Agricultural vehicle

Abstract

An agricultural work vehicle that is an automatically travelable agricultural work vehicle that travels on a farm floor delimited by a boundary object includes a body position calculation section that calculates a body position, a boundary-crossing prevention control section that prohibits travel beyond a boundary line set to avoid contact with the boundary object based on the boundary line and the body position, a boundary-crossing permission section that permits a state in which the body crosses the boundary line by a boundary-crossing permission instruction, and a boundary-crossing permission instruction section that outputs the boundary-crossing permission instruction to the boundary-crossing permission section based on a travel control state.

Description

Technical Field

[0001] This invention relates to an agricultural work vehicle that automatically travels on a farm to perform farm operations. Background Technology [Background Technology 1]

[0003] Patent Document 1 describes an agricultural work vehicle comprising: a boundary line data management unit for managing boundary line data representing the map position of the farm's boundary line; a vehicle position calculation unit for calculating the vehicle's position using satellite navigation; a driving orientation calculation unit for calculating the vehicle's driving orientation based on the vehicle's position; a distance calculation unit for calculating the longitudinal distance from the vehicle body to the boundary line under the driving orientation; and a speed management unit for managing the vehicle speed based on the distance. In such a work vehicle, the speed management unit manages the vehicle speed based on the calculated distance, thus preventing the agricultural work vehicle from contacting field ridges or other structures forming the boundary line by slowing down or stopping before reaching the boundary line.

[0004] Patent Document 2 describes an agricultural work vehicle comprising: a driving body that repeatedly travels straight within the farm's internal area and makes U-turns in the ridge area via manual or automatic steering; a farm work device for performing farm work; and a ridge sensing module that senses the driving body's arrival at the ridge area based on the vehicle's position calculated by satellite positioning. In this agricultural work vehicle, the vehicle's position is constantly compared with the endpoint of the straight-line travel (the entry point to the ridge area), thereby determining vehicle deceleration, warning notification, and vehicle stopping when the vehicle is about to enter the ridge area and after entering the ridge area. [Background Technology 2]

[0006] Patent document 3 (paragraphs 0092-0122) discloses a rice transplanter that performs automatic driving operations in the outer perimeter area by circling the farm boundary line, and performs automatic driving operations in the inner perimeter area by repeatedly performing straight-line driving and turning driving in the outer perimeter area. The automatic driving of this rice transplanter is directed to a pre-generated driving path. The driving path is divided into a non-operational driving path for when the transplanting device is in an ascending state and an operational driving path for when the transplanting device is in a descending state. When switching from non-operational driving to operational driving, the transplanting device automatically changes its posture from an ascending state to a descending state. The ascending and descending status of the transplanting device are announced via an audio output device. [Background Technology 3]

[0008] Patent Document 3 (Paragraph No. 0092-Paragraph No. 0114): Figure 5 - Figure 8 A rice transplanter is disclosed that divides a farm, whose boundaries are defined by pre-measured ridge lines (boundary lines), into an inner area for initial planting and an outer area for subsequent planting, and performs the planting operation automatically. When the rice transplanter stops before the farm's entrance / exit, a travel path is set up up to the start position for planting in the inner area. The driver operates the control unit, causing the rice transplanter to automatically travel from an automatic driving standby position through the entrance / exit along the travel path and stop at the start position. Then, the driver operates the control unit again, thereby initiating the automatic planting operation.

[0009] Existing technical documents

[0010] Patent documents

[0011] Patent Document 1: Japanese Patent Application Publication No. 2019-106983

[0012] Patent Document 2: Japanese Patent Application Publication No. 2017-123829

[0013] Patent Document 3: Japanese Patent Application Publication No. 2018-000039 Summary of the Invention

[0014] The problem that the invention aims to solve

[0015] [Technical Issue 1]

[0016] The technical problems related to [Background Artwork 1] are as follows.

[0017] To replenish agricultural supplies, unload harvested goods, and refuel during farm operations, agricultural vehicles need to travel close to field boundaries such as ridges. In the agricultural vehicles described in Patent Documents 1 and 2, the vehicle automatically stops when approaching the boundary line of the designated ridge area. Therefore, when approaching the ridge for replenishment or other purposes, it is necessary to deactivate this boundary approach prevention control. Forgetting to deactivate this control can cause panic among operators due to the unexpected stop of the machine. In particular, the frequent replenishment of seedlings in rice transplanters and pesticides in pesticide dispensers makes deactivating the boundary approach prevention control cumbersome.

[0018] Based on this actual situation, the purpose of the present invention is to provide an agricultural work vehicle that can smoothly approach boundary objects during farm operations.

[0019] [Technical Issue 2]

[0020] The technical problems related to [Background Artwork 2] are as follows.

[0021] In the rice transplanter of Patent Document 3, the transplanting device descends at the point of transition from non-operational travel based on a non-operational travel path to operational travel based on an operational travel path. Therefore, a technical problem exists: if the distance between the set operational travel path and boundary objects such as field ridges that define the farm's boundaries is inaccurate, the descended transplanting device may interfere with the boundary objects, causing damage to the transplanting device.

[0022] The technical problem of the present invention is to provide a farm vehicle that can automatically drive and lower its working device during operation, thereby minimizing interference between the working device and boundary objects.

[0023] [Technical Issue 3]

[0024] The technical problems related to [Background Artwork 3] are as follows.

[0025] Although the rice transplanter in Patent Document 3 is configured to automatically travel from the standby position to the start of operation position, it has the following technical problem: the posture of the rice transplanter at the standby position is uncertain. Therefore, the travel path used for automatic travel from the standby position to the start of operation position varies depending on the posture of the rice transplanter, and the setting of this travel path is complicated.

[0026] The technical problem of the present invention is to provide a farming vehicle that, in the context of farm operations using automatic driving, simplifies the setting of the driving path for automatically driving to the start position of the operation.

[0027] Solution for solving the problem

[0028] The solution to [Technical Problem 1] is as follows.

[0029] The present invention provides an automatically driving agricultural vehicle that travels on farmland bounded by boundary objects, and includes: a body position calculation unit that calculates the body position; an anti-boundary control unit that prohibits travel across the boundary line based on the boundary line set to avoid contact with the boundary objects and the body position; a boundary permission unit that permits the body to cross the boundary line by means of a boundary permission command; and a boundary permission command unit that outputs the boundary permission command to the boundary permission unit based on the driving control state.

[0030] According to this structure, by outputting a boundary crossing permission command from the boundary crossing permission command unit based on the driving control state, driving across the boundary line can be prevented from being prohibited by the boundary crossing control unit. Thus, agricultural vehicles can approach boundary objects such as field ridges and farm roads without stopping. During farm operations, when the driving control state senses that the vehicle is approaching farm boundary objects such as field ridges and farm roads to replenish agricultural supplies, discharge harvested goods, or refuel, a boundary crossing permission command is output, allowing the vehicle to cross the boundary line. Therefore, this approach and driving will proceed smoothly. It should be noted that the term "straight-line driving" used in this invention does not only mean driving in a straight line, but also includes driving in curves with a large radius of curvature.

[0031] As a method to enable driving across a set boundary line, methods for expanding the boundary line or invalidating the boundary line itself have been proposed. Accordingly, in one preferred embodiment of the present invention, the boundary crossing permission instruction is either an expansion instruction that expands the boundary line towards the boundary object or an invalidation instruction that invalidates the boundary line. The boundary crossing permission unit expands the boundary line towards the boundary object based on the expansion instruction and invalidates the boundary line based on the invalidation instruction. In terms of control, the case of infinitely expanding the boundary line is synonymous with invalidating the boundary line. Therefore, in the following description of this application, the expansion of the boundary line includes the invalidation of the boundary line. It is possible that the choice between expanding the boundary line based on the boundary crossing permission instruction and invalidating the boundary line can be made in advance, or only one of them can be used. Alternatively, it can be configured to be selected based on the driving control state.

[0032] Several driving control states can be cited as triggering the expansion (invalidation) of the boundary line as described above. In normal farm operations, whether driven automatically or manually, the vehicle's direction is changed (turning) before approaching the boundary line. In contrast, when an agricultural vehicle approaches farm boundaries such as field ridges or roads to replenish agricultural supplies, the vehicle approaches the boundary line and then drives straight. Such a driving control state can be used as a triggering condition for the expansion of the boundary line. Therefore, in one preferred embodiment of the present invention, the driving control state includes a straight-line approach state in which the distance from the vehicle's position to the boundary line reaches a predetermined distance during straight-line travel towards the boundary, and the boundary crossing permission command is output when the straight-line approach state is sensed.

[0033] One type of autonomous agricultural vehicle is equipped with a remote control capable of starting, stopping, and micro-stepping during autonomous driving. Since the remote control is manually operated, driving using the remote control relies on the operator's safety confirmation. Accordingly, the driving control state based on remote control operation can be used as a trigger condition for the expansion of boundary lines. Therefore, in one preferred embodiment of the invention, the driving control state includes a remote-controlled approach driving state, where the boundary clearance command is output upon sensing the remote-controlled approach driving state.

[0034] Agricultural vehicles can also be manually operated by the operator to approach field ridges, farm roads, etc., for purposes such as replenishing agricultural supplies. In this case, the operator uses a manual driving control device to make the agricultural vehicle approach the field ridges, farm roads, etc., by repeatedly making small steps. Accordingly, the driving control state of making the agricultural vehicle approach the field ridges, farm roads, etc., by manually operating the driving control device can be used as a trigger condition for the expansion of the boundary line. Therefore, in one preferred embodiment of the present invention, the driving control state includes a manual approach driving state of approaching the boundary object by manually operating the driving control device, and the boundary crossing permission command is output when the manual approach driving state is sensed.

[0035] In most agricultural operations on farms, the farmland surface to be worked on is divided into an outer perimeter area and an inner area located inside the outer perimeter area. The agricultural vehicle performs work in the inner area while repeatedly driving straight and making turns (primarily U-turns) for directional changes. Turning occurs in the outer perimeter area. Work in the outer perimeter area is carried out by circling along boundaries such as field ridges and farm roads. In agricultural vehicles used for harvesting, such as combine harvesters, work is performed in the outer perimeter area first, followed by work in the inner area. Rice transplanters, fertilizer applicators, and pesticide distributors perform work in the inner area first, followed by work in the outer perimeter area. If agricultural supplies need to be replenished or harvested materials need to be unloaded during work in the inner area, the agricultural vehicle continues to drive straight to approach field ridges and farm roads without making turns in the outer perimeter area. Therefore, this continuous straight-line driving from the inner perimeter to the outer perimeter area can be used as a trigger condition for boundary expansion. Therefore, in one preferred embodiment of the present invention, the farm ground is divided into an outer perimeter area along the boundary line and an inner area located inside the outer perimeter area. A circumferential operation driving mode and an inner operation driving mode are prepared. The circumferential operation driving mode is a mode in which work is carried out in the outer perimeter area while circling around it. The inner operation driving mode is a mode in which work is carried out in the inner area while repeatedly driving straight and making U-turns. If the straight driving in the inner operation driving mode continues to the outer perimeter area and the inner operation driving mode is interrupted, the boundary line is expanded by the boundary permission unit.

[0036] After interrupting its internal operation mode and approaching field ridges or farm roads to replenish agricultural supplies or unload harvested materials, the vehicle returns to the internal area and resumes its internal operation mode. When resuming internal operation mode, the expanded boundary line needs to be restored. Automatic control is preferable for this boundary line restoration. Therefore, in one preferred embodiment of the invention, when the interrupted internal operation mode is executed again, the boundary line expansion performed by the boundary crossing permission unit is revoked.

[0037] Control to avoid interference with boundary objects is based on the boundary line and the vehicle's position. Therefore, it is preferable to calculate the boundary line and the vehicle's position accurately and quickly in the same manner. Thus, in one preferred embodiment of the invention, satellite positioning is used to calculate the position of the boundary line and the position of the vehicle. In this case, the boundary line can be calculated based on the driving trajectory obtained by satellite positioning when the agricultural vehicle is driven close to the boundary object. A safety distance is added so that even in the event of accidental skidding, steering swaying, etc., the agricultural vehicle will not come into contact with boundary objects such as field ridges; that is, it is preferable that the final boundary line position is determined to be offset towards the inside of the farm. Therefore, in one preferred embodiment of the invention, the boundary line is set to be offset from the boundary object towards the inside of the farm by a predetermined distance.

[0038] The solution to [Technical Problem 2] is as follows.

[0039] The agricultural vehicle of the present invention, which automatically travels on a farm, comprises: a working device that is vertically mounted on the body; a body position calculation unit that calculates the position of the body on the farm, i.e., the body position; a driving path generation unit that generates a driving path as the target of automatic driving based on a farm map; an automatic driving control unit that enables the body to drive automatically based on the driving path; a driving control state sensing unit that senses an automatic temporary stop that occurs before the automatic stop changes from a non-operational driving state where the working device is raised to an automatic operation driving state where the working device is lowered; and an automatic operation driving management unit that is used to ensure that the automatic operation driving start conditions for the automatic operation driving change from the automatic temporary stop state to the automatic operation driving state based on the sensing of the automatic temporary stop include an automatic start-up operation performed by the driver.

[0040] According to this structure, in the state of automatic temporary stop before transitioning to automatic operation, the driver must perform a pre-start operation to initiate automatic operation. This pre-start operation performed by the driver indicates confirmation that even if the working device descends, it will not interfere with boundary objects, etc. This confirmation operation is included in the start conditions for automatic operation; therefore, even if other start conditions are met, automatic operation will not begin without this confirmation operation, and consequently, the working device will not descend. During the automatic temporary stop, the driver can confirm whether the working device will not interfere with boundary objects, etc. If it is confirmed that there will be no interference, the driver performs an operation to permit the working device to descend. Thus, the agricultural vehicle transitions from the automatic temporary stop state to automatic operation. If the driver determines that the working device and boundary objects will interfere, the driver performs an interference avoidance action to prevent such interference.

[0041] Once the operator confirms that the work device will not interfere with boundary objects even when it descends, the system can transition from automatic temporary stop to automatic operation, and the work device can then be lowered. Therefore, it is preferable for the operator to perform the descent of the work device as a pre-automatic start operation. Thus, in one preferred embodiment of the present invention, the pre-automatic start operation is a descent operation that lowers the work device.

[0042] Of course, it can also be configured such that even if the driver does not perform the lowering operation of the working device, as long as the driver performs an operation indicating that the working device will not interfere with boundary objects or the like, the working device will automatically lower and begin automatic operation. Therefore, in one of the preferred embodiments of the present invention, the automatic start-up operation is an operation indicating confirmation of the lowering position of the working device.

[0043] One interference avoidance action when the driver determines that the working device will interfere with boundary objects is to change the driving path set for the subsequent automated operation to avoid interference. When such a driving path change is made, interference between the descending working device and boundary objects is avoided. In other words, one of the preferred pre-automatic start operations for initiating automated operation when the driver determines that interference between the working device and boundary objects will occur is a driving path change operation. Accordingly, in one preferred embodiment of the present invention, the pre-automatic start operation includes changing the driving path for changing the descent position. In this case, if the working device does not interfere with boundary objects, there is no need to change the driving path; therefore, the driver performs an operation to make the driving path change unnecessary.

[0044] In this invention, in order to transition from an automatic temporary stop state to automatic operation driving, a pre-start operation by the driver is required, and therefore the driver must be aware of this operation. Thus, in one preferred embodiment of this invention, the automatic operation driving management unit notifies the driver of a request to perform the pre-start operation.

[0045] In one preferred embodiment of the invention, the farm is divided into an outer perimeter area along the farm's boundary line and an inner perimeter area located inside the outer perimeter area. Automatic driving operations are performed in the inner perimeter area by repeatedly driving straight through the inner perimeter area and turning in the outer perimeter area. Automatic driving operations are performed in the outer perimeter area by circling along the boundary line. When transitioning to automatic operation in the outer perimeter area, a pre-automatic start operation becomes the start condition. In agricultural vehicles operating on farms, damage to the lowered working device often occurs when initially circling along the boundary line defined by field ridges, etc., in the outer perimeter area. Therefore, it is reasonable to set the pre-automatic start operation as the start condition for transitioning from an automatic temporary stop state to automatic operation in the outer perimeter area.

[0046] In the presence of obstacles on the farm that impede the operation, damage to the working device can occur due to descent. That is, if the accuracy of the path used to avoid the obstacle is insufficient, the descending working device may interfere with the obstacle, causing damage. Therefore, in one preferred embodiment of the present invention, when transitioning from an obstacle avoidance path to the automatic operation, the pre-automatic start operation becomes the start condition.

[0047] The solution to [Technical Problem 3] is as follows.

[0048] The agricultural vehicle of the present invention, which automatically travels on a farm, includes: a body position calculation unit that calculates the position of the body on the farm, i.e., the body position; a body orientation calculation unit that calculates the orientation of the body; an automatic travel control unit that enables the body to travel automatically based on a travel path that is the target of automatic travel; a work start point setting unit that sets a work start point for starting farm work under automatic travel; and a start guidance management unit that allows automatic travel using a work start point guidance path, which is the travel path used to enable the body to travel automatically to the work start point, provided that the body is in a specific orientation at a specific location.

[0049] According to this structure, when an agricultural vehicle is parked in a standby position for autonomous driving (autonomous driving start position), it is permitted to automatically drive to the work start point using a work start point guidance path only if the vehicle's position and orientation at that location meet pre-set specific conditions. When autonomous driving using the work start point guidance path is permitted (work start point guided driving), the agricultural vehicle sets the work start point guidance path as the target path and begins autonomous driving to reach the work start point. Upon reaching the work start point, the agricultural vehicle sets the pre-generated driving path as the target path and begins farm operations through autonomous driving. These specific positions and orientations are set to ensure a smooth transition of the standby agricultural vehicle to the work start point guidance path, thus enabling smooth work start point guided driving with an appropriate timeframe.

[0050] In one preferred embodiment of the invention, the farm is divided into an outer perimeter area along the farm's boundary line and an inner perimeter area located inside the outer perimeter area. Automatic driving operations are performed in the inner perimeter area by repeatedly driving straight through the inner perimeter area and turning in the outer perimeter area, and automatic driving operations are performed in the outer perimeter area by circling along the boundary line. The work start point guidance path is set in the outer perimeter area. Agricultural vehicles such as rice transplanters and fertilizer applicators enter the farm through the entrance / exit and perform operations in the inner perimeter area, then perform operations in the outer perimeter area, thus moving out of the farm via the entrance / exit. Through this operation, the already worked area is not damaged during subsequent operations. By setting the work start point guidance path in the outer perimeter area and limiting the orientation and position of the agricultural vehicles to facilitate their transition to the work start point guidance path, agricultural vehicles waiting near the entrance / exit can easily and automatically drive from their waiting position to the work start point.

[0051] To facilitate easy transition to the work start point guidance path, it is preferable that the direction of travel of the agricultural vehicle parked in the standby position is consistent with the direction of the work start point guidance path. Accordingly, in one preferred embodiment of the invention, when the orientation of the machine body facing the work start point is consistent with the orientation of the work start point guidance path leading to the work start point, automatic travel to the work start point is permitted using the work start point guidance path, regardless of the distance between the machine body and the work start point. This consistency of orientation is not strictly uniform, but allows for an error of approximately several tens of degrees. For example, if the orientation of the work start point guidance path is opposite to the orientation of the machine body, the transition path to the work start point guidance path becomes complex, therefore, using such a work start point guidance path for work start point guidance is prohibited. According to this structure, work start point guidance is permitted regardless of where the rice transplanter is waiting on the linear work start point guidance path, as long as the rice transplanter is heading towards the work start point, thus improving versatility.

[0052] However, in agricultural vehicles such as rice transplanters and fertilizer applicators, supplies are replenished before farm operations begin. Therefore, it is rare for the front or rear of the vehicle to approach or reach the boundary line, such as the field ridge, after entering the farm. The replenishment location and the start of operations are usually located on the same side of the outer perimeter. Therefore, provided there is space for turning around, the vehicle's orientation can be smoothly changed to face the start of operations by performing standardized, fixed-pattern turning maneuvers (including reverse turns). Accordingly, in one preferred embodiment of the invention, if the front or rear of the vehicle reaches the boundary line, as long as the distance between the vehicle and the start of operations is greater than a predetermined distance, the vehicle can automatically travel to the start of operations using a start-of-operations guidance path. In this case, a standardized turning-around path is added to the start-of-operations guidance path.

[0053] In order to initiate guided driving to the start point of the operation, the driver needs to perform a manual operation to switch to automatic driving. Therefore, it is preferable to notify the driver that the agricultural vehicle has reached a position where it can automatically drive along the guided path to the start point of the operation. Accordingly, in one preferred embodiment of the invention, when the vehicle is in the specific orientation at the specific location, it is notified that the conditions required for automatic driving to the start point of the operation using the guided path have been met. In another preferred embodiment of the invention, the specific location is the location of the work object within the farm, and the specific orientation is the orientation along the guided path to the start point; when the agricultural vehicle is on the guided path to the start point, it is notified that the conditions for automatic driving to the start point of the operation have been met. Attached Figure Description

[0054] Figure 1 This is a diagram illustrating the first embodiment (hereinafter, until...). Figure 9 The figures shown up to this point represent the first embodiment. (The figure shown is a side view of a rice transplanter, an example of an agricultural work vehicle.)

[0055] Figure 2 This is a flowchart illustrating the process of seedling transplanting via automated driving.

[0056] Figure 3 This is a schematic diagram showing the configuration of the obstacle detector.

[0057] Figure 4 This is an explanatory diagram showing the division of farm areas for setting driving routes.

[0058] Figure 5 This is an explanatory diagram illustrating the driving path of the rice transplanter set in the outer perimeter area and the movement of the rice transplanter.

[0059] Figure 6 This is an explanatory diagram illustrating the reciprocating travel path set within the internal area and the movement of the rice transplanter.

[0060] Figure 7 This is a functional block diagram representing the control system of a rice transplanter.

[0061] Figure 8 This is an explanatory diagram used to illustrate the expansion of the boundary line based on the driving control state.

[0062] Figure 9 This is a top view of the remote control.

[0063] Figure 10 This is a diagram illustrating the second embodiment (hereinafter, until...). Figure 19 The figures shown up to this point represent the second embodiment. (The figure shown is a side view of a rice transplanter, an example of an agricultural work vehicle.)

[0064] Figure 11 This is a flowchart illustrating the process of seedling transplanting via automated driving.

[0065] Figure 12 This is a schematic diagram showing the configuration of the obstacle detector.

[0066] Figure 13 This is an explanatory diagram showing the division of farm areas for setting driving routes.

[0067] Figure 14 This is an explanatory diagram illustrating the driving path of the rice transplanter set in the outer perimeter area and the movement of the rice transplanter.

[0068] Figure 15 This is an explanatory diagram illustrating the reciprocating travel path set within the internal area and the movement of the rice transplanter.

[0069] Figure 16 This is an explanatory diagram illustrating the empty travel of the straight path in a reciprocating travel route.

[0070] Figure 17 This is an explanatory diagram illustrating an example of descent safety confirmation control.

[0071] Figure 18 This is an illustrative diagram illustrating another example of descent safety confirmation control.

[0072] Figure 19 This is a functional block diagram that explains the functional components of the control system of a rice transplanter.

[0073] Figure 20 This is a diagram illustrating the third embodiment (hereinafter, until...). Figure 29 The figures shown up to this point represent the third embodiment. (The figure shown is a side view of a rice transplanter, an example of an agricultural work vehicle.)

[0074] Figure 21 This is a flowchart illustrating the process of seedling transplanting via automated driving.

[0075] Figure 22 This is a schematic diagram showing the configuration of the obstacle detector.

[0076] Figure 23 This is an explanatory diagram showing the division of farm areas for setting driving routes.

[0077] Figure 24 This is an explanatory diagram illustrating the driving path of the rice transplanter set in the outer perimeter area and the movement of the rice transplanter.

[0078] Figure 25 This is an explanatory diagram illustrating the reciprocating travel path set within the internal area and the movement of the rice transplanter.

[0079] Figure 26 This is an explanatory diagram illustrating one of the permitted conditions for automated driving using a path guided by the start point of the operation.

[0080] Figure 27 This is an explanatory diagram illustrating the second permissible condition for automated driving using a path guided by the start point of the operation.

[0081] Figure 28 This is an explanatory diagram illustrating the empty travel of the straight path in a reciprocating travel route.

[0082] Figure 29This is a functional block diagram that explains the functional components of the control system of a rice transplanter. Detailed Implementation

[0083] [First Implementation Method]

[0084] The following description uses a ride-on rice transplanter as an example of an embodiment of the agricultural work vehicle of the present invention. This rice transplanter can automatically travel on farm grounds defined by boundary markers. It should be noted that, unless otherwise specified, in this specification, "front" refers to the front in the forward-backward direction (travel direction), and "rear" refers to the rear in the forward-backward direction (travel direction). Furthermore, "left-right" or "lateral" refers to the transverse direction of the machine body (the width direction) orthogonal to the forward-backward direction. "Up" or "down" indicates the vertical position of the machine body and refers to the relationship with ground level.

[0085] Figure 1 This is a side view of a rice transplanter. The rice transplanter is a ride-on type, with a four-wheel drive body (hereinafter referred to as body 1). Body 1 includes: a parallel four-bar linkage mechanism 11, which is vertically and oscillatingly connected to the rear of body 1; a hydraulic lifting cylinder 11a, which drives the linkage mechanism 11 to oscillate; a seedling transplanting device 3 (an example of an agricultural material supply device), which is laterally connected to the rear end of the linkage mechanism 11; and a fertilizer applicator 4, etc., which are mounted from the rear end of body 1 to the seedling transplanting device 3.

[0086] The machine body 1 is equipped with wheels 12, an engine 13, and a hydraulic continuously variable transmission (CVT) 14 as its driving mechanism. The wheels 12 have left and right steerable front wheels 12A and left and right non-steerable rear wheels 12B. The engine 13 and the CVT 14 are mounted at the front of the machine body 1. Power from the engine 13 is supplied to the front wheels 12A, rear wheels 12B, etc., via the CVT 14.

[0087] As an example, the seedling transplanting device 3 is configured for 8-row transplanting. The seedling transplanting device 3 includes a seedling carrier 31 and an 8-row transplanting mechanism 32. It should be noted that the seedling transplanting device 3 can be changed to 2-row transplanting, 4-row transplanting, 6-row transplanting, etc., by controlling the clutches of each row (not shown).

[0088] The seedling tray 31 is a platform for holding eight rows of pad-shaped seedlings. The seedling tray 31 moves back and forth in the left-right direction with a certain stroke corresponding to the left-right width of the pad-shaped seedlings. The longitudinal feeding mechanism 33 feeds each pad-shaped seedling on the seedling tray 31 longitudinally towards the lower end of the seedling tray 31 at a predetermined interval each time the seedling tray 31 reaches the end of its left-right stroke. The eight planting mechanisms 32 are rotary and arranged in the left-right direction at a certain interval corresponding to the planting row spacing. Furthermore, each planting mechanism 32 uses power from the machine body 1 to remove one seedling from the lower end of each pad-shaped seedling placed on the seedling tray 31 and plant it in the prepared soil.

[0089] The seedling transplanting device 3 has a seedling quantity adjustment function that adjusts the seedling quantity based on the transplanting mechanism 32. The transplanting mechanism 32 passes through the seedling outlet formed on the guide rail that slides at the lower end of the seedling platform 31 and takes out one seedling for transplanting. The seedling quantity is adjusted by changing the position of the seedling platform 31 and the guide rail that slides at the lower end of the seedling platform 31 up and down.

[0090] like Figure 1 As shown, the fertilization device 4 includes: a horizontally elongated hopper 41, a conveying mechanism 42, an electric blower 43, multiple fertilizer hoses 44, and furrow openers 45 corresponding to each row. The hopper 41 stores granular or powdered fertilizer. The conveying mechanism 42 operates using power transmitted from the engine 13, conveying a predetermined amount of fertilizer from the hopper 41 for each row. This fertilization device 4 has a conveying rate adjustment function that allows for changes in the amount of fertilizer conveyed by the conveying mechanism 42.

[0091] Blower 43 operates using electricity from a battery (not shown) mounted on the main body 1, generating a conveying airflow that directs fertilizer, conveyed by the various conveying mechanisms 42, toward the soil surface of the farm. The fertilization device 4 can switch between an operating state and a non-operating state through intermittent operation of blower 43, etc. The operating state is when fertilizer stored in hopper 41 is supplied to the farm in a predetermined amount each time, while the non-operating state is when the supply is stopped.

[0092] Each fertilizer application hose 44 guides the fertilizer, conveyed by the conveying air, to each furrow opener 45. Each furrow opener 45 is equipped with each land preparation float 15. Furthermore, each furrow opener 45 rises and falls together with each land preparation float 15. When the land preparation float 15 is in contact with the ground during operation, fertilizer application furrows are formed in the soil of the paddy field, and the fertilizer is guided into the fertilizer application furrows.

[0093] The machine body 1 has a driver's section 20 at its rear. The driver's section 20 includes a steering wheel 21 for front-wheel steering, a main gear lever 22 for adjusting vehicle speed by operating the continuously variable transmission 14, a secondary gear lever 23 for enabling the operation of the secondary transmission, and a work operation lever 25 for enabling the raising and lowering of the seedling transplanting device 3 and switching of working states, etc., as manual driving operation components. In addition, a general terminal 9 is provided in front of the driver's seat 16. The general terminal 9 includes a notification device for displaying various information and notifying the operator, and a touch panel for accepting various information inputs. A driver-based driving mode switching operation 24 is provided around the steering wheel 21. Furthermore, a seedling preparation frame 17 for holding seedlings is provided in front of the driver's section 20.

[0094] The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. A steering motor M1 is also connected to the steering mechanism. During automatic driving, the steering motor M1 operates based on a steering signal, thereby adjusting the steering angle of the front wheels 12A. Furthermore, a shift control motor M2 is provided for automatically operating the main gear lever 22. During automatic driving, the shift control motor M2 operates based on a shift signal, thereby adjusting the shift position of the continuously variable transmission 14.

[0095] An upwardly extending frame 17a is provided on the upper part of the seedling preparation frame 17. A stacked light 18 and a positioning unit 8 are assembled on this extended frame 17a. The stacked light 18 has multiple colored lights arranged longitudinally to indicate the status of the rice transplanter. The positioning unit 8 outputs positioning data for calculating the position and orientation (body orientation) of the machine body 1. The positioning unit 8 includes: a satellite positioning module 8A, which receives radio waves from satellites of the Global Navigation Satellite System (GNSS); and an inertial measurement module 8B, which detects the tilt and acceleration of the machine body 1 along its three axes.

[0096] Figure 2 The image shows an example of the processing sequence in a rice transplanting operation based on a combination of automatic and manual driving of the rice transplanter. Figure 2 In this example, the seedling planting operation includes pre-operation processing #A, map creation processing #B, boundary line calculation processing #C, path generation processing #D, operation start point guidance processing #E, inner reciprocating planting processing #G, and outer perimeter planting processing #H. Furthermore, seedling replenishment processing #F is performed during the inner reciprocating planting processing #E. Seedling replenishment processing #F is sometimes also performed during the outer perimeter planting processing #G.

[0097] In the pre-operation processing #A, communication checks are performed between the various units of the rice transplanter's control system, including the communication check of positioning unit 8. Furthermore, remote control 90 is used within the rice transplanter. Figure 1 Remote control is performed using obstacle detector 80 (see reference). Figure 3 To perform obstacle detection, functional tests of the remote control 90 and obstacle detector 80 are also performed as preprocessing. Figure 3 As shown, the obstacle detector 80 in this embodiment is a sonar type, consisting of four front sonars 80f with the front of the body 1 as the detection range, two side sonars 80s with the left and right sides of the body 1 as the detection range, and two rear sonars 80r with the front of the body 1 as the detection range.

[0098] Map production processing #B involves measuring the shape of the farm's ground surface, which becomes the object of the operation. The driving trajectory is calculated based on the position signal obtained from the positioning unit 8 as the rice transplanter approaches and manually drives along boundary markers such as field ridges that define the farm's boundaries (map production teaching drive). The farm outline, i.e., the farm map, is then obtained based on this driving trajectory, serving as map information of the farm's ground surface.

[0099] In boundary line calculation and processing #C, such as Figure 4 As shown, based on the driving trajectory calculated in map processing #B, a boundary line is calculated representing the position of the machine body 1, which serves as the limit to avoid contact between the rice transplanter and the farm's boundary features. During normal operation, the rice transplanter will not contact boundary features such as field ridges as long as the position of machine body 1 does not cross this boundary line (also known as the boundary crossing line). When the position of machine body 1 reaches the boundary line, machine body 1 will be forcibly stopped. Since the rice transplanter can travel automatically, a safety distance is added to prevent contact with boundary features such as field ridges even in the event of accidental slippage or steering wobbling, thus determining the final position of the boundary line. In other words, the boundary line deviates from the farm's boundary features by a specified distance inwards from the farm.

[0100] In path generation process #D, a prescribed algorithm is used to create a driving path within the farm map created in map creation process #B, which will become the target for automated driving. The following explains the driving path generated for the rice seedling planting operation during automated driving.

[0101] like Figure 4 As shown, the farm grounds, defined by the farm map, are divided into an outer perimeter area and an inner perimeter area. The generated driving path consists of a loop driving path set in the outer perimeter area (see reference). Figure 5 ) and the reciprocating travel path set in the internal area (refer to Figure 6The rice transplanter initially performs seedling planting operations in the inner area along a reciprocating travel path (referred to as the inner operation travel mode), and then performs seedling planting operations in the outer peripheral area along a circular travel path (referred to as the circular operation travel mode).

[0102] The circular driving path consists of a straight path extending parallel to the farm boundaries (field ridges) and a directional change path that connects the straight paths to each other, incorporating forward and backward movements. It should be noted that... Figure 5 In the diagram, the circular straight path is assigned the reference numeral R1, and the direction-changing path is assigned the reference numeral R2. The reciprocating travel path consists of many roughly parallel straight paths and turning paths (U-shaped turning paths) connecting the straight paths. In each straight path, seedling planting begins at the planting start position (which is also the turning end position) and ends at the planting end position (which is also the turning start position). It should be noted that in Figure 6 In the diagram, the starting position of planting is assigned the reference numeral US, the ending position is assigned the reference numeral UF, the straight path is assigned the reference numeral R3, and the turning path is assigned the reference numeral R5. Figure 5 and Figure 6 In this diagram, the transition path used to change from a reciprocating travel path to a circular travel path is designated by reference numeral R4. In this example, the transition path resembles a turning path. Furthermore, in... Figure 5 and Figure 6 In the figure, the working width of the rice transplanter is represented by the reference numeral W, and the entrance and exit of the rice transplanter to the farm is depicted by a diagonal line and assigned the reference numeral GA. Figure 6 The diagram shows the starting position of the journey from the entrance / exit to the reciprocating route. Figure 6 The starting guide path (assigned by the reference numeral S in the attached figure) Figure 6 The attached figures are labeled R6. In turning paths, direction-changing paths, initial guidance paths, and transition paths, the rice transplanter travels without performing any work; therefore, these paths are represented by dotted lines. In looping straight paths and straight-line paths, the rice transplanter travels while performing work; therefore, these paths are represented by solid lines.

[0103] In the operation start point guidance process #E, the rice transplanter that has finished map creation teaching driving and stopped near the entrance and exit travels along the start guidance path to the driving start position by automatic driving. The start guidance path is the driving path up to the driving start position, which is the starting point of the rice seedling planting operation.

[0104] In the inner reciprocating insertion treatment #F, the driving mode becomes the internal operation driving mode, along... Figure 6The machine automatically travels along the reciprocating path shown to perform seedling planting operations in the inner area. In cases where the inner area is large, a seedling replenishment process #G is performed during this reciprocating travel to load seedling boxes into the pre-planting frame 17. During the seedling replenishment process #G, the transplanter does not change from a straight path to a turning path but temporarily stops. Then, using the remote control 90, manual operation, etc., the machine's front end, the pre-planting frame 17, is brought closer to the field ridge. During this approaching straight-line travel, the machine body 1 approaches until it is about to contact the field ridge. Therefore, to prevent the machine body 1 from stopping abruptly due to its position exceeding the boundary line, the boundary line is expanded during the seedling replenishment process #G. After the seedling replenishment is completed, the transplanter automatically travels to the next predetermined straight path to be traveled from the departed straight path, and then resumes seedling planting operations along the target straight path. When the next straight path is detected and seedling planting operations resume under automatic travel, the temporarily expanded boundary line returns to its original state.

[0105] It should be noted that when fertilization and pesticide application are carried out simultaneously with seedling transplanting, fertilizer and pesticide replenishment are required during the reciprocating transplanting treatment #F on the inner side. Similar to seedling replenishment, this replenishment involves manual approach to the field ridge and automatic recovery. However, when replenishing fertilizer and pesticides, if the rear end of the machine 1 needs to be close to the field ridge, the machine 1 stops before entering the next straight path from the turning path, and then reverses to approach the field ridge. After replenishment, it returns to the target straight path by moving forward.

[0106] When the inner reciprocating insertion treatment #F ends, the driving mode becomes the circumferential operation driving mode, and it is executed as along... Figure 5 The diagram illustrates the peripheral planting process #H for seedling planting along a circular driving path. In this embodiment, the circular driving path consists of an inner circular driving path (the initial inner circle) and an outer circular driving path (the subsequent outer circle). Essentially, the end point of the outer circular driving path becomes the farm's entrance / exit; therefore, after the seedling planting operation along the outer circular driving path, the rice transplanter exits the farm through the entrance / exit. Seedling planting along the inner circular driving path is performed automatically. Since seedling planting along the outer circular driving path requires precise driving, even with automatic driving, it is preferable to use a manned automatic driving system with a driver acting as a monitor.

[0107] Figure 7The diagram shows the control block diagram of the rice transplanter's control system. The control system consists of a control device 100 that controls various actions of the rice transplanter, a universal terminal 9 that can exchange data with the control device 100, and a remote controller 90. Signals from the positioning unit 8, driving mode switching operation unit 24, driving sensor group 28, work sensor group 29, and obstacle detector 80 are input to the control device 100. Control signals from the control device 100 are input to the driving equipment group 1A and the work equipment group 1B.

[0108] The driving equipment group 1A includes, for example, a steering motor M1 and a transmission operation motor M2. Based on the control signal from the control device 100, the steering angle is adjusted by controlling the steering motor M1 and the vehicle speed is adjusted by controlling the transmission operation motor M2.

[0109] The operating equipment group 1B includes, for example, a lifting cylinder 11a for adjusting the height of the seedling transplanting device 3, a seedling quantity adjustment device for adjusting the seedling quantity based on the transplanting mechanism 32, and a conveying quantity adjustment device for changing the fertilizer conveying quantity based on the conveying mechanism 42.

[0110] The driving sensor group 28 includes various sensors that detect states such as steering angle, vehicle speed, and engine speed, as well as set values ​​for these states. The operation sensor group 29 includes various sensors that detect the states of the linkage mechanism 11, the seedling planting device 3, and the fertilization device 4.

[0111] The control device 100 includes a driving control unit 6, an operation control unit 51, a body position calculation unit 52, a driving path management unit 53, a driving control status sensing unit 55, a boundary line management unit 56, an input signal processing unit 50a, and a communication unit 50b.

[0112] The input signal processing unit 50a processes signals from various sensors, switches, rods, etc., installed on the rice transplanter and transmits them to the functional unit built into the control device 100. The communication unit 50b has wireless communication capabilities, performs data communication with external devices such as the remote controller 90, and transmits the received data to the input signal processing unit 50a.

[0113] The driving control unit 6 includes an automatic driving control unit 6A, a manual driving control unit 6B, and a control management unit 6C. The automatic driving control unit 6A performs speed control and steering control during automatic driving. Based on the comparison between the driving path that becomes the target set by the driving path management unit 53 and the body position calculated by the body position calculation unit 52, the lateral deviation and azimuth deviation are calculated, and steering control is performed to reduce the lateral deviation and azimuth deviation.

[0114] In addition to the automatic driving mode in which the rice transplanter automatically travels along a target path, it also has a straight-line maintaining driving mode, which is a mode in which the transplanter automatically travels straight while maintaining the orientation of a baseline defined by at least two points. The baseline used in the straight-line maintaining driving mode can be the straight-line driving path managed by the driving path management unit 53.

[0115] In manual driving mode, the manual driving control unit 6B controls the steering motor M1 based on the amount of steering wheel 21 operation. The control management unit 6C selects any one of the following modes based on the signal from the driving mode switching operation unit 24: automatic driving mode, straight-line maintaining driving mode, or manual driving mode.

[0116] The operation control unit 51 automatically controls the work equipment group 1B based on a pre-given program during automatic driving, and controls the work equipment group 1B based on the driver's operation during manual driving. The body position calculation unit 52 calculates the map coordinates (body position) of the body 1 based on satellite positioning data sequentially sent from the positioning unit 8.

[0117] In this embodiment, the general-purpose terminal 9 includes a farm information storage unit 91, a farm map generation unit 92, a driving path generation unit 93, a boundary line calculation unit 94, and a driving trajectory generation unit 95. The farm information storage unit 91 stores farm-related information such as crop types, farm entrance (exit) locations, and possible locations for seedling replenishment. The farm map generation unit 92 is used for... Figure 2 The map creation process is explained. The driving path generation unit 93 divides the farm into an outer perimeter area and an inner area based on the farm map created by the farm map creation unit 92, and generates a circular driving path for driving in the outer perimeter area and a reciprocating driving path for driving in the inner area. The boundary line calculation unit 94 then uses this process. Figure 2 The boundary line calculation process is explained. In the map production process performed by the farm map production unit 92 and the boundary line calculation process performed by the boundary line calculation unit 94, it is necessary to create a teaching trajectory for the vehicle during map production. The trajectory generation unit 95 generates the trajectory of the vehicle 1 based on the vehicle position calculated by the vehicle position calculation unit 52.

[0118] The driving path management unit 53 receives and manages the driving path generated by the driving path generation unit 93 from the general terminal 9, and sets it as the target driving path for the machine body to turn in automatic driving mode.

[0119] The driving control state sensing unit 55 senses the driving control state and the operation control state based on the control information processed by the control device 60. The driving control states sensed by the driving control state sensing unit 55 include the following states.

[0120] (a) Straight-line approach state: When the machine body 1 travels straight beyond the inner area towards the field ridge (a type of boundary object) in order to replenish seedlings, etc., the distance from the position of the machine body 1 (machine body position) to the boundary line reaches a specified distance.

[0121] (b) Remote approach driving state: The state in which the machine body 1 moves beyond the internal area and approaches the field ridge by using the remote control operation of the remote controller 90.

[0122] (c) Manual approach driving state: The state in which the machine body 1 moves beyond the internal area and approaches the field ridge by manually driving the operation device.

[0123] (d) Turning state in the outer perimeter area: The state in which the machine body 1 changes direction (such as U-turn) within the outer perimeter area at a steering angle of more than a specified angle.

[0124] The boundary line management unit 56 manages the boundary lines (boundary line data) calculated by the boundary line calculation unit 94, and includes a boundary line storage unit 56a, an anti-boundary control unit 56b, a boundary crossing permission unit 56c, and a boundary crossing permission command unit 56d. The boundary line storage unit 56a stores the boundary lines received from the boundary line calculation unit 94. The anti-boundary control unit 56b determines whether the machine 1 has crossed the boundary line based on the machine's position and provides a stop command to the driving control unit 6, prohibiting the machine 1 from crossing the boundary line. The boundary crossing permission unit 56c temporarily expands the boundary line stored in the boundary line storage unit 56a towards the field ridge. By expanding the boundary line, the machine 1 can approach the field ridge to its limit. The boundary line is set to maintain a safe distance between the rice transplanter and boundary objects such as the field ridge, but the expanded boundary line is set to the limit position where the rice transplanter does not contact the boundary object. Therefore, to avoid interference between the field ridge and the machine 1, this approach driving condition is performed at low speed and manually.

[0125] When the driving control state sensing unit 55 senses a specific driving control state, the boundary permission command unit 56d provides a boundary permission command to the boundary permission unit 56c, causing the boundary line to expand towards the field ridge side. In this embodiment, the boundary permission command unit 56d provides a boundary permission command to the boundary permission unit 56c when the driving control state sensing unit 55 senses the aforementioned remote-controlled approach driving state. If, during unmanned automatic seedling planting operations in the inner area, a need for seedling replenishment arises, the monitor operates the remote control 90 to temporarily interrupt automatic driving in the inner operation driving mode, such as... Figure 8 As shown, bring the machine body 1 close to the field ridge. In Figure 8In this process, the straight path is assigned R3, the turning path is assigned R5, and the planting end position (turn start position) is assigned UF. When the machine 1, even when entering the outer perimeter area from the planting end position via remote control, does not turn but travels straight, the boundary line is expanded via a boundary permission command, allowing the machine 1 to approach the field ridge without stopping. When the seedlings are replenished, the monitor operates the remote control 90 to command the resumption of automatic travel. The machine 1 then automatically reverses and returns to the planting end position. During this phase, the interrupted internal operation mode resumes its reciprocating travel within the internal area, the boundary line expansion is revoked, and the boundary line position returns to its original state.

[0126] Next, the sequence of unmanned, automated seedling replenishment will be explained. The rice transplanter is controlled remotely by a monitor located outside the farm during the seedling replenishment process. For example... Figure 9 As shown, the remote control 90 has seven buttons and two indicators. The first button 90a is the power on / off button. The second button 90b, when pressed once, temporarily stops the unit 1; when pressed simultaneously with the function button 90g, it ends the automatic driving operation. The third button 90c, when pressed once, accelerates the unit 1; when pressed simultaneously with the function button 90g, it moves the unit 1 forward at a slight speed. The fourth button 90d, when pressed once, decelerates the unit 1; when pressed simultaneously with the function button 90g, it moves the unit 1 backward at a slight speed. The fifth button 90e, when pressed simultaneously with the function button 90g, starts the automatic driving operation. The sixth button 90f, when pressed simultaneously with the function button 90g, starts the insertion operation. The first indicator 90x indicates the remaining battery level; if the battery level is low, the display color changes from green to red. The second indicator 90y indicates whether communication is on / off.

[0127] The following is the sequence for handling seedling replenishment when seedlings need to be replenished during reciprocating straight-line seedling planting operations, using remote control.

[0128] (1) During reciprocating travel within the inner area, at the end of the straight path, the plantation is temporarily stopped before turning to enter the next straight path. The point at which the front of the machine 1 reaches the posture facing the paddy field ridge where seedlings are to be replenished is the start point of the seedling replenishment process.

[0129] (2) First, the operator presses the function button 90g and the third button 90c of the remote control 90 at the same time. As a result, the machine body 1 moves forward at a slight speed, not along the turning path, but along the extension of the straight path to the ridge.

[0130] (3) At the same time, a boundary permission instruction is provided from the boundary permission instruction unit 56d to the boundary permission unit 56c, and the boundary line is expanded.

[0131] (4) When the front end of the machine body 1 approaches the edge, the operator stops pressing the function button 90g and the third button 90c to stop the machine body 1.

[0132] (5) Load an appropriate number of seedling boxes into the prepared seedling frame 17 (seedling replenishment completed).

[0133] (6) Next, the operator presses the function button 90g and the fifth button 90e of the remote control 90 simultaneously, thereby starting the automatic driving after the seedling replenishment is completed.

[0134] (7) During the automatic driving after the seedling replenishment is completed, the machine body 1 moves backward along the extension of the straight path and returns to the planting end position at the end of the straight path after the seedling replenishment process has started.

[0135] (8) When the machine body 1 returns to the insertion end position, it starts automatic driving based on the reciprocating driving path again and starts turning driving with the turning path as the target.

[0136] (9) At the same time, the boundary permission instruction based on the boundary permission instruction unit 56d is cancelled, and the expanded boundary line is restored to its original position.

[0137] In seedling replenishment, the front of the machine body 1 needs to be close to the embankment, while in pesticide replenishment, the rear of the machine body 1 needs to be close to the embankment. The sequence of seedling replenishment procedures using remote control in seedling planting operations involving reciprocating straight-line movement is as follows.

[0138] (1) During the reciprocating motion within the inner area, the machine 1 temporarily stops at the planting start position at the beginning of the straight path when entering the straight path from the turning motion. The time point at which the rear of the machine 1 reaches the posture facing the paddy field ridge where seedlings are to be replenished is the start time point of the seedling replenishment process.

[0139] (2) First, the operator presses the function button 90g and the fourth button 90d of the remote control 90 at the same time. As a result, the machine body 1 moves backward slightly and moves along the extension of the straight path to the ridge.

[0140] (3) At the same time, a boundary permission instruction is provided from the boundary permission instruction unit 56d to the boundary permission unit 56c, and the boundary line is expanded.

[0141] (4) When the rear end of the machine body 1 approaches the edge, the operator stops pressing the function button 90g and the fourth button 90d to stop the machine body 1.

[0142] (5) Replenish the medicine (medicine replenishment completed).

[0143] (6) Next, the operator presses the function button 90g and the fifth button 90e of the remote control 90 simultaneously, thereby starting the automatic driving after the medicine is replenished.

[0144] (7) During the automatic driving after the drug replenishment is completed, the machine body 1 moves along the extension of the straight path and returns to the insertion start position at the beginning of the straight path after the drug replenishment treatment has started.

[0145] (8) When the machine body 1 returns to the planting start position, it starts automatic driving based on the reciprocating travel path again, the seedling planting device 3 descends, and the seedling planting operation begins along the straight path.

[0146] (9) At the same time, the boundary permission instruction based on the boundary permission instruction unit 56d is cancelled, and the expanded boundary line is restored to its original position.

[0147] During the aforementioned seedling replenishment and pesticide replenishment operations, the movement of the machine body 1 is controlled using a remote control 90. However, in manned autonomous driving, it can be manually operated by a monitor sitting in the driver's seat 16. In this case, instead of the buttons on the remote control 90, the operation functions of the buttons displayed on the touch panel of the general terminal 9, the driving mode switching operation unit 24, and other operating units are used.

[0148] [Another implementation method in the first implementation method]

[0149] (1) In the above embodiment, when a boundary crossing permission instruction is output from the boundary crossing permission instruction unit 56d, the boundary crossing permission unit 56c expands the boundary line according to a preset value. This preset value can also be set to change according to environmental conditions such as farm conditions and weather. Moreover, the expansion of the boundary line can be limited to the surrounding area of ​​the machine body 1, or it can expand the entire boundary line. Furthermore, as initially stated, if the concept of boundary line expansion is expanded to infinity, it is equivalent to invalidating the boundary line. Therefore, the boundary crossing permission instruction in the above embodiment includes an expansion instruction that expands the boundary line towards the boundary object or an invalidation instruction that invalidates the boundary line.

[0150] (2) In the above embodiment, the farm map making unit 92, the driving path generation unit 93, and the boundary line calculation unit 94 are built on the general terminal 9, but they can also be built on the control device 60, or on an external management computer that can exchange data with the control device 100.

[0151] (3) The steering angle in the turning path based on the automatic driving control unit 6A can be controlled by following the generated turning path, or it can be controlled by using the steering angle of the predetermined turning path.

[0152] (4) In the above embodiments, a rice transplanter is used as an agricultural operation vehicle, but it can also be a combine harvester, tractor, direct seeding machine, spray (dispersing) management machine or other agricultural operation vehicle.

[0153] It should be noted that the configurations disclosed in the above embodiments (including another embodiment, the same below) can be combined with the configurations disclosed in other embodiments without causing contradictions. Furthermore, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope without departing from the purpose of the present invention.

[0154] [Second Implementation]

[0155] The following description uses a ride-on rice transplanter as an example of an embodiment of the agricultural work vehicle of the present invention. This rice transplanter can automatically travel on farm grounds defined by boundary markers. It should be noted that, unless otherwise specified, in this specification, "front" refers to the front in the forward-backward direction (travel direction), and "rear" refers to the rear in the forward-backward direction (travel direction). Furthermore, "left-right" or "lateral" refers to the transverse direction of the machine body (the width direction) orthogonal to the forward-backward direction. "Up" or "down" indicates the vertical position of the machine body and refers to the relationship with ground level.

[0156] Figure 10 This is a side view of a rice transplanter. The rice transplanter is a ride-on type, with a four-wheel drive body (hereinafter referred to as the body 101). The body 101 includes: a parallel four-bar linkage mechanism 111, which is vertically and oscillatingly connected to the rear of the body 101; a hydraulic lifting cylinder 111a, which oscillates and drives the linkage mechanism 111; a seedling transplanting device 103 (an example of an agricultural material supply device), which is an example of an operating device that is laterally connected to the rear end of the linkage mechanism 111; and a fertilizer applicator 104, etc., which are mounted from the rear end of the body 101 to the seedling transplanting device 103.

[0157] The machine body 101 is equipped with wheels 112, an engine 113, and a hydraulic continuously variable transmission (CVT) 114 as its driving mechanism. The wheels 112 have left and right steerable front wheels 112A and left and right non-steerable rear wheels 112B. The engine 113 and the CVT 114 are mounted at the front of the machine body 101. Power from the engine 113 is supplied to the front wheels 112A, rear wheels 112B, etc., via the CVT 114.

[0158] As an example, the seedling transplanting device 103 is configured for 108-row transplanting. The seedling transplanting device 103 includes a seedling carrier 131 and an 8-row transplanting mechanism 132. It should be noted that the seedling transplanting device 103 can be changed to 2-row transplanting, 4-row transplanting, 6-row transplanting, etc., by controlling the row clutches (not shown).

[0159] The seedling tray 131 is a platform for holding eight rows of pad-shaped seedlings. The seedling tray 131 moves back and forth in the left-right direction with a certain stroke corresponding to the left-right width of the pad-shaped seedlings. The longitudinal feeding mechanism 133 feeds each pad-shaped seedling on the seedling tray 131 longitudinally towards the lower end of the seedling tray 131 at a predetermined interval each time the seedling tray 131 reaches the end of its left-right stroke. The eight planting mechanisms 132 are rotary and arranged in the left-right direction at a certain interval corresponding to the planting row spacing. Furthermore, each planting mechanism 132 uses power from the machine body 101 to remove one seedling from the lower end of each pad-shaped seedling placed on the seedling tray 131 and plant it in the prepared soil.

[0160] The seedling transplanting device 103 has a seedling quantity adjustment function that adjusts the seedling quantity based on the transplanting mechanism 132. The transplanting mechanism 132 passes through a seedling outlet formed in a guide rail that slides at the lower end of the seedling platform 131 and takes out one seedling for transplanting. The seedling quantity is adjusted by changing the position of the seedling platform 131 and the guide rail that slides at the lower end of the seedling platform 131 up and down.

[0161] like Figure 10 As shown, the fertilization device 104 includes: a horizontally elongated hopper 141, a conveying mechanism 142, an electric blower 143, multiple fertilizer hoses 144, and furrow openers 145 corresponding to each row. The hopper 141 stores granular or powdered fertilizer. The conveying mechanism 142 operates using power transmitted from the engine 113, conveying a predetermined amount of fertilizer for two rows from the hopper 141 each time. The fertilization device 104 has a conveying rate adjustment function that allows for changes in the amount of fertilizer conveyed by the conveying mechanism 142.

[0162] Blower 143 operates using electricity from a battery (not shown) mounted on the body 101, generating conveyor air that directs fertilizer, conveyed by the various conveying mechanisms 142, toward the soil surface of the farm. The fertilizer applicator 104 can switch between an operating state and a non-operating state through intermittent operation of blower 143 and the like. The operating state supplies fertilizer stored in hopper 141 to the farm in predetermined amounts each time, while the non-operating state stops supplying fertilizer.

[0163] Each fertilizer application hose 144 guides the fertilizer, conveyed by the conveying air, to each furrow opener 145. Each furrow opener 145 is equipped with each land preparation float 115. Furthermore, each furrow opener 145 rises and falls together with each land preparation float 115. When the land preparation float 115 is in contact with the ground during operation, fertilizer application furrows are formed in the soil of the paddy field, and the fertilizer is guided into the fertilizer application furrows.

[0164] The machine body 101 has a driver's section 120 at its rear. The driver's section 120 includes a steering wheel 121 for front-wheel steering, a main gear lever 122 for adjusting vehicle speed by operating a continuously variable transmission (CVT) 114, a secondary gear lever 123 for enabling the operation of the secondary transmission, and a work operator 125 consisting of manual operating components that enable the raising and lowering of the seedling planting device 103 and the switching of working states, etc., as manual driving operating components. Furthermore, a general-purpose terminal 109 is provided in front of the driver's seat 116. The general-purpose terminal 109 includes a notification device that displays various information and notifies the operator, and a touch panel for accepting various information inputs. Additionally, a seedling preparation frame 117 for holding prepared seedlings is provided in front of the driver's section 120.

[0165] The steering wheel 121 is connected to the front wheels 112A via a steering mechanism (not shown), and the steering angle of the front wheels 112A is adjusted by rotating the steering wheel 121. A steering motor M11 is also connected to the steering mechanism. During automatic driving, the steering motor M11 actuates based on a steering signal, thereby adjusting the steering angle of the front wheels 112A. Furthermore, a shift control motor M12 is provided for automatically operating the main gear lever 122. During automatic driving, the shift control motor M12 actuates based on a shift signal, thereby adjusting the shift position of the continuously variable transmission 114.

[0166] An upwardly extending extension frame 117a is provided on the upper part of the pre-planting frame 117. This extension frame 117a is equipped with stacked lights 118 and a positioning unit 108. The stacked lights 118 have multiple colored lights arranged longitudinally to indicate the status of the rice transplanter. The positioning unit 108 outputs positioning data for calibrating the position and orientation (body orientation) of the machine body 101. The positioning unit 108 includes: a satellite positioning module 108A, which receives radio waves from satellites of the Global Navigation Satellite System (GNSS); and an inertial measurement module 108B, which detects the tilt and acceleration of the machine body 101 along its three axes.

[0167] Figure 11The diagram illustrates an example of the processing sequence in a rice transplanting operation based on a combination of automatic and manual driving of the rice transplanter. This processing sequence includes pre-operation processing #A1, map creation processing #B1, boundary line calculation processing #C1, path generation processing #D1, operation start point guidance processing #E1, inner reciprocating transplanting processing #F1, and outer perimeter transplanting processing #H1. It should be noted that the term "straight-line driving" in this invention does not only mean strictly straight-line driving, but also includes driving along large curves, serpentine driving, etc.

[0168] In pre-operation processing #A1, communication checks are performed between the various units of the rice transplanter's control system, including the communication check of the positioning unit 108. Furthermore, in the rice transplanter, a remote control 190 (see reference...) is used... Figure 10 Remote control is performed by obstacle detector 180 (see reference). Figure 12 To perform obstacle detection, functional checks of the remote control 190 and obstacle detector 180 are also performed as preprocessing. Figure 12 As shown, the obstacle detector 180 in this embodiment is a sonar type, consisting of four front sonars 180f with the front of the body 101 as the detection range, two side sonars 180s with the left and right sides of the body 101 as the detection range, and two rear sonars 180r with the front of the body 101 as the detection range.

[0169] Map production processing #B1 involves measuring the shape of the farm's terrain, which is the object of the work. For example... Figure 13 As shown, the driving trajectory (teaching driving trajectory) is calculated based on the position signal obtained from the positioning unit 108 when the rice transplanter is manually driven (map creation teaching driving) along the outermost perimeter of the farm ground, such as field ridges that define the boundaries of the farm ground. The farm outline, i.e., the farm map, is generated based on this driving trajectory as map information of the farm ground.

[0170] In boundary line calculation and processing #C1, such as Figure 13 As shown, based on the driving trajectory calculated in map processing #B1, a boundary line is calculated representing the position of the machine body 101, which serves as the limit to avoid contact between the rice transplanter and the farm's boundary objects. During the normal operation of the rice transplanter, as long as the position of the machine body 101 does not cross this boundary line (also known as the boundary crossing line), the rice transplanter will not come into contact with boundary objects such as field ridges. When the position of the machine body 101 reaches the boundary line, the machine body 101 will be forcibly stopped. The final position of the boundary line is determined by adding a safety distance to prevent the rice transplanter from contacting boundary objects such as field ridges even in the event of accidental slippage, steering sway, etc.

[0171] In path generation process #D1, a prescribed algorithm is used to create a driving path within the farm area defined in the map creation process #B1, which serves as the target for automated driving. The following explains the driving path generated for the automated rice seedling planting operation.

[0172] like Figure 13 As shown, the farm grounds defined by the farm map are divided into an outer perimeter area and an inner perimeter area. The generated driving path consists of a loop driving path set in the outer perimeter area (see reference). Figure 14 ) and the reciprocating travel path set in the internal area (refer to Figure 15 It consists of ) and, moreover, the work start point guiding path (refer to Figure 15 The outer perimeter is also set on one side. The rice transplanter initially performs seedling planting operations in the inner area along the reciprocating travel path (called the inner operation travel mode), and then performs seedling planting operations in the outer perimeter area along the circumferential travel path (called the circumferential operation travel mode).

[0173] Figure 14 The illustrated circular driving path consists of a straight circular path extending parallel to the farm boundaries (field ridges) and directional change paths that introduce forward and backward directions to connect the circular straight paths to each other. Figure 14 In the figure, the straight path around is assigned the reference numeral R11, and the direction change path is assigned the reference numeral R12. Figure 15 The illustrated reciprocating travel path consists of numerous roughly parallel straight paths and U-shaped turning paths connecting these straight paths. Figure 15 In the diagram, straight paths are assigned R13, and turning paths are assigned R15. Planting begins at the start point, which marks the start of planting along each straight path, and ends at the end point (which is also the start point of the turn), marking the end of planting along the straight path. Figure 15 In the diagram, the starting point of the planting operation within the inner area is designated by reference numeral WS1, and the ending point of the planting operation within the inner area is designated by reference numeral WE1. Furthermore, Figure 15 The diagram shows the work start point guide path from the standby position of the rice transplanter near the entrance / exit to the work start point, which serves as the starting position for the reciprocating travel path. Figure 15 The figure is designated R16.

[0174] In the operation start point guidance process #E1, the rice transplanter, having finished map creation and teaching driving and stopped at its standby position near the entrance / exit, travels automatically to the starting position along the operation start point guidance path. This operation start point guidance path is the driving path leading to the starting position, which serves as the starting point for the rice seedling transplanting operation. At this time, if the rice transplanter's body 101 at the standby position satisfies the condition of being in a specific orientation at a pre-set specific location, automatic driving using the operation start point guidance path is permitted (operation start point guidance driving).

[0175] In the inner reciprocating insertion treatment #F1, the driving mode becomes the internal operation driving mode, along... Figure 15 The reciprocating path shown is automatically driven, repeatedly traveling straight (operational travel) and turning (non-operational travel) while performing automatic travel operations (seedling planting) within the inner area from the start point of the operation to the end point of planting. It should be noted that in the case of a large farm, the inner reciprocating planting process includes seedling replenishment treatment #G1.

[0176] When the inner reciprocating planting process #F1 ends at the planting end point, the driving mode becomes the circumferential operation driving mode, and it performs as a along-the-way operation. Figure 14 The diagram shows the peripheral planting process #H of the automated driving operation (seedling planting operation) in the outer perimeter area of ​​the surrounding driving path. In this embodiment, the surrounding driving path consists of an inner surrounding driving path that initially travels one inner circle and an outer surrounding driving path that subsequently travels one outer circle. Essentially, the end point of the outer surrounding driving path becomes the farm's entrance / exit, so after the seedling planting operation along the outer surrounding driving path, the rice transplanter leaves the farm through the entrance / exit. The seedling planting operation along the inner surrounding driving path is carried out by automated driving. The seedling planting operation along the outer surrounding driving path requires precise driving; therefore, even with automated driving, it is preferable to have a manned automated driving system with a driver acting as a monitor.

[0177] exist Figure 14 and Figure 15 In the illustrated driving path pattern, the planting end point of the reciprocating driving path, the start point of the circular driving path, and the end point of the circular driving path are located near the farm's entrance and exit. It is preferable for the number of straight paths in the reciprocating driving path to be even; however, if the number of straight paths is odd, the planting end point of the reciprocating driving path is located on the opposite side of the entrance and exit. To avoid this inappropriateness, such as... Figure 16 As shown, except for the final straight path ( Figure 16 The figure assigns a straight path other than the reference numeral Ln, for example Figure 16 The attached diagram assigns a straight path marked Ln-1, which is set to travel empty without any work (non-seedling planting work), and then proceeds on the next straight path ( Figure 16 After traveling along the final straight path (as indicated by the attached diagram Ln), the rice seedlings are planted while the vehicle continues along the previously vacant straight path. Thus, the planting end point of the final straight path is reversed to the entrance / exit side. Figure 16 In the example, the position of the insertion end point is moved by the insertion width. To avoid this, it is better to select an empty driving straight path for other straight paths.

[0178] The outer loop driving path is designed to match the driving trajectory during map-making teaching driving. Therefore, if the machine body 101 accurately imitates the outer loop driving path, it will not come into contact with field ridges or the like. However, during map-making teaching driving, the machine body 101 drives with the seedling planting device 103 raised, while on the outer loop driving path, the machine body 101 also drives with the seedling planting device 103 raised. Therefore, depending on the position of the machine body 101, if the seedling planting device 103 is lowered at the start of driving on the outer loop driving path, the seedling planting device 103 may come into contact with the field ridge. To avoid this, during automatic temporary stops performed before transitioning to operational driving along the outer loop driving path, the driver confirms the safety of lowering the seedling planting device 103. During the automatic temporary stop, the seedling planting device 103 is raised.

[0179] use Figure 17 An example of a descent safety confirmation control system, consisting of an automatic temporary stop, driver confirmation of descent safety, and the commencement of automatic operation following confirmation, will be described. Figure 17 In the process, before the machine body 101 enters the corner of the farm, at point P11, the seedling planting device 103 rises and performs a direction-changing drive as a non-operational automatic drive. The direction-changing drive targets the straight driving path R121 from point P11 to point P12 and the reverse turning driving path R122 from point P12 to point P13. At point P13, the next straight driving path of the outer loop driving path is captured, so the automatic operation driving of lowering the seedling planting device 103 can begin, but at point P13, the machine body 101 temporarily stops. In this automatic temporary stop state, a notification is sent to request the driver to judge whether it is safe to lower the seedling planting device 103 at this time. If the driver judges that there is no problem, the driver performs the operation of lowering the seedling planting device 103 (as a lowering operation of the operating device before automatic start). The start of automatic operation driving is authorized by this operation.

[0180] In an area with a defined outer loop travel path, when switching from non-operational travel (which can be either automatic or manual) that raises the seedling planting device 103 to automatic operation travel that lowers the seedling planting device 103, the descent safety confirmation control is executed.

[0181] Next, use Figure 18 An example of descent safety confirmation control performed outside of areas where an outer loop driving path is defined will be described. Figure 18 The diagram illustrates obstacle avoidance safety confirmation control during descent in a straight-line driving path to avoid obstacles present in the internal area's reciprocating driving path. When the automatic straight-line operation targeting the reciprocating driving path reaches point Q11 in front of the obstacle, the seedling planting device 103 rises and uses the reverse turning driving path R131 (as a non-operational automatic driving path) to reverse and turn until point Q12, and then uses the forward turning driving path R132 to forward and turn until point Q13. At point Q13, the next straight-line path is detected, thus initiating automatic descent of the seedling planting device 103, but the machine body 101 temporarily stops at point Q13. In this automatic temporary stop state, a notification is sent requesting the driver to determine whether, even if automatic operation continues as before, the descending seedling planting device 103 and the obstacle will not interfere with each other. If the driver determines that there is no problem, the driver performs the operation to lower the seedling planting device 103 (operation before automatic start). This operation authorizes the start of automated operation.

[0182] Figure 19 The diagram shows a control block diagram of the rice transplanter's control system. The control system consists of a control device 160 that controls various actions of the rice transplanter, a universal terminal 109 that can exchange data with the control device 160, and a remote controller 190. Signals from the positioning unit 108, the work operator 125, the travel sensor group 128, the work sensor group 129, and the obstacle detector 180 are input to the control device 160. Control signals from the control device 160 are input to the travel equipment group 101A and the work equipment group 101B.

[0183] The driving equipment group 101A includes, for example, a steering motor M11 and a transmission operation motor M12. Based on the control signal from the control device 160, the steering angle is adjusted by controlling the steering motor M11 and the vehicle speed is adjusted by controlling the transmission operation motor M12.

[0184] The operating equipment group 101B includes, for example, a lifting cylinder 111a for adjusting the height of the seedling transplanting device 103, a seedling quantity adjustment device for adjusting the seedling quantity based on the transplanting mechanism 132, and a conveying quantity adjustment device for changing the fertilizer conveying quantity based on the conveying mechanism 142.

[0185] The driving sensor group 128 includes various sensors that detect states such as steering angle, vehicle speed, and engine speed, as well as set values ​​for these states. The operation sensor group 129 includes various sensors that detect the states of the linkage mechanism 111, the seedling transplanting device 103, and the fertilization device 104.

[0186] The control device 160 includes a driving control unit 106, an operation control unit 151, a body position calculation unit 152, a driving path management unit 153, a driving control status sensing unit 155, an automatic operation driving management unit 156, an input signal processing unit 150a, and a communication unit 150b.

[0187] The general-purpose terminal 109, connected to the control device 160 via a vehicle-mounted LAN (Local Area Network), includes a farm information storage unit 191, a farm map generation unit 192, a driving path generation unit 193, a boundary line calculation unit 194, and a driving trajectory generation unit 195. The farm information storage unit 191 stores farm-related information such as plant species, farm entrance (exit) locations, and possible locations for seedling replenishment. The farm map generation unit 192 is used for this purpose. Figure 11 The map creation process has been explained.

[0188] The driving path generation unit 193 divides the farm into an outer perimeter area and an inner perimeter area based on the farm map created by the farm map creation unit 192, and generates a loop driving path for driving in the outer perimeter area and a reciprocating driving path for driving in the inner perimeter area. The outer loop driving path is created using the driving trajectory from the map-created teaching driving. Furthermore, if the driving path generation unit 193 detects a driving obstacle within the farm during the map-created teaching driving, it also creates a driving path to avoid that obstacle.

[0189] Boundary line calculation unit 194 is used. Figure 11 Step #C1 describes the boundary line calculation process. In the map production process performed by the farm map production unit 192 and the boundary line calculation process performed by the boundary line calculation unit 194, it is necessary to create a teaching trajectory for the vehicle during map production. The trajectory generation unit 195 generates the trajectory of the vehicle 101 based on the vehicle position calculated by the vehicle position calculation unit 152.

[0190] The input signal processing unit 150a processes signals from various sensors, switches, rods, etc., installed on the rice transplanter and transmits them to the functional unit built into the control device 160. The communication unit 150b has wireless communication capabilities, performs data communication with external devices, such as with the remote controller 190, and transmits the received data to the input signal processing unit 150a.

[0191] The driving control unit 106 includes an automatic driving control unit 106A, a manual driving control unit 106B, and a control management unit 106C. The automatic driving control unit 106A performs speed control and steering control during automatic driving. Steering control is performed in a way that reduces lateral and azimuth deviations calculated based on the driving path and the machine's position that become the target set by the driving path management unit 153.

[0192] The operation control unit 151 automatically controls the work equipment group 101B based on a pre-given program during automatic driving, and controls the work equipment group 101B based on the driver's operation during manual driving. It should be noted that in the above-mentioned descent safety confirmation control, in automatic driving mode, the seedling planting device 103 descends according to the operation of the driver using the operation operator 125.

[0193] The body position calculation unit 152 calculates the map coordinates (body position) of the body 101 based on satellite positioning data sequentially sent from the positioning unit 108. The driving path management unit 153 receives and manages various driving paths generated by the driving path generation unit 193 from the general terminal 109, and sequentially sets them as the driving paths for the body to turn in automatic driving mode.

[0194] The driving control state sensing unit 155 senses the driving control state and the work control state based on the control information processed by the control device 160. In particular, the driving control state sensing unit 155 senses the automatic temporary stop that occurs before the automatic work driving transitions from a non-work driving state where the seedling planting device 103 is raised to an automatic work driving state where the seedling planting device 103 is lowered. This automatic temporary stop senses the driving path and machine position of the machine body 101 based on detection signals from the driving sensor group 128 and the work sensor group 129.

[0195] When the automatic temporary stop is detected by the driving control state sensing unit 155, the automatic operation driving management unit 156 checks whether the start conditions for automatic operation driving, which are used to transition from the automatic temporary stop state to automatic operation driving, are met. The start conditions for automatic operation driving include: various signals required for automatic operation driving being input to the control device 160; the detection of the driving path for automatic operation driving; and the operation performed by the driver on the operation manipulator 125 for lowering the seedling planting device 103, which is an operation performed before automatic start (an example of an operation before automatic start).

[0196] Furthermore, when the automatic operation driving management unit 156 senses an automatic temporary stop, it requests the driver to confirm safety and notifies the operator of the operation controller 125 used to lower the seedling planting device 103. This notification is made via the display, speaker, etc. of the general terminal 109.

[0197] [Another implementation method in the second implementation method]

[0198] (1) In the above embodiment, the operation before automatic start is performed by operating the work operator 125 used to lower the seedling planting device 103. However, other operations on the seedling planting device 103, such as the operation of each row clutch, can also be used. Another automatic start operation is the operation of changing the travel path to change the lowering position of the seedling planting device 103. When it is not necessary to change the lowering position of the seedling planting device 103, the operation of setting the change of travel path to be unnecessary is performed as the automatic start operation. The automatic start operation, which is a confirmation operation that the lowering position of the work device is not problematic, can also be an input operation on the touch panel of the general terminal 109.

[0199] (2) In the above embodiment, the farm map generation unit 192, the driving path generation unit 193, the boundary line calculation unit 194, and the driving trajectory generation unit 195 are built on the general terminal 109. However, at least a portion of them may be built on the control device 160, or at least a portion may be built on an external management computer capable of exchanging data with the control device 160. Conversely, the automatic operation driving management unit 156 and the driving control status sensing unit 155 may also be built on the general terminal 109.

[0200] (3) The steering angle in the turning path based on the automatic driving control unit 106A can be controlled by following the generated turning path, or it can be controlled by using the steering angle of a predetermined turning path.

[0201] (4) In the above embodiments, a rice transplanter is used as an agricultural operation vehicle, but it can also be a fertilizer applicator, tractor, direct seeding machine, spray (dispersing) management machine or other agricultural operation vehicle.

[0202] It should be noted that the configurations disclosed in the above embodiments (including another embodiment, the same below) can be combined with the configurations disclosed in other embodiments without causing contradictions. Furthermore, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope without departing from the purpose of the present invention.

[0203] [Third Implementation Method]

[0204] The following description uses a ride-on rice transplanter as an example of an embodiment of the agricultural work vehicle of the present invention. This rice transplanter can automatically travel on farm grounds defined by boundary markers. It should be noted that, unless otherwise specified, in this specification, "front" refers to the front in the forward-backward direction (travel direction), and "rear" refers to the rear in the forward-backward direction (travel direction). Furthermore, "left-right" or "lateral" refers to the transverse direction of the machine body (the width direction) orthogonal to the forward-backward direction. "Up" or "down" indicates the vertical position of the machine body and refers to the relationship with ground level.

[0205] Figure 20 This is a side view of the rice transplanter. The rice transplanter is a ride-on type, with a four-wheel drive body (hereinafter referred to as the body 201). The body 201 includes: a parallel four-bar linkage 211, which is vertically and oscillatingly connected to the rear of the body 201; a hydraulic lifting cylinder 211a, which drives the linkage 211 to oscillate; a seedling transplanting device 203 (an example of an agricultural material supply device), which is laterally connected to the rear end of the linkage 211; and a fertilizer applicator 204, etc., which are mounted from the rear end of the body 201 to the seedling transplanting device 203.

[0206] The machine body 201 is equipped with wheels 212, an engine 213, and a hydraulic continuously variable transmission (CVT) 214 as its locomotion mechanism. The wheels 212 have steerable left and right front wheels 212A and non-steerable left and right rear wheels 212B. The engine 213 and the CVT 214 are mounted at the front of the machine body 201. Power from the engine 213 is supplied to the front wheels 212A, rear wheels 212B, etc., via the CVT 214.

[0207] As an example, the seedling transplanting device 203 is configured for 8-row transplanting. The seedling transplanting device 203 includes a seedling carrier 231 and an 8-row transplanting mechanism 232. It should be noted that the seedling transplanting device 203 can be changed to 2-row transplanting, 4-row transplanting, 6-row transplanting, etc., by controlling the clutches of each row (not shown).

[0208] The seedling tray 231 is a platform for holding eight rows of pad-shaped seedlings. The seedling tray 231 moves back and forth in the left-right direction with a certain stroke corresponding to the left-right width of the pad-shaped seedlings. The longitudinal feeding mechanism 233 feeds each pad-shaped seedling on the seedling tray 231 longitudinally towards the lower end of the seedling tray 231 at a predetermined interval each time the seedling tray 231 reaches the end of its left-right stroke. The eight planting mechanisms 232 are rotary and arranged in the left-right direction at a certain interval corresponding to the planting row spacing. Furthermore, each planting mechanism 232 uses power from the machine body 201 to remove one seedling from the lower end of each pad-shaped seedling placed on the seedling tray 231 and plant it in the prepared soil.

[0209] The seedling transplanting device 203 has a seedling quantity adjustment function that adjusts the seedling quantity based on the transplanting mechanism 232. The transplanting mechanism 232 passes through a seedling outlet formed on a guide rail that slides at the lower end of the seedling platform 231 and takes out one seedling for transplanting. The seedling quantity is adjusted by changing the position of the seedling platform 231 and the guide rail that slides at the lower end of the seedling platform 231 up and down.

[0210] like Figure 20 As shown, the fertilization device 204 includes: a horizontally elongated hopper 241, a conveying mechanism 242, an electric blower 243, multiple fertilizer hoses 244, and furrow openers 245 corresponding to each row. The hopper 241 stores granular or powdered fertilizer. The conveying mechanism 242 operates using power transmitted from the engine 213, conveying two portions of fertilizer from the hopper 241 at a predetermined rate. The fertilization device 204 has a conveying rate adjustment function that allows for changes in the amount of fertilizer conveyed by the conveying mechanism 242.

[0211] Blower 243 operates using electricity from a battery (not shown) mounted on the body 201, generating conveyor air that directs fertilizer, conveyed by the various conveying mechanisms 242, toward the soil surface of the farm. The fertilizer applicator 204 can switch between an operating state and a non-operating state through intermittent operation of the blower 243, etc. The operating state supplies fertilizer stored in the hopper 241 to the farm in a predetermined amount each time, while the non-operating state stops supplying fertilizer.

[0212] Each fertilizer application hose 244 guides the fertilizer, conveyed by the conveying air, to each furrow opener 245. Each furrow opener 245 is equipped with each land preparation float 215. Furthermore, each furrow opener 245 rises and falls together with each land preparation float 215. When the land preparation float 215 is in contact with the ground during operation, fertilizer application furrows are formed in the soil of the paddy field, and the fertilizer is guided into the fertilizer application furrows.

[0213] The machine body 201 has a driver's section 220 at its rear. The driver's section 220 includes a steering wheel 221 for front-wheel steering, a main gear lever 222 for adjusting vehicle speed via a continuously variable transmission (CVT) 214, a secondary gear lever 223 for enabling the operation of the secondary gearbox, and a work control lever 225 for raising and lowering the seedling transplanting device 203 and switching its working state, serving as manual driving controls. Furthermore, a universal terminal 209 is located in front of the driver's seat 216. The universal terminal 209 includes a notification device that displays various information and notifies the operator, and a touch panel for accepting various information inputs. A driver-based driving mode switching control 224 is located around the steering wheel 221. Additionally, a seedling preparation frame 217 for holding seedlings is located in front of the driver's section 220.

[0214] The steering wheel 221 is connected to the front wheels 212A via a steering mechanism (not shown), and the steering angle of the front wheels 212A is adjusted by rotating the steering wheel 221. A steering motor M21 is also connected to the steering mechanism. During automatic driving, the steering motor M21 actuates based on a steering signal, thereby adjusting the steering angle of the front wheels 212A. Furthermore, a shift control motor M22 is provided for automatically operating the main gear lever 222. During automatic driving, the shift control motor M22 actuates based on a shift signal, thereby adjusting the shift position of the continuously variable transmission 214.

[0215] An upwardly extending extension frame 217a is provided on the upper part of the pre-planting frame 217. This extension frame 217a is equipped with stacked lights 218 and a positioning unit 208. The stacked lights 218 have multiple colored lights arranged longitudinally to indicate the status of the rice transplanter. The positioning unit 208 outputs positioning data for calibrating the position and orientation (body orientation) of the computer body 201. The positioning unit 208 includes: a satellite positioning module 208A, which receives radio waves from satellites of the Global Navigation Satellite System (GNSS); and an inertial measurement module 208B.

[0216] Figure 21 The image illustrates an example of the processing sequence in a rice transplanting operation based on a combination of automatic and manual driving of this rice transplanter. This processing sequence includes pre-operation processing #A2, map creation processing #B2, boundary line calculation processing #C2, path generation processing #D2, operation start point guidance processing #E2, inner reciprocating planting processing #F2, and outer perimeter planting processing #H2. It should be noted that in the case of a large farm, the inner reciprocating planting processing includes a seedling replenishment processing #G2.

[0217] In pre-operation processing #A2, communication checks are performed between the various units of the rice transplanter's control system, including the communication check of positioning unit 8. Furthermore, remote control 290 (see reference) is used within the rice transplanter. Figure 20 Remote control is performed by obstacle detector 280 (see reference). Figure 22 To perform obstacle detection, functional tests of the remote control 290 and obstacle detector 280 are also performed as preprocessing. Figure 22 As shown, the obstacle detector 280 in this embodiment is a sonar type, consisting of four front sonars 280f with the front of the body 201 as the detection range, two side sonars 280s with the left and right sides of the body 201 as the detection range, and two rear sonars 280r with the front of the body 201 as the detection range.

[0218] Map creation processing #B2 involves measuring the shape of the farm's terrain, which is the object of the work. For example... Figure 23As shown, the driving trajectory (teaching driving trajectory) is calculated based on the position signal obtained from the positioning unit 208 when the rice transplanter is manually driven (map creation teaching driving) along the outermost perimeter of the farm ground, such as field ridges that define the boundaries of the farm ground. The farm outline, i.e., the farm map, is generated based on this driving trajectory as map information of the farm ground.

[0219] In boundary line calculation and processing #C2, such as Figure 23 As shown, based on the driving trajectory calculated in map processing #B2, a boundary line is calculated representing the position of the machine body 201, which serves as the limit to avoid contact between the rice transplanter and farm boundary objects. During normal operation of the rice transplanter, as long as the position of the machine body 201 does not cross this boundary line (also known as the boundary crossing line), the rice transplanter will not come into contact with boundary objects such as field ridges. When the position of the machine body 201 reaches the boundary line, the machine body 201 will be forcibly stopped. The final position of the boundary line is determined by adding a safety distance to prevent the rice transplanter from contacting boundary objects such as field ridges even in the event of accidental slippage, steering sway, etc.

[0220] In path generation process #D2, a prescribed algorithm is used to create a driving path within the farm area defined in the map creation process #B2, which serves as the target for automated driving. The following explains the driving path generated for the automated rice seedling planting operation.

[0221] like Figure 23 As shown, the farm grounds, defined by the farm map, are divided into an outer perimeter area and an inner perimeter area. The generated driving path consists of a loop driving path set in the outer perimeter area (see reference). Figure 24 ) and the reciprocating travel path set in the internal area (refer to Figure 25 It consists of ) and, moreover, the work start point guiding path (refer to Figure 25 The outer perimeter is also set on one side. The rice transplanter initially performs seedling planting operations in the inner area along the reciprocating travel path (called the inner operation travel mode), and then performs seedling planting operations in the outer perimeter area along the circumferential travel path (called the circumferential operation travel mode).

[0222] Figure 24 The illustrated circular driving path consists of a straight circular path extending parallel to the farm boundaries (field ridges) and directional change paths that introduce forward and backward directions to connect the circular straight paths to each other. Figure 24 In the figure, the straight path around is assigned the reference numeral R21, and the direction change path is assigned the reference numeral R22. Figure 25 The illustrated reciprocating travel path consists of numerous roughly parallel straight paths and U-shaped turning paths connecting these straight paths. Figure 25In the diagram, straight paths are assigned R23, and turning paths are assigned R25. Planting begins at the start point, which marks the start of planting along each straight path, and ends at the end point (which is also the start point of the turn), marking the end of planting along the straight path. It should be noted that... Figure 25 In the diagram, the starting point of the planting operation within the inner area is designated by reference numeral WS2, and the ending point of the planting operation within the inner area is designated by reference numeral WE2. Furthermore, Figure 25 The diagram shows the work start point guide path from the standby position of the rice transplanter near the entrance / exit to the work start point, which serves as the starting position for the reciprocating travel path. Figure 25 The figure is designated R26 in the accompanying drawings. It should be noted that the term "straight travel" in this invention does not only mean strictly straight driving, but also includes driving in large curves, serpentine driving, etc.

[0223] In the operation start point guidance process #E2, the rice transplanter, having finished map creation and teaching driving and stopped at its standby position near the entrance / exit, travels automatically to the starting position along the operation start point guidance path. This operation start point guidance path is the driving path leading to the starting position, which serves as the starting point for rice seedling planting. At this time, if the rice transplanter's body 201 at the standby position satisfies the condition of being in a specific orientation at a pre-set specific location, automatic driving using the operation start point guidance path is permitted (operation start point guidance driving).

[0224] One of the conditions for permitting driving at the start of the operation is as follows: Figure 26 As shown. In Figure 26 In this process, the machine body 201 is positioned so that its front faces the work start point and it stops, along one side of the guide path that has been generated in the outer peripheral area. This stopping position of the machine body 201 is a standby position for automatic driving. Here, it is permissible for the error between the forward orientation of the machine body 201 and the orientation of the work start point guide path to be within a specified angular error θ. If this permissible condition is met, the machine body 201 travels along a guide path that has been added to enter the work start point guide path (in... Figure 26 and Figure 27 The starting point of the operation is indicated by a dotted line and the guide path is marked with FL in the attached diagram. The machine body 201 automatically travels from the standby position to the starting point of the operation.

[0225] The second permitting condition for guiding traffic at the start of operations is as follows: Figure 27 As shown. In Figure 27In order to replenish seedlings before transplanting, the machine body 201 approaches and stops at the paddy field ridge by aligning its front with the ridge. This stopping position of the machine body 201 is a standby position for automatic driving. That is to say, the machine body 201 does not meet the requirement that the error between its forward orientation and the orientation of the guiding path at the start of the operation is within a specified angular error θ. Figure 26 The licensing conditions described herein. The licensing condition for this machine 201, with its front part aligned with the paddy field ridge, is that the machine 1 has entered the automatic operation start zone. Figure 26 and Figure 27 (The attached diagram is labeled ADA). The condition that the machine body 201 has entered the automatic operation start zone can be replaced by the condition that the machine body 201 is located at a predetermined distance from the operation start point in the outer perimeter area on the side where the operation start point is set. Such a standby position frequently occurs in the case of rice transplanters that replenish seedlings before seedling planting. Therefore, based on this posture, the guide path for guiding the machine body 201 to the operation start point can be standardized as a so-called turnaround path consisting of a combination of backward and forward movements. Considering that the rice transplanter replenishes seedlings near the entrance and exit after completing the map-making teaching operation, the automatic operation start zone is set as the area within a few meters from the entrance and exit to the operation start point in the outer perimeter area.

[0226] Although not illustrated, Figure 27 The permit conditions also apply to situations where, in order to replenish fertilizer and pesticides before fertilization operations and pesticide dispersal, the machine body 201 approaches and stops at the field ridge with its rear end touching the ridge. In this case, the guiding path for leading the machine body 201 to the starting point of the operation becomes a forward 90-degree turn path.

[0227] In the inner reciprocating insertion treatment #F2, the driving mode becomes the internal operation driving mode, along... Figure 25 The reciprocating travel path shown is automatically driven, and the automatic travel operation (seedling planting operation) is carried out in the internal area from the start point of the operation to the end point of the planting by repeatedly performing straight travel (operational travel) and turning travel (non-operational travel).

[0228] When the inner reciprocating planting process #F2 ends at the planting end point, the driving mode changes to the circumferential operation driving mode, and it performs as a along-the-way operation. Figure 24The diagram shows the peripheral planting process #H2 for automated driving operations (seedling planting operations) in the outer perimeter area of ​​the surrounding driving path. In this embodiment, the surrounding driving path consists of an inner surrounding driving path that initially travels one inner circle and an outer surrounding driving path that subsequently travels one outer circle. Essentially, the end point of the outer surrounding driving path becomes the farm's entrance / exit, so after the seedling planting operation along the outer surrounding driving path, the rice transplanter leaves the farm through the entrance / exit. Seedling planting operations along the inner surrounding driving path are performed by automated driving. Seedling planting operations along the outer surrounding driving path require precise driving; therefore, even with automated driving, it is preferable to have a manned automated driving system with a driver acting as a monitor.

[0229] exist Figure 24 and Figure 25 In the illustrated driving path pattern, the planting end point of the reciprocating driving path, the start point of the circular driving path, and the end point of the circular driving path are located near the farm's entrance and exit. It is preferable for the number of straight paths in the reciprocating driving path to be even; however, if the number of straight paths is odd, the planting end point of the reciprocating driving path is located on the opposite side of the entrance and exit. To avoid this inappropriateness, such as... Figure 28 As shown, except for the final straight path ( Figure 28 The figure assigns a straight path other than the reference numeral Ln, for example Figure 28 The attached diagram assigns a straight path marked Ln-1, which is set to travel empty without any work (non-seedling planting work), and then proceeds on the next straight path ( Figure 28 After traveling along the final straight path (as indicated by the attached diagram Ln), the rice seedlings are planted while the vehicle continues along the previously vacant straight path. Thus, the planting end point of the final straight path is reversed to the entrance / exit side. Figure 28 In the example, the position of the insertion end point is moved by the insertion width. To avoid this, it is better to select an empty driving straight path for other straight paths.

[0230] Figure 29 The diagram shows the control block diagram of the rice transplanter's control system. The control system consists of a control device 260 that controls various actions of the rice transplanter, a universal terminal 209 that can exchange data with the control device 260, and a remote controller 290. Signals from the positioning unit 208, the driving mode switching operation unit 224, the travel sensor group 228, the work sensor group 229, and the obstacle detector 280 are input to the control device 260. Control signals from the control device 260 are input to the travel equipment group 201A and the work equipment group 201B.

[0231] The driving equipment group 201A includes, for example, a steering motor M21 and a transmission operation motor M22. Based on the control signal from the control device 260, the steering angle is adjusted by controlling the steering motor M21, and the vehicle speed is adjusted by controlling the transmission operation motor M22.

[0232] The operating equipment group 201B includes, for example, a lifting cylinder 211a for adjusting the height of the seedling transplanting device 203, a seedling quantity adjustment device for adjusting the seedling quantity based on the transplanting mechanism 232, and a conveying quantity adjustment device for changing the fertilizer conveying quantity based on the conveying mechanism 242.

[0233] The driving sensor group 228 includes various sensors that detect states such as steering angle, vehicle speed, and engine speed, as well as set values ​​for these states. The operation sensor group 229 includes various sensors that detect the states of the linkage mechanism 211, the seedling transplanting device 203, and the fertilization device 204.

[0234] The control device 260 includes a driving control unit 206, an operation control unit 251, a body position calculation unit 252a, a body orientation calculation unit 252b, a driving path management unit 253, a driving control status sensing unit 255, a boundary crossing management unit 256, a start guidance management unit 257, an input signal processing unit 250a, and a communication unit 250b.

[0235] The universal terminal 209, connected to the control device 260 via the vehicle's LAN, includes a farm information storage unit 291, a farm map generation unit 292, a driving path generation unit 293, a boundary line calculation unit 294, and a driving trajectory generation unit 295. The farm information storage unit 291 stores farm-related information such as plant species, farm entrance (exit) locations, and possible locations for seedling replenishment. The farm map generation unit 292 is used for this purpose. Figure 21 The map creation process has been explained.

[0236] The driving path generation unit 293 includes a work start point setting unit 293a and a start point guidance path generation unit 293b. The driving path generation unit 293 divides the farm into an outer perimeter area and an inner area based on a farm map created by the farm map creation unit 292, generating a circular driving path for driving in the outer perimeter area and a reciprocating driving path for driving in the inner area. The work start point setting unit 293a, functioning as a work start point setting unit, sets the starting point of the generated reciprocating driving path as the work start point (planting start point) for the start of farm work under automatic driving. The ending point of the generated reciprocating driving path becomes the planting end point. It should be noted that, alternatively, the work start point and planting end point can be initially set in the inner area, and the reciprocating driving path can be generated to connect the work start point and the planting end point. The start point guidance path generation unit 293b generates a work start point guidance path as a driving path for the machine 201, which is in standby mode after completing the teaching drive, to automatically drive to the work start point.

[0237] Boundary line calculation unit 294 is used Figure 21 Step #C2 describes the boundary line calculation process. In the map production process performed by the farm map production unit 292 and the boundary line calculation process performed by the boundary line calculation unit 294, it is necessary to create a teaching trajectory for the vehicle during map production. The trajectory generation unit 295 generates the trajectory of the vehicle 201 based on the vehicle position calculated by the vehicle position calculation unit 252a.

[0238] The input signal processing unit 250a processes signals from various sensors, switches, rods, etc., installed on the rice transplanter and transmits them to the functional unit built into the control device 260. The communication unit 250b has wireless communication capabilities, performs data communication with external devices, such as with the remote controller 290, and transmits the received data to the input signal processing unit 250a.

[0239] The driving control unit 206 includes an automatic driving control unit 206A, a manual driving control unit 206B, and a control management unit 206C. The automatic driving control unit 206A performs speed control and steering control during automatic driving. Steering control is performed by comparing the driving path that becomes the target set by the driving path management unit 253 with the body position and body orientation calculated by the body position calculation unit 252a and the body orientation calculation unit 252b, and calculating the lateral and orientation deviations to minimize these deviations.

[0240] In addition to the automatic driving mode in which the rice transplanter automatically travels along a target path, it also has a straight-line maintaining driving mode, which is a mode in which the transplanter automatically travels straight while maintaining the orientation of a baseline defined by at least two points. The baseline used in the straight-line maintaining driving mode can be the straight-line driving path managed by the driving path management unit 253.

[0241] In manual driving mode, the manual driving control unit 206B controls the steering motor M21 based on the amount of steering wheel 221 operation. The control management unit 206C selects any one of the following modes based on the signal from the driving mode switching operation unit 224: automatic driving mode, straight-line maintaining driving mode, and manual driving mode.

[0242] The operation control unit 251 automatically controls the work equipment group 201B based on a pre-given program during automatic driving, and controls the work equipment group 201B based on the driver's operation during manual driving. The body position calculation unit 252a calculates the map coordinates (body position) of the body 201 based on satellite positioning data sequentially sent from the positioning unit 208. The body orientation calculation unit 252b calculates the orientation (traveling orientation) of the body 201 based on the body position calculated by the body position calculation unit 252a over time.

[0243] The driving path management unit 253 receives and manages various driving paths generated by the driving path generation unit 293 from the general terminal 209, and sequentially sets them as the driving paths that are the target of the machine body turning in automatic driving mode.

[0244] The driving control state sensing unit 255 senses the driving control state and the operation control state based on the control information processed by the control device 260.

[0245] The boundary management unit 256 has the function of preventing the machine body 201 from coming into contact with boundary objects such as field ridges because the machine body 201 exceeds the boundary line (boundary line data) calculated by the boundary line calculation unit 294. For example, the boundary management unit 256 determines whether the machine body 201 has crossed the boundary line based on the position of the machine body, and provides a stop command to the driving control unit 206 to prohibit the machine body 201 from crossing the boundary line.

[0246] The start guidance management unit 257 determines whether to use the work start point guidance path to automatically drive the standby machine 201 to the work start point. The automatic driving start conditions in this embodiment are as described above, namely: (1) The machine 201 is located in a region facing the work start point, which is one side of the outer perimeter area where the work start point guidance path is set, and the difference between its body orientation and the orientation of the work start point guidance path is within a specified angle; (2) Even if the front or rear of the machine 201 faces a boundary object such as a field ridge with a specified boundary line, and the body orientation is approximately right-angled with the orientation of the work start point guidance path, the machine 201 has entered the automatic operation start area; (3) The machine 201 is located in the farm of the work object, and the orientation of the machine 201 is along the orientation of the start point guidance path, and the machine 201 is on the start point guidance path.

[0247] It should be noted that the start conditions for automatic driving are not limited to (1)(2)(3) mentioned above. The standby position of the machine body 201, which is stopped in order to start automatic driving using the work start point guide path, can be set as the start condition for automatic driving at any set specific position or orientation.

[0248] If the conditions for starting automatic driving are met, the system will notify the operator via the general terminal 209, a speaker (not shown), and lights that automatic driving from the current standby position to the start point of the work operation is permitted. Therefore, the operator initiates automatic driving using the work start point guidance path by performing an operation to begin automatic driving. If the conditions for starting automatic driving are not met, and the operator performs an operation to begin automatic driving at the current standby position, the system will notify the operator that automatic driving cannot begin and display the possible starting position and machine orientation on the display of the general terminal 209.

[0249] [Another implementation method in the third implementation method]

[0250] (1) In the above embodiment, the farm map making unit 292, the driving path generation unit 293, the boundary line calculation unit 294, and the driving trajectory generation unit 295 are built on the general terminal 209, but at least a portion of them may be built on the control device 260, or at least a portion of them may be built on an external management computer that can exchange data with the control device 260.

[0251] (2) The steering angle in the turning path based on the automatic driving control unit 206A can be controlled by following the generated turning path, or it can be controlled by using the steering angle of the predetermined turning path.

[0252] (3) In the above embodiments, a rice transplanter is used as an agricultural operation vehicle, but it can also be a combine harvester, tractor, direct seeding machine, spray (dispersing) management machine or other agricultural operation vehicle.

[0253] It should be noted that the configurations disclosed in the above embodiments (including another embodiment, the same below) can be combined with the configurations disclosed in other embodiments without causing contradictions. Furthermore, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope without departing from the purpose of the present invention.

[0254] Industrial availability

[0255] This invention can be applied to agricultural vehicles that can travel automatically.

[0256] Explanation of reference numerals in the attached figures:

[0257] [First Implementation Method]

[0258] 1: Body

[0259] 3: Seedling transplanting device

[0260] 4: Fertilizer application device

[0261] 6: Driving Control Unit

[0262] 6A: Automatic Driving Control Unit

[0263] 6B: Manual Driving Control Unit

[0264] 6C: Control Management Department

[0265] 8: Positioning Unit

[0266] 9: General-purpose terminal

[0267] 24: Driving mode switching control

[0268] 51: Operations Control Department

[0269] 52: Body Position Calculation Unit

[0270] 53: Driving Route Management Department

[0271] 54: Driving trajectory generation unit

[0272] 55: Driving control status sensing unit

[0273] 56: Boundary Management Department

[0274] 56a: Boundary Line Storage Unit

[0275] 56b: Border Crossing Control Unit

[0276] 56c: Boundary Crossing Permit Department

[0277] 56d: Boundary Crossing Permission Instruction Section

[0278] 80: Obstacle Detector

[0279] 90: Remote Control

[0280] 92: Farm Map Making Department

[0281] 93: Driving Path Generation Department

[0282] 94: Boundary Line Calculation Department

[0283] 100: Control device.

[0284] [Second Implementation]

[0285] 101: Machine Body

[0286] 103: Seedling transplanting device (agricultural material supply device, operating device)

[0287] 106: Driving Control Department

[0288] 106A: Automatic Driving Control Unit

[0289] 106B: Manual Driving Control Unit

[0290] 106C: Control Management Department

[0291] 108: Positioning Unit

[0292] 125: Operation Operator

[0293] 151: Operations Control Department

[0294] 152: Body Position Calculation Unit

[0295] 153: Driving Route Management Department

[0296] 155: Driving control status sensing unit

[0297] 156: Automated Operation and Driving Management Department

[0298] 180: Obstacle Detector

[0299] 190: Remote Control

[0300] 191: Farm Information Storage Department

[0301] 192: Farm Map Making Department

[0302] 193: Driving Path Generation Department

[0303] 194: Boundary Line Calculation Department

[0304] 195: Driving trajectory generation unit

[0305] 160: Control device.

[0306] [Third Implementation Method]

[0307] 201: Machine Body

[0308] 201A: Travel Equipment Group

[0309] 201B: Operating Equipment Group

[0310] 203: Seedling transplanting device

[0311] 204: Fertilizer application device

[0312] 206A: Automatic Driving Control Unit

[0313] 208: Positioning Unit

[0314] 208A: Satellite Positioning Module

[0315] 208B: Inertial Measurement Module

[0316] 209: General-purpose terminal

[0317] 231: Rice seedling platform

[0318] 252a: Body Position Calculation Unit

[0319] 252b: Body Orientation Calculation Unit

[0320] 253: Driving Route Management Department

[0321] 257: Begin guiding the management department

[0322] 292: Farm Map Making Department

[0323] 293: Driving Path Generation Department

[0324] 293a: Operation Start Point Setting Unit (Operation Start Point Setting Unit)

[0325] 293b: Starting Point Guided Path Generation Department

[0326] 295: Driving Trajectory Generation Department

[0327] 260: Control device

[0328] θ: Specified angular error.

Claims

1. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The boundary crossing permission instruction is an expansion instruction that causes the boundary line to expand toward the boundary object side, and the boundary crossing permission unit expands the boundary line toward the boundary object side based on the expansion instruction.

2. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The boundary crossing permission instruction is an invalidation instruction that invalidates the boundary line, and the boundary crossing permission unit invalidates the boundary line based on the invalidation instruction.

3. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The driving control state includes a straight-line approach state in which the distance from the body position to the boundary line reaches a predetermined distance during straight-line driving towards the boundary object, and outputting the boundary crossing permission command when the straight-line approach state is sensed.

4. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The driving control state includes a remote approach driving state where the vehicle approaches the boundary object via remote control operation, and outputs the boundary crossing permission command when the remote approach driving state is sensed.

5. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The driving control state includes a manual approach driving state in which the driver approaches the boundary object through a manual driving operation device, and outputs the boundary crossing permission command when the manual approach driving state is sensed.

6. An agricultural work vehicle that travels on farmland bounded by boundary markers, the agricultural work vehicle being capable of automatic travel, characterized in that, have: The body position calculation unit calculates the body position; The boundary crossing control unit prohibits movement across the boundary line based on the boundary line set to avoid contact with the boundary object and the position of the machine body; The boundary clearance department authorizes the machine to cross the boundary line via a boundary clearance command. as well as The boundary crossing permission instruction unit outputs the boundary crossing permission instruction to the boundary crossing permission unit based on the driving control state. The farm ground is divided into an outer perimeter area along the boundary line and an inner perimeter area located inside the outer perimeter area. Two driving modes are prepared: a circumferential driving mode and an internal driving mode. The circumferential driving mode involves working on the outer perimeter area while circling around it, while the internal driving mode involves working on the inner area while repeatedly driving straight and making U-turns. If straight-line driving in the internal operation driving mode continues into the outer perimeter area and the internal operation driving mode is interrupted, the boundary permission unit shall expand the boundary line or invalidate the boundary line.

7. The agricultural operation vehicle according to claim 6, characterized in that, When the interrupted internal operation driving mode is executed again, the expansion or invalidation of the boundary line by the boundary permission department is revoked.

8. The agricultural vehicle according to any one of claims 1 to 7, characterized in that, Satellite positioning is used to calculate the position of the boundary line and the position of the aircraft body.

9. The agricultural vehicle according to any one of claims 1 to 7, characterized in that, The boundary line is set to deviate from the boundary object by a specified distance inwards from the farm.

Images