Work vehicle

Abstract

To accurately measure a position of a ridge or a road as compared to a conventional configuration.SOLUTION: A position of a ridge or a road can be accurately measured as compared to a conventional configuration by discriminating a ridge (402) having a different from a height of a field (401) and having a continuous length along an outer edge portion of the field (401) in map data by discrimination means (305), and updating a position of the ridge (402) in the map data by update means (306) on the basis of a position of the ridge (402) discriminated by the discrimination means (305).SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] This invention relates to a work vehicle for transplanting crops such as a seedling transplanter into a field.

Background Art

[0002] In a work vehicle for transplanting seedlings into a field, there is a known technique of measuring the distance to an obstacle around a working machine using a millimeter-wave radar, an infrared radar, or a stereo camera to avoid the obstacle (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in Patent Document 1, although it is possible to detect obstacles, rice, rice straws, etc. using a millimeter-wave radar, detection of a field surface, a ridge, a road, etc. is not performed. A ridge may be deformed or damaged when a person walks along the ridge, or may be in a state different from its original state when repairing a deformed or damaged part. Also, in an unpaved road, a part of the road edge may be damaged or repaired, and there may be a part different from the map data. Therefore, there may be a difference between the registered map information and the actual state of the ridge and the road. Thus, when performing automatic driving based on the map information, when turning, a part of the vehicle body may come into contact with a ridge or a road different from the map information, causing problems such as damage to the ridge or the road, damage to the work vehicle, or the turning not being able to proceed as planned and damaging the field.

[0005] The technical problem of the present invention is to accurately measure the positions of ridges and roads compared to the conventional configuration.

Means for Solving the Problem

[0006] The above problems of the present invention are solved by the following means. The invention according to claim 1 includes a working machine (10) provided on a traveling vehicle body (4) for transplanting crops in a field, a distance measuring device (83) supported by the traveling vehicle body (4) for measuring the distance to an object outside the traveling vehicle body (4) and the field surface (401a), map data including the field (401) and a road (403) outside the field, and a discrimination means (305) for discriminating the ridge (402) having a height different from that of the field (401) and having a continuous length along the outer edge of the field (401) in the map data based on the distance measurement result by the distance measuring device (83), and an updating means (306) for updating the position of the ridge (402) in the map data based on the position of the ridge (402) discriminated by the discrimination means (305). The working vehicle is characterized by comprising the above.

[0007] The invention according to claim 2 is the working vehicle according to claim 1, characterized by comprising a turning position calculating means (310a) for calculating a turnable position in front of the ridge (402) based on the position of the ridge (402) discriminated by the discrimination means (305).

[0008] The invention according to claim 3 includes an imaging device (84, 86) supported by the traveling vehicle body (4) for imaging the outside of the traveling vehicle body (4) to detect an external object, a crop discrimination means (308) for discriminating the height and position of a crop (404) transplanted in the field (401) based on the detection result by the imaging device (84, 86), and a crop state discrimination means (309) for discriminating the lodging state of the crop (404) based on the height of the crop (404) and discriminating the missing plant state based on the position of the crop (404). The working vehicle is characterized by comprising the above.

[0009] The invention according to claim 4 is provided with a positioning device (82) for measuring the current position of the traveling vehicle body (4), an imaging device (84, 86) supported by the traveling vehicle body (4) and imaging the outside of the traveling vehicle body (4) to detect an external object, a marker (41) supported by the traveling vehicle body (4) and contacting the field scene (401a) to form a marker trace as the traveling vehicle body (4) travels, and an autonomous driving control means (303) for autonomously driving the traveling vehicle body (4) along a traveling route based on the marker trace, based on the detection result of the marker trace by at least one of the imaging device (84, 86) and the distance measuring device (83) when the measurement by the positioning device (82) becomes impossible. The work vehicle according to claim 1 is characterized by this.

Effect of the Invention

[0010] According to the invention described in claim 1, a ridge (402) having a height different from that of the field (401) and having a continuous length along the outer edge of the field (401) in the map data is discriminated by a discrimination means (305), and based on the position of the ridge (402) discriminated by the discrimination means (305), the position of the ridge (402) in the map data is updated by an update means (306). Thus, compared with the conventional configuration, the positions of the ridges and roads can be measured with high accuracy.

[0011] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, by calculating a position where turning is possible in front of the ridge (402) based on the position of the ridge (402) discriminated by the discrimination means (305), damage to the ridge (402) and the traveling vehicle body (4) can be reduced. According to the invention described in claim 3, in addition to the effect of the invention described in claim 1, the lodging state and the missing plant state of the crop (404) can be detected. According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, autonomous driving can be performed based on the marker trace even when the measurement by the positioning device (82) becomes impossible.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0013] An embodiment of the present invention will be described below. Figure 1 is a side view of the seedling transplanter according to the embodiment. Figure 2 is a front view of the seedling transplanter. Figure 3 is a plan view of the seedling transplanter.

[0014] As an example of a work vehicle according to an embodiment of the present invention, a seedling transplanter 1 has, on the rear side of a traveling vehicle body 4 in a high-ridge riding traveling form, a lift link mechanism 11 in a parallel link form that is lifted and rotated by hydraulic expansion and contraction of a lift cylinder (not shown). As an example of a working machine, a seedling planting part 10 of a multi-row planting machine body is attached via the lift link mechanism 11. The seedling planting part 10 has a plurality of floats 6 such as a center float and a side float that level the soil surface, arranged on the lower side of a seedling transplanter body 5 that is connected to the lift link mechanism 11. The seedling transplanter body 5 mainly includes a transmission case, and spreads out a large number of mat-shaped seedlings (mat seedlings) on the upper part thereof, feeds them out along an inclined surface that slopes downward at the rear end, and feeds them out to a seedling outlet 7 formed at the lower end of the rear. A seedling tank 8, a planting claw that separates and holds the mat seedlings fed out to the seedling outlet 7 and inserts them into the leveled soil surface below, and a planting device 9 that operates along an elliptical planting locus line in a side view are arranged to perform a multi-row planting type seedling planting operation.

[0015] Below the driver's seat 28 of the traveling vehicle body 4, an engine (internal combustion engine) 30 is mounted under the engine cover 29. In the front part of this driver's seat 28, a steering board 31, a steering wheel 32 as an example of a traveling operation tool, and other operation mechanisms 33 for operating the seedling transplanter 1 are arranged. On the steering board 31, a display panel as an example of a display part, various buttons and knobs as an example of an input part, etc. are arranged. On the left and right sides of the driver's seat 28, the steering board 31, and the center floor 34 between them, etc., a side floor 2 is formed in a long and wide form continuously from the front end part to the rear fender 24 on the rear end part of the traveling vehicle body 4. The driver and the auxiliary operator can move back and forth on the upper surface of this side floor 2, making it easier to perform operations such as mat seedling replenishment work and fertilizer replenishment work.

[0016] In the seedling transplanter 1 shown in FIGS. 1 to 3, since the number of seedling planting rows is set in an eight-row planting form and in a wide standard width, a sub-floor 35 with an appropriate width is added along the outside of the side floor 2 to correspond to the width range of the seedling planting part 10. Note that it is also possible to adopt a configuration without providing the sub-floor 35. On the front end part of this sub-floor 35, a plurality of auxiliary seedling shelves 26 are provided on a support frame 36 erected from the side of the traveling vehicle body 4, and mat seedlings can be loaded and stored for replenishing the rear seedling tank 8. A step 37 for the driver to get on and off is provided on the outside part of this sub-floor 35. Also, on the side of the sub-floor 35, a pair of left and right line-drawing markers (an example of markers) 41 are arranged. The line-drawing markers 41 are such that the line-drawing markers 41 on the side where the seedlings are not planted are deployed inside the left and right, and draw a line (marker trace, marker locus) serving as a reference for traveling on the surface layer of the field.

[0017] Above the rear wheels 27 of the traveling vehicle body 4, a rear fender 24 is formed. The front wheels 40 and the rear wheels 27 are arranged within the width range of the side floor 2, but depending on the form with a wide tread of the rear wheels 27 in particular, they may protrude outward from this width range.

[0018] On the rear side of the traveling vehicle body 4, there is a float 6 that slides on the soil surface to support the seedling transplanter body 5, a seedling tank 8 that receives mat seedlings and feeds them out to the seedling outlet 7 at the lower rear part, and a planting device 9 that separates and holds the mat seedlings fed out to the seedling outlet 7 and plants them on the leveled soil surface by the float 6. A seedling planting section 10 composed of these is mounted via a lift link mechanism 11 that can be raised and lowered. At the rear part of the traveling vehicle body 4, a fertilizer applicator 12 extending in the left-right direction is arranged.

[0019] During the seedling planting operation by the seedling transplanter 1, with the seedling planting section 10 in a lowered state, the planting device 9 operates on the soil surface leveled by each float 6, separates and holds an appropriate number of the mat seedlings fed out to the seedling outlet 7 of the seedling tank 8, and plants them at a certain depth on the leveled soil surface. When fertilizing is performed on the planting section by each planting device 9, the fertilizer applicator 12 operates. In the fertilizer applicator 12 of the embodiment, the granular fertilizer previously supplied to the fertilizer hopper 19 is fed out to the discharge port section by the feeding device 15, and by the blowing force blown from the blower 13, fertilization is performed at the position near the planting on the planted soil surface leveled by each float 6 through a fertilizer hose (not shown) for each fertilization strip.

[0020] In the embodiment, as the working machine, a planting device 9 that plants seedlings from mat seedlings into the field with planting claws is exemplified, but it is not limited to this. As a working machine that can be attached and detached to the lift link mechanism 11, for example, various conventionally known working machines such as a direct seeding device that sows seeds into the field, a weeding machine that removes weeds in the field, a furrow cutter that forms a water channel in the field, and a management machine that sprays chemicals can be used.

[0021] At the front end of the traveling vehicle body 4, an observation arm 81 extending upward is supported. At the upper end of the observation arm 81, an observation unit 82 as an example of a positioning device is supported. In the observation unit 82 of the embodiment, a GNSS (Global Navigation Satellite System) receiver and an IMU (Inertial Measurement Unit) are built in. The GNSS receiver can receive positioning signals from artificial satellites and measure the current position of the seedling transplanter 1. The IMU can measure acceleration and angular velocity and measure the attitude of the seedling transplanter 1 (left - right inclination and front - back inclination). Therefore, by correcting the measurement result of the GNSS receiver with the IMU, the current position can be measured more accurately than when measuring the current position only by the GNSS method.

[0022] Also, at the front part of the traveling vehicle body 4, a millimeter - wave radar 83, which is an example of a distance - measuring device, is arranged. In the embodiment, a pair (two in total) of millimeter - wave radars 83 are arranged on the left and right. The millimeter - wave radar 83 in the embodiment outputs millimeter - waves with a wavelength of about 1 mm to 10 mm, which is an example of electromagnetic waves, and observes the reflected waves and scattered waves from seedlings, fields, etc. Therefore, the millimeter - wave radar 83 in the embodiment is installed so as to output millimeter - waves toward the field diagonally below in the front as an example. The millimeter - wave radar 83 can observe the state of the field and the seedlings planted in the field based on the reflection and scattering of the millimeter - waves, which are an example of the electromagnetic waves irradiated on the object (seedlings, field). Also, the millimeter - wave radar 83 can observe position information such as the distance and direction to the object (seedlings), and the relative speed. Therefore, the millimeter - wave radar 83 can also observe the thickness of the seedlings, the height of the seedlings, the degree of root growth of the seedlings, the distance of the seedlings below the water surface, etc. Therefore, it is also possible to observe whether the height of each seedling is higher or lower than a predetermined reference height, and the lodging state of the seedlings (whether the seedlings are standing or fallen) from the direction in which the seedlings are growing. Also, it is possible to observe the planting trajectory from the observation results of each seedling. Furthermore, it is also possible to observe the marker traces (marker tracks) formed in the field below the water surface.

[0023] In particular, in the embodiment, it is also possible to accurately measure the distance to one object from the measurement results of the two millimeter-wave radars 83. Therefore, from the measurement results of the millimeter-wave radars 83, it is also possible to observe the distance to the field, the distance to the ridge, the height of the ridge, the distance to the road, the height of the road (road surface), and the like.

[0024] Also, in the embodiment, a lidar (Light Detection and Ranging) 84, which is an example of an imaging device, is arranged at the upper end of the observation arm 81. The lidar 84 outputs laser light, which is an example of electromagnetic waves, and observes the reflected waves and scattered waves from the object (seedlings, fields, etc.). The lidar 84 in the embodiment outputs laser light so as to scan 360 degrees, images the periphery of the traveling vehicle body 4, and observes the object. Note that it is not limited to the mode of outputting light 360°, and it is also possible to adopt a mode of outputting light only in a specific direction or range to be observed. The lidar 84 can observe the distance to seedlings, obstacles, etc. and the size of seedlings, obstacles, etc. From the measurement results of the lidar 84, it is possible to observe and detect obstacles such as seedlings, people, agricultural implements, stones, utility poles, and other vehicles. Also, the lidar 84 can observe ridges and roads, although the accuracy of distance and height is lower than that of the millimeter-wave radar 83.

[0025] Furthermore, in the embodiment, a camera 86, which is an example of an imaging device, is arranged. A pair of cameras 86 (two in total) are arranged on the left and right. Therefore, it is also possible to estimate the distance to an object by using the so-called stereo camera function from the images of the two cameras 86. Also, the camera 86 in the embodiment is arranged facing the rear of the traveling vehicle body 4 and can image the rear. Therefore, the camera 86 can photograph the seedlings transplanted in the field during work. From the photographing results of the camera 86, it is possible to observe obstacles, ridges, roads, the overall shape and color of the seedlings after planting, the planting trajectory of the seedlings, marker traces, etc. in the rear. Also, the camera 86 is not limited to the one facing the rear, and it can be installed facing the direction to be observed, such as the front or the side.

[0026] The seedling transplanter 1 according to the embodiment can transmit and receive information to and from a tablet terminal 102 and a server device 103 as examples of remote operation tools via a wireless communication line 101. The tablet terminal 102 has a touch panel as an example of a display unit and an input unit, and a plurality of input buttons such as a power button. By the operator performing an input operation on the tablet terminal 102, it is possible to remotely control the seedling transplanter 1. Therefore, it is possible for the operator to remotely control from a position away from the seedling transplanter 1 (for example, outside the field), and it is also possible for the operator to operate the tablet terminal 102 without operating the steering wheel 32 or the like while sitting in the driver's seat 28 to control the traveling and planting operations of the seedling transplanter 1.

[0027] (Description of the control unit) FIG. 4 is a functional block diagram of the control unit according to the embodiment. (Description of the control unit of the seedling transplanter) The seedling transplanter 1 according to the embodiment has a control unit 300 as an example of control means for controlling each function. The control unit 300 has an input / output interface I / O for inputting and outputting signals to and from the outside. The control unit 300 also has a ROM (Read Only Memory) in which programs and information for performing necessary processing are stored. The control unit 300 also has a RAM (Random Access Memory) for temporarily storing necessary data. The control unit 300 also has a CPU (Central Processing Unit) for performing processing according to the programs stored in the ROM and the like. Therefore, the control unit 300 according to the embodiment is composed of a small information processing device, a so-called microcomputer. Thus, the control unit 300 can realize various functions by executing the programs stored in the ROM and the like.

[0028] Signals from signal input elements such as various buttons and knobs on the steering board 31, the operation mechanism 33, the observation unit 82, the millimeter-wave radar 83, the lidar 84, the camera 86, and various other sensors (not shown) (for example, a remaining amount sensor in the herbicide hopper) are input to the control unit 300. Information transmitted from the tablet terminal 102 and the server device 103 is also input to the control unit 300.

[0029] The GNSS receiver 82a of the observation unit 82 communicates with artificial satellites to obtain the current position of the traveling vehicle body 4. Also, the IMU 82b of the observation unit 82 measures the attitude of the traveling vehicle body 4. Then, the observation unit 82 corrects the measurement result of the current position of the GNSS receiver 82a with the measurement result of the attitude of the IMU 82b, and outputs the observation result of the current position of the traveling vehicle body 4. Note that the observation unit 82 can be fixedly installed on the traveling vehicle body 4, but is not limited thereto. For example, it is also possible to use an observation unit 82 externally attached via wireless communication or a wired cable or the like. By using an external receiver, it is also possible to change the installation position of the observation unit 82 to an arbitrary position. Therefore, when the working machine is replaced, it is also possible to attach the observation unit 82 to the position of the working machine and measure the current position of the working machine. The millimeter-wave radar 83 observes objects such as fields, ridges, and roads in front of the traveling vehicle body 4. The lidar 84 observes (images) obstacles around the traveling vehicle body 4, seedlings behind, ridges, roads, etc. The camera 86 observes (images) obstacles behind the traveling vehicle body 4, seedlings, marker traces in the field, ridges, roads, etc.

[0030] The control unit 300 can transmit a control signal to a lift cylinder, a planting clutch, etc. as an example of a controlled element, and control the raising and lowering of the working machine (seedling planting unit 10) and the operation / stop of the working machine (seedling planting unit 10). Also, the control unit 300 outputs a control signal to the engine 30 and the steering wheel 32 to control the traveling speed and traveling direction (steering amount) of the traveling vehicle body 4. Furthermore, the control unit 300 outputs a control signal to the monitor 31a of the steering board 31 as an example of a display unit. Also, the control unit 300 can output information to the tablet terminal 102 and the server device 103.

[0031] The control unit 300 of the embodiment has the following functional means (program modules). The map information acquisition means (an example of the traveling route information acquisition means) 301 acquires the map information of the field where the work is performed by the seedling transplanter 1. The map information acquisition means 301 of the embodiment acquires the map information stored in advance in the server device 103 via the wireless communication line 101. Further, in the embodiment, regarding the traveling route of the seedling transplanter 1 in the field, when the information of the predetermined traveling route is registered in association with the map information, the route information of the traveling route is also acquired together. Furthermore, in the embodiment, when the information regarding the working mode registered at the time of the previous work is registered in association with the map information, it is acquired together when the map information is acquired.

[0032] The observation result acquisition means 302 includes a positioning result acquisition means 302a, a millimeter wave radar measurement result acquisition means 302b, a lidar measurement result acquisition means 302c, and a camera measurement result acquisition means 302d, and acquires the observation results at the observation unit 82. The positioning result acquisition means 302a acquires the measurement result of the current position of the traveling vehicle body 4, which is the measurement result of the observation unit 82. The millimeter wave radar measurement result acquisition means 302b acquires the measurement result of the millimeter wave radar 83. The millimeter wave radar measurement result acquisition means 302b of the embodiment acquires the measurement results such as the distance to the observed field surface, ridge, road, the position and thickness of the seedlings, and the marker traces drawn in the field.

[0033] The lidar measurement result acquisition means 302c acquires the measurement result of the lidar 84. The lidar measurement result acquisition means 302c of the embodiment acquires information such as obstacles and seedlings observed by the lidar 84. The camera measurement result acquisition means 302d acquires images of obstacles, seedlings, marker traces, etc. taken by the camera 86.

[0034] The traveling control means (an example of the autonomous traveling control means) 303 controls the traveling of the seedling transplanter 1. The traveling control means 303 in the embodiment controls the engine 30 and the steering according to the operation of the operator's operation mechanism 33 during manual traveling. Further, the traveling control means 303 controls the traveling based on the traveling route acquired together with the map information and the current position observed by the observation unit 82 during autonomous traveling (automatic traveling).

[0035] Note that the traveling control means 303 in the embodiment controls to travel along the traveling route based on the current position observed by the observation unit 82 while the current position can be detected by the communication with the GNSS artificial satellite by the observation unit 82 during autonomous traveling. However, when the communication with the artificial satellite is interrupted and the measurement by the observation unit 82 becomes impossible (so-called lost state), the traveling of the seedling transplanter 1 is controlled to travel parallel to the marker trace from the observation result of the marker trace. Therefore, in a state where positioning by GNSS is impossible, the seedling transplanter 1 can be automatically traveled by using the marker trace obtained from the measurement result by the millimeter-wave radar 83 or the measurement result by the camera 86. In order to more reliably and easily detect the marker trace, it is preferable to install the millimeter-wave radar 83 and the camera 86 near the rotation fulcrum of the line-drawing marker 41.

[0036] Further, it is not limited to the mode of automatically traveling based on the marker trace, and it is also possible to detect the planted crop planting line (so-called "adjacent row") by the millimeter-wave radar 83, the camera 86, etc., and to adopt a mode of automatically traveling based on the adjacent row. Note that when the communication with the artificial satellite is interrupted, there may be some shielding object near the traveling vehicle body 4. Therefore, the traveling control means 303 decelerates the vehicle speed of the traveling vehicle body 4 and extends the detection distance of the rider 84 which is one of the obstacle sensors to make it easier to detect the shielding object (obstacle). Further, when the communication with the artificial satellite is interrupted, in order to prioritize the detection of the shielding object (obstacle), it is preferable to reduce the resources (processing load) of the CPU for detecting the state of the crop (lodging, missing plants, etc.) described later.

[0037] The working machine control means 304 controls the raising and lowering and the operation / stop of the seedling planting unit 10 as an example of a working machine. During work, the working machine control means 304 lowers and operates the seedling planting unit 10. Also, during turning, the working machine control means 304 raises the seedling planting unit 10 to temporarily stop the operation, and lowers the seedling planting unit 10 at the end of turning to resume the operation.

[0038] FIG. 5 is an explanatory diagram of map data of an example of a field in the embodiment. FIG. 6 is a cross-sectional view of a main part of an example of a field in the embodiment. The ridge discrimination means 305 as an example of the discrimination means discriminates a ridge 402 having a continuous length along the outer edge (outer periphery) of the field 401. The ridge discrimination means 305 in the embodiment discriminates, based on the map data acquired by the map information acquisition means 301 and the distance measurement result by the millimeter-wave radar 83, a portion that has a different height from the field surface 401a and has a continuous length along the outer edge of the field 401 in the map data as the ridge 402. The ridge discrimination means 305 in the embodiment discriminates, using the fact that the height is different between the ridge 402 and the road 403, a portion that corresponds to the road 403 and has a different height from the ridge 402 in the map data as the road 403.

[0039] In the ridge discrimination means 305 of the embodiment, in the discrimination of the ridge 402 and the road 403, it is also possible to combine and discriminate the imaging results of the lidar 84 and the camera 86 in the determination of whether or not it has a continuous length (whether it is a continuously connected portion). Also, the ridge discrimination means 305 in the embodiment specifies the outer shape of the ridge edge and the road edge based on the distance measured by the millimeter-wave radar 83 with higher accuracy than the camera 86 or the like. When specifying the outer shape, it is also possible to improve the measurement accuracy of the relative height of the field 401, the ridge 402, and the road 403 by correcting using not only the measurement result of the millimeter-wave radar 83 but also the measurement result of the attitude by the IMU82b and the measurement results of the lidar 84 or the like.

[0040] In addition, in the ridge discrimination means 305, when the millimeter-wave radar 83 fails to measure the ridge 402 even though the distance between the traveling vehicle body 4 and the ridge 402 is short (equal to or less than a certain distance) based on the current position of the traveling vehicle body 4 and the map data, it is preferable to decelerate the traveling speed via the traveling control means 303 to make it easier to recognize the ridge 402. Further, decelerating also reduces the risk of the seedling transplanter 1 deviating from the field 401 and damaging the ridge 402.

[0041] The ridge update means 306, which is an example of the update means, updates the position of the ridge 402 in the map data based on the position of the ridge 402 discriminated by the ridge discrimination means 305. That is, the ridge update means 306 reflects the position and shape of the ridge 402 specified by the ridge discrimination means 305 in the map data. Therefore, since the position and shape of the ridge 402 may differ from the registered position and shape in the map data due to deformation, repair, etc., the information in the map data is updated with the latest position and shape information of the ridge 402 measured by the ridge discrimination means 305. Note that the ridge update means 306 in the embodiment updates the map data not only for the ridge 402 but also for the position and shape of the road 403.

[0042] The obstacle discrimination means 307 discriminates obstacles in the field 401. The obstacle discrimination means 307 in the embodiment performs image processing based on the measurement results of the lidar 84 and the measurement results of the camera 86, and discriminates an object existing in the field and larger than a predetermined crop size as an obstacle. Therefore, it is possible to discriminate and detect obstacles such as people, animals, storage houses, utility poles, and other work vehicles. When fixed obstacles such as utility poles are registered in the map data in advance in the field, it is preferable to precisely measure the position and shape of the detected obstacles with the millimeter-wave radar 83 and update the map data. In the embodiment, when an obstacle such as a person is detected in front of the traveling vehicle body 4, the traveling vehicle body 4 is stopped via the travel control means 303. When an obstacle is detected, it is also possible to create and change the travel route so as to avoid the obstacle and continue the travel of the seedling transplanter 1. The route for avoiding the obstacle may be created by referring to past history data, or a route with a margin added to the past history data may be created, or it may be created each time according to the size of the obstacle. Also, when an obstacle is detected, it is possible to shift from automatic driving to manual driving and travel while being manually operated by the user or while checking with the tablet terminal 102.

[0043] The crop discrimination means 308 discriminates the crops 404 planted in the field 401. The crop discrimination means 308 in the embodiment performs image processing based on the measurement results of the lidar 84 and the measurement results of the camera 86, and discriminates an object existing in the field 401 and smaller than a predetermined crop size as a crop (seedling) 404, and discriminates the position and height (size) of the crop 404. The crop discrimination means 308 in the embodiment can measure the position and height of the crop (seedling) 404 behind the traveling vehicle body 4 with the lidar 84 or the camera 86, but after the traveling vehicle body 4 turns and changes direction, the millimeter-wave radar 83 is used to measure the planted crop 404 diagonally in front of the traveling vehicle body 4, and it is also possible to accurately discriminate the position and size of the crop 404. It is also possible to additionally install a millimeter-wave radar directed toward the traveling vehicle body 4. When installed additionally, it is also possible to observe the crop (seedling) 404 with three devices, namely the additional millimeter-wave radar, the lidar 84, and the camera 86, and detect the position and size of the seedling.

[0044] The crop state determination means 309 determines the state of the crop 404. The crop state determination means 309 in the embodiment determines the lodging state of the crop (seedling) based on the height of the crop 404 determined by the crop determination means 308, and determines the missing plant state based on the position of the crop (seedling) 404. That is, when the size of the seedling is large and the height is low, it is determined that the seedling has fallen. When a portion where the interval between the seedlings is wider than a predetermined interval is observed based on the position of the seedling, it is determined that the seedlings are poorly planted, that is, in a missing plant state. It is also possible to detect the missing plants and unevenness in the interval of the seedlings from the distribution of the point cloud of the seedling planting line.

[0045] In the crop state determination means 309 of the embodiment, although an aspect of determining the lodging state and the missing plant state of the crop 404 has been exemplified, it is not limited thereto. For example, from the measurement results of the millimeter-wave radar 83, the lidar 84, and the camera 86, the thickness of the crop (seedling) 404, the height of the seedling, the spreading condition of the roots, the distance from the upper end of the seedling to the water surface (that is, the length of the part of the seedling above the water surface), the variation of the point cloud of the planting line (the presence or absence of missing plants, the unevenness of the distance between plants, etc.) are detected, the color tone of the crop (seedling) 404 is detected, the size and shape (whether it is torn or not) of the crop 404 are detected, and the shape of the crop 404 (the size and thickness of the leaves, the height of the seedling, the spreading of the roots, etc.) is compared with the state of the reference crop 404. It is also possible to determine whether it is in a good state (the leaves are large and thick, the height is high, the root spreading is wide, etc.) or a sterile state. Therefore, in the crop state determination means 309, it is also possible to comprehensively determine the growth state of the crop 404. Therefore, from the determination of the growth state, it is also possible to determine whether overgrown seedlings are transplanted, whether seedlings with insufficient growth are transplanted, whether there are many missing plants, whether the unevenness of the distance between plants is significant, whether the planting is too deep / shallow, etc. It becomes possible for the operator to judge and predict whether replanting is necessary, whether topdressing / fertilizer reduction is necessary, and the prospect of good or bad future growth.

[0046] The travel route correction means 310 has a turning position calculation means 310a and corrects the travel route. The turning position calculation means 310a calculates a position where turning is possible in front of the ridge 402 based on the position and shape of the ridge 402 discriminated by the ridge discrimination means 305. In the turning position calculation means 310a of the embodiment, when the actual position and shape of the ridge 402 deviate from the registered travel route associated with the map data, if turning does not start from a more forward position, a part of the seedling transplanter 1 may contact the ridge 402 and damage the ridge 402 or the traveling vehicle body 4. Therefore, based on the actual position and shape of the ridge 402 discriminated by the ridge discrimination means 305, the position where turning is to be performed is calculated. In addition, it is desirable to calculate the turning position in consideration of the position of the crop 404 discriminated by the crop discrimination means 308 so that the seedling transplanter 1 does not step on the crop 404 during and before and after turning.

[0047] Therefore, the travel route correction means 310 corrects the travel route by reflecting the turning position calculated by the turning position calculation means 310a in the travel route acquired together with the map data. Therefore, in the embodiment, during the travel of the seedling transplanter 1, the position and shape of the latest ridge 402 are measured at any time, the travel route is corrected according to the position and shape of the latest ridge 402, and the automatic travel is controlled by the travel control means 303.

[0048] In the seedling transplanter 1 of the embodiment having the above configuration, the position and shape of the ridge 402 are accurately measured by the millimeter wave radar 83 and reflected in the map data. Therefore, even if the position and shape of the ridge 402 are different from the map data due to deformation, damage, repair, etc. of the ridge 402, in the embodiment, the position and shape of the latest ridge 402 are discriminated. Also, in the embodiment, the position and shape of the road (such as a farm road) 403 are also discriminated as the latest situation and reflected in the map data. Therefore, compared with the conventional configuration that does not measure and discriminate the latest situation of the ridge 402 and the road 403, the position and shape of the ridge 402 and the road 403 can be accurately measured. Therefore, compared with the conventional technology that turns the seedling transplanter 1 without being updated to the latest situation, in the embodiment, the contact of the seedling transplanter 1 with the ridge 402 and the road 403 during the turning of the seedling transplanter 1 is reduced, and the damage to the ridge 402 and the seedling transplanter 1 is reduced.

[0049] In the above embodiment, the seedling transplanter 1 is exemplified as an example of the work vehicle, but it is not limited thereto. It is applicable to any work vehicle that performs work on the field 401. For example, as the work machine, it is also possible to use a tiller, a seeder, a fertilizer spreader, a chemical spreader, a lawn mower, etc. In addition, when a mower is provided, the millimeter-wave radar 83 for observing the front not only measures the ridges 402 and the road 403, but also detects the height of the forage grass in the front. When the grass height is long, it is preferable to control the traveling speed to be decelerated via the traveling control means 303 so that the working load of the mowing operation does not become overloaded. Further, when detecting the grass height, it is desirable to improve the detection accuracy of the grass height by correcting the measurement result of the millimeter-wave radar 83 based on the measurement result of the attitude of the traveling vehicle body 4 by the IMU 82b. Note that the working load of mowing can also be predicted from the difference between the grass height after the previous operation and the grass height before the current operation.

Explanation of Signs

[0050] 1... Working vehicle, 4... Traveling vehicle body, 10... Working machine, 41... Marker, 82... Positioning device, 83... Distance measuring device, 84, 86... Imaging devices, 303... Autonomous driving control means, 305... Discriminating means, 306... Updating means, 308... Crop discriminating means, 309... Crop state discriminating means, 310a... Turning position calculating means, 401... Field, 401a... Field surface, 402... Ridge, 403... Road, 404... Crop.

Claims

1. A working machine (10) provided on a traveling vehicle body (4) for transplanting crops in a field; A distance measuring device (83) supported by the traveling vehicle body (4) for measuring the distance to an object outside the traveling vehicle body (4) and a field surface (401a); Discriminating means (305) for discriminating a ridge (402) having a height different from that of the field (401) and having a continuous length along the outer edge of the field (401) in the map data based on map data including the field (401) and a road (403) outside the field and the distance measurement result by the distance measuring device (83); Updating means (306) for updating the position of the ridge (402) in the map data based on the position of the ridge (402) discriminated by the discriminating means (305); A work vehicle, characterized by comprising the above.

2. Turning position calculating means (310a) for calculating a turnable position in front of the ridge (402) based on the position of the ridge (402) discriminated by the discriminating means (305); The work vehicle according to claim 1, characterized by comprising the above.

3. An imaging device (84, 86) supported by the traveling vehicle body (4) for imaging the outside of the traveling vehicle body (4) to detect an external object; Crop discriminating means (308) for discriminating the height and position of a crop (404) transplanted in a field (401) based on the detection result by the imaging device (84, 86); Crop state discriminating means (309) for discriminating the lodging state of the crop (404) based on the height of the crop (404) and discriminating the missing plant state based on the position of the crop (404); The work vehicle according to claim 1, characterized by comprising the above.

4. A positioning device (82) for measuring the current position of the traveling vehicle body (4); An imaging device (84, 86) supported by the traveling vehicle body (4) for imaging the outside of the traveling vehicle body (4) to detect an external object; A marker (41) supported by the traveling vehicle body (4) and contacting the field surface (401a), which forms a marker trace as the traveling vehicle body (4) travels; An autonomous driving control means (303) for autonomously driving the traveling vehicle body (4) along a traveling route based on the marker trace, based on the detection result of the marker trace by at least one of the imaging devices (84, 86) and the distance measuring device (83) when measurement by the positioning device (82) becomes impossible; The work vehicle according to claim 1, further comprising:

Images