Work vehicle

Abstract

A rice transplanter (1) is configured to automatically travel along a travel path set in parallel with a reference path (SC) generated based on A and B points set in advance while determining a vehicle position using a satellite positioning system, and includes a control unit that operates a reporting device if the vehicle position approaches a ridge position (L1) determined based on the A point or a ridge position (L2) determined based on the B point while automatically traveling, and is configured to change one of the ridge position (L1) and the ridge position (L2) to a ridge position (L3) determined based on a P point different from the A and B points, and operate the reporting device based on the ridge position (L3) instead of the one of the ridge position (L1) and the ridge position (L2) after the change.

Description

Technical Field

[0001] This invention relates to a work vehicle that performs a report when approaching a ridge position during autonomous driving. Background Technology

[0002] Previously, it was known that there were agricultural vehicles such as rice transplanters that used satellite positioning systems to automatically travel in straight lines within fields. These vehicles autonomously travel along a straight path set parallel to a reference path. The reference path is generated based on a set of reference points called points A and B. Points A and B are typically set at the edges of the field to enable widespread automatic movement within the field.

[0003] Furthermore, as described in Patent Documents 1-3, there are known work vehicles that use a buzzer or similar device to issue a report before the automatic driving is about to end. This allows the operator to be notified in advance that the work vehicle is about to reach the edge of the embankment. Upon receiving the report, the operator can either adjust their posture to prepare for parking or switch to manual driving.

[0004] In deformable fields that are not simply rectangular, situations may occur where the work vehicle generates a report before approaching the embankment, or where the work vehicle is approaching the embankment but fails to generate a report. Therefore, in deformable fields, it is necessary to eliminate points A and B and reset them each time, and update the embankment position in order to properly generate reports during automatic driving, resulting in the inconvenience of being forced to perform cumbersome operations.

[0005] Patent Document 1: Japanese Patent Application Publication No. 3-135608

[0006] Patent Document 2: Japanese Patent Application Publication No. 2013-74815

[0007] Patent Document 3: Japanese Patent Application Publication No. 2004-337031 Summary of the Invention

[0008] The present invention was made in view of the above-mentioned problems, and its object is to provide a work vehicle that can flexibly update the position of the embankment and can properly perform the reporting during automatic driving even in deformed fields.

[0009] The work vehicle involved in this invention is configured to automatically drive along a driving path set parallel to a reference path generated based on a pre-set first reference point and a second reference point while determining its own position using a satellite positioning system. It includes a control unit that, when the vehicle's position approaches a first control reference position determined based on the aforementioned first reference point or a second control reference position determined based on the aforementioned second reference point during automatic driving, activates a reporting device. The control unit is configured to change one of the aforementioned first control reference position and the aforementioned second control reference position to a third control reference position determined based on a third reference point different from the aforementioned first reference point and the aforementioned second reference point. After this change, the reporting device is activated based on the aforementioned third control reference position instead of one of the aforementioned first control reference position and the aforementioned second control reference position.

[0010] Based on this structure, after setting a first reference point (one of points A and B) and a second reference point (the other of points A and B), the first or second control reference position determined based on these can be subsequently changed to a third control reference position. After the change, the operation of the reporting device is controlled based on the third control reference position instead of the first or second control reference position. Therefore, the edge position can be updated flexibly, and reporting during automatic driving can be appropriately performed even on deformed fields.

[0011] Preferably, the control unit is configured to change one of the first and second control reference positions to the third control reference position in either the case of autonomous driving or the case of not autonomous driving. The control reference position can be changed during autonomous driving, thereby allowing the embankment position to be updated without interrupting operations. Furthermore, the control reference position can be changed when autonomous driving is not in progress, thereby allowing the embankment position to be updated, for example, after manually moving to the correct embankment position.

[0012] Preferably, the control unit is configured such that, during autonomous driving, if a third reference point is set within the work area defined by the first and second reference points, the position of the first or second control reference point located rearward in the work direction is changed to the third control reference point. With this configuration, the edge position within the work area can be updated to match the operator's intentions without requiring selection of which control reference point to change.

[0013] Preferably, the control unit is configured such that, when not in autonomous driving mode, if the third reference point is set within the work area defined by the first and second reference points, the working direction for initiating autonomous driving is determined, and one of the first and second control reference positions located behind the working direction is changed to the third control reference position. With this configuration, the control reference positions can be appropriately changed even when not in autonomous driving mode. Furthermore, the ridge position can be updated to match the user's intention without requiring selection of which control reference position to change.

[0014] Preferably, the control unit is configured such that if the third reference point is set outside the work area defined by the first and second reference points, the position closest to the vehicle among the first and second control reference positions is changed to the third control reference position. With this configuration, the edge position can be updated outside the work area to match the operator's intention without requiring selection of which control reference position to change. Attached Figure Description

[0015] Figure 1 This is a left-side view of a rice transplanter, which is an example of an operating vehicle involved in this invention.

[0016] Figure 2 This is a 3D view of the driver's control unit from the left front.

[0017] Figure 3 It is a diagram showing the operating surface of the operating component.

[0018] Figure 4 This is a block diagram representing the main structures related to autonomous driving.

[0019] Figure 5 This is a diagram illustrating an example of a driving path in an autonomous vehicle traveling through a field.

[0020] Figure 6 This is a diagram illustrating an example of a driving path in autonomous driving on deformed fields.

[0021] Figure 7 This is a diagram schematically representing the update pattern of the ridge position.

[0022] Figure 8 This is a table showing the relationship between the operation mode and action of button A and button B.

[0023] Figure 9 This is a flowchart illustrating the processing of the control unit related to autonomous driving.

[0024] Figure 10This is a flowchart representing the process of setting and processing job conditions.

[0025] Figure 11 This is a flowchart representing the automatic driving process.

[0026] Figure 12 This is a flowchart indicating the end / continuement of automatic driving processing. Detailed Implementation

[0027] Embodiments of the present invention will be described with reference to the accompanying drawings. In this embodiment, an example of an automated driving system is shown, in which a passenger-type rice transplanter, as an example of a work vehicle, automatically moves while its position is determined using a satellite positioning system. The work vehicle is not limited to a rice transplanter; for example, it could be an agricultural work vehicle such as a tractor, combine harvester, or seedling transplanter. Alternatively, it could be a civil engineering work vehicle, a snowplow, or the like.

[0028] [Overall structure of the rice transplanter]

[0029] First, let's briefly explain the overall structure of the rice transplanter. Figure 1 In the diagram, arrows indicate the forward / backward and up / down directions of the rice transplanter 1, with the direction perpendicular to the paper representing the left / right direction. The rice transplanter 1 has a traveling section 10 and a planting section 20, which serves as the working section. The planting section 20 is located behind the traveling section 10. The planting section 20 is flexibly connected to the rear of the traveling section 10 via a lifting mechanism 21. The rice transplanter 1 is configured to perform seedling planting (transplanting) operations using the planting section 20 while traveling in the field using the traveling section 10.

[0030] The running gear 10 includes a running gear body 2, a pair of left and right front wheels 3 supporting the running gear body 2, and a pair of left and right rear wheels 4. The front wheels 3 are mounted on the front axles extending to the left and right sides from the front axle housing 5. The front axle housing 5 is located on the side of the transmission 8 and is supported by the front part of the running gear body 2. The rear wheels 4 are mounted on the rear axles extending to the left and right sides from the rear axle housing 6. The rear axle housing 6 is located at the rear end of a cylindrical frame 9 protruding rearward from the transmission 8 and is supported by the rear part of the running gear body 2.

[0031] An engine 7, serving as the drive source, is mounted at the front of the vehicle body 2. The engine 7 is covered by an engine hood 11. The power of the engine 7 is transmitted to a gearbox 8 located behind the engine 7, and then via the gearbox 8 to the front wheels 3 and the rear wheels 4. By transmitting power to the front wheels 3 and the rear wheels 4 to drive their rotation, the vehicle body 10 can travel in the forward and backward direction.

[0032] A connecting rod frame 17 is erected at the rear end of the vehicle body 2. An insertion part 20 is flexibly connected to the connecting rod frame 17 via a lifting mechanism 21. The lifting mechanism 21 has a lower connecting rod 21a and an upper connecting rod 21b. The piston rod of a hydraulic lifting cylinder 22 is connected to the lower connecting rod 21a. The cylinder base of the lifting cylinder 22 is rotatably supported on the rear part of the upper surface of the cylindrical frame 9. The lifting mechanism 21 rotates vertically by extending and retracting the lifting cylinder 22, thereby raising and lowering the insertion part 20.

[0033] The planting unit 20 includes: a planting input box 23, which transmits power from the engine 7 via the gearbox 8 and the PTO shaft (power transmission shaft) 18; multiple planting transmission boxes 24 connected to the planting input box 23; a seedling planting mechanism 25 disposed at the rear end of each planting transmission box 24; and a seedling platform 26 for holding seedling pads. Prepared seedlings for supplying seedlings to the planting unit 20 are placed on prepared seedling platforms 15 located on the left and right sides of the engine hood 11. The prepared seedling platforms 15 are supported by support frames 16 (prepared seedling supports) erected on the left and right sides of the front of the vehicle body 2.

[0034] The planting mechanism 25 is equipped with a rotating box 28 having two planting claws 27, 27 corresponding to one row. As the rotating box 28 rotates, the two planting claws 27, 27 alternately remove seedlings from the seedling pad and plant them in the field. The rice transplanter 1 of this embodiment is an eight-row transplanter, therefore it has four sets (two rows per set) of planting transmission boxes 24 for eight rows, and the seedling platform 26 is also configured for eight-row transplanting. However, the rice transplanter 1 is not limited to this; for example, it could also be a six-row or ten-row transplanter.

[0035] Side markers 29 are provided on the left and right outer sides of the planting section 20, respectively. Each side marker 29 has a marking wheel 29w for marking lines and a marking arm 29a supporting the marking wheel 29w for rotation. The base of the marking arm 29a is supported on the left and right outer sides of the planting section 20 for rotation in the left and right directions. The side markers 29 are configured to be able to perform two postures: a landing posture where the marking wheel 29w descends onto the field surface to form a trajectory that serves as a reference for the next process, and a non-landing posture where the marking wheel 29w rises away from the field surface (see reference). Figure 1 Displacement between ).

[0036] A driving control unit 30 is provided in the center of the traveling body 2 in the longitudinal direction. The operator sits on the working platform 12 (body cover) provided on the upper surface of the traveling body 2 and operates the rice transplanter 1 from the driving control unit 30. An operation panel 31 is provided at the front of the driving control unit 30. The operation panel 31 is located on the rear upper surface of the engine hood 11. The operation panel 31 is provided with a number of operating tools including a steering handle 32 and a main gear lever 33. The driver's seat 14 is arranged behind the operation panel 31 via the seat frame 13.

[0037] On the left and right sides of the engine hood 11, multiple (four in this embodiment) seedling trays 15 are supported by a pair of support frames 16, 16 spaced apart in the front-to-back direction. A connecting frame 40, which appears approximately L-shaped when viewed from the side, is connected to the upper end of the pair of support frames 16, 16. A unit frame 42 is connected to the upper end of the connecting frame 40 via an intermediate frame 41 extending in the vertical direction. The unit frame 42 is rotatably connected relative to the upper part of the left and right intermediate frames 41. A positioning unit 43, serving as a positioning part, is fixed to the unit frame 42.

[0038] Positioning unit 43 receives positioning signals from a satellite positioning system (GNSS) and determines its own position based on these signals. For example, a DGPS (Differential GPS) satellite positioning system can be used. Thus, by using correction information from a reference station located at a predetermined site to correct the position information of the rice transplanter 1 (mobile station), the position of the rice transplanter 1 can be determined with high accuracy. It is not limited to DGPS; other satellite positioning systems such as RTK (Real-Time Kinematic) and SBAS (Solid State Satellite Navigation Augmentation System) can also be used.

[0039] [Driving Operations Department]

[0040] Next, the driving control unit 30 will be explained. For example... Figure 2 As shown, the control panel 31 is equipped with various operating tools, including a steering handle 32, and a display device 34. The steering handle 32 is located in front of the driver's seat 14. A gear shift pedal (not shown) and a brake pedal are arranged below the control panel 31. The gear shift pedal is used to change the speed of the rice transplanter 1. The brake pedal is used to brake the rice transplanter 1. Generally, the gear shift pedal is located on the lower right side of the control panel 31, and the brake pedal is located to the left of the gear shift pedal.

[0041] The rice transplanter 1 includes: an operating component 50 for performing operations related to automatic travel; and an arm component 35 supporting the operating component 50. The arm component 35 includes: a strut-shaped upper arm portion 35a fixed to a support frame 16; a forearm portion 35c that rotates horizontally relative to the upper arm portion 35a about a hinge 35b; and a support 35e that rotates horizontally relative to the forearm portion 35c about a hinge 35d. The operating component 50 is mounted on the support 35e. Elbows 35f and 35f, which bend vertically, are formed at both ends of the forearm portion 35c. The elbows 35f may also be hinged and able to rotate vertically. The operating component 50, held in place by the support 35e, is movable within the range of motion of the arm component 35.

[0042] like Figure 3 As shown, the operating unit 50 includes: an AUTO button 51, which is an indicator for indicating the start of automatic driving; an A button 53, which is an indicator for indicating the setting of point A, the starting point of the reference path; and a B button 54, which is an indicator for indicating the setting of point B, the ending point of the reference path. The AUTO button 51 is located at the center of the operating surface 50f of the operating unit 50. The A button 53 and the B button 54 are arranged side by side below the AUTO button 51. An indicator light 52 for displaying the positioning status of the positioning unit 43 is located above and to the left of the AUTO button 51.

[0043] The AUTO button 51 is operated when starting and stopping autonomous driving. The AUTO button 51 is operated more frequently than buttons A 53 and B 54, therefore it is made larger than buttons A 53 and B 54 when viewed from the front to facilitate pressing. Additionally, the AUTO button 51 protrudes more than buttons A 53 and B 54. Buttons A 53 and B 54 are identical in shape and symmetrically arranged. A ring-shaped light-emitting part 55 is provided around the AUTO button 51. The light-emitting part 55 has the function of notifying the operator of various states related to autonomous driving using its light color and illumination mode.

[0044] In this embodiment, the operating component 50 for performing operations related to autonomous driving is provided independently from the operating panel 31. This structure makes it convenient to add an autonomous driving system to an existing rice transplanter without modifying the operating panel 31. However, this is not a limitation; it is also possible to assemble the operating component for performing operations related to autonomous driving onto the operating panel 31.

[0045] [Main structures related to autonomous driving]

[0046] The rice transplanter 1 is configured to determine its own position using a satellite positioning system and automatically travel along a travel path set parallel to a reference path generated based on a pre-set first reference point (one of points A and B) and a second reference point (the other of points A and B). The automatic travel-assisted straight-line operation requires the operation unit 50 to set the start point of the reference path (called point A), the end point of the reference path (called point B), and to start / stop the automatic travel.

[0047] Figure 4 This is a block diagram showing the main structures related to autonomous driving. The positioning unit 43 includes a positioning antenna 43a, a position measuring device 43b, and an inertial measurement unit (IMU) 43c. The positioning antenna 43a receives signals from positioning satellites (e.g., GPS satellites) constituting a satellite positioning system. The positioning signal received by the positioning antenna 43a is input to the position measuring device 43b. The position measuring device 43b processes the input positioning signal to measure the vehicle's position. The inertial measurement unit 43c determines the attitude (roll angle, pitch angle, yaw angle) of the vehicle body 2.

[0048] The rice transplanter 1 includes a control unit 60, which controls the movement of the traveling body 2 (forward, backward, stop, and turning, etc.) and the movement of the planting unit 20, which serves as the working unit (lifting, driving, and stopping, etc.). The control unit 60 is configured with a CPU, ROM, RAM, I / O, etc. (not shown). The CPU can read and execute various programs from the ROM. The ROM stores operating programs, application programs, and various data. Through this hardware and software cooperation, the control unit 60 can function as a storage unit 61, a processing unit 62, an automatic driving control unit 63, etc.

[0049] The storage unit 61 stores various information necessary for the rice transplanter 1 to move automatically. Such information includes, for example, the horizontal distance from the positioning antenna 43a to the planting mechanism 25, the positions of the first and second reference points set by the operator, and the position of the third reference point (described later). The processing unit 62 performs various processes necessary for the rice transplanter 1 to move automatically. Such processes include generating a reference path and changing the control reference position (updating the ridge position, described later). The automatic driving control unit 63 performs controls related to automatic driving.

[0050] The automatic driving control unit 63 controls the automatic driving actuator 64 to make the rice transplanter 1 travel along the driving path based on the vehicle position information measured by the positioning unit 43. The automatic driving actuator 64 refers to various actuators that operate during automatic driving, including actuators that operate the steering handle 32 for steering, actuators that change the speed of the transmission device of the gearbox 8, and actuators (lifting cylinder 22) that raise and lower the planting section 20. The automatic driving control unit 63 controls the operation of the rice transplanter 1 based on signals from the automatic driving sensor 65 provided with the rice transplanter 1.

[0051] The rice transplanter 1 is equipped with a buzzer 66 as a reporting device. The buzzer 66 emits a warning sound (buzzer tone) under the control of the control unit 60. The buzzer 66 may also be equipped on the operating component 50. It is not limited to a buzzer that uses sound to report; for example, it may also be a lamp that uses light to report, or a combination of a buzzer and a lamp to constitute a reporting device.

[0052] [Automatic driving in the fields]

[0053] Figure 5 The field 70 shown is divided by a pair of parallel ridges 71 and 72. First, the operator moves the rice transplanter 1 from the ridge edge 71a (which is one ridge 71) towards the ridge edge 72a (which is the other ridge 72) to generate a reference path SC. At this time, button A 53 is operated at the starting point A to set point A. Similarly, button B 54 is operated at the ending point B to set point B. In this embodiment, it is assumed that point A corresponds to the first reference point and point B corresponds to the second reference point, but this can also be reversed.

[0054] The control unit 60 generates a reference path SC based on the pre-set points A and B, and delineates a work area 73 based on these points A and B. The reference path SC can be defined as a line segment connecting points A and B. The work area 73 can be defined as the area enclosed by a ridge position L1, calculated as a line segment perpendicular to the reference path SC with point A as the reference, and a ridge position L2, calculated as a line segment perpendicular to the reference path SC with point B as the reference. The lengths of the line segments constituting the ridge positions L1 and L2 are set by a predetermined distance centered on points A and B (e.g., 1 km to the left and right).

[0055] After generating the reference path SC, pressing the AUTO button 51 sets a driving path C1 that passes through the vehicle's position and is parallel to the reference path SC. The operating direction WD (the direction of travel during automatic driving) is determined based on the vehicle's orientation, and automatic driving begins. The operating direction WD is parallel to the reference path SC, becoming... Figure 5Either downward or upward. The working direction WD alternates with each turn, but is not limited to this. When the vehicle body is tilted relative to the reference path SC in the orientation (forward or backward), it is configured such that automatic driving will not begin if the tilt angle is not below a specified value (e.g., below 15 degrees).

[0056] The driving paths C2, C3, ... are similarly set, and the vehicle autonomously travels straight along them. Temporarily set points A and B are used until they are eliminated or reset, thus making the multiple driving paths C1, C2, ... parallel to each other. A 180-degree turn is performed using an operator on the arc-shaped rotating paths R1, R2, ... that connect the ends of driving paths C1, C2, ... to make U-turns. However, this is not a limitation; the vehicle can also be configured to autonomously make U-turns.

[0057] The ridge position L1 corresponds to a first control reference position determined based on point A, which is the first reference point, and the ridge position L2 corresponds to a second control reference position determined based on point B, which is the second reference point. If the vehicle's position approaches the ridge position L1 or L2 during automatic driving, the control unit 60 activates the buzzer 66. For example, when the rice transplanter 1 has approached a predetermined distance (e.g., 8m) relative to the ridge position L1 or L2, the control unit 60 sounds the buzzer 66 to report this. Even if the ridge position L1 or L2 is reached, automatic driving continues if the gear shift pedal is pressed. When the function of driving at a constant speed without pressing the gear shift pedal is in operation, it is preferable to control the rice transplanter 1 to stop or the engine 7 to stop when the ridge position L1 or L2 is reached.

[0058] Figure 6 The example shown is of a modified field, specifically field 70. Figure 6 In the process, the bend of the ridge 71 reduces the size of the field 70, and the ridge edge 71a has steps. The ridge edge position L1 is determined based on a pre-set point A, and the buzzer 66 is controlled based on this ridge edge position L1 and ridge edge position L2. Therefore, when automatically traveling along the travel path C5, the rice transplanter 1 will not activate the buzzer 66 even if it reaches the ridge edge 71a. Furthermore, there is a ridge edge... Figure 6 Conversely, in deformed fields with steps or curved ridges, the buzzer sometimes sounds even when the rice transplanter is not close to the ridge, depending on the shape of the field.

[0059] Previously, it was necessary to temporarily eliminate points A and B after driving along path C4, and then manually drive along path C5 while simultaneously resetting points A and B to update the embankment position for proper reporting. However, such a cumbersome operation was inconvenient for the operator. Furthermore, there is a trend where maintaining the parallelism of the driving paths before and after updating the embankment position depends on the operator's skill. If the operator is inexperienced, it is possible to set driving paths C5 to C7 that are inclined relative to driving paths C1 to C4.

[0060] Therefore, in this rice transplanter 1, the control unit 60 is configured to change one of the ridge position L1 and ridge position L2 to a third control reference position determined based on a third reference point (point P) that is different from the first reference point (point A) and the second reference point (point B). After this change, the buzzer 66 is activated based on the third control reference position instead of one of the ridge position L1 and ridge position L2. Furthermore, the control unit 60 is configured to change one of the ridge position L1 and ridge position L2 to the third control reference position in either automatic driving or non-automatic driving situations.

[0061] exist Figure 6 In this process, the ridge position L1 is updated to ridge position L3. The updated ridge position L3 is calculated as a line segment perpendicular to the reference path SC with the set point P as the reference. Point P corresponds to the third reference point. Ridge position L3 corresponds to the third control reference position determined based on the third reference point. Point P is set according to the operator's prescribed operation, and the control reference position is changed accordingly, i.e., the ridge position is updated. Before this change, the operation of buzzer 66 was controlled based on ridge positions L1 and L2. After this change, the operation of buzzer 66 is controlled based on ridge positions L3 and L2. Therefore, even during automatic driving after the driving path C5, buzzer 66 operates appropriately when the vehicle position approaches the ridge 71a. After the update, the work area 73 is delineated based on points P and B.

[0062] The control unit 60 is configured such that if a third reference point is set within the work area 73 during autonomous driving, the position located behind the first or second control reference position in the work direction WD is changed to the third control reference position. In other words, when autonomously driving along the work direction WD from either the first or second control reference position as a starting point, if a third reference point is set within the work area 73, the starting point of that first or second control reference position is changed to the third control reference position. The ability to change the control reference position during autonomous driving allows for continuous updating of the ridge position without interrupting the work.

[0063] Therefore, as Figure 6 Thus, when automatically driving along the travel path C4, if point P is set as the third reference point within the work area 73, then the ridge position L1, located behind the work direction WD, of the pair of ridge positions L1 and L2, is changed to ridge position L3. In other words, the ridge position L1, which becomes the starting point of the travel path C4, is changed to ridge position L3. Therefore, the operator does not need to select which control reference position to change, i.e., which of ridge positions L1 and L2 to change. This update mode is intuitively easy to understand and allows for ridge position updates that conform to the operator's intentions.

[0064] When setting the third reference point, i.e., updating the position of the ridge, we can consider the cases where the rice transplanter 1 is located within the working area 73 (case 1) and the cases where the rice transplanter 1 is located outside the working area 73. Furthermore, in the latter case, we can consider the cases where the working area 73 is located in front of the rice transplanter 1 (case 2) and the cases where the working area 73 is located behind the rice transplanter 1 (case 3). Figure 7 (A) through (C) schematically illustrate the update patterns of the ridge position in cases 1 through 3, respectively. Case 1 is already described and therefore omitted. Figure 7 Explanation of (A).

[0065] The control unit 60 is configured such that if a third reference point is set outside the operating area 73, the position closest to the vehicle between the first and second control reference positions will be changed to the third control reference position. Therefore, if... Figure 7 If point P is set outside the work area 73 as in (B), then the edge position L1 closer to the vehicle's position in a pair of edge positions L1 and L2 is changed to edge position L3, and then the operation of buzzer 66 is controlled based on edge position L3 and edge position L2. Similarly, if as in Figure 7 If point P is set outside the work area 73 as in (C), then the edge position L2 closer to the vehicle position in a pair of edge positions L1 and L2 is changed to edge position L3, and then the operation of buzzer 66 is controlled based on edge position L3 and edge position L1.

[0066] In other words, the control unit 60 is configured such that... Figure 7 When setting point P in the work area 73 behind the work direction WD, as in (B), change one of the pair of ridge positions L1 and L2 located behind the work direction WD (ridge position L1) to ridge position L3. Figure 7When setting point P in the work area 73 ahead of the work direction WD, as in (C), one of the pair of edge positions L1 and L2 located ahead of the work direction WD (edge ​​position L2) is changed to edge position L3. This can be done in either the case of automatic driving or not. When automatic driving is not in progress, the work direction at the start of automatic driving can be used as the reference, similar to the case of setting the third reference point in the work area 73 described later.

[0067] Figure 7 (D) This point is set at point P when autopilot is not in progress. Figure 7 (A) is different. The control unit 60 is configured such that if point P is set in the work area 73 when automatic driving is not in progress, the work direction WD when automatic driving begins is determined, and one of the curb positions L1 and L2 located behind the work direction WD (curb position L1) is changed to curb position L3. The work direction WD when automatic driving begins is assumed to be the work direction when automatic driving is in progress. Although the work direction is not determined when automatic driving is not in progress, such as when parking or manual driving, the curb position can be updated without obstacles by using the work direction WD when automatic driving begins as a reference.

[0068] As already described, the updated ridge position L3 is determined as a line segment perpendicular to the reference path SC, with the subsequently set point P as the reference. However, it is not limited to this; for example, the ridge position L3 can also be determined as a line segment with point P as the reference and parallel to at least one of the ridge positions L1 and L2. If the rice transplanter 1 is equipped with the function of adjusting the angle of either ridge position L1 or L2, there may be a situation where a pair of ridge positions L1 and L2 are not parallel to each other. In this case, the ridge position L3 can be determined as a line segment parallel to the ridge position being updated.

[0069] In either the case of autonomous driving or the case of not driving autonomously, the operator can set point P as the third reference point through a prescribed operation. From the viewpoint of simplifying operation, it is preferable that the setting of the third reference point can be indicated by an indicator tool used to indicate the setting of the first and / or second reference points. In this embodiment, the setting of point P can be indicated by button A 53. Pressing button A 53 while points A and B are set sets the vehicle's position at that moment as point P. Figure 8 This is a table showing the relationship between the operation modes and actions of buttons A (53) and B (54). Various variations of these actions can be considered, as shown in the notes section of this table.

[0070] like Figure 8Therefore, in this embodiment, the embankment position is updated by operating point A (pressing button A 53). According to... Figure 7 The update mode shown is used for processing, so it is not necessary to select which of the ridge positions L1 and L2 to update. The B-point operation (pressing button 54) can also be used instead of the A-point operation. Alternatively, both button A 53 and button B 54 can be used. For example, the ridge position on the rear side (upstream side of the travel direction) in the work direction can be updated by the A-point operation within the work area 73, and similarly, the ridge position on the front side (downstream side of the travel direction) in the work direction can be updated by the B-point operation (see reference). Figure 8 (The preparation section). Based on this structure, regardless of the vehicle's orientation, either the L1 or L2 position of the embankment can be updated.

[0071] [Processing of the control unit related to autonomous driving]

[0072] Figures 9-12 This is a flowchart illustrating the processes performed by the control unit 60 regarding the automatic operation of the rice transplanter 1. For example... Figure 9 As shown, when the power to the rice transplanter 1 is turned on, it becomes "START". First, the conditions for performing straight-line auxiliary operation based on automatic driving are set (operation condition setting process S1). Next, automatic driving is performed based on the set conditions (automatic driving execution process S2). After that, if the specified termination condition is met, automatic driving ends; otherwise, automatic driving continues (automatic driving end / continue process S3), and these processes S1 to S3 are repeated.

[0073] like Figure 10 As shown, in the work condition setting process S1, if point A is operated on, and point A has not yet been set, point A is set according to this operation (steps S11, S12, and S14). If both point A and point B are set after point A is operated on, the ridge position is updated according to this operation (steps S11-S13 and S15). This refers to setting the third reference point (point P) according to the point A operation, thereby changing the control reference position. Additionally, if point B is operated on, and point B has not yet been set, point B is set according to this operation (steps S16-S18).

[0074] exist Figure 10 Not shown in the diagram, but by long-pressing buttons A 53 and B 54, the set points A and B can be eliminated. Specifically, as... Figure 8Thus, if only point A is set, pressing and holding button A 53 will clear the set point A. Alternatively, if both point A and point B are set, pressing and holding button A 53 will clear both points A and B. If both point A and point B are set, pressing and holding button B 54 will clear point B. As another possible operation, points A and B can also be cleared by simultaneously pressing buttons A 53 and B 54.

[0075] like Figure 11 As shown, in the automatic driving execution process S2, when automatic driving is not in progress and points A and B have been set, a reference path SC is generated based on the set points A and B, and the ridge positions L1 and L2 are determined (steps S21 to S24). If the positioning status of the positioning unit 43 is good, the control unit 60 permits automatic driving (step S25). If the start of automatic driving is indicated by the AUTO button 51, a driving path is set, and automatic driving begins along the driving path (steps S26 to S28). On the other hand, if automatic driving is in progress in step S21, the buzzer 66 is activated to execute a report based on the determined ridge positions (step S29).

[0076] like Figure 12 As shown, in the automatic driving end / continue processing S3, during automatic driving, it is determined whether the prescribed end condition is met (steps S31 and S32). The automatic driving end condition is met, for example, when the automatic driving is indicated to end by the off operation of the AUTO button 51, or when it is determined that the positioning state of the positioning unit 43 is poor to the point that automatic driving cannot continue. If the end condition is met, the automatic driving ends; otherwise, the automatic driving continues (steps S32 to S34).

[0077] This invention is not limited to the embodiments described above, and various improvements and modifications can be made without departing from the spirit of this invention.

[0078] Explanation of reference numerals in the attached figures

[0079] 1… Rice transplanter (an example of a working vehicle); 51… AUTO button; 53… A button; 54… B button; 60… Control unit; 66… Buzzer (an example of a reporting device); 73… Working area; L1… Ridge position (first control reference position); L2… Ridge position (second control reference position); L3… Ridge position (third control reference position); SC… Reference path.

Claims

1. A work vehicle configured to automatically travel along a predetermined travel path parallel to a reference path generated based on pre-set first and second reference points, while simultaneously determining its own position using a satellite positioning system, characterized in that... The system includes a control unit that, during autonomous driving, activates a reporting device if the vehicle's position approaches a first control reference position determined based on the first reference point or a second control reference position determined based on the second reference point. The control unit is configured to change one of the first control reference position and the second control reference position to a third control reference position determined based on a third reference point different from the first and second reference points. After this change, the reporting device operates based on the third control reference position instead of one of the first and second control reference positions. The control unit is configured such that, during automatic driving, if a third reference point is set within the work area defined by the first reference point and the second reference point, one of the first control reference position and the second control reference position located on the rear side of the work direction is changed to the third control reference position.

2. The working vehicle according to claim 1, characterized in that, The control unit is configured to change one of the first control reference position and the second control reference position to the third control reference position in either the case of autonomous driving or the case of not autonomous driving.

3. A work vehicle configured to automatically travel along a predetermined travel path parallel to a reference path generated based on pre-set first and second reference points, while simultaneously determining its own position using a satellite positioning system, characterized in that... The system includes a control unit that, during autonomous driving, activates a reporting device if the vehicle's position approaches a first control reference position determined based on the first reference point or a second control reference position determined based on the second reference point. The control unit is configured to change one of the first control reference position and the second control reference position to a third control reference position determined based on a third reference point different from the first and second reference points. After this change, the reporting device operates based on the third control reference position instead of one of the first and second control reference positions. The control unit is configured such that, when not in automatic driving, if the third reference point is set within the work area defined by the first reference point and the second reference point, the work direction when automatic driving begins is determined, and one of the first control reference position and the second control reference position located behind the work direction is changed to the third control reference position.

4. A work vehicle configured to automatically travel along a predetermined travel path parallel to a reference path generated based on a pre-set first reference point and a second reference point, while simultaneously determining its own position using a satellite positioning system, characterized in that... The system includes a control unit that, during autonomous driving, activates a reporting device if the vehicle's position approaches a first control reference position determined based on the first reference point or a second control reference position determined based on the second reference point. The control unit is configured to change one of the first control reference position and the second control reference position to a third control reference position determined based on a third reference point different from the first and second reference points. After this change, the reporting device operates based on the third control reference position instead of one of the first and second control reference positions. The control unit is configured such that if the third reference point is set outside the work area defined by the first reference point and the second reference point, the position of the first control reference point and the second control reference point that is closer to the vehicle is changed to the third control reference point.

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