Work vehicle

Abstract

The invention provides a work vehicle which executes driving according to a work plan map. A work vehicle for performing work in a field, the work vehicle being provided with: a traveling vehicle body; an antenna that receives a satellite signal from a satellite; a satellite positioning device that detects the position of the traveling vehicle body on the basis of the satellite signal; and a control device that executes work corresponding to a work instruction value on the basis of the position of the traveling vehicle body and a work plan map in which the work instruction value is associated with a partition obtained by dividing a field into a mesh shape, the width of the partition being equal to the width of the work vehicle.

Description

Technical Field

[0001] This invention relates to work vehicles. Background Technology

[0002] Previously, it was known that work vehicles were used to perform work in fields using work maps designed for those fields (for example, see Patent Document 1). The work map was created by dividing the field into a grid.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-162439 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the above-mentioned work diagram is not a work diagram created in accordance with the machine information of the work vehicle, so there is room for improvement regarding the operation of the work machine when working in the field.

[0008] The present invention was made in view of the above circumstances, and its object is to provide a work vehicle that improves workability in fields.

[0009] Methods for solving problems

[0010] To solve the above-mentioned problems and achieve the objectives, the work vehicle 1 described in technical solution 1 is a work vehicle 1 that operates in a field, characterized in that it comprises: a driving vehicle body 2; an antenna 151 that receives satellite signals from a satellite; a satellite positioning device 150 that detects the position of the driving vehicle body 2 based on the satellite signals; and a control device 100 that executes work corresponding to work instruction values ​​based on the position of the driving vehicle body 2 and a work plan map, wherein the work plan map is formed by associating the work instruction values ​​with partitions obtained by dividing the field into a grid, and the width of the partitions is equal to the width of the work vehicle 1.

[0011] The feature of the work vehicle 1 described in technical solution 2 is that, in the work vehicle described in technical solution 1, the range of the partition is set by performing a teaching operation to define the autonomous driving area in the field.

[0012] The feature of the work vehicle 1 described in technical solution 3 is that, in the work vehicle described in technical solution 1 or 2, the partition is located at the position along the path of autonomous driving of the vehicle body 2.

[0013] Invention Effects

[0014] According to one implementation method, the work vehicle can improve workability in the field. Attached Figure Description

[0015] Figure 1 This is a side view showing the work vehicle.

[0016] Figure 2 This is a top view showing the work vehicle.

[0017] Figure 3 This diagram illustrates the relationship between gridded fields and seedling transplanters.

[0018] Figure 4 This is a block diagram showing the control system centered on the control device of the seedling transplanter.

[0019] Figure 5 This is a schematic block diagram of the controller.

[0020] Figure 6 This diagram illustrates a method for setting up a work area using teach-drive, according to an embodiment.

[0021] Figure 7 This is a flowchart illustrating the fertilizer supply process of the implementation method.

[0022] Figure 8 This is one of the illustrations showing an example of a poorly constructed road.

[0023] Figure 9 This is a diagram (Part Two) illustrating an example of a poorly constructed road.

[0024] Figure 10 This is a diagram showing the state where the adverse road setting has been lifted. Detailed Implementation

[0025] First, refer to Figure 1 and Figure 2 An overview of the work vehicle 1 described in the implementation method is provided. Figure 1 This is a side view showing the work vehicle 1. Figure 2 This is a top view showing the work vehicle 1.

[0026] In this embodiment, the work vehicle 1 will be described as a passenger-type seedling transplanter 1 equipped with a seedling transplanting unit 4 as a work machine for transplanting seedlings in the field. Figure 1 and Figure 2 As shown, the seedling transplanter 1 has a seedling planting section 4 that can be raised and lowered on the rear side of the traveling vehicle body 2 via a lifting linkage mechanism 3. The seedling planting section 4 plants the seedlings into the field.

[0027] The main body of the fertilizer applicator 5 is located on the upper rear side of the vehicle body 2. In addition, when the working vehicle 1 is not a seedling transplanter 1, it may sometimes be equipped with a seeding device or the like as a working device.

[0028] The vehicle body 2 is a four-wheel drive vehicle, equipped with left and right front wheels 10 and rear wheels 11, which serve as wheels and drive wheels. On the front side of the main frame 15 that constitutes the vehicle body 2, a gearbox 13 and a hydraulic continuously variable transmission (HST) 14 are provided. The gearbox 13 transmits driving force to the seedling planting section 4, etc., and the continuously variable transmission (HST) 14 outputs the driving force supplied by the engine 30, i.e., the rotation generated by the engine 30, to the gearbox 13.

[0029] A fertilizer applicator 5 is located on the rear side of the control seat 41 and on the rear end side of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted through a fertilizer transmission mechanism, which is configured to face the fertilizer applicator 5 from the left and right sides of the left and right rear wheel gearboxes 11a.

[0030] In addition, the seedling box 53, which holds the seedlings to be planted in the field, is installed at the rear end of the lifting linkage mechanism 3 together with a sliding mechanism that slides in the left-right direction. In the seedling box 53, seedling dividers 54, which are longer in the vertical direction, are arranged at predetermined intervals along the left-right direction. Below the seedling box 53, a seedling planting device 55 is arranged to rake the loaded seedlings and plant them in the field.

[0031] In the fertilization device 5, the fertilizer hopper 70 for storing fertilizer is divided into the same number of working rows as the seedling transplanting section 4 (in Figure 2 The example shown is for an 8-row fertilizer hopper. In addition, the 8-row fertilizer hopper 70 is longer in the left and right direction, which reduces the convenience of fertilizer delivery and unloading. Therefore, it is also possible to have a so-called side-fertilization structure in which the fertilizer hoppers divided into 4 rows are arranged on the left and right respectively.

[0032] At the lower part of the fertilizer hopper 70, there are delivery devices 71 arranged in rows to supply fertilizer in a set amount. Below the delivery devices 71, there are ventilation ducts 72 arranged in a left-right direction for conveying air to move the fertilizer. Below the delivery devices 71, there are fertilizer hoses 73 that guide the fertilizer to the vicinity of the seedling planting position in the seedling planting section 4. In addition, a blower 74 is provided at one end of the ventilation duct 72, and the blower 74 generates conveying air by operating an electric motor 76.

[0033] The fertilization device 5 supplies fertilizer to the field based on the work plan diagram. The work plan diagram is a graph that links the fertilizer application rate (work instruction value) to the grid-like sections of the field. The fertilization device 5 is controlled by the control device 100 (described later) and supplies fertilizer to the field based on the work plan diagram. The amount of fertilizer applied to the field is set according to past seedling growth conditions, etc.

[0034] Furthermore, this section describes an example of fertilizer supply to the field based on a work plan diagram, but is not limited to this. The seedling transplanter 1, based on the work plan diagram, can both supply fertilizer to the field and transplant seedlings.

[0035] In the work plan diagram, the field is divided into square zones. The zones are set in accordance with the machine information of the seedling transplanter 1. Specifically, the zone width is set to be equal to the width of the seedling transplanter 1.

[0036] like Figure 3 As shown, the work plan divides the field F into multiple zones G based on the width W of the seedling transplanter 1. The size (width H) of zone G is equal to the width W of the seedling transplanter 1. Figure 3 This is a diagram showing the relationship between the grid-like field F and the seedling transplanter 1. Figure 3 In the diagram, the type of shading represents the difference in fertilizer application within partition G, and partition G with the same shading indicates partition G with the same fertilizer application. Figure 3 The example shown is a field F with three different fertilization rates, but it is not limited to this.

[0037] For example, if the width of the seedling transplanter 1 is 2.4m, the field is divided into 2.4m square sections on the work plan. Alternatively, if the width of the seedling transplanter 1 is 2.0m, the field is divided into 2.0m square sections on the work plan.

[0038] The division of the work plan map is set starting from the position in the field where the seedling transplanter 1 has started planting the seedlings.

[0039] The zoning of the work plan map can also be set from a pre-defined location. For example, it can be set from the intersection of the southernmost and westernmost latitudes in the field.

[0040] Furthermore, the division of the work plan and the associated fertilization amount (work instruction value) can be generated by either an external device or by the seedling transplanter 1. The work plan is stored in the storage unit 110b of the control device 100, which will be described later.

[0041] In addition, the location information of each zone is set in the work plan diagram. The location information of the zone includes the location information on an imaginary line passing through the center of the zone. Specifically, the location information of the zone includes the location information on an imaginary line passing through the center of the zone along the travel direction (front and back direction) of the seedling transplanter 1.

[0042] In addition, such as Figure 1 As shown, the seedling transplanter 1 is equipped with a position detection device (satellite positioning device) 150 and an antenna 151.

[0043] Antenna 151 receives satellite signals, for example, from GPS (Global Positioning System) satellites. Antenna 151 is mounted, for example, on mounting support 59, positioned above the vehicle body 2. An inertial positioning unit (IMU) 152 is provided on antenna 151. The inertial positioning unit 152 detects the acceleration, tilt, and angular velocity of the vehicle body 2.

[0044] The position detection device 150 detects the current position and orientation of the seedling transplanter 1. That is, the position detection device 150 detects the position and orientation of the traveling vehicle 2. The position detection device 150 detects the position and orientation of the traveling vehicle 2 based on satellite signals received by the antenna 151.

[0045] Next, refer to Figure 4 Explain the control system of seedling transplanter 1. Figure 4 This is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. Figure 4 In this process, the seedling transplanter 1 can control each part through electronic control and has a control device (hereinafter referred to as controller) 100 for controlling each part.

[0046] like Figure 5 As shown, the controller 100 includes a processing unit 110a with a CPU (Central Processing Unit), a storage unit 110b with ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit 110c, which are interconnected and can transmit signals to each other. Figure 5 This is a schematic block diagram of controller 100.

[0047] The storage unit 110b stores the computer program for controlling the seedling transplanter 1, etc. The storage unit 110b also stores the work plan diagram. The controller 100 performs its various functions by reading the computer program stored in the storage unit 110b.

[0048] Return to Figure 4 The controller 100 may be connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a plug clutch working solenoid 83, a side clutch working solenoid 84, an HST motor 85, a scribing lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0049] HST motor 85 changes the tilt angle of the swashplate of HST 14 by changing the rotation angle of the trunnion of HST (Hydrostatic Transmission) 14. Steering motor 95 is the motor that drives steering wheel 35 during automatic cornering control; steering wheel 35 adjusts the front wheels 10 (see reference 1)... Figure 1 The steering mechanism controls the steering angle (steering amount). Steering motor 95 rotates the steering wheel 35. Scribe lifting motor 87 raises and lowers the scriber 65.

[0050] The controller 100 is connected to a speed sensor 90, a steering displacement sensor 91, a depth sensor 92, a position detection device 150, and an inertial positioning unit 152, which serve as detection devices. Two speed sensors 90 are provided corresponding to the left and right rear wheels 11, respectively detecting the speed of the left and right rear wheels 11. In addition, the speed sensors 90 can also detect the speed of the left and right front wheels 10.

[0051] Steering amount sensor 91 detects the operating position of steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of front wheels 10. Steering amount sensor 91 is provided, for example, on a shaft connected to steering rocker arm. Furthermore, the steering amount is detected in the left and right directions respectively, with the value when steering wheel 35 is in a preset straight position as a reference value.

[0052] Depth sensor 92 detects the depth of the field. Depth sensor 92 measures the depth up to the water surface or soil surface, for example, by reflecting ultrasonic waves or laser light.

[0053] In addition, the detection device may also include soil fertility sensors and water temperature sensors. For example, soil fertility sensors are respectively installed on the left and right front wheels 10 to detect the fertilizer concentration in the field. The soil fertility sensors have electrodes and detect fertility based on the current values ​​measured by the two soil fertility sensors. The water temperature sensor detects the temperature of the water in the field.

[0054] In addition, signals are input to the controller 100 from the gear shift lever 36, the auxiliary gear shift lever 37, the autonomous driving switch 46, the insertion unit lifting switch 47, the automatic straight-line switch 45, and the automatic turning switch 48 as operating signals.

[0055] The autonomous driving switch 46 is a switch that toggles whether autonomous driving is enabled. Specifically, the autonomous driving switch 46 switches the driving mode between manual driving mode and autonomous driving mode (automatic driving mode). Manual driving mode is a mode in which driving is performed manually by the operator. Autonomous driving mode is a mode in which driving is performed automatically without the need for manual operation by the operator.

[0056] For example, when the autonomous driving switch 46 is "ON", the driving mode is set to autonomous driving mode. When the autonomous driving switch 46 is "OFF", the driving mode is set to manual driving mode. When the autonomous driving switch 46 is ON, the automatic straight-ahead switch 45 and the automatic turning switch 48 are OFF. Furthermore, even when the automatic straight-ahead switch 45 and the automatic turning switch 48 are already "ON", they can be changed to "OFF" by the operator's operation.

[0057] The transplanting section lifting switch 47 is a switch that toggles whether the seedling transplanting section 4 is raised or lowered. The transplanting section lifting switch 47 is changed to the "raise" and "lower" positions.

[0058] When the planting section lifting switch 47 is in the "up" position, the seedling planting section 4 rises to the designated non-operating position, thus entering the non-operating state where the seedling planting device 55 stops. When the planting section lifting switch 47 is in the "down" position, the seedling planting section 4 descends to the designated operating position, thus entering the operating state where the seedling planting device 55 is in operation. In other words, the planting section lifting switch 47 is a switch for detecting the operating state of the seedling planting section 4. Alternatively, a separate switch for detecting the operating state of the seedling planting section 4 may be provided.

[0059] The automatic straight-ahead switching switch 45 is a switch that toggles whether automatic straight-ahead driving can be performed. When the automatic straight-ahead switching switch 45 is "on", the driving assistance function described later is effective and automatic straight-ahead driving can be performed. When the automatic straight-ahead switching switch 45 is "off", the driving assistance function is ineffective and automatic straight-ahead driving cannot be performed.

[0060] The automatic turn switch 48 is a switch that toggles whether automatic turning can be performed. When the automatic turn switch 48 is "on", the turning assist function (described later) is active, and automatic turning can be performed. When the automatic turn switch 48 is "off", the turning assist function is inactive, and automatic turning cannot be performed. When the automatic turn switch 48 is "off", automatic turning will not be performed even if the conditions for performing automatic turning are met.

[0061] The controller 100 switches the driving mode to manual driving mode and autonomous driving mode in accordance with the operation of the autonomous driving switch 46, the automatic straight driving switch 45 and the automatic turning switch 48.

[0062] In addition, information related to the current position of the vehicle body 2 is input from the position detection device 150 to the controller 100. The controller 100 executes an autonomous driving mode in which the vehicle body 2 performs operations while automatically driving.

[0063] Furthermore, the controller 100 executes operations corresponding to the operation instructions based on the position of the vehicle body 2 and the work plan. Specifically, the controller 100 controls the fertilization device 5 to supply the field with the amount of fertilizer associated with the current zone of the vehicle body 2 in the work plan.

[0064] Additionally, various information is input from the remote operating device 170 (hereinafter referred to as the "remote controller") to the controller 100. For example, the controller 100 receives information via the receiver 180 (see reference 170). Figure 1 Various information is input from the remote control 170. The receiver 180 is mounted, for example, on the mounting support 59 (see reference). Figure 1 The receiver 180 is positioned on the upper front side of the vehicle body 2. Multiple receivers 180 may also be installed. The mounting support 59 is mounted on the vehicle body 2.

[0065] This section describes the autonomous driving (automatic driving) of the seedling transplanter 1 in the field. The controller 100 has a feedback mechanism for the front wheel 10 (see reference). Figure 1 The steering amount controls the steering motor 95 (refer to) Figure 4 To operate the steering wheel at 35 (refer to) Figure 4 The autonomous driving mode (automatic driving mode) includes automatic straight driving mode and automatic turning mode.

[0066] The automatic straight-line mode is as follows: the steering motor 95 is controlled to make the vehicle body 2 travel straight along a pre-set straight-line path. In the automatic straight-line mode, seedlings are planted in the field by the seedling transplanting unit 4, and the vehicle body 2 travels straight without relying on the operator's operation. That is, the driving assistance function of automatically moving the vehicle body 2 straight while transplanting seedlings into the field is effective, and the driving assistance function is executed.

[0067] The automatic turning mode works as follows: when the vehicle body 2 reaches the designated planting end position, the seedling planting unit 4 stops planting the seedlings, and the steering motor 95 is controlled to make the vehicle body 2 turn along a pre-set turning path. The designated planting end position is set, for example, based on the travel distance of the completed work process and position information related to the completed work process.

[0068] In automatic turning mode, for example, the seedling planting section 4 rises and becomes a non-operational state, and the vehicle body 2 turns automatically without relying on the operator's operation. That is, the turning assist function that enables the vehicle body 2 to turn without using the seedling planting section 4 for seedling planting is effective and the turning assist function is executed.

[0069] In addition, such as Figure 6As shown, a demonstration driving is performed, in which the operator drives along the three sides (La to Lc) of the field, thereby setting the work area for executing autonomous driving mode. Figure 6 This diagram illustrates a method for setting up a work area using teach-drive, according to an embodiment.

[0070] For example, when the work area setting button (not shown) is pressed and driving begins, the position information of the vehicle body 2 is recorded as the starting point of edge La, and the position information of the vehicle body 2 during driving is also recorded. Furthermore, when the steering wheel 35 is turned by the operator at a predetermined turning angle or more, the ending point of edge La is recorded, and edge La is set. In addition, the position information of the vehicle body 2 at the starting point of edge Lb is recorded. The predetermined turning angle is a preset value, which is the angle at which it can be determined that the vehicle body 2 has turned along the field ridge.

[0071] Furthermore, after the vehicle body 2 has traveled straight, when the steering wheel 35 is turned by the operator to a predetermined turning angle or more, the end point of side Lb is recorded, and side Lb is set. In addition, the position information of the vehicle body 2 at the starting point of side Lc is recorded.

[0072] After the vehicle body 2 travels straight, when the operation area setting button is pressed, the position information of the vehicle body 2 is recorded as the endpoint of edge Lc, and edge Lc is set. The operation area is set by setting three edges La to Lc. Furthermore, during teaching travel, while the vehicle body 2 travels straight, seedlings are planted in the field using the seedling planting unit 4. Teaching travel is the peripheral process of planting along the outer perimeter of the field. The operation area is the area in the field where seedlings are planted through the reciprocating motion of the vehicle body 2.

[0073] Alternatively, the work area set through teaching operation can be set as the range of zones defined in the work plan. That is, the range of zones can also be set by performing teaching operations in the field. In this case, the zones are defined based on the location where the seedling transplanter 1 begins planting within the work area set through teaching operation.

[0074] In addition, for example, when the seedling transplanter 1 starts planting seedlings from the southernmost latitude and the westernmost latitude in the working area, the division is set based on the intersection of the southernmost latitude and the westernmost latitude of the working area.

[0075] In fields with designated work areas, autonomous driving mode can be executed. For example, in a field, it can automatically travel straight along a path parallel to edge La or edge Lc. Additionally, it can automatically turn near the ridge on the side of edge Lb. When turning near the ridge on the side of a field not explored during the teaching test (the side facing edge Lb), it can perform a remote-controlled turn. Furthermore, it can also automatically turn near the ridge on the side of a field not explored during the teaching test.

[0076] Furthermore, even after the teaching drive has ended and the work area has been set, the seedling transplanter 1 can still be driven by the operator and transplant seedlings into the field when the driving mode is manual.

[0077] When the driving mode is manual and the seedling transplanter 1 is being driven by the operator, the seedling transplanter 1 will automatically drive straight when the automatic straight-line switch 45 is set to "on". That is, even when the driving mode is manual, the seedling transplanter 1 can perform driving assistance functions.

[0078] Furthermore, when the driving mode is manual and the seedling transplanter 1 is being driven by the operator, the seedling transplanter 1 can perform automatic turning when the automatic turning switch 48 is set to "on". That is, even when the driving mode is manual, the seedling transplanter 1 can perform the turning assist function.

[0079] Next, refer to Figure 7 Explain the fertilizer supply treatment of the implementation method. Figure 7 This is a flowchart illustrating the fertilizer supply process of the implementation method.

[0080] The controller 100 reads the work plan map of the field where the seedling transplanter 1 is operating from the storage unit 110b (S100).

[0081] Next, the controller 100 detects the position of the vehicle body 2 via the position detection device 150 (S101).

[0082] Next, the controller 100 sets the amount of fertilizer supplied to the field by the fertilization device 5 based on the position of the vehicle body 2 and the work plan (S102). Specifically, the controller 100 reads the amount of fertilizer associated with the zone corresponding to the position of the vehicle body 2 and sets the read amount of fertilizer as the amount of fertilizer supplied to the field.

[0083] Next, the controller 100 supplies the set amount of fertilizer to the field through the fertilization device 5 (S103).

[0084] Next, the controller 100 determines whether to end the work in the field (S104). For example, if the controller 100 has finished traveling within the work area of ​​the field, it determines that the work in the field has ended. If the controller 100 determines that the work in the field has ended (S104: Yes), it ends the current process. If the controller 100 determines that the work in the field should not be ended (S104: No), it returns to step S101 and repeats the above process.

[0085] The seedling transplanter 1 operates on a field. The seedling transplanter 1 includes a traveling vehicle 2, an antenna 151, a position detection device 150, and a controller 100. The antenna 151 receives satellite signals. The position detection device 150 detects the position of the traveling vehicle 2 based on the satellite signals. The controller 100, based on the position of the traveling vehicle 2 and a work plan, executes the supply of fertilizer corresponding to the amount of fertilizer applied to each zone, wherein the work plan is formed by associating the amount of fertilizer with zones obtained by dividing the field into a grid. The zones are set in correspondence with the machine information of the seedling transplanter 1.

[0086] Therefore, the seedling transplanter 1 can supply fertilizer to the field according to the zones defined by the machine's information. Thus, the seedling transplanter 1 can supply fertilizer to the field based on the work plan. Therefore, the seedling transplanter 1 can improve the workability of fertilizer supply in the field.

[0087] In addition, the width of the partition in the work plan diagram is equal to the width of the seedling transplanter 1.

[0088] For example, if the seedling transplanter 1 travels across zones in its direction of travel, it may not be able to supply fertilizer to the field as planned.

[0089] By setting the width of the partitions in the work plan to be equal to the width of the seedling transplanter 1, it is possible to prevent the seedling transplanter 1 from traveling across partitions, for example. Therefore, the seedling transplanter 1 can easily supply fertilizer to the field according to the amount of fertilizer associated with the partitions in the work plan. Furthermore, by supplying fertilizer to the field based on the work plan that divides the partitions into partitions equal to the width of the seedling transplanter 1, the workability in the field can be improved.

[0090] In addition, the boundaries of the zones are set by conducting demonstration operations in the fields.

[0091] Therefore, it is possible to set partitions in the work area set by the teaching operation, with a width equal to that of the seedling transplanter 1. This prevents the seedling transplanter 1 from crossing partitions in the work area in its direction of travel. Consequently, the seedling transplanter 1 can easily supply fertilizer to the field within the work area according to the amount of fertilizer associated with the partitions in the work plan.

[0092] The controller 100 causes the storage unit 110b to store the zones where the vehicle body 2 has performed a turning action. When the seedling planting unit 4 rises to a predetermined position, the controller 100 causes the storage unit 110b to store the zone located at the position where the seedling planting unit 4 has risen to the predetermined position as the zone where the vehicle body 2 has performed a turning action.

[0093] For example, when the insertion section lifting switch 47 is changed to the "up" position, the controller 100 determines that the vehicle body 2 has made a turning motion.

[0094] Alternatively, the controller 100 may determine that the vehicle body 2 has performed a turning action when the value detected by the linkage sensor provided on the lower linkage arm 24 or the upper linkage arm 26 reaches a predetermined first threshold that enables the detection of the rise of the seedling planting section 4.

[0095] Alternatively, the controller 100 may determine that the vehicle body 2 has made a turning motion when the value of the float sensor that detects the position of the float 62 reaches a predetermined second threshold that can detect the rise of the seedling planting section 4.

[0096] Alternatively, the controller 100 may determine that the vehicle body 2 has made a turning motion when the steering wheel 35 is operated at a preset turning angle or more.

[0097] Alternatively, when the shift lever 36 is changed to the reverse position, the controller 100 determines that the vehicle body 2 has performed a turning action, and the storage unit 110b stores the partition located at the position where the shift lever 36 is changed to the reverse position as the partition where the vehicle body 2 has performed a turning action.

[0098] Thus, the seedling transplanter 1 can store the turning positions in association with the partitions of the work plan.

[0099] Alternatively, the controller 100 may store the depth of the field detected by the depth sensor 92 in association with the partition of the work plan map corresponding to the location of the detected depth.

[0100] Therefore, the depth of the field can be managed according to each zone in the work plan map.

[0101] Alternatively, the controller 100 can calculate the average depth of the field for each zone and update the average depth of the entire field based on the average depth of the fields in each zone. For example, the controller 100 updates the average depth of the entire field while rice seedlings are being planted in the field. That is, the controller 100 can update the initial value of the overall depth of the field (the value before the operation started) while performing operations in the field.

[0102] If the depth of the fields in a calculated partition is deeper than the average, the controller 100 stores the partition that is deeper than the average.

[0103] Thus, the seedling transplanter 1 can, for example, store the location of the field that has become rough due to turning.

[0104] If a number of zones that are determined to have performed a turning maneuver of the vehicle body 2 are consecutively adjacent (e.g., 3 zones), the controller 100 will classify the zones that are determined to have performed a turning maneuver of the vehicle body 2 as field edges (field edges).

[0105] Therefore, the seedling transplanter 1 can automatically set the field ridges (field edges).

[0106] Alternatively, if the number of consecutive adjacent sections where the vehicle body 2 is determined to have made a turning motion is specified (e.g., 3 sections), the controller 100 will determine the section on the extension line of the specified number of consecutive sections as the edge of the field (field edge).

[0107] Therefore, the seedling transplanter 1 can accurately set the field edge (field head).

[0108] The controller 100 can also weight the field roughness in accordance with the number of times the seedling planting unit 4 is raised and lowered, the number of times the steering wheel 35 is operated, and the number of times it switches to reverse. For example, if multiple forward, backward, and turning operations are performed in the field, the soil becomes coarser and the field depth increases. By weighting the field roughness in accordance with the number of times the seedling planting unit 4 is raised and lowered, the number of times the steering wheel 35 is operated, and the number of times it switches to reverse, the controller 100 can automatically determine the field roughness.

[0109] For example, the seedling transplanter 1 adjusts the depth of the tillage rotor 63 according to a weighted average of the roughness of the field. For example, the tillage rotor 63 operates using an electric motor.

[0110] Therefore, the seedling transplanter 1 can adjust the depth of the tillage rotating body 63 according to the roughness of the field.

[0111] When the vehicle body 2 is traveling across the boundaries of a section along the travel direction of the vehicle body 2, the controller 100 calculates the amount of fertilizer corresponding to the occupancy ratio of the seedling transplanter 1 across the two sections in the width direction relative to the vehicle body 2. The controller 100 supplies fertilizer corresponding to the calculated amount of fertilizer to the field. For example, when the seedling transplanter 1 is traveling across the boundaries of two sections, and the boundaries of the two sections are at the center in the width direction of the seedling transplanter 1, the average amount of fertilizer associated with each section is set as the amount of fertilizer.

[0112] Therefore, even when the seedling transplanter 1 is traveling across zones, it can still supply the appropriate amount of fertilizer to each zone.

[0113] When the vehicle body 2 is automatically traveling across the boundary of a section along its direction of travel, the controller 100 calculates the lateral offset between the straight-line travel path and the actual travel path based on the position information of the vehicle body 2. The controller 100 stores the average value of the calculated lateral offset for each section. Furthermore, the position information of the vehicle body 2 is detected by the position detection device 150.

[0114] Therefore, the seedling transplanter 1 can store the offset relative to the straight driving path during automatic driving.

[0115] Alternatively, while the vehicle 2 is driving automatically, the controller 100 calculates the average depth of the field for each area and stores the calculated average depth of the field in association with the area.

[0116] Thus, the seedling transplanter 1 can store the depth of the field in each zone.

[0117] Alternatively, while the vehicle 2 is driving automatically, the controller 100 calculates the average elevation height for each zone and stores the calculated average elevation height for each zone. The elevation height is detected by the position detection device 150 based on satellite signals.

[0118] Therefore, the seedling transplanter 1 can automatically determine if a part of the field has become too deep and if the vehicle body 2 has sunk or slipped due to mud, and can store the elevation height for each zone.

[0119] Alternatively, while the vehicle body 2 is moving automatically, the controller 100 stores the average angular velocity for each zone. The angular velocity is detected by the inertial positioning unit 152.

[0120] Therefore, the seedling transplanter 1 can automatically determine when a part of the field becomes deeper and the vehicle body 2 sinks or is tripped by a hard soil layer and does not move straight forward, and can store the angular velocity for each zone.

[0121] Alternatively, while the vehicle body 2 is driving automatically, the controller 100 stores the average tilt angle of the vehicle body 2 for each zone. The tilt angle of the vehicle body 2 is detected by the inertial positioning unit 152.

[0122] Therefore, the seedling transplanter 1 can automatically determine when a part of the field becomes deeper and the vehicle body 2 sinks or is tripped by a hard soil layer and does not move straight, and can store the tilt of the vehicle body 2 for each zone.

[0123] While the vehicle body 2 is driving automatically, the controller 100 calculates the difference in steering angle of the steering wheel 35 relative to the center value (the value when driving straight). The controller 100 can also store the calculated difference in each partition. The difference is calculated using absolute values.

[0124] Therefore, the seedling transplanter 1 can detect situations where it cannot drive straight due to external interference or other factors that prevent it from adjusting the steering wheel 35, and can store the data in each partition.

[0125] Alternatively, the controller 100 can calculate the driving difficulty score during automatic driving based on the average depth of the field in each zone, the average elevation of each zone, the average angular velocity of each zone, the average tilt of the vehicle body 2 in each zone, and the difference in the steering angle of each zone.

[0126] Therefore, it is possible to set the driving difficulty level for each zone during autonomous driving, and to manage the driving difficulty level for each zone during autonomous driving.

[0127] Alternatively, the controller 100 can calculate the driving difficulty score by recognizing that the greater the lateral offset of each partition, the greater the driving difficulty score.

[0128] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0129] Alternatively, the controller 100 can calculate the driving difficulty score by recognizing that the greater the depth of the field in each zone is than the average, the higher the driving difficulty score.

[0130] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0131] Alternatively, the controller 100 can calculate the driving difficulty score by recognizing that the lower the elevation of each zone is than the average, the higher the driving difficulty score.

[0132] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0133] Alternatively, the controller 100 can calculate the driving difficulty score by the principle that the greater the angular velocity of each zone, the greater the driving difficulty score.

[0134] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0135] Alternatively, the controller 100 can calculate the driving difficulty score by the fact that the greater the tilt angle of the vehicle body 2 in each zone, the greater the driving difficulty score.

[0136] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0137] Alternatively, the controller 100 can calculate the driving difficulty score by the principle that the greater the difference in steering angle between each zone, the greater the driving difficulty score.

[0138] Thus, for example, the operator can easily identify areas with high driving difficulty scores as locations where it is difficult for the seedling transplanter 1 to travel straight.

[0139] Alternatively, if there are a specified number or more consecutive zones with a driving difficulty score of a certain value or higher, the controller 100 will designate the zones on the extension line of the specified number or more consecutive zones as severe roads. That is, the controller 100 determines that there is a strip of severe road.

[0140] For example, due to the characteristics of hard soil layers and the effects of tractor tillage, uneven field depth, tripping hazards, and difficult driving conditions can occur. In other words, poor roads tend to form in strips.

[0141] For example, such as Figure 8 , Figure 9 As shown, when a certain number (e.g., "3") or more of the zones G with a driving difficulty score of a specified value (e.g., "10") or higher are consecutive, the controller 100 will set the zones on the extension line of the consecutive zones of the specified number or higher as difficult roads. Figure 8 This is one of the illustrations showing an example of a poorly constructed road. Figure 9 This is diagram (two) illustrating an example of a poorly constructed road. Figure 8 and Figure 9 In the diagram, the driving difficulty score is displayed in the section where the driving difficulty score is calculated.

[0142] exist Figure 8In the middle, along the direction of travel of the vehicle body 2, there are three consecutive zones with driving difficulty scores of "10", "11", and "10". Therefore, a difficult road is set along the direction of travel of the vehicle body 2, as shown by the thick arrow.

[0143] exist Figure 9 In the middle, along a direction orthogonal to the direction of travel of the vehicle body 2, there are three consecutive zones with driving difficulty scores of "10", "11" and "12". Therefore, a difficult road is set along a direction orthogonal to the direction of travel of the vehicle body 2, as shown by the thick arrow.

[0144] When a specified number of consecutive sections with a difficulty score of 1 or higher are present, the seedling transplanter 1 designates sections along the extension line of such consecutive sections as difficult roads, thereby estimating the location of difficult roads. Furthermore, the seedling transplanter 1 can suppress the misdetection of difficult road locations due to localized data.

[0145] Alternatively, when the seedling transplanter 1 is automatically driving in a location deemed to be a rough road, the controller 100 limits the maximum speed of the vehicle body 2.

[0146] Therefore, when the seedling transplanter 1 is driving automatically on rough roads, it can limit the speed of the vehicle body 2 and improve its driving performance during automatic driving.

[0147] Alternatively, when the seedling transplanter 1 is automatically driving in a location deemed to be a rough road, the controller 100 corrects the steering by increasing the steering of the steering wheel 35.

[0148] Therefore, the seedling transplanter 1 can improve its driving performance when driving automatically on rough roads.

[0149] The controller 100 sets up a difficult road. If the driving difficulty score of a zone set as a difficult road falls below a specified value due to subsequent driving, the difficult road setting is removed from the zones following the zone where the driving difficulty score is below the specified value.

[0150] For example, such as Figure 10 As shown, in a direction orthogonal to the direction of travel of the vehicle body 2, there are consecutive zones with driving difficulty scores of "10", "11", "12" and "10". If the driving difficulty score of a zone that is set as a bad road is "8", the bad road setting of the zone after that zone is deactivated. Figure 10 This is a diagram showing the state where the adverse road setting has been lifted.

[0151] Therefore, the seedling transplanter 1 can suppress the application of the same speed limits and steering wheel 35 control in non-adverse road sections as in adverse road sections. Thus, the seedling transplanter 1 can, for example, suppress an increase in the steering wheel 35's turning amount and a decrease in the straight-line stability of the vehicle body 2.

[0152] In the work plan diagram, a scalar value for the amount of water movement can also be associated with each zone. In the field, water flows from areas with larger scalar values ​​to areas with smaller scalar values. With the scalar value of water movement associated with each zone, the larger the scalar value, the more the controller 100 increases the amount of herbicide distributed.

[0153] Therefore, the seedling transplanter 1 can reduce the uneven distribution of herbicides in the field.

Claims

1. A working vehicle (1) that performs operations in a field, wherein, The operating vehicle (1) has the following features: Vehicle body (2); Antenna (151) receives satellite signals from the satellite; A satellite positioning device (150) detects the position of the vehicle body (2) based on the satellite signal; as well as A control device (100) performs operations corresponding to work instructions based on the position of the vehicle body (2) and a work plan diagram, wherein the work plan diagram is formed by associating the work instructions with partitions obtained by dividing the field into a grid. The width of the partition is equal to the width of the work vehicle (1).

2. The operating vehicle according to claim 1, wherein, The scope of the partition is set by performing a teaching operation that defines the autonomous driving area in the field.

3. The operating vehicle according to claim 1 or 2, wherein, The partition is located along the path of autonomous driving of the vehicle body (2).

Images