Field work system

Abstract

A field work system in which a field work machine repeatedly performs straight travel in a manner approaching a field row around a field while performing turning travel after the straight travel so as to perform straight travel again, and performs work on the field using a work device of the field work machine. The field work system includes a position acquisition unit, a storage unit, and an estimation unit. The position acquisition unit acquires a position of the field work machine. The storage unit stores the position of the field work machine acquired by the position acquisition unit in association with an action of the field work machine performing straight travel and turning travel in the field. The estimation unit estimates a field row area corresponding to a field row based on the positions of the field work machine approaching two or more points of the field row stored by the storage unit.

Description

Technical Field

[0001] This invention relates to a field operation system. Background Technology

[0002] Previously, it was known that a field work machine had the following structure: when it reached the ridge area in the field, it would change direction and travel (turn). Patent Document 1 discloses this structure.

[0003] The field work vehicle disclosed in Patent Document 1 operates in a straight line between two paddy fields. The vehicle starts from a point on one side of the field (the work start point) and moves towards the other side. Upon reaching the area of ​​the other side's paddy field, this point is recorded as the start point of a turn. At this point, the vehicle raises its working device to a non-working position. The vehicle then changes direction from the recorded start point and moves to the end point of the turn. Upon reaching the end point, the vehicle lowers its working device to the working position. The vehicle then resumes its straight-line work from the end point. With this structure, after recording the start point of a turn, other start and end points of turns are inferred based on that start point and the work start point.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-123829 Summary of the Invention

[0007] Regarding the structure disclosed in Patent Document 1, it presupposes that the field extends in a direction orthogonal to the direction of travel during straight-line operations, and thus estimates the starting and ending points of turns corresponding to the field area. Therefore, for example, in the case of deformed fields, when the actual field extends at an angle relative to the direction of travel orthogonal to the direction of travel during straight-line operations, it is impossible to estimate the accurate starting and ending points of turns (field area) corresponding to the actual field. Consequently, turns may be made in incorrect locations, leading to a decrease in work efficiency and completion rate.

[0008] The present invention was made in view of the above circumstances, and its purpose is to provide a field operation system that can estimate the accurate field area corresponding to the actual field ridges.

[0009] The problem that this invention aims to solve is as described above. The means used to solve this problem and their effects will be explained below.

[0010] According to the present invention, a field operation system with the following structure is provided. That is, in this field operation system, a field operation machine repeatedly travels straight along the edges of the field, approaching the surrounding furrows, and then turns to travel straight again, while simultaneously operating the field using its working device. The field operation system includes a position acquisition unit, a storage unit, and an estimation unit. The position acquisition unit acquires the position of the field operation machine. The storage unit stores the position of the field operation machine acquired by the position acquisition unit in association with the actions of the field operation machine during straight-line and turning movements in the field. The estimation unit estimates the field area corresponding to the furrow based on the positions of the field operation machine at two or more points approaching the furrow stored in the storage unit.

[0011] Therefore, even when the paddy fields extend at an angle that is not perpendicular to the direction of travel of the field work machine, the accurate area of ​​the paddy fields corresponding to their actual direction can be estimated. This allows the field work machine to turn at appropriate locations, thereby improving work efficiency and enabling the machine to complete its tasks perfectly.

[0012] In the aforementioned field operation system, the following structure is preferred: the operation of the field operation machine involves the transition from straight-line travel to turning travel and the transition from turning travel to straight-line travel. Furthermore, the storage unit stores the position of the field operation machine when transitioning from straight-line travel to turning travel as the turn start point, and stores the position of the field operation machine when transitioning from turning travel to straight-line travel as the turn end point. The estimation unit estimates the field area based on the adjacent turn start points and turn end points among the positions of the field operation machine stored in the storage unit.

[0013] Therefore, it is easy to estimate the field area. For example, the field area can be estimated simply by making the field work machine make a single turn.

[0014] In the aforementioned field operation system, the following structure is preferred. Specifically, the operation of the field operation machine involves: a transition from straight-line travel to turning travel and a transition from turning travel to straight-line travel. The storage unit stores the position of the field operation machine when it transitions from straight-line travel to turning travel as the turning start point, and stores the position of the field operation machine when it transitions from turning travel to straight-line travel as the turning end point. The estimation unit estimates the field area based on two turning end points located at two adjacent positions of the turning start point or two turning start points located at two adjacent positions of the turning end point from the positions of the field operation machine stored in the storage unit.

[0015] The distance between a paddy field and the starting point of a turn can sometimes differ significantly from the distance between a paddy field and the ending point of a turn. However, when multiple turns are made over the same paddy field, the deviation is usually small when comparing only the distance between the starting and ending points of each turn for each path. Similarly, the deviation is usually small when comparing only the distance between the ending and ending points of each turn for each path. Therefore, using either two starting points or two ending points of turns as a reference allows for accurate estimation of the paddy field area.

[0016] In the aforementioned field operation system, the following structure is preferred: The field operation machine automatically turns based on the field area estimated by the estimation unit.

[0017] The field work machine repeatedly performs prescribed actions at approximately equal intervals to the field ridges, ensuring that the pre-determined field area extends roughly parallel to the field ridges. Therefore, by automatically turning along the obtained field area, the operator's workload is reduced during field work, allowing for the perfect completion of the entire operation. Attached Figure Description

[0018] Figure 1 This is a side view of a rice transplanter used in a field operation system according to an embodiment of the present invention.

[0019] Figure 2 This is a top view of a rice transplanter.

[0020] Figure 3 This is a block diagram related to rice transplanters.

[0021] Figure 4 This is a flowchart illustrating the process of estimating the field boundaries of a field.

[0022] Figure 5 This is a diagram showing the storage of the starting point of a turn.

[0023] Figure 6 This is a diagram showing the situation where the end point of a turn is stored.

[0024] Figure 7 This is a diagram showing the field ridges in a variation of this embodiment.

[0025] Figure 8 This is a flowchart illustrating the process prior to estimating the field ridge areas in a variation of this embodiment. Detailed Implementation

[0026] Next, embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a side view of a rice transplanter 1 used in a field operation system according to an embodiment of the present invention. Figure 2 This is a top view of rice transplanter 1. Figure 3 This is a block diagram related to rice transplanter 1.

[0027] The field operation system of this embodiment uses a rice transplanter 1 as a field operation machine to perform rice transplanting operations (seedling planting operations). In addition, the field operation machine in this invention is not limited to the rice transplanter 1, and for example, a seeder, tractor, combine harvester, etc. can be used.

[0028] like Figure 1 and Figure 2 As shown, the rice transplanter 1 includes a body section 11, front wheels 12, rear wheels 13, and a planting section (working device) 14. The front wheels 12 and the rear wheels 13 are respectively provided in left and right pairs relative to the body section 11.

[0029] The body section 11 includes an engine hood 21. The engine hood 21 is located at the front of the body section 11. An engine 22 is housed inside the engine hood 21.

[0030] The power generated by the engine 22 is transmitted to the front wheels 12 and the rear wheels 13 via the gearbox 23. The power is also transmitted to the planting section 14 via the gearbox 23 and the PTO shaft 24 located at the rear of the body section 11.

[0031] The vehicle body 11 also includes a driver's seat 25 and multiple operating components. An operator can sit in the driver's seat 25. The driver's seat 25 is positioned between the front wheels 12 and the rear wheels 13 in the longitudinal direction of the vehicle body 11. The multiple operating components include a steering wheel 26, a gear shift pedal (gear shifting component) 27, and a planting lifting lever (planting lifting operating component) 30.

[0032] The rice transplanter 1 can be steered by operating the steering wheel 26. The travel speed (vehicle speed) of the rice transplanter 1 can be adjusted by operating the gear shift pedal 27. The planting section 14 can be raised or lowered by operating the planting lifting rod 30.

[0033] The planting section 14 is located at the rear of the vehicle body section 11. The planting section 14 is connected to the vehicle body section 11 by means of a lifting linkage mechanism 31. The lifting linkage mechanism 31 is composed of parallel links including an upper link 31a and a lower link 31b.

[0034] The lifting cylinder 32 of the lifting device is connected to the lower link 31b of the lifting linkage mechanism 31. The above-mentioned lifting device can raise and lower the planting part 14 relative to the vehicle body part 11 by extending and retracting the lifting cylinder 32.

[0035] The planting unit 14 can move up and down between a lowered position for planting operations and an raised position for not performing planting operations. The raised position refers to the position where the above-mentioned lifting device raises the planting unit 14 to its maximum extent relative to the vehicle body 11.

[0036] Furthermore, the lifting cylinder 32 is a hydraulic cylinder in this embodiment, but it can also be an electric cylinder. Additionally, the above-mentioned lifting device can use an actuator other than a cylinder to raise and lower the planting section 14.

[0037] The planting unit 14 includes a planting input box 33, multiple planting units 34, a seedling platform 35, multiple floats 36, and a pre-planting platform 37. The planting unit 14 can continuously plant seedlings by sequentially supplying seedlings from the seedling platform 35 to each planting unit 34.

[0038] Each planting unit 34 has a planting transmission box 41 and a rotating box 42. Power is transmitted to the planting transmission box 41 via the PTO shaft 24 and the planting input box 33.

[0039] The rotating housing 42 is rotatably mounted on the planting transmission housing 41. The rotating housing 42 is arranged on both sides of the planting transmission housing 41 in the vehicle width direction. Two planting claws 43 are mounted on one side of each rotating housing 42.

[0040] Two planting claws 43 are arranged in the direction of travel of the rice transplanter 1. The two planting claws 43 are moved as the rotating box 42 rotates. The planting of one row of rice seedlings is carried out by the movement of the two planting claws 43.

[0041] The seedling platform 35 is positioned above and in front of multiple planting units 34. The seedling platform 35 can hold seedling mats. The seedling platform 35 is configured to supply seedlings placed on the seedling mats to each planting unit 34.

[0042] Specifically, the seedling platform 35 is configured to be able to move laterally in a reciprocating manner along the width of the vehicle (it can slide laterally). In addition, the seedling platform 35 is configured to be able to intermittently feed and transport the seedling mat longitudinally downward at the reciprocating moving end of the seedling platform 35.

[0043] The hull 36 is mounted on the lower part of the planting section 14 in a swingable manner. The lower surface of the hull 36 is in contact with the field surface in order to stabilize the planting posture of the planting section 14 relative to the field surface.

[0044] A pair of pre-planting seedling trays 37 are provided on the left and right sides relative to the vehicle body section 11. The pre-planting seedling trays 37 are located on the outer side of the engine hood 21 in the vehicle width direction. The pre-planting seedling trays 37 can accommodate seedling boxes containing pre-planted seedlings.

[0045] The upper parts of the left and right preparatory seedling platforms 37 are connected to each other by a connecting frame 28 extending in the vertical direction and the vehicle width direction. A housing 29 is provided in the center of the connecting frame 28 in the vehicle width direction. A positioning antenna 61 and an inertial measurement device 62 are provided inside the housing 29.

[0046] The positioning antenna 61 is capable of receiving radio waves from positioning satellites that constitute a positioning system (GNSS). Based on the radio waves received by the positioning antenna 61, the position of the rice transplanter 1 can be obtained through known positioning calculations.

[0047] The aforementioned positioning systems can be categorized as satellite positioning systems that flexibly utilize GPS technology (GPS satellites). However, the positioning system is not limited to this; it can also be a system using other satellites such as Quasi-Zenith Satellites (QZSS) and GLONASS. Furthermore, as a positioning system that flexibly utilizes GNSS technology, positioning systems using point positioning, relative positioning, DGNSS positioning, RTK-GNSS positioning, etc., can be adopted.

[0048] The inertial measurement device 62 has three gyroscope sensors (angular velocity sensors) and three accelerometer sensors. The angular velocity and acceleration of the rice transplanter 1 detected by the inertial measurement device 62 are used as an auxiliary device to improve the accuracy of the positioning results of the rice transplanter 1.

[0049] like Figure 3 As shown, the rice transplanter 1 includes a control unit 50. The control unit 50 is configured as a known computer. The control unit 50 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), and an input / output unit.

[0050] The control unit 50 can acquire the lifting and lowering position of the planting unit 14 using appropriate sensors. For example, the control unit 50 can detect changes in the planting unit 14 from a lowering position to a rising position, and changes in the planting unit 14 from a rising position to a lowering position.

[0051] The control unit 50 includes a driving control unit 51, a storage unit 52, and an estimation unit 53. The control unit 50 is electrically connected to the inertial measurement unit 62. In addition, the control unit 50 is electrically connected to the position acquisition unit 65, the vehicle speed sensor 66, and the steering angle sensor 67.

[0052] The location acquisition unit 65 is electrically connected to the positioning antenna 61. The location acquisition unit 65 performs GNSS positioning based on the signal received by the positioning antenna 61 and output by the radio waves. As a result, the location acquisition unit 65 can acquire the position (current position) of the rice transplanter 1 as information such as latitude and longitude.

[0053] The vehicle speed sensor 66 is capable of detecting the speed of the rice transplanter 1. The vehicle speed sensor 66 is positioned at an appropriate location on the rice transplanter 1, for example, on the axle of the front wheel 12. In this case, the vehicle speed sensor 66 generates pulses in response to the rotation of the axle of the front wheel 12.

[0054] The steering angle sensor 67 is capable of detecting the steering angle of the front wheel 12. The steering angle sensor 67 is disposed at an appropriate location on the rice transplanter 1, for example, on the kingpin (not shown) of the front wheel 12. Alternatively, the steering angle sensor 67 may be disposed on the steering wheel 26.

[0055] The driving control unit 51 is capable of performing automatic control related to the driving of the rice transplanter 1. For example, the driving control unit 51 can perform speed control and steering control. The driving control unit 51 can perform both speed control and steering control simultaneously, or it can perform only steering control. In the latter case, the speed of the rice transplanter 1 is operated by the operator using the gear shift pedal 27.

[0056] For speed control, the speed of the rice transplanter 1 is adjusted based on pre-defined conditions. Specifically, the speed control unit 51 controls the current speed, obtained from the detection result of the speed sensor 66, to approach the target speed. This control is achieved by changing at least one of the gear ratio of the transmission in the gearbox 23 and the rotational speed of the engine 22. Furthermore, the speed control also includes control to reduce the speed to zero, thereby stopping the rice transplanter 1.

[0057] Steering control refers to the control of adjusting the steering angle of the rice transplanter 1 based on pre-defined conditions. Specifically, steering control is performed by the driving control unit 51 to bring the current steering angle, obtained from the detection result of the steering angle sensor 67, close to the target steering angle. This control is achieved, for example, by driving a steering actuator mounted on the rotation axis of the steering wheel 26. Furthermore, regarding steering control, the driving control unit 51 can directly adjust the steering angle of the front wheels 12 of the rice transplanter 1 instead of directly adjusting the rotation angle of the steering wheel 26.

[0058] The storage unit 52 can establish a correlation between the position of the rice transplanter 1 traveling straight and turning and the actions of the rice transplanter 1 during planting operations. In this embodiment, the actions of the rice transplanter 1 are changes in the traveling state of the rice transplanter 1 during planting operations. More specifically, the actions of the rice transplanter 1 are the transition from traveling straight to turning, and the transition from turning to traveling straight.

[0059] In this embodiment, the change in the driving state of the rice transplanter 1 is determined based on the change in the lifting position of the planting section 14 (as described later, the planting section 14 changes from a lowered position to a raised position, and the planting section 14 changes from a raised position to a lowered position). For example, the change in the driving state of the rice transplanter 1 can be determined based on whether or not power is being transmitted to the planting section 14. The state of power transmission to the planting section 14 can be detected based on the state of the planting clutch provided in the power transmission mechanism between the engine 22 and the planting section 14.

[0060] The estimation unit 53 estimates the area of ​​a paddy field corresponding to a given paddy field based on the positions of two or more rice transplanters 1 that are close to the paddy fields surrounding the field. In this embodiment, during planting operations, the positions of the two or more rice transplanters 1 are selected from the position where the rice transplanter 1 changes from straight-line to turning (turn start point) and the position where the rice transplanter 1 changes from turning to straight-line (turn end point). Details regarding the estimation of the paddy field area will be described later.

[0061] Furthermore, the storage unit 52 and the estimation unit 53 can be installed in a different component than the rice transplanter 1 instead of being installed in the control unit 50.

[0062] Next, refer to Figures 4-6 This indicates that during the planting operation of the rice transplanter 1, the estimation unit 53 performs estimation processing on the field ridge area 72 of the field 70. Figure 4 This is a flowchart illustrating the process of estimating the field area 72 of field 70. Figure 5 and Figure 6 This is a diagram illustrating the process of storing the start or end point of a turn. Furthermore, Figure 6 The straight path 76 and turning path 78 are hypothetical paths used to clearly illustrate the movement of the rice transplanter 1, and are not paths set before the rice transplanter 1 moves. In addition, in this embodiment, it is hypothetical that automatic steering is performed on the straight path 76, and manual steering is performed by the operator on the turning path 78.

[0063] like Figure 5 and Figure 6 As shown, when focusing on two roughly opposite paddy fields 74 surrounding the field 70, the rice transplanter 1 enters the field 70 from the side of one of the paddy fields 74A. Then, the rice transplanter 1 travels straight to approach the other paddy field 74B, and after traveling straight, turns to travel straight again. The rice transplanter 1 repeats this process.

[0064] That is, the rice transplanter 1 turns between straight-line travel and subsequent straight-line travel, and travels back and forth between one paddy field 74A and the other paddy field 74B. At this time, the path traveled by the rice transplanter 1 can be divided into multiple straight paths 76 and multiple turning paths 78.

[0065] The straight path 76 is a path for the rice transplanter 1 to travel in a straight line. The straight path 76 extends in a straight line between pairs of paddy fields 74A and 74B, separated by fields 70. The operator moves the rice transplanter 1 straight from the starting point A1 of the planting operation towards paddy field 74B. In the following description, this straight path 76 is sometimes referred to as the first straight path 76A. Next, the operator moves the rice transplanter 1 straight from paddy field 74B towards paddy field 74A while maintaining a predetermined interval relative to the first straight path 76A. In the following description, this straight path 76 is sometimes referred to as the second straight path 76B. The rice transplanter 1 repeatedly performs straight-line travel, sequentially forming the first straight path 76A, the second straight path 76B, the third straight path 76C, the fourth straight path 76D, and so on, starting from the starting point A1 of the planting operation. Multiple straight paths are configured in parallel (76).

[0066] In this embodiment, as described above, when traveling straight, the driving control unit 51 of the rice transplanter 1 automatically turns the vehicle using the positioning result of the position acquisition unit 65, so that the traveling trajectory of the rice transplanter 1 is along a straight path.

[0067] Turning path 78 is a path for the rice transplanter 1 to make turns. The operator makes turns at the position of field 74A on one side of the field 70 and at the position of field 74B on the other side.

[0068] like Figure 6As shown, the initial path for planting in turning path 78 is positioned near field 74B, connecting the first straight path 76A and the second straight path 76B. With the initial turning path 78 being the first turning path 78A, the second turning path 78B, connecting the second straight path 76B and the third straight path 76C, is then positioned near field 74A. Next, the third turning path 78C, connecting the third straight path 76C and the fourth straight path 76D, is positioned near field 74B. Thus, turning path 78 is alternately positioned near two fields 74A and 74B.

[0069] In field 70, rice transplanter 1 alternately travels straight and turns in the following manner.

[0070] That is, such as Figure 5 As shown, when the rice transplanter 1 is performing a planting operation, it first travels straight across the field 70 from the starting point A1 on one side of the planting bed 74A towards the other side of the planting bed 74B. If the rice transplanter 1 approaches the planting bed 74B to a suitable distance, the operator manually operates the steering wheel 26 to make the rice transplanter 1 begin to turn. The straight-line travel ends at this time.

[0071] Next, rice transplanter 1 changes from traveling straight to turning. For example... Figure 6 As shown, the rice transplanter 1 turns near the paddy field 74B in the field 70 to reverse its direction of travel. Once the direction change of the rice transplanter 1 is complete, the operator manually operates the steering wheel 26 to make the rice transplanter 1 start to move straight. The turning operation ends at this time.

[0072] Next, the rice transplanter 1 transitions from turning to straight-line driving. The rice transplanter 1, within field 70, again travels straight from one side of field 74B towards the other side of field 74A. The rice transplanter 1 then moves in the opposite direction to its previous straight-line driving. If the rice transplanter 1 approaches field 74A to a suitable distance, the operator manually operates the steering wheel 26, causing the rice transplanter 1 to begin turning. The straight-line driving ends at this time.

[0073] Then, the rice transplanter 1 changes from straight-line travel to turning travel. The rice transplanter 1 turns near the paddy field 74B of the field 70 to reverse its direction of travel. Once the direction change of the rice transplanter 1 is complete, the operator manually operates the steering wheel 26 to make the rice transplanter 1 begin to travel straight. The turning travel ends at this time.

[0074] The rice transplanter 1 performs planting operations on the field 70 while appropriately transitioning between straight-line and turning travel. When traveling straight, the transplanter 1 keeps the planting section 14 in a lowered position and uses it to plant seedlings in the field 70. Conversely, when turning, the transplanter 1 keeps the planting section 14 in an raised position and does not plant seedlings in the field. The operator manually operates the planting lifting rod 30 to change the raising or lowering position of the planting section 14.

[0075] In this structure, when the rice transplanter 1 is performing planting operations, the estimation unit 53 performs estimation processing on the field ridge area 72 of the field 70. As a position reference for the rice transplanter 1 when switching between straight-line and turning travel, the operator uses an imaginary boundary offset inward by a predetermined distance from the shape of the field 70 (the shape of the ridge 74) as a reference; the field area 72 can be considered as the area outside this boundary. When the planting unit 14 reaches this boundary, the operator switches the planting unit 14 between its rising and falling positions.

[0076] The width of the paddy field area 72 (in other words, the distance by which the field 70 is offset inward) is determined by the operator taking into account the minimum turning radius of the rice transplanter 1, etc. Then, when the rice transplanter 1 travels in the paddy field area 72 and performs planting operations, the width of the paddy field area 72 is determined by taking into account the working width of the planting section 14 and an appropriate margin.

[0077] Specifically, to conduct Figure 4 The process is as shown in the flowchart. When the rice transplanter 1 is performing planting operations using the planting section 14 while traveling straight in the field 70, the control section 50 determines whether the planting section 14 has changed from a descending position to an ascending position (step S101).

[0078] In step S101, if it is determined that the planting unit 14 has changed from a descending position to an ascending position, the control unit 50 uses the position acquisition unit 65 to acquire the current position of the rice transplanter 1 (step S102). The control unit 50 stores the position of the rice transplanter 1 acquired by the position acquisition unit 65 and the information about the planting unit 14 changing from a descending position to an ascending position in the storage unit 52 in a related manner (step S103).

[0079] In detail, the control unit 50 detects the change of the planting unit 14 from a descending position to an ascending position to determine the action of the rice transplanter 1, such as changing from straight-line driving to turning driving. Moreover, in the control unit 50, the storage unit 52 stores the position of the rice transplanter 1 when it changes from straight-line driving to turning driving as the turning start point S1 of the rice transplanter 1.

[0080] Furthermore, the turning start point S1 is the point where the straight-line travel of the rice transplanter 1 ends, and also the point where the rice transplanter 1 begins to turn. Alternatively, the turning start point S1 can also be considered the point where the planting section 14 changes from the descending position to the ascending position so that seedling planting is not performed.

[0081] After the processing in step S103, the control unit 50 determines whether the planting unit 14 has changed from the rising position to the falling position (step S104).

[0082] If, in step S104, it is determined that the planting unit 14 has changed from an upward position to a downward position, the control unit 50 uses the position acquisition unit 65 to acquire the current position of the rice transplanter 1 (step S105). The control unit 50 establishes an association between the position of the rice transplanter 1 acquired by the position acquisition unit 65 and the information indicating that the planting unit 14 has changed from an upward position to a downward position and stores it in the storage unit 52 (step S106). Figure 4 ).

[0083] In detail, the control unit 50 detects the change of the planting unit 14 from an ascending position to a descending position to determine the action of the rice transplanter 1, such as the change of the rice transplanter 1 from turning to straight-line driving. Moreover, in the control unit 50, the storage unit 52 stores the position of the rice transplanter 1 when it changes from turning to straight-line driving as the turning end point E1 of the rice transplanter 1.

[0084] Furthermore, the turning end point E1 is the point where the turning motion of the rice transplanter 1 ends, and also the point where the rice transplanter 1 begins to move straight. Alternatively, the turning end point E1 can also be considered as the point where the planting section 14 changes from the rising position to the falling position in order to plant the seedlings.

[0085] In the control unit 50, if the storage unit 52 stores the turning start point S1 and turning end point E1 of the rice transplanter 1, the estimation unit 53 estimates the second field area 72B based on the turning start point S1 and turning end point E1 stored by the storage unit 52 (step S107).

[0086] The imaginary boundary described above can be considered to be represented by an imaginary straight line connecting the starting point S1 and the ending point E1 of the turn. Therefore, the estimation unit 53 calculates the straight line L1, including the straight line connecting the starting point S1 and the ending point E1 of the turn when viewed from above, and calculates the angle φ formed by the straight line L1 and the direction orthogonal to the direction of travel of the rice transplanter 1 when it is traveling straight. Based on the calculated angle φ, the estimation unit 53 estimates the shape of the paddy field 74B and the second paddy field area 72B.

[0087] Figure 5An example of a non-rectangular field 70 is shown, in which, when viewed from above, the field ridge 74B is tilted in a manner not orthogonal to the direction of travel of the rice transplanter 1 when it is traveling straight. In this case, by using the positional relationship between the turning start point S1 and the turning end point E1 as a reference, it is also possible to accurately estimate the second field ridge area 72B as a tilted area that matches the shape of the actual field ridge 74B.

[0088] Furthermore, when the rice transplanter 1 transitions from straight-line driving to turning driving again, and then further transitions from turning driving back to straight-line driving, the control unit 50 detects the change in the driving state of the rice transplanter 1 near one of the paddy fields 74A, as described above. Correspondingly, the storage unit 52 stores the turning start point S2 and the turning end point E2. The estimation unit 53 estimates the first paddy field area 72A corresponding to the paddy field 74A based on the stored turning start point S2 and turning end point E2.

[0089] After the estimation unit 53 estimates the paddy field area 72 (the second paddy field area 72B and the first paddy field area 72A), the control unit 50 can notify the operator that the turning start point is nearby during the subsequent straight-line travel of the rice transplanter 1. Specifically, the control unit 50 calculates the distance up to the next turning start point (the end point of the current straight-line travel) based on the current position of the rice transplanter 1 obtained from the position acquisition unit 65. The next turning start point can be determined as the point where the straight line obtained by extending the path of the rice transplanter 1 currently traveling straight reaches the paddy field area 72. If the distance obtained by calculation is below a predetermined threshold, the control unit 50 controls the rice transplanter 1 by performing an appropriate notification action using the notification unit (not shown in the figure) provided with the rice transplanter 1.

[0090] For the rice transplanter 1, methods for issuing notifications include: emitting a warning sound, illuminating a warning light, or displaying a warning on a display unit located near the steering wheel 26. The timing of the notification can be appropriately changed by setting the aforementioned threshold.

[0091] Since the planting operation is performed by the planting section 14 at the rear of the rice transplanter 1, the operator often observes the rear from the driver's seat 25 while the machine is traveling straight, and timing errors at the start of turns are not uncommon. Regarding this, according to the above structure, for example, when the rice transplanter 1 is traveling straight on the third straight path 76C, the operator can be notified that the rice transplanter 1 is about to reach the turning start point S3. Therefore, the planting section 14 can reliably be turned towards an upward position when the rice transplanter 1 is turning.

[0092] Furthermore, when the rice transplanter 1 is traveling straight, it can be driven automatically using the travel control unit 51. In this case, in addition to notifying the operator, the control unit 50 can also use the travel control unit 51 to automatically decelerate the rice transplanter 1 towards the starting point of the turn. Moreover, the deceleration of the rice transplanter 1 at this time includes stopping the rice transplanter 1 at the next starting point of the turn.

[0093] In the third turning path 78C after the rice transplanter 1 starts turning at the turning start point S3, it can also notify the operator that it is about to reach the turning end point E3, or perform automatic driving control accordingly.

[0094] In this embodiment, the rice transplanter 1 can travel within the paddy field area 72 estimated by the estimation unit 53. For example, after completing the planting operation in an area further inside the paddy field area 72 (inner area 82), the rice transplanter 1 travels within the paddy field area 72 to perform planting operations. Furthermore, when passing through the working area in the paddy field area 72, the control unit 50 uses the travel control unit 51 to automatically steer the rice transplanter 1. This working area is the area in the paddy field area 72 used for planting operations.

[0095] As explained above, in the field operation system of this embodiment, the rice transplanter 1 repeatedly travels straight along the paddy fields 74 surrounding the field 70, and then turns after traveling straight to travel straight again, while using the planting unit 14 to perform planting operations on the field 70. This field operation system includes a position acquisition unit 65, a storage unit 52, and an estimation unit 53. The position acquisition unit 65 can acquire the position (current position) of the rice transplanter 1. The storage unit 52 can store the position of the rice transplanter 1 acquired by the position acquisition unit 65 in association with the actions of the rice transplanter 1 during straight and turning movements in the field 70. The estimation unit 53 can estimate the paddy field area 72 corresponding to the paddy field 74 based on the positions of the rice transplanters 1 that are at least two points close to the paddy field 74 stored by the storage unit 52.

[0096] Therefore, even in, for example, Figure 5 Even when the paddy field 74B extends at an angle that is not perpendicular to the direction of travel of the rice transplanter 1 when traveling straight, the accurate paddy field area 72 corresponding to the actual direction of the paddy field 74B can be estimated. Therefore, reliable control can be performed regarding the switching between straight travel and turning travel (e.g., the notification control described above). As a result, the rice transplanter 1 can turn at the appropriate position, thus improving work efficiency and completing the work perfectly.

[0097] Furthermore, in the field operation system of this embodiment, the operation of the rice transplanter 1 includes the transition from straight-line travel to turning travel and the transition from turning travel to straight-line travel. The storage unit 52 stores the position of the rice transplanter 1 when it transitions from straight-line travel to turning travel as the turning start point S1, and stores the position of the rice transplanter 1 when it transitions from turning travel to straight-line travel as the turning end point E1. The estimation unit 53 estimates the field area 72 based on the adjacent turning start points S1 and turning end points E1 stored in the rice transplanter 1 positions stored in the storage unit 52.

[0098] Therefore, the field area 72 can be easily estimated. For example, the field area 72 can be estimated simply by making the rice transplanter 1 make a single turn.

[0099] In addition, for the field operation system of this embodiment, the rice transplanter 1 automatically turns in the field area 72 estimated by the estimation unit 53 so that the rice transplanter 1 passes through the operation area of ​​the rice transplanter 1 in the field area 72.

[0100] The rice transplanter 1 repeatedly performs predetermined actions at approximately equal intervals from the paddy field 74B, thereby ensuring that the paddy field area 72, as estimated by the estimation unit 53, extends approximately parallel to the paddy field 74B, as described previously. Therefore, by automatically turning along the obtained paddy field area 72, the operator's workload is reduced during field operations, allowing for the perfect completion of the entire task.

[0101] The preferred embodiments of the present invention have been described above, but the above structure may be modified as follows, for example.

[0102] The estimation unit 53 can estimate the field area based on multiple locations, which at least include: two turning end points located at two adjacent positions on the side of the field 74 where the turning begins, or two turning start points located at two adjacent positions where the turning ends. For example, the estimation unit 53 can estimate based on, for example,... Figure 6 The second field area 72B is estimated by taking the turn start point S1 and the turn start point S3, which are located at two adjacent positions at the turn end point E1 as shown.

[0103] Within the same turning path 78, the orientation of the rice transplanter 1 differs by 180° between the starting and ending points of the turn. Therefore, different and unique operational skills are required for transitions from straight-line to turning and from turning back to straight-line travel. Consequently, for example, comparing the distance between the paddy field 74B and the starting point S1 versus the distance between the paddy field 74B and the ending point E1, while also depending on the operator's skill level, can sometimes result in significant differences. This deviation affects the accuracy of estimating the paddy field area 72.

[0104] On the other hand, when multiple turns are made within the same paddy field 74B, the deviation is usually small when only the distance between paddy field 74B and the starting points of the turns S1, S2, ... is compared. Similarly, the deviation is usually small when only the distance between paddy field 74B and the ending points of the turns E1, E2, ... is compared. Therefore, the paddy field area 72 can be accurately estimated by using either the two starting points of the turns or the two ending points of the turns as a reference. Due to factors such as operator habits, there may sometimes be a difference between the paddy field area estimated based on the two starting points of the turns and the paddy field area estimated based on the two ending points of the turns. In this case, from the viewpoint of ensuring sufficient margin around the rice transplanter 1, the estimation unit 53 will estimate a wider paddy field area.

[0105] To estimate the paddy field area 72, the estimation unit 53 can use the positions of the rice transplanter 1 at least three points, including at least one turning start point and at least one turning end point, instead of using the position of the rice transplanter 1 at two points formed by adjacent turning start points and turning end points. For example, to estimate the second paddy field area 72B, the estimation unit 53 can use the turning start point S1, the turning end point E1, and the turning start point S3 adjacent to the turning end point E1. Furthermore, to estimate the paddy field area 72, three or more turning start points S1, S2, S3, ..., and three or more turning end points E1, E2, E3, ... can be used. When three or more positions are given, the straight line used to calculate the aforementioned angle φ can be obtained using a known method, such as the least squares method.

[0106] The estimation unit 53 can be configured to switch between two modes: a first mode that estimates the field area 72 based on two or more points, as described above, and a second mode that estimates the field area 72 based only on, for example, a single turning point. In the second mode, the estimation unit 53 draws a straight line based on the obtained point, treating the angle φ as 90°, thereby estimating the field area 72. It can be configured such that, within a single field 70, modes can be specified for opposing fields 74A and 74B respectively.

[0107] The switching of the presence or absence of power transmission in the planting section 14 and the raising / lowering of the planting section 14 can be automatically performed in conjunction with the operator's operation of the steering wheel 26.

[0108] The shape of the field area 72 estimated by the estimation unit 53, the straight line L1 representing the boundary, etc., can be displayed on an appropriate display unit (e.g., a liquid crystal display).

[0109] After the estimation unit 53 estimates the second paddy field area 72B, the control unit 50 can estimate the new paddy field area of ​​the field 70. In this case, after the estimation unit 53 estimates the second paddy field area 72B, the control unit 50 also continuously stores the turning start point / turning end point of the rice transplanter 1 in the storage unit 52. If it is determined that the latest turning start point / turning end point is not located on the straight line L1 obtained by the estimation unit 53, it can be known that the shape of the paddy field area has changed. Moreover, the control unit 50 determines that a new paddy field area needs to be estimated, and uses the estimation unit 53 to estimate the new paddy field area. This structure can be used, for example, in the following situation: the field 70 has a... Figure 7 The other field 74C shown corresponds to a new field area (third field area 72C). This other field 74C connects to field 74B in field 70 and extends in different directions. Here, "turn start point / turn end point located on straight line L1" means that the turn start point / turn end point is located within the prescribed allowable range based on straight line L1.

[0110] exist Figure 7 In the example shown, the estimation of the third field area 72C is performed in the same manner as in the above-described embodiment, but the following steps are performed before the estimation: Figure 8 The process is as shown in the flowchart. Specifically, after the estimation unit 53 estimates the second paddy field area 72B, the control unit 50 determines whether the lifting position of the planting unit 14 has changed (step S201). If the control unit 50 determines that the lifting position of the planting unit 14 has changed, it uses the position acquisition unit 65 to acquire the position of the rice transplanter 1 at that time (step S202). The control unit 50 associates the position of the rice transplanter 1 acquired by the position acquisition unit 65 with the information that the lifting position of the planting unit 1 has changed and stores it in the storage unit 52 (step S203). Furthermore, the control unit 50 uses the position of the rice transplanter 1 stored in the storage unit 52 as the turning start point / turn end point and determines whether the turning start point / turn end point is located on the straight line L1 (step S204). For example, if Figure 7If the distance D1 between the indicated end point of the turn E5 and the straight line L1 is above a predetermined value, it means that the end point of the turn E5 deviates from the straight line L1, and a new field area (third field area 72C) needs to be estimated. Therefore, the control unit 50 estimates the third field area 72C based on the subsequent start point / end point of the turn and using the estimation unit 53 (step S205).

[0111] In view of the above-mentioned teachings, it is obvious that the present invention can take many modifications and variations. Therefore, it can be understood that the present invention can be implemented in ways other than those described in this specification, as stated in the appended claims.

[0112] Explanation of reference numerals in the attached figures

[0113] 1… Rice transplanter (field operation machine); 14… Planting unit (operation device); 52… Storage unit; 53… Estimation unit; 65… Location acquisition unit; 70… Field; 72… Field area; 74… Field.

Claims

1. A field operation system, wherein a field operation machine repeatedly travels in a straight line approaching the surrounding ridges of a field, and then turns after traveling in a straight line to travel in a straight line again, while simultaneously performing operations on the field using the machine's operating device. Its features are, The field operation system has the following features: The location acquisition unit acquires the location of the field operation machine; The storage unit stores the position of the field machine obtained by the position acquisition unit in association with the actions of the field machine in the field, such as traveling straight and turning. as well as The estimation unit is capable of switching between a first mode and a second mode. In the first mode, the field area is estimated based on the positions of the field operation machine that are at least two points close to the field, as stored by the storage unit. In the second mode, the field area is estimated based on the position of the field operation machine that is at least one point close to the field.

2. The field operation system according to claim 1, characterized in that, The actions of the field work machine are: the transition from straight-line driving to turning driving and the transition from turning driving to straight-line driving. The storage unit stores the position of the field work machine when it changes from straight-line driving to turning driving as the turning start point, and stores the position of the field work machine when it changes from turning driving to straight-line driving as the turning end point. In the first mode, the estimation unit estimates the field area based on the adjacent turning start points and turning end points of the field operation machine's position stored by the storage unit.

3. The field operation system according to claim 1, characterized in that, The actions of the field work machine are: the transition from straight-line driving to turning driving and the transition from turning driving to straight-line driving. The storage unit stores the position of the field work machine when it changes from straight-line driving to turning driving as the turning start point, and stores the position of the field work machine when it changes from turning driving to straight-line driving as the turning end point. In the first mode, the estimation unit estimates the field area based on two turning end points located at two adjacent positions of the turning start point or two turning start points located at two adjacent positions of the turning end point, which are stored by the storage unit for the field operation machine.

4. The field operation system according to any one of claims 1 to 3, characterized in that, The field work machine can automatically turn by using the field area estimated by the estimation unit.

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