JP7591998B2 - Automatic driving control system and farm work vehicle - Google Patents

Description

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

A field work vehicle that performs autonomous driving to supply agricultural materials to fields replenishes agricultural materials or unloads harvested crops while autonomously driving.

The field work vehicle (rice transplanter) disclosed in Patent Document 1 stops the vehicle after each round trip in the field, and replenishes agricultural materials (seedlings) if necessary, and continues working if there is no need to replenish agricultural materials.

JP 2021-106613 A

However, there is a demand for more efficient supply of agricultural materials during automated work.

The purpose of the present invention is to efficiently replenish agricultural materials or remove harvested crops.

In order to achieve the above object, an automatic driving control system according to one embodiment of the present invention is an automatic driving control system for a field work vehicle that performs field work of supplying agricultural materials to a field by repeating automatic reciprocating driving along a driving path consisting of an internal path and a turning path, wherein the field work vehicle performs a supply preparation process in which the vehicle stops driving at a terminal area of the internal path heading toward a specified supply edge in order to supply materials to the specified supply edge, and the system includes a driving control unit that controls the automatic driving including the supply preparation process, a work control unit that controls the field work, an information terminal capable of data communication with the field work vehicle and having a display unit, a material supply setting unit that sets the supply edge , and an alarm unit that issues specified alarms.
A seedling loading platform on which the mat-shaped seedlings as the agricultural materials are placed, and which continuously sends out the mat-shaped seedlings at a predetermined vertical feed amount and continuously feeds the mat-shaped seedlings laterally in the left and right directions of the body of the field work vehicle at a predetermined number of lateral feeds;
A planting mechanism that removes seedlings from the mat-like seedlings sent out and plants them in the field;
A sensor for detecting a remaining amount of the mat of the mat-like seedlings;
and a remaining amount estimating unit that estimates the remaining amount of seedlings from at least one of information on the mat-shaped seedlings to be loaded, information on the vertical feed amount, information on the number of lateral feeds, information on the amount of seedlings taken by the planting mechanism, and information on the spacing between plants.
When the remaining amount of the mat detected by the sensor is equal to or less than a predetermined amount, the notification unit notifies that fact, and when the remaining amount of the seedlings is equal to or less than a predetermined amount, the notification unit notifies that fact .

The field work vehicle according to one embodiment of the present invention performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel on a travel path consisting of an internal path and a turning path, and performs a supply preparation process to stop travel at the terminal area of the internal path toward a specified supply edge in order to supply materials to the specified supply edge. The field work vehicle includes a work device that performs the field work, a travel control unit that controls automatic travel including the supply preparation process, a work control unit that controls the field work, an information terminal having a display unit, and a material supply setting unit that sets the supply edge, and the material supply setting unit displays the internal path with the traveling direction displayed on the display unit of the information terminal, and sets the outer periphery of the field that exists on the traveling direction side of the internal path artificially selected by the information terminal as the supply edge.

With the above configuration, a supply edge can be set simply by selecting any internal route from the internal routes displayed on the information terminal. This makes it easy to set up the supply preparation process, enabling efficient work travel.

An automatic driving control system according to one embodiment of the present invention is an automatic driving control system for a field work vehicle that performs field work to harvest agricultural products from a field by repeating automatic reciprocating travel along a travel path consisting of an internal path and a turning path, and the field work vehicle performs a discharge preparation process to stop travel at the terminal area of the internal path toward a specified discharge edge in order to discharge the harvested agricultural products at the specified discharge edge, and is equipped with a driving control unit that controls automatic driving including the discharge preparation process, a work control unit that controls the field work, an information terminal capable of data communication with the field work vehicle and having a display unit, and a material discharge setting unit that sets the discharge edge, and the material discharge setting unit displays the internal path with the traveling direction displayed on the display unit of the information terminal, and sets the outer periphery of the field that exists on the traveling direction side of the internal path artificially selected by the information terminal as the discharge edge.

With the above configuration, the discharge edge can be set simply by selecting any internal route from the internal routes displayed on the information terminal. This makes it easy to set up the discharge preparation process, enabling efficient work travel.

The material supply setting unit may also set the outer periphery of the field that is on the opposite side of the selected internal path to the traveling direction as the supply edge, in addition to the outer periphery of the field that is on the traveling direction side of the selected internal path.

Supply of agricultural materials may be possible at multiple perimeters of the field. Supply of agricultural materials may be possible on the inward and outward side of the internal route.

According to the above configuration, in such a case, it is possible to set supply edges around the two outer perimeters where agricultural materials can be replenished, allowing for efficient supply of agricultural materials and efficient work travel.

In addition, it is preferable that a non-replenishment preparation mode can be selected in which the replenishment preparation process is not executed, and that a material replenishment operation unit is further provided that receives a manual material replenishment instruction to replenish the material during the automatic reciprocating travel, and that when the material replenishment instruction is received, the material replenishment setting unit sets the replenishment edge based on the internal route that was traveling when the material replenishment instruction was issued.

With this configuration, even if the supply preparation process is not performed periodically, the operator can set the supply edge and perform the supply preparation process at his/her discretion. This further reduces unnecessary stops, allows for more efficient supply of agricultural materials, and allows for efficient work travel.

The system may further include a notification unit that issues a predetermined notification, and when the material supply setting unit sets the supply edge, the notification unit may notify the amount of agricultural material required to be replenished until the material is replenished at the set supply edge in the next automatic round trip travel.

This configuration allows the appropriate amount of agricultural materials to be replenished when replenishing agricultural materials, making it possible to replenish agricultural materials efficiently.

The material supply setting unit may also modify the subsequent supply sides according to the supply amount.

The supply preparation location may be more optimal depending on the amount of agricultural materials being supplied and the length of the internal route, etc.

The above configuration allows for the optimization of supply areas, making it possible to supply agricultural materials more efficiently.

The field work vehicle is a seedling transplant vehicle that plants seedlings in the field as the agricultural materials, and further includes a notification unit that issues a predetermined notification and a notification control unit that controls the notification unit. The seedling transplant vehicle has a seedling loading platform on which mat-shaped seedlings are placed, and a planting mechanism that removes the seedlings from the mat-shaped seedlings and plants the seedlings in the field. The seedling loading platform has a sensor that detects the remaining amount of mat in the mat-shaped seedlings. If the remaining amount of mat detected by the sensor is equal to or less than a predetermined amount, the notification control unit causes the notification unit to issue a notification to that effect. The material supply setting unit may accept an artificial selection of the internal route after the notification is issued.

This configuration allows agricultural materials to be replenished according to the amount of agricultural materials actually remaining, making it possible to replenish agricultural materials more efficiently.

In addition, the seedling loading platform continuously sends out the mat-shaped seedlings to the planting mechanism at a predetermined vertical feed amount, and continuously feeds the mat-shaped seedlings laterally in the left-right direction of the body of the seedling transplant vehicle at a predetermined number of lateral feeds, and the planting mechanism takes out a predetermined amount of seedlings from the mat-shaped seedlings and plants the seedlings in the field at a predetermined spacing between plants. A remaining amount estimating unit estimates the remaining amount of seedlings from at least one of information on the mat-shaped seedlings loaded, information on the vertical feed amount, information on the number of lateral feeds, information on the seedling amount, and information on the spacing between plants. and a remaining amount selection operation unit that manually selects whether to use the mat remaining amount or the actual seedling remaining amount, and the notification control unit may cause the notification unit to notify the user when the remaining amount selection operation unit selects to use the mat remaining amount and the mat remaining amount detected by the sensor is equal to or less than a predetermined amount, and may cause the notification unit to notify the user when the remaining amount selection operation unit selects to use the actual seedling remaining amount and the actual seedling remaining amount is equal to or less than a predetermined amount.

With this configuration, the remaining amount of agricultural materials is selected from the remaining amount of mats and the remaining amount of seedlings according to the field and work driving conditions, and a shortage of agricultural materials is determined. This allows agricultural materials to be replenished more efficiently according to the field and work driving conditions.

It is also preferable that the notification unit is provided in the information terminal.

When driving to work, the information terminal is often placed near the worker. With the above configuration, the worker can easily understand what has been notified and can replenish agricultural materials more efficiently.

FIG. 2 is a left side view of the automatically-traveling rice transplanter. FIG. 1 is a schematic diagram illustrating the operation travel of the rice transplanter. 1 is a block diagram illustrating a functional configuration of an automatic driving control system according to a first embodiment. 13A and 13B are diagrams illustrating examples of a setting screen for supply sides and supply intervals in the first embodiment. 11A to 11C are diagrams illustrating a process of changing a replenishment setting and an execution interval in the first embodiment. FIG. 11 is a block diagram illustrating a functional configuration of an automatic driving control system according to a second embodiment. 13 is a diagram illustrating an example of a setting screen for supply sides and supply intervals in the second embodiment. FIG. 13A to 13C are diagrams illustrating a process of changing a replenishment setting and a replenishment preparation position in the second embodiment. 13A and 13B are diagrams illustrating a replenishment preparation position in the second embodiment. FIG. 11 is a block diagram illustrating a functional configuration of an automatic driving control system according to a third embodiment. FIG. 13 is a diagram illustrating an example of a setting screen for a supply side in the third embodiment. 13A to 13C are diagrams illustrating a process of setting replenishment in the third embodiment.

[Embodiment 1]
Hereinafter, a rice transplanter that plants seedlings (agricultural materials) in a field (field work) will be described as an example of the field work vehicle of the present invention.

For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F in FIG. 1) means the front in the fore-and-aft direction (travel direction) of the aircraft, and "rear" (the direction of arrow B in FIG. 1) means the rear in the fore-and-aft direction (travel direction) of the aircraft. In addition, the left-right or lateral direction means the transverse direction of the aircraft (aircraft width direction) perpendicular to the fore-and-aft direction of the aircraft, "left" means the direction toward the front of the paper in FIG. 1, and "right" means the direction toward the back of the paper in FIG. 1.

[Overall structure]
As shown in Fig. 1, the rice transplanter is a riding type with a four-wheel drive body 1. The body 1 includes a link mechanism 13 of a parallel four-link type connected to the rear of the body 1 so as to be able to rise and fall and swing, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, a seedling planting device 3 connected to the rear end region of the link mechanism 13 so as to be able to roll, and a fertilizer applicator 4 installed from the rear end region of the body 1 to the seedling planting device 3.

The machine body 1 is equipped with wheels 12 as a mechanism for traveling, an engine 2, and a hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission). The wheels 12 have 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 9 via a traveling transmission mechanism, and is also transmitted from the continuously variable transmission 9 to the front wheels 12A, rear wheels 12B, and working equipment (seedling planting equipment 3, fertilizer application equipment 4, etc.). The engine 2 and the continuously variable transmission 9 are mounted at the front of the machine body 1.

As an example, the seedling planting device 3 is configured in an 8-row planting format. The seedling planting device 3 is equipped with a seedling loading platform 21, a planting mechanism 22 for 8 rows, etc. Note that this seedling planting device 3 can be changed to a 2-row, 4-row, 6-row planting format by controlling the clutch for each row (not shown).

The seedling platform 21 is a platform on which eight rows of mat-shaped seedlings are placed. The seedling platform 21 continuously moves back and forth (lateral feed) in the left and right direction at a constant stroke corresponding to the left and right width of the mat-shaped seedlings, and each time the seedling platform 21 reaches the left and right stroke ends by a predetermined number of lateral feeds, each mat-shaped seedling on the seedling platform 21 is vertically fed at a predetermined pitch (vertical feed amount) toward the lower end of the seedling platform 21. The eight planting mechanisms 22 are rotary type and are arranged in the left and right direction at a constant interval corresponding to the planting row spacing. Each planting mechanism 22 receives power from the engine 2 when the planting clutch (not shown) is shifted to a transmission state, and cuts one seedling (planted seedling) from the lower end of each mat-shaped seedling placed on the seedling platform 21 and plants it in the muddy soil after leveling at a predetermined spacing. As a result, when the seedling planting device 3 is in operation, the seedlings can be removed from the mat-like seedlings placed on the seedling placement table 21 and planted (supplied) in the muddy soil of the paddy field.

The seedling placement table 21 may also be equipped with a sensor 23 that detects the remaining amount of mat-shaped seedlings. For example, the sensor 23 may be an optical sensor that is provided on the surface (placement surface) of the seedling placement table 21, and the placed mat-shaped seedlings block light from entering the sensor 23, thereby detecting whether or not the mat-shaped seedlings are present at the position where the sensor 23 is placed, and detecting whether or not a predetermined amount or more of the mat-shaped seedlings are present.

In addition, information such as the number of lateral feeds, the vertical feed amount, the spacing between plants, the seedling harvest amount, which is the amount of seedlings per plant, and the dimensions of the mat-like seedlings (length and width) are stored in an arbitrary memory unit (such as memory unit 35 or memory unit 42, which will be described later in FIG. 3, etc.) that can communicate with the information terminal 5, etc. In addition, the number of lateral feeds, the vertical feed amount, the spacing between plants, and the seedling harvest amount may be fixed, or may be configured to be freely changeable. In this case, the memory unit stores the set information.

The fertilizer application device 4 (supply device) has a hopper 25 (storage section) that stores granular or powdered fertilizer (chemicals or other agricultural materials), a dispensing mechanism 26 that dispenses the fertilizer from the hopper 25, and a fertilizer application hose 28 that transports the fertilizer dispensed by the dispensing mechanism 26 and discharges the fertilizer into the field. The fertilizer stored in the hopper 25 is dispensed in predetermined amounts by the dispensing mechanism 26 and sent to the fertilizer application hose 28, transported through the fertilizer application hose 28 by the conveying wind of the blower 27, and discharged into the field from the furrow former 29. In this way, the fertilizer application device 4 supplies fertilizer to the field.

As shown in FIG. 1, the vehicle body 1 is provided with a driving section 14 in the rear side area. The driving section 14 is provided with a steering wheel 10 for steering the front wheels, a main speed change lever 7A for adjusting the vehicle speed by changing the speed of the continuously variable transmission 9, a sub-speed change lever 7B for changing the speed of the sub-speed change lever, a work operation lever 11 for enabling the raising and lowering operation of the seedling planting device 3 and switching of the operating state, a touch panel 50 (corresponding to the "display unit" in FIG. 3, etc.) for displaying (notifying) various information to the operator and notifying (outputting) various information and accepting input of various information, a removable information terminal 5, and a driver's seat 16 for the operator (driver/worker). The sub-speed change 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 the moving speed, and planting work, etc. is performed at the working speed. Furthermore, in front of the driving section 14, a spare seedling storage device 17A for storing spare seedlings is supported on a spare seedling support frame 17.

Furthermore, 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 inclination and acceleration of the three axes of the aircraft 1. The positioning unit 8 is supported on the top of the spare seedling support frame 17. The calculated position information and orientation information are stored in the memory unit mentioned above.

A remote control 6 (see FIG. 3, etc.) may also be provided to enable remote control of the information terminal 5 and the machine 1.

[Autonomous Driving]
The automatic travel of the rice transplanter to plant seedlings in a field will be described with reference to Figs. 1 and 2.

The rice transplanter in this embodiment can selectively operate in manual or automatic mode. Manual operation (manual operation) and automatic operation (automatic operation) are selected by switching an automatic/manual changeover switch (not shown) located in the driving unit 14.

When the rice transplanter is planting seedlings, the operator first manually drives the rice transplanter along the perimeter (outer edge) of the field. At this time, the rice transplanter may drive while working, or may drive without working. This driving around the perimeter generates the outer shape of the field (field map), and the field is divided into an outer area OA and an inner area IA (map creation process). At this time, one side or multiple specified sides of the outer perimeter of the field are set as a supply side SL for supplying the rice transplanter with agricultural materials such as mat-shaped seedlings, fertilizer, chemicals, and fuel.

When the field map is generated, a target travel route along which the rice transplanter will travel for work is set (route creation process). In the internal area IA, an internal round trip route IPL (corresponding to an "internal route") and a turning route are generated as the target travel route (corresponding to a "travel route"). The internal round trip routes IPL are multiple routes that are approximately parallel to one side of the field, and the turning route is a route that connects two internal round trip routes IPL. The internal round trip route IPL is a travel route that travels for work throughout the entire internal area IA. Automatic work travel is performed along the internal round trip route IPL. Turning on the turning route that connects the internal round trip routes IPL is performed by automatic travel using a predetermined method.

In the outer peripheral area OA, a peripheral planting drive is performed that goes around the outer peripheral area OA one or more times along the outer periphery (outer edge) of the field. For example, two drive routes, an inner peripheral route IRL and an outer peripheral route ORL, are generated as routes for peripheral planting drive. By performing work drives on the inner peripheral route IRL and the outer peripheral route ORL, work drives are performed in the entire outer peripheral area OA. Work drives are performed on the inner peripheral route IRL by unmanned automatic work drives or manned automatic work drives (automatic work drives with a person on board), and work drives are performed on the outer peripheral route ORL by manual work drives. Also, by selecting a mode, work drives may be performed on the inner peripheral route IRL by manual work drives, and work drives may be performed on the outer peripheral route ORL by automatic drives.

When the rice transplanter runs out of seedlings, it replenishes them. When replenishing seedlings, the machine body 1 moves forward and moves to the edge of the paddy field at the replenishing edge SL. When seedling replenishing is complete, the machine body 1 moves backward and returns to the travel route.

Specifically, during automatic travel (automatic round trip travel), when transitioning from the internal round trip path IPL to the turning path, the machine 1 is temporarily stopped at the supply preparation position SPP (seedling supply side automatic stop/supply preparation processing), and by performing manual operation during that time, the machine 1 advances (slightly moves closer) at a predetermined speed to the supply point (corresponding to the "material supply point") SP of the supply side SL, and the machine 1 is moved closer to the edge of the supply side SL. The supply preparation position SPP where the supply preparation processing is performed is set in the terminal area of the internal round trip path IPL or in the area near the boundary between the internal round trip path IPL and the turning path. Note that this type of supply preparation processing is not limited to seedling supply, and may also be performed when supplying various agricultural materials such as fertilizer, medicine, and fuel.

The supply location for supplying seedlings is not limited to the supply point SP, which is a position straight from the internal shuttle path IPL to the supply side SL, but may be a supply point SA that is arbitrarily set along the supply side SL. When supplying seedlings at the supply point SA, the machine 1 is moved from the supply preparation position SPP to the supply point SA.

In order for the rice transplanter to travel automatically, the map creation process and route creation process described above are performed. In the route creation process, the setting of the supply side and the settings related to the supply preparation process (supply settings) are also performed. Although such various processes and settings can be performed on the machine 1, they may also be performed using the information terminal 5.

[Supply Settings]
3, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the driving unit 14, or may be held by an operator away from the machine body 1 in a state in which the information terminal 5 can be operated.

The control unit 30 controls the automatic operation travel 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 the travel, a work control unit 33 that controls the work, a communication unit 34 that communicates with the information terminal 5 or the like, and a memory unit 35.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to the "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for 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 machine 1, etc. The touch panel 50 displays various information and various software switches. The seedling supply setting unit 41 sets the supply edge SL, supply preparation position SPP, etc. based on the operation of operating tools, software switches, etc. while referring to the information displayed on the touch panel 50. The memory unit 42 stores various information.

The supply setting in the first embodiment will be described below with reference to Figures 2 to 5. The supply setting is performed after the map creation process and the target driving route are set in the route creation process.

In supply setting, a setting screen as shown in FIG. 4 is displayed on the touch panel 50 (step #1 in FIG. 5). A supply edge setting operation unit 52 is displayed as a software switch on the setting screen. The supply edge SL is selectively set by the supply edge setting operation unit 52. The setting screen displays the outer perimeter shape of the field and a design such as an arrow that corresponds to the internal round trip path IPL, and the edges that correspond to the start and end of the internal round trip path IPL are displayed as candidates for the supply edge SL.

The supply edge setting operation unit 52 can select any of the candidate edges, all of the candidate edges, or not perform the supply preparation process (no edges selected). The edge selected by the supply edge setting operation unit 52 is set as the supply edge SL (step #2 in FIG. 5). Note that in the example in FIG. 4, there are two candidate edges, edge A and edge B, but one or more than two edges may be candidates, and if there are multiple candidate edges, multiple of them may be selected.

In addition, if "Do not perform supply preparation processing" is selected in the supply side setting operation unit 52, a non-supply preparation mode is set in which supply preparation processing is not performed, and no temporary suspension for supply is performed. In this case, the worker determines the need for supply, interrupts work at a position of their choice, and moves the machine 1 to the supply position to perform supply. Note that movement to this supply position may be performed automatically.

The non-supply preparation mode can be set not only when "Do not perform supply preparation processing" is selected in the supply edge setting operation unit 52, but also by a separately provided operation tool (not shown). In this case, the supply edge SL can be set in the supply edge setting operation unit 52, and then the non-supply preparation mode can be set.

Next, an automatic stop interval is set for the number of round trips on the internal round trip path IPL after which the supply preparation process is performed. The round trip on the internal round trip path IPL is a trip from the end of the internal round trip path IPL on the supply side, followed by a turning trip, then a trip on the next internal round trip path IPL, and finally to the end of the internal round trip path IPL on the supply side. Specifically, the setting screen displays a trip count operation unit 53 as a software switch. The trip count operation unit 53 can select the number of round trips. The seedling supply setting unit 41 sets the number of times selected by the trip count operation unit 53 as the number of round trips (implementation interval) of the supply preparation process, stores it in the memory unit 42, and transmits the information to the travel control unit 32. The travel control unit 32 stores the set number of round trips in the memory unit 35, and temporarily stops the machine 1 to perform the supply preparation process after the set number of round trips (step #3 in FIG. 5).

For example, if the number of round trips is set to 1, seedling supply preparation processing is performed at position SP1 following the supply preparation position SPP in Figure 2; if the number of round trips is set to 2, seedling supply preparation processing is performed at position SP2 following the supply preparation position SPP; and if the number of round trips is set to 3, seedling supply preparation processing is performed at position SP3 following the supply preparation position SPP. Then, once all the necessary settings have been made, automatic work travel is started by accepting a specified operation (step #4 in Figure 5).

Even if the replenishment preparation process is performed after each round trip along the internal round trip path IPL, there are cases where work travel can be continued without replenishment. In such cases, when the machine body 1 stops, the work travel is resumed by a specified operation of the worker. Such unnecessary stopping of the work travel and operations to resume the work travel decrease work efficiency.

In addition, depending on the size of the field (the length of the internal shuttle path IPL), the amount of mat-like seedlings to be loaded, the amount of seedlings to be harvested, the row spacing, etc., it may be possible to predict the distance traveled until replenishment is required (the interval between replenishment preparation processes).

Therefore, by configuring the system so that the number of round trips, which is the interval for performing the replenishment preparation process, can be set, unnecessary stopping of work travel and operations to restart work travel can be suppressed, improving work efficiency.

When the supply edges are set on both the front and rear sides of the internal shuttle path IPL in the travel direction, the supply preparation process can be performed for each run of the internal shuttle path IPL. Therefore, the run count operation unit 53 may be configured to select the number of runs of the internal shuttle path IPL, rather than being limited to the number of round trips, as the interval for performing the supply preparation process.

For example, if the number of runs is set to three, the seedling supply preparation process will be performed at position SP4 after the supply preparation position SPP in Figure 2.

By performing the replenishment preparation process each time the internal round trip path IPL is traveled the set number of times, the replenishment preparation process can be performed more accurately according to the need for replenishment, further improving work efficiency.

It may not be possible to accurately predict the distance traveled until replenishment is required (the interval between replenishment preparation processes), and the amount of seedlings consumed per distance traveled may change depending on factors such as field conditions. In such cases, even if replenishment preparation processes are performed at preset intervals, it may not be possible to replenish seedlings at the appropriate time.

For example, during work travel, it may be possible to predict that the seedlings will run out by the time the next supply preparation position SPP is reached, or there may still be sufficient seedlings remaining even after the supply preparation process is performed.

In such a case, it is preferable to have a configuration in which the next supply preparation position SPP (the interval at which the supply preparation process is carried out) can be changed during automatic work driving. This allows for more efficient work driving.

Therefore, a number of times change operation unit 54 that allows the implementation interval to be changed during automatic work driving may be provided. For example, the number of times change operation unit 54 is a software switch that is displayed on the touch panel 50 during work driving. The number of times change operation unit 54 may be configured to select the implementation interval like the driving number of times operation unit 53, or may be configured to increase or decrease the implementation interval. For example, the number of times change operation unit 54 may be configured to determine the implementation interval according to the number of times it is operated. Alternatively, the number of times change operation unit 54 may be configured to sequentially change the implementation interval displayed on the touch panel 50 while the number of times change operation unit 54 is being operated (long press, etc.), and to change to the implementation interval displayed at the time the operation is stopped. Furthermore, the number of times change operation unit 54 may be configured to perform an operation to speed up the implementation interval by one round trip (one driving number) and an operation to extend it (increase or decrease the implementation interval) instead of directly inputting the implementation interval.

Then, during automatic work travel, if it is predicted that there will be no seedlings by the time the next supply preparation position SPP is reached, or if it is predicted that there will be enough seedlings remaining even if the work travel is made to the next supply preparation position SPP, the number of times change operation unit 54 is operated (step #5 in FIG. 5) to change the next supply preparation position SPP. In other words, it is possible to supply earlier than the preset interval or to skip the supply preparation position SPP.

For example, if the number of round trips is set to two, and if the operator determines that a sufficient number of mat-shaped seedlings are loaded while replenishing at the replenishing preparation position SPP in FIG. 2 and traveling automatically, the operator operates the number of round trips change operation unit 54 to change the number of round trips to three. Based on this operation, the number of round trips change operation unit 54 sends a change instruction to the seedling replenishing setting unit 41. The seedling replenishing setting unit 41 sends this information to the traveling control unit 32, and the traveling control unit 32 carries out the replenishing preparation process based on this information. Specifically, the next replenishing preparation process after the replenishing preparation position SPP is not performed at position SP2, but at position SP3.

When the count change operation unit 54 is operated, only the execution interval from the previous replenishment preparation process to the next replenishment preparation process may be changed, and the execution interval thereafter may be returned to the execution interval that was initially set (step #6-1 in FIG. 5), or the execution interval from the next time onwards may be changed (step #6-2 in FIG. 5). In other words, the set execution interval itself may be changed.

In this case, the seedling supply setting unit 41 changes the implementation interval stored in the memory unit 42 to an implementation interval corresponding to the operation of the number change operation unit 54, and transmits the changed implementation interval to the traveling control unit 32. The traveling control unit 32 then changes the implementation interval stored in the memory unit 35 to the changed implementation interval, and performs subsequent seedling supply preparation processing at the changed implementation interval.

In addition, when the configuration is such that an operation is performed to advance or extend the execution interval, the set execution interval is changed by subtracting one round trip (one number of runs) from the set execution interval when an operation is performed to advance the execution interval, and by adding one round trip (one number of runs) to the set execution interval when an operation is performed to extend the execution interval.

Furthermore, the system may be configured to allow the user to select whether to change only the next implementation interval or all subsequent implementation intervals. If the amount of seedlings consumed per distance traveled changes due to field conditions, etc., the implementation interval will often temporarily become inappropriate. On the other hand, if the predicted amount of seedlings consumed differs from the actual work, the implementation interval may become inappropriate for the entire work trip. Therefore, by configuring the system to allow the user to select whether to change the implementation interval only for the next time or for all subsequent times, the implementation interval can be changed appropriately depending on the situation at the time.

When "Do not perform replenishment preparation processing" is selected in the replenishment edge setting operation unit 52 and the non-replenishment preparation mode is set, the number of times change operation unit 54 may be used if the operator decides to perform replenishment. In this case, if the operator decides that replenishment is necessary during automatic work travel and operates the number of times change operation unit 54, the travel control unit 32 receives information that the number of times change operation unit 54 has been operated, and controls the travel toward the outer periphery of the field (supply edge SL) to replenish seedlings.

Specifically, when the number of times change operation unit 54 is operated, the travel control unit 32 controls the machine body 1 to stop after traveling on the internal round trip path IPL that it is currently traveling, without transitioning to turning travel. The machine body 1 then continues to move forward, and when it reaches the outer periphery of the field (the supply edge SL), the machine body 1 is stopped.

In addition, when a supply edge SL is set and the non-supply preparation mode is set, if the number of times change operation unit 54 is operated, a turning run is not performed after traveling on the internal round trip path IPL toward the next supply edge SL, and supply may be performed at the next supply edge SL. After that, the seedling supply setting unit 41 may be set to determine the implementation interval based on the number of round trips (number of runs) that have been supplied by operating the number of times change operation unit 54 since the start of the work run, and to perform the supply preparation process.

In addition, in the above configuration, instead of the number of times change operation unit 54, the implementation interval may be changed based on the voice of the operator (worker). For example, when the operator says "change number of times" and then "three times," the implementation interval may be changed to three times. Also, the implementation interval may be increased or decreased by one time by saying "increase" or "decrease" after saying "change number of times." Furthermore, these voice recognition technologies may be configured to recognize voice based on deep learning by artificial intelligence.

Specifically, the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that responds to a predetermined voice and recognizes the voice. When the operator inputs a voice instruction, the microphone 44 transfers the voice data to the voice recognition unit 45, which recognizes the voice data as the specific content of the instruction. The voice recognition unit 45 transmits the content of the instruction to the driving control unit 32, and the driving control unit 32 controls the machine 1 to drive toward the outer periphery of the field (supply edge SL) in order to supply seedlings, depending on the content of the instruction.

Furthermore, the information terminal 5 may be provided with an alarm unit 47 that issues a predetermined alarm, and a remaining amount determination unit 48, and may be configured to alarm if it is predicted that the remaining amount of seedlings will be insufficient when the supply preparation process is performed at a set interval.

Specifically, the remaining amount determination unit 48 calculates the seedling consumption amount per unit travel distance from the stored information on the seedling removal amount, vertical feed amount, mat-like seedling length, and spacing information, and calculates the remaining amount of seedlings from the mat remaining amount information. Then, based on the calculated consumption amount and remaining amount, the remaining amount determination unit 48 determines whether or not there will be a shortage of seedlings during the work travel until the next supply preparation process is performed. When the remaining amount determination unit 48 determines that there will be a shortage of seedlings, it causes the notification unit 47 to issue a notification to warn that there will be a shortage of seedlings.

In this way, by warning the operator when there is a shortage of seedlings, if there are not enough seedlings remaining, the operator can replenish the seedlings before the replenishment preparation process begins, preventing seedlings from running out during automatic work travel and allowing the operator to carry out work travel efficiently.

[Embodiment 2]
Next, another embodiment of the replenishment setting will be described as embodiment 2 with reference to Figures 6 to 9. The replenishment setting of embodiment 2 differs from the replenishment setting of embodiment 1 in that the replenishment interval is set not by the number of round trips (number of runs) but by the working distance. Note that in the following description, description of the same configuration as embodiment 1 will be omitted.

As shown in FIG. 6, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a state capable of communicating with the rice transplanter. The information terminal 5 may be attached to the driving unit 14, or may be held in a state in which it can be operated by an operator away from the machine body 1.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to the "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for making various settings.

In the supply setting of the second embodiment, a setting screen as shown in FIG. 7 is displayed on the touch panel 50 (step #1 in FIG. 8). A supply edge setting operation unit 52 is displayed as a software switch on the setting screen. The supply edge SL is selectively set by the supply edge setting operation unit 52. The setting screen displays the outer perimeter shape of the field and a design such as an arrow corresponding to the internal round trip path IPL, and the edges corresponding to the start and end of the internal round trip path IPL are displayed as candidates for the supply edge SL.

The supply edge setting operation unit 52 can select any of the candidate edges, all of the candidate edges, or not perform the supply preparation process (no edges are selected). The edge selected by the supply edge setting operation unit 52 is set as the supply edge SL (step #2 in FIG. 8). Note that in the example in FIG. 7, there are two candidate edges, edge A and edge B, but one or more than two edges may be set as candidates, and if there are multiple candidate edges, multiple of them may be selected.

If "Do not perform replenishment preparation processing" is selected in the replenishment side setting operation unit 52, the non-replenishment preparation mode is set in which replenishment preparation processing is not performed, and no temporary suspension for replenishment is performed. In this case, the worker determines the need for replenishment, interrupts work at a position of their choice, and moves the machine 1 to the replenishment position to perform replenishment.

The non-supply preparation mode can be set not only when "Do not perform supply preparation processing" is selected in the supply edge setting operation unit 52, but also by a separately provided operation tool (not shown). In this case, the supply edge SL can be set in the supply edge setting operation unit 52, and then the non-supply preparation mode can be set.

Next, the interval for carrying out the supply preparation process is set. Specifically, the working distance input unit 56 is displayed as a software switch on the setting screen (step #3 in FIG. 8). The working distance input unit 56 inputs the working distance that can be traveled with the seedlings to be supplied. 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-shaped seedlings loaded on the seedling loading platform 21, the number of lateral feeds, the vertical feed amount, and the spacing between plants, and may be empirically determined taking into account the field conditions, etc. The seedling supply setting unit 41 sets the supply preparation position SPP based on the working distance and the supply edge SL inputted in the working distance input unit 56, stores it in the memory unit 42, and transmits the information to the traveling control unit 32. The traveling control unit 32 stores the set supply preparation position SPP in the memory unit 35, and temporarily stops the machine 1 to carry out the supply preparation process at the set supply preparation position SPP.

For example, if the distance traveled from the planting start position S along the internal shuttle path IPL1, the internal shuttle path IPL2, and the internal shuttle path IPL3 to position PA on the internal shuttle path IPL4 is the set working distance, the end area of the internal shuttle path IPL that is closest to the supply edge SL on the travel path to position PA is set as the supply preparation position SPP. In the example of Figure 9, position PB is set as the supply preparation position SPP.

Here, the travel distance from the planting start position to position PA is longer than the set working distance. In such a case, the spacing between plants is lengthened and the amount of seedlings removed is reduced so that the work can be traveled from the planting start position S to the supply preparation position SPP (position PB).

However, if the spacing is only adjusted partially, it may spoil the aesthetic appearance. In such cases, it is preferable to adjust the spacing in the center of the field. For example, the spacing is adjusted only in areas that are a specified distance or more away from the outer edge of the field.

In addition, if the distance from position PA to the supply edge SL is long, even if the spacing between plants and the amount of seedlings removed are adjusted, the work run may not be performed from the planting start position S to position PB. If such a situation is anticipated, the end area of the internal shuttle path IPL that is next to the planting start position S side of the internal shuttle path IPL including position PA and that faces the supply edge SL is set as the supply preparation position SPP. For example, in FIG. 9, if the supply edge SLB is included as the supply edge SL, position PC is set as the supply preparation position SPP. In addition, if the supply edge SL is only the supply edge SLA, position PD is set as the supply preparation position SPP. Then, once all the necessary settings have been made, automatic work run is started by accepting a specified operation (step #4 in FIG. 8).

In this way, by setting the supply preparation position SPP based on the working distance, the supply preparation position SPP can be set more accurately according to the amount of seedlings to be supplied. As a result, unnecessary stops of work travel and operations to resume work travel are suppressed, and work efficiency can be further improved.

Adjustments to the spacing between plants and the amount of seedlings harvested may also be made when the theoretical seedling consumption amount taken into account when determining the working distance during automatic work travel is compared with the actual consumption amount determined as a result of work travel, and if there is a difference between the two, a wheel rotation speed sensor is provided, and the slip rate in the field is measured by comparing the travel distance calculated from the wheel rotation speed sensor with the travel distance calculated based on the positioning data output by the positioning unit 8, and an appropriate spacing between plants is calculated based on the slip rate. The spacing is adjusted by a continuously variable transmission mechanism such as a continuously variable hydrostatic mechanism (HST) provided in the drive system of the working device, making it possible to calculate the seedling consumption amount with high accuracy.

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

The position calculation unit 57 calculates the position of the machine body 1 on the target travel route by any method. For example, the position calculation unit 57 continuously acquires positioning data output by the positioning unit 8, and continuously calculates the position of the machine body 1 in the field. Information on the calculated position of the machine body 1 is stored in at least one of the memory unit 42 and the memory unit 35. Note that the stored positions of the machine body 1 may be at least the positions of the start and end of each internal round trip route IPL, but may also be any percentage or all of the continuously calculated positions of the machine body 1.

The consumption prediction unit 58 predicts the theoretical seedling consumption amount that will be consumed when traveling the working distance based on the vertical feed amount and number of horizontal feeds of the seedling planting device 3 and the length and width of the mat-shaped seedlings, and transmits the prediction to the control unit 30 (step #5-1 in Figure 8).

The consumption calculation unit 59 calculates the amount of seedlings consumed per unit distance from the amount of change in the position of the machine body 1 on the internal round trip path IPL calculated by the position calculation unit 57, the stored information on the vertical feed amount, and the information on the number of lateral feeds, and calculates the amount of seedlings consumed if the machine travels the working distance with the current settings, and transmits this to the control unit 30 (step #6-1 in Figure 8).

Then, the work 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 spacing between plants and the seedling amount based on the comparison result (step #7-1 in Figure 8).

This allows adjustments to be made to the spacing between plants and the amount of seedlings removed only when necessary, allowing for more accurate seedling planting and more efficient travel.

In addition, errors in the working distance may occur depending on the field conditions, etc. In such cases, the supply preparation position SPP may be changed depending on the distance that can actually be traveled for work with the amount of seedlings loaded.

To achieve this configuration, the information terminal 5 may include 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 possible travel distance from the previous supply preparation position SPP until the next supply of seedlings is required, based on the seedling consumption per unit distance calculated by the consumption calculation unit 59 and the amount of seedlings loaded (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used in the setting (step #6-2 in FIG. 8). Then, if there is a difference between the possible travel distance and the working distance that is equal to or greater than a predetermined threshold, the distance comparison unit 61 causes the notification unit 47 to notify that fact (step #7-2 in FIG. 8). At this time, it is preferable to also notify which distance is longer.

The position change operation unit 62 accepts operations to change the supply preparation position SPP. When the operator determines that it is necessary to change the supply preparation position SPP upon receiving a notification from the notification unit 47, he or she operates the position change operation unit 62 (step #8-2 in FIG. 8). Then, in response to the operation of the position change operation unit 62, the seedling supply setting unit 41 changes the supply preparation position SPP to a position adjacent to the supply edge SL in the terminal area of the internal reciprocating path IPL, either forward or backward in the direction of travel (step #9-2 in FIG. 8).

This allows the supply preparation position SPP to be changed to a working distance that corresponds to the actual amount of seedlings consumed, making it possible to supply seedlings more efficiently. Note that the supply preparation position SPP is not limited to being changed by the operator operating the position change operation unit 62, and may be changed automatically according to the comparison results of the distance comparison unit 61.

As mentioned above, the number of lateral feeds, the vertical feed amount, and the amount of seedlings removed can be changed. The spacing between plants may also be changed. Changing these will change the distance that work travel can be performed after seedlings are replenished. Accordingly, it is preferable to change the replenishment preparation position SPP.

Therefore, when the number of lateral feeds, the vertical feed amount, the seedling removal amount, or the spacing between plants is changed (step #5-3 in Figure 8), the seedling supply setting unit 41 may change the supply preparation position SPP in accordance with the amount of change (step #6-3 in Figure 8).

[Embodiment 3]
Next, another embodiment of the supply setting will be described as embodiment 3 with reference to Figures 10 to 12. The supply setting of embodiment 3 sets the seedling supply side in a configuration different from the configuration described above in embodiment 1 or embodiment 2. In the following description, the same configuration as embodiment 1 or embodiment 2 will not be described.

As shown in FIG. 10, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a state capable of communicating with the rice transplanter. The information terminal 5 may be attached to the driving unit 14, or may be held in a state in which it can be operated by an operator away from the machine body 1.

The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to the "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for making various settings.

In the supply setting of the third embodiment, a setting screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12). A supply edge setting operation unit 52 and a route selection operation unit 64 are displayed as software switches on the setting screen. The supply edge setting operation unit 52 accepts a selection operation of whether or not to perform supply preparation processing (step #2 in FIG. 12). If it is selected in the supply edge setting operation unit 52 that supply preparation processing is not to be performed, the supply edge SL is not set. The setting screen displays the outer peripheral shape of the field and a design such as an arrow corresponding to the internal round trip path IPL. Candidates for the supply edge SL are the edges of the outer periphery of the field that correspond to the start and end of the internal round trip path IPL.

When the selection is made to perform the supply preparation process (step #2 Yes in FIG. 12), the worker operates the route selection operation unit 64 to select the internal round-trip route IPL (step #3 in FIG. 12). The worker grasps the direction of travel from an arrow or the like displayed on the internal round-trip route IPL, and selects the internal round-trip route IPL so that the outer periphery on the direction of travel side becomes the supply side SL, thereby selecting the supply side SL. The route selection operation unit 64 is an operation tool that can select one of the displayed internal round-trip routes IPL, and may be, for example, a switch that can select one of multiple internal round-trip routes IPL, or may be an operation tool that sequentially advances the selected internal round-trip route IPL to the left and right as shown in FIG. 11. Furthermore, the route selection operation unit 64 may not be provided, and the internal round-trip route IPL may be selected by directly touching a pattern corresponding to the internal round-trip route IPL on the touch panel 50. The selected internal round-trip route IPL changes so that the selected internal round-trip route IPL can be identified by emitting light or being colored.

The internal shuttle path IPL displayed on the setting screen has a symbol such as an arrow indicating the direction of travel. The seedling supply setting unit 41 sets the outer perimeter LA of the field on the side of the internal shuttle path IPL selected by the path selection operation unit 64 in the direction of travel as the supply side SL (step #4 in Figure 12). Note that when multiple supply sides SL can be set, the seedling supply setting unit 41 may also set the outer perimeter LB of the field on the opposite side to the direction of travel of the internal shuttle path IPL as the supply side SL in addition to the outer perimeter LA.

Then, once all the necessary settings, such as setting the resupply preparation position SPP, have been made, automatic work driving is started by accepting a specified operation. Also, even if it is selected not to perform the resupply preparation process (step #2 No in FIG. 12), after all the necessary settings, such as setting the resupply preparation position SPP, have been made, automatic work driving is started by accepting a specified operation (step #5 in FIG. 12).

In this way, the supply edge SL can be set simply by selecting the internal round trip path IPL displayed on the setting screen, making it easy to set the supply edge SL and allowing efficient setting processing.

If the user selects not to perform the supply preparation process using the supply side setting operation unit 52, the system is set to a non-supply preparation mode in which the supply preparation process is not performed, and no temporary suspension for supply is performed. In this case, the worker determines the need for supply, interrupts the work at a position of their choice, and moves the machine 1 to the supply position to perform the supply.

A seedling supply operation unit 65 (corresponding to a "material supply operation unit") may be provided so that the operator can replenish seedlings at will. The seedling supply operation unit 65 can be a software switch displayed on the touch panel 50 of the information terminal 5. If the operator determines that replenishment is necessary during automatic work travel and operates the seedling supply operation unit 65, the travel control unit 32 receives information that the seedling supply operation unit 65 has been operated, and controls the travel to travel toward the outer periphery of the field (supply edge SL) to replenish seedlings (step #6 in FIG. 12).

Specifically, when the seedling supply operation unit 65 is operated, the travel control unit 32 controls the machine 1 to continue forward without switching to turning travel after traveling on the internal shuttle path IPL, and to stop the machine 1 when it reaches the outer periphery of the field (supply edge SL).

Instead of providing a seedling supply operation unit 65, the route selection operation unit 64 and a pattern corresponding to the internal shuttle route IPL may be displayed during automatic work travel in the non-supply preparation mode, and the internal shuttle route IPL may be selected by the route selection operation unit 64. After travelling along the selected internal shuttle route IPL, the seedling supply setting unit 41 transmits information to the travel control unit 32 to cause the machine 1 to travel towards the periphery of the field to supply seedlings.

Furthermore, when the seedling supply operation unit 65 is operated to supply seedlings, the seedling supply setting unit 41 may set the outer periphery in the direction of travel of the internal round trip path IPL traveled just before the seedlings were supplied as the supply edge SL, i.e., the outer periphery where the seedlings were supplied (step #7 in Figure 12).

In addition, after the supply edge SL is set and the supply preparation position SPP is set, the amount of seedlings required for supply may be notified. This supply amount is the amount of seedlings required to perform work travel to the next supply preparation position SPP after the seedlings have been supplied. The required supply amount can be calculated from the work travel distance between the supply preparation positions SPP, the vertical feed amount, the number of horizontal feeds, the amount of seedlings removed, the dimensions of the mat-like seedlings, etc.

To achieve such a configuration, the information terminal 5 may further include an alarm unit 47 and an alarm control unit 66.

After the supply preparation position SPP is set, the notification control unit 66 causes the notification unit 47 to notify the calculated supply amount.

Furthermore, the seedling supply setting unit 41 may modify at least one of the supply edge SL and the supply preparation position SPP depending on the calculated supply amount. For example, if the calculated supply amount is significantly less than the amount of mat-shaped seedlings that can be loaded on the seedling loading platform 21, it may be possible to set the supply preparation position SPP at a more distant position. Also, it may be possible to set the supply edge SL to a different outer periphery of the field. In such cases, the seedling supply setting unit 41 may modify the supply edge SL.

In addition, during automatic operation travel when the non-replenishment preparation mode is set, the seedling replenishment operation unit 65 may be configured to only accept operation when an alert is issued that a seedling shortage has been detected.

When the sensor 23 or the like detects that the seedlings are out, the notification control unit 66 causes the notification unit 47 to notify the same. After such a notification is made, at least one of the supply preparation position SPP and the supply edge SL can be set. The sensor 23 may be configured to directly detect that the seedlings are out, but may also be configured to detect the remaining amount of seedlings (mat-shaped seedlings) as described above. When the sensor 23 is configured to detect the remaining amount of seedlings, the notification control unit 66 determines that the seedlings are out when the remaining amount of seedlings is below a predetermined amount, and causes the notification unit 47 to issue a notification.

Detection of seedling shortage is not limited to the sensor 23, but 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 feed amount during work travel after supply, information on the number of lateral feeds, information on the amount of seedlings removed, information on the spacing between plants, information on the travel distance, etc. Then, the remaining amount estimation unit 68 is installed when seedlings are supplied, and estimates the remaining amount of actual seedlings by subtracting the calculated expected consumption amount from the amount of mat-like seedlings stored in the memory unit 42 of the information terminal 5, etc.

Furthermore, the configuration may be such that both the sensor 23 detects the remaining amount of seedlings and the remaining amount of actual seedlings is estimated by the remaining amount estimation unit 68. In this case, the notification control unit 66 may control the notification using either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of actual seedlings selected by the operator.

For this purpose, 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 operation, the operator operates the remaining amount selection operation unit 69 to select either the remaining amount of seedlings or the remaining amount of actual seedlings detected by the sensor 23. The notification control unit 66 determines that the seedlings are out when the remaining amount of the selected seedlings or the remaining amount of actual seedlings falls below a predetermined amount, and causes the notification unit 47 to notify that fact.

[Another embodiment]
(1) In each of the above embodiments, the control unit 30 and the information terminal 5 are not limited to being composed of the above-mentioned functional blocks, and may be composed 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 the functional blocks may be combined. In addition, the functions of the control unit 30 and the information terminal 5 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. In addition, some or all of the functions of the control unit 30 and the information terminal 5 may be composed of software. A program related to the software is stored in any storage device such as the storage unit 35 or the storage unit 42, and is executed by a processor such as a CPU provided in the control unit 30 or the information terminal 5, or a processor provided separately.

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

(3) In each of the above embodiments, the machine body 1 may be provided with an imaging device 19 that captures images of the periphery of the machine body 1, and a seedling supply point detection unit 20. When seedlings are supplied at a supply point SA as a supply location, the seedling supply point detection unit 20 may identify the supply point SA by image analysis from the image captured by the imaging device 19, and the driving control unit 32 may be configured to automatically travel to the identified supply point SA.

(4) In each of the above embodiments, the automatic driving control system or the field work vehicle may be configured to be capable of cooperating with a combine harvester. Furthermore, information about the supply edge SL set when the rice transplanter performs seedling planting work may be transmitted to the combine harvester, and the discharge position of the grain during harvesting work by the combine harvester may be determined based on the information about the supply edge SL.

In addition, if the combine harvester is equipped with a lidar sensor or the like and is capable of collecting 3D data of the field during harvesting operations, the automated driving control system or the field work vehicle may take the 3D data of the field into consideration when setting the supply edge SL.

The outer periphery of the field may not be suitable as a supply edge SL due to factors such as the height of the ridges or the undulations of the ridges (the periphery of the field). By setting the supply edge SL taking into account 3D data of the field acquired the previous year, etc., the supply edge SL is prevented from being set in an inappropriate position and is set appropriately.

(5) In each of the above embodiments, the sensor 23 may be configured to detect how many mat-shaped seedlings remain by arranging multiple such sensors 23 in a row in the vertical feed direction. Furthermore, the sensor 23 may be a camera that photographs the mat-shaped seedlings on the seedling loading platform 21, and may be configured to detect the remaining amount of mat-shaped seedlings by analyzing the captured image. Furthermore, the sensor 23 may be a weight sensor that measures the remaining amount of seedlings from the change in weight of the mat-shaped seedlings placed on the seedling loading platform 21.

Also, a drone may be installed instead of the sensor 23. In this case, the drone takes an image of the seedling placement table 21, and the captured image is analyzed to detect the remaining number of seedlings on the seedling placement table 21.

In addition, instead of using the sensor 23 to detect the remaining amount of seedlings, the system may be configured to recognize the running out of seedlings, etc., by the voice uttered by the worker. In this case, a voice recognition system is provided in the information terminal 5, the machine 1, or the remote control 6, and the voice recognition system analyzes the voice uttered by the worker to recognize the running out of seedlings, etc.

For example, the voice recognition system will recognize the worker's voice saying "I'm out of seedlings" and detect that the plant is running out of seedlings. The voice recognition system will also recognize the worker's voice saying "I have a lot of seedlings" and detect that the plant can travel a longer distance than planned.

Depending on these detection results, the seedling supply setting unit 41 changes the timing of 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 pesticide sprayer, or a fertilizer applicator that supplies agricultural cooperative materials to a field, or may be a harvester such as a combine that discharges agricultural crops harvested in the field.

In this case, a discharge edge is set along the outer periphery of the field along the discharge position where the harvested crops are discharged, and discharge preparation processing is carried out at the discharge preparation position of the internal round trip path IPL set by the material discharge setting unit. In other words, the "supply edge" in the automatic driving control system of the rice transplanter corresponds to the "discharge edge" in the automatic driving control system of the harvester, the "agricultural materials" correspond to the "harvested crops," the "material supply setting unit" corresponds to the "material discharge setting unit," the "supply preparation position" corresponds to the "discharge preparation position," and the "supply preparation processing" corresponds to the "discharge preparation processing."

The present invention can be applied not only to seedling transplanting vehicles such as rice transplanters, but also to various field work vehicles such as combines and tractors.

3 Seedling planting equipment (work equipment)
5 Information terminal 21 Seedling loading platform 22 Planting mechanism 23 Sensor 32 Travel control unit 33 Work control unit 41 Seedling supply setting unit (material supply setting unit)
47 Notification unit 50 Touch panel (display unit)
65 Seedling supply operation unit (material supply operation unit)
66 Notification control unit 68 Remaining amount estimation unit 69 Remaining amount selection operation unit IPL Internal round trip path (internal path)
SL Supply Area

Claims (8)

An automatic driving control system for a field work vehicle that performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel along a travel path consisting of an internal path and a turning path,
The field work vehicle performs a supply preparation process to stop traveling in a terminal area of the internal route toward a predetermined supply side in order to supply materials to the supply side,
A driving control unit that controls automatic driving including the replenishment preparation process;
A work control unit that controls the field work;
An information terminal capable of data communication with the farm work vehicle and having a display unit;
A material supply setting unit that sets the supply side ;
A notification unit that performs a predetermined notification ;
A seedling loading platform on which the mat-shaped seedlings as the agricultural materials are placed, and which continuously sends out the mat-shaped seedlings at a predetermined vertical feed amount and continuously feeds the mat-shaped seedlings laterally in the left and right directions of the body of the field work vehicle at a predetermined number of lateral feeds;
A planting mechanism that removes seedlings from the mat-like seedlings sent out and plants them in the field;
A sensor for detecting a remaining amount of the mat of the mat-like seedlings;
and a remaining amount estimating unit that estimates the remaining amount of seedlings from at least one of information on the mat-shaped seedlings to be loaded, information on the vertical feed amount, information on the number of lateral feeds, information on the amount of seedlings taken by the planting mechanism, and information on the spacing between plants .
An automatic driving control system in which, when the remaining amount of the mat detected by the sensor is below a predetermined amount, the notification unit notifies that fact, and, when the remaining amount of seedlings is below a predetermined amount, the notification unit notifies that fact . The automatic travel control system according to claim 1 , wherein the predetermined amount is an amount required until the material is replenished at the replenishment side set by the material replenishment setting unit during the automatic reciprocating travel. The automatic driving control system of claim 1 or 2, wherein the material supply setting unit sets the outer periphery of the field that exists on the side of the selected internal route in the direction of travel as the supply edge, in addition to the outer periphery of the field that exists on the opposite side of the selected internal route in the direction of travel. A non-replenishment preparation mode in which the replenishment preparation process is not executed can be selected,
a material supply operation unit that receives a manual material supply instruction for supplying the material during the automatic reciprocating travel,
The automatic driving control system according to any one of claims 1 to 3, wherein the material supply setting unit, when the material supply instruction is accepted, sets the supply edge based on the internal route being traveled when the material supply instruction is issued. The automatic driving control system according to claim 1 , wherein the material supply setting unit corrects the subsequent supply side depending on the remaining amount of the mat or the remaining amount of the seedlings . The automatic driving control system according to claim 1 , wherein the notification unit is provided in the information terminal. An automatic driving control system as described in any one of claims 1 to 6, further comprising a remaining amount selection operation unit which manually selects whether to use the mat remaining amount or the seedling remaining amount, and when the remaining amount selection operation unit selects to use the mat remaining amount, if the mat remaining amount detected by the sensor is below a predetermined amount, the notification unit notifies the user of this fact, and when the remaining amount selection operation unit selects to use the seedling remaining amount, if the seedling remaining amount is below a predetermined amount, the notification unit notifies the user of this fact. A field work vehicle that performs agricultural material management using the automatic driving control system according to any one of claims 1 to 7 .

Images