Field vehicle

Abstract

An automatically travelable field work vehicle is provided with: a travel path setting section (53) that sets a target travel path that is a target of automatic travel; a work device that performs work in a predetermined travel direction; a work travel control section (63) that causes a vehicle body to travel in a work state; a non-work travel control section (64) that causes the vehicle body to travel in a non-work state; a worked travel trajectory management section (541) that manages a work trajectory based on a worked travel path in which work performed by the work device is implemented; and a corner work start position determination section (66) that determines a work start position in corner work travel with a direction change in an unworked corner region that is divided by at least two sides of the work trajectory.

Description

Technical Field

[0001] This invention relates to a field operation vehicle that can automatically travel along a set driving path. Background Technology

[0002] In the automatic rice transplanter of Patent Document 1, there is a clutch control unit that controls the switching of the driving state of the seedling transplanting device and a lifting control unit that controls the raising and lowering of the seedling transplanting device. When the driving of the seedling transplanting device stops, the seedling transplanting device rises; when the driving of the seedling transplanting device starts, the seedling transplanting device lowers. Operational driving is achieved by driving with the seedling transplanting device lowered and driven. Non-operational driving is achieved by driving with the seedling transplanting device lowered and not driven, or driving with the seedling transplanting device raised and not driven.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-108615 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In a rice transplanter, the field is divided into an outer perimeter area and an inner area within that outer perimeter area. When working in the inner area, multiple straight travel paths are set at intervals of the working width, and these straight travel paths are connected by 180° turns in the outer perimeter area. When working in the outer perimeter area, a loop travel path is set. If the field shape is not rectangular but a convex or concave polygon, 90° turns are needed to connect the straight travel paths. For example, when working (transplanting seedlings, sowing) in an L-shaped, unworked corner area.

[0008] In cases where, to avoid omissions, work should begin near the point where the work should have started, work number 1003.

[0009] During the planting process, some of the already planted seedlings may be trampled, resulting in overlapping work. Conversely, if work is started before the correct starting point in order to avoid trampling the already planted seedlings, planting residues and other work residues may be created.

[0010] In view of the above actual situation, a field operation vehicle is provided that can reasonably solve the problems of overlapping operations and leftover work.

[0011] Solution for solving the problem

[0012] The automatically driving field operation vehicle of the present invention comprises: a driving path setting unit that sets a driving path generated to match the shape of the field as a target driving path for automatic driving; a working device that performs operations along a predetermined driving direction; a working driving control unit that drives the vehicle body when the working device is in operation; a non-working driving control unit that drives the vehicle body when the working device is not in operation; a working driving trajectory management unit that manages the working trajectory based on the working driving path in which the work performed by the working device has been carried out; and a corner working start position determination unit that considers the working trajectory and determines the working start position of the work in a corner working driving with a change of direction in an unworked corner area bounded by at least two sides of the working trajectory.

[0013] According to this structure, when performing work while changing direction to cover unworked corner areas demarcated by at least two sides of the work trajectory, the start position of the work is determined based on the work trajectory of the already completed travel path. That is, the start position is determined by considering the range of start positions with a high probability of overlapping work and the range of start positions with a high probability of work omission (work overrun), to reasonably suppress overlapping work and work overrun. For example, when the field work vehicle is a rice transplanter, the work performed by the work device is seedling transplanting; when the field work vehicle is a seeder, the work performed by the work device is sowing. To distribute seedlings and seeds as evenly as possible in the field, it is necessary to suppress overlapping work and work overrun.

[0014] In one preferred embodiment of the present invention, the field operation vehicle includes an operation driving mode selection unit, which selects between an overlapping operation driving mode and a non-overlapping operation driving mode. The overlapping operation driving mode is a mode in which the operation driving is performed in a manner that makes the operation trajectories overlap in the corner area, and the non-overlapping operation driving mode is a mode in which the operation driving is performed in a manner that avoids the operation trajectories. The corner operation start position determination unit determines the operation start position based on the operation driving mode selected by the operation driving mode selection unit.

[0015] Depending on the field operation manager's intentions and the type of field operation, there are situations where they want to avoid both omissions and oversights. In this structure designed to address these issues, when the overlapping operation mode is selected, operation travel without omissions can be achieved, such as operation travel without oversights of transplanted seedlings. Furthermore, when the non-overlapping operation mode is selected, operation travel without overlap can be achieved, such as operation travel that avoids trampling of transplanted seedlings.

[0016] In one of the preferred embodiments of the present invention, the operation driving mode selection unit has an arbitrary operation driving mode selection. When the arbitrary operation driving mode is selected, the operation start position is determined by the operator's manual operation.

[0017] When field operation managers have skilled operating techniques for field operation vehicles, they can achieve, through optimized combination of work start position and turning technology, manual steering that is difficult to achieve with automatic steering, without leaving any work behind or causing overlapping work.

[0018] In one preferred embodiment of the present invention, the field operation vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap of the operations in the overlapping operation driving mode and reports the amount of overlap.

[0019] Even if overlapping operation mode is desired, it must be avoided when the overlap is too large. In other words, it's not uncommon for the choice of overlapping operation mode to depend on the amount of overlap. This architecture can determine whether to select or abandon overlapping operation mode based on the reported overlap amount.

[0020] In one of the preferred embodiments of the present invention, the overlapping operation driving management unit has the following functions: calculating the vehicle's forward and backward movement of the operation trajectory entering the corner area under the overlapping operation driving mode, and reporting the vehicle's forward and backward movement.

[0021] The overlap amount in the overlapping operation driving mode is related to the forward and backward movement of the vehicle body entering the work trajectory. Furthermore, such forward and backward movement of the vehicle body can damage the field surface; therefore, this forward and backward movement is also an important factor in selecting the operation driving mode. More preferably, the forward and backward movement of the vehicle body is reported along with the overlap amount.

[0022] In one preferred embodiment of the present invention, the field operation vehicle is equipped with a non-overlapping operation driving management unit, which calculates the amount of work left over in the non-overlapping operation driving mode and reports the amount of work left over.

[0023] Even if a non-overlapping operation mode is desired to allow for job backlogs, it must be avoided when the job backlog is too large. In other words, it's not uncommon for the choice of non-overlapping operation mode to depend on the job backlog. This architecture can determine whether to select or abandon a non-overlapping operation mode based on the reported job backlog.

[0024] In one preferred embodiment of the present invention, the field work vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap of the operations in the overlapping operation driving mode; the field work vehicle is equipped with a non-overlapping operation driving management unit, which calculates the amount of work left over in the non-overlapping operation driving mode; and the field work vehicle is equipped with an overlap adjustment unit, which can adjust the amount of overlap and the amount of work left over to a minimum by adjusting the forward and backward movement of the vehicle body.

[0025] During corner operations involving directional changes, the overlap and work residue vary depending on the machine's forward and backward movement. Therefore, optimization calculations can be performed to optimize these overlap and work residue. This structure allows for the automatic determination of the optimal overlap and work residue through manual operation or simulation programs.

[0026] In one preferred embodiment of the present invention, the field operation vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap of the operations in the overlapping operation driving mode; the field operation vehicle is equipped with a non-overlapping operation driving management unit, which calculates the amount of operation residue in the non-overlapping operation driving mode; and the field operation vehicle is equipped with a tillage calculation unit, which calculates the increase or decrease in harvest, the consumption and loss of agricultural materials, and the increase or decrease in necessary operation time based on the overlapping operation driving management unit and the non-overlapping operation driving management unit.

[0027] Farmers plan optimal farming by considering factors such as operation time, material losses, and harvest yield. At this time, farmers adjust the priority and weight of farming factors such as operation time, material losses, and harvest yield, while simultaneously determining the farming outcome. In this structure designed to assist such farming, farmers can set the order and weight of farming factors so that the farming calculation unit can calculate increases or decreases in harvest yield, consumption and losses of agricultural materials, and necessary operation time. Furthermore, simulation programs can be used to automatically output the optimal farming result. Moreover, it can collaborate with a job path generation function, for example, suggesting a job path structure that prioritizes the most important farming factor, such as harvest yield. Attached Figure Description

[0028] Figure 1 This is a side view of a rice transplanter equipped with an automatic steering system.

[0029] Figure 2 This is a schematic diagram illustrating the power transmission from the engine to the insertion mechanism.

[0030] Figure 3This is a schematic diagram illustrating the raising and lowering of the seedling transplanting device and the land preparation floating plate.

[0031] Figure 4 This is a schematic diagram illustrating the automatic travel path used in rice transplanters.

[0032] Figure 5 This is a diagram illustrating the relationship between the set starting position for seedling planting and the actual starting position for seedling planting.

[0033] Figure 6 This is a schematic diagram illustrating a 90-degree turn in overlapping operation driving mode.

[0034] Figure 7 This is a schematic diagram illustrating a 90-degree turn in a non-overlapping operation driving mode.

[0035] Figure 8 This is a functional block diagram representing the control system of a rice transplanter. Detailed Implementation

[0036] The following description uses a rice transplanter as an example to illustrate one embodiment of the automatic paddy field operation vehicle of the present invention. In this embodiment, unless otherwise specified, "front" is used. Figure 1 The direction of arrow F shown refers to the front of the aircraft in the forward / backward direction (direction of travel), and the "back" (or "rear") refers to the rear of the aircraft. Figure 1 The direction of arrow B (as shown) refers to the rear of the aircraft in the forward-backward direction (direction of travel). Furthermore, "left-right" or "lateral" refers to the left-right direction of the aircraft (direction of aircraft width) orthogonal to the forward-backward direction; "left" refers to... Figure 1 The front direction of the paper in the middle, "right" refers to Figure 1 The paper in the middle faces inwards.

[0037] [Overall Structure]

[0038] like Figure 1 As shown, the rice transplanter is a ride-on type with a four-wheel drive body 1. The body 1 includes a parallel four-bar linkage 13, a hydraulic lifting cylinder 13a, a seedling transplanting device 3A, and a fertilizing device 3B. The linkage 13 is connected to the rear of the body 1 in a lifting and swinging manner. The lifting cylinder 13a drives the linkage 13 to swing. The seedling transplanting device 3A is connected to the rear end of the linkage 13 in a side-rolling manner. The fertilizing device 3B is mounted from the rear end of the body 1 to the seedling transplanting device 3A. In this embodiment, the seedling transplanting device 3A and the fertilizing device 3B are the working devices 3 of the automatic driving vehicle of the present invention, performing seedling transplanting operations along a predetermined direction.

[0039] The vehicle body 1 includes a wheeled running gear 12, an engine 2A, and a hydraulic continuously variable transmission (CVT) 2B. The CVT 2B is the main transmission. The CVT 2B is, for example, an HST (Hydro-Static Transmission). The CVT 2B changes the speed of the power output from the engine 2A by adjusting the angles of the motor swashplate and the pump swashplate. The running gear 12 has left and right front wheels 12A and left and right rear wheels 12B. The left and right front wheels 12A function as steering wheels for changing the vehicle's orientation. The left and right rear wheels 12B cannot steer.

[0040] like Figure 1 As shown, the rear of the vehicle body 1 includes a driver's compartment 14. The driver's compartment 14 includes a steering wheel 10 for front-wheel steering, a main gearshift lever 7A, a secondary gearshift lever 7B, a work control lever 11, and a driver's seat 16 for passengers (driver / operator / manager). The main gearshift lever 7A adjusts the vehicle speed by operating the continuously variable transmission (CVT) 2B. The secondary gearshift lever 7B enables the operation of the secondary transmission. The work control lever 11 is used for raising and lowering the seedling transplanting device 3A. Furthermore, in front of the driver's compartment 14, a seedling storage device 17A is supported on a seedling support frame 17. The seedling storage device 17A holds the seedlings.

[0041] The steering wheel 10 is connected to the front wheels 12A via a steering mechanism (not shown). The steering angle of the front wheels 12A is adjusted by rotating the steering wheel 10. A steering motor M1 is connected to the steering mechanism. During automatic steering, the steering motor M1 operates based on a steering signal, thereby adjusting the steering angle (steering degree) of the front wheels 12A. Furthermore, in this embodiment, a transmission operation motor M2 is provided for automatically operating the main gear lever 7A. During automatic driving, the transmission operation motor M2 operates based on a transmission signal, thereby adjusting the transmission position of the continuously variable transmission 2B.

[0042] like Figure 2 As shown, as an example, the seedling transplanting device 3A is illustrated in an eight-row planting configuration. It should be noted that the seedling transplanting device 3A can also be in other configurations such as a six-row or ten-row planting configuration. Power from the engine 2A is distributed to each planting mechanism 22 via the planting clutch C0 and the row clutches EC. The planting clutch C0 switches the drive state of the seedling transplanting device 3A by engaging / disengaging the power transmission from the engine 2A. The row clutches EC are configured to select the drive or non-drive state of each planting mechanism 22 every two rows in the seedling transplanting device 3A. Through the control of the row clutches EC, the seedling transplanting device 3A can be changed to a two-row, four-row, six-row, or eight-row planting configuration.

[0043] like Figure 1 and Figure 2 As shown, the seedling transplanting device 3A includes a seedling carrier platform 21 and transplanting mechanisms 22. The seedling carrier platform 21 is a base for holding eight rows of pad-shaped seedlings. The seedling carrier platform 21 moves back and forth in the left-right direction with a certain stroke corresponding to the left-right width of the pad-shaped seedlings. Whenever the seedling carrier platform 21 reaches the end of its stroke on the left or right side, each pad-shaped seedling on the seedling carrier platform 21 is longitudinally fed towards the lower end of the seedling carrier platform 21 at a predetermined interval. The eight transplanting mechanisms 22 are rotary and are arranged in the left-right direction at a certain interval corresponding to the spacing between the transplanting rows. Furthermore, by switching the transplanting clutch C0 to a transmission state, power from the engine 2A is transmitted to each transplanting mechanism 22. Each transplanting mechanism 22 uses the power from the engine 2A to cut a seedling (transplanted seedling) from the lower end of each pad-shaped seedling placed on the seedling carrier platform 21 and transplants it into the prepared soil. Thus, the seedling transplanting device 3A can remove seedlings from the pad-shaped seedlings placed on the seedling platform 21 and transplant them into the soil of the paddy field while in operation.

[0044] The fertilizer applicator 3B includes a hopper 25, a delivery mechanism 26, and a fertilizer hose 28. The hopper 25 stores granular or powdered fertilizer (pesticides, other agricultural supplies). The delivery mechanism 26 delivers fertilizer from the hopper 25. The fertilizer hose 28 transports the fertilizer delivered by the delivery mechanism 26 and discharges it into the field. Each time, a predetermined amount of fertilizer stored in the hopper 25 is delivered by the delivery mechanism 26 to the fertilizer hose 28, where it is transported by airflow from the blower 27 and discharged into the field through the furrow opener 29. In this way, the fertilizer applicator 3B supplies fertilizer to the field.

[0045] The ditch opener 29 is equipped on the land preparation float 15. Furthermore, each ditch opener 29 rises and falls together with each land preparation float 15. When the land preparation float 15 is in contact with the ground during operation, the ditch opener 29 forms a fertilizer ditch in the soil of the paddy field and guides the fertilizer into the fertilizer ditch.

[0046] like Figure 3As shown, the linkage mechanism 13 is displaced by the extension and retraction of the lifting cylinder 13a. The seedling transplanting device 3A is raised and lowered by the displacement of the linkage mechanism 13. The lifting cylinder 13a is controlled by control commands from the control unit 100. The lifting cylinder 13a is extended and retracted by the control of the hydraulic valve 13b. The raising and lowering position of the seedling transplanting device 3A can be detected, for example, by the raising and lowering position sensor 332. In addition, the land leveling float 15 is mounted on the frame of the seedling transplanting device 3A by the swing linkage 15A in a way that allows it to swing up and down. The swing angle of the land leveling float 15 is detected by the float swing detection sensor and sent to the control unit 100. The float swing detection sensor also functions as a grounding sensor 331. When the height of the seedling transplanting device 3A relative to the paddy field surface (which is the soil surface below the paddy field surface, i.e., the surface of the paddy field foundation) changes, the front end of the land leveling float 15 swings up and down relative to the frame of the seedling transplanting device 3A by the grounding reaction force acting on the land leveling float 15. Therefore, the height of the seedling transplanting device 3A relative to the paddy field surface can be sensed based on the swing angle of the land leveling float 15 relative to the frame of the seedling transplanting device 3A. In other words, the land leveling float 15 also functions as the detected displacement body of the grounding sensor 331. The seedling transplanting device 3A rises and falls between an upper position (rising position) where the land leveling float 15 is higher than the paddy field surface and a lower position (falling position) where the land leveling float 15 is grounded on the paddy field surface.

[0047] like Figure 1 The communication terminal 9, shown, is detachably mounted to the driver's unit 14 and is, for example, a tablet computer. The communication terminal 9 can output various information to the operator in the form of visual and auditory information, and can also accept various information inputs. The communication terminal 9 is wirelessly or wiredly connected to the rice transplanter's control system in a manner capable of data exchange. Various functions for automatic driving are installed on the communication terminal 9. For example, a structure can also be adopted in which the rice transplanter's control system (control unit 100) can be remotely operated from a location far from the rice transplanter.

[0048] Furthermore, the rice transplanter is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position and orientation of the vehicle body 1. The positioning unit 8 includes a satellite positioning module 8A and an inertial measurement module 8B. The satellite positioning module 8A receives radio waves from satellites of the Global Navigation Satellite System (GNSS). The inertial measurement module 8B detects the tilt and acceleration of the vehicle body 1 along its three axes. The positioning unit 8 is supported on the upper part of the pre-planted seedling support frame 17.

[0049] [Driving Route]

[0050] use Figure 4 This section explains the operation of the rice transplanter, which uses automatic movement to transplant rice seedlings into the field.

[0051] The rice transplanter in this embodiment can selectively perform manual and automatic driving. In manual driving, the driver operates the steering wheel 10, main gear lever 7A, auxiliary gear lever 7B, and operation control lever 11 manually (including remote control) to perform the work. In automatic driving, the rice transplanter travels and performs work along a predetermined target path through automatic control.

[0052] When a rice transplanter is planting rice seedlings, the operator first manually controls the machine to move it along the outer perimeter (outer edge) of the field without actually operating it. For example... Figure 3 As shown, the outer shape of the field (field map) is generated by this circling drive, dividing the field into an outer perimeter region OA and an inner region IA.

[0053] When a field map is generated, a travel path for the rice transplanter to navigate automatically is also generated. Within the inner region IA, multiple straight travel paths (hereinafter referred to as straight travel paths, but not necessarily limited to straight lines) extending approximately parallel to one edge of the field are generated. The direction of extension of this travel path is also called the row direction. This straight travel path is used to enable the rice transplanter to operate throughout the entire inner region IA. Automatic steering during automatic driving is performed with this straight travel path as the target path. Each straight travel path is connected by a U-shaped turning travel path (essentially a 180-degree turn). Driving along the straight travel paths and driving along the turning paths are controlled by automatic driving, consisting of automatic steering and automatic transmission.

[0054] Within the outer perimeter region OA, generate one or more looping travel paths that circumnavigate the outer perimeter (outer edge) of the field within the outer perimeter region OA. For example, in... Figure 4 In this example, the loop driving path consists of two loop driving paths: an inner one and an outer one. Automatic driving can be performed on both the inner and outer loop driving paths, but manual driving can also be performed on either one or both.

[0055] Traveling along a straight path is essentially operational travel. During operational travel, with the seedling planting device 3A lowered to its lowest position, the vehicle body 1 moves while the seedling planting device 3A, which is the operational device 3, is working. This allows for straight-line seedling planting operations in several rows.

[0056] When the operation on a straight driving path is completed, the vehicle body 1 makes a 180-degree turn towards the next straight driving path to be used for operation. This 180-degree turn of the vehicle body 1 is non-operational driving. During non-operational driving, the seedling planting device 3A, which is the working device 3, rises to the upper position, and the land leveling floating plate 15 is located above the paddy field surface. In this state, the seedling planting device 3A stops, and the vehicle body 1 moves.

[0057] In the case of Figure 4 In the rice seedling planting operation carried out in the rectangular field shown, the seedlings are first planted in the inner area IA by a combination of straight-line travel for work and 180-degree turns for non-work travel. Next, the seedlings are planted in the outer area OA by a combination of straight-line travel for work and 90-degree turns for non-work travel on the outer perimeter path. During the seedling planting operation in the inner area IA, a 180-degree turn is performed each time a work trip is completed on a straight-line travel path and the next straight-line travel path is moved. This 180-degree turn is performed in the outer perimeter area OA in a non-work state (without seedlings planted), thus ensuring sufficient turning space.

[0058] However, during the 90-degree turn in the L-shaped corner area of ​​the outer perimeter region OA, the seedling planting operation in the inner region IA has already been completed. Therefore, the area freely available for turning—the unworked area where seedling planting has not yet occurred—is limited. The planting mechanism 22 rotates while tracing an elliptical trajectory in the vertical direction. The planting claws of the planting mechanism 22 plant the seedlings into the field surface at their lower positions. Therefore, unnecessary rotational movement occurs before seedling planting. Consequently, accurate row alignment is difficult to achieve during the seedling planting operation before and after this 90-degree turn. For example, even if… Figure 5 As shown in (a), the vehicle begins operation at the designated planting start position Ps on the set driving path, and the planting point implemented by the planting mechanism 22 is also delayed. Therefore, the actual planting start position Pr of the seedlings is the position after the vehicle body 1 has traveled a delay distance Lo. As a result, planting residue will occur.

[0059] To avoid planting problems caused by this delay, such as Figure 5As shown in (b), it is preferable to start the operation from the designated planting start position Ps towards the preliminary planting start position Pf, which is a distance L1 away from the designated planting start position. By setting the preliminary distance L1 to the maximum delay distance Lo or slightly shorter than the maximum delay distance Lo, the distance between the actual planting start position Pr and the designated planting start position Ps in the driving direction can be reduced, effectively preventing planting overruns. However, there is a high probability that the actual planting start position Pr will fall between the preliminary planting start position Pf and the designated planting start position Ps, resulting in so-called overlapping planting where seedlings planted there are close to previously planted seedlings. Moreover, when the designated planting start position Ps crosses the work trajectory of the previous seedling planting operation, i.e., the boundary line between the worked area and the unworked area, the vehicle body 1 under the preliminary planting start position Pf will enter the work trajectory. In other words, it is possible that the previous work trajectory and the work trajectory starting from the preliminary planting start position Pf will partially overlap, thereby trampling the previously handled seedlings.

[0060] In such Figure 5 The work driving mode that starts at a set time, as in (a), is called the non-overlapping work driving mode. Figure 5 The scheduled start-up mode for operation, as described in (b), is called the overlapping operation mode. This mode is primarily used when operating in untouched corner areas, employing either a pre-selected non-overlapping or overlapping operation mode. The start position for each operation mode is determined by the operational trajectory from previous seedling planting operations, i.e., the boundary between the already operated area and the untouched area. The start position differs between the non-overlapping and overlapping operation modes.

[0061] Next, use Figure 6 and Figure 7 The specific operational driving process at the L-shaped turning area, which is considered an unoperated area, is explained. In the two figures, the operational trajectory representing the planted seedling area is depicted in light color. The driving path in this L-shaped turning area is a lateral driving path Lh extending in the left-right direction along the paper and a longitudinal driving path Lv orthogonal to the lateral driving path Lh.

[0062] Figure 6The diagram illustrates the operation in a non-overlapping operation mode. Vehicle 1, which has been planting seedlings from right to left along the lateral travel path Lh, stops at position P01. This position P01 is separated from the boundary line of the operation trajectory along the longitudinal travel path Lv. Vehicle 1 then makes a 90-degree turn from position P01 toward the longitudinal travel path Lv in a non-operational mode. Vehicle 1 stops the 90-degree turn at position P02 on the longitudinal travel path Lv and then reverses along the longitudinal travel path Lv. To avoid entering the already-operated area, the reversing stops at position P03, the intersection of the boundary line between the already-operated and non-operated areas and the longitudinal travel path Lv. Afterwards, operation begins again with position P03 as the set planting start position PS. Therefore, a delay distance Lo is generated, creating a second planting residue area A2. Figure 6 (As shown by the diagonal line). Furthermore, during this non-operational 90-degree turn, non-operational driving begins at position P01. Therefore, a first planting residue area A1 will be generated between the operational trajectory along the lateral travel path Lh up to position P01 and the operational trajectory along the longitudinal travel path Lv in this current operation. Figure 6 (As shown by the diagonal lines). The first planting residue area A1 and the second planting residue area A2 represent the amount of planting residue (area or number of planting rows). In the non-overlapping operation mode, although trampling of seedlings can be avoided, planting residue will still be generated.

[0063] Figure 7 The diagram illustrates the operation in an overlapping operation mode. Vehicle 1, which has been performing seedling planting from right to left along the lateral travel path Lh, stops at position P21. This position P21 is the right end of the operation trajectory along the longitudinal travel path Lv. Therefore, the first planting residue area A1 (…) generated in the non-overlapping operation mode… Figure 7(As shown by the dashed line) In the overlapping operation driving mode, seedlings will be planted, so no first planting residue area A1 will be generated. Vehicle 1 makes a 90-degree turn from position P21 toward the longitudinal driving path Lv in a non-operational mode. Compared with the non-overlapping operation driving mode, position P21, which is the starting point of the turn, is closer to the longitudinal driving path Lv, so vehicle 1 will enter the longitudinal driving path Lv with a slight over-turn. Due to this over-turn, vehicle 1 will enter the already operated area, thus generating the first stepping area B1. After the over-turn, vehicle 1 returns to position P22 on the longitudinal driving path Lv to stop the 90-degree turn, and then reverses along the longitudinal driving path Lv. During this reversal, vehicle 1 crosses the boundary line between the operated area and the non-operational area at position P23 and enters the operated area, stopping the reversal at position P4. At this point, the work trajectory from the previous operation partially overlaps with the work trajectory of the current operation, thus creating a work area of ​​width along the longitudinal travel path Lv between positions P24 and P23, namely the second trampling area B2 (depicted in greater detail). Next, the operation continues from position P24 along the longitudinal travel path Lv. In other words, in the overlapping operation mode, position P24 within the already worked area is the set planting start position PS. As a result, overlapping planting of seedlings may occur in the second trampling area B2. In the overlapping operation mode, the first trampling area B1 and the second trampling area B2 represent the overlap amount (area or number of trampled rows). Specifically, the second trampling area B2 represents the amount of overlapping seedling planting (area or number of overlapping planting rows). In the non-overlapping operation mode, although planting residue can be avoided, seedling trampling will occur.

[0064] Figure 8 The diagram shows the control block diagram of the rice transplanter's control system. The control system consists of a control unit 100 that controls various actions of the rice transplanter and a communication terminal 9 that can exchange data with the control unit 100. The control unit 100 receives signals from the positioning unit 8, the manual operation sensor group 31, the travel sensor group 32, and the work sensor group 33. Control signals from the control unit 100 are output to the travel equipment group 1A and the work equipment group 1B.

[0065] The control unit 100 obtains positioning data from the satellite positioning module 8A of the positioning unit 8 for calculating the position and orientation (orientation of the vehicle body in the front and rear directions) of the vehicle body 1, and obtains inertial measurement data related to the tilt and acceleration of the three axes of the vehicle body 1 from the inertial measurement module 8B.

[0066] The driving equipment group 1A includes, for example, a steering motor M1 and a transmission operation motor M2. The steering motor M1 is controlled based on a control signal from the control unit 100, thereby adjusting the steering angle. In addition, the vehicle speed is adjusted by controlling the transmission operation motor M2.

[0067] The operating equipment group 1B includes, for example, a lifting cylinder 13a, a seedling quantity adjustment device, a delivery quantity adjustment device, and control devices for engaging / disengaging the planting clutch C0 and the clutches EC for each row. The lifting cylinder 13a raises and lowers the seedling planting device 3A. The seedling quantity adjustment device adjusts the seedling quantity achieved by the planting mechanism 22. The delivery quantity adjustment device changes the fertilizer delivery quantity achieved by the delivery mechanism 26.

[0068] The manual operation sensor group 31 includes sensors and switches that detect the operating status of various manual operation components. The driving sensor group 32 includes various sensors that detect the status of steering angle, vehicle speed, engine speed, etc., and their set values. The operation sensor group 33 includes a grounding sensor 331 that detects the grounding of the grounding float 15, a lifting position sensor 332 that detects the lifting position of the linkage mechanism 13, and various sensors that detect the driving status of the seedling transplanting device 3A and the fertilization device 3B.

[0069] The control unit 100 includes a driving control unit 6, an operation control unit 51, a vehicle position calculation unit 52, a driving path setting unit 53, and a driving trajectory management unit 54.

[0070] The vehicle position calculation unit 52 calculates the map coordinates (vehicle position) of the vehicle 1 based on the satellite positioning data and inertial navigation data sequentially sent from the positioning unit 8. These map coordinates can be latitude and longitude, or coordinates in a field coordinate system or a specific coordinate system.

[0071] In this embodiment, the communication terminal 9 includes a touch panel interface 90, a field information storage unit 91, a driving route map generation unit 92, a driving route generation unit 93, and a remote control unit 94. The touch panel interface 90 is a graphical interface, which has the function of displaying and inputting information through the touch panel equipped on the communication terminal 9. Therefore, the communication terminal 9 can function as an input / output interface for information and data of the control unit 100.

[0072] The field information storage unit 91 stores field-related information such as the location of the field's entrance (exit) and the location where seedlings or fertilizer can be replenished. The driving path map generation unit 92 generates a map based on the path taken by the vehicle body 1 along the outer perimeter area OA of the field (refer to...). Figure 3 The driving path generation unit 93 calculates the outer dimensions of the field by traversing its outermost perimeter, i.e., the boundary line with the field ridges. Based on these dimensions, the driving path generation unit 93 divides the field into an outer perimeter region OA and an inner region IA, generating a driving path for automated driving. For example... Figure 3As shown, the driving path consists of a circular driving path for driving in the outer peripheral area OA and a straight driving path for driving in the inner area IA. The generated driving path is sent to the control unit 100.

[0073] The remote control unit 94 has a program that enables the communication terminal 9 to function as a remote control for operating the rice transplanter. When the remote control unit 94 is in operation, the manager can use the hardware switch attached to the communication terminal 9 and the software switch displayed on the touch panel of the communication terminal 9 to remotely operate the control system (control unit 100) of the rice transplanter.

[0074] The driving path setting unit 53, which is built into the control unit 100, receives and manages the driving path generated by the driving path generation unit 93 from the communication terminal 9, and sets the driving paths that are the targets for path following steering control as target driving paths in sequence.

[0075] The driving trajectory management unit 54 generates and manages driving trajectories based on the vehicle position calculated by the vehicle position calculation unit 52. Furthermore, the driving trajectory management unit 54 includes a completed driving trajectory management unit 541. The completed driving trajectory management unit 541 generates and manages a work trajectory representing the completed area (area where seedlings are planted) when the vehicle 1 has been working along the work path at a predetermined work width, based on the driving trajectory of the completed driving path.

[0076] In automatic driving, the operation control unit 51 automatically controls the work equipment group 1B based on a pre-provided program. In manual driving, the operation control unit 51 controls the work equipment group 1B based on the driver's operation. The operation control unit 51 cooperates with the driving control unit 6 to control the lifting and lowering of the seedling transplanting device 3A and the driving of the transplanting mechanism 22. At this time, the lifting cylinder 13a belonging to the work equipment group 1B is extended and retracted by the lifting control unit 51a of the operation control unit 51, thereby raising and lowering the seedling transplanting device 3A.

[0077] The driving control unit 6 includes an automatic driving control unit 6A, a manual driving control unit 6B, and a control management unit 6C. This rice transplanter can switch between an automatic driving mode and a manual driving mode. The control management unit 6C selects either the automatic or manual driving mode based on signals from a manual operation sensor (one of the manual operation sensor groups) that detects the status of a driving mode switching operation element (not shown) and a switching signal generated by the control unit 100.

[0078] In manual driving mode, the manual driving control unit 6B controls the steering motor M1 based on the amount of operation of the steering wheel 10, and controls the gear shifting motor M2 based on the operation of manual operating components such as the main gear lever 7A and the auxiliary gear lever 7B.

[0079] The automatic driving control unit 6A, which operates in automatic driving mode, includes a path-following steering unit 61, a turning automatic steering unit 62, a work driving control unit 63, a non-work driving control unit 64, a work driving mode selection unit 65, and a corner work start position determination unit 66. The path-following steering unit 61 performs path-following control to make the vehicle body 1 travel along a target driving path set by the driving path setting unit 53. In path-following control, the path-following steering unit 61 uses the vehicle body position calculated by the vehicle body position calculation unit 52 to calculate the positional offset (lateral offset relative to the target driving path) and azimuth offset (angle of offset of the vehicle body azimuth relative to the azimuth of the target driving path) of the vehicle body 1 relative to the target driving path. Furthermore, in path-following control, the path-following steering unit 61 performs steering control in a manner that minimizes these positional and azimuth offsets.

[0080] The automatic steering unit 62 performs steering control for normal turning operations, such as 90-degree turns and 180-degree turns, in the turning area to ensure sufficient direction change for the vehicle body 1. Each turning operation is performed by executing a pre-registered program.

[0081] The operation and driving control unit 63 drives the vehicle body 1 to operate while the seedling transplanting device 3A is lowered to the lower position, and simultaneously drives the transplanting mechanism 22 to transplant seedlings into the field.

[0082] The non-operational driving control unit 64 controls the movement of the vehicle body 1 when the operation of the seedling planting device 3A is stopped (non-operational state). Non-operational driving is used when the vehicle body 1 changes direction, such as when making a 90-degree turn, a 180-degree turn, or reversing.

[0083] As described above, in this embodiment, for rice seedling planting operations in unworked corner areas such as L-shaped corners, overlapping operation mode and non-overlapping operation mode are prepared. Of course, even in unworked corner areas, a skilled driver can manually operate the vehicle to avoid trampling the seedlings or damaging the field surface. In other words, the driver can also determine the seedling planting status of the field, input control points such as the start position for corner operation, and then perform automatic operation. Of course, the driver can also perform manual operation. In such operation, the manager or driver arbitrarily determines the start position for corner operation; therefore, this operation is also called an arbitrary selection operation mode. The manual operation mode is included in the arbitrary selection operation mode. The operation mode selection unit 65 selects an operation mode from the overlapping operation mode, non-overlapping operation mode, and arbitrary selection operation mode based on instructions from the manager or driver. In the arbitrary selection operation mode, control points such as the start position are input, and then either the automatic operation mode or the manual operation mode is selected. The arbitrary selection operation mode can also be simply the manual operation mode.

[0084] The corner operation start position determination unit 66 considers the operation trajectory, particularly the boundary between the already operated area and the unoperated area, to determine the start position of the rice seedling planting operation in the corner area of ​​the unoperated area, which is bounded by at least two sides of the operation trajectory, and involves a change of direction. In this embodiment, the corner operation start position determination unit 66 has a non-overlapping operation driving management unit 661 and an overlapping operation driving management unit 662.

[0085] Non-overlapping operation driving management department 661 management and use Figure 6 This describes work travel control in a non-overlapping work mode, which avoids work trajectories in corner areas, i.e., avoids entering already-worked areas. Overlapping Work Travel Management Department 662 manages and uses this system. Figure 7 This describes the operation driving control in a non-overlapping operation driving mode that allows operation trajectories to overlap in corner areas, i.e., to allow entry into already-operated areas.

[0086] The non-overlapping operation management unit 661 also has a simulation function for calculating the amount of work leftover in the non-overlapping operation mode, and can report the amount of work leftover before the operation begins. Furthermore, the non-overlapping operation management unit 661 has the function of calculating the amount of work leftover in the non-overlapping operation mode based on the actual obtained operation trajectory, and can also report the amount of work leftover in a post-operation reporting manner. These reports are made via the touch panel interface 90.

[0087] The overlapping operation driving management unit 662 also has a simulation function to calculate the overlap amount (the aforementioned seedling trampling amount and seedling overlapping planting amount) in the overlapping operation driving mode, and can report the overlap amount before operation. Furthermore, the overlapping operation driving management unit 662 has the function of calculating the overlap amount in the overlapping operation driving mode based on the actual obtained operation trajectory, and can also report the overlap amount afterward. These reports are made via the touch panel interface 90.

[0088] Before operation, it is possible to understand the overlap amount, vehicle forward movement, vehicle backward movement in the overlapping operation mode, and the amount of work left in the non-overlapping operation mode. Therefore, it is possible to appropriately select the overlapping operation mode or the non-overlapping operation mode.

[0089] In this embodiment, such as Figure 8 As shown, the driving control unit 6 includes an overlap adjustment unit 6D and a tillage calculation unit 6E. The overlap adjustment unit 6D can cooperate with the non-overlapping operation driving management unit 661 and the overlapping operation driving management unit 662 to perform calculations that minimize the overlap and work residue. Specifically, the overlap adjustment unit 6D adjusts the forward movement (forward distance) and backward movement (backward distance) of the vehicle body 1 while evaluating the work residue calculated by the non-overlapping operation driving management unit 661 and the overlap calculated by the overlapping operation driving management unit 662. Then, the overlap adjustment unit 6D optimizes the work residue and overlap. The operation of the overlap adjustment unit 6D is performed automatically by the tiller inputting optimization conditions. Of course, the overlap adjustment unit 6D can also operate completely automatically based on default settings.

[0090] The tillage calculation unit 6E calculates tillage data such as the increase or decrease in harvest, consumption and loss of agricultural materials, and increase or decrease in necessary operation time, based on the operation backlog calculated by the non-overlapping operation management unit 661 and the overlap calculated by the overlapping operation management unit 662. The tillage calculation unit 6E operates automatically by the farmer inputting desired conditions while changing the priority and weight of tillage factors such as operation time, material consumption, and harvest. Alternatively, the tillage calculation unit 6E can perform calculations and suggest operation routes that maximize the harvest and the operation route used for that operation, based on default conditions such as maximizing harvest priority.

[0091] [Other Implementation Methods]

[0092] The present invention is not limited to the structures illustrated in the above embodiments. Other representative embodiments of the present invention are illustrated below.

[0093] (1) In the above embodiments, a rice transplanter is listed as the field operation vehicle of the present invention, and the field operation performed by the rice transplanter is assumed to be the seedling transplanting operation performed by the seedling transplanting device 3A. When the field operation vehicle is a seeder, the field operation is the sowing operation.

[0094] (2) When a tractor is cited as the field operation vehicle of the present invention, the tillage device equipped on the tractor is the working device 3. Overlapping travel operations performed by such a tractor create double-tilled areas, while non-overlapping travel operations performed by the tractor create untilled areas. Therefore, the present invention can also be effectively applied to tractors. This is also true even if the working device 3 equipped on the tractor is a pesticide supply device or other device. Furthermore, when a combine harvester is cited as the field operation vehicle of the present invention, the harvesting section of the combine harvester is the working device 3. Overlapping travel operations performed by the combine harvester create unnecessary travel, while non-overlapping travel operations performed by the combine harvester create harvested areas. The present invention can also be effectively applied to combine harvesters as is.

[0095] (3) The operating driving mode in the aforementioned corner area can be pre-registered in the driving path set by the driving path setting unit 53.

[0096] (4) In the above embodiments, the driving device 12 is a steering wheel type, but it can also be a track type.

[0097] (5) Use Figure 8 The described function block is an example, and various changes can be made, such as integrating each function unit with other function units, dividing each function unit into multiple function units, and distributing the control unit 100 into multiple control subunits.

[0098] It should be noted that, as long as no contradiction arises, the structures disclosed in the above embodiments (including other embodiments, and the same applies below) can be combined with structures disclosed in other embodiments. Furthermore, the embodiments disclosed in this specification are examples, and the embodiments of the present invention are not limited thereto; appropriate changes can be made without departing from the purpose of the present invention.

[0099] Industrial availability

[0100] This invention can be applied to field operation vehicles that can automatically travel along a driving path.

[0101] Explanation of reference numerals in the attached figures

[0102] 1: Vehicle body; 3: Working device; 3A: Seedling transplanting device; 6: Driving control unit; 6D: Overlap adjustment unit; 6E: Cultivation calculation unit; 8: Positioning unit; 51: Working control unit; 51a: Lifting control unit; 52: Vehicle body position calculation unit; 53: Driving path setting unit; 54: Driving trajectory management unit; 541: Already-operated driving trajectory management unit; 61: Path following steering unit; 62: Automatic turning steering unit; 63: Working driving control unit; 64: Non-working driving control unit; 65: Working driving mode selection unit; 66: Corner working start position determination unit; 661: Non-overlapping working driving management unit; 662: Overlapping working driving management unit; A1: First transplanting residual area; A2: Second transplanting residual area; B1: First trampling area; B2: Second trampling area; Lh: Lateral driving path; Lv: Longitudinal driving path.

Claims

1. A field operation vehicle capable of automatic driving, characterized in that, The field operation vehicle is equipped with: The driving path setting unit sets the driving path generated to match the shape of the field as the target driving path for automatic driving; The working device operates along a predetermined row direction; The work travel control unit moves the vehicle body while the work device is in operation. The non-operational driving control unit enables the vehicle body to move when the operating device is not in operation. The completed travel trajectory management unit manages the work trajectory based on the completed travel path of the work performed by the work device; as well as The corner operation start position determination unit considers the operation trajectory to determine the start position of the operation in motion, which is located in an unoperated corner area bounded by at least two sides of the operation trajectory and involves a direction change. The operation within the corner area is carried out in either an overlapping operation mode or a non-overlapping operation mode. The overlapping operation mode is a mode in which the operation is carried out in a manner that overlaps with the operation trajectory, while the non-overlapping operation mode is a mode in which the operation is carried out in a manner that avoids the operation trajectory.

2. The field operation vehicle according to claim 1, characterized in that, The field operation vehicle is equipped with an operation driving mode selection unit, which selects between overlapping operation driving modes and non-overlapping operation driving modes. The corner operation start position determination unit determines the operation start position based on the operation driving mode selected by the operation driving mode selection unit.

3. The field operation vehicle according to claim 2, characterized in that, The operation driving mode selection unit has the option to select any operation driving mode. When the option is selected, the start position of the operation is determined by the operator's manual operation.

4. The field operation vehicle according to claim 2 or 3, characterized in that, The field operation vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap of the operations in the overlapping operation driving mode and reports the amount of overlap.

5. The field operation vehicle according to claim 4, characterized in that, The overlapping operation driving management unit calculates the vehicle's forward and backward movement on the work trajectory entering the corner area under the overlapping operation driving mode, and reports the vehicle's forward and backward movement.

6. The field operation vehicle according to claim 2 or 3, characterized in that, The field operation vehicle is equipped with a non-overlapping operation driving management unit, which calculates the amount of work left over in the non-overlapping operation driving mode and reports the amount of work left over.

7. The field operation vehicle according to claim 2 or 3, characterized in that, The field operation vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap in the overlapping operation driving mode. The field operation vehicle is also equipped with a non-overlapping operation driving management unit, which calculates the amount of work left over in the non-overlapping operation driving mode. The field operation vehicle is equipped with an overlap adjustment unit, which can adjust the overlap and the amount of work residue to a minimum by adjusting the forward and backward movement of the vehicle body.

8. The field operation vehicle according to claim 2 or 3, characterized in that, The field operation vehicle is equipped with an overlapping operation driving management unit, which calculates the amount of overlap in the overlapping operation driving mode. The field operation vehicle is also equipped with a non-overlapping operation driving management unit, which calculates the amount of work left over in the non-overlapping operation driving mode. The field operation vehicle is equipped with a tillage calculation unit, which calculates the increase or decrease in harvest, the consumption and loss of agricultural materials, and the increase or decrease in necessary operation time based on the overlap and the amount of work left over.

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