JP7627191B2 - Autonomous driving method, agricultural material supply method, automatic driving system, and automatic driving program - Google Patents

Description

The present invention relates to an automatic driving method, an agricultural material supply method, an automatic driving system, and an automatic driving program.

Work vehicles that automatically travel along a work route in a field while consuming agricultural materials are known. For example, Patent Document 1 discloses a work vehicle that determines whether seedlings need to be replenished to a seedling tray based on information detected by a detection sensor installed on the seedling tray to detect the remaining amount of seedlings, and automatically travels to an auxiliary work position set up in the field if it determines that replenishment is necessary.

Japanese Patent Application Publication No. 9-154315

The area in a field where automatic driving is possible is set to be smaller than the actual field contour by a specified area. This is because, for example, the field contour (i.e., the edge of the ridge) is not straight and has bumps, and contact with the bumps during automatic driving is to be avoided. By setting the area where automatic driving is possible to be smaller than the actual field contour, even if the work vehicle automatically drives to the auxiliary work position, it will not be able to reach the actual field contour, and it will be difficult to perform auxiliary work unless the vehicle is manually driven to the width of the field by the specified area. However, Patent Document 1 does not mention anything about automatic driving that takes the specified area into consideration.

The present invention aims to make it possible to set an area in which automatic travel is possible, taking into account the contours of the actual field.

The automatic driving method according to the present invention includes the steps of automatically driving a work vehicle in an automatic driving area set in a farm field where the work vehicle can automatically drive, and, when the work vehicle manually drives in an area in the farm field but outside the automatic driving area, setting the area where the work vehicle manually drives as an automatic driving permitted area where the work vehicle can automatically drive.

The agricultural material supply method according to the present invention includes the steps of: automatically driving the work vehicle along a work route set within an automatic driving area set within a farm field in which the work vehicle can automatically drive, while supplying agricultural materials to the farm field; determining whether or not the agricultural materials need to be supplied to the work vehicle during the supply of the agricultural materials; automatically driving the work vehicle to an end of the automatic driving area when it is determined that the agricultural materials need to be supplied to the work vehicle; and setting an area in which the work vehicle has manually driven from the end of the automatic driving area to a supply position set outside the automatic driving area as an automatic driving permitted area in which the work vehicle can automatically drive.

The automatic driving system according to the present invention includes an automatic driving control unit and an automatic driving permission area setting unit. The automatic driving control unit causes the work vehicle to automatically drive in an automatic driving area that is set within a farm field and is an area in which the work vehicle can automatically drive. When the work vehicle manually drives in an area within the farm field and outside the automatic driving area, the automatic driving permission area setting unit sets the area in which the work vehicle manually drives as an automatic driving permission area in which the work vehicle can automatically drive.

The automatic driving program of the present invention causes a computer to execute a procedure for automatically driving a work vehicle in an automatic driving area set within a farm field where the work vehicle can automatically drive, and a procedure for setting the area where the work vehicle has manually driven in an area within the farm field but outside the automatic driving area as an automatic driving permitted area where the work vehicle can automatically drive.

According to the present invention, it is possible to set the area in which automatic travel is possible, taking into account the contours of the actual field.

1 is a schematic diagram of an agricultural material supply system according to a first embodiment. FIG. FIG. 1 is a plan view of a rice transplanter in a first embodiment. FIG. 1 is a block diagram of a rice transplanter in a first embodiment. FIG. 2 is a block diagram of a mobile communication terminal according to the first embodiment. FIG. 2 is a diagram showing a farm field and an automatic driving area in the first embodiment. FIG. 4 is a diagram showing an example of an automatic driving permitted area in the first embodiment. FIG. 11 is a diagram showing another example of an automatic driving permitted area in the first embodiment. FIG. 2 is a diagram showing a work path in the first embodiment. 4 is a flowchart showing the operation of the agricultural material supply system according to the first embodiment.

The following describes an embodiment of the present invention with reference to the drawings. Note that in the drawings, the same or equivalent parts are designated by the same reference symbols and will not be described repeatedly.

<Embodiment 1>
An agricultural material supply system 100 according to the first embodiment will be described with reference to Figures 1 to 9. Figure 1 is a schematic diagram of the agricultural material supply system 100 according to the first embodiment. Figure 2 is a plan view of the rice transplanter 1 in the first embodiment. Figure 3 is a block diagram of the rice transplanter 1 in the first embodiment. Figure 4 is a block diagram of the mobile communication terminal 7 in the first embodiment.

The agricultural material supply system 100 includes a rice transplanter 1 and a mobile communication terminal 7. The agricultural material supply system 100 is an example of an automatic driving system in which an operator gives instructions using a mobile communication terminal 7 or the like to cause the rice transplanter 1 to automatically drive while performing work such as planting seedlings. Note that an instruction for automatic driving may be given by operating an operating member provided on the rice transplanter 1, rather than the mobile communication terminal 7. The work vehicle is not limited to the rice transplanter 1, and may be any vehicle capable of automatic driving within a field. Examples of work vehicles include a seeding machine that drives while sowing seeds in a field, a fertilizer applicator that drives while applying fertilizer to a field, a chemical sprayer that drives while spraying chemicals in a field, a tiller, a combine, and a tractor.

Automatic driving means that at least steering is performed autonomously to follow a predetermined route by controlling the driving-related devices by a control unit provided in the rice transplanter 1. In addition to steering, the configuration may also be such that the vehicle speed or work by the work device is performed autonomously. Automatic driving includes cases where a person is riding on the rice transplanter 1 and cases where a person is not riding on the rice transplanter 1.

As shown in Figures 1 and 2, the rice transplanter 1 has a vehicle body 11, front wheels 12, rear wheels 13, and a planting unit 14. The front wheels 12 are provided in a pair on the left and right sides of the vehicle body 11. Similarly, the rear wheels 13 are provided in a pair on the left and right sides of the vehicle body 11. The planting unit 14 is an example of a working device. The working device is not limited to the planting unit 14, and may be a sowing device, a fertilizer application device, a chemical spraying device, etc.

The vehicle body 11 includes a bonnet 21. The bonnet 21 is provided at the front of the vehicle body 11. An engine 22 is provided inside the bonnet 21.

The power generated by the engine 22 is transmitted to the front wheels 12 and rear wheels 13 via the transmission case 23. This power is also transmitted to the planting section 14 via the transmission case 23 and a power take-off shaft (hereinafter referred to as the "PTO shaft 24") located at the rear of the vehicle body section 11.

The vehicle body 11 further includes a driver's seat 25 and multiple operating members. An operator can sit in the driver's seat 25. The driver's seat 25 is disposed between the front wheels 12 and the rear wheels 13 in the fore-and-aft direction of the vehicle body 11. The multiple operating members include a steering handle 26, a shift pedal 27, a main shift lever 28, and a planting clutch lever 29.

The steering handle 26 is a handle for the operator to steer the rice transplanter 1. The speed change pedal 27 is a pedal for the operator to adjust the traveling speed of the rice transplanter 1. The main speed change lever 28 is a lever configured to allow the operator to select, for example, "forward", "reverse", "stop", etc. When the main speed change lever 28 is operated to the "forward" position, power is transmitted so that the rear wheels 13 rotate in a direction to move the rice transplanter 1 forward. On the other hand, when the main speed change lever 28 is operated to the "reverse" position, power is driven so that the rear wheels 13 rotate in a direction to move the rice transplanter 1 backward. When the main speed change lever 28 is operated to the "stop" position, the transmission of power to the front wheels 12 and the rear wheels 13 is cut off. Note that "forward" may be divided into "low speed" for traveling in a field and "high speed" for traveling outside the field. The planting clutch lever 29 is a lever that allows the operator to switch between a transmission state in which the planting clutch transmits power to the PTO shaft 24 (i.e., the planting unit 14) and a cut-off state in which the planting clutch does not transmit power to the PTO shaft 24 (i.e., the planting unit 14).

The planting unit 14 is located behind the vehicle body 11. The planting unit 14 is connected to the vehicle body 11 via a lifting link mechanism 31. The lifting link mechanism 31 is composed of a parallel link including a top link 31a and a lower link 31b.

In the lifting link mechanism 31, a lifting cylinder 32 of the lifting device is connected to the top link 31a. The lifting device can raise and lower the planting unit 14 up and down relative to the vehicle body unit 11 by extending and contracting the lifting cylinder 32. In this embodiment, the lifting cylinder 32 is a hydraulic cylinder, but it may also be an electric cylinder. The lifting device may also raise and lower the planting unit 14 using an actuator other than a cylinder.

The planting section 14 includes a planting input case section 33, a number of planting units 34, a seedling carrying table 35, a number of floats 36, and a spare seedling carrying table 37. The planting section 14 sequentially supplies seedlings from the seedling carrying table 35 to each planting unit 34, and continuously plants the seedlings.

Each planting unit 34 has a planting transmission case section 41 and a rotating case section 42. Power is transmitted to the planting transmission case section 41 via the PTO shaft 24 and the planting input case section 33.

The rotating case section 42 is rotatably attached to the planting transmission case section 41. The rotating case section 42 is arranged on both sides of the planting transmission case section 41 in the vehicle width direction. Two planting claws 43 are attached to one side of each rotating case section 42 in the vehicle width direction.

The two planting claws 43 are aligned in the direction of travel of the rice transplanter 1. The two planting claws 43 are displaced as the rotating case part 42 rotates. As the two planting claws 43 are displaced, one row of seedlings is planted.

The seedling carrier 35 is disposed above and in front of the multiple planting units 34. A seedling mat can be placed on the seedling carrier 35. The seedling carrier 35 is configured so that the seedlings in the seedling mat placed on the seedling carrier 35 can be supplied to each planting unit 34. Specifically, the seedling carrier 35 is configured so that it can move laterally back and forth in the width direction of the vehicle (i.e., can slide laterally). In addition, the seedling carrier 35 is configured so that the seedling mat can be intermittently transported vertically downward at the end of the reciprocating movement of the seedling carrier 35.

The float 36 is swingably mounted on the bottom of the planting unit 14. When the bottom surface of the float 36 comes into contact with the field surface, the planting position of the planting unit 14 becomes stable relative to the field surface.

A pair of spare seedling carriers 37 are provided on the left and right sides of the vehicle body 11 in front of the vehicle body 11. The spare seedling carriers 37 are positioned on the outer side of the bonnet 21 in the vehicle width direction. The spare seedling carriers 37 can carry seedling boxes containing spare seedling mats. When the seedling mats on the seedling carrier 35 run out, the worker transfers the seedling mats from the spare seedling carrier 37 to the seedling carrier 35.

The upper parts of the pair of left and right spare seedling carriers 37 are connected to each other by a connecting frame 15 that extends in the vertical and width directions of the vehicle. A housing 16 is provided in the center of the connecting frame 15 in the width direction of the vehicle. Inside the housing 16, a positioning antenna 61, an inertial measurement device 62, and a communication antenna 63 are provided.

The positioning antenna 61 receives radio waves (positioning signals) from positioning satellites that make up the Global Navigation Satellite System (GNSS). The inertial measurement unit 62 includes a three-axis angular velocity sensor and a three-directional acceleration sensor.

The communication antenna 63 is an antenna for wireless communication with the mobile communication terminal 7. For wireless communication, a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) and short-range wireless communication such as Bluetooth (registered trademark) are adopted. The rice transplanter 1 may also be provided with a mobile communication antenna (not shown) for communication using a mobile phone line and the Internet.

As shown in FIG. 3, the control unit 50 includes a calculation device and an input/output unit (not shown), as well as a memory unit 55. The control unit 50 is a computer, etc. The calculation device is a processor or a microprocessor, etc. The memory unit 55 is a main memory device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The memory unit 55 may further include an auxiliary memory device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are stored in the memory unit 55. The calculation device reads out and executes various programs from the memory unit 55. Through the cooperation of the above hardware and software, the control unit 50 can be operated as an automatic driving control unit 51, a working device control unit 52, and a supply necessity determination unit 53. The control unit 50 may be a single piece of hardware, or may be multiple pieces of hardware that can communicate with each other. In addition to the inertial measurement device 62, the control unit 50 is also connected to a position acquisition unit 64, a communication processing unit 65, a vehicle speed sensor 66, a steering angle sensor 67, a planting clutch sensor 68, and a remaining amount sensor 69.

The position acquisition unit 64 acquires the position of the rice transplanter 1 as, for example, latitude and longitude information using the positioning signal received by the positioning antenna 61 from a positioning satellite. The position acquisition unit 64 may receive the positioning signal from a reference station (not shown) in an appropriate manner and then perform positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. The reference station is installed at a known position around the field. Alternatively, the position acquisition unit 64 may perform positioning using a DGNSS (Differential GNSS) method. Alternatively, the position acquisition unit 64 may perform position acquisition based on the radio wave intensity of a wireless LAN or the like, or by inertial navigation using the measurement results of the inertial measurement device 62.

The communication processing unit 65 transmits and receives data to and from the mobile communication terminal 7 via the communication antenna 63.

The vehicle speed sensor 66 detects the vehicle speed of the rice transplanter 1. The vehicle speed sensor 66 is provided on the axle of the front wheels 12, etc. When the vehicle speed sensor 66 is provided on the axle of the front wheels 12, the vehicle speed sensor 66 generates a pulse corresponding to the rotation of the axle of the front wheels 12. The detection result data obtained by the vehicle speed sensor 66 is output to the control unit 50.

The steering angle sensor 67 detects the steering angle of the front wheels 12. The steering angle sensor 67 is provided on the kingpin of the front wheels 12. Alternatively, the steering angle sensor 67 may be provided on the steering wheel 26 or the like. The detection result data obtained by the steering angle sensor 67 is output to the control unit 50.

The planting clutch sensor 68 detects the position of the planting clutch lever 29. The detection result data obtained by the planting clutch sensor 68 is output to the control unit 50. The control unit 50 can determine whether the planting unit 14 is performing planting work based on the detection result of the planting clutch sensor 68. Note that the control unit 50 may determine whether planting work is being performed based on the state of another member (for example, whether the PTO shaft 24 downstream of the planting clutch is rotating) instead of the planting clutch lever 29.

The remaining amount sensor 69 detects the remaining amount of seedling mats placed on the spare seedling tray 37 and the remaining amount of seedling mats placed on the seedling tray 35. The detection result data obtained by the remaining amount sensor 69 is output to the control unit 50. The remaining amount sensor 69 is composed of, for example, a detection piece that moves in and out of an opening formed in the spare seedling tray 37 or the like, which is the object of remaining amount detection, and a sensor body in which the contacts are switched based on the movement of the detection piece in and out. Note that the remaining amount sensor 69 is not an essential component of the agricultural material supply system 100.

The automatic driving control unit 51 controls the driving of the rice transplanter 1, such as vehicle speed control and steering control. Under the control of the automatic driving control unit 51, the rice transplanter 1 can autonomously move forward, backward, turn, etc. The automatic driving control unit 51 can also control the driving of the rice transplanter 1 in response to remote operation by an operator using a mobile communication terminal 7. The automatic driving control unit 51 can also autonomously perform steering, for example, and control the vehicle speed to change in response to the operation of the operator.

When changing the vehicle speed autonomously, the automatic driving control unit 51 controls the current vehicle speed detected by the vehicle speed sensor 66 to approach the target vehicle speed. The vehicle speed control is achieved by changing at least one of the gear ratio of the transmission in the transmission case 23 or the rotation speed of the engine 22. Note that the vehicle speed control also includes control to set the vehicle speed to zero so that the rice transplanter 1 stops.

When steering autonomously, the automatic driving control unit 51 controls the current steering angle detected by the steering angle sensor 67 to approach the target steering angle. The steering angle control is realized, for example, by driving a steering actuator provided on the rotation shaft of the steering wheel 26. Note that the automatic driving control unit 51 may directly adjust the steering angle of the front wheels 12 instead of driving the steering actuator.

The work device control unit 52 controls the operation of the planting unit 14, which is an example of a work device, based on predetermined conditions. Specifically, the work device control unit 52 controls the lifting and lowering operation of the planting unit 14 and planting work, etc.

The supply necessity determination unit 53 determines whether or not supply of seedlings is necessary based on the remaining amount of seedlings held by the rice transplanter 1. The supply necessity determination unit 53 obtains the remaining amount of seedlings held by the rice transplanter 1 from the detection result of the remaining amount sensor 69. Alternatively, the supply necessity determination unit 53 may calculate the remaining amount of seedlings held by the rice transplanter 1 from the travel distance of the rice transplanter 1, the amount of seedlings planted by the planting unit 14 per unit distance, and the amount of seedlings placed on the seedling carrier 35 and the spare seedling carrier 37. The amount of seedlings loaded can be set, for example, by the operator operating the mobile communication terminal 7. The amount of seedlings planted per unit distance is stored, for example, in the memory unit 55. The supply necessity determination unit 53 may be provided in the mobile communication terminal 7 instead of the rice transplanter 1.

As shown in FIG. 4, the mobile communication terminal 7 includes a communication antenna 71, a communication processing unit 72, a display unit 73, an operation unit 74, and a control unit 80. The mobile communication terminal 7 is a tablet terminal, a smartphone, a notebook computer, or the like. The mobile communication terminal 7 performs various processes related to the automatic driving of the rice transplanter 1 as described below, but at least some of these processes can also be performed by the control unit 50 of the rice transplanter 1. Conversely, at least some of the various processes related to the automatic driving performed by the control unit 50 of the rice transplanter 1 can also be performed by the mobile communication terminal 7.

The communication antenna 71 is an antenna for wireless communication with the rice transplanter 1. The communication processing unit 72 transmits and receives data to and from the rice transplanter 1 via the communication antenna 71.

As described above, the rice transplanter 1 can be connected to a mobile phone line, so the mobile communication terminal 7 can be connected to the mobile phone line via the rice transplanter 1. Therefore, for example, part of the information stored in the memory unit 55 of the control unit 50 or the memory unit 81 of the control unit 80 can be stored in an external server. Note that an antenna for mobile communication (not shown) may be provided in the mobile communication terminal 7, rather than in the rice transplanter 1.

The display unit 73 is a liquid crystal display or an organic electroluminescence (EL) display. The display unit 73 can display, for example, information about the field, information about automatic driving, information about the settings of the rice transplanter 1, detection results of various sensors, and warning information.

The operation unit 74 includes at least one of a touch panel and hardware keys. The touch panel is placed on top of the display unit 73 and is capable of detecting operations by the worker's fingers, etc. The hardware keys are placed on the side of the housing of the mobile communication terminal 7 or around the display unit 73, etc. and are capable of detecting pressure by the worker's fingers, etc.

The control unit 80 includes a calculation device and an input/output unit (not shown), as well as a storage unit 81. The calculation device is a processor or a microprocessor. The storage unit 81 is a main storage device such as a ROM and a RAM. The storage unit 81 may further include an auxiliary storage device such as a HDD or an SSD. Various programs and data are stored in the storage unit 81. The calculation device reads out and executes various programs from the storage unit 81. The above hardware and software cooperate with each other to cause the control unit 80 to operate as a route creation unit 82, a field contour setting unit 83, an automatic driving area setting unit 84, an automatic driving permission area setting unit 85, and a supply position setting unit 89. The processes performed by the route creation unit 82, the field contour setting unit 83, the automatic driving area setting unit 84, and the automatic driving permission area setting unit 85 will be described later.

The supply position setting unit 89 sets a supply position (see supply position 95 in FIG. 8) for supplying seedling mats to the spare seedling loading platform 37 of the rice transplanter 1. The supply position set by the supply position setting unit 89 is stored in the memory unit 81. The supply position stored in the memory unit 81 can be displayed on the display unit 73. The supply position setting unit 89 may be provided in the rice transplanter 1 instead of the mobile communication terminal 7.

For example, the worker operates the operation unit 74 of the mobile communication terminal 7 to set the supply position. The supply position setting unit 89 acquires information on the supply position set by the worker from the operation unit 74. The supply position set by the worker is, for example, at least one of the multiple sides that make up the field. Alternatively, the supply position may not be the entire side, but at least one point on one side. A supply seedling mat is prepared at the supply position set by the worker.

Next, the field, automatic travel area, and automatic travel permitted area will be described. FIG. 5 is a diagram showing a field 98 and automatic travel area 90 in the first embodiment. FIG. 6 is a diagram showing an example of an automatic travel permitted area 90a in the first embodiment. FIG. 7 is a diagram showing another example of an automatic travel permitted area 90a in the first embodiment. The work area and headland area in each figure will be described later. As preparations before planting work, etc., the field 98, the automatic travel area 90, and the work route 91 are set. The automatic travel permitted area 90a is set as appropriate when the rice transplanter 1 is manually traveled after the automatic travel area 90 is set.

The operator manually drives the rice transplanter 1 in the field along the actual field contour (not shown). Position information 99 of the rice transplanter 1 detected by the position acquisition unit 64 or the inertial measurement device 62 during manual driving is transmitted to the field contour setting unit 83. The field contour setting unit 83 sets the contour of the field 98 based on the multiple pieces of position information 99 received. For example, the field contour setting unit 83 selects four pieces of position information 99a at the four corners from the multiple pieces of position information 99, and sets a rectangular frame connecting the four pieces of position information 99a as the contour of the field 98. Alternatively, the field contour setting unit 83 may display the multiple pieces of position information 99 on the display unit 73 and allow the operator to set the contour of the field 98.

As shown in FIG. 5, the arrangement of position information 99 detected during manual driving is not linear but has bumps. That is, the edge of the ridge in an actual field is not linear but has bumps. Therefore, the automatic driving area setting unit 84 sets an automatic driving area 90 in which the rice transplanter 1 automatically drives, a predetermined distance inside the contour of the field 98. As a result, the rice transplanter 1 does not automatically drive in the area outside the automatic driving area 90, so there is no risk of the rice transplanter 1 coming into contact with the bumps on the edge of the ridge during automatic driving.

As shown in FIG. 5, outside the automatic driving area 90, there is an area of the field 98 in which the rice transplanter 1 can actually travel. Therefore, when the rice transplanter 1 manually travels in an area outside the automatic driving area 90, the automatic driving permission area setting unit 85 sets the area in which the rice transplanter 1 has manually traveled as the automatic driving permission area 90a. Specifically, the automatic driving permission area setting unit 85 receives position information of the rice transplanter 1 detected by the position acquisition unit 64 or the inertial measurement device 62 during manual travel, and sets the automatic driving permission area 90a based on the received position information.

For example, as shown in FIG. 6, assume that the rice transplanter 1 has manually traveled beyond the end 90b of the automatic travel area 90 and entered the area outside the automatic travel area 90. In this case, the automatic travel permission area setting unit 85 sets the entire side that includes the area where the rice transplanter 1 has manually traveled, out of the multiple sides (four sides in FIG. 6) that make up the area outside the automatic travel area 90, as the automatic travel permission area 90a.

Alternatively, the automatic driving permission area setting unit 85 may set only the area outside the automatic driving area 90 where the rice transplanter 1 has manually driven as the automatic driving permission area 90a, as shown in FIG. 7.

In this way, the automatic driving permission area setting unit 85 can set the area in which automatic driving is possible (i.e., the automatic driving area 90 and the automatic driving permission area 90a) taking into account the contours of the actual field. During automatic driving from the next time onwards, the automatic driving control unit 51 can automatically drive the rice transplanter 1 in the automatic driving permission area 90a in addition to the automatic driving area 90.

The automatic driving area 90 and the automatic driving permission area 90a set by the automatic driving area setting unit 84 and the automatic driving permission area setting unit 85 are stored in the memory unit 81. The automatic driving area 90 and the automatic driving permission area 90a stored in the memory unit 81 can be displayed on the display unit 73. The display unit 73 may change the display mode of the automatic driving area 90 and the automatic driving permission area 90a so that the worker can distinguish and recognize the automatic driving area 90 and the automatic driving permission area 90a. With this configuration, the worker can recognize the boundary between the automatic driving area 90 and the automatic driving permission area 90a, and therefore can set the automatic driving permission area 90a to the intended size.

The operator can select whether or not to store the automatic travel permission area 90a set by the automatic travel permission area setting unit 85 in the storage unit 81. The automatic travel permission area setting unit 85 may allow the operator to select whether or not to store the automatic travel permission area 90a in the storage unit 81 when the rice transplanter 1 manually travels for a specific task (for example, seedling supply). As a specific example, when the rice transplanter 1 manually travels toward the supply position 95, the automatic travel permission area setting unit 85 determines that the rice transplanter 1 has manually traveled for a specific task (for example, seedling supply), sets the automatic travel permission area 90a, and allows the operator to select whether or not to store the automatic travel permission area 90a in the storage unit 81. Furthermore, the automatic travel permission area setting unit 85 may link the automatic travel permission area 90a and the task content (for example, seedling supply) and store them in the storage unit 81.

The worker can also select whether to enable or disable the automatic driving permission area 90a already stored in the memory unit 81. For example, the worker switches between enabling and disabling the automatic driving permission area 90a depending on the work content. When the worker enables the automatic driving permission area 90a, the automatic driving control unit 51 automatically drives the rice transplanter 1 in the automatic driving permission area 90a in addition to the automatic driving area 90. On the other hand, when the worker disables the automatic driving permission area 90a, the automatic driving control unit 51 automatically drives the rice transplanter 1 only in the automatic driving area 90. The worker can also erase the automatic driving permission area 90a already stored in the memory unit 81.

The operator can also change the size of the automatic driving permission area 90a set by the automatic driving permission area setting unit 85. For example, the automatic driving permission area setting unit 85 displays the automatic driving permission area 90a on the display unit 73 and allows the operator to change the size of the automatic driving permission area 90a.

Next, the work path in the field will be described. FIG. 8 is a diagram showing the work path 91 in the first embodiment. The automatic travel area 90 includes a work area and a headland area. The work area is located in the center of the automatic travel area 90 and is an area for performing work. The headland area is located outside the work area and is an area used for performing work appropriately in the work area. For example, the headland area is also used as an area for moving the rice transplanter 1 that has entered the automatic travel area 90 to a start position for planting work, an area for turning the rice transplanter 1, and an area for moving the rice transplanter 1 to a seedling supply position.

As a work path for automatically driving the rice transplanter 1, a work path 91 shown in FIG. 8 is created in advance by the path creation unit 82. The work path 91 is composed of at least an inner path 92 and an outer peripheral path 93. The inner path 92 is a path that travels straight back and forth in the work area of the automatic driving area 90, and is composed of multiple straight path paths 92a and a turning path 92b that connects adjacent straight path paths 92a. The outer peripheral path 93 is a path that exists on the outer periphery of the inner path 92 in the automatic driving area 90 (i.e., the headland area) and goes around the headland area at least once. If the headland area is sufficiently wide with respect to the working width of the rice transplanter 1, the rice transplanter 1 needs to go around the headland area multiple times. The switching position 94 is the end position of the inner path 92, and is the position where the path switches from the inner path 92 to the outer peripheral path 93.

The straight path 92a is a straight path, and is parallel to, for example, one side (e.g., a short side) of the contour of the automatic driving area 90 or the working area. The placement interval of the straight path 92a is determined based on the working width, turning radius, working interval, etc. The working interval is a length indicating how much space is provided between adjacent working areas in the vehicle width direction. Information required by the route creation unit 82 when creating a route, such as the contours and working width of the automatic driving area 90 and the working area, is stored in the memory unit 81. Alternatively, the information required by the route creation unit 82 when creating a route may be stored in the memory unit 55, and the route creation unit 82 may transmit a transmission request command for that information to the control unit 50.

The path creation unit 82 sets the straight path 92a and the outer peripheral path 93 of the work path 91 as paths along which the planting unit 14 will plant seedlings. On the other hand, the path creation unit 82 sets the turning path 92b as a path along which the planting unit 14 will not plant seedlings. In addition, the path creation unit 82 sets the travel direction, target vehicle speed, target steering angle, and the like of the rice transplanter 1 for each position on the work path 91.

Note that although the automatic travel area 90 shown in Figures 5 to 8 is rectangular, it may be another shape. Also, the work path 91 shown in Figure 8 is one example, and the path creation unit 82 can generate a work path 91 suitable for the different turning radii and work widths depending on the models of the rice transplanter 1 and the planting unit 14, as well as the different contours and sizes depending on the automatic travel area 90.

In addition, the route creation unit 82 may create a round-trip route including a route from the current position of the rice transplanter 1 to the supply position 95 and a route from the supply position 95 back to the original position (i.e., the current position) in response to a request from the supply necessity determination unit 53. The round-trip route is set in an area where no work is being performed. When the automatic travel permitted area 90a is set, the round-trip route can be set across the headland area of the automatic travel permitted area 90 and the automatic travel permitted area 90a. Among the functions of the route creation unit 82, the function of creating the work route 91 may be distributed to the mobile communication terminal 7, and the function of creating the round-trip route may be distributed to the rice transplanter 1.

The work route 91 etc. generated by the route creation unit 82 is stored in the memory unit 81. The work route 91 etc. stored in the memory unit 81 can be displayed on the display unit 73.

In response to a transmission request command from the control unit 50 of the rice transplanter 1, the control unit 80 of the mobile communication terminal 7 transmits information such as the automatic driving area 90, the automatic driving permission area 90a, and the work route 91 stored in the memory unit 81 to the control unit 50. The control unit 50 stores the received information such as the automatic driving area 90, the automatic driving permission area 90a, and the work route 91 in the memory unit 55. Regarding the transmission of the information on the work route 91, for example, the control unit 80 may transmit all information on the work route 91 from the memory unit 81 to the control unit 50 at once before the rice transplanter 1 starts automatic driving. Alternatively, the control unit 80 may divide the work route 91 into a plurality of divided route information for each predetermined distance, and sequentially transmit a predetermined number of divided route information corresponding to the route of the rice transplanter 1 from the memory unit 81 to the control unit 50 each time the travel distance of the rice transplanter 1 reaches a predetermined distance from the stage before the rice transplanter 1 starts automatic driving.

Next, the operation of the agricultural material supply system 100 will be described. Figure 9 is a flowchart showing the operation of the agricultural material supply system 100 according to the first embodiment.

The operator stops the rice transplanter 1 at a predetermined position in the field 98. The predetermined position is the entrance to the field 98 or the start position of the inner path 92. With the rice transplanter 1 stopped, the operator performs a predetermined operation, for example, on the operation unit 74 of the mobile communication terminal 7. As a result, the automatic driving control unit 51 starts automatic driving of the rice transplanter 1 and controls the vehicle speed and steering angle based on various detection results of the position acquisition unit 64, etc. (step S11). While the rice transplanter 1 is automatically driving along the straight path 92a, the work device control unit 52 switches the planting clutch from a disconnected state to a transmitted state and causes the planting unit 14 to perform seedling planting work. While the rice transplanter 1 is turning along the turning path 92b, the work device control unit 52 switches the planting clutch from a transmitted state to a disconnected state and interrupts the seedling planting work. After the planting work on the inner path 92 is completed, the automatic travel control unit 51 automatically drives the rice transplanter 1 along the outer path 93, and the work device control unit 52 causes the planting unit 14 to perform seedling planting work.

The supply necessity determination unit 53 determines whether or not supply of seedlings is necessary based on the remaining amount of seedlings held by the rice transplanter 1 (step S12). If there is a seedling mat on the seedling carrier 35 or the spare seedling carrier 37 (step S12; No), the rice transplanter 1 continues to automatically travel along the work path 91 while planting the seedlings.

The supply position setting unit 89 may set the point where one side previously set at the supply position 95 intersects with the traveling direction of the rice transplanter 1 as the supply position 95a. In this case, the supply position 95a, which is the intersecting point, moves as the rice transplanter 1 moves. The display unit 73 can display the supply position 95a that moves as the rice transplanter 1 moves. In the following, the supply positions 95 and 95a will not be distinguished from each other and will simply be referred to as "supply position 95."

If there are no seedling mats on the seedling carrier 35 and the spare seedling carrier 37 and seedlings need to be replenished (step S12; Yes), the replenishment necessity determination unit 53 causes the route creation unit 82 to create a round-trip route between the current position, where it has been determined that seedling replenishment is necessary, and the replenishment position 95. The automatic driving control unit 51 causes the rice transplanter 1 to automatically drive toward the replenishment position 95 along the round-trip route created by the route creation unit 82 (step S13). While the rice transplanter 1 is automatically driving toward the replenishment position 95, the work device control unit 52 suspends the seedling planting operation.

Based on various detection results from the position acquisition unit 64 and the like, the automatic driving control unit 51 determines whether the rice transplanter 1 has reached the end 90b of the automatic driving area 90 (step S14). If the rice transplanter 1 has not reached the end 90b of the automatic driving area 90 (step S14; No), the automatic driving control unit 51 continues to automatically drive the rice transplanter 1 toward the supply position 95.

When the rice transplanter 1 reaches the end 90b of the automatic driving area 90 (step S14; Yes), the automatic driving control unit 51 determines whether an automatic driving permitted area 90a is set outside the automatic driving area 90 (step S15).

If the automatic travel permission area 90a is not set (step S15; No), the automatic travel control unit 51 stops the rice transplanter 1 at the end 90b of the automatic travel area 90 (step S16). The automatic travel control unit 51 may gradually decelerate the rice transplanter 1 before reaching the end 90b of the automatic travel area 90. The operator gets on the stopped rice transplanter 1 and operates the operating member to manually travel the area outside the automatic travel area 90 to the supply position 95 and stop it. Alternatively, the operator may remotely operate the rice transplanter 1 by operating the mobile communication terminal 7, and manually travel the area outside the automatic travel area 90 to the supply position 95 and stop it. The operator supplies seedling mats to the spare seedling carrier 37 and the seedling carrier 35 of the rice transplanter 1 stopped at the supply position 95. In addition to the mobile communication terminal 7, a remote controller or the like for remotely operating the rice transplanter 1 may be provided. By operating a mobile communication terminal 7 or a remote controller, the operator can instruct the automatic driving control unit 51 to move the rice transplanter 1 forward, backward, turn, stop, etc.

When the rice transplanter 1 reaches the end 90b of the automatic driving area 90 during automatic driving, the automatic driving is stopped (step S16), so that the operator can prepare to switch to manual driving.

The automatic driving permission area setting unit 85 receives the position information of the rice transplanter 1 detected by the position acquisition unit 64, etc. while the operator is manually driving the rice transplanter 1 (step S17). The automatic driving permission area setting unit 85 sets an automatic driving permission area 90a in an area outside the automatic driving area 90 based on the received position information (step S18). The automatic driving permission area 90a set by the automatic driving permission area setting unit 85 is stored in the memory unit 81.

When the automatic travel permission area 90a is set (step S15; Yes), the automatic travel control unit 51 decelerates the rice transplanter 1 (step S21). The automatic travel control unit 51 may gradually decelerate the rice transplanter 1 before it reaches the end 90b of the automatic travel area 90. With the rice transplanter 1 decelerated, the automatic travel control unit 51 automatically travels through the automatic travel permission area 90a to reach the supply position 95 (step S22). The operator supplies seedling mats to the spare seedling carrier 37 and seedling carrier 35 of the rice transplanter 1 that have reached the supply position 95.

By making the vehicle speed of the rice transplanter 1 when automatically driving in the automatic driving permission area 90a lower than the vehicle speed of the rice transplanter 1 when automatically driving in the automatic driving area 90 (step S21), it is possible to visually show the operator whether the rice transplanter 1 is driving in the automatic driving area 90 or the automatic driving permission area 90a. In addition, since the automatic driving permission area 90a is a narrow area, it is possible to shorten the braking distance by driving at a low speed.

The vehicle speed in the automatic driving permission area 90a can be set by the operator by operating the mobile communication terminal 7. The deceleration rate of the vehicle speed in the automatic driving permission area 90a relative to the vehicle speed in the automatic driving permission area 90 can be set by the operator by operating the mobile communication terminal 7. The display unit 73 can display that the rice transplanter 1 is automatically or manually driving in the automatic driving permission area 90a. Alternatively, in addition to or instead of displaying, a sound or other notification may be used. By issuing a notification during manual driving in the automatic driving permission area 90a, the operator can recognize that the rice transplanter 1 is driving in the automatic driving permission area 90a, making it possible to avoid contact with the edge of the field. In addition, by issuing a notification during automatic driving in the automatic driving permission area 90a, the operator or a person nearby can recognize that the rice transplanter 1 is driving in the automatic driving permission area 90a, making it possible to prepare for transition to the next task (for example, seedling transplanting).

After replenishing the seedlings, the worker performs a predetermined operation, for example, on the operation unit 74 of the mobile communication terminal 7. This causes the automatic driving control unit 51 to return the rice transplanter 1 along the round trip route to the position where it was determined that replenishing seedlings was necessary, and resumes automatic driving of the rice transplanter 1 along the work path 91. The work device control unit 52 resumes seedling planting work in conjunction with the resumption of automatic driving of the rice transplanter 1 along the work path 91 (step S23).

In addition, in the planting work of seedlings, the automatic driving permission area 90a may be the entire one side including the area where the rice transplanter 1 has manually driven among the four sides constituting the area outside the automatic driving area 90 as shown in FIG. 6. In this case, in the next and subsequent work, automatic driving can be performed at any position in the automatic driving permission area 90a set on this one side, so the effort of switching from automatic driving to manual driving is reduced and work efficiency is improved.

Alternatively, in the seedling planting work, the automatic travel permitted area 90a may be only the area outside the automatic travel area 90 where the rice transplanter 1 has manually traveled, as shown in FIG. 7. The area outside the automatic travel area 90 where the rice transplanter 1 has manually traveled is the area where the rice transplanter 1 has manually traveled to move to the supply positions 95, 95a. It is highly likely that the same positions will be set as the supply positions 95, 95a in the next year's planting work. Therefore, in the seedling planting work, it is sufficient to set only the area where the rice transplanter 1 has manually traveled as the automatic travel permitted area 90a, as shown in FIG. 7.

As described above with reference to FIG. 1 to FIG. 9, the agricultural material supply system 100 includes at least the automatic driving control unit 51 and the automatic driving permission area setting unit 85. The automatic driving control unit 51 automatically drives the rice transplanter 1 in the automatic driving area 90 set in the field 98, which is an area in which the rice transplanter 1 can automatically drive. When the rice transplanter 1 manually drives in an area in the field 98 but outside the automatic driving area 90, the automatic driving permission area setting unit 85 sets the area in which the rice transplanter 1 manually drives as the automatic driving permission area 90a in which the rice transplanter 1 can automatically drive. With this configuration, the agricultural material supply system 100 can set the area in which automatic driving is possible, taking into account the contours of the actual field. By expanding the area in which automatic driving is possible, the effort of switching from automatic driving to manual driving in the next and subsequent work is reduced, and work efficiency is improved.

In the above description, the operator sets the supply position 95, but this is not limited to the configuration.

For example, the supply position setting unit 89 may determine the orientation (i.e., the direction of travel) of the rice transplanter 1 based on the detection results of the inertial measurement device 62 and the position acquisition unit 64, etc. Based on the determined orientation of the rice transplanter 1, the supply position setting unit 89 sets one side of the multiple sides (i.e., multiple ridges) that make up the field to which the rice transplanter 1 can naturally move as the supply position. For example, the supply position setting unit 89 sets one side that is in front of the rice transplanter 1, that is, one side that the rice transplanter 1 can reach by simply moving forward, as the supply position.

Alternatively, the supply position setting unit 89 may use a mobile communication antenna (not shown) to refer to map data held by an external server or the like, and set the supply position to one of the multiple sides that make up the field, which is adjacent to a road where a truck carrying supply seedling mats can be parked.

Alternatively, the supply position setting unit 89 receives position information of the truck from a car navigation system or the like mounted on the truck carrying the supply seedling mats. Alternatively, the supply position setting unit 89 receives position information of the mobile communication terminal 7 from a mobile communication terminal 7 carried by a worker near the supply seedling mats or a worker waiting in the truck carrying the supply seedling mats. The supply position setting unit 89 may set the position corresponding to the received position information as the supply position.

Furthermore, when the supply necessity determination unit 53 determines that seedlings need to be replenished, the supply position setting unit 89 may set the point where one side set at the supply position (see supply position 95 in FIG. 8 ) intersects with the traveling direction of the rice transplanter 1 as the supply position (see supply position 95a in FIG. 8 ).

The drawings are primarily schematic, showing each component, for ease of understanding. Therefore, the thickness, length, etc. of each component shown in the drawings may differ from the actual ones due to the convenience of creating the drawings.

The present invention can be applied to work vehicles capable of autonomously traveling within farm fields, such as rice transplanters, seed sowers, fertilizer applicators, pesticide applicators, tillers, combines, and tractors.

1. Rice transplanter (work vehicle)
Description of the symbols 7: Portable communication terminal 11: Vehicle body 12: Front wheels 13: Rear wheels 14: Planting section 15: Connecting frame 16: Housing 21: Bonnet 22: Engine 23: Transmission case 24: PTO shaft 25: Driver's seat 26: Steering handle 27: Shift pedal 28: Main shift lever 29: Planting clutch lever 31: Lifting link mechanism 31a: Top link 31b: Lower link 32: Lifting cylinder 33: Planting input case 34: Planting unit 35: Seedling platform 36: Float 37: Spare seedling platform 41: Planting transmission case 42: Rotating case 43: Planting claws 50, 80: Control section 51: Automatic travel control section 52: Work device control section 53: Supply necessity determination section 55, 81: Memory section 61: Positioning antenna 62: Inertial measurement device 63, 71: Communication antenna 64: Position acquisition section 65, 72: Communication processing section 66: Vehicle speed sensor 67 Steering angle sensor 68 Planting clutch sensor 69 Remaining amount sensor 73 Display unit 74 Operation unit 82 Route creation unit 89 Supply position setting unit 90 Automatic driving area 90a Automatic driving permitted area 90b End portion 91 Work path 92 Inner path 92a Straight path 92b Turning path 93 Outer periphery path 94 Switching positions 95, 95a Supply position 98 Fields 99, 99a Position information 100 Agricultural material supply system (automatic driving system)

Claims (8)

A step of automatically driving the work vehicle in an automatic driving area set in a farm field, the automatic driving area being an area in which the work vehicle can automatically drive;
When the work vehicle manually drives in an area within the field but outside the automatic driving area, the area in which the work vehicle has manually driven is set as an automatic driving permitted area in which the work vehicle can automatically drive. The automated driving method according to claim 1, wherein the automated driving is stopped when the work vehicle reaches an end of the automated driving area during the automated driving. The automatic driving method according to claim 1 or 2, wherein, when the work vehicle manually drives in an area within the field and outside the automatic driving area, the entire side including the area where the work vehicle manually drives among multiple sides constituting the area outside the automatic driving area is set as the automatic driving permitted area. The automatic driving method according to claim 1 or 2, wherein, when the work vehicle manually drives in an area within the field and outside the automatic driving area, only the area outside the automatic driving area where the work vehicle manually drives is set as the automatic driving permitted area. The automatic driving method according to any one of claims 1 to 4, wherein the vehicle speed of the work vehicle when automatically driving in the automatic driving permission area is lower than the vehicle speed of the work vehicle when automatically driving in the automatic driving area. a step of automatically driving the work vehicle along a work route set in an automatic driving area, which is set in a farm field and in which the work vehicle can automatically drive, while causing the work vehicle to supply agricultural materials to the farm field;
a step of determining whether or not the agricultural materials need to be replenished to the work vehicle during the supply of the agricultural materials;
When it is determined that the agricultural materials need to be replenished to the work vehicle, the work vehicle is automatically driven to an end of the automatic driving area;
and setting an area in which the work vehicle has manually driven from an end of the automatic driving area to a supply position set outside the automatic driving area as an automatic driving permitted area in which the work vehicle can automatically drive. an automatic driving control unit that automatically drives the work vehicle in an automatic driving area that is set in a farm field and is an area in which the work vehicle can automatically drive;
and an automatic driving permission area setting unit that, when the work vehicle manually drives in an area within the field but outside the automatic driving area, sets the area through which the work vehicle has manually driven as an automatic driving permission area in which the work vehicle can automatically drive. A step of automatically driving the work vehicle in an automatic driving area set in a farm field, the automatic driving area being an area in which the work vehicle can automatically drive;
and a procedure for, when the work vehicle manually drives an area within the field but outside the automatic driving area, setting the area in which the work vehicle has manually driven as an automatic driving permitted area in which the work vehicle can automatically drive.

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