Work vehicle

Abstract

To appropriately start turning travel.SOLUTION: A work vehicle includes: a turning preparation operation tool 20 that is input-operated to switch from an automatic straight traveling mode to a turning preparation mode; turning operation tools 18, 19 that receive manipulation of turning a machine body in the turning preparation mode; and an automatic turning travel control unit 36 that, when manipulation on the turning operation tools 18, 19 is received, switches from the turning preparation mode to the automatic turning mode and controls turning travel by automatic travel.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a work vehicle that performs multiple straight work drives with turning drives in between. [Background technology]

[0002] As disclosed in Patent Document 1, the rice transplanter performs work travel by reciprocating along a work travel path (straight path) in a farm field with turning travel in between. In such a rice transplanter, turning travel is performed by manual operation or automatic turning travel from the end of the straight path to the start of the next straight path to be traveled. For example, while the machine is working on a straight path, if the operator (driver) determines that the machine has reached the turning start position, the rice transplanter automatically performs automatic turning travel toward the next straight path based on the operator's manual operation.

[0003] In addition, when the rice transplanter described above enters a ridge edge area within a predetermined distance of a ridge in a field while traveling on a straight path, the rice transplanter may be controlled to stop the machine to avoid contact with the ridge. The ridge edge area is set to an area where the possibility of contacting the ridge increases if the machine continues traveling straight. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-123829 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, because turning is performed in the edge of rice fields, if the vehicle reaches the edge of rice fields before transitioning from traveling along a straight path to turning, the vehicle may be stopped and unable to begin turning, even though the vehicle would not come into contact with the edge of rice fields if it had made the turn appropriately.

[0006] The present invention aims to appropriately start turning even when control is performed to stop the vehicle when it reaches a ridge area while traveling on a straight path. [Means for solving the problem]

[0007] In order to achieve the above object, a work vehicle according to one embodiment of the present invention performs work driving in a field by repeating turning driving and straight driving, and is controlled to drive by switching to any one of an automatic straight driving mode, a turning preparation mode, and an automatic turning mode, and includes a machine body, a machine body position calculation unit that calculates the position of the machine body, a path generation unit that generates a straight path for the straight driving, and an automatic work driving control unit that controls the work driving by automatic driving along the straight path based on the position of the machine body in the automatic straight driving mode and the turning preparation mode, and a turning preparation operation tool that can be switched to the automatic turning mode, a turning operation tool that accepts manual operation to turn the vehicle in the turning preparation mode, an automatic turning travel control unit that switches from the turning preparation mode to the automatic turning mode when manual operation of the turning operation tool is accepted and controls the turning travel by automatic travel, and a travel prohibition control unit that sets a ridge boundary area inside the field from the ridge of the field and executes a ridge control function to stop the vehicle when it approaches the ridge from the ridge boundary area during automatic travel along the straight line path, and the travel prohibition control unit restricts the ridge control function in the turning preparation mode.

[0008] The ridge control function prevents the vehicle from entering the ridge area on the ridge side of the ridge boundary, and prevents the vehicle from coming into contact with the ridge. Here, automatic turning is performed near the ridge area, and even if the vehicle enters the ridge area, if it turns appropriately afterwards, the vehicle may not come into contact with the ridge. Conversely, automatic turning may not be performed at an appropriate position if the ridge control function is executed and the vehicle stops.

[0009] For this reason, an automatic straight-line mode and a turn preparation mode are set, and when the turn preparation operation tool is operated during the automatic straight-line mode, the mode transitions to the turn preparation mode. Furthermore, a ridge control function is executed during the automatic straight-line mode and the turn preparation mode, and even if the vehicle enters a ridge area during the turn preparation mode, the ridge control function is restricted. As a result, during the turn preparation mode, the ridge control function is restricted so that the vehicle is not immediately stopped even if it enters the ridge area. Then, by operating the turn operation tool at an appropriate position while the ridge control function is restricted, automatic turning can be started at an appropriate position.

[0010] Furthermore, automatic turning is started by operating the turning operation tool while the turning preparation operation tool is being operated. Therefore, automatic turning is started in a two-step operation procedure, which prevents automatic turning from being started erroneously due to an erroneous operation, and allows automatic turning to be started easily with a simple operation of performing two operations using different operation tools.

[0011] The turning operation device may further include a first turning operation device and a second turning operation device, the first turning operation device accepting manual operation to turn the aircraft in one direction, either right or left, and the second turning operation device accepting manual operation to turn the aircraft in the other direction, either right or left.

[0012] With this configuration, the turning direction during automatic turning travel can be controlled by the first turning operation tool and the second turning operation tool, and more appropriate automatic turning travel can be performed.

[0013] In addition, the first turning operation device functions as a start position operation device that accepts manual operation to set the position of the running body as the starting point of the teaching running during a teaching run to generate the straight-line path, and the second turning operation device functions as an end position operation device that accepts manual operation to set the position of the running body as the end point of the teaching running during the teaching running, the path generation unit calculates a straight line including the starting point and the end point as a basic straight line and generates a path parallel to the basic straight line as the straight-line path, and the automatic turning operation control unit controls the turning operation in accordance with manual operation of the first turning operation device or the second turning operation device.

[0014] With this configuration, the start position operating tool and the end position operating tool operated when setting the start point and the end point of the teaching travel can be used as the first turning operating tool and the second turning operating tool for operating the start of the automatic turning travel and the control of the turning direction. As a result, it is possible to provide a turning operating tool for operating the start of the automatic turning travel and the control of the turning direction with a simple configuration without providing a new operating tool separately.

[0015] In addition, during automatic driving along the straight-line path generated by the path generation unit, the path generation unit may translate the straight-line path a predetermined distance in one direction, either to the right or to the left, when the start position operating device is operated, and may translate the straight-line path a predetermined distance in the other direction, either to the right or to the left, when the end position operating device is operated.

[0016] With this configuration, the straight-line path can be fine-tuned during automatic work travel along the straight-line path, making it possible to easily perform automatic work travel along an appropriate straight-line path.

[0017] Furthermore, the start position operating tool and the end position operating tool are used to register the start point and end point of teaching driving during manual driving, to shift the straight line route during the automatic straight driving mode, and to start automatic turning driving and control the turning direction during the turning preparation mode. Therefore, various functions can be executed according to the driving conditions by using a minimum number of operating tools.

[0018] The travel prohibition control unit may also set an area that passes through a start position of the work travel along the straight-line path after the turning travel and is perpendicular to the straight-line path as the ridge boundary portion.

[0019] With this configuration, the ridge boundary portion, which is the boundary of the ridge area, can be easily calculated based on the generation of a straight path and automatic straight-ahead driving or automatic cornering driving.

[0020] In addition, the ridge boundary portion is a ridge line which is a line perpendicular to the straight-line path, and the driving prohibition control unit may determine the intersection point between the straight-line path during driving and the ridge line as the ridge position, calculate a ridge distance which is the distance between the position of the vehicle and the ridge position, and determine whether the vehicle has come closer to the ridge than the ridge line based on the ridge distance.

[0021] With this configuration, it is possible to easily determine when the vehicle has entered the edge of a field.

[0022] The traveling prohibition control unit may execute the ridge control function when the ridge distance becomes zero.

[0023] With this configuration, the timing for executing the fringe control function can be easily determined.

[0024] In addition, the driving prohibition control unit may extend the calculated edge distance by a predetermined length as a restriction on the edge control function in the turning preparation mode, and use the extended edge distance to determine whether the aircraft has come closer to the edge than the edge boundary line.

[0025] With this configuration, automatic straight-ahead travel continues until the vehicle enters the ridge area by the extended length of the ridge distance, and the vehicle is stopped only when it enters the ridge area any further. By setting the extended length to a length that would still cause the vehicle to come into contact with the ridge even if turning is started, it is possible to appropriately prevent the vehicle from coming into contact with the ridge while allowing automatic turning travel in the ridge area to begin.

[0026] It is also preferable that the turning travel is performed in a predetermined procedure in response to the operation of the turning operation tool.

[0027] With this configuration, automatic turning can be easily performed.

[0028] The vehicle may further include an obstacle detection device that detects obstacles including the ridges, and the travel prohibition control unit may stop the vehicle when the obstacle is detected within a predetermined range from the position of the vehicle.

[0029] There are obstacles other than ridges that can cause problems if the drone comes into contact with them. In addition to the ridge control function, by providing a function to directly detect obstacles and stop the drone when it approaches an obstacle, it is possible to appropriately prevent the drone from coming into contact with the obstacle. In addition, a work vehicle according to one embodiment of the present invention is a work vehicle that performs work driving in a field by repeating turning and straight-line driving, and is controlled to drive by switching between an automatic straight-line mode, a turning preparation mode, and an automatic turning mode, and is equipped with a machine body, a machine body position calculation unit that calculates the position of the machine body, a path generation unit that generates a straight-line path for the straight-line driving, an automatic work driving control unit that controls the work driving by automatic driving along the straight-line path based on the position of the machine body in the automatic straight-line mode and the turning preparation mode, a turning preparation operation device that is switched from the automatic straight-line mode to the turning preparation mode when operated, a turning operation device that accepts manual operation to turn the machine body in the turning preparation mode, and an automatic turning driving control unit that switches from the turning preparation mode to the automatic turning mode when manual operation of the turning operation device is accepted, and controls the turning driving by automatic driving. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a left side view illustrating the overall configuration of a rice transplanter. [Diagram 2] FIG. 1 is a plan view illustrating an example of the overall configuration of a rice transplanter. [Diagram 3] FIG. 2 is a diagram illustrating an example of a main configuration of an operation panel. [Figure 4] FIG. [Diagram 5] 11 is a diagram for explaining generation of a straight path and a ridge control function. FIG. [Figure 6] FIG. 11 is a diagram illustrating an example of a turning procedure. [Figure 7] FIG. 4 is a diagram illustrating a driving control mode. [Figure 8] FIG. 2 is a diagram illustrating an example of a functional configuration for controlling automatic driving. [Figure 9] FIG. 13 is a diagram illustrating an example of a flow of a work trip. [Figure 10] FIG. 13 is a diagram illustrating a shift of a straight line path. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Below, a rice transplanter that travels through a field for work will be described as an example of a work vehicle.

[0032] For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in Figs. 1 and 2) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow B shown in Figs. 1 and 2) means the rear in the longitudinal direction (traveling direction) of the machine body. In addition, the left-right direction or lateral direction means the transverse direction of the machine body (machine body width direction) perpendicular to the longitudinal direction of the machine body, and "left" (the direction of arrow L shown in Fig. 2) and "right" (the direction of arrow R shown in Fig. 2) mean the leftward and rightward directions of the machine body, respectively.

[0033] [Overall structure] As shown in Figures 1 and 2, the rice transplanter is equipped with a riding type four-wheel drive machine body 1. The machine body 1 is equipped with a link mechanism 13 in the form of a parallel four-linkage connected to the rear of the machine body 1 so as to be able to rise and fall and swing, a hydraulic lifting link 13a that drives the link mechanism 13 to swing, and a seedling planting device 3 that is connected to the rear end region of the link mechanism 13 so as to be able to roll. The seedling planting device 3 is an example of a working device, and a fertilizer applicator, a chemical spraying device, etc. may be mounted as other working devices.

[0034] The machine body 1 includes wheels 12 as a mechanism for traveling, an engine 2, and a hydraulic continuously variable transmission 9 as a main transmission. The continuously variable transmission 9 is, for example, an HST (Hydro-Static Transmission), and changes the speed of the driving force output from the engine 2 by adjusting the angles of a motor swash plate and a pump swash plate. The wheels 12 include left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. The engine 2 and the continuously variable transmission 9 are mounted on the front of the machine body 1. The power output from the engine 2 is supplied to the front wheels 12A, the rear wheels 12B, the working device, etc. via the continuously variable transmission 9, etc.

[0035] As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 includes a seedling stand 21, eight rows of planting mechanisms 22, and five floats 15. The seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the clutch for each row (planting clutch 23).

[0036] The seedling placing table 21 is a base on which eight mat-shaped seedlings are placed. The seedling placing table 21 moves back and forth in the left and right direction with a constant stroke corresponding to the left and right width of the mat-shaped seedlings, and each time the seedling placing table 21 reaches the left or right stroke end, each mat-shaped seedling on the seedling placing table 21 is vertically fed toward the lower end of the seedling placing table 21 at a predetermined pitch.

[0037] The eight planting mechanisms 22 are rotary type and are arranged in the left-right direction at regular intervals corresponding to the spacing between the planting rows. When the planting clutch 23 is shifted to a transmission state, the driving force is transmitted from the engine 2 to each planting mechanism 22, and the planting mechanism 22 cuts one seedling from the bottom end of each mat-like seedling placed on the seedling placement table 21 and plants it in the muddy soil after the land is leveled. In this way, the seedling planting device 3 can take out the seedlings from the mat-like seedlings placed on the seedling placement table 21 and plant them in the muddy soil of the paddy field.

[0038] The floats 15 level the field when planting seedlings. Each float 15 is provided in correspondence with two rows of planting mechanisms 22.

[0039] The machine body 1 is provided with a driving section 14 in its rear side area. The driving section 14 is provided with a steering wheel 10 for steering the front wheels, a main speed change lever 7 for adjusting the vehicle speed by changing the speed of the continuously variable transmission 9, an operation control lever 11 for controlling the raising and lowering operation of the seedling planting device 3 and the on / off operation of the planting clutch 23 (switching between a transmission state and a non-transmission state), and a driver's seat 16 for an operator (driver / worker). The steering wheel 10, the main speed change lever 7, and the operation control lever 11 are provided on the driver's panel 6 in front of the driver's seat 16. Furthermore, in front of the driving section 14, a spare seedling storage device 17A for storing spare seedlings is supported on a spare seedling support frame 17.

[0040] In addition, the spare seedling support frame 17 is provided with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position PP (see FIG. 5) and orientation of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 8B that detects the inclination and acceleration of the three axes of the aircraft 1.

[0041] As shown in FIG. 3, the driving panel 6 is provided with a start position operation tool 18, an end position operation tool 19, and a turning preparation operation tool 20. The start position operation tool 18 and the end position operation tool 19 are arranged on the left and right sides of the turning preparation operation tool 20 below the steering wheel 10 of the driving panel 6. The start position operation tool 18 is operated when determining a start point PA (see FIG. 5) in teaching driving described later. The end position operation tool 19 is operated when determining an end point PB (see FIG. 5) in teaching driving. The turning preparation operation tool 20 is an operation tool used in automatic turning driving described later. The start position operation tool 18, the end position operation tool 19, and the turning preparation operation tool 20 may be any operation tool capable of input operation, such as a push button. The arrangement of the start position operation tool 18, the end position operation tool 19, and the turning preparation operation tool 20 is not limited to the arrangement shown in FIG. 3, and may be arranged at a position where the driver can operate them while driving.

[0042] [Work trip] The travel of the rice transplanter when planting rice in a farm field will be described with reference to Figs. 1 and 2 and Fig. 4.

[0043] The rice transplanter in this embodiment can selectively perform manual driving and automatic driving. In manual driving, the driver manually operates the driving operation tools such as the steering wheel 10, the main shift lever 7, and the work operation lever 11 to perform driving for work. In automatic driving, the rice transplanter drives and works under automatic control, and performs straight work driving along a straight path IPL, which will be described later, with turning driving in between. In this case, the turning driving is automatically controlled according to a predetermined procedure, without a driving path being generated.

[0044] When the rice transplanter is planting, the field is divided into an outer area OA and an inner area IA, and the transplanter travels in each area accordingly.

[0045] In the inner area IA, a plurality of straight-line paths IPL (internal round-trip paths) approximately parallel to one side of the field are generated. The straight-line paths IPL are travel paths that travel all over the entire inner area IA, and each straight-line path IPL is traveled with a turning run in between. Each time a turning run is performed, the next straight-line path IPL to be traveled is generated in sequence.

[0046] After work travel in the inner area IA is performed, work travel in the outer peripheral area OA is performed. Work travel in the outer peripheral area OA is performed by automatic travel or manual travel. When automatic work travel is performed in the outer peripheral area OA, two travel routes, an inner circular route IRL and an outer circular route ORL, are generated that travel within the outer peripheral area OA along the periphery of the field. Work travel in the entire outer peripheral area OA is performed by work travel on the inner circular route IRL and the outer circular route ORL. Note that the travel routes that travel within the outer peripheral area OA are not limited to the inner circular route IRL and the outer circular route ORL, and may be one or more travel routes.

[0047] [Automatic work driving on straight lines] Next, automatic operation traveling on a straight path will be described using FIG. 5 while referring to FIGS. 1 to 4.

[0048] First, teaching travel is performed in which manual travel is performed from one end of the internal area IA to the other end. In teaching travel, the driver operates the start position operation tool 18 at the position where the work travel will start, and registers the start point PA of the teaching travel. Then, the driver manually performs linear work travel (manual travel), and when the end position of the work travel is reached, the driver operates the end position operation tool 19 and registers the end point PB of the teaching travel. Note that the end point PB may be a position traveled in a straight line from the end position of the work travel while the seedling planting device 3 is raised.

[0049] The straight line connecting the start point PA and the end point PB is the base line RL, and at least one of the base line RL and a reference direction RD that is a direction parallel to the base line RL is registered.

[0050] Next, in order to perform a round trip work run, the driver performs a predetermined operation and turns the machine body 1 180° using the automatic turning run described below.

[0051] The end position PE of the automatic turning travel (see FIG. 6) becomes the start position PSS of straight travel, and a straight line that passes through the start position PSS and is parallel to the base line RL (in the direction of the reference direction RD) is generated as the straight path IPL to be traveled next. The straight path IPL may be defined by the start position PSS of straight travel and the travel direction (a direction parallel to the reference direction RD), but may also be defined as a set of the start position PSS and the position PP of the machine 1 to travel thereafter, or may be defined as a line segment connecting the start position PSS of straight travel and the end position of straight travel.

[0052] Then, the driver starts the automatic work traveling along the straight line path IPL. After that, the automatic work traveling along the straight line path IPL and the automatic turning traveling are repeated, and every time the automatic turning traveling is completed, the next straight line path IPL is generated, and the round trip traveling is performed throughout the entire internal area IA.

[0053] [Automatic turning] Next, automatic turning will be described using FIG. 6 while referring to FIG. 1 and FIG.

[0054] The automatic turning is started by a predetermined manual operation. The automatic turning is performed in the outer peripheral area OA, particularly in an area inside the field a predetermined distance from the ridge RW. The automatic turning is not performed along a travel route, but in a predetermined procedure determined in advance by controlling the travel devices such as the wheels 12 in a predetermined procedure.

[0055] For example, in the automatic turning travel, when the work travel on the straight path IPL ends and a predetermined manual operation is performed at the start position PSR, the front wheels 12A are first steered to a predetermined steering angle, for example, the maximum steering angle, and turning travel is performed. The travel trajectory in this travel is C1 shown in FIG. 6.

[0056] Next, when the turning angle α becomes a predetermined turning angle αC1, the steering angle is reduced. For example, when the turning angle α becomes 90° as the turning angle αC1, the steering angle is set to 0°. In other words, when the turning angle α becomes 90°, the machine body 1 runs in a direction perpendicular to the straight line path IPL, in other words, in a direction parallel to the ridge boundary line RBL. Here, the turning angle α is the angle between the line connecting the position PP of the machine body 1 during running and the midpoint CC, and the ridge boundary line RBL. The midpoint CC is the midpoint between the start position PSR of the turning of the straight line path IPL on which the work running was performed immediately before and the start position PSS of the work running on the straight line path IPL to be run next (the end position PE of the turning). In addition, the ridge boundary line RBL is a line connecting the start position PSR and the end position PE, and is a line that passes through the start position PSR and is perpendicular to the straight line path IPL or the basic straight line RL. The running trajectory in this running is C2 shown in FIG. 6.

[0057] Then, when the turning angle α reaches a predetermined turning angle αC2 (the remaining turning angle is αC3=180°-αC2), the steering angle is set to a predetermined angle, and the vehicle turns toward the end position PE of the turn (straight path IPL). At this time, automatic steering may be performed toward the end position PE of the turn. The travel path during this travel is C3 shown in FIG. 6.

[0058] [Driving control mode for automatic driving] Next, the transition of the driving control mode and the operation during automatic driving will be described using FIG. 7 while also referring to FIG.

[0059] As described above, the rice transplanter of this embodiment can travel in either manual or automatic traveling mode, and the manual and automatic traveling modes can be switched by the traveling switching device 25 (see FIG. 8).

[0060] The above-mentioned teaching travel is performed in manual travel, and the start point PA and end point PB of the teaching travel are registered based on manual operation of the start position operation tool 18 and the end position operation tool 19, and at least one of the base line RL and the reference direction RD is calculated.

[0061] The automatic driving is controlled in one of the following driving control modes: an automatic straight-line mode, a turn preparation mode, and an automatic turn mode.

[0062] The automatic straight-line mode is a driving control mode in which automatic work driving along the straight-line path IPL is controlled. When the driving switching operation device 25 is used to switch from manual driving to automatic driving, the driving control mode first becomes the automatic straight-line mode.

[0063] The turning preparation mode is a driving control mode for starting automatic turning in automatic work driving along the straight path IPL. In the automatic straight mode, when the turning preparation operation tool 20 (see FIG. 8) described later is operated, the driving control mode is shifted (switched) from the automatic straight mode to the turning preparation mode. The automatic work driving along the straight path IPL is also controlled in the turning preparation mode. In the turning preparation mode, when the start position operation tool 18 or the end position operation tool 19 is manually operated, automatic turning starts. In other words, the start position operation tool 18 and the end position operation tool 19 for setting the start point PA and the end point PB of the teaching driving in the manual driving are used as operation tools for accepting an operation for starting automatic turning in the turning preparation mode. Note that, when the turning preparation operation tool 20 is operated again in the turning preparation mode, the automatic straight mode is returned to.

[0064] The automatic turning mode is a driving control mode to which the vehicle transitions (is switched) from the turning preparation mode by manual operation of the start position operation device 18 or the end position operation device 19. During automatic turning driving, the driving control mode becomes the automatic turning mode. Note that, if the start position operation device 18 or the end position operation device 19 is operated again during automatic turning driving in the automatic turning mode, the vehicle 1 (see FIG. 1) is stopped. Also, if the turning preparation operation device 20 is operated again in the automatic turning mode, the vehicle 1 is stopped and the engine 2 (see FIG. 1) is stopped.

[0065] [Automatic driving control] Next, a functional configuration for controlling automatic driving that performs automatic straight driving (automatic work driving) and automatic turning driving will be described using FIG. 7 with reference to FIG. 1, FIG. 3, and FIG.

[0066] The automatic traveling is controlled by a control unit 30. The positioning unit 8, the traveling switching operation tool 25, the start position operation tool 18, the end position operation tool 19, the turning preparation operation tool 20, and the wheels 12 are connected to the control unit 30 in a state in which data communication is possible.

[0067] The control unit 30 receives positioning data from the positioning unit 8. The control unit 30 also receives information on the operation of the driving switching operation device 25, the start position operation device 18, the end position operation device 19, and the turning preparation operation device 20. The driving switching operation device 25 accepts manual operation to switch between automatic driving and manual driving. The control unit 30 also controls the wheels 12 to control the driving and steering of the vehicle 1.

[0068] The control unit 30 includes a vehicle position calculation unit 32, a route generation unit 33, an automatic work driving control unit 35, an automatic turning driving control unit 36, and a driving prohibition control unit 38.

[0069] The machine body position calculation section 32 intermittently or continuously calculates the position PP of the machine body 1 in the field based on the positioning data received from the positioning unit 8.

[0070] In the above teaching traveling, the path generating unit 33 calculates at least one of the base line RL and the reference direction RD. Then, the path generating unit 33 uses the calculated base line RL or the reference direction RD to generate the next straight path IPL to be traveled every time turning traveling is performed.

[0071] The rice transplanter may include an alarm unit 26 that issues a predetermined alarm. In this case, the alarm unit 26 is connected to the control unit 30, and issues the predetermined alarm under the control of the control unit 30. Then, the path generating unit 33 causes the alarm unit 26 to issue the predetermined alarm when the start point PA and the end point PB are registered in the teaching travel. For example, the alarm unit 26 is a speaker, and the path generating unit 33 causes the speaker to generate a predetermined alarm sound when the start point PA and the end point PB are registered.

[0072] Additionally, together with or instead of the notification sound, the path generating unit 33 may cause the LED serving as the notification unit 26 to emit light to notify that the start point PA and the end point PB have been registered. Furthermore, the start position operating device 18 and the end position operating device 19 may be push buttons, and an LED may be provided on the surface of each push button as the notification unit 26. The path generating unit 33 may then light up the LED of the start position operating device 18 when the start point PA is registered, and light up the LED of the end position operating device 19 when the end point PB is registered.

[0073] The automatic work traveling control unit 35 controls the automatic work traveling along the straight path IPL based on the position PP of the machine body 1 while controlling the work devices such as the seedling planting device 3.

[0074] When the start position operation tool 18 or the end position operation tool 19 is manually operated in the turning preparation mode, the automatic turning travel control unit 36 ​​transitions to the automatic turning mode and turns the vehicle 1 in a direction corresponding to the start position operation tool 18 or the end position operation tool 19 in a predetermined procedure. For example, when the start position operation tool 18 is operated, the automatic turning travel control unit 36 ​​turns the vehicle 1 to the right in a predetermined procedure, and when the end position operation tool 19 is operated, the automatic turning travel control unit 36 ​​turns the vehicle 1 to the left in a predetermined procedure. Note that the turning direction according to the operation of the start position operation tool 18 or the end position operation tool 19 may be reversed, but in the case where the vehicle turns left when the start position operation tool 18 is operated and turns right when the end position operation tool 19 is operated, it is preferable to arrange the start position operation tool 18 on the left side and the end position operation tool 19 on the right side with respect to the turning preparation operation tool 20.

[0075] Furthermore, when the automatic turning mode is entered, the automatic turning / travel control unit 36 ​​may perform control to stop the planting clutch 23 (see FIG. 2) and raise the seedling planting device 3.

[0076] In addition, if the rice transplanter is equipped with an alarm unit 26, the automatic turning travel control unit 36 ​​may cause the alarm unit 26 to issue an alarm that a turning operation is possible when the turning preparation operating tool 20 is manually operated in the automatic straight-line mode.

[0077] For example, the turning preparation operation tool 20 may be a push button, and an LED may be provided on the surface of the push button as the notification unit 26. Then, the automatic turning travel control unit 36 ​​may turn on the LED of the turning preparation operation tool 20 when it transitions to the turning preparation mode and becomes capable of accepting operations of the start position operation tool 18 and the end position operation tool 19 to start automatic turning travel.

[0078] In addition, if the rice transplanter is equipped with an alarm unit 26, the automatic turning travel control unit 36 ​​may cause the alarm unit 26 to notify the user of the turning direction and that turning will begin when manual operation is performed on the start position operating device 18 or the end position operating device 19.

[0079] For example, if the start position operation device 18 and the end position operation device 19 are push buttons having LEDs, when the start position operation device 18 or the end position operation device 19 is operated in the turning preparation mode, the automatic turning driving control unit 36 ​​causes the LED of the operated operation device to flash while automatic turning driving is being performed.

[0080] In the automatic straight-ahead mode, the traveling prohibition control unit 38 executes a ridge control function that stops the machine body 1 or stops the engine 2 when the machine body 1 enters a ridge area. If the machine body 1 enters a ridge area during automatic work traveling and continues to travel forward, there is a possibility that the machine body 1 will come into contact with the ridge RW (see FIG. 4). Therefore, when the machine body 1 enters the ridge area, the traveling prohibition control unit 38 executes the ridge control function and stops the machine body 1 or stops the engine 2 to prevent the machine body 1 from coming into contact with the ridge RW.

[0081] In addition, if the rice transplanter is equipped with a notification unit 26, when the ridge-edge control function is executed, the travel prohibition control unit 38 may cause the notification unit 26 to notify that the ridge-edge control function is being executed.

[0082] [Ridge edge control function] Next, the ridge control function will be described with reference to FIG. 6 and with reference to FIG. 5 and FIG.

[0083] In the automatic straight-line mode and the turn preparation mode, when the machine body 1 enters the ridge area during automatic work travel along the straight path IPL, the travel prohibition control unit 38 stops the machine body 1 or stops the engine 2, as described above. At this time, the seedling planting device 3 may be stopped, and further, if lowered, the seedling planting device 3 may be raised. Specific ridge control functions will be described below.

[0084] In order to execute the ridge control function, the traveling prohibition control unit 38 calculates the ridge boundary line RBL and the ridge position PRB every time the automatic work traveling along the straight path IPL1 is started. The ridge boundary line RBL is a straight line that passes through the start position PSS of the automatic work traveling of the straight path IPL where the automatic work traveling was performed immediately before or the end position PE of the automatic turning traveling toward the start position PSS of the automatic work traveling of the straight path IPL where the automatic work traveling is performed immediately before, and is perpendicular to the straight path IPL1 where the automatic work traveling is performed next. The area on the ridge RW side from the ridge boundary line RBL corresponds to the ridge area. The ridge area is an area close to the outer peripheral area OA (see FIG. 4), and the ridge area may be included in the outer peripheral area OA, and the ridge area may protrude from the outer peripheral area OA toward the inner area IA (see FIG. 4). The ridge position PRB is the intersection point of the ridge boundary line RBL and the straight path IPL1.

[0085] The ridge area may be defined based on the ridge boundary line RBL, but the ridge area may be defined by setting a line offset from the ridge RW to the inside of the field by a predetermined distance as the boundary of the ridge area, or the ridge area may be defined based on the position where the float 15 (see FIG. 1) touches the ground. The ridge area may also be defined by setting the boundary of the ridge area based on the position PP of the machine body 1 when the clutch of the working device (such as the planting mechanism 22) is turned on and off, or the position PP of the machine body 1 when the working device (such as the seedling planting device 3) is raised and lowered. The ridge area may also be defined by setting the boundary of the ridge area based on the position PP of the machine body 1 when the steering angle or the machine body direction is switched. In this way, when the ridge area is set prior to the ridge boundary line RBL, the ridge boundary line RBL may be set based on the ridge area. In addition, the boundaries of the ridge area, such as the ridge boundary line RBL, may be recorded as point data based on the ridge boundary line RBL, the position of the work equipment (float 15, etc.) when switching between various operations, and the position PP of the aircraft 1, as described above, and in this case, the approach to the ridge RW may be detected based on how close the aircraft 1 has come to the point data.

[0086] In other words, when the machine 1 reaches the start position PS1 of automatic work travel along the straight-line path IPL1 during automatic turning travel and automatic work travel along the straight-line path IPL1, the travel prohibition control unit 38 calculates a ridge boundary line RBL that passes through the start position PSS of automatic work travel of the straight-line path IPL along which automatic work travel was performed immediately before and is perpendicular to the straight-line path IPL1. Then, the travel prohibition control unit 38 calculates a ridge position PRB that is the intersection of the ridge boundary line RBL and the straight-line path IPL1.

[0087] The travel prohibition control unit 38 acquires the position PP of the machine 1 during automatic work traveling along the straight-line path IPL1, which is calculated by the machine position calculation unit 32. Then, the travel prohibition control unit 38 constantly calculates a ridge distance DRP, which is the distance between the ridge position PRB and the position PP of the machine 1 during automatic work traveling along the straight-line path IPL1.

[0088] The traveling prohibition control unit 38 judges whether the machine 1 has entered a ridge area or whether it is necessary to execute the ridge control function based on the ridge distance DRP. For example, when the ridge distance DRP becomes 0, the traveling prohibition control unit 38 executes the ridge control function. When the ridge control function is executed, the traveling prohibition control unit 38 may cause the notification unit 26 to issue a predetermined notification. The ridge boundary line RBL may be defined as a straight line with no width, or may be defined as an area with a certain width (ridge boundary portion), or may be defined as a point or a set of points at any interval.

[0089] Here, even if there is a risk that the machine body 1 will come into contact with the ridge RW if it continues to travel straight beyond the ridge position PRB, if it starts turning on the way, the machine body 1 may be able to turn without coming into contact with the ridge RW. In addition, automatic turning is started by the driver performing an operation to start turning while checking the position PP of the machine body 1, the start position PSS of the straight path IPL to be traveled next, and the position of the ridge RW. Therefore, even if the machine body 1 passes the ridge position PRB, if the driver intends to turn the machine body 1, it is not a problem if the machine body 1 continues to travel straight. Conversely, if the driver intends to turn the machine body 1 during automatic straight traveling, if the machine body 1 is stopped by the ridge control function, it will not be possible to start automatic turning at an appropriate position.

[0090] Therefore, when the driver intends to make the machine 1 turn, the travel prohibition control unit 38 restricts the ridge control function and does not stop the machine 1 even if the machine 1 passes the ridge position PRB, but continues traveling straight ahead. In other words, the travel prohibition control unit 38 executes the ridge control function to stop the machine 1 when the machine 1 passes the ridge position PRB during automatic work traveling in the automatic straight-ahead mode, but when the turn preparation operation tool 20 is operated to switch to the turn preparation mode, the travel prohibition control unit 38 restricts the ridge control function and does not stop the machine 1 even if the machine 1 passes the ridge position PRB.

[0091] Specifically, when the mode is switched to the turning preparation mode, the traveling prohibition control unit 38 moves the ridge position PRB a predetermined distance, for example, 2.5 m, toward the ridge RW in the extension direction of the straight path IPL (toward the outside of the field). In other words, the traveling prohibition control unit 38 extends the ridge distance DRP by a predetermined distance. Then, in the turning preparation mode, the traveling prohibition control unit 38 executes a ridge control function based on the extended ridge distance DRP, and for example, stops the machine 1 (stops the engine 2 (see FIG. 1)) when the extended ridge distance DRP becomes 0.

[0092] As a result, when the driver operates the turn preparation operation tool 20 with the intention of turning the vehicle 1 and transitions to the turn preparation mode, the ridge position PRB is moved away in the traveling direction of the vehicle 1, and even if the position PP of the vehicle 1 exceeds the initial ridge position PRB, the ridge control function is restricted until the vehicle 1 reaches the moved ridge position PRB. Therefore, if the driver intends to turn the vehicle 1, straight traveling is continued, and automatic turning can be started at an appropriate position. In addition, the timing for starting automatic turning can be extended, and automatic turning can be started at a more appropriate position.

[0093] [Work travel process] Next, the work travel process will be described using FIG. 9 while also referring to FIG. 5 and FIG.

[0094] When work is performed in a farm field, first, it is determined whether or not the travel switching operation tool 25 has been operated to switch to automatic travel (step #1 in FIG. 9).

[0095] If the vehicle is not switched to automatic driving (step #1 No in FIG. 9), manual driving is selected, so the driver performs work driving by manual operation. During manual work driving, the above-mentioned teaching driving is performed (step #2 in FIG. 9).

[0096] If the mode has been switched to automatic driving (step #1 Yes in FIG. 9), the driving control mode is set to automatic straight-line mode (step #3 in FIG. 9). Then, the automatic work driving control unit 35 controls automatic work driving (automatic straight-line driving) along the straight-line path IPL (step #4 in FIG. 9).

[0097] During automatic straight-ahead traveling, it is determined whether or not the turning preparation operation tool 20 has been operated (step #5 in FIG. 9), and automatic straight-ahead traveling is continued until the turning preparation operation tool 20 is operated.

[0098] When the turning preparation operation tool 20 is operated (step #5 Yes in FIG. 9), the automatic work driving control unit 35 switches the driving control mode from the automatic straight driving mode to the turning preparation mode (step #6 in FIG. 9). Then, during the automatic straight driving in the turning preparation mode, it is determined whether the start position operation tool 18 or the end position operation tool 19 has been operated (step #7 in FIG. 9), and the automatic straight driving in the turning preparation mode is continued until the start position operation tool 18 or the end position operation tool 19 is operated.

[0099] Then, when the start position operation device 18 or the end position operation device 19 is operated (step #7 Yes in Figure 9), the automatic turning driving control unit 36 ​​switches the driving control mode from the turning preparation mode to the automatic turning mode (step #8 in Figure 9) and controls the automatic turning driving to be performed in a direction corresponding to the operated start position operation device 18 or end position operation device 19 in a predetermined procedure (step #9 in Figure 9).

[0100] When the turning travel is completed, the automatic work travel control unit 35 switches the travel control mode to the automatic straight-line mode, and the process from step #3 to step #9 is repeated. Then, when the work travel in the inner area IA (see FIG. 4) is completed, the work travel in the outer peripheral area OA (see FIG. 4) is performed by automatic or manual travel.

[0101] [Another embodiment] (1) When starting to travel by automatic travel or during automatic travel, if there is an obstacle ahead in the direction of travel or around the machine body 1, problems may occur with travel or work. For this reason, the rice transplanter of this embodiment may be equipped with a sonar sensor as an example of an obstacle detection device 28 (see FIG. 8) that detects obstacles around the machine body 1. The sonar sensor detects objects within a predetermined distance range as obstacles. Although obstacle detection is basically performed during automatic travel, it is also possible to configure the system so that obstacle detection is performed during manual travel.

[0102] When the sonar sensor detects an obstacle, the travel prohibition control unit 38 stops the machine 1. This makes it possible to prevent the machine 1 from coming into contact with the obstacle. Note that such control may be performed not only during automatic work travel along the straight path IPL, but also during automatic turning travel, and may also be performed during manual travel.

[0103] (2) In each of the above embodiments, while automatic work travel is being performed along the straight-line path IPL in the automatic straight-line mode, if the start position operation tool 18 or the end position operation tool 19 is operated as shown in Fig. 10, the straight-line path IPL may be translated (shifted) by a predetermined distance r (see Fig. 7). Thereafter, if the start position operation tool 18 or the end position operation tool 19 is operated again, the straight-line path IPL may also be translated by the distance r.

[0104] For example, when the start position operation tool 18 is operated while automatic work traveling in the automatic straight-line mode on the straight-line path IPL is being performed, the path generating unit 33 generates a straight-line path IPL2 in which the straight-line path IPL is translated 10 cm to the right. Similarly, when the end position operation tool 19 is operated while automatic work traveling in the automatic straight-line mode on the straight-line path IPL is being performed, the path generating unit 33 generates a straight-line path IPL2 in which the straight-line path IPL is translated 10 cm to the left. Thereafter, the automatic work traveling control unit 35 moves the machine 1 to the straight-line path IPL2 and controls it so that work traveling is performed along the straight-line path IPL2.

[0105] With this configuration, even if the straight line path IPL is generated in an inappropriate position, the straight line path IPL can be fine-tuned to perform automatic work traveling along an appropriate path.

[0106] (3) In each of the above embodiments, the ridge boundary line RBL is not limited to a configuration in which it is calculated based on the start position PSS of the automatic work travel or the end position PE of the automatic turning travel, and may be set arbitrarily. For example, a line a predetermined distance away from the ridge RW toward the inside of the field may be set as the ridge boundary line RBL.

[0107] (4) In each of the above embodiments, the traveling prohibition control unit 38 is not limited to the control of executing the ridge control function to stop the machine 1 when the ridge distance DRP between the position PP of the machine 1 and the ridge position PRB becomes 0 (the position PP of the machine 1 and the ridge position PRB are the same), but may also perform control to decelerate the machine 1 or stop automatic traveling as a restriction of the ridge control function. When stopping automatic traveling, it is preferable that a notification to that effect is given and the operator is prompted to perform a traveling operation manually. In addition, the traveling prohibition control unit 38 may not stop the machine 1 immediately even if the ridge distance DRP between the position PP of the machine 1 and the ridge position PRB becomes 0, but may reduce the vehicle speed as a restriction of the ridge control function, and may also stop the machine 1 when the distance from the machine 1 to the ridge RW becomes a predetermined distance shorter than the distance from the ridge RW to the ridge position PRB.

[0108] (5) In each of the above embodiments, the traveling prohibition control unit 38 is not limited to a configuration in which the border control function is executed when the border distance DRP between the position PP of the machine body 1 and the border position PRB becomes 0 (the position PP of the machine body 1 and the border position PRB coincide), but may execute the border control function when the border distance DRP between the position PP of the machine body 1 and the border position PRB becomes equal to or less than a predetermined distance. Furthermore, the traveling prohibition control unit 38 may execute the border control function when it is detected by any method that the machine body 1 has come closer to the border RW than the border boundary line RBL without using the border distance DRP.

[0109] (6) In each of the above embodiments, the turning operation tools operated to start turning in the turning preparation mode are not limited to the start position operation tool 18 and the end position operation tool 19, and two operation tools having other functions equipped on the aircraft 1 may be used. In other words, two existing operation tools may be set as a first turning operation tool for starting a right turn and a second turning operation tool for starting a left turn, and when either of these is operated in the turning preparation mode, the aircraft 1 may turn in the corresponding direction.

[0110] In addition, in traveling back and forth in a farm field, there are cases where the machine always turns in the same direction, either right or left, to move to the next straight path IPL. In such a case, it is not necessary to specify the turning direction in the operation to start turning, and it is sufficient to perform only the operation to start turning. Therefore, when turning in a predetermined direction is set, one existing operating tool may be used as the turning operating tool operated to start turning. For example, the work operating lever 11 (pump lever) that raises and lowers the seedling planting device 3 may be used as the operating tool operated to start turning.

[0111] Furthermore, even if the configuration is such that the vehicle turns to the left or right, the field may be photographed by a camera or the like, and the automatic turning and traveling control unit 36 ​​may analyze the photographed image to determine in which direction the unworked area is located, and when an operation to start turning is performed, the vehicle may turn in the direction of the unworked area. Even in such a configuration, one existing operating tool may be reused as the turning operating tool that is operated to start turning.

[0112] (7) In each of the above embodiments, the automatic turning travel is not limited to the procedure described with reference to Fig. 6, and may be performed according to any predetermined procedure. For example, the automatic turning travel control unit 36 ​​may fix the steering angle and perform automatic turning travel at one predetermined steering angle. In this case, the automatic turning travel control unit 36 ​​may also automatically steer in the final stage of turning travel based on the start position PSS of the automatic work travel of the next straight path IPL and the position PP of the machine body 1.

[0113] Furthermore, the automatic turning is not limited to a configuration in which the automatic turning is performed up to the start position PSS of the next straight path IPL, and the automatic turning may be terminated when the traveling direction of the machine body 1 approaches the traveling direction of the next straight path IPL by a predetermined degree. For example, the automatic turning control unit 36 ​​may terminate the automatic turning when the angle between a straight line parallel to the traveling direction of the machine body 1 and the next straight path IPL becomes equal to or smaller than a predetermined angle.

[0114] After the automatic turning travel is completed, the automatic work travel control unit 35 performs steering control of the machine body 1 so that it follows the next straight line path IPL.

[0115] (8) In each of the above embodiments, the notification unit 26 may be any notification means that can present warnings and information to the operator (driver, worker, etc.). For example, the notification unit 26 may be any one of an LED, a voice alarm generator, a speaker, an information terminal 5 (see FIG. 8), and the like, or a combination of these. The LED notifies various information and warnings by a lighting pattern, the number of lit LEDs, and the like. The voice alarm generator and the speaker notify various information and warnings by voice or warning sound. The information terminal 5 displays various information and warnings on a monitor screen. The information terminal 5 has a touch panel (monitor screen) that displays various information and notifies (outputs) the operator, and accepts input of various information. The information terminal 5 is provided in a detachable state in the driver's unit 14 in a manner that allows the driver seated in the driver's seat 16 to view and operate it.

[0116] (9) In each of the above embodiments, the rice transplanter may include a remote control 27 (see FIG. 8) for remotely operating the machine body 1. The remote control 27 performs data communication with the control unit 30 via a communication unit 39 provided in the control unit 30.

[0117] A turning operation tool may be provided on the remote control 27 together with the start position operation tool 18 and the end position operation tool 19 provided on the machine body 1, or separately from these. This allows the operator to start the automatic turning travel from a position away from the machine body 1. The turning preparation operation tool 20 may also be provided on the remote control 27.

[0118] (10) In each of the above embodiments, the control unit 30 is not limited to being composed of the above-mentioned functional blocks, and may be composed of any functional blocks. For example, each functional block of the control unit 30 may be further subdivided, or conversely, some or all of the functional blocks may be combined. In addition, the functions of the control unit 30 are not limited to the above-mentioned functional blocks, and may be realized by a method executed by any functional block. In addition, some or all of the functions of the control unit 30 may be composed of software. A program related to the software is stored in any storage device and executed by a processor such as a CPU provided in the control unit 30 or a processor provided separately. In addition, the control unit 30 may be configured to be mounted on the aircraft 1, but some or all of the functions of the control unit 30 may be provided in the information terminal 5.

[0119] (11) In each of the above embodiments, the traveling device is not limited to the wheels 12, and may be any traveling device such as a crawler. [Industrial Applicability]

[0120] The present invention can be applied to rice transplanters, agricultural work vehicles that travel in fields while making turns, and various other work vehicles that travel in work areas while making turns. [Explanation of symbols]

[0121] 1 Aircraft 18 Starting position operation tool (rotation operation tool / first rotation operation tool) 19 End position operation tool (rotation operation tool / second rotation operation tool) 20 Turn preparation operation tool 28 Obstacle detection device 32 Aircraft position calculation unit 33 Route Generation Unit 35 Automatic work driving control unit 36 Automatic turning control unit 38 Travel prohibition control unit DRP ridge distance IPL Straight Path PA Start Point PB End Point PP position PRB ridge position PSS start position r distance RBL ridge boundary line (ridge boundary) RL basic straight line RW ridge

Claims

1. A work vehicle that performs work travel in a field by repeating turning travel and straight travel, and is controlled to travel in an automatic straight travel mode, a turning preparation mode, or an automatic turning mode, The aircraft and an aircraft position calculation unit that calculates a position of the aircraft; A route generating unit that generates a straight line route for the straight traveling; an automatic work driving control unit that controls the work driving by automatic driving along the straight path based on the position of the machine body in the automatic straight-line mode and the turning preparation mode; a turning preparation operation tool that is turned on to switch from the automatic straight-line driving mode to the turning preparation mode; a turning operation tool that receives a manual operation for turning the aircraft in the turning preparation mode; a control unit for automatically controlling the turning operation by switching from the turning preparation mode to the automatic turning mode when a manual operation of the turning operation tool is received, and controlling the turning operation by automatic driving.

2. The turning operation tool includes a first turning operation tool and a second turning operation tool, The first turning operation tool receives a manual operation to turn the aircraft in one direction, either to the right or to the left; The work vehicle according to claim 1 , wherein the second turning operation tool accepts manual operation for turning the vehicle body in the other direction of the right and the left.

3. The first turning operation tool functions as a start position operation tool that accepts manual operation to set the position of the traveling machine body as a start point of the teaching traveling in a teaching traveling for generating the straight path, The second turning operation tool functions as an end position operation tool that accepts manual operation to set the position of the traveling machine body as the end point of the teaching traveling during the teaching traveling, the path generation unit calculates a straight line including the start point and the end point as a basic straight line, and generates a path parallel to the basic straight line as the straight line path; The work vehicle according to claim 2 , wherein the automatic turning control unit controls the turning in response to manual operation of the first turning operation tool or the second turning operation tool.

4. The work vehicle of claim 3, wherein the route generation unit, during automatic driving along the straight-line route generated by the route generation unit, translates the straight-line route a predetermined distance in one of the right or left directions when the start position operation device is operated, and translates the straight-line route a predetermined distance in the other of the right or left directions when the end position operation device is operated.

5. 2. The work vehicle according to claim 1, wherein the turning travel is performed in accordance with a predetermined procedure in response to the operation of the turning operation tool.

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