JP7155307B2 - Automatic driving system, route generation method - Google Patents

Description

The present invention relates to an automatic driving system and a route generation method.

In the agricultural field work machine disclosed in Patent Document 1 below, when agricultural work is performed in a field, a traveling route calculation unit calculates a traveling route suitable for the agricultural work. Then, the field work machine performs farm work while traveling along this traveling route. Specifically, the field work machine travels in a straight line from a work start point while performing farm work in an inner area surrounded by headlands, and reaches a work end point. Then, the field work machine turns 180° on the headland, reaches the next work start point next to the previous work end point, and travels straight from the next work start point to perform the next work. reach the end point. By repeating this, farm work is performed in the entire inner area.

JP 2015-112071 A

The agricultural field work machine described in Patent Literature 1 travels along the travel route while supplying materials necessary for farm work to the travel route. In this case, it is necessary for the field work machine to suspend the farm work, replenish the materials at a predetermined replenishment position outside the travel route, and then return to the suspension position where the farm work was interrupted.
On the other hand, unlike the field work machine of Patent Document 1, in the field work machine that travels along the travel route while harvesting crops, when the crop storage unit that stores the crops becomes full while traveling along the travel route, farm work is performed. is interrupted, and after the crop is discharged at a predetermined discharge position outside the travel route, it is necessary to return to the interrupted position.

Depending on the positional relationship between the interruption position and the replenishment position (ejection position), the distance that the field implement reciprocates between the interruption position and the replenishment position (ejection position) increases, and it takes time to complete the entire process of farm work. Fuel and time may increase.
SUMMARY OF THE INVENTION Accordingly, it is a primary object of the present invention to provide an automatic traveling system for reducing the distance traveled by agricultural machinery in a field.

An embodiment of the present invention is an automatic traveling system that travels while supplying material in a field, replenishes the material at a replenishment position when the material is insufficient, and then generates a travel route after returning. By a first route connecting a first start point and a first end point, a second route connecting a second start point and a second end point, and the first route and the second route a travel route generating unit that generates the configured travel route; an automatic travel control unit that travels the travel route in order of the first route and the second route; and the second start point when a predetermined condition is satisfied. and a corrected route generation unit that generates a corrected travel route in which the second end point and the second end point are interchanged, wherein the predetermined condition is greater than the distance between the refill position and the second start point than the distance between the refill position and the second start point. To provide an automatic driving system in which the distance to a second end point is short.

When the agricultural implement needs to go to the replenishment position to replenish the supply material, the agricultural implement needs to move to the second start point to resume the work after reaching the replenishment position. Therefore, when the movement distance when the agricultural work machine is traveled from the replenishment position to the second end point is shorter than the movement distance when the agricultural work machine is traveled from the replenishment position to the second start point, The travel distance of the agricultural implement can be reduced by interchanging the second start point and the second end point. Therefore, with a configuration that can generate a travel route in which the second start point and the second end point are interchanged, the distance traveled by the agricultural implement in the field can be reduced.

FIG. 1 is a side view of a rice transplanter according to the automatic traveling system of the first embodiment of the present invention. FIG. 2 is a plan view of the rice transplanter. FIG. 3 is a schematic diagram for explaining how the rice transplanter travels in the agricultural field. FIG. 4 is a block diagram showing the electrical configuration of the rice transplanter. FIG. 5 is a block diagram showing an electrical configuration of a wireless communication terminal that communicates with the rice transplanter. FIG. 6A is a schematic diagram for explaining the state of the rice transplanter in the field before and after replenishing the supply materials. FIG. 6B is a schematic diagram for explaining the state of the rice transplanter in the field before and after replenishing the supply materials. FIG. 6C is a schematic diagram for explaining the state of the rice transplanter in the field before and after replenishing the supply materials. FIG. 7 is a flowchart for explaining an example of corrected route generation processing by a corrected route generation unit provided in the rice transplanter. FIG. 8 is a schematic diagram for explaining how the rice transplanter according to the second embodiment of the present invention runs in the field. FIG. 9A is a schematic diagram for explaining the state of the rice transplanter according to the second embodiment in the field before and after replenishing the supply materials. FIG. 9B is a schematic diagram for explaining how the rice transplanter according to the second embodiment travels in the farm field to replenish supply materials. FIG. 10 is a flowchart for explaining an example of automatic travel control processing by an automatic travel control unit provided in the rice transplanter according to the second embodiment. FIG. 11 is a flowchart for explaining an example of automatic travel control processing by an automatic travel control unit provided in the rice transplanter according to the third embodiment. FIG. 12 is a flowchart for explaining an example of automatic travel control processing by an automatic travel control unit provided in the rice transplanter according to the fourth embodiment. FIG. 13 is a schematic diagram for explaining an example of a corrected travel route when generation of the corrected travel route is performed twice.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
<First embodiment>
FIG. 1 is a side view of a rice transplanter 1 according to the automatic traveling system of the first embodiment of the invention. FIG. 2 is a plan view of the rice transplanter 1. FIG.
1 and 2, the rice transplanter 1 performs a planting operation of planting seedlings on the ground of the field F while traveling in the field F (see also FIG. 3). The rice transplanter 1 includes a traveling body 2 and a planting section 3 arranged behind the traveling body 2. - 特許庁The traveling body 2 includes a pair of left and right front wheels 5 and a pair of left and right rear wheels 6, and can travel by the driving force of the engine 10. As shown in FIG.

The traveling machine body 2 includes a transmission 27 , a front axle 28 and a rear axle 29 . Transmission 27 transforms the power from engine 10 and transmits it to front axle 28 and rear axle 29 . The front axle 28 transmits power input from the transmission 27 to the front wheels 5 . The rear axle 29 transmits power input from the transmission 27 to the rear wheels 6 .

The traveling machine body 2 includes a driver's seat 7 for a user to board, a steering handle 8 for steering the traveling machine body 2 , and a shift pedal 9 for adjusting the traveling speed of the traveling machine body 2 .
An operation unit 11 (see FIG. 4, which will be described later) is provided near the steering handle 8 for the user to perform various operations. The operation unit 11 includes a speed setting dial, a touch panel display, and the like. The speed setting dial is a dial operated to adjust the upper limit of running speed. The running speed of the rice transplanter 1 is adjusted by the amount of depression of the shift pedal 9 within a range not exceeding the upper limit of the running speed.

The planting part 3 is connected to the rear of the traveling body 2 via an elevating link mechanism 13 . A PTO shaft 14 for outputting the driving force of the engine 10 to the planting part 3 and an elevating cylinder 15 for driving the planting part 3 up and down are arranged at the rear part of the traveling body 2 . The driving force of the engine 10 is transmitted to the PTO shaft 14 via the transmission 27 . The lifting link mechanism 13 is composed of a parallel link structure composed of a top link 18 and a lower link 19 . A lifting cylinder 15 is connected to the lower link 19 . By extending and contracting the lifting cylinder 15, the entire planting part 3 can be lifted up and down.

The planting section 3 includes a plurality of (four in this embodiment) planting units 21 for planting seedlings in the ground, a planting input case 20 for driving the planting units 21, and a seedling mat M (two points in FIG. 2). Seed dashed line) is placed thereon, and a plurality of floats 23 for leveling the ground before seedlings are planted.
A lifting link mechanism 13 is connected to the planting input case 20, and a plurality of (four in this embodiment) planting units 21 are attached. The planting input case 20 is provided with a planting output shaft 30 that transmits power from the planting input case 20 to each planting transmission case 24 .

Each planting unit 21 is a rotary planting device having a planting transmission case 24 , a rotating case 25 and a planting arm 26 . Two rotating cases 25 are attached to the planting transmission case 24 of each planting unit 21 , and two planting arms 26 are attached to each rotating case 25 .
The seedling mounting base 22 is composed of a plate-like member and is arranged so as to be inclined in a front-high and rear-low shape when viewed from the side of the machine body. On the rear surface of the seedling mounting table 22, mounting surfaces on which the seedling mats M are mounted are arranged side by side in the body width direction according to the number of the planting arms 26 (the number of rows of the rice transplanter 1). Since the rice transplanter 1 of this embodiment is a rice transplanter for 8-row planting, 8 mounting surfaces are provided. A seedling mat M is placed in an inclined state on each placement surface.

Although not shown in FIGS. 1 and 2, the rice transplanter 1 includes a seedling lateral feeding mechanism 36 (see FIG. 4 described later) for laterally moving the seedling mounting table 22, and a vertical feeding transport of the seedling mounting table 22. A seedling vertical feed mechanism 37 (see FIG. 4, which will be described later) is provided.
As the seedling lateral feeding mechanism 36 and the seedling vertical feeding mechanism 37, for example, a known configuration described in Japanese Patent Application Laid-Open No. 2017-153453 can be used. Lateral movement means moving the seedling mounting table 22 in the vehicle width direction of the traveling body 2 . The vertical transport is to move the seedling mat M to the planting arm 26 side on the seedling mounting table 22 .

A driving force from the PTO shaft 14 is input to the planting input case 20 . Power from the planting input case 20 via the planting output shaft 30 is transmitted to each planting transmission case 24 . The rotating case 25 is rotationally driven by power from the planted transmission case 24 . As a result, the tip portion of the planting arm 26 operates while drawing a loop-shaped rotational trajectory. The tip part of the planting arm 26 scrapes the seedlings from the seedling mat M placed on the seedling mounting base 22 and plants the seedlings on the ground of the field F when moving from top to bottom.

Since the rice transplanter 1 of this embodiment is an 8-row rice transplanter, it is naturally possible to simultaneously operate the planting transmission cases 24 of all the planting units 21 to perform the 8-row planting operation. can. The rice transplanter 1 can operate only some of the planting units 21 to perform 6-row planting, 4-row planting, and 2-row planting. Moreover, the seedling horizontal feeding mechanism 36 and the seedling vertical feeding mechanism 37 are driven by the power transmitted to the planting input case 20 . Each time the planting arm 26 scrapes the seedlings from the seedling mat M, the seedling lateral feeding mechanism 36 continuously reciprocates the seedling mounting table 22 laterally. When the seedling mounting table 22 reaches the reciprocating end (turning point of the reciprocating movement), the seedling vertical feeding mechanism 37 intermittently conveys the seedling mat on the seedling mounting table 22 vertically.

The float 23 is provided below the planting portion 3 . The float 23 is arranged so that its lower surface can come into contact with the ground of the farm field F. When the float 23 contacts the ground, the ground is leveled before seedlings are planted.
FIG. 3 is a schematic diagram for explaining how the rice transplanter 1 travels in the field F. As shown in FIG. A farm field F is divided into a work area W where planting work is performed by the rice transplanter 1 and a peripheral area N surrounding the work area W. As shown in FIG. The work area W is, for example, rectangular in plan view. The traveling route R has a plurality of linear routes P arranged in the longitudinal direction of the work area W at intervals. A linear path P is set in a work area W. As shown in FIG. The linear path P extends linearly in the width direction of the work area W. As shown in FIG. A start point SP and an end point EP of each linear path P are located at the boundary between the work area W and the peripheral edge area N. As shown in FIG.

The rice transplanter 1 travels in the field F in a zigzag manner. Specifically, the rice transplanter 1 travels in order from a linear path P positioned on one end side of the working area W in the longitudinal direction (the rightmost side of the paper surface of FIG. 3). When the rice transplanter 1 finishes traveling the linear path P set at the farthest other end in the longitudinal direction (the leftmost side in the paper surface of FIG. 3), the traveling of the rice transplanter 1 in the working area W ends. A starting point SP of a linear path P along which the rice transplanter 1 first travels in the traveling path R (the linear path P located at the most one end side in the longitudinal direction) is referred to as a path starting point SS. The end point EP of the linear route P (the linear route P located at the farthest other end in the longitudinal direction) on which the rice transplanter 1 travels last in the traveling route R is referred to as the route final point EE. When the rice transplanter 1 travels, the planting part 3 is towed by the travel body 2. - 特許庁

Next, how the rice transplanter 1 travels along the travel route R will be described. In this embodiment, the rice transplanter 1 automatically travels (autonomously travels) along the linear path P, and moves in the peripheral region N by manual travel. Automatic traveling means that the traveling mechanism of the rice transplanter 1 is controlled by the automatic traveling control section 51 (see FIG. 4 described later) of the control section 4 and the rice transplanter 1 travels along the traveling route R. On the other hand, manual travel means that the rice transplanter 1 travels by operating each mechanism provided in the rice transplanter 1 by the user.

Hereinafter, the linear route P on which the rice transplanter 1 is currently traveling is referred to as a first linear route P1 (first route), and the linear route P on which the rice transplanter 1 is traveling next is referred to as a second route. It may also be referred to as a straight path P2 (second path). A start point SP of the first linear path P1 is called a first start point SP1, and an end point EP of the first linear path P1 is called a first end point EP1. The start point SP of the second linear path P2 is called a second start point SP2, and the end point EP of the second linear path P2 is called a second end point EP2. The rice transplanter 1 travels along the first linear path P1, the peripheral area N and the second linear path P2 in this order.

Before the rice transplanter 1 starts traveling along the travel route R, the user first moves the rice transplanter 1 to the start point SP of the linear route P by manual operation. When the automatic travel start condition is satisfied, the user presses an automatic travel start switch displayed on the operation display unit 103 (see FIG. 5 described later) or the touch panel display of the operation unit 11 (see FIG. 4 described later) of the wireless communication terminal 100 . etc. to start automatic driving.

The automatic traveling start condition is that the rice transplanter 1 is positioned within a predetermined distance range from the starting point SP of the straight path P, and the orientation of the traveling body 2 of the rice transplanter 1 is within a predetermined angle range with respect to the traveling direction. is within the The predetermined angle range is an angle range including the direction from the start point SP of the linear path P to the end point EP. That is, the predetermined angle range includes not only the direction from the start point SP to the end point EP of the linear path P, but also the direction in which the traveling body 2 is tilted by a predetermined angle from the direction from the start point SP to the end point EP. The automatic travel start switch can be operated only when the rice transplanter 1 is positioned at the start point SP of the straight path P and the orientation of the traveling machine body 2 is within a predetermined angle range with respect to the traveling direction. Become. The orientation of the traveling body 2 is acquired by an inertial measurement device 70 (see FIG. 4 described later) provided in the rice transplanter 1 .

When the automatic traveling is started, the rice transplanter 1 automatically travels from the first start point SP1 of the first straight path P1 (current straight path P) toward the first end point EP1. Then, when the automatic travel interruption condition is satisfied, the automatic travel of the rice transplanter 1 is interrupted.
The automatic travel interruption condition is, for example, that the rice transplanter 1 reaches the first end point EP1 of the first linear path P1. When the automatic travel is interrupted, the user riding the rice transplanter 1 manually travels the rice transplanter 1 and enters the peripheral region N. In the peripheral region N, the user turns the rice transplanter 1 by manual travel to change direction by 180°, and moves the rice transplanter 1 to the second starting point SP2 of the second linear path P2 next to the first linear path P1. to reach Then, automatic travel on the second linear path P2 is started.

When the traveling body 2 travels along the first straight path P1 and the second straight path P2, the planting section 3 plants seedlings on the ground. The rice transplanter 1 is an example of an agricultural work machine that travels along a travel route R and supplies materials to a first linear route P1 and a second linear route P2. The seedling mat M on the seedling mounting table 22 of the rice transplanter 1 may run short while the running route R is running. In this case, the user replenishes the seedling mat M by running the rice transplanter 1 to the replenishment position B. Then, the user manually moves the rice transplanter 1 to the second start point SP2.

FIG. 4 is a block diagram showing the electrical configuration of the rice transplanter 1. As shown in FIG.
As shown in FIG. 4, the rice transplanter 1 operates the traveling body 2 (forward, backward, stop, turn, etc.) and the planting section 3 attached to the traveling body 2 (elevating, driving, stopping, etc.). ) is provided. A plurality of controllers for controlling each part of the rice transplanter 1 are electrically connected to the control part 4 .

The multiple controllers include an engine controller 31 , a vehicle speed controller 32 , a steering controller 33 , an elevation controller 34 and a PTO controller 35 . The engine controller 31 controls the rotational speed of the engine 10 and the like. The engine controller 31 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10 . The common rail device 41 injects fuel into each cylinder of the engine 10 . In this case, the high-pressure fuel pressure-fed from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector into each cylinder of the engine 10 by controlling the opening and closing of the fuel injection valve of the injector for each cylinder of the engine 10. The injection pressure, injection timing, and injection period (injection amount) of fuel supplied from each injector are controlled with high accuracy. The engine controller 31 controls the rotation speed of the engine 10 by controlling the common rail device 41 . The engine controller 31 can also stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the common rail device 41 .

The vehicle speed controller 32 controls the vehicle speed of the traveling machine body 2 (also the vehicle speed of the rice transplanter 1) by controlling the transmission 27 (see FIG. 1). The transmission 27 is provided with a transmission 42 that is, for example, a movable swash plate type hydraulic continuously variable transmission.
The vehicle speed controller 32 changes the gear ratio of the transmission 27 by changing the angle of the swash plate of the transmission 42 using an actuator (not shown). As a result, the traveling machine body 2 can be decelerated (accelerated) or stopped until the desired vehicle speed is reached. By adjusting the changing speed of the angle of the swash plate of the transmission 42, the deceleration rate of the traveling body 2 can be adjusted. By adjusting the degree of deceleration of the traveling body 2, the distance from when the traveling body 2 starts decelerating to when it stops can be adjusted.

The steering controller 33 controls the steering angle of the front wheels 5 during automatic travel. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 8 . The steering controller 33 controls the steering actuator 43 so that the rotation angle of the steering wheel 8 becomes the target steering angle. Thereby, the steering angle of the front wheels 5 of the traveling body 2 is controlled.

The elevation controller 34 controls elevation of the planting section 3 . The elevating controller 34 drives the elevating cylinder 15 by opening and closing an electromagnetic valve (not shown) based on the control signal input from the control unit 4 , and drives the planting unit 3 up and down appropriately. The lift controller 34 can support the planting unit 3 at a desired height such as a non-working height at which planting work is not performed and a working height at which planting work is performed.

The PTO controller 35 controls rotation of the PTO shaft 14 . In particular,
The rice transplanter 1 is provided with a PTO clutch 45 for switching transmission/interruption of power to the PTO shaft 14 . With this configuration, the PTO controller 35 switches the PTO clutch 45 based on the control signal input from the control unit 4 to rotationally drive the planting input case 20 of the planting unit 3 via the PTO shaft 14, This rotational drive can be stopped.

A position information calculator 49 (positioning unit) is electrically connected to the controller 4 . The positioning signal received by the satellite signal reception antenna 46 is input to the position information calculation unit 49 . The satellite signal receiving antenna 46 receives signals from positioning satellites that constitute a global navigation satellite system (GNSS). The position information calculation unit 49 calculates the position information of the traveling body 2 or the planting unit 3 (strictly speaking, the satellite signal reception antenna 46) as latitude/longitude/altitude information, for example.

A wireless communication unit 47 is electrically connected to the control unit 4 . A wireless communication antenna 48 is connected to the wireless communication unit 47 . The wireless communication unit 47 may be composed of, for example, a wireless LAN router (Wi-Fi router). An operation unit 11 is electrically connected to the control unit 4 .
An inertial measurement device 70 is electrically connected to the controller 4 . The inertial measurement device 70 is a sensor unit capable of identifying the attitude, acceleration, etc. of the rice transplanter 1 . Specifically, the inertial measurement device 70 includes a sensor group in which an angular velocity sensor and an acceleration sensor are attached to each of a first axis, a second axis, and a third axis that are perpendicular to each other.

Specifically, the inertial measurement device 70 includes a first acceleration sensor that detects acceleration in the first axis direction, a second acceleration sensor that detects acceleration in the second axis direction, and a second acceleration sensor that detects acceleration in the third axis direction. 3 acceleration sensors, a first angular velocity sensor that detects angular velocity about the first axis, a second angular velocity sensor that detects angular velocity about the second axis, and a third angular velocity sensor that detects angular velocity about the third axis and a sensor.

A horizontal feeding number detection sensor 38 , a lengthwise harvesting amount detection sensor 39 , and a splicing sensor 40 are electrically connected to the control unit 4 . The lateral feed number detection sensor 38 detects the number of times the seedling lateral feed mechanism 36 laterally feeds the seedling mounting table 22 . The longitudinal amount detection sensor 39 detects the longitudinal amount. The lengthwise picking amount is the amount of seedlings (the number of seedlings) scraped from the seedling mat M in one rotation of the planting arm 26 in the traveling direction of the traveling body 2 . The seedling sensor 40 detects that the seedling mat M is placed on the seedling placement table 22 . One seedling sensor 40 is provided on each placement surface of the seedling placement table 22 .

As for the lateral feed number detection sensor 38, the lengthwise harvest amount detection sensor 39, and the seedling splicing sensor 40, for example, those having a known configuration described in Japanese Patent Application Laid-Open No. 2017-153453 can be used.
The control unit 4 includes a microcomputer having a CPU and a memory 50 (ROM, RAM, etc.). The microcomputer functions as a plurality of functional processing units by executing predetermined programs stored in memory 50 (ROM). The plurality of function processing units include an automatic travel control unit 51, a seedling mat consumption amount calculation unit 52, a seedling mat remaining amount calculation unit 53, a seedling mat replenishment detection unit 54, and the like.

The automatic travel control unit 51 controls the controllers 31 to 35 to automatically travel the rice transplanter 1 along the currently set travel route, interrupt the automatic travel, or terminate the automatic travel. do. Specifically, the automatic traveling control unit 51 causes the rice transplanter 1 to automatically travel when the above-described automatic traveling start condition is satisfied, and causes the rice transplanter 1 to automatically travel when the above-described automatic traveling interruption condition is satisfied. interrupt.

Suspension of automatic traveling refers to temporarily switching automatic traveling to manual traveling during planting work in field F. The termination of automatic travel means switching from automatic travel to manual travel when all the planting work in field F is completed.
The seedling mat consumption calculation unit 52 calculates the amount of seedling mat M consumed by the planting work based on the number of times of horizontal feeding detected by the number of times of horizontal feeding detection sensor 38 and the vertical feeding amount detected by the vertical feeding amount detection sensor 39. Calculate the amount of (seedling mat consumption). The seedling mat consumption amount is calculated for each linear path P, for example. The seedling mat remaining amount calculation unit 53 calculates the current amount of seedling mat M remaining on the seedling mounting table 22 based on the seedling mat consumption amount and the amount of the seedling mat M present on the seedling mounting table 22 before the start (restart) of the planting work. The amount of the seedling mat M (remaining amount of the seedling mat) is calculated.

The seedling mat replenishment detector 54 detects that the rice transplanter 1 is replenished with the seedling mat M (seedling succession information) based on the signal sent from the seedling succession sensor 40 .
FIG. 5 is a block diagram showing the electrical configuration of the wireless communication terminal 100 that communicates with the rice transplanter 1. As shown in FIG. Referring to FIG. 5, radio communication terminal 100 includes control section 101 . The control unit 101 includes a microcomputer having a CPU and memory (ROM, RAM, etc.). Storage unit 102 , operation display unit 103 , wireless communication unit 104 and wireless communication antenna 105 are connected to control unit 101 . The operation display unit 103 displays various data and receives user operations. The operation display unit 103 is configured by, for example, a touch panel display. The storage unit 102 is configured from a storage device such as a hard disk or nonvolatile memory.

The wireless communication unit 104 and the wireless communication antenna 105 are devices used for wireless communication with the control unit 4 of the rice transplanter 1 . The wireless communication antenna 105 may include a wireless LAN adapter (Wi-Fi adapter). A wireless communication antenna 105 is connected to the control unit 101 via the wireless communication unit 104 .
The control unit 101 includes a route generation unit 110 , a corrected route generation unit 111 , a replenishment position setting unit 112 and a display control unit 113 . Before the rice transplanter 1 starts working in the field F, the route generator 110 generates a travel route along which the rice transplanter 1 travels. The replenishment position setting unit 112 sets a position (replenishment position) for replenishing the seedling mat to the rice transplanter 1 .

The travel route generated by the route generator 110, the corrected travel route generated by the corrected route generator 111, and the position information of the replenishment position set by the replenishment position setting unit 112 are transmitted from the wireless communication terminal 100 to the rice transplanter 1. It is transmitted to the control unit 4 . The control unit 101 of the wireless communication terminal 100 stores the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 53 of the control unit 4 of the rice transplanter 1 and the seedling mat replenishment detection unit 54 of the control unit 4 of the rice transplanter 1. The seedling succession information detected by is transmitted from the control unit 4 .

The display control unit 113 controls display contents of the operation display unit 103 . Specifically, the display control unit 113 causes the operation display unit 103 to display the travel route, displays a predetermined image indicating the position of the traveling body 2 on the travel route displayed on the operation display unit 103, or displays a supplementary image. A predetermined image indicating the position can be displayed. The display control unit 113 can also cause the operation display unit 103 of the wireless communication terminal 100 to display a warning to the effect that the seedling mat remaining amount is less than a predetermined threshold.

After the automatic travel of the rice transplanter 1 is interrupted and before the automatic travel of the rice transplanter 1 is resumed, the corrected route generation unit 111 determines that the second start point SP2 on the current travel route R and the A corrected travel route is generated by replacing the second end point EP2. In this embodiment, the predetermined condition is that the linear distance (second distance) between the replenishment position and the second end point EP2 is greater than the linear distance (first distance) between the replenishment position and the second start point SP2. provided that it is short.

Storage unit 102 of wireless communication terminal 100 includes travel route storage unit 120 , replenishment position storage unit 121 , seedling mat consumption amount storage unit 122 , and seedling mat remaining amount storage unit 123 . The travel route storage unit 120 stores the travel route R generated by the route generation unit 110 and the corrected travel route generated by the corrected route generation unit 111 . The replenishment position storage unit 121 stores the replenishment positions set by the replenishment position setting unit 112 . The seedling mat consumption amount transmitted from the control unit 4 of the rice transplanter 1 is stored for each linear path P in the seedling mat consumption amount storage unit 122 . The seedling mat remaining amount storage unit 123 stores the seedling mat remaining amount transmitted from the control unit 4 of the rice transplanter 1 .

Referring to FIG. 4 again, the storage unit 60 is connected to the control unit 4 . The storage unit 60 is composed of a storage device such as a hard disk or nonvolatile memory. The storage unit 60 includes a travel route storage unit 61 , a replenishment position storage unit 62 , a seedling mat consumption amount storage unit 63 and a seedling mat remaining amount storage unit 64 . The travel route and the corrected travel route transmitted from the wireless communication terminal 100 to the control unit 4 of the rice transplanter 1 are stored in the travel route storage unit 61 . The replenishment position storage unit 62 stores position information of replenishment positions transmitted from the wireless communication terminal 100 to the control unit 4 of the rice transplanter 1 . The seedling mat consumption amount storage unit 63 stores the seedling mat consumption amount calculated by the seedling mat consumption amount calculation unit 52 for each linear path P. FIG. The seedling mat remaining amount storage unit 64 stores the seedling mat remaining amount calculated by the seedling mat remaining amount calculation unit 53 .

Below, when the rice transplanter 1 runs the inside of the field F, the mode that the correction route production|generation part 111 produces|generates a correction driving|running|working route is demonstrated. 6A to 6C are schematic diagrams for explaining the state of the rice transplanter 1 in the field F before and after the seedling mat M is replenished. Below, the travel route R generated by the route generation unit 110 is referred to as an initial travel route R0.
Referring to FIG. 6A, when the rice transplanter 1 reaches the first end point EP1 of the first linear path P1, the seedling mat remaining amount A calculated by the seedling mat remaining amount calculating unit 53 is larger than the predetermined threshold value α. If it is less (A<α), a warning is displayed on the operation display unit 103 of the wireless communication terminal 100 to the effect that the seedling mat remaining amount A is less than the predetermined threshold value α. The user can move the rice transplanter 1 to the replenishment position B by manual travel when the warning is displayed. At that time, the user drives the rice transplanter 1 along a route C (a route indicated by a dashed line in FIG. 6A) avoiding the first linear route P1 so as not to disturb the ground on which the planting work has already been performed. move.

Referring to FIG. 6B, when rice transplanter 1 reaches replenishment position B and the user replenishes seedling mat M to rice transplanter 1, seedling mat replenishment detector 54 transmits seedling succession information to wireless communication terminal 100. . Corrected route generator 111 of radio communication terminal 100 sets the distance between replenishment position B and second end point EP2 (second distance) more than the distance between replenishment position B and second start point SP2 (first distance D1). D2) is shorter, a corrected travel route R1 is generated as shown in FIG. 6C.

The corrected travel route R1 is a route in which the start point SP and the end point EP are switched in all the straight routes P on the downstream side of the first straight route P1 of the initial travel route R0. Therefore, the second start point SP2 of the corrected travel route R1 is located at the same position as the second end point EP2 (see FIG. 3) of the second linear route P2 of the initial travel route R0, and the second starting point SP2 of the corrected travel route R1 The end point EP2 is located at the same position as the second start point SP2 (see FIG. 3) of the second straight path P2 of the initial travel route R0.

Then, the corrected travel route R1 is transmitted from the wireless communication terminal 100 to the control section 4 of the rice transplanter 1 and stored in the travel route storage section 61 of the storage section 60 . Also, the travel route data 55 set in the memory 50 is changed to travel route data including the corrected travel route R1. Further, the corrected travel route R1 is displayed on the operation display unit 103 of the wireless communication terminal 100. FIG. The user moves the rice transplanter 1 to the second starting point SP2 of the corrected travel route R1 displayed on the operation display unit 103 by manual travel. Then, when the conditions for starting automatic traveling are satisfied, the rice transplanter 1 starts automatically traveling along the second linear path P2. Thus, the rice transplanter 1 and the wireless communication terminal 100 constitute an automatic traveling system.

Next, correction route generation processing by the correction route generation unit 111 will be described in detail. FIG. 7 is a flowchart for explaining an example of corrected route generation processing by the corrected route generation unit 111. FIG.
Referring to FIG. 7, corrected route generator 111 determines whether or not automatic travel has started (step S1). When the rice transplanter 1 has not started to run automatically (step S1: NO), the corrected route generator 111 returns to step S1.

When the rice transplanter 1 has started to travel automatically (step S1: YES), the corrected route generator 111 determines whether the rice transplanter 1 has reached the route final point EE (step S2), It monitors whether or not the automatic running of No. 1 has been interrupted (step S3). When the rice transplanter 1 reaches the route final point E (step S2: YES), the corrected route generation unit 111 ends the corrected route generation process.

Before the rice transplanter 1 reaches the route final point EE (step S2: NO), if the automatic traveling of the rice transplanter 1 is interrupted (step S3: YES), the corrected route generator 111 is restarted (step S4). When the automatic running of the rice transplanter 1 is restarted (step S4: YES), the corrected route generator 111 returns to step S2.

In this embodiment, the automatic traveling interruption condition is that the rice transplanter 1 reaches the first end point EP1 of the first linear path P1. Automatic running of the rice transplanter 1 is always interrupted when it finishes running.
When the automatic running of the rice transplanter 1 is not restarted (step S4: NO), the corrected route generator 111 determines whether or not the seedling mat M is replenished to the rice transplanter 1 (step S5). When the seedling mat M has not been replenished to the rice transplanter 1 (step S5: NO), the corrected route generator 111 returns to step S4. When the seedling mat M is replenished to the rice transplanter 1 (step S5: YES), the corrected route generator 111 determines whether or not the first distance D1 is greater than the second distance D2 (step S6). . When the first distance D1 is less than or equal to the second distance D2 (step S6: NO), the corrected route generator 111 returns to step S4. If the first distance D1 is greater than the second distance D2, the corrected route generator 111 generates a corrected travel route (step S7).

That is, after the automatic travel of the rice transplanter 1 is interrupted and before the automatic travel of the rice transplanter 1 is resumed (between reaching the first end point EP1 and reaching the second start point SP2), When the rice transplanter 1 is replenished with seedling mats and the first distance D1 is greater than the second distance D2, the corrected route generator 111 generates a corrected travel route. After the corrected travel route is formed, the corrected route generator 111 returns to step S4.

In this embodiment, the corrected route generator 111 determines whether or not the first distance D1 is greater than the second distance D2 in step S6. However, the corrected route generator 111 may determine whether or not the first distance D1 is greater than or equal to the second distance D2 in step S6. That is, when the first distance D1 and the second distance D2 are equal, the corrected travel route R1 may be generated.

In the automatic traveling system according to the first embodiment, the second distance D2 is shorter than the first distance D1, and after the rice transplanter 1 reaches the first end point EP1 of the first linear path P1 and the first When the seedling mat M is replenished to the rice transplanter 1 at the replenishment position B before starting to travel on the two linear paths P2, the corrected travel route R1 is generated.
When the travel distance when the rice transplanter 1 travels from the replenishment position B to the second end point EP2 is shorter than the travel distance when the rice transplanter 1 travels from the replenishment position B to the second start point SP2, the current By interchanging the second start point SP2 and the second end point EP2 on the travel route R, the distance that the rice transplanter 1 travels in the field F to replenish the seedling mat M can be reduced. For example, when the second distance D2 is shorter than the first distance D1, the travel distance from the replenishment position B to the second end point EP2 is longer than the movement distance when the rice transplanter 1 travels from the replenishment position B to the second start point SP2. There is a high possibility that the distance traveled when the rice transplanter 1 is driven to is short. Therefore, with a configuration that can generate the travel route R (corrected travel route R1) in which the second start point SP2 and the second end point EP2 are interchanged, the distance traveled by the rice transplanter 1 in the field F can be reduced. .

Further, in the automatic traveling system according to the first embodiment, the automatic traveling control unit 51 interrupts the automatic traveling of the rice transplanter 1 when the rice transplanter 1 reaches the first end point EP1. In other words, the automatic running of the rice transplanter 1 is interrupted each time it reaches the first end point EP1. Therefore, the user can determine whether or not the seedling mat M needs to be replenished each time the first end point EP1 is reached. Therefore, it is possible to suppress the occurrence of a situation in which the seedling mat remaining amount A runs out while the rice transplanter 1 is traveling along the travel route R.

<Second embodiment>
Next, a rice transplanter 1P according to a second embodiment of the present invention will be described. The mechanical configuration and electrical configuration of the rice transplanter 1 according to the second embodiment are respectively the same as the mechanical configuration and electrical configuration of the rice transplanter 1 according to the first embodiment (FIGS. 1, 2 and 3). 4). Also, the electrical configuration of the wireless communication terminal 100 according to the second embodiment is the same as the electrical configuration of the wireless communication terminal 100 according to the first embodiment (see FIG. 5). In the second embodiment, the rice transplanter 1 and the wireless communication terminal 100 constitute an automatic traveling system.

Below, a mode that the rice transplanter 1 which concerns on 2nd Embodiment drive|works the driving|running|working route RP is demonstrated. FIG. 8 is a schematic diagram for explaining how the rice transplanter 1 according to the second embodiment of the present invention travels in the field F. As shown in FIG.
In the second embodiment, unlike the first embodiment, the travel route RP has a turning route T in addition to the first straight route P1 and the second straight route P2. A turning path T is set in the peripheral region N. As shown in FIG. The turning path T is an arcuate path that connects the first end point EP1 and the second start point SP2.

In this embodiment, unlike the first embodiment, the automatic travel control unit 51 automatically travels the rice transplanter 1 regardless of whether the rice transplanter 1 is positioned on the linear path P or the turning path T. .
Specifically, first, the user manually moves the rice transplanter 1 to the starting point SS of the route. When the conditions for starting automatic driving are satisfied, the user operates the wireless communication terminal 100 to start automatic driving. The automatic driving start condition in this embodiment is the same condition as the automatic driving start condition in the first embodiment.

When the automatic traveling is started, the rice transplanter 1 travels along the first straight path P1, the turning path T and the second straight path P2, and moves on the first straight path P1 and the second straight path P2. Plant seedlings in the ground. Then, when the route final point EE of the travel route RP is reached, automatic travel is terminated.
When the automatic traveling interruption condition is satisfied before reaching the route final point EE, the automatic traveling control unit 51 causes the automatic traveling of the rice transplanter 1 to be interrupted. In this embodiment, the automatic travel interruption condition is, for example, when the rice transplanter 1 reaches the first end point EP1, the residual amount of the seedling mat M on the seedling mounting base 22 of the rice transplanter 1 (the residual seedling mat amount A). is less than a predetermined threshold α (A<α). That is, when the remaining amount of the seedling mat M (seedling mat remaining amount A) calculated by the seedling mat remaining amount calculating unit 53 when the rice transplanter 1P reaches the first end point EP1 is less than the predetermined threshold α, Automatic driving is interrupted. When the automatic running is interrupted, the display control unit 113 of the wireless communication terminal 100 can cause the operation display unit 103 to display a warning that the seedling mat remaining amount A is less than the predetermined threshold α.

In the second embodiment, the automatic travel interruption condition may be that the seedling mat remaining amount A is less than the amount of the seedling mat M consumed on the first linear path P1 (seedling mat consumption amount).
When the automatic travel is interrupted, the user manually travels to move the rice transplanter 1 to the replenishment position B, and then replenishes the seedling mat M. At that time, the route on which the user manually travels the rice transplanter 1 is a route (not shown) avoiding the travel route R as in the first embodiment.

FIGS. 9A and 9B are schematic diagrams for explaining the state of the rice transplanter 1 in the field F before and after the seedling mat M is replenished.
Referring to FIG. 9A, when automatic travel of rice transplanter 1 traveling along initial travel route R0 is interrupted, rice transplanter 1 moves from first end point E1 to replenishment position B by manual travel. When the rice transplanter 1 reaches the replenishment position B and the user replenishes the seedling mat M to the rice transplanter 1 , the seedling mat replenishment detector 54 transmits seedling succession information to the wireless communication terminal 100 .

Corrected route generator 111 of radio communication terminal 100 generates corrected travel route RP1 as shown in FIG. 9B when second distance D2 is shorter than first distance D1. The corrected travel route RP1 is a route in which the start point SP and the end point EP are switched in each of the linear routes P on the downstream side of the first linear route P1 of the initial travel route RP0. Therefore, the second start point SP2 of the corrected travel route RP1 is located at the same position as the second end point EP2 (see FIG. 8) of the second linear route P2 of the initial travel route RP0, and the second starting point SP2 of the corrected travel route RP1 The end point EP2 is located at the same position as the second start point SP2 (see FIG. 8) of the second straight path P2 of the initial travel route RP0.

Next, automatic travel processing by the automatic travel control unit 51 in the second embodiment will be described. The corrected route generation processing by the corrected route generation unit 111 is the same as the corrected route generation processing (see FIG. 7) in the first embodiment. FIG. 10 is a flowchart for explaining an example of automatic travel control processing by the automatic travel control unit 51 provided in the rice transplanter 1. As shown in FIG.
The automatic driving control unit 51 determines whether or not the automatic driving start condition is satisfied and the automatic driving start switch is operated (step S10). If the automatic driving start condition is not satisfied or the automatic driving switch is not operated (step S10: NO), the automatic driving control unit 51 returns to step S10. When the automatic running start condition is satisfied and the automatic operation start switch is operated (step S10: YES), the automatic running control unit 51 starts the automatic running of the rice transplanter 1 (step S11).

When the automatic traveling is started, the automatic traveling control section 51 determines whether or not the rice transplanter 1 has reached the route final point EE (step S12) and whether or not the automatic traveling interruption condition is satisfied (step S13). Monitor. When the rice transplanter 1 reaches the route final point EE (step S12: YES), the automatic travel control section 51 terminates the automatic travel of the rice transplanter 1 (step S14). This completes the automatic travel control process.

Before the rice transplanter 1 reaches the route final point EE (step S12: NO), if the automatic traveling interruption condition is satisfied (step S13: YES), the automatic traveling control unit 51 stops the automatic traveling of the rice transplanter 1. Interrupt (step S15). When the automatic travel is interrupted, the automatic travel control unit 51 determines whether or not the corrected travel route RP1 has been generated by the corrected route generator 111 (step S16).

In step S16, when the corrected travel route RP1 is generated (step S16: YES), the automatic travel control unit 51 changes the travel route data in the memory 50 (step S17). Specifically, when the control unit 4 of the rice transplanter 1 receives information that the corrected travel route RP1 has been generated, the automatic travel control unit 51 converts the travel route data stored in the memory 50 into the current travel route RP. is changed to the traveling route data including the corrected traveling route RP1. Then, the automatic travel control unit 51 determines whether or not the automatic travel start condition is satisfied (step S18).

In step S16, if the corrected travel route RP1 is not generated (step S16: NO), the automatic travel control unit 51 proceeds to step S18 without changing the travel route data.
Then, in step S18, when the automatic driving start condition is not satisfied or when the automatic driving start switch is not operated (step S18: YES), the automatic driving control unit 51 returns to step S16. In step S18, when the automatic travel start condition is satisfied and the automatic travel start switch is operated (step S18: YES), the automatic travel control unit 51 restarts the automatic travel of the rice transplanter 1 (step S19). . When the automatic traveling of the rice transplanter 1 is restarted, the automatic traveling control section 51 returns to step S12.

As with the automatic driving system of the first embodiment, the automatic driving system of the second embodiment has a configuration capable of generating a driving route R (corrected driving route R1) in which the second start point SP2 and the second end point EP2 are interchanged. be. Therefore, the distance that the rice transplanter 1 travels in the field F can be reduced. Furthermore, in the automatic traveling system of the second embodiment, the automatic traveling control unit 51, for example, when the seedling mat remaining amount A is less than the predetermined threshold value α when the rice transplanter 1 reaches the first end point EP1, The automatic running of the rice transplanter 1 is interrupted. Therefore, the user can recognize the timing at which the seedling mat M should be replenished by interrupting the automatic running of the rice transplanter 1, so that the rice transplanter 1 can be replenished with the seedling mat M at an appropriate timing. Therefore, it is possible to further suppress the occurrence of a situation in which the seedling mat remaining amount A runs out while the rice transplanter 1 is traveling along the traveling route R. Moreover, the time required for the planting work can be shortened as compared with the case where the automatic travel of the rice transplanter 1 is interrupted each time the rice planter 1 reaches the first end point EP1.

As described above, unlike the second embodiment, the automatic travel control unit 51 causes the rice transplanter 1 to automatically travel when the seedling mat remaining amount A is less than the seedling mat consumption amount on the first linear path P1. It may be configured to interrupt. Even in this case, the user can recognize the timing at which the seedling mat M should be replenished by interrupting the automatic running of the rice transplanter 1, so that the rice transplanter 1 can be replenished with the seedling mat M at an appropriate timing. Therefore, it is possible to further suppress the occurrence of a situation in which the seedling mat remaining amount A runs out while the rice transplanter 1 is traveling along the traveling route R. Moreover, the time required for the planting work can be shortened as compared with the case where the automatic travel of the rice transplanter 1 is interrupted each time the rice planter 1 reaches the first end point EP1. Furthermore, even if the amount of seedling mat consumption in the first linear path P1 is larger than expected, the seedling mat remaining amount A can be accurately grasped.

<Third Embodiment>
Next, a rice transplanter 1 according to a third embodiment of the present invention will be described. The mechanical configuration and electrical configuration of the rice transplanter 1 according to the third embodiment are the same as the mechanical configuration and electrical configuration of the rice transplanter 1 according to the first embodiment, respectively (Figs. 4). Also, the electrical configuration of the wireless communication terminal 100 according to the third embodiment is the same as the electrical configuration of the wireless communication terminal 100 according to the first embodiment (see FIG. 5). In the third embodiment, the rice transplanter 1 and the wireless communication terminal 100 constitute an automatic traveling system. In the third embodiment, as in the first embodiment, the rice transplanter 1 automatically travels along the linear path P and moves in the peripheral region N by manual travel.

The rice transplanter 1 according to the third embodiment mainly differs from the rice transplanter 1 according to the first embodiment in the following points. In the rice transplanter 1 according to the third embodiment, when the seedling mat M needs to be replenished when the automatic travel is interrupted, the automatic travel control unit 51 automatically controls the seedling mat M until the seedling mat M is replenished. It is configured to shift the running mode to a seedling mat replenishment mode that prohibits resumption of running. FIG. 11 is a flowchart for explaining an example of automatic travel control processing by the automatic travel control unit 51 provided in the rice transplanter 1 according to the third embodiment.

The flowchart shown in FIG. 11 is a flowchart in which steps S20 to S27 are incorporated instead of steps S13 and S15 to S17 in the flowchart shown in FIG. Detailed descriptions of steps S10 to S12 and step S14, which are substantially the same as those in the flowchart of FIG. 10, are omitted here.
When automatic traveling is started, the automatic traveling control unit 51 determines whether or not the rice transplanter 1 has reached the route final point EE (step S12), and the automatic traveling interruption condition (the rice transplanter 1 reaches the first endpoint E1). (step S20). When the rice transplanter 1 reaches the route final point EE (step S12: YES), the automatic travel control section 51 terminates the automatic travel of the rice transplanter 1 (step S14). This completes the automatic travel control process.

Before the rice transplanter 1 reaches the route final point EE (step S12: NO), if the automatic travel interruption condition is satisfied (step S13: YES), that is, the rice transplanter 1 moves to the first linear route P1. When the first end point EP1 is reached, the automatic running of the rice transplanter 1 is interrupted (step S21). In the third embodiment, since reaching the first end point E1 is the automatic traveling interruption condition, the automatic traveling of the rice transplanter 1 is always stopped after traveling the linear route P until reaching the route final point EE. interrupted. Therefore, when the rice transplanter 1 reaches the end point EP other than the route end point EE, the automatic travel control section 51 always proceeds to step S21.

When the automatic traveling is interrupted in step S21, the automatic traveling control unit 51 determines whether or not the seedling mat M needs to be replenished (step S22). Whether or not the seedling mat M needs to be replenished is determined by comparing the seedling mat remaining amount A with a predetermined threshold α or the seedling mat consumption amount, as in the above-described embodiment. When it is determined in step S22 that the seedling mat M is unnecessary (step S22: NO), the automatic travel control unit 51 proceeds to step S18.

When it is determined in step S22 that the seedling mat M needs to be replenished (step S22: YES), the automatic travel control unit 51 shifts the travel mode to the seedling mat replenishment mode (step S22). When the travel mode is shifted to the seedling mat replenishment mode, the automatic travel control unit 51 determines whether or not the corrected travel route RP1 has been generated by the corrected route generator 111 (step S24).

In step S24, when the corrected travel route R1 is generated (step S24: YES), the automatic travel control unit 51 changes the travel route data in the memory 50 (step S25). The change of the travel route data in the memory 50 is the same as the method described in the second embodiment. Then, the automatic travel control unit 51 determines whether or not the seedling mat M has been replenished (step S26).

In step S24, if the corrected travel route R1 is not generated (step S24: NO), the automatic travel control unit 51 proceeds to step S26 without changing the travel route data.
When the seedling mat M is not replenished (step S26: NO), the automatic travel control section 51 returns to step S24. When the seedling mat M is replenished (step S26: YES), the automatic travel control unit 51 cancels the seedling mat replenishment mode (step S27). When the seedling mat replenishment mode is canceled, the automatic travel control section 51 proceeds to step S18.

In step S18, when the automatic driving start condition is not satisfied or when the automatic driving start switch is not operated (step S18: NO), the automatic driving control unit 51 returns to step S22. In step S18, when the automatic travel start condition is satisfied and the automatic travel start switch is operated (step S18: YES), the automatic travel control unit 51 restarts the automatic travel of the rice transplanter 1 (step S19). . When the automatic traveling of the rice transplanter 1 is restarted, the automatic traveling control section 51 returns to step S12.

According to the third embodiment, when the seedling mats M are not replenished even though the seedling mats M need to be replenished, resumption of automatic travel is prohibited. Therefore, automatic traveling on the second straight path P2 is not started when the seedling mat remaining amount A is insufficient, so that the seedling mat remaining amount A runs out while traveling on the straight path P. can be suppressed.
<Fourth Embodiment>
Next, a rice transplanter 1 according to a fourth embodiment of the present invention will be described. The mechanical configuration and electrical configuration of the rice transplanter 1 according to the fourth embodiment are the same as the mechanical configuration and electrical configuration of the rice transplanter 1 according to the first embodiment, respectively (Figs. 4). Also, the electrical configuration of the wireless communication terminal 100 according to the second embodiment is the same as the electrical configuration of the wireless communication terminal 100 according to the first embodiment (see FIG. 5). In the fourth embodiment, the rice transplanter 1 and the wireless communication terminal 100 constitute an automatic traveling system. In the fourth embodiment, the rice transplanter 1 has a turning path T in addition to the first linear path P1 and the second linear path P2 in the traveling path RP, as in the second embodiment. The rice transplanter 1 is automatically driven regardless of whether the is positioned on the linear path P or the turning path T.

The rice transplanter 1 according to the fourth embodiment mainly differs from the rice transplanter 1 according to the second embodiment in the following points. In the rice transplanter 1 according to the fourth embodiment, when the seedling mat M needs to be replenished when the automatic travel is interrupted, the automatic travel control unit 51 shifts the travel mode to the seedling mat replenishment mode. is configured to FIG. 12 is a flowchart for explaining an example of automatic travel control processing by the automatic travel control unit 51 provided in the rice transplanter 1 according to the fourth embodiment.

The flowchart shown in FIG. 12 is a flowchart in which steps S30 to S35 are incorporated between steps S13 and S18 in the flowchart shown in FIG. 10 instead of steps S15 to S17. A detailed description of steps S10 to S14, which are substantially the same as in the flowchart of FIG. 10, will be omitted here.
In step S13, when the automatic traveling control unit 51 determines that the automatic traveling interruption condition is satisfied (step S13: YES), the automatic traveling control unit 51 interrupts the automatic traveling of the rice transplanter 1 and changes the traveling mode of the rice transplanter 1 to the seedling mode. It shifts to the mat replenishment mode (step S30). When the automatic travel of the rice transplanter 1 is interrupted and the travel mode of the rice transplanter 1 is shifted to the seedling mat replenishment mode, the automatic travel control unit 51 determines whether or not the corrected travel route R1 has been generated ( step S31)
.

If the corrected travel route RP1 is generated in step S31 (step S31: YES), the automatic travel control unit 51 changes the travel route data in the memory 50 (step S32).
Specifically, when the control unit 4 of the rice transplanter 1 receives information that the corrected travel route RP1 has been generated, the automatic travel control unit 51 converts the travel route data stored in the memory 50 into the current travel route RP. is changed to the traveling route data including the corrected traveling route RP1. Then, the automatic travel control unit 51 determines whether or not the current travel mode is the seedling mat replenishment mode (step S33).

In step S31, if the corrected travel route RP1 is not generated (step S31: NO), the automatic travel control unit 51 proceeds to step S33 without changing the travel route data.
If the current running mode is the seedling mat replenishment mode (step S33: YES), the automatic running control unit 51 determines whether or not the seedling mat M has been replenished (step S34). When the seedling mat M is not replenished (step S34: NO), the automatic travel control unit 51 returns to step S31. When the seedling mat M is replenished (step S34: YES), the automatic travel control unit 51 cancels the seedling mat replenishment mode (step S35). When the seedling mat replenishment mode is canceled, the automatic travel control section 51 proceeds to step S18.

In step S33, if the current running mode is the seedling mat replenishment mode (step S33: NO), that is, if the seedling mat M has been replenished and the seedling mat replenishment mode has already been canceled, the automatic running The controller 51 proceeds to step S18. In step S18, when the automatic driving start condition is not satisfied or when the automatic driving start switch is not operated (step S18: YES), the automatic driving control unit 51 returns to step S31. In step S18, when the automatic travel start condition is satisfied and the automatic travel start switch is operated (step S18: YES), the automatic travel control unit 51 restarts the automatic travel of the rice transplanter 1 (step S19). . When the automatic traveling of the rice transplanter 1 is restarted, the automatic traveling control section 51 returns to step S12.

According to the fourth embodiment, when the seedling mats M are not replenished even though the seedling mats M need to be replenished, resumption of automatic travel is prohibited. Therefore, automatic traveling on the second straight path P2 is not started when the seedling mat remaining amount A is insufficient, so that the seedling mat remaining amount A runs out while traveling on the straight path P. can be suppressed.
The present invention is not limited to the embodiments described above, but can be embodied in other forms.

Further, the predetermined conditions for the corrected route generator 111 to generate the corrected travel route R1 are, as in the above-described embodiment, the linear distance between the replenishment position B and the second start point SP2, the replenishment position B and the second starting point SP2. It need not be a comparison with a straight line distance between two endpoints EP2. That is, unlike the present embodiment, the predetermined condition is that the distance traveled when the agricultural implement travels from the replenishment position B to the second end point EP2 is longer than the travel distance when the agricultural implement travels from the replenishment position B to the second end point SP2. The condition may be that the movement distance is short.

Moreover, after driving|running|working the driving|running|working route R, planting work may be performed to the peripheral area|region N. FIG. In this case, depending on the positional relationship between the route end point EE and the entrance (not shown) of the farm field F, the total travel distance of the rice transplanter 1 in the farm field F may be shortened by not generating the corrected travel route R1. There may be cases where it is possible. In such a case, the specific conditions are that the second distance D2 is shorter than the first distance D1 and that the traveling distance of the rice transplanter 1 in the planting work in the peripheral region N is short.

Alternatively, the predetermined condition may be whether or not the user has operated the wireless communication terminal 100 . That is, the corrected route generation unit 111, when there is an operation by the user after the automatic travel of the rice transplanter 1 is interrupted until the automatic travel of the rice transplanter 1 is restarted, the corrected travel route R1, It may be configured to generate RP1.
Further, the replenishment of the seedling mat M may be performed twice or more while traveling on the traveling route R. When replenishment is performed two or more times, the corrected route generation unit 111 determines whether or not to generate a corrected travel route depending on whether or not a predetermined condition is satisfied each time the seedling mat M is replenished. judge. Generation of the corrected travel route from the second time onward is performed based on the previous corrected travel route. For example, when the corrected travel route is generated twice, the corrected travel route R2 generated the second time shown in FIG. 13 is the first straight line of the corrected travel route R1 generated the first time (see FIG. This is a route in which the start point SP and the end point EP are interchanged in all linear routes P on the downstream side of the linear route P1.

Moreover, in the above-described embodiment, the wireless communication terminal 100 may be attached to the rice transplanter 1 .
Further, in the above-described embodiment, the corrected route generator 111 is assumed to be included in the controller 101 of the radio communication terminal 100 . However, unlike the present embodiment, the corrected route generator 111 may not be provided in the controller 101 of the wireless communication terminal 100, and the controller 4 of the rice transplanter 1 may include the corrected route generator. .

The amount of seedling mats M placed before the start of traveling on the traveling route R is the same on all the placement surfaces of the seedling mounting table 22, and the number of seedling mats M on all the linear paths P of the traveling route R is 8. When the planting work of rowing is being performed, the seedling mat remaining amount A on all the placement surfaces is always substantially the same amount. Therefore, there is no problem even if the automatic traveling interruption condition is that the seedling mat remaining amount A is less than the predetermined threshold value α or the seedling mat consumption amount on the first linear path P1 on all the placement surfaces. However, the planting work of 8-row planting is not always performed on all straight paths P of the traveling route R, and the planting work of 6-row planting and 4-row planting are not always performed on some straight paths P. There may be a case where the planting work of two rows or the planting work of two rows is performed. In this case, only the seedling mat remaining amount A on a part of the placement surface may be less than the predetermined threshold value α (seedling mat consumption amount). Therefore, in such a case, it is necessary to determine whether or not the seedling mat remaining amount A is less than the predetermined threshold value α (seedling mat consumption amount) for each mounting surface (each seedling connecting sensor 40). There is

If the determination of whether or not the seedling mat remaining amount A is less than a predetermined threshold value α (seedling mat consumption amount) is performed for each mounting surface (each seedling connecting sensor 40), the first linear path P1 The seedling mat remaining amount A on the mounting surface corresponding to the planting unit 21 that is operating while traveling is determined, and the planting unit 21 that is not operating while traveling on the first straight path P1 The seedling mat remaining amount A on the corresponding placement surface is excluded from the determination target.

The planting unit 21 that is not in operation while traveling on the first linear path P1 when comparing that the seedling mat remaining amount A is less than the seedling mat consumption amount in determining whether or not to carry out seedling transfer. is operated on the second straight path P2, the straight path P on which the planting unit 21 was operated last time (the straight path P on which the rice transplanter 1 traveled before the first straight path P1) The automatic traveling interruption condition is that the seedling mat remaining amount A is less than the seedling mat consumption amount in . Therefore, the seedling mat remaining amount A on the mounting surface corresponding to the planting unit 21 driven for the first time on the second linear path P2 on the traveling path R is excluded from the determination target.

As a matter of course, even if the planting work of 8 rows of planting is always performed on all the straight paths P of the traveling route R, the seedling mat remaining amount A exceeds the predetermined threshold value α (seedling mat consumption amount) may be determined for each placement surface (each seedling splicing sensor 40).
Further, in the second embodiment, the seedling mat remaining amount A is smaller than the predetermined threshold α, and the amount of the seedling mat M consumed in the first linear path P1 (seedling mat consumption amount) is less than the remaining seedling mat amount. A small amount A was set as a condition for interrupting automatic travel. However, when the seedling mat remaining amount A is smaller than the predetermined threshold α, or when the seedling mat remaining amount A is smaller than the amount of the seedling mat M consumed in the first linear path P1 (seedling mat consumption amount), Alternatively, a warning may be displayed on the operation display unit 103 of the wireless communication terminal 100 without interrupting automatic running. That is, it is determined that the seedling mat remaining amount A is smaller than a predetermined threshold α or that the seedling mat remaining amount A is smaller than the amount of seedling mat M consumed in the first linear path P1 (seedling mat consumption amount). , may be used as a warning execution condition.

In this case, the user can operate the operation display unit 103 to interrupt the automatic running after recognizing that the seedling mat M needs to be replenished by the warning. After that, the user can manually move the rice transplanter 1 to the replenishment position.
In the above-described embodiment, the rice transplanter has been described as an example of the agricultural work machine. The agricultural working machine is not limited to a rice transplanter, and may be a vehicle such as another agricultural working machine that supplies supply materials other than the seedling mat M to the field F.

Further, in the above-described embodiment, the case of supplying the material to be supplied to the farm field F has been described. It is also applicable to machines. The combine has a crop storage unit that stores crops (for example, rice) harvested from the field F, and stores the harvested crops in the crop storage unit when traveling on the straight path P of the traveling route R.

Even in such a combine, it is possible to travel in the same manner as the rice transplanter 1 of the above-described embodiment (see FIGS. 6A to 6C, 9A, and 9B), and the same control as the rice transplanter 1 is performed (see FIG. 7 and FIG. 10).
However, it differs from the rice transplanter 1 mainly in the following points. For example, when moving the combine from the first end point EP1 toward the discharge position, it is necessary to pass through an area where the crops have already been harvested in the field F to move to the discharge position so as not to damage the crops in the field F. There is In addition, in a configuration in which the combine automatically travels regardless of whether it is positioned on the straight path P or the turning path T, when the combine travels on the straight path P and reaches the first end point EP1, the combine is equipped with Based on the maximum capacity of the crop storage unit and the amount of harvested crops (the amount of crops stored in the crop storage unit), the automatic travel control unit determines whether crops can be harvested on the next straight path P. judge. The automatic travel control unit suspends the automatic travel when it determines that the crop cannot be harvested. After the suspension of automatic driving, it is detected that the crop has been discharged from the crop storage unit, and when automatic driving is started, if the first distance D1 is greater than the second distance D2, the corrected route provided in the combine harvester. The generator generates a corrected travel route R1.

Whether or not crops can be harvested in the next straight path P depends on the maximum capacity of the crop storage section and the remaining capacity of the crop storage section, which is calculated based on the amount of harvested crops. or less, and whether the remaining capacity is less than the amount of crops harvested one step before.
In addition, various modifications can be made within the scope of the claims.

1: Rice transplanter (automatic driving system)
51: Automatic driving control unit 100: Wireless communication terminal (automatic driving system)
111: Corrected path generation unit A: Remaining amount of seedling mat B: Replenishment position D1: First distance D2: Second distance EP1: First end point EP2: Second end point P1: First linear path (first path)
P2: Second linear path (second path)
R: Traveling route R: Initial traveling route R1: Corrected traveling route RP: Traveling route RP0: Initial traveling route RP1: Corrected traveling route SP1: First starting point SP2: Second starting point T: Turning route α: Threshold

Claims (4)

To generate a route for an agricultural work machine that travels along a travel route while supplying materials to a farm field, and returns to the travel route after replenishing the materials at a replenishment position when the materials to be supplied run short. An automatic driving system,
A first route connecting a first start point and a first end point, and a second route connecting a second start point and a second end point , wherein the first route and the second route are arranged in this order. a travel route generating unit that generates the travel route along which the agricultural implement travels;
a corrected route generation unit that generates a corrected travel route in which the second start point and the second end point are interchanged when a predetermined condition is satisfied;
The automatic driving system, wherein the predetermined condition is that the distance between the replenishment position and the second end point is shorter than the distance between the replenishment position and the second start point. A route for an agricultural work machine that travels along a travel route while harvesting agricultural products in a field, and returns to the travel route after discharging the agricultural products at a discharge position when it becomes necessary to discharge the agricultural products. An automated driving system that generates
A first route connecting a first start point and a first end point, and a second route connecting a second start point and a second end point , wherein the first route and the second route are arranged in this order. a travel route generating unit that generates the travel route along which the agricultural implement travels;
a corrected route generation unit that generates a corrected travel route in which the second start point and the second end point are interchanged when a predetermined condition is satisfied;
The automatic driving system, wherein the predetermined condition is that the distance between the ejection position and the second end point is shorter than the distance between the ejection position and the second start point. To generate a route for an agricultural work machine that travels along a travel route while supplying materials to a farm field, and returns to the travel route after replenishing the materials at a replenishment position when the materials to be supplied run short. A route generation method comprising:
A first route connecting a first start point and a first end point, and a second route connecting a second start point and a second end point , wherein the first route and the second route are arranged in this order. a process of generating the travel route along which the agricultural implement travels;
and a process of generating a corrected travel route in which the second start point and the second end point are interchanged when a predetermined condition is satisfied,
The route generating method, wherein the predetermined condition is that the distance between the replenishment position and the second end point is shorter than the distance between the replenishment position and the second start point. To generate a route for an agricultural work machine that travels along a travel route while supplying materials to a farm field, and returns to the travel route after replenishing the materials at a replenishment position when the materials to be supplied run short. A route generation method comprising:
A first route connecting a first start point and a first end point, and a second route connecting a second start point and a second end point , wherein the first route and the second route are arranged in this order. a process of generating the travel route along which the agricultural implement travels;
and a process of generating a corrected travel route in which the second start point and the second end point are interchanged when a predetermined condition is satisfied,
The route generating method, wherein the predetermined condition is that the distance between the replenishment position and the second end point is shorter than the distance between the replenishment position and the second start point.

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