KR20240056505A - Automatic driving control systems and packaging trucks - Google Patents

Abstract

It is an automatic driving control system for a paving vehicle that performs paving work to supply agricultural materials to the paving by repeating automatic reciprocating driving along a travel path consisting of an internal path and a turning path. The paving work vehicle supplies materials at a predetermined supply point. In order to perform this, a travel control unit 32 performs a replenishment preparation process that stops the travel every time the internal route travel is performed a predetermined number of times, and controls automatic travel including the replenishment preparation process, and controls the packaging operation. It is provided with a task control unit 33 that accepts the selection of the number of trips, a trip number operation unit 53 that accepts the selection of the trip number, and a material supply setting section 41 that sets the number of trips according to the input to the trip number operation section 53.

Description

Automatic driving control systems and packaging trucks

The present invention relates to a packaging vehicle that supplies agricultural materials to the field or discharges harvested crops while traveling automatically, and an automatic travel control system that controls the automatic operation of the packaging vehicle.

A field work vehicle that performs automatic operation to supply agricultural materials to a field supplies agricultural materials or discharges harvested crops during automatic operation.

The paving vehicle (rice transplanter) disclosed in Patent Document 1 stops the machine every time it travels back and forth between paving, supplies agricultural materials (seedlings) when it is necessary to supply them, and supplies agricultural materials. If there is none, work driving continues.

Japanese Patent Publication No. 2021-106613

However, in automatic work driving, there is a demand for more effective distribution of agricultural materials.

The purpose of the present invention is to efficiently supply agricultural materials or discharge harvested crops.

In order to achieve the above object, the automatic travel control system according to an embodiment of the present invention performs paving work to supply agricultural materials to the paving by repeating automatic reciprocating travel running on a travel path consisting of an internal path and a turning path. An automatic travel control system for a packaging vehicle, wherein the packaging vehicle performs a supply preparation process to stop traveling on the internal route every time a predetermined number of trips are performed in order to replenish materials at a predetermined supply point. , a travel control unit that controls automatic travel including the replenishment preparation process, an operation control unit that controls the packaging operation, a travel number operation unit that accepts selection of the travel number, and an input to the travel number operation unit. It is provided with a material supply setting unit that sets the number of runs.

The paving work vehicle according to one embodiment of the present invention performs paving work to supply agricultural materials to the paving by repeating automatic reciprocating traveling on a travel path consisting of an internal path and a turning path, and supplies materials at a predetermined supply side. A packaging work vehicle that performs a replenishment preparation process that stops running every time the internal path is traveled a predetermined number of times, and includes a work device that performs the packaging process, and the replenishment preparation process. A travel control unit that controls, an operation control unit that controls the packaging operation, a travel number operation unit that accepts selection of the travel number, and a material supply setting unit that sets the travel number according to an input to the travel number operation unit. do.

With the above configuration, replenishment preparation processing can be performed for each number of trips according to the travel distance that can be performed with the agricultural materials loaded, thereby suppressing stops and travel resumption operations due to unnecessary replenishment preparation processing, making it efficient. By supplying agricultural materials, efficient work operations can be carried out.

An automatic travel control system according to an embodiment of the present invention is an automatic travel control system for a packaging work vehicle that performs a packaging operation to harvest crops from a field by repeating automatic reciprocating travel traveling a travel path consisting of an internal path and a turning path. In order to discharge the harvested crops from a predetermined discharge side, the packaging work vehicle performs a discharge preparation process of stopping the running of the internal path every time a predetermined number of runs is performed, and the discharge preparation process is performed. a travel control unit that controls automatic travel, a work control unit that controls the packaging operation, a travel number operation unit that accepts selection of the travel number, and a material that sets the travel number according to an input to the travel number operation unit. It is provided with a discharge setting unit.

With the above configuration, discharge preparation processing can be performed for each number of trips according to the working distance until the amount of harvested crops that can be stored in the aircraft is stored, so stop and travel restart operations due to unnecessary discharge preparation processing are performed. It is possible to suppress, efficiently discharge crops, and perform efficient work driving.

In addition, the number of trips may be the number of round trips for traveling on the two internal paths sandwiching the turning path.

When the supply side is set at one of the outer peripheries of the pavement, the supply preparation process is performed at the end of the inner path running toward the supply side among the inner paths. Therefore, by setting the number of trips based on the number of round trips, the replenishment preparation process can be set easily and without waste.

In addition, the material replenishment setting unit further includes a frequency change operating unit that receives an instruction to change the number of trips, and when the change instruction is received during the automatic reciprocating travel, the material replenishment setting section moves from the immediately preceding replenishment preparation process to the next step in accordance with the change instruction. The number of trips until the replenishment preparation process is performed may be changed.

There are cases where it can be predicted during automatic work travel that there will be a shortage of agricultural materials to the location where the supply preparation process is performed, or that there will be sufficient agricultural materials (surplus) even if the work travel is performed to the location where the supply preparation process is performed.

With the above configuration, the location where the supply preparation process is performed can be changed as needed, so agricultural materials can be supplied at an appropriate timing, and agricultural materials can be supplied more efficiently.

Additionally, the material replenishment setting unit may perform the replenishment preparation process with the changed number of trips, and then return the number of subsequent trips to the number of trips selected in the number of trips operation unit.

The work situation may change temporarily depending on the situation of a part of the field, and there may be a shortage or surplus of agricultural materials at the location where supply preparation processing is performed. In such cases, it is appropriate to modify the timing of the replenishment preparation process in some packages.

With the above configuration, agricultural materials can be supplied at an appropriate timing, and agricultural materials can be supplied more efficiently.

Additionally, upon receiving the change instruction, the material supply setting unit may change the subsequent number of trips to the number of trips corresponding to the change instruction.

The number of trips is determined by predicting the consumption of agricultural materials per unit of driving distance. If the prediction of the consumption amount is not accurate, it becomes impossible to properly set the timing of the replenishment preparation process for the entire packaging.

In such a case, with the above configuration, agricultural materials can be supplied at an appropriate timing, and agricultural materials can be supplied more efficiently.

Additionally, the number change operating unit may be provided on the body of the packaging vehicle.

With this configuration, the timing of supplying agricultural materials can be easily changed by the operator on board the aircraft.

Additionally, an information terminal detachable from the packaging vehicle may be further provided, wherein the number change operating unit may be provided in the information terminal, and the change instruction may be determined according to the number of times the number changing operating unit has been operated.

With this configuration, the timing for supplying agricultural materials can be changed while checking the displayed content of the information terminal, and the timing for supplying agricultural materials can be easily changed.

Additionally, an information terminal detachable from the packaging work vehicle is further provided, wherein the number change operation unit is provided in the information terminal, and the change instruction selects the number of trips to be changed while the number change operation unit is being operated. It may be decided by doing so.

With this configuration, the timing for supplying agricultural materials can be changed while checking the displayed content of the information terminal, and the timing for supplying agricultural materials can be easily changed.

In addition, a remote control capable of remotely operating the packaging work vehicle may be further provided, and the number change operating unit may be provided in the remote control.

Automatic work travel may be performed without an operator boarding the aircraft. At this time, the worker carries a remote control to operate the aircraft.

With the above configuration, the operator can change the timing for replenishing agricultural materials without being on board the aircraft, and can easily change the timing for replenishing agricultural materials.

In addition, it further includes a microphone for inputting a voice, the material supply setting unit has a voice recognition unit that responds to the predetermined voice, the voice recognition unit recognizes the voice input to the microphone, and the material supply setting unit , the number of trips may be changed according to the voice recognized by the voice recognition unit.

With this configuration, the worker can change the timing for replenishing agricultural materials just by speaking out without performing any special operations, and can easily change the timing for replenishing agricultural materials.

Additionally, a remote control capable of remotely operating the packaging vehicle may be further provided, and the microphone may be provided in the remote control.

Automatic work travel may be performed without an operator boarding the aircraft. At this time, the worker carries a remote control to operate the aircraft.

With the above configuration, the operator can change the timing of supplying agricultural materials just by voicing his or her voice without being on board the aircraft, and can easily change the timing of supplying agricultural materials.

Additionally, the travel number operation unit may select a non-refill preparation mode that does not execute the replenishment preparation process, and when the number change operation unit is operated during the automatic round-trip driving in which the non-replenishment preparation mode is selected, the travel control unit , the supply preparation process may be executed the next time the supply area is approached.

With this configuration, even when replenishment preparation processing is not performed on a regular basis, replenishment preparation processing can be performed at the operator's discretion, further suppressing unnecessary stops, more efficiently replenishing agricultural materials, and enabling efficient work operation. there is.

In addition, the paving work vehicle is a seedling transplant vehicle for planting seedlings as agricultural materials into the field, and has a seedling loading stand and a planting mechanism. The seedling loading stand loads mat-type seedlings and continuously plants the seedlings at a predetermined vertical transfer amount. The mat-type seedlings are fed out to the mechanism, the planting mechanism extracts a predetermined amount of seedlings from the mat-type seedlings, and the seedlings are planted in the field for a predetermined week, and the seedling loading table is a mat of the mat-type seedlings. It has a sensor that detects the remaining amount, and the automatic travel control system further includes a notification unit that provides a predetermined notification, and the material supply setting unit includes information on the remaining amount of the mat detected by the sensor, information on the amount of seedlings collected, and A remaining amount determination unit that determines whether the remaining amount of the wool is insufficient in the packaging operation until the next replenishment preparation process, from the information on the vertical conveyance amount, the information on the length of the mat-type wool, and the information on the week. Additionally, when the simulated remaining amount is insufficient, the remaining amount determination unit may notify the notification unit that the simulated remaining amount is insufficient.

With this configuration, it is notified that the remaining amount of seedlings required to reach the position where the supply preparation process is performed is insufficient, so the operator adjusts the week or amount of seedlings to suppress empty planting, or performs seedling supply at an early stage. Either way, you can respond appropriately. Therefore, work travel can be performed appropriately and efficiently.

Figure 1 is a left side view of a rice transplanter capable of automatic driving.
Figure 2 is a schematic diagram explaining the operation of the rice transplanter.
Fig. 3 is a block diagram illustrating the functional configuration of the automatic travel control system in Embodiment 1.
Fig. 4 is a diagram illustrating an example of a setting screen for the supply level and implementation interval in Embodiment 1.
Fig. 5 is a diagram illustrating a process for changing the supply settings and implementation interval in Embodiment 1.
Fig. 6 is a block diagram illustrating the functional configuration of the automatic travel control system in Embodiment 2.
Fig. 7 is a diagram illustrating an example of a setting screen for the supply level and implementation interval in Embodiment 2.
FIG. 8 is a diagram illustrating a process for changing the replenishment settings and replenishment preparation position in Embodiment 2.
Fig. 9 is a diagram explaining the supply preparation position in Embodiment 2.
Fig. 10 is a block diagram illustrating the functional configuration of the automatic travel control system in Embodiment 3.
Fig. 11 is a diagram illustrating an example of a supply side setting screen in Embodiment 3.
Fig. 12 is a diagram illustrating a process for performing supply settings in Embodiment 3.

[Embodiment 1]

Hereinafter, as a paving work vehicle of the present invention, a rice transplanter for planting seedlings (agricultural materials) on a paddy field (paving work) will be described as an example.

Here, for ease of understanding, in this embodiment, unless otherwise specified, “front” (direction of arrow F shown in FIG. 1) means forward in the forward and backward direction (travel direction) of the aircraft, “Rear” (direction of arrow B shown in FIG. 1) shall mean rear in the front-back direction (travel direction) of the aircraft. In addition, the left-right direction or horizontal direction means the aircraft transversal direction (airframe width direction) perpendicular to the front-back direction of the aircraft, "left" is the direction immediately in front of the ground in FIG. 1, and "right" is in FIG. This refers to the inward direction of the ground.

〔Overall Structure〕

As shown in FIG. 1, the rice transplanter is equipped with a body 1 of a riding type and four-wheel drive type. The body 1 includes a link mechanism 13 of a parallel four-link type connected to the rear part of the body 1 so as to be capable of lifting and swinging, a hydraulic lifting link 13a that swings the link mechanism 13, and a link mechanism ( It is provided with a mother planting device 3 that is rollably connected to the rear end region of the body 1 and a fertilizing device 4 that is installed from the rear end region of the body 1 to the mother planting device 3.

The aircraft 1 is equipped with wheels 12, an engine 2, and a hydraulic continuously variable transmission 9 as the main transmission device as a mechanism for traveling. The continuously variable transmission device 9 is, for example, HST (Hydro-Static Transmission). The wheel 12 has left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. The power output from the engine 2 is transmitted to the continuously variable transmission device 9 through a traveling transmission mechanism, and from the continuously variable transmission device 9 to the front wheel 12A, the rear wheel 12B, and the work device (model unit device ( 3), and is also delivered to fertilization devices (4), etc.). The engine 2 and the continuously variable transmission 9 are mounted on the front part of the fuselage 1.

As an example, the mother planting device 3 is configured in an 8-row planting type. The seedling planting device 3 is provided with a seedling loading stand 21, 8 sets of planting mechanisms 22, etc. In addition, this mother planting device 3 can be changed to a 2-row planting, 4-set planting, or 6-set planting format by controlling each set clutch not shown.

The seedling loading stand 21 is a stand on which 8 trillion worth of mat-type seedlings are loaded. The mother loading table 21 continuously moves back and forth in the left and right directions (horizontal transfer) with a constant stroke corresponding to the left and right widths of the mat-type mother, and the mother loading table 21 is moved to the left and right by horizontal transfer of a predetermined number of horizontal transfers. Each time the stroke end is reached, each mat-type seedling on the seedling loading table 21 is vertically transferred at a predetermined pitch (vertical feed amount) toward the lower end of the seedling loading table 21. The eight planting mechanisms 22 are of a rotary type and are arranged in the left and right directions at regular intervals corresponding to the planting period. In addition, each planting mechanism 22 receives power from the engine 2 when the planting clutch (not shown) moves to an electric state, and one week's worth of seedlings ( The planting seedlings are cut out and planted in the soil area after stopping for a predetermined week. Thereby, in the operating state of the seedling planting device 3, seedlings can be taken out from the mat-type seedlings loaded on the seedling loading stand 21 and planted (supplied) in the dirt part of the faucet.

Additionally, the hair loading stand 21 may be provided with a sensor 23 that detects the remaining amount of mat-type hair. For example, the sensor 23 is an optical sensor and is provided on the surface (loading surface) of the mother loading table 21, and blocks light from entering the sensor 23 so that the mat-like hair is A configuration may be used to detect whether or not the sensor 23 is present at the arrangement position, and to detect whether or not a predetermined amount or more of the mat-like bristles are present.

In addition, information such as the number of horizontal transfers, the vertical transfer amount, the amount of seedlings taken per week, which is the amount of seedlings for one week, and the dimensions (length and width) of the mat-type seedlings, are stored in an arbitrary memory unit capable of communicating with the information terminal 5, etc. (later explained in FIG. 3, etc.) It is stored in the memory unit 35 or memory unit 42, etc.). In addition, the number of horizontal transfers, vertical transfer amount, week, and seedling collection amount may be fixed, but may be configured to be arbitrarily changeable. In this case, the storage unit stores the set information.

The fertilization device 4 (supply device) includes a hopper 25 (reservoir) that stores granular or powdered fertilizers (chemicals or other agricultural materials), a delivery mechanism 26 that discharges fertilizer from the hopper 25, and , and has a fertilization hose 28 that conveys the fertilizer discharged by the dispensing mechanism 26 and discharges the fertilizer to the packaging. The fertilizer stored in the hopper 25 is sent out in predetermined amounts by the feeding mechanism 26 and sent to the fertilizing hose 28, and is conveyed into the fertilizing hose 28 by the return wind of the blower 27, thereby producing the fertilizer. It is discharged from the mouth organ (29) into the packaging. In this way, the fertilizing device 4 supplies fertilizer to the field.

As shown in FIG. 1, the aircraft 1 is provided with an operating unit 14 in its rear region. The driving unit 14 includes a steering wheel 10 for steering the front wheels, a main gear lever 7A that adjusts the vehicle speed by performing a shifting operation of the continuously variable transmission 9, and a unit that enables shifting operation of the auxiliary transmission device. The shift lever 7B, the work operation lever 11 that enables the raising/lowering operation of the mother planting device 3 and the switching of the operating state, display (notify) various information and notify (output) the operator, It has a touch panel 50 (corresponding to the "display unit" in FIG. 3, etc.) that accepts input of various information, and is equipped with a detachable information terminal 5 and a driver's seat 16 for an operator (driver/worker). . The sub-shift lever 7B is used to switch the traveling vehicle speed between the working speed during work and the moving speed during movement. For example, movement between fields is performed at a moving speed, and planting work, etc. is performed at a working speed. In addition, in front of the operating unit 14, a spare hair storage device 17A that accommodates spare hair is supported on the spare hair support frame 17.

Additionally, the aircraft 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS), and an inertial measurement module 8B that detects the tilt and acceleration of the three axes of the aircraft 1. It is included. The positioning unit 8 is supported on the upper part of the spare parent support frame 17. Additionally, the calculated position information and direction information are stored in the above-described storage unit.

Additionally, a remote control 6 (see FIG. 3, etc.) capable of remotely controlling the information terminal 5 or the aircraft 1 may be further installed.

〔Automatic driving〕

The automatic work run in which the rice transplanter performs the seeding work on the field by automatic run will be explained using FIGS. 1 and 2.

The rice transplanter in this embodiment can selectively perform manual running and automatic running.

Manual driving (manual work driving) and automatic driving (automatic work driving) are selected by switching the automatic/manual switching switch (not shown) disposed in the operation unit 14.

When the rice transplanter performs the transplanting work, first, the driver makes the rice transplanter run by manual operation along the outer periphery (outer edge) of the field. At this time, the vehicle may be driven while performing work or may be driven as a non-work travel. By this outer circumferential running, the outer circumference shape of the pavement (pavement map) is generated, and the pavement is divided into an outer circumference area OA and an inner area IA (map creation processing). Also, at this time, one side of the outer periphery of the field or multiple designated sides is set as a supply side SL for supplying agricultural materials such as mat-type seedlings, fertilizers, chemicals, and fuel to the rice transplanter.

When the pavement map is generated, the target travel path along which the rice transplanter performs the work travel is set (route creation process). In the internal area IA, an internal round-trip path IPL (corresponding to an "internal path") and a turning path are generated as a target travel path (corresponding to a "traveling path"). The internal reciprocating path IPL is a plurality of paths substantially parallel to one side of the pavement, and the turning path is a path connecting the two internal reciprocating paths IPL. The internal round-trip path IPL is a travel route that travels the entire internal area IA without exception. Automatic work travel is done along the internal round trip path IPL. The turning run on the turning path connecting the internal reciprocating path IPL is performed automatically by a predetermined method.

In the outer peripheral area OA, a circumferential planting run is performed along the outer periphery (outer edge) of the pavement and circles the outer peripheral area OA once or multiple times. For example, as a path for performing circumferential planting travel, two travel paths are generated: an inner circumferential path IRL and an outer circumferential path ORL. By performing work travel on the inner circumferential path IRL and the outer circumferential path ORL, the entire outer circumferential area OA is performed. In the inner circumferential path IRL, work travel is performed by unmanned automatic work travel or manned automatic work travel (automatic work travel with a person on board), and in the outer circumferential path ORL, work travel is performed by manual work travel. Furthermore, by mode selection, work travel may be performed in manual work travel on the inner circumferential path IRL, and work travel may be performed on the outer circumferential path ORL by automatic travel.

In the rice transplanter, seedling supply is carried out when seedling exhaustion occurs. At the time of supply, the aircraft (1) is traveling forward and is brought close to the rim of the supply side SL. When the main supply is completed, the aircraft 1 moves backwards and returns to the travel path.

Specifically, during automatic travel (automatic reciprocating travel), when transitioning from the internal reciprocating path IPL to the turning path, the aircraft 1 is temporarily stopped at the replenishment preparation position SPP (automatic resupply stop/supply preparation processing). By performing an artificial operation in the meantime, the aircraft 1 advances (slightly advanced) to the supply point (equivalent to a “material supply point”) SP on the supply side SL at a predetermined speed, and the aircraft moves to the edge of the supply side SL. (1) is brought closer. The supply preparation position SPP, which performs the supply preparation process, is set in the terminal area of the internal reciprocating path IPL or the area near the boundary between the internal reciprocating path IPL and the turning path. In addition, such supply preparation processing is not limited to seedling supply, and may be performed when supplying various agricultural materials such as fertilizers, chemicals, and fuel.

In addition, the supply location where seedlings are supplied is not limited to the supply point SP, which is a position that goes straight from the internal round-trip path IPL to the supply side SL, and may be a supply point SA arbitrarily provided along the supply side SL. When performing a simulated supply at the supply point SA, the aircraft 1 is moved from the supply preparation position SPP to the supply point SA.

In order for the rice transplanter to run automatically, the map creation process and route creation process as described above are performed. In the route creation process, settings for supply areas and settings for supply preparation processing (supply settings) are performed simultaneously. These various processes and settings can be performed in the base unit 1, but may also be performed using the information terminal 5.

〔Supply Settings〕

As shown in FIG. 3, the automatic travel control system includes a control unit 30 provided in the aircraft 1, a positioning unit 8 provided in the aircraft 1, and an information terminal 5. . Additionally, the information terminal 5 is connected to the rice transplanter in a state where communication is possible. The information terminal 5 may be mounted on the operating unit 14, or may be held in a state that can be operated by an operator who is distant from the aircraft 1.

The control unit 30 controls automatic operation of the rice transplanter according to conditions set by the information terminal 5 or the like. The control unit 30 includes a travel control unit 32 that controls travel, a job control unit 33 that controls work, a communication unit 34 that communicates with the information terminal 5, etc., and a storage unit 35. do.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a supply setting unit 41 (corresponding to a “material supply setting unit”), and a storage unit 42. Equipped with Additionally, the information terminal 5 is provided with operating units such as switches and buttons for changing information displayed on the touch panel 50 or making various settings.

The control unit 38 controls the operation of each functional block of the information terminal 5. The communication unit 39 communicates with the aircraft 1 and the like. The touch panel 50 displays various information and various software switches. The mother supply setting unit 41 sets the supply area SL, the supply preparation position SPP, etc. based on the operation of the operation tool or software switch, while referring to the information displayed on the touch panel 50. The memory unit 42 stores various types of information.

Hereinafter, supply settings in Embodiment 1 will be described using FIGS. 2 to 5. The supply setting is performed after the map creation process is performed and the target travel route is set in the route creation process.

In supply settings, a settings screen as shown in FIG. 4 is displayed on the touch panel 50 (step #1 in FIG. 5). On the settings screen, the supply side setting operation unit 52 is displayed as a software switch. The supply side SL is selectively set by the supply side setting operation unit 52. On the setting screen, designs such as arrows corresponding to the outer shape of the pavement and the internal reciprocating path IPL are displayed, and the edges corresponding to the starting and ending parts of the internal reciprocating path IPL are displayed as candidates for the supply side SL.

The supply side setting operation unit 52 can select any of the candidate sides, all candidate sides, or those for which no supply preparation process is performed (no side is selected). The side selected in the supply side setting operation unit 52 is set as the supply side SL (step #2 in FIG. 5). Furthermore, in the example of FIG. 4, there are two candidate sides, A side and B side, but 1 or 3 or more candidate sides may be used, and if there are a plurality of candidate sides, a plurality of sides among them may be selected.

Additionally, when “do not perform replenishment preparation process” is selected in the replenishment setting operation unit 52, the non-replenishment preparation mode in which no replenishment preparation process is performed is set, and a temporary stop for replenishment is not performed. In this case, the worker determines the need for replenishment, stops work at an arbitrary location, and moves the aircraft 1 to the replenishment location to replenish. Additionally, movement to this supply location may be performed automatically.

In addition, the non-replenishment preparation mode is not limited to the case where “do not perform replenishment preparation processing” is selected in the replenishment setting operation unit 52, and may be set using a separately provided operation tool (not shown). In this case, after the supply side SL is set in the supply side setting operation unit 52, it can be set to the non-replenishment preparation mode.

Next, the automatic stop interval at which the replenishment preparation process is performed for each round trip of the internal round trip path IPL is set. In the round trip of the internal round trip path IPL, the inner round trip path IPL is traveled from the end of the internal round trip path IPL on the supply side, and the next internal round trip path IPL is traveled with the turning run in between, and the inner round trip path IPL is run on the supply side. The round trip route is the drive to the end of the IPL. Specifically, the number of trips operation unit 53 is displayed as a software switch on the settings screen. The travel number control unit 53 can select the number of round trips. The main replenishment setting unit 41 sets the number selected in the travel number operation unit 53 as the round trip number (execution interval) of the replenishment preparation process, stores it in the storage unit 42, and transmits the information to the travel control unit 32. do. The travel control unit 32 stores the set number of round trips in the storage unit 35, and temporarily stops the aircraft 1 in order to perform replenishment preparation processing each time the set number of round trips is performed (step # in FIG. 5 3).

For example, if 1 round trip is set as the number of round trips, the mother supply preparation process is performed at position SP1 after the supply preparation position SPP in Fig. 2, and if 2 round trips is set as the number of round trips, the next supply preparation position SPP is performed. Then, if the mother supply preparation process is performed at the position SP2 and 3 round trips are set as the number of round trips, the mother supply preparation process is performed at the position SP3 following the supply preparation position SPP. Then, when all necessary settings have been made, automatic work travel is started by accepting a predetermined operation (step #4 in FIG. 5).

Even if replenishment preparation processing is performed for each round trip along the internal round trip path IPL, there are cases where work travel can be continued without performing replenishment. In such a case, when the machine 1 stops, work travel is resumed by a predetermined operation by the operator. If such operations are performed to stop unnecessary work travel and restart work travel, work efficiency decreases.

In addition, the travel distance until replenishment is needed (interval of resupply preparation processing) can be predicted depending on the size of the field (length of the internal round-trip path IPL), the amount of mat-type seedlings to be loaded, the amount of seedlings collected, the seedlings, etc. There are cases.

Therefore, by using a configuration in which the number of round trips, which is the execution interval of the replenishment preparation process, can be set, unnecessary stoppage of work travel and operation for restarting work travel can be suppressed, thereby improving work efficiency.

Additionally, when the supply side SL is set on both sides of the travel direction of the internal reciprocating path IPL, the resupply preparation process can be performed for each run of the internal reciprocating path IPL. Therefore, the running number operation unit 53 is not limited to the round trip number as the execution interval of the replenishment preparation process, and may be configured to select the running number of the internal round trip path IPL.

For example, if 3 times is set as the number of trips, the main replenishment preparation process is performed at position SP4 following the replenishment preparation position SPP in FIG. 2.

By performing replenishment preparation processing each time the internal round-trip path IPL is driven for a set number of trips, replenishment preparation processing according to the need for replenishment can be performed with higher precision, further improving work efficiency.

There are cases where the driving distance until replenishment is needed (interval of replenishment preparation processing) cannot be accurately predicted, and the simulated consumption per driving distance may change depending on the pavement condition, etc. In such a case, even if replenishment preparation processing is performed at a preset execution interval, there are cases where mock replenishment cannot be performed at an appropriate timing.

For example, during work driving, there are cases where it can be predicted that the bristles will disappear until the next replenishment preparation position SPP, or there are cases where sufficient bristles still remain even when the replenishment preparation process is performed.

In such a case, a configuration in which the next supply preparation position SPP (execution interval of supply preparation processing) can be changed during automatic work driving is suitable. Thereby, work travel can be performed more efficiently.

Therefore, a frequency change operation unit 54 that allows changing the execution interval during automatic work travel may be provided. For example, the number change control unit 54 is a software switch displayed on the touch panel 50 while the work is being done. The number change operation unit 54 may be configured to select the execution interval, similar to the travel number operation unit 53, or may be configured to increase or decrease the execution interval. For example, the number change operating unit 54 may be configured so that the execution interval is determined according to the number of times it has been operated. Alternatively, the number change operation unit 54 changes the execution interval displayed on the touch panel 50 in order while the number change operation unit 54 is being operated (long press, etc.), and is displayed at the point when the operation is stopped. It may be a configuration that changes at regular implementation intervals. In addition, the frequency change operation unit 54 may be configured to perform an operation to extend the execution interval (increase or decrease the execution interval) by advancing the execution interval by one round trip (one number of trips) rather than directly inputting the execution interval.

Then, during automatic work travel, when it can be predicted that there will be no hair until the next replenishment preparation position SPP, or when it can be predicted that sufficient hair will remain even after work travel to the next replenishment preparation position SPP, the number change operation unit 54 is operated. (Step #5 in FIG. 5), the next supply preparation position SPP is changed. That is, replenishment can be performed faster than a preset implementation interval, or the replenishment preparation position SPP can be skipped.

For example, assuming that 2 round trips are set as the number of round trips, and during automatic work travel by replenishing from the replenishment preparation position SPP in Figure 2, when it is determined that sufficient mat-type bristles are mounted, the operator operates the number change operation unit In 54), an operation is performed to change the number of round trips to 3 round trips. The number change operating unit 54 transmits a change instruction to the parent supply setting unit 41 based on this operation. The parent replenishment setting unit 41 transmits this information to the travel control unit 32, and the travel control unit 32 performs replenishment preparation processing based on this information. Specifically, the next replenishment preparation process for the replenishment preparation position SPP is not performed at the position SP2, but is performed at the position SP3.

In addition, when the number change operation unit 54 is operated, only the execution interval from the previous replenishment preparation process to the next replenishment preparation process is changed, and the subsequent implementation interval may return to the initially set implementation interval (FIG. 5 step #6-1), the configuration may be such that the execution interval after the next time is changed (step #6-2 in FIG. 5). In other words, the set implementation interval itself may be changed.

In this case, the parent replenishment setting unit 41 changes the implementation interval stored in the storage unit 42 to an implementation interval according to the operation of the number change operation unit 54, and also displays the execution interval after the change in the travel control unit 32. Transmit the implementation interval. Then, the travel control unit 32 changes the implementation interval stored in the storage unit 35 to the changed implementation interval, and performs the subsequent parent supply preparation process at the changed implementation interval.

In addition, in the case of a configuration that performs an operation to advance or extend the execution interval, in the case of an operation to advance the set execution interval, 1 reciprocation (number of trips) is reduced, and in the case of an operation to extend, 1 reciprocation (1 trip count) is reduced. ) In addition, change the set execution interval.

Additionally, the configuration may be such that it is selectable whether only the next execution interval is changed or all subsequent execution intervals are changed. When the simulated consumption per driving distance changes due to pavement conditions, etc., the implementation interval often becomes temporarily inappropriate. On the other hand, if the prediction of the simulated consumption is different from the actual work, the implementation interval may not be appropriate for the entire work run. Therefore, by setting the change period of the implementation interval to be selectable only for the next time or all times after the next time, the implementation interval can be appropriately changed according to the situation at that time.

In addition, when "Do not perform replenishment preparation process" is selected in the replenishment setting operation unit 52 and the non-refill preparation mode is set, the frequency change operation unit 54 may be used when replenishing is performed at the operator's discretion. . In this case, when the operator determines that replenishment is necessary during automatic work travel and operates the frequency change operation unit 54, the travel control unit 32 receives information that the frequency change operation unit 54 has been operated, and performs all replenishment. In order to do this, it is controlled to drive toward the outer periphery of the pavement (supply side SL).

Specifically, when the number change operation unit 54 is operated, the travel control unit 32 controls the aircraft 1 to stop without transitioning to turning travel after traveling the internal reciprocating path IPL during travel. After that, the body 1 advances as is, and when it reaches the outer periphery of the pavement (supply side SL), the body 1 is stopped.

Additionally, when the replenishment side SL is set and the non-replenishment preparation mode is set, when the number change operation unit 54 is operated, the turning run is not performed after the run of the internal reciprocating path IPL toward the next replenishment side SL. Otherwise, supply may be carried out at the next supply side SL. After that, the mother replenishment setting unit 41 determines the implementation interval based on the number of round trips (number of runs) in which replenishment has been performed by operating the number change operation unit 54 from the start of the work run, and performs replenishment preparation processing. You can set it.

In addition, in the above configuration, instead of the number change operating unit 54, a configuration in which the execution interval is changed based on the voice of the operator (worker) may be used. For example, if the operator voices “Change number of times” and then “3 times”, the execution interval may be changed to 3 times. Additionally, the configuration may be such that the execution interval is increased or decreased by one time by saying "change the number of times" and then saying "increase" or "decrease". Additionally, these voice recognition technologies may be configured to recognize voices based on deep learning using artificial intelligence.

Specifically, the information terminal 5 is provided with a microphone 44 and a voice recognition unit 45 that recognizes a predetermined voice in response to the voice. When a worker's voice command is input, the microphone 44 transmits voice data to the voice recognition unit 45, and the voice recognition unit 45 recognizes the voice data as the content of a specific instruction. The voice recognition unit 45 transmits the contents of the instructions to the travel control unit 32, and the travel control unit 32 travels toward the outer periphery of the pavement (supply side SL) to resupply seedlings according to the contents of the instructions. Control the aircraft (1) so that

Additionally, the information terminal 5 is provided with a notification unit 47 that issues a predetermined notification and a remaining amount determination unit 48, and when replenishment preparation processing is performed at set execution intervals, when it is predicted that the simulated remaining amount is insufficient, It may be structured to notify that purpose.

Specifically, the remaining amount determination unit 48 calculates the seedling consumption per unit traveling distance from the stored seedling collection amount information, vertical transport amount information, mat-type seedling length information, and daytime information, and mat remaining amount Calculate the simulated remaining amount from the information. Then, the remaining amount determination unit 48 determines whether the simulated remaining amount is insufficient during the work run until the next replenishment preparation process is performed, based on the calculated consumption amount and remaining amount. When the remaining amount determination unit 48 determines that the simulated remaining amount is insufficient, it sends a notification to the notification unit 47 warning that the simulated remaining amount is insufficient.

In this way, by warning that the remaining amount of wool is insufficient, if the remaining amount of wool is insufficient, the operator can replenish before the replenishment preparation process, thereby suppressing the occurrence of bristle exhaustion during automatic work travel and performing work travel efficiently. there is.

[Embodiment 2]

Next, another embodiment of supply settings as Embodiment 2 will be described using FIGS. 6 to 9. The supply setting of Embodiment 2 is different from the supply setting of Embodiment 1 in that the implementation interval is set not by the number of round trips (number of trips) but by the working distance. In addition, in the following description, description of the same configuration as Embodiment 1 will be omitted.

As shown in FIG. 6, the automatic travel control system includes a control unit 30 provided in the aircraft 1, a positioning unit 8 provided in the aircraft 1, and an information terminal 5. . Additionally, the information terminal 5 is connected to the rice transplanter in a state where communication is possible. The information terminal 5 may be mounted on the operating unit 14, or may be held in a state that can be operated by an operator who is distant from the aircraft 1.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a supply setting unit 41 (corresponding to a “material supply setting unit”), and a storage unit 42. Equipped with Additionally, the information terminal 5 is provided with operating portions such as switches and buttons for changing information displayed on the touch panel 50 or making various settings.

In the dissemination settings of Embodiment 2, a settings screen as shown in FIG. 7 is displayed on the touch panel 50 (step #1 in FIG. 8). On the settings screen, the supply side setting operation unit 52 is displayed as a software switch. The supply side SL is selectively set by the supply side setting operation unit 52. On the setting screen, designs such as arrows corresponding to the outer shape of the pavement and the internal reciprocating path IPL are displayed, and the edges corresponding to the starting and ending parts of the internal reciprocating path IPL are displayed as candidates for the supply side SL.

The supply side setting operation unit 52 can select any of the candidate sides, all candidate sides, or not performing the supply preparation process (no side is selected). The side selected in the supply side setting operation unit 52 is set as the supply side SL (step #2 in FIG. 8). Furthermore, in the example of FIG. 7, there are two candidate sides, A side and B side, but 1 or 3 or more candidate sides may be used, and if there are a plurality of candidate sides, a plurality of sides among them may be selected.

Additionally, when “do not perform replenishment preparation process” is selected in the replenishment setting operation unit 52, the non-replenishment preparation mode in which no replenishment preparation process is performed is set, and a temporary stop for replenishment is not performed. In this case, the worker determines the need for replenishment, stops work at an arbitrary location, and moves the aircraft 1 to the replenishment location to replenish.

In addition, the non-replenishment preparation mode is not limited to the case where “do not perform replenishment preparation processing” is selected in the replenishment setting operation unit 52, and may be set using a separately provided operation tool (not shown). In this case, after the supply side SL is set in the supply side setting operation unit 52, it can be set to the non-replenishment preparation mode.

Next, the execution interval for performing the replenishment preparation process is set. Specifically, the working distance input unit 56 is displayed as a software switch on the settings screen (step #3 in FIG. 8). The working distance input unit 56, as it is widely used, inputs the working distance that can be driven. The working distance input unit 56 may be configured to directly input a number corresponding to the working distance, or may be configured to increase or decrease the number as shown in FIG. 7 . The working distance can be predicted in advance from information such as the amount of mat-type wool mounted on the wool loading table 21, the number of horizontal transfers, the vertical transfer amount, and the week, and may be determined empirically by taking into consideration the packaging situation, etc. The mother replenishment setting unit 41 sets the replenishment preparation position SPP based on the working distance and replenishment side SL input from the working distance input unit 56, stores it in the storage unit 42, and stores the information in the travel control unit 32. send. The travel control unit 32 stores the set replenishment preparation position SPP in the storage unit 35 and temporarily stops the aircraft 1 in order to perform replenishment preparation processing at the set replenishment preparation position SPP.

For example, if the internal reciprocating path IPL1, the internal reciprocating path IPL2, and the internal reciprocating path IPL3 are traveled from the planting start position S, and the distance traveled to the position PA on the internal reciprocating path IPL4 becomes the set working distance, the position on the traveling path The end area of the internal round-trip path IPL closest to the supply side SL to the PA is set at the supply staging position SPP. In the example of Fig. 9, the position PB is set to the supply preparation position SPP.

Here, the traveling distance from the planting start position S to the supply preparation position SPP becomes longer than the set working distance. In such a case, the work is adjusted to enable work travel from the planting start position S to the supply preparation position SPP (position PB) by lengthening the week or reducing the amount of seedlings collected.

Additionally, if the daytime adjustment is partially performed, the aesthetics may be damaged. In such cases, it is desirable for weekly adjustments to be made in the center of the pavement. For example, weekly adjustments are made only in areas spaced apart from the outer edge of the pavement by a predetermined distance or more.

Moreover, when the distance from the position PA to the supply side SL is long, even if the daytime or the amount of seedlings is taken out, it may not be possible to perform the work run from the planting start position S to the position PB. When such a state is expected, the end area of the internal reciprocating path IPL toward the supply side SL on the side of the planting start position S next to the internal reciprocating path IPL including the position PA is set to the supply preparation position SPP. For example, in Fig. 9, when the supply side SLB is included as the supply side SL, the position PC is set to the supply preparation position SPP. Additionally, when the supply side SL is only the supply side SLA, the position PD is set to the supply preparation position SPP. Then, when all necessary settings are made, automatic work travel is started by accepting a predetermined operation (step #4 in FIG. 8).

In this way, by setting the replenishment preparation position SPP based on the working distance, the replenishment preparation position SPP can be set with higher precision according to the amount of simulated material to be supplied. As a result, unnecessary stopping of work travel and performing operations for resuming work travel are suppressed, and work efficiency can be further improved.

In addition, the adjustment of the weekly or seedling collection amount may be made during automatic work travel when the theoretical seedling consumption amount considered when determining the work distance is compared with the actual consumption amount obtained as a result of the work run, and there is a difference between the two. In addition, a wheel speed sensor is provided, and the slip rate in the pavement is measured by comparing the driving distance calculated from the wheel speed sensor and the driving distance calculated based on the positioning data output by the positioning unit 8, By calculating an appropriate weekly cycle based on the slip rate and adjusting the weekly rotation by a continuously variable transmission mechanism such as a continuously variable hydrostatic mechanism (HST) provided in the drive system of the work equipment, it is possible to calculate hair consumption with high precision.

Specifically, the information terminal 5 further includes a location calculation unit 57, a consumption amount prediction unit 58, and a consumption amount calculation unit 59.

The position calculation unit 57 calculates the position of the aircraft 1 on the target travel path by an arbitrary method. For example, the position calculation unit 57 continuously acquires the positioning data output by the positioning unit 8 and continuously calculates the position of the body 1 in the packaging. The calculated positional information of the aircraft 1 is stored in at least one of the storage unit 42 and the storage unit 35. In addition, the stored position of the body 1 may be at least the starting and ending positions of each internal reciprocating path IPL, but may be any ratio or all of the continuously calculated positions of the body 1. .

The consumption prediction unit 58 predicts the theoretical bristle consumption amount consumed when traveling the working distance from the vertical feed amount and the number of lateral feeds of the mother plant device 3 and the length and width of the mat-type hair, and sends it to the control unit 30. Transmit (step #5-1 in FIG. 8).

The consumption amount calculation unit 59 calculates the unit distance from the amount of change in the position of the body 1 calculated by the position calculation unit 57 on the internal round trip path IPL, the stored information on the vertical transfer amount, and the information on the number of horizontal transfers. The actual hair consumption amount per hair is calculated, and the actual hair consumption amount consumed when the working distance is traveled with the same settings is calculated and transmitted to the control unit 30 (step #6-1 in FIG. 8).

Then, the operation control unit 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares the two, and adjusts at least one of the weekly amount and the seedling collection amount according to the comparison result (step #7-1 in FIG. 8).

Thereby, adjustment of the daytime and the amount of seedlings taken is performed only when it becomes necessary, and work travel can be performed efficiently while performing mother planting work with higher precision.

Additionally, errors may occur in the working distance depending on the packaging situation, etc. In this case, the supply preparation position SPP may be changed depending on the distance that can actually be traveled with the simulated quantity to be loaded.

In order to realize such a configuration, the information terminal 5 may be provided with a position calculation unit 57, a distance comparison unit 61, a position change operation unit 62, and a notification unit 47.

The distance comparison unit 61 first calculates the simulation consumption per unit distance calculated by the consumption calculation unit 59 and the simulated amount to be loaded, so that the driving distance from the immediately preceding replenishment preparation position SPP until the next simulation replenishment is required is calculated. Calculate the driving distance (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used for setting (step #6-2 in FIG. 8). And, if there is a difference greater than a predetermined threshold value between the possible travel distance and the working distance, the distance comparison unit 61 notifies the notification unit 47 to that effect (step #7-2 in FIG. 8). At this time, it is desirable to be notified at the same time which distance is longer.

The position change operation unit 62 receives an operation to change the supply preparation position SPP. When the operator receives the notification from the notification unit 47 and determines that it is necessary to change the replenishment preparation position SPP, he operates the position change operation unit 62 (step #8-2 in FIG. 8). Then, the mother supply setting unit 41 changes the supply preparation position SPP to a position adjacent to the supply side SL in the terminal area of the internal reciprocating path IPL in the front or rear of the traveling direction in accordance with the operation of the position change operation unit 62. (Step #9-2 in FIG. 8).

As a result, the replenishment preparation position SPP can be changed to a working distance according to the actual seedling consumption, and the simulated replenishment can be performed more efficiently. In addition, the configuration is not limited to a configuration in which the replenishment preparation position SPP is changed by the operator operating the position change operation unit 62, and a configuration in which the replenishment preparation position SPP is automatically changed according to the comparison result of the distance comparison unit 61 may be used. .

As described above, the number of horizontal transfers, vertical transfer amount, and seedling collection amount can be changed. Additionally, the week may change. By changing these, the distance that can be run for work after performing a simulated supply changes. Accordingly, it is appropriate for the supply preparation position SPP to be changed.

Therefore, when the number of horizontal transfers, vertical transfer amount, seedling collection amount, or week is changed (step #5-3 in Fig. 8), the seedling supply setting unit 41 may change the supply preparation position SPP according to the change amount (step #5-3 in Fig. 8). Step #6-3 in Figure 8).

[Embodiment 3]

Next, using FIGS. 10 to 12, an embodiment with different supply settings as Embodiment 3 will be described. The supply setting in Embodiment 3 sets the parent supply side with a configuration different from the configuration described above in Embodiment 1 or Embodiment 2. In addition, in the following description, description of the same configuration as Embodiment 1 or Embodiment 2 will be omitted.

As shown in FIG. 10, the automatic travel control system includes a control unit 30 provided in the aircraft 1, a positioning unit 8 provided in the aircraft 1, and an information terminal 5. . Additionally, the information terminal 5 is connected to the rice transplanter in a state where communication is possible. The information terminal 5 may be mounted on the operating unit 14, or may be held in a state that can be operated by an operator who is distant from the aircraft 1.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a supply setting unit 41 (corresponding to a “material supply setting unit”), and a storage unit 42. Equipped with Additionally, the information terminal 5 is provided with operating portions such as switches and buttons for changing information displayed on the touch panel 50 or making various settings.

In the supply settings of Embodiment 3, a settings screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12). On the settings screen, a supply setting operation unit 52 and a path selection operation unit 64 are displayed as software switches. The replenishment setting operation unit 52 accepts a selection operation as to whether to perform replenishment preparation processing (step #2 in FIG. 12). If not performing the replenishment preparation process is selected in the replenishment side setting operation unit 52, the replenishment side SL is not set. Additionally, on the settings screen, designs such as arrows corresponding to the outer circumferential shape of the packaging and the internal reciprocating path IPL are displayed. Candidates for supply side SL are sides corresponding to the starting and ending portions of the inner reciprocating path IPL among the outer periphery of the pavement.

When performing the replenishment preparation process is selected (step #2 "Yes" in FIG. 12), the operator operates the path selection operation unit 64 to select the internal round-trip path IPL (step #3 in FIG. 12). The worker determines the direction of travel from the arrows displayed on the inner reciprocating path IPL, etc., and selects the supply side SL by selecting the inner reciprocating path IPL so that the outer periphery on the side of the traveling direction becomes the supply side SL. The path selection operation unit 64 is an operation tool that can select one of the displayed internal reciprocating path IPLs, and may be, for example, a switch that can select one of a plurality of internal reciprocating path IPLs, as shown in FIG. 11. , it may be an operation tool that sends the selected internal round-trip path IPL to the left and right in order. Additionally, the configuration may be such that the internal reciprocating path IPL is selected by directly touching a design corresponding to the internal reciprocating path IPL on the touch panel 50 without providing the path selection operation unit 64. Additionally, the selected inner round trip path IPL changes, such as by emitting light or being colored, so that the selected inner round trip path IPL can be identified.

The internal round-trip route IPL displayed on the settings screen is marked with designs such as arrows indicating the direction of travel. The main supply setting unit 41 sets the pavement outer periphery LA on the traveling direction side of the inner round-trip path IPL selected by the route selection operation unit 64 to the supply side SL (step #4 in FIG. 12). Additionally, when a plurality of supply side SLs can be set, the mother supply setting unit 41 may set, in addition to the outer peripheral LA, the outer peripheral LB of the pavement on the opposite side to the direction of travel of the internal round-trip path IPL as the supply side SL. .

Then, when all necessary settings, such as the setting of the supply preparation position SPP, are made, automatic work travel is started by accepting a predetermined operation. Also, even when it is selected not to perform the replenishment preparation process (step #2 "No" in FIG. 12), after all necessary settings such as the setting of the replenishment preparation position SPP are made, automatic work running is started by accepting a predetermined operation. (Step #5 in FIG. 12).

In this way, the supply side SL can be set by a simple method of selecting the internal round-trip path IPL displayed on the setting screen, and the supply side SL can be set easily and the setting process can be performed efficiently.

Additionally, when not performing the replenishment preparation process is selected in the replenishment setting operation unit 52, the non-replenishment preparation mode in which no replenishment preparation process is performed is set, and a temporary stop for replenishment is not performed. In this case, the worker determines the need for replenishment, stops work at an arbitrary location, and moves the aircraft 1 to the replenishment location to replenish.

In order for the operator to arbitrarily perform mock replenishment, a mother replenishment operation unit 65 (equivalent to a “material replenishment operation unit”) may be provided. The main supply operation unit 65 can be a software switch displayed on the touch panel 50 of the information terminal 5. During automatic work travel, when the operator determines that replenishment is necessary and operates the seedling replenishment operation unit 65, the travel control unit 32 receives information that the seedling replenishment operation unit 65 has been operated, and performs seedling replenishment. Control to drive toward the outer periphery (supply side SL) of (step #6 in FIG. 12).

Specifically, when the main replenishment operation unit 65 is operated, the travel control unit 32 does not transition to turning travel after running the internal reciprocating path IPL during travel, but moves forward as is to the outer periphery of the pavement (supply side SL). When it reaches, the aircraft (1) is controlled to stop.

In addition, instead of providing a main replenishment operation unit 65, a pattern corresponding to the route selection operation unit 64 and the internal round-trip path IPL is displayed even during automatic work driving in the non-supply preparation mode, and the route selection operation unit 64 It may be configured to select the internal round-trip path IPL. After running the selected internal round-trip path IPL, the master replenishment setting unit 41 transmits information to the travel control unit 32 to cause the aircraft 1 to run toward the outer periphery of the pavement to perform simulated replenishment.

In addition, when the mother supply operation unit 65 is operated and the simulated supply is performed, the mother supply setting unit 41 is set to the outer periphery on the direction of travel of the internal round-trip path IPL that was traveling immediately before the simulation supply was performed, that is, the simulated supply setting unit 41 is operated. The outer periphery where supply is performed may be set as the supply area SL (step #7 in FIG. 12).

Additionally, after the supply side SL is set and the supply preparation position SPP is set, the simulated supply amount required at the time of supply may be notified. This replenishment amount is a simulated amount required to perform a work run to the next replenishment preparation position SPP after the simulated replenishment. The required supply amount can be calculated from the working distance between the supply preparation position SPP, the vertical transfer amount, the number of horizontal transfers, the amount of seedlings taken, the size of the mat-type seedlings, etc.

In order to realize such a configuration, the information terminal 5 may further include a notification unit 47 and a notification control unit 66.

After the replenishment preparation position SPP is set, the notification control unit 66 notifies the notification unit 47 of the calculated replenishment amount.

Additionally, the parent supply setting unit 41 may modify at least one of the supply side SL and the supply preparation position SPP according to the calculated supply amount. For example, when the calculated supply amount is significantly smaller than the amount of mat-type hair that can be mounted on the hair loading stand 21, the supply preparation position SPP may be set at a more distant position. Additionally, there are cases where the supply side SL can be set at another outer periphery of the pavement. In this case, the parent supply setting unit 41 may modify the supply variable SL.

In addition, in automatic work running when set to the non-replenishment preparation mode, the operation of the hair replenishment operating unit 65 may be accepted only when a notification to the effect that hair exhaustion has been detected is made.

When hair exhaustion is detected by the sensor 23 or the like, the notification control unit 66 notifies the notification unit 47 to that effect. After such notification is made, the configuration may be such that at least one of the supply preparation position SPP and the supply side SL can be set. The sensor 23 may be configured to directly detect bristle exhaustion, or may be configured to detect the remaining amount of bristles (mat-type bristles) as described above. When the sensor 23 is configured to detect the remaining amount of the simulator, the notification control unit 66 determines that the remaining amount of the simulator is below a predetermined amount, indicating that the simulator is exhausted, and notifies the notification unit 47.

Detection of hair exhaustion is not limited to the sensor 23 and may be performed using the remaining amount estimation unit 68. The remaining amount estimation unit 68 can be provided in the information terminal 5. The remaining amount estimation unit 68 calculates the expected consumption amount using information on the vertical transfer amount, information on the number of horizontal transfers, information on the amount of seedlings taken, information on the day, information on the travel distance, etc. in the work run after replenishment. Then, the remaining amount estimation unit 68 is mounted at the time of supply of wool and subtracts the calculated expected consumption amount from the amount of mat-type wool stored in the storage unit 42 of the information terminal 5, etc. to estimate the actual remaining amount of wool.

Additionally, a configuration may be used in which both detection of the simulated remaining amount by the sensor 23 and estimation of the actual remaining amount by the remaining amount estimation unit 68 are performed. In this case, the notification control unit 66 may control the notification using either the simulated remaining amount detected by the sensor 23 or the actual remaining amount detected by the operator, selected by the operator.

For this reason, a remaining amount selection operation unit 69 may be provided. The remaining amount selection operation unit 69 is provided as a software switch or the like displayed on the touch panel 50 of the information terminal 5.

During automatic work driving, the operator operates the remaining amount selection operation unit 69 to select one of the simulated remaining amount detected by the sensor 23 and the actual remaining amount. The notification control unit 66 determines that the remaining amount of the selected seed or the actual remaining amount of the seed is less than a predetermined amount and determines that the seed is exhausted, and notifies the notification section 47 to that effect.

[Other Embodiments]

(1) In each of the above-mentioned embodiments, the control unit 30 and the information terminal 5 are not limited to being comprised of the above functional blocks, and may be comprised of any functional blocks. For example, each functional block of the control unit 30 and the information terminal 5 may be further subdivided, or, conversely, some or all of each functional block may be integrated. Additionally, the functions of the control unit 30 and the information terminal 5 are not limited to the above-mentioned function blocks and may be realized by a method in which any function block executes. Additionally, some or all of the functions of the control unit 30 and the information terminal 5 may be configured by software. The software-related program is stored in an arbitrary storage device such as the storage unit 35 or the storage unit 42, and is stored in a processor such as a CPU included in the control unit 30 or the information terminal 5, or a separately provided processor. It is executed by.

(2) In each of the above embodiments, a parent supply setting unit 41, a microphone 44, a voice recognition unit 45, a notification unit 47, a remaining amount determination unit 48, a position calculation unit 57, The distance comparison unit 61, the consumption amount prediction unit 58, the consumption amount calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to the configuration provided in the information terminal 5, and among them, At least one may be provided in the control unit 30, or may be provided in another unit of the aircraft 1 or an external management computer capable of communicating with the aircraft 1. For example, the microphone 44 and the notification unit 47 are provided in the operation unit 14, and the parent supply setting unit 41, the voice recognition unit 45, the remaining amount determination unit 48, and the location calculation unit ( 57), at least one of the distance comparison unit 61, the consumption prediction unit 58, the consumption calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 is a control unit provided in the aircraft 1. It may be provided in (30), etc. In addition, at least one of the trip count operation unit 53, the number change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the supply operation unit 65 is an operation unit ( 14) may be provided in the body (1), etc. Main supply setting unit 41, microphone 44, voice recognition unit 45, notification unit 47, remaining amount determination unit 48, location calculation unit 57, distance comparison unit 61, consumption prediction unit (58), consumption amount calculation unit 59, notification control unit 66, remaining amount estimation unit 68, trip count operation unit 53, frequency change operation unit 54, work distance input unit 56, position change operation unit 62 ), the route selection operation unit 64, or the main supply operation unit 65 may be provided in the remote control 6.

(3) In each of the above-mentioned embodiments, the aircraft 1 may be provided with an imaging device 19 that photographs the surroundings of the aircraft 1 and a certain supply point detection unit 20. When simulated supply is performed at supply point SA as a supply location, the certain supply point detection unit 20 identifies the supply point SA through image analysis from the image captured by the imaging device 19, and the travel control unit 32 detects the identified supply point SA. It may be configured to move in automatic driving with point SA.

(4) In each of the above embodiments, the automatic travel control system or the packaging work vehicle may have a configuration that can be linked with a combine. In addition, information on the supply side SL set when the rice transplanter performs transplant work may be transmitted to the combine, and the discharge position of grain during harvesting work by the combine may be determined based on the information on the supply side SL.

Additionally, if the combine is equipped with a lidar sensor or the like and can collect 3D data of the field during harvesting, the automatic travel control system or the field work vehicle may consider the 3D data of the field when setting the supply side SL.

The outer perimeter of the pavement may not be suitable as a supply side SL depending on the height of the ridge or the waviness of the ridge (outer perimeter of the pavement). By setting the supply side SL in consideration of the 3D data of the pavement acquired in the previous year, etc., setting the supply side SL at an inappropriate position is suppressed, and the supply side SL is set appropriately.

(5) In each of the above-mentioned embodiments, the sensor 23 may be configured to detect how much mat-like hair remains by arranging a plurality of such sensors 23 side by side in the vertical transfer direction. In addition, the sensor 23 may be a camera that photographs the mat-type hair on the seedling loading stand 21, or may be configured to detect the remaining amount of mat-type hair by analyzing the captured image. In addition, the sensor 23 may be a weight sensor and may be configured to measure the remaining amount of wool from the change in the weight of the mat-type wool mounted on the wool loading stand 21.

Additionally, a drone may be mounted instead of the sensor 23. In this case, the top of a loading table 21 is photographed by a drone, and the captured image is analyzed to detect the remaining amount on a loading table 21.

Additionally, instead of detecting the remaining amount of hair by the sensor 23, the exhaustion of hair, etc. may be recognized by a voice made by the operator. In this case, a voice recognition system is provided in the information terminal 5, the aircraft 1, or the remote control 6, and the voice recognition system interprets the voice emitted by the worker and recognizes hair exhaustion, etc.

For example, the voice recognition system recognizes the worker's voice saying “hair loss” and detects that hair loss has occurred. Additionally, the voice recognition system recognizes the worker's voice saying "I have a lot of hair" and detects that the work trip may be longer than planned.

According to these detection contents, the mother supply setting unit 41 changes the timing for performing the supply preparation process.

(6) In each of the above embodiments, the farm work vehicle is not limited to a rice transplanter, but may be other work vehicles such as a seeding machine, a chemical spreader, or a fertilizer that supplies agricultural cooperative materials to the field, and discharges crops harvested from the field. Combines, etc. can also contribute to harvesting.

In this case, a discharge side along the discharge position for discharging the harvested crops is set from the outer periphery of the field, and discharge preparation processing is performed at the discharge preparation position of the internal reciprocating path IPL set by the material discharge setting unit. In other words, the “supply side” in the automatic running control system of the rice transplanter corresponds to the “discharge side” in the automatic running control system of the harvester, “agricultural materials” correspond to “harvested crops”, and “material supply” The “setting unit” corresponds to the “material discharge setting unit,” the “supply preparation position” corresponds to the “discharge preparation position,” and the “supply preparation process” corresponds to the “discharge preparation process.”

The present invention is not limited to transplanting vehicles such as rice transplanters, but can be applied to various paving vehicles such as combines and tractors.

1: Airframe
5: Information terminal
6: Remote control
21: certain loading platform
22: Planting mechanism
23: sensor
32: Driving control unit
33: Job control unit
41: Mother supply setting unit (material supply setting unit)
44: microphone
45: Voice recognition unit
47: Notification department
48: Remaining amount determination unit
53: Driving count control unit
54: Count change control panel
IPL: Internal round-trip path (internal path)
SL: supply side

Claims (15)

It is an automatic driving control system for a paving work truck that performs paving work to supply agricultural materials to the paving by repeating automatic reciprocating travel on a travel path consisting of an internal path and a turning path,
In order to replenish materials at a predetermined replenishment point, the packaging work vehicle performs replenishment preparation processing to stop traveling on the internal route every time a predetermined number of trips are performed,
a travel control unit that controls automatic travel including the replenishment preparation process;
An operation control unit that controls the packaging operation,
A trip number operation unit that accepts selection of the trip number,
An automatic travel control system comprising a material replenishment setting unit that sets the travel number according to an input to the travel number operation unit. According to paragraph 1,
The automatic travel control system wherein the number of trips is the number of round trips for traveling on the two internal paths sandwiching the turning path. According to claim 1 or 2,
Further comprising a frequency change operation unit that receives an instruction to change the number of trips,
When the change instruction is received during the automatic reciprocating travel, the material replenishment setting unit changes the number of trips from the previous replenishment preparation process to the next replenishment preparation process in accordance with the change instruction. control system. According to paragraph 3,
The automatic travel control system wherein the material replenishment setting unit performs the replenishment preparation process with the changed travel number and then returns the subsequent travel number to the travel number selected in the travel number operation unit. According to paragraph 3,
The automatic travel control system, wherein the material replenishment setting unit, upon receiving the change instruction, changes the subsequent number of trips to the number of trips corresponding to the change instruction. According to any one of claims 3 to 5,
The automatic travel control system wherein the number change operating unit is provided on the body of the packaging work vehicle. According to any one of claims 3 to 5,
Further comprising an information terminal detachable from the packaging vehicle,
The automatic travel control system wherein the number change operating unit is provided in the information terminal, and the change instruction is determined according to the number of times the number changing operating unit has been operated. According to any one of claims 3 to 5,
Further comprising an information terminal detachable from the packaging vehicle,
The automatic travel control system wherein the number change operation unit is provided in the information terminal, and the change instruction is determined by selecting the number of trips to be changed while the number change operation unit is being operated. According to any one of claims 3 to 5,
Further provided with a remote control capable of remote operation of the packaging work vehicle,
The automatic driving control system wherein the number change operation unit is provided in the remote control. According to any one of claims 3 to 5,
Further equipped with a microphone for inputting voice,
The material supply setting unit has a voice recognition unit that responds to the predetermined voice,
The voice recognition unit recognizes the voice input to the microphone,
The material supply setting unit changes the number of trips according to the voice recognized by the voice recognition unit. According to clause 10,
Further provided with a remote control capable of remote operation of the packaging work vehicle,
The microphone is provided in the remote control, an automatic driving control system. According to any one of claims 3 to 11,
The number of trips operation unit can select a non-replenishment preparation mode that does not execute the replenishment preparation process,
An automatic travel control system wherein when the number change operation unit is operated during the automatic reciprocating travel in which the non-refill preparation mode is selected, the travel control unit executes the replenishment preparation process the next time the refueling point is approached. According to any one of claims 1 to 12,
The paving work vehicle is a seedling transplant vehicle for planting seedlings as agricultural materials on the field, and has a seedling loading stand and a planting mechanism,
The seedling loading table loads mat-type seedlings and continuously feeds the mat-type seedlings to the planting mechanism at a predetermined vertical transfer amount,
The planting mechanism extracts a predetermined amount of seedlings from the mat-type seedlings and plants the seedlings in the field for a predetermined period of time,
The seedling loading table has a sensor that detects the remaining amount of the mat-type seedling,
The automatic travel control system further includes a notification unit that provides a predetermined notification,
The material supply setting unit next performs the supply preparation process from the information of the remaining amount of the mat, the information of the seedling collection amount, the information of the vertical conveyance amount, the length information of the mat-type seedlings, and the information of the week, which are detected by the sensor. In the packaging operation up to this point, it has a remaining amount determination unit that determines whether the simulated remaining amount is insufficient,
The automatic travel control system, wherein the remaining amount determination unit notifies the notification unit that the simulated remaining amount is insufficient when the simulated remaining amount is insufficient. It is an automatic driving control system for a paving truck that performs paving work to harvest crops from the paddy field by repeating automatic reciprocating travel on a travel path consisting of an internal path and a turning path,
In order to discharge the harvested crops from a predetermined discharge side, the packaging work vehicle performs a discharge preparation process of stopping the travel on the internal path every time a predetermined number of trips are performed,
A travel control unit that controls automatic travel including the discharge preparation process,
An operation control unit that controls the packaging operation,
A trip number operation unit that accepts selection of the trip number,
An automatic travel control system comprising a material discharge setting unit that sets the travel number according to an input to the travel number operation unit. In order to carry out paving work to supply agricultural materials to the field by repeating automatic reciprocating traveling on a traveling path consisting of an internal path and a turning path, and to supply materials at a predetermined supply side, the travel of the internal path is determined by predetermined It is a packaging work vehicle that performs a supply preparation process that stops running every time the number of runs is performed,
A working device that performs the packaging operation,
a travel control unit that controls automatic travel including the replenishment preparation process;
An operation control unit that controls the packaging operation,
A trip number operation unit that accepts selection of the trip number,
A packaging work vehicle, comprising a material replenishment setting unit that sets the number of trips according to an input to the number of trips operation unit.

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