Automatic travel control system

Abstract

To efficiently resupply agricultural materials or discharge harvested crops.SOLUTION: The present invention provides an automatic travel control system for a farmland work vehicle that performs farmland work to supply agricultural materials to farmland by repeatedly carrying out automatic reciprocating travel by traveling along a travel route, which comprises an internal route and a turning route. For material resupply in a prescribed resupply area, the farmland work vehicle performs a resupply preparation process to stop traveling whenever the internal route has been traveled a prescribed number of times. The farmland work vehicle comprises a travel control unit 32 that controls the automatic travel including the resupply preparation process.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic driving control system that controls the automatic driving of a field work vehicle that supplies agricultural materials to a field or unloads harvested crops while automatically driving. [Background technology]

[0002] A field work vehicle that performs autonomous work traveling to supply agricultural materials to a field replenishes agricultural materials or unloads harvested crops while autonomously traveling.

[0003] The field work vehicle (rice transplanter) disclosed in Patent Document 1 stops the vehicle after each round trip in the field, and replenishes agricultural materials (seedlings) if necessary, and continues working if there is no need to replenish agricultural materials. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-106613 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the case of automated work driving, there is a demand for more efficient supply of agricultural materials.

[0006] An object of the present invention is to efficiently replenish agricultural materials or remove harvested crops. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, an automatic driving control system according to one embodiment of the present invention is an automatic driving control system for a field work vehicle that performs field work of supplying agricultural materials to a field by repeating automatic back-and-forth driving along a driving path consisting of an internal path and a turning path, and the field work vehicle performs a supply preparation process that stops driving every time it has driven along the internal path a predetermined number of times in order to replenish materials at a predetermined supply edge, and is equipped with a driving control unit that controls the automatic driving including the supply preparation process, a work control unit that controls the field work, a driving count operation unit that accepts a selection of the number of drives, and a material supply setting unit that sets the number of drives in accordance with an input to the driving count operation unit.

[0008] A field work vehicle according to one embodiment of the present invention is a field work vehicle that performs field work to supply agricultural materials to a field by repeating automatic back-and-forth travel along a travel path consisting of an internal path and a turning path, and performs a supply preparation process that stops travel every time it has traveled along the internal path a predetermined number of times in order to replenish materials at a predetermined supply side, and is equipped with a work device that performs the field work, a travel control unit that controls the automatic travel including the supply preparation process, a work control unit that controls the field work, a travel count operating unit that accepts a selection of the number of travels, and a material supply setting unit that sets the number of travels in accordance with an input to the travel count operating unit.

[0009] With the above-described configuration, supply preparation processing can be performed for each driving count according to the driving distance that can be covered by working with the agricultural materials loaded on board, thereby reducing unnecessary stop and restart operations due to supply preparation processing, enabling efficient supply of agricultural materials and efficient work driving.

[0010] An automatic driving control system according to one embodiment of the present invention is an automatic driving control system for a field work vehicle that performs field work to harvest agricultural crops from a field by repeating automatic back-and-forth driving along a driving path consisting of an internal path and a turning path, and the field work vehicle performs a discharge preparation process that stops driving every time it has driven along the internal path a predetermined number of times in order to discharge the agricultural crops harvested at a predetermined discharge edge, and is equipped with a driving control unit that controls the automatic driving including the discharge preparation process, a work control unit that controls the field work, a driving count operation unit that accepts a selection of the number of driving times, and a material discharge setting unit that sets the number of driving times in accordance with an input to the driving count operation unit.

[0011] With the above-described configuration, the discharge preparation process can be performed for each driving count corresponding to the work driving distance until the harvested crops are stored in an amount that can be stored in the vehicle, thereby reducing unnecessary stopping and restarting operations due to the discharge preparation process, enabling the crops to be discharged efficiently and efficient work driving to be performed.

[0012] The number of travels may be the number of round trips along the two internal paths sandwiching the turning path.

[0013] When the supply side is set to one of the outer perimeters of the field, the supply preparation process is performed at the end of the internal path that runs toward the supply side. Therefore, by setting the number of runs as the number of round trips, the supply preparation process can be set easily and efficiently.

[0014] In addition, the device may further include a count change operation unit that accepts an instruction to change the number of runs, and when the change instruction is received during the automatic round-trip running, the material supply setting unit may change the number of runs from the immediately preceding supply preparation process to the time when the next supply preparation process is performed in accordance with the change instruction.

[0015] It may be possible to predict during automatic work driving that there will be a shortage of agricultural supplies by the time the supply preparation process is reached, or that even if the work drive reaches the location where the supply preparation process is to be carried out, there will be sufficient agricultural supplies remaining (left over).

[0016] With the above configuration, the location where the supply preparation process is performed can be changed as needed, so that agricultural materials can be supplied at the appropriate time, and therefore agricultural materials can be supplied more efficiently.

[0017] In addition, the material supply setting unit may perform the supply preparation process with the changed number of runs, and then return the number of runs thereafter to the number of runs selected by the number of runs operation unit.

[0018] The working conditions may temporarily change due to the conditions in some parts of the field, resulting in a shortage or surplus of agricultural materials at the location where the supply preparation process is to be performed. In such a case, it is appropriate to modify the timing of the supply preparation process in some parts of the field.

[0019] With the above configuration, agricultural materials can be replenished at an appropriate time, and thus the agricultural materials can be replenished more efficiently.

[0020] Furthermore, when the material supply setting unit receives the change instruction, the material supply setting unit may change the number of runs thereafter to the number of runs corresponding to the change instruction.

[0021] The number of trips is determined by predicting the consumption of agricultural materials per unit distance traveled. If the consumption prediction is not accurate, the timing of replenishment preparation processing will not be set appropriately throughout the entire field.

[0022] In such a case, the above configuration allows agricultural materials to be replenished at an appropriate time, making it possible to more efficiently replenish agricultural materials.

[0023] The number of times change operation unit may be provided on the body of the field work vehicle.

[0024] With this configuration, the operator on board the vehicle can easily change the timing for replenishing agricultural materials.

[0025] The field work vehicle may further include an information terminal that is detachable from the field work vehicle, the number of times change operation unit is provided on the information terminal, and the change instruction may be determined according to the number of times the number of times change operation unit is operated.

[0026] With this configuration, the timing for replenishing agricultural materials can be changed while checking the display content of the information terminal, making it possible to easily change the timing for replenishing agricultural materials.

[0027] The field work vehicle may further include an information terminal that is detachable from the field work vehicle, the number of times change operation unit is provided on the information terminal, and the change instruction may be determined by selecting the number of times of travel that changes while the number of times change operation unit is being operated.

[0028] With this configuration, the timing for replenishing agricultural materials can be changed while checking the display content of the information terminal, making it possible to easily change the timing for replenishing agricultural materials.

[0029] The farm work vehicle may further include a remote control capable of remotely controlling the farm work vehicle, and the number of times change operation unit may be provided on the remote control.

[0030] The automated work driving may be performed without a worker on board the vehicle. In this case, the worker carries a remote control to operate the vehicle.

[0031] With the above configuration, the worker can change the timing for replenishing agricultural materials without being on board the vehicle, making it easy to change the timing for replenishing agricultural materials.

[0032] The device may further include a microphone for inputting voice, and the material supply setting unit may have a voice recognition unit that responds to a predetermined voice, and the voice input to the microphone may be recognized by the voice recognition unit, and the material supply setting unit may change the number of runs in accordance with the voice recognized by the voice recognition unit.

[0033] With this configuration, the worker can change the timing for replenishing agricultural materials simply by speaking without performing any special operations, making it easy to change the timing for replenishing agricultural materials.

[0034] The farm work vehicle may further include a remote control capable of remotely controlling the farm work vehicle, and the microphone may be provided on the remote control.

[0035] The automated work driving may be performed without a worker on board the vehicle. In this case, the worker carries a remote control to operate the vehicle.

[0036] With the above configuration, the worker can change the timing of replenishing agricultural materials simply by speaking when not on board the vehicle, making it easy to change the timing of replenishing agricultural materials.

[0037] In addition, the travel count operating unit can select a non-replenishment preparation mode in which the replenishment preparation process is not executed, and when the number of times changing operating unit is operated during the automatic round-trip travel in which the non-replenishment preparation mode is selected, the travel control unit may execute the replenishment preparation process the next time it approaches the replenishment edge.

[0038] With this configuration, even if the supply preparation process is not performed regularly, the supply preparation process can be performed at the operator's discretion, further reducing unnecessary stops, allowing agricultural materials to be replenished more efficiently, and enabling efficient work travel.

[0039] In addition, the field work vehicle is a seedling transplanting vehicle that plants seedlings in the field as the agricultural material, and has a seedling carrying platform and a planting mechanism, the seedling carrying platform carries mat-shaped seedlings and continuously sends the mat-shaped seedlings to the planting mechanism at a predetermined vertical feed amount, the planting mechanism removes a predetermined amount of seedlings from the mat-shaped seedlings and plants the seedlings in the field with a predetermined spacing between plants, the seedling carrying platform has a sensor that detects the remaining mat of the mat-shaped seedlings and further includes an alarm unit that issues a predetermined alarm, and the material supply setting unit has a remaining amount determination unit that determines whether or not the remaining amount of seedlings will be insufficient in the field work until the next time the supply preparation process is performed based on information on the remaining mat amount, information on the seedling amount, information on the vertical feed amount, information on the length of the mat-shaped seedlings, and information on the spacing between plants detected by the sensor, and if the remaining amount of seedlings is insufficient, the remaining amount determination unit may cause the alarm unit to issue an alarm to the effect that the remaining amount of seedlings is insufficient.

[0040] With this configuration, the operator is notified when the required number of seedlings is insufficient to reach the position where the supply preparation process is to be performed, and can take appropriate measures such as adjusting the spacing between plants or the number of seedlings removed or supplying seedlings early to prevent empty planting. This allows the operator to carry out work travel appropriately and efficiently. [Brief description of the drawings]

[0041] [Figure 1] FIG. 2 is a left side view of the automatically-traveling rice transplanter. [Diagram 2] FIG. 1 is a schematic diagram illustrating the operation travel of the rice transplanter. [Diagram 3] 1 is a block diagram illustrating a functional configuration of an automatic driving control system according to a first embodiment. [Figure 4] 13 is a diagram illustrating an example of a setting screen for supply sides and supply intervals in the first embodiment. FIG. [Diagram 5] 10A to 10C are diagrams illustrating a process for changing replenishment settings and execution intervals in the first embodiment. [Figure 6] FIG. 11 is a block diagram illustrating a functional configuration of an automatic driving control system according to a second embodiment. [Figure 7]FIG. 11 is a diagram illustrating an example of a setting screen for supply sides and supply intervals in the second embodiment. [Figure 8] 13A to 13C are diagrams illustrating a process of changing a replenishment setting and a replenishment preparation position in the second embodiment. [Figure 9] FIG. 11 is a diagram illustrating a replenishment preparation position in the second embodiment. [Figure 10] FIG. 11 is a block diagram illustrating a functional configuration of an automatic driving control system according to a third embodiment. [Figure 11] FIG. 13 is a diagram illustrating an example of a setting screen for a supply side in the third embodiment. [Figure 12] FIG. 13 is a diagram illustrating a process of setting replenishment in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] [Embodiment 1] Hereinafter, a rice transplanter that plants seedlings (agricultural materials) in a field (field work) will be described as an example of the field work vehicle of the present invention.

[0043] For ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of arrow F shown in FIG. 1) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of arrow B shown in FIG. 1) 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, "left" means the direction toward the front of the paper in FIG. 1, and "right" means the direction toward the back of the paper in FIG. 1.

[0044] [Overall structure] As shown in Fig. 1, the rice transplanter is a riding type with a four-wheel drive body 1. The body 1 includes a parallel four-link type link mechanism 13 connected to the rear of the 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, a seedling planting device 3 connected to the rear end region of the link mechanism 13 so as to be able to roll, and a fertilizer applicator 4 installed from the rear end region of the body 1 to the seedling planting device 3.

[0045] The machine body 1 is equipped with 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). The wheels 12 have left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. Power output from the engine 2 is transmitted to the continuously variable transmission 9 via a traveling transmission mechanism, and is also transmitted from the continuously variable transmission 9 to the front wheels 12A, the rear wheels 12B, the working equipment (seedling planting equipment 3, fertilizer application equipment 4, etc.), etc. The engine 2 and the continuously variable transmission 9 are mounted on the front of the machine body 1.

[0046] 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, etc. The seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the clutch for each row (not shown).

[0047] The seedling placement table 21 is a base on which eight rows of mat-shaped seedlings are placed. The seedling placement table 21 continuously moves back and forth (lateral feed) in the left-right direction at a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and each time the seedling placement table 21 reaches the left-right stroke end by a predetermined number of lateral feeds, each mat-shaped seedling on the seedling placement table 21 is vertically fed toward the lower end of the seedling placement table 21 at a predetermined pitch (vertical feed amount). The eight planting mechanisms 22 are rotary type and are arranged in the left-right direction at a constant interval corresponding to the spacing between the planting rows. Each planting mechanism 22 receives power from the engine 2 when a planting clutch (not shown) is shifted to a transmission state, and cuts out one seedling (a seedling to be planted) from the lower end of each mat-shaped seedling placed on the seedling placement table 21 and plants it in the muddy soil after the land is leveled at a predetermined spacing between the seedlings. As a result, when the seedling planting device 3 is in an operating state, the seedlings can be taken out of the mat-shaped seedlings placed on the seedling placement table 21 and planted (supplied) in the muddy soil of the paddy field.

[0048] The seedling placing table 21 may also include a sensor 23 that detects the remaining amount of mat-shaped seedlings. For example, the sensor 23 may be an optical sensor that is provided on the surface (placement surface) of the seedling placing table 21, and detects whether or not mat-shaped seedlings are present at the arrangement position of the sensor 23 by blocking light from entering the sensor 23 when a mat-shaped seedling is placed thereon, thereby detecting whether or not a predetermined amount or more of mat-shaped seedlings are present.

[0049] Information such as the number of lateral feeds, the vertical feed amount, the spacing between plants, the seedling removal amount, which is the amount of seedlings per plant, and the dimensions of the mat-like seedlings (length and width) are stored in an arbitrary memory unit (such as memory unit 35 or memory unit 42 described later in FIG. 3) that can communicate with information terminal 5, etc. Note that the number of lateral feeds, the vertical feed amount, the spacing between plants, and the seedling removal amount may be fixed, or may be configured to be freely changeable. In this case, the memory unit stores the set information.

[0050] The fertilizer application device 4 (supply device) has a hopper 25 (storage section) that stores granular or powdered fertilizer (chemicals and other agricultural materials), a delivery mechanism 26 that delivers the fertilizer from the hopper 25, and a fertilizer application hose 28 that transports the fertilizer delivered by the delivery mechanism 26 and discharges the fertilizer into the field. The fertilizer stored in the hopper 25 is delivered in predetermined amounts by the delivery mechanism 26 and sent to the fertilizer application hose 28, transported inside the fertilizer application hose 28 by the delivery wind of the blower 27, and discharged into the field from a furrow former 29. In this way, the fertilizer application device 4 supplies fertilizer to the field.

[0051] As shown in FIG. 1, the machine body 1 is provided with a driving section 14 in the rear side area. The driving section 14 is provided with a steering wheel 10 for steering the front wheels, a main speed change lever 7A for adjusting the vehicle speed by changing the speed of the continuously variable transmission 9, a sub-speed change lever 7B for enabling the sub-speed change operation, a work operation lever 11 for enabling the raising and lowering operation of the seedling planting device 3 and switching of the operating state, a touch panel 50 (corresponding to the "display unit" in FIG. 3 and the like) for displaying (informing) various information and informing (outputting) the operator and accepting input of various information, a removable information terminal 5, and a driver's seat 16 for the operator (driver / worker). The sub-speed change lever 7B is used to switch the traveling vehicle speed between a working speed during work and a moving speed during movement. For example, movement between fields is performed at the moving speed, and planting work and the like is performed at the working speed. Furthermore, in front of the driving section 14, a spare seedling storage device 17A for storing spare seedlings is supported by a spare seedling support frame 17.

[0052] Furthermore, the aircraft 1 is equipped with a positioning unit 8. The positioning unit 8 outputs positioning data for calculating the position 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. The positioning unit 8 is supported on the upper part of the spare seedling support frame 17. The calculated position information and orientation information are stored in the memory unit described above.

[0053] Furthermore, a remote controller 6 (see FIG. 3, etc.) capable of remotely operating the information terminal 5 and the machine 1 may be further provided.

[0054] [Autonomous Driving] The automatic driving of the rice transplanter to plant seedlings in a field will be explained using Figs. 1 and 2.

[0055] The rice transplanter in this embodiment can selectively perform manual travel and automatic travel. Manual travel (manual work travel) and automatic travel (automatic work travel) are selected by switching an automatic / manual changeover switch (not shown) arranged in the driving unit 14.

[0056] When the rice transplanter is to plant seedlings, the operator first manually drives the rice transplanter along the perimeter (edge) of the field. At this time, the rice transplanter may drive while working or may drive without working. This driving around the perimeter generates the perimeter shape of the field (field map), and the field is divided into an outer perimeter area OA and an inner area IA (map creation process). At this time, one side or specified multiple sides of the perimeter of the field are set as a supply side SL for supplying the rice transplanter with agricultural materials such as mat-shaped seedlings, fertilizer, chemicals, and fuel.

[0057] When the field map is generated, a target travel route along which the rice transplanter will travel for work is set (route creation process). In the internal area IA, an internal round trip route IPL (corresponding to an "internal route") and a turning route are generated as a target travel route (corresponding to a "travel route"). The internal round trip route IPL is a plurality of routes approximately parallel to one side of the field, and the turning route is a route connecting two internal round trip routes IPL. The internal round trip route IPL is a travel route for work travel throughout the entire internal area IA. Automatic work travel is performed along the internal round trip route IPL. Turning travel on the turning route connecting the internal round trip routes IPL is performed by automatic travel using a predetermined method.

[0058] In the outer peripheral area OA, a peripheral planting run is performed that goes around the outer peripheral area OA one or more times along the outer periphery (outer edge) of the field. For example, two running routes, an inner peripheral route IRL and an outer peripheral route ORL, are generated as routes for performing peripheral planting run. By running the inner peripheral route IRL and the outer peripheral route ORL, the entire outer peripheral area OA is run. The inner peripheral route IRL is run by unmanned automatic running or manned automatic running (automatic running with a person on board), and the outer peripheral route ORL is run by manual running. Also, depending on the mode selection, the inner peripheral route IRL may be run by manual running, and the outer peripheral route ORL may be run by automatic running.

[0059] When the rice transplanter runs out of seedlings, it replenishes them. When replenishing seedlings, the machine body 1 moves forward and moves to the edge of the ridge at the replenishing side SL. When replenishing seedlings is completed, the machine body 1 moves backward and returns to the traveling route.

[0060] Specifically, during automatic travel (automatic reciprocating travel), when transitioning from the internal reciprocating path IPL to the turning path, the machine body 1 is temporarily stopped at the supply preparation position SPP (seedling supply side automatic stop / supply preparation processing), and by performing an artificial operation during that time, the machine body 1 advances (slightly moves closer) to the supply point (corresponding to the "material supply point") SP of the supply side SL at a predetermined speed, and the machine body 1 moves closer to the edge of the supply side SL. The supply preparation position SPP where the supply preparation processing is performed is set in the terminal area of ​​the internal reciprocating path IPL or in the area near the boundary between the internal reciprocating path IPL and the turning path. Note that such supply preparation processing is not limited to seedling supply, and may be performed when supplying various agricultural materials such as fertilizer, medicine, and fuel.

[0061] The supply position for supplying seedlings is not limited to the supply point SP, which is a position straight from the internal shuttle path IPL to the supply side SL, but may be a supply point SA that is arbitrarily provided along the supply side SL. When supplying seedlings at the supply point SA, the machine body 1 is moved from the supply preparation position SPP to the supply point SA.

[0062] In order for the rice transplanter to travel automatically, the above-mentioned map creation process and route creation process are performed. In the route creation process, the setting of the supply side and the setting related to the supply preparation process (supply setting) are also performed. Such various processes and settings can be performed in the machine body 1, but may also be performed using the information terminal 5.

[0063] [Supply Settings] As shown in Fig. 3, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the driving unit 14, or may be held by an operator away from the machine body 1 in a state in which it can be operated.

[0064] The control unit 30 controls the automatic operation travel of the rice transplanter according to conditions set by the information terminal 5 etc. The control unit 30 includes a travel control unit 32 that controls the travel, a work control unit 33 that controls the work, a communication unit 34 that communicates with the information terminal 5 etc., and a memory unit 35.

[0065] The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for making various settings.

[0066] The control unit 38 controls the operation of each functional block of the information terminal 5. The communication unit 39 communicates with the machine 1, etc. The touch panel 50 displays various information and various software switches. The seedling supply setting unit 41 sets the supply edge SL, supply preparation position SPP, etc. based on the operation of operating tools, software switches, etc. while referring to the information displayed on the touch panel 50. The memory unit 42 stores various information.

[0067] The supply setting in the first embodiment will be described below with reference to Fig. 2 to Fig. 5. The supply setting is performed after the map creation process is performed and the target travel route is set in the route creation process.

[0068] In supply setting, a setting screen as shown in Fig. 4 is displayed on the touch panel 50 (step #1 in Fig. 5). A supply edge setting operation unit 52 is displayed as a software switch on the setting screen. The supply edge SL is selectively set by the supply edge setting operation unit 52. The setting screen displays the outer peripheral shape of the field and a design such as an arrow corresponding to the internal round trip path IPL, and the edges corresponding to the start and end of the internal round trip path IPL are displayed as candidates for the supply edge SL.

[0069] The supply edge setting operation unit 52 can select any one of the candidate edges, all the candidate edges, or not perform the supply preparation process (no edges are selected). The edge selected by the supply edge setting operation unit 52 is set as the supply edge SL (step #2 in FIG. 5). Note that in the example of FIG. 4, there are two candidate edges, edge A and edge B, but one or more edges may be set as candidates, and if there are multiple candidate edges, multiple of them may be selected.

[0070] Furthermore, when "Replenishment preparation processing is not performed" is selected in the supply side setting operation unit 52, a non-replenishment preparation mode is set in which the supply preparation processing is not performed, and no temporary suspension for replenishment is performed. In this case, the worker determines the need for replenishment, interrupts the work at a position of his / her choice, and moves the machine 1 to a replenishment position to perform replenishment. Note that movement to this replenishment position may be performed automatically.

[0071] The non-supply preparation mode may be set by a separately provided operation tool (not shown) without being limited to a case where "supply preparation processing is not performed" is selected in the supply side setting operation unit 52. In this case, the non-supply preparation mode can be set after the supply side SL is set in the supply side setting operation unit 52.

[0072] Next, an automatic stop interval is set for the number of round trips on the internal round trip path IPL at which the supply preparation process is performed. The round trip on the internal round trip path IPL is a trip from the end of the internal round trip path IPL on the supply side, followed by a turning trip, then a trip on the next internal round trip path IPL, and finally to the end of the internal round trip path IPL on the supply side. Specifically, a trip count operation unit 53 is displayed as a software switch on the setting screen. The trip count operation unit 53 can select the number of round trips. The seedling supply setting unit 41 sets the number of times selected by the trip count operation unit 53 as the number of round trips (execution interval) of the supply preparation process, stores it in the storage unit 42, and transmits the information to the travel control unit 32. The travel control unit 32 stores the set number of round trips in the storage unit 35, and temporarily stops the machine 1 in order to perform the supply preparation process every time the set number of round trips are performed (step #3 in FIG. 5).

[0073] For example, if one round trip is set as the number of round trips, the seedling supply preparation process is carried out at position SP1 following the supply preparation position SPP in Fig. 2, if two round trips are set as the number of round trips, the seedling supply preparation process is carried out at position SP2 following the supply preparation position SPP, and if three round trips are set as the number of round trips, the seedling supply preparation process is carried out at position SP3 following the supply preparation position SPP. Then, once all of the necessary settings have been made, automatic work travel is started by accepting a specified operation (step #4 in Fig. 5).

[0074] Even if the replenishment preparation process is performed after each round trip along the internal round trip path IPL, there are cases where the work travel can be continued without replenishment. In such cases, when the machine body 1 stops, the work travel is resumed by a specified operation of the worker. Such unnecessary stopping of the work travel and operations to resume the work travel decrease the work efficiency.

[0075] In addition, depending on the size of the field (the length of the internal shuttle path IPL), the amount of mat-like seedlings to be loaded, the seedling removal rate, row spacing, etc., it may be possible to predict the distance traveled before replenishment is required (the interval between replenishment preparation treatments).

[0076] Therefore, by configuring the system so that the number of round trips, which is the interval between execution of the replenishment preparation process, can be set, unnecessary stopping of work travel and operations to resume work travel can be suppressed, thereby improving work efficiency.

[0077] In addition, when the supply sides are set on both the front and rear sides of the travel direction of the internal reciprocating path IPL, the supply preparation process can be performed for each run of the internal reciprocating path IPL. Therefore, the run count operation unit 53 may be configured to select the number of runs of the internal reciprocating path IPL, rather than being limited to the number of round trips, as the execution interval of the supply preparation process.

[0078] For example, when the number of travels is set to three, the seedling supply preparation process is carried out at the position SP4 following the supply preparation position SPP in FIG.

[0079] By carrying out the replenishment preparation process every time the internal round trip path IPL is traveled a set number of times, the replenishment preparation process according to the need for replenishment can be carried out with higher accuracy, and the work efficiency is further improved.

[0080] There are cases where it is not possible to accurately predict the distance traveled until replenishment is required (the interval for carrying out the replenishment preparation process), and the amount of seedlings consumed per distance traveled may change depending on the field conditions, etc. In such cases, even if the replenishment preparation process is carried out at a preset interval, it may not be possible to replenish seedlings at the appropriate time.

[0081] For example, during work travel, it may be predicted that the seedlings will run out by the time the next supply preparation position SPP is reached, or there may still be sufficient seedlings remaining even after the supply preparation process is performed.

[0082] In such a case, it is preferable to have a configuration in which the next replenishment preparation position SPP (the execution interval of the replenishment preparation process) can be changed during automatic work travel, which allows work travel to be performed more efficiently.

[0083] Therefore, a number of times change operation unit 54 that allows the implementation interval to be changed during automatic work driving may be provided. For example, the number of times change operation unit 54 is a software switch that is displayed on the touch panel 50 during work driving. The number of times change operation unit 54 may be configured to select the implementation interval like the driving number of times operation unit 53, or may be configured to increase or decrease the implementation interval. For example, the number of times change operation unit 54 may be configured to determine the implementation interval according to the number of times it is operated. Alternatively, the number of times change operation unit 54 may be configured to sequentially change the implementation interval displayed on the touch panel 50 while the number of times change operation unit 54 is being operated (long press, etc.), and to change to the implementation interval displayed at the time the operation is stopped. Furthermore, the number of times change operation unit 54 may be configured to perform an operation to shorten the implementation interval by one round trip (one driving number) and an operation to extend it (increase or decrease the implementation interval) instead of directly inputting the implementation interval.

[0084] During automatic work travel, if it is predicted that the seedlings will run out by the time the next supply preparation position SPP is reached, or if it is predicted that sufficient seedlings will remain even if the work travel is made to the next supply preparation position SPP, the number of times change operation unit 54 is operated (step #5 in FIG. 5) to change the next supply preparation position SPP. In other words, it is possible to supply earlier than the preset implementation interval, or to skip the supply preparation position SPP.

[0085] For example, if the number of round trips is set to two, and if the operator determines that a sufficient number of mat-shaped seedlings are loaded while the machine is traveling automatically after replenishing at the replenishing preparation position SPP in Fig. 2, he or she operates the number of round trips change operation unit 54 to change the number of round trips to three. Based on this operation, the number of times change operation unit 54 sends a change instruction to the seedling supply setting unit 41. The seedling supply setting unit 41 sends this information to the traveling control unit 32, and the traveling control unit 32 carries out the replenishing preparation process based on this information. Specifically, the next replenishing preparation process after the replenishing preparation position SPP is not carried out at position SP2, but at position SP3.

[0086] When the frequency change operation unit 54 is operated, only the execution interval from the immediately preceding replenishment preparation process to the next replenishment preparation process may be changed, and the execution interval thereafter may be returned to the initially set execution interval (step #6-1 in FIG. 5), or the execution interval from the next time onward may be changed (step #6-2 in FIG. 5).In other words, the set execution interval itself may be changed.

[0087] In this case, the seedling supply setting unit 41 changes the execution interval stored in the memory unit 42 to an execution interval according to the operation of the frequency change operation unit 54, and transmits the changed execution interval to the traveling control unit 32. Then, the traveling control unit 32 changes the execution interval stored in the memory unit 35 to the changed execution interval, and performs the subsequent seedling supply preparation process at the changed execution interval.

[0088] In addition, in the case of a configuration in which an operation is performed to advance or extend the execution interval, the set execution interval is changed by subtracting one round trip (one number of runs) from the set execution interval in the case of an operation to advance the execution interval, and by adding one round trip (one number of runs) to the set execution interval in the case of an operation to extend the execution interval.

[0089] Furthermore, it may be possible to select whether to change only the next implementation interval or to change all subsequent implementation intervals. When the seedling consumption per travel distance changes due to the field conditions, etc., the implementation interval often becomes temporarily inappropriate. On the other hand, when the predicted seedling consumption amount differs from the actual work, the implementation interval may become inappropriate for the entire work trip. Therefore, by configuring the change period of the implementation interval to be selectable between only the next time or all subsequent times, it is possible to change the implementation interval appropriately according to the situation at the time.

[0090] When "Do not perform supply preparation processing" is selected in the supply side setting operation unit 52 and the non-supply preparation mode is set, the number of times change operation unit 54 may be used when the operator determines that supply is necessary during automatic work travel and operates the number of times change operation unit 54. In this case, when the operator determines that supply is necessary during automatic work travel and operates the number of times change operation unit 54, the travel control unit 32 receives information that the number of times change operation unit 54 has been operated, and controls the travel toward the outer periphery of the field (supply side SL) to supply seedlings.

[0091] Specifically, when the number of times change operation unit 54 is operated, the traveling control unit 32 controls the machine body 1 to stop after traveling on the internal round trip path IPL that is currently being traveled, without transitioning to turning traveling. After that, the machine body 1 continues to move forward, and when it reaches the outer periphery of the field (the supply side SL), the machine body 1 is stopped.

[0092] Also, when a supply side SL is set and the non-supply preparation mode is set, if the number of times change operation unit 54 is operated, a turning run is not performed after traveling on the internal round trip path IPL toward the next supply side SL, and supply may be performed at the next supply side SL. After that, the seedling supply setting unit 41 may determine the implementation interval based on the number of round trips (number of runs) in which supply has been performed by operating the number of times change operation unit 54 since the start of work travel, and may be set to perform the supply preparation process.

[0093] In addition, in the above configuration, instead of the number of times change operation unit 54, the implementation interval may be changed based on the voice of the operator (worker). For example, when the operator says "change number of times" and then "three times", the implementation interval may be changed to three times. Also, the implementation interval may be increased or decreased by one time by saying "increase" or "decrease" after saying "change number of times". Furthermore, these voice recognition technologies may be configured to recognize voice based on deep learning by artificial intelligence.

[0094] Specifically, the information terminal 5 includes a microphone 44 and a voice recognition unit 45 that responds to a predetermined voice and recognizes the voice. When an operator inputs a voice instruction, the microphone 44 transfers the voice data to the voice recognition unit 45, which recognizes the voice data as the specific content of the instruction. The voice recognition unit 45 transmits the content of the instruction to the traveling control unit 32, and the traveling control unit 32 controls the machine body 1 to travel toward the outer periphery of the field (supply side SL) in order to supply seedlings, according to the content of the instruction.

[0095] Furthermore, the information terminal 5 may be equipped with an alarm unit 47 that issues a predetermined alarm and a remaining amount determination unit 48, and may be configured to alarm if it is predicted that the remaining amount of seedlings will be insufficient when the supply preparation process is performed at a set interval.

[0096] Specifically, the remaining amount determining unit 48 calculates the seedling consumption amount per unit travel distance from the stored information on the seedling removal amount, vertical feed amount, mat-shaped seedling length, and spacing, and calculates the remaining amount of seedlings from the mat remaining amount information. Then, based on the calculated consumption amount and remaining amount, the remaining amount determining unit 48 determines whether the remaining amount of seedlings will be insufficient during the work travel until the next supply preparation process is performed. If the remaining amount determining unit 48 determines that the remaining amount of seedlings is insufficient, it causes the alarm unit 47 to issue an alarm to warn that the remaining amount of seedlings is insufficient.

[0097] In this way, by warning the operator when the remaining seedlings are insufficient, if there are insufficient seedlings, the operator can replenish them before the replenishment preparation process begins, thereby preventing seedlings from running out during automatic work travel and enabling work travel to be carried out efficiently.

[0098] [Embodiment 2] Next, another embodiment of the replenishment setting will be described as embodiment 2 with reference to Figs. 6 to 9. The replenishment setting of embodiment 2 differs from the replenishment setting of embodiment 1 in that the replenishment interval is set not by the number of round trips (number of runs) but by the working distance. In the following description, description of the same configuration as embodiment 1 will be omitted.

[0099] As shown in Fig. 6, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the driving unit 14, or may be held by an operator away from the machine body 1 in a state in which it can be operated.

[0100] The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for making various settings.

[0101] In the supply setting of the second embodiment, a setting screen as shown in Fig. 7 is displayed on the touch panel 50 (step #1 in Fig. 8). A supply side setting operation unit 52 is displayed as a software switch on the setting screen. The supply side SL is selectively set by the supply side setting operation unit 52. The setting screen displays the outer peripheral shape of the field and a design such as an arrow corresponding to the internal round trip path IPL, and the sides corresponding to the start and end of the internal round trip path IPL are displayed as candidates for the supply side SL.

[0102] The supply edge setting operation unit 52 can select any one of the candidate edges, all the candidate edges, or not perform the supply preparation process (no edges are selected). The edge selected by the supply edge setting operation unit 52 is set as the supply edge SL (step #2 in FIG. 8). Note that in the example in FIG. 7, there are two candidate edges, edge A and edge B, but one or more than two edges may be set as candidates, and if there are multiple candidate edges, multiple of them may be selected.

[0103] If "Replenishment preparation processing is not performed" is selected in the supply side setting operation unit 52, a non-replenishment preparation mode in which the supply preparation processing is not performed is set, and no temporary suspension for replenishment is performed. In this case, the worker determines the need for replenishment, interrupts the work at a position of his / her choice, and moves the machine 1 to the replenishment position to perform replenishment.

[0104] The non-supply preparation mode may be set by a separately provided operation tool (not shown) without being limited to a case where "supply preparation processing is not performed" is selected in the supply side setting operation unit 52. In this case, the non-supply preparation mode can be set after the supply side SL is set in the supply side setting operation unit 52.

[0105] Next, the interval for carrying out the supply preparation process is set. Specifically, the working distance input unit 56 is displayed as a software switch on the setting screen (step #3 in FIG. 8). The working distance input unit 56 inputs the working distance that can be traveled with the seedlings to be supplied. The working distance input unit 56 may be configured to directly input a number corresponding to the working distance, or may be configured to increase or decrease the number as shown in FIG. 7. The working distance can be predicted in advance from information such as the amount of mat-like seedlings loaded on the seedling loading platform 21, the number of lateral feeds, the vertical feed amount, and the spacing between plants, and may be empirically determined taking into account the field conditions and the like. The seedling supply setting unit 41 sets the supply preparation position SPP based on the working distance and the supply side SL inputted in the working distance input unit 56, stores it in the memory unit 42, and transmits the information to the traveling control unit 32. The traveling control unit 32 stores the set supply preparation position SPP in the memory unit 35, and temporarily stops the machine 1 in order to carry out the supply preparation process at the set supply preparation position SPP.

[0106] For example, if the distance traveled from the planting start position S along the internal shuttle path IPL1, the internal shuttle path IPL2, and the internal shuttle path IPL3 to a position PA on the internal shuttle path IPL4 is the set work distance, the end area of ​​the internal shuttle path IPL that is closest to the supply edge SL on the travel path to the position PA is set as the supply preparation position SPP. In the example of Figure 9, the position PB is set as the supply preparation position SPP.

[0107] Here, the travel distance from the planting start position to position PA is longer than the set working distance. In such a case, the spacing between plants is lengthened or the amount of seedlings removed is reduced so that the work travel can be completed from the planting start position S to the supply preparation position SPP (position PB).

[0108] However, if the spacing is adjusted only partially, it may spoil the aesthetic appearance. In such a case, it is preferable to adjust the spacing in the center of the field. For example, the spacing is adjusted only in an area that is a certain distance or more away from the outer edge of the field.

[0109] In addition, if the distance from position PA to the supply side SL is long, even if the spacing between plants and the amount of seedlings removed are adjusted, it may not be possible to travel from the planting start position S to position PB for work. If such a situation is anticipated, the end area of ​​the internal round-trip path IPL, which is next to the planting start position S side of the internal round-trip path IPL including position PA, and which faces the supply side SL, is set as the supply preparation position SPP. For example, in FIG. 9, if the supply side SLB is included as the supply side SL, position PC is set as the supply preparation position SPP. In addition, if the supply side SL is only the supply side SLA, position PD is set as the supply preparation position SPP. Then, when all the necessary settings have been made, automatic work travel is started by accepting a specified operation (step #4 in FIG. 8).

[0110] In this way, by setting the supply preparation position SPP based on the working distance, the supply preparation position SPP can be set more accurately according to the amount of seedlings to be supplied. As a result, unnecessary stops of the work travel and operations to resume the work travel are suppressed, and the work efficiency can be further improved.

[0111] Also, the spacing between plants and the amount of seedlings to be removed may be adjusted when the theoretical seedling consumption amount taken into consideration when determining the working distance during automatic work travel is compared with the actual consumption amount obtained as a result of work travel, and if there is a difference between the two, a wheel rotation speed sensor is provided, and the slip rate in the field is measured by comparing the travel distance calculated from the wheel rotation speed sensor with the travel distance calculated based on the positioning data output by the positioning unit 8, and an appropriate spacing between plants is calculated based on the slip rate, and the spacing is adjusted by a continuously variable transmission mechanism such as a continuously variable hydrostatic mechanism (HST) provided in the drive system of the working device, making it possible to calculate the seedling consumption amount with high accuracy.

[0112] Specifically, the information terminal 5 further includes a position calculation unit 57, a consumption prediction unit 58, and a consumption calculation unit 59.

[0113] The position calculation unit 57 calculates the position of the machine body 1 on the target travel route by any method. For example, the position calculation unit 57 continuously acquires positioning data output by the positioning unit 8, and continuously calculates the position of the machine body 1 in the field. Information on the calculated position of the machine body 1 is stored in at least one of the storage unit 42 and the storage unit 35. Note that the stored positions of the machine body 1 may be at least the positions of the start and end ends of each internal round trip route IPL, but may be any proportion or all of the continuously calculated positions of the machine body 1.

[0114] The consumption prediction unit 58 predicts the theoretical seedling consumption amount consumed when traveling the working distance based on the vertical feed amount and number of horizontal feeds of the seedling planting device 3 and the length and width of the mat-shaped seedlings, and transmits the prediction to the control unit 30 (step #5-1 in Figure 8).

[0115] The consumption calculation unit 59 calculates the amount of seedlings consumed per unit distance from the amount of change in the position of the machine body 1 on the internal round trip path IPL calculated by the position calculation unit 57, the stored information on the vertical feed amount, and the information on the number of lateral feeds, and calculates the amount of seedlings consumed if the machine travels the working distance with the current settings, and transmits this to the control unit 30 (step #6-1 in Figure 8).

[0116] Then, the work control unit 33 receives the theoretical seedling consumption amount and the actual seedling consumption amount, compares the two, and adjusts at least one of the spacing between plants and the seedling amount according to the comparison result (step #7-1 in FIG. 8).

[0117] This allows adjustments to be made to the spacing between plants and the amount of seedlings removed only when necessary, enabling more accurate seedling planting work and efficient work travel.

[0118] Also, an error may occur in the working distance depending on the field conditions, etc. In such a case, the supply preparation position SPP may be changed according to the distance that can actually be traveled for working with the amount of seedlings loaded.

[0119] In order to realize such a configuration, the information terminal 5 may include a position calculation unit 57, a distance comparison unit 61, a position change operation unit 62, and a notification unit 47.

[0120] The distance comparison unit 61 first calculates the possible travel distance from the previous supply preparation position SPP until the next supply of seedlings is required, based on the seedling consumption per unit distance calculated by the consumption calculation unit 59 and the amount of seedlings loaded (step #5-2 in FIG. 8). Next, the distance comparison unit 61 compares the calculated possible travel distance with the working distance used for setting (step #6-2 in FIG. 8). Then, if there is a difference between the possible travel distance and the working distance that is equal to or greater than a predetermined threshold, the distance comparison unit 61 causes the notification unit 47 to notify that fact (step #7-2 in FIG. 8). At this time, it is preferable to also notify which distance is longer.

[0121] The position change operation unit 62 accepts an operation for changing the supply preparation position SPP. When the operator determines that it is necessary to change the supply preparation position SPP upon receiving the notification from the notification unit 47, he or she operates the position change operation unit 62 (step #8-2 in FIG. 8). Then, in response to the operation of the position change operation unit 62, the seedling supply setting unit 41 changes the supply preparation position SPP to a position adjacent to the supply side SL in the terminal area of ​​the internal reciprocating path IPL in the forward or backward direction of travel (step #9-2 in FIG. 8).

[0122] This allows the supply preparation position SPP to be changed to a working distance according to the actual consumption of seedlings, making it possible to supply seedlings more efficiently. Note that the supply preparation position SPP is not limited to a configuration in which the operator operates the position change operation unit 62 to change the supply preparation position SPP, and may be changed automatically according to the comparison result of the distance comparison unit 61.

[0123] As described above, the number of lateral feeds, the vertical feed amount, and the seedling removal amount can be changed. The spacing between plants may also be changed. By changing these, the distance that can be traveled for work after seedlings are replenished changes. Accordingly, it is preferable to change the replenishment preparation position SPP.

[0124] Therefore, when the number of lateral feeds, the vertical feed amount, the seedling removal amount, or the spacing between plants is changed (step #5-3 in Figure 8), the seedling supply setting unit 41 may change the supply preparation position SPP in accordance with the amount of change (step #6-3 in Figure 8).

[0125] [Embodiment 3] Next, another embodiment of the supply setting will be described as embodiment 3 with reference to Figs. 10 to 12. The supply setting of embodiment 3 sets the seedling supply side in a configuration different from the above-mentioned configuration in embodiment 1 or embodiment 2. In the following description, the description of the same configuration as embodiment 1 or embodiment 2 will be omitted.

[0126] As shown in Fig. 10, the automatic driving control system includes a control unit 30 provided on the machine body 1, a positioning unit 8 provided on the machine body 1, and an information terminal 5. The information terminal 5 is connected to the rice transplanter in a communicable state. The information terminal 5 may be attached to the driving unit 14, or may be held by an operator away from the machine body 1 in a state in which it can be operated.

[0127] The information terminal 5 includes a control unit 38, a communication unit 39, a touch panel 50, a seedling supply setting unit 41 (corresponding to a "material supply setting unit"), and a memory unit 42. The information terminal 5 also includes an operation unit such as switches and buttons for changing the information displayed on the touch panel 50 and for making various settings.

[0128] In the supply setting of the third embodiment, a setting screen as shown in FIG. 11 is displayed on the touch panel 50 (step #1 in FIG. 12). A supply side setting operation unit 52 and a route selection operation unit 64 are displayed on the setting screen as software switches. The supply side setting operation unit 52 accepts a selection operation of whether or not to perform supply preparation processing (step #2 in FIG. 12). If it is selected in the supply side setting operation unit 52 that supply preparation processing is not to be performed, the supply side SL is not set. The setting screen displays the outer peripheral shape of the field and a design such as an arrow corresponding to the internal round trip path IPL. Candidates for the supply side SL are the sides of the outer periphery of the field that correspond to the start and end of the internal round trip path IPL.

[0129] When the supply preparation process is selected (Step #2 Yes in FIG. 12), the worker operates the route selection operation unit 64 to select the internal shuttle route IPL (Step #3 in FIG. 12). The worker grasps the direction of travel from an arrow or the like displayed on the internal shuttle route IPL, and selects the internal shuttle route IPL so that the outer periphery on the traveling direction side becomes the supply side SL, thereby selecting the supply side SL. The route selection operation unit 64 is an operation tool that can select one of the displayed internal shuttle routes IPL, and may be, for example, a switch that can select one of a plurality of internal shuttle routes IPL, or may be an operation tool that sequentially advances the selected internal shuttle route IPL to the left and right as shown in FIG. 11. Furthermore, a configuration may be adopted in which the route selection operation unit 64 is not provided, and the internal shuttle route IPL is selected by directly touching a pattern corresponding to the internal shuttle route IPL on the touch panel 50. The selected internal shuttle route IPL changes so that the selected internal shuttle route IPL can be identified by emitting light or being colored.

[0130] The internal round trip path IPL displayed on the setting screen has a symbol such as an arrow indicating the direction of travel. The seedling supply setting unit 41 sets the outer perimeter LA of the field on the side of the internal round trip path IPL selected by the path selection operation unit 64 as the supply side SL (step #4 in FIG. 12). When multiple supply sides SL can be set, the seedling supply setting unit 41 may set the outer perimeter LB of the field on the opposite side to the direction of travel of the internal round trip path IPL as the supply side SL in addition to the outer perimeter LA.

[0131] Then, after all the necessary settings such as setting the resupply preparation position SPP have been made, automatic work traveling is started by accepting a specified operation. Also, even if it is selected not to perform the resupply preparation process (step #2 No in FIG. 12), after all the necessary settings such as setting the resupply preparation position SPP have been made, automatic work traveling is started by accepting a specified operation (step #5 in FIG. 12).

[0132] In this way, the supply edge SL can be set by the simple method of selecting the internal round trip path IPL displayed on the setting screen, and the supply edge SL can be easily set, enabling efficient setting processing.

[0133] If it is selected not to perform the supply preparation process with the supply side setting operation unit 52, a non-supply preparation mode in which the supply preparation process is not performed is set, and no temporary suspension for supply is performed. In this case, the worker determines the need for supply, interrupts the work at a position of his / her choice, and moves the machine body 1 to the supply position to perform supply.

[0134] A seedling supply operation unit 65 (corresponding to a "material supply operation unit") may be provided so that the worker can replenish seedlings at will. The seedling supply operation unit 65 can be a software switch displayed on the touch panel 50 of the information terminal 5. If the worker determines that replenishment is necessary during automatic work travel and operates the seedling supply operation unit 65, the travel control unit 32 receives information that the seedling supply operation unit 65 has been operated, and controls the travel to travel toward the outer periphery of the field (supply edge SL) to replenish seedlings (step #6 in FIG. 12).

[0135] Specifically, when the seedling supply operation unit 65 is operated, the travel control unit 32 controls the machine 1 to continue forward without transitioning to turning travel after traveling along the internal round trip path IPL, and to stop the machine 1 when it reaches the outer periphery of the field (supply edge SL).

[0136] Also, instead of providing the seedling supply operation unit 65, a configuration may be adopted in which the route selection operation unit 64 and a pattern corresponding to the internal reciprocating route IPL are displayed even during automatic work travel in the no-resupply preparation mode, and the internal reciprocating route IPL is selected by the route selection operation unit 64. After traveling the selected internal reciprocating route IPL, the seedling supply setting unit 41 transmits information to the travel control unit 32 to cause the machine 1 to travel toward the outer periphery of the field to supply seedlings.

[0137] Furthermore, when the seedling supply operating unit 65 is operated to supply seedlings, the seedling supply setting unit 41 may set the outer perimeter in the direction of travel of the internal reciprocating path IPL that was traveled just before the seedlings were supplied, that is, the outer perimeter where the seedlings were supplied, as the supply edge SL (step #7 in Figure 12).

[0138] Also, after the supply side SL is set and the supply preparation position SPP is set, the amount of seedlings required for supply may be notified. This supply amount is the amount of seedlings required to perform work travel to the next supply preparation position SPP after the seedlings are supplied. The required supply amount can be calculated from the work travel distance between the supply preparation positions SPP, the vertical feed amount, the number of horizontal feeds, the seedling removal amount, the dimensions of the mat-shaped seedlings, etc.

[0139] In order to realize such a configuration, the information terminal 5 may further include a notification unit 47 and a notification control unit 66.

[0140] After the replenishment preparation position SPP is set, the notification control unit 66 causes the notification unit 47 to notify the calculated replenishment amount.

[0141] Furthermore, the seedling supply setting unit 41 may modify at least one of the supply side SL and the supply preparation position SPP according to the calculated supply amount. For example, if the calculated supply amount is significantly smaller than the amount of mat-shaped seedlings that can be mounted on the seedling loading platform 21, it may be possible to set the supply preparation position SPP to a more distant position. Also, it may be possible to set the supply side SL to a different outer periphery of the field. In such cases, the seedling supply setting unit 41 may modify the supply side SL.

[0142] In addition, during automatic operation travel when the non-supply preparation mode is set, the operation of the seedling supply operation unit 65 may be accepted only after a notification is given that a seedling shortage has been detected.

[0143] When the sensor 23 or the like detects that the seedlings are out, the notification control unit 66 causes the notification unit 47 to notify the same. After such a notification is made, at least one of the supply preparation position SPP and the supply edge SL can be set. The sensor 23 may be configured to directly detect that the seedlings are out, or may be configured to detect the remaining amount of seedlings (mat-shaped seedlings) as described above. When the sensor 23 is configured to detect the remaining amount of seedlings, the notification control unit 66 determines that the seedlings are out when the remaining amount of seedlings is equal to or less than a predetermined amount, and causes the notification unit 47 to make a notification.

[0144] Detection of seedling shortage may be performed not only by the sensor 23 but also by the remaining amount estimating unit 68. The remaining amount estimating unit 68 may be provided in the information terminal 5. The remaining amount estimating unit 68 calculates the expected consumption amount using information on the vertical feed amount, the number of lateral feeds, the amount of seedlings removed, the spacing between plants, the travel distance, and other information during the work travel after supplying. The remaining amount estimating unit 68 is then installed when seedlings are supplied, and estimates the remaining amount of seedlings by subtracting the calculated expected consumption amount from the amount of mat-like seedlings stored in the memory unit 42 of the information terminal 5 or the like.

[0145] Furthermore, a configuration may be adopted in which both the detection of the remaining amount of seedlings by the sensor 23 and the estimation of the remaining amount of actual seedlings by the remaining amount estimating unit 68 are performed. In this case, the notification control unit 66 may control the notification using either the remaining amount of seedlings detected by the sensor 23 or the remaining amount of actual seedlings selected by the operator.

[0146] For this purpose, a remaining amount selection operation unit 69 may be provided. The remaining amount selection operation unit 69 is provided as a software switch or the like displayed on the touch panel 50 of the information terminal 5.

[0147] During automatic operation, the operator operates the remaining amount selection operation unit 69 to select either the remaining amount of seedlings or the remaining amount of actual seedlings detected by the sensor 23. The notification control unit 66 determines that the seedlings are out of stock when the remaining amount of the selected seedlings or the remaining amount of actual seedlings falls below a predetermined amount, and causes the notification unit 47 to notify that fact.

[0148] [Another embodiment] (1) In each of the above embodiments, the control unit 30 and the information terminal 5 are 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 and the information terminal 5 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 and the information terminal 5 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 and the information terminal 5 may be composed of software. A program related to the software is stored in any storage device such as the storage unit 35 or the storage unit 42, and is executed by a processor such as a CPU provided in the control unit 30 or the information terminal 5, or a processor provided separately.

[0149] (2) In each of the above embodiments, the seedling supply setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption prediction unit 58, the consumption calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 are not limited to being provided in the information terminal 5, and at least one of them may be provided in the control unit 30, or may be provided in another unit of the machine 1 or an external management computer that can communicate with the machine 1. For example, the microphone 44 and the notification unit 47 are provided in the driving unit 14, and at least one of the seedling supply setting unit 41, the voice recognition unit 45, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption prediction unit 58, the consumption calculation unit 59, the notification control unit 66, and the remaining amount estimation unit 68 may be provided in the control unit 30, etc., provided in the machine 1. In addition, at least one of the travel count operation unit 53, the number of times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the seedling supply operation unit 65 may be provided in the machine body 1 such as the driving unit 14. At least one of the seedling supply setting unit 41, the microphone 44, the voice recognition unit 45, the notification unit 47, the remaining amount determination unit 48, the position calculation unit 57, the distance comparison unit 61, the consumption prediction unit 58, the consumption calculation unit 59, the notification control unit 66, the remaining amount estimation unit 68, the travel count operation unit 53, the number of times change operation unit 54, the working distance input unit 56, the position change operation unit 62, the route selection operation unit 64, and the seedling supply operation unit 65 may be provided in the remote control 6.

[0150] (3) In each of the above embodiments, the machine body 1 may be provided with an imaging device 19 that captures images of the periphery of the machine body 1, and a seedling supply point detection unit 20. When seedlings are supplied at a supply point SA as a supply location, the seedling supply point detection unit 20 may identify the supply point SA by image analysis from the image captured by the imaging device 19, and the travel control unit 32 may be configured to automatically travel to the identified supply point SA.

[0151] (4) In each of the above embodiments, the automatic driving control system or the field work vehicle may be configured to be able to cooperate with a combine harvester. Furthermore, information on the supply side SL set when the rice transplanter performs seedling planting work may be transmitted to the combine harvester, and the discharge position of the grain during harvesting work by the combine harvester may be determined based on the information on the supply side SL.

[0152] In addition, if the combine is equipped with a lidar sensor or the like and is able to collect 3D data of the field during harvesting operations, the automatic driving control system or the field work vehicle may take the 3D data of the field into consideration when setting the supply edge SL.

[0153] The outer periphery of the field may not be appropriate as the supply edge SL due to the height of the ridges, the undulation of the ridges (the periphery of the field), etc. By setting the supply edge SL taking into consideration the 3D data of the field acquired the previous year, etc., the supply edge SL is prevented from being set in an inappropriate position, and the supply edge SL is set appropriately.

[0154] (5) In each of the above embodiments, the sensor 23 may be configured to detect how many mat-like seedlings remain by arranging a plurality of such sensors 23 in the vertical feed direction. Furthermore, the sensor 23 may be a camera that photographs the mat-like seedlings on the seedling carrying table 21 and may be configured to detect the remaining amount of mat-like seedlings by analyzing the photographed image. Furthermore, the sensor 23 may be a weight sensor that measures the remaining amount of seedlings from the change in weight of the mat-like seedlings placed on the seedling carrying table 21.

[0155] Also, a drone may be mounted instead of the sensor 23. In this case, the drone takes an image of the top of the seedling placement table 21, and the remaining amount of seedlings on the seedling placement table 21 is detected by analyzing the captured image.

[0156] Also, instead of detecting the remaining amount of seedlings by the sensor 23, the system may be configured so that the worker's voice is used to recognize the fact that the seedlings are running out. In this case, a voice recognition system is provided in the information terminal 5, the machine 1, or the remote control 6, and the voice recognition system analyzes the voice of the worker to recognize the fact that the seedlings are running out.

[0157] For example, the voice recognition system recognizes the worker's voice saying "running out of seedlings" and detects that the plant is running out. The voice recognition system also recognizes the worker's voice saying "too many seedlings" and detects that the plant can travel a longer distance than planned.

[0158] Depending on these detection contents, the seedling supply setting unit 41 changes the timing for carrying out the supply preparation process.

[0159] (6) In each of the above embodiments, the farm work vehicle is not limited to a rice transplanter, but may be other work vehicles such as a seed sower, a pesticide sprayer, or a fertilizer applicator that supplies agricultural cooperative materials to a field, or may be a harvester such as a combine that discharges agricultural crops harvested in the field.

[0160] In this case, a discharge side is set along the discharge position for discharging the harvested crops from the outer periphery of the field, and discharge preparation processing is performed at the discharge preparation position of the internal round trip path IPL set by the material discharge setting unit. In other words, the "supply side" in the automatic driving control system of the rice transplanter corresponds to the "discharge side" in the automatic driving control system of the harvester, the "agricultural materials" correspond to the "harvested crops," the "material supply setting unit" corresponds to the "material discharge setting unit," the "supply preparation position" corresponds to the "discharge preparation position," and the "supply preparation processing" corresponds to the "discharge preparation processing." [Industrial Applicability]

[0161] The present invention can be applied not only to seedling transplanting vehicles such as rice transplanters, but also to various field work vehicles such as combines and tractors. [Explanation of symbols]

[0162] 1 Aircraft 5. Information terminal 6 Remote Control 21 Seedling stand 22 Planting mechanism 23 Sensors 32 Driving control unit 33 Work Control Section 41 Seedling supply setting section (material supply setting section) 44. Mike 45 Voice Recognition Unit 47 Notification Department 48 Remaining amount determination section 53 Running time operation unit 54 Number of times change operation section IPL Internal round trip route (internal route) SL Supply Area

Claims

[Claim 1] An automatic driving control system for a field work vehicle that performs field work to supply agricultural materials to a field by repeating automatic reciprocating travel along a travel path consisting of an internal path and a turning path, the field work vehicle performs a supply preparation process in which the field work vehicle stops traveling every time the field work vehicle travels along the internal route a predetermined number of times in order to supply materials at a predetermined supply side; An automatic driving control system comprising a driving control unit that controls automatic driving including the replenishment preparation process.

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