging device. 6. The method of claim 5,
The obstacle sensor determines the size of the obstacle,
wherein the automatic travel control unit reduces the deceleration when the obstacle is smaller than a predetermined size compared to the deceleration when the obstacle is greater than or equal to a predetermined size. 5. The method of claim 4,
The obstacle sensor determines the distance to the obstacle,
wherein the automatic travel control unit decreases the deceleration when the distance to the obstacle is less than or equal to a predetermined distance compared to the deceleration when the distance to the obstacle is longer than the predetermined distance. 4. The method according to any one of claims 1 to 3,
A communication unit capable of communicating with a management server that stores packaging information is provided;
The packaging information includes the contents of abnormalities detected in the past in the packaging and the detection position,
The automatic travel control unit causes the traveling control unit to stop the aircraft at the deceleration according to the above content stored in the pavement information when automatically traveling in the detection position stored in the pavement information.

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