Work vehicle

Abstract

To provide a work vehicle capable of easily specifying a location where work materials are replenished.SOLUTION: A work vehicle includes: a travel vehicle body 7; a satellite positioning unit 3 capable of detecting the position of the travel vehicle body 7; a supply device 9 that supplies materials to a field H; and a control part 50 that executes teaching of acquiring position information of the entire periphery of the outermost part by using data from the satellite positioning unit 3 while causing the travel vehicle body 7 to travel along the entire periphery of the outermost part of the field H. The control part 50 specifies a portion of the entire periphery of the outermost part of the field H where materials are replenished by changing the supply state of the supply device 9 during teaching travel so as to be different from other portions in a portion of the entire periphery of the outermost part.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a rice transplanter.

Background Art

[0002] Conventionally, a work vehicle that performs work running in a field by automatic driving has previously performed teaching running to identify a predetermined target running route, and performs automatic driving along the target running route based on the position of its own vehicle calculated using GNSS (Global Navigation Satellite System) or the like (Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when performing such automatic driving, it is necessary to replenish work materials during automatic driving. For this purpose, it is required that the place (ridge) for replenishing work materials can be carried out at a place suitable for each field, but the method of determining this is rather complicated and troublesome.

[0005] Furthermore, there were the following problems. For example, FIG. 22 is an example thereof, where Ho is a field and 100 is a traveling vehicle body. When performing teaching running, in FIG. (A), the operator rides on the traveling vehicle body 100 and runs while planting from the lower left corner upward on the drawing, then moves further to the right on the drawing, and then runs downward on the drawing, and stops there and the operator gets off. In this case, it is determined that the ridge side on the lower side is the ridge for replenishing work materials.

[0006] After that, it is automatically rotated with a remote control, then skipped one stroke, and then automatically reciprocates while planting (Figure B). In that case, when returning to the ridge on the side where the working material is replenished, it is stopped each time about 3 m in front for safety considerations. And when there is no need for replenishment, the operator advances while planting the seedlings to the required position with the remote control, then retreats a little and then turns, and resumes the automatic reciprocating travel (Figure C). Finally, after automatically traveling while planting the remaining inner circumference, the operator gets on and manually travels while planting along the ridge on the side where the working material is replenished, and returns to the starting position (Figure D).

[0007] With such a method, when reciprocating, it stopped each time it came to the ridge on the side where the working material was replenished, and it was time-consuming such as advancing with the remote control and instructing the resumption of travel with the remote control.

[0008] In view of such problems of the conventional work vehicle, an object of the present invention is to provide a work vehicle capable of easily specifying a place for replenishing work materials.

Means for Solving the Problems

[0009] The first aspect of the present invention is a traveling vehicle body, a satellite positioning unit capable of detecting the position of the traveling vehicle body, a supply device for supplying materials to the field, a control unit that acquires position information of the entire outermost periphery by using data of the satellite positioning unit while an operator makes a teaching travel along the entire outermost periphery of the field with the traveling vehicle body, The work vehicle is characterized in that an operator specifies a portion for replenishing the material within the entire outermost periphery of the field by changing the supply state of the supply device performed during the teaching travel so as to be different from other portions in a part of the entire outermost periphery of the field.

[0010] The second aspect of the present invention is the entire outermost periphery of the field is composed of a plurality of sides, In the side where the supply of the materials is replenished, the supply of the supply device is not performed, and in the other side where the supply of the materials is not replenished, the supply of the supply device is performed. This is the work vehicle of the first aspect of the present invention.

[0011] The third aspect of the present invention is The traveling on the outermost perimeter of the field is manually performed by an operator boarding the traveling vehicle body. In the inner area inside the traveling path of the traveling vehicle body on the outermost perimeter of the field, traveling is performed without the operator boarding the traveling vehicle body. The target traveling path of the automatic straight-ahead reciprocating process performed in the inner area is generated by the control unit based on the position information of the outermost perimeter. This is the work vehicle of the second aspect of the present invention.

[0012] The fourth aspect of the present invention is Based on the supply capacity of the supply device, the control unit specifies the straight-ahead process in which the materials should be replenished within the automatic straight-ahead reciprocating process. In the specified straight-ahead process, it travels straight until the side where the materials are replenished and then stops. After that, if there is an instruction from the operator to resume, it reverses a predetermined distance, automatically pauses temporarily, then automatically turns and proceeds to the next straight-ahead process. In the straight-ahead processes other than the specified straight-ahead process, it automatically turns and proceeds to the next straight-ahead process without an instruction from the operator. This is the work vehicle of the third aspect of the present invention.

[0013] The fifth aspect of the present invention is In the straight-ahead processes other than the specified straight-ahead process, it automatically pauses temporarily at a position a predetermined distance from the side where the materials are replenished. After that, it automatically reverses a predetermined distance and then pauses temporarily, and then automatically turns and proceeds to the next straight-ahead process. This is the work vehicle of the fourth aspect of the present invention.

[0014] The sixth aspect of the present invention is Regarding the position information of the side where the materials are replenished among the position information of the outermost perimeter obtained by the control unit, the position information of the side where the materials are replenished is changed to a position inside by a predetermined distance from it. This is the work vehicle of the fifth aspect of the present invention.

[0015] The seventh aspect of the present invention is The supply device is a seedling planting unit, The material is a seedling, When performing the teaching travel, the operator lowers the seedling planting unit for planting on the side where the replenishment of the seedlings is not performed, and on the side where the replenishment of the seedlings is performed, the operator travels with the seedling planting unit lowered and without performing planting. The lowering of the seedling planting unit when not performing planting is in the same state as the lowering when actually planting seedlings. This is the working vehicle of the sixth aspect of the present invention.

[0016] The eighth aspect of the present invention is The control unit designates and records, as the seedling planting section in the automatic travel along the side where the replenishment of the seedlings is performed, the section from the lowering position to the subsequent rising position of the seedling planting unit on the side where the replenishment of the seedlings is performed. This is the working vehicle of the seventh aspect of the present invention.

[0017] The ninth aspect of the present invention is The control unit ignores an instruction to plant the seedlings even during the lowering of the seedling planting unit on the side where the replenishment of the seedlings is performed. This is the working vehicle of the eighth aspect of the present invention.

[0018] The tenth aspect of the present invention is Travel on the outermost perimeter of the field is manually performed by the operator boarding the traveling vehicle body. Inside the inner area inside the traveling path of the traveling vehicle body on the outermost perimeter of the field, in the first area excluding one inner buffer traveling path adjacent in parallel to the traveling path along the side where the replenishment of the material is performed, traveling is performed without the operator boarding the traveling vehicle body. The second area is composed of two traveling paths, namely the traveling path along the side where the replenishment of the material is performed and the buffer traveling path. The target traveling path of the automatic straight - forward reciprocating process performed in the first area is generated by the control unit based on the position information of the outermost perimeter. At this time, a target traveling path for straight - forward traveling is generated so as to execute planting up to the boundary between the first area and the second area. This is the working vehicle of the second aspect of the present invention.

Advantages of the Invention

[0019] According to the present invention, a work vehicle capable of easily identifying a location for replenishing work materials can be realized.

Brief Description of the Drawings

[0020]

Figure 1

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Figure 21

Figure 22

Mode for Carrying Out the Invention

[0021] Hereinafter, based on the drawings, as a preferred embodiment of the present invention, a riding type rice transplanter 1 which is an example of a work vehicle will be described.

[0022] As shown in FIGS. 1 and 2, in the rice transplanter 1, a seedling planting part 9 is attached to the rear side of a traveling vehicle body 7 via a lifting link device 8 so as to be liftable, and a main body part of a fertilizer applicator 6 is provided on the upper rear part of the traveling vehicle body 7. The seedling planting part 9 is an example of a supply device of the present invention for planting seedlings in a field H. Further, the seedlings are an example of the materials of the present invention.

[0023] Note that the left and right directions are referred to as left and right respectively toward the forward direction of the riding type rice transplanter 1, and the forward and backward directions are referred to as front and rear respectively.

[0024] As shown in FIGS. 1 and 2, the traveling vehicle body 7 is a four-wheel drive vehicle including a pair of left and right front wheels 10, 10 which are driving wheels and a pair of left and right rear wheels 11, 11. A transmission case 12 is arranged at the front part of the machine body, front wheel final cases 13, 13 are provided on the left and right sides of the transmission case 12, and left and right front wheels 10, 10 are respectively attached to left and right front wheel axles protruding outward from respective front wheel support parts capable of changing the steering direction of the left and right front wheel final cases 13, 13.

[0025] Further, the front end part of a main frame 15 is fixed to the back surface part of the transmission case 12, and rear wheel gear cases 18, 18 are supported so as to be freely rotatable around a rear wheel rolling shaft provided horizontally in the front and rear direction at the left and right center parts of the rear end of the main frame 15, and rear wheels 11, 11 are attached to rear wheel axles protruding outward from the rear wheel gear cases 18, 18.

[0026] The engine 20 is mounted at the front part of the traveling vehicle body 7, and the rotational power of the engine 20 is transmitted to the transmission case 12 via the belt transmission device and the HST 23. The rotational power transmitted to the transmission case 12 is shifted by the transmission in the case 12 and then taken out separately as traveling power and external extraction power.

[0027] Then, part of the traveling power is transmitted to the front wheel final cases 13, 13 to drive the front wheels 10, 10, and the rest is transmitted to the rear wheel gear cases 18, 18 to drive the rear wheels 11, 11. Also, the external extraction power is transmitted to the planting clutch case provided at the rear part of the traveling vehicle body 7, and then transmitted to the seedling planting part 9 by the planting transmission shaft and to the fertilizer applicator 6 by the fertilizer transmission mechanism.

[0028] A seat 31 is installed on the central part of the traveling vehicle body 7. In front of the seat 31, there is a front cover 32 incorporating various operating mechanisms, and above it, a steering wheel 34 for steering the front wheels 10, 10 is provided.

[0029] The left and right sides and the rear of the lower end of the front cover 32 are horizontal floor steps 35. The floor steps 35 are partially lattice-shaped so that the mud on the shoes of the operator walking on the steps 35 drops onto the field H. The rear part on the floor steps 35 serves as a rear step 36 that also functions as a rear wheel fender.

[0030] The elevating link device 8 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are rotatably attached to a link base frame 42 in the shape of a door in a rear view, which is erected at the rear end of the main frame 15 on the base side, and a vertical link 43 is connected to the tip side thereof. Then, a connecting shaft 44 rotatably supported by the seedling planting part 9 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 9 is connected so as to be rollable around the connecting shaft 44. An elevating hydraulic cylinder 46 is provided between the link base frame 42 and the vertical link 43. By expanding and contracting the cylinder 46 hydraulically, the elevating link device 8 rotates up and down, and the seedling planting part 9 moves up and down while maintaining a substantially constant posture.

[0031] At the front end of the traveling vehicle body 7, the base of the front frame 47 is fixed, and the GNSS device 3 is equipped on the upper part of the front frame 47. This GNSS device 3 is an example of the satellite positioning unit of the present invention capable of detecting the position of the traveling vehicle body 7. Also, in FIG. 1, A is a ridge. On both the left and right sides of the front part of the traveling vehicle body 7, left and right spare seedling platforms 48, 48 are provided.

[0032] FIG. 3 shows a control system centered on the control unit 50 of the present invention. Here, 51 is an axle rotation sensor (left) for detecting the rotation of the axle, 52 is an axle rotation sensor (right) for detecting the rotation of the axle, and the output signals thereof are input to the vehicle ECU1 which is a part of the control unit 50. Also, the signal of the GNSS device 3 is also input. Further, the steering wheel cut angle sensor 54, the steering motor 69, and the alarm device 53 are connected to the ECU1.

[0033] Signals are input from a work mechanism elevation and planting drive sensor 63 and a traveling drive sensor group 61 to the vehicle ECU2 which is a part of the control unit 50 and is connected to the vehicle ECU1 by CAN communication. Also, the vehicle ECU2 is connected to a work implement elevation drive device 65, a planting part drive device 64, and a traveling drive device 62.

[0034] The above CAN communication is connected to the vehicle monitor 56 and the engine ECU 58, and this engine ECU 58 is connected to the engine drive device 59 and the engine drive sensor group 60.

[0035] Furthermore, the above CAN communication is connected to the external communication ECU 57, and it is possible to communicate with the tablet terminal 66 through this external communication ECU 57, and this tablet terminal 66 can communicate with the remote monitoring center 67 via the cloud 68.

[0036] FIG. 4 is a plan view of the field H on which the traveling vehicle body 7 of the present invention travels. Here, 70 indicates the outermost part of the field H. 71 is a water channel, and 72 is an access / exit road through which the traveling vehicle body 7 enters and exits.

[0037] The shape of the field H in this embodiment is rectangular. That is, the entire perimeter of the outermost part 70 is composed of four sides, the left side 70a, the upper side 70b, the right side 70c, and the lower side 70d (in FIG. 4).

[0038] The operation of driving the traveling vehicle body 7 in the field H will be described below.

[0039] <Teaching Driving> First, the operator makes the traveling vehicle body 7 enter the field H from the access / exit road 72 located in the lower right in FIG. 4. After that, the operator advances manually while planting seedlings along the right side 70c of the field H, makes a 90-degree turn at the upper right corner in FIG. 4, then advances manually while planting seedlings along the upper side 70b in FIG. 4, makes a 90-degree turn at the upper left corner in FIG. 4, then advances manually while planting seedlings along the left side 70a in FIG. 4, and makes a 90-degree turn at the lower left corner in FIG. 4. When making the above turns, the seedling planting part 9 is raised.

[0040] After that, the operator makes a manual empty running drive along the lower side 70d in FIG. 4 without planting.

[0041] During the idling run, the seedling planting unit 9 is lowered at a predetermined position. While running idly along the lower side 70d in this state, the seedling planting unit 9 is raised at a predetermined position and reaches the access path / exit path 72.

[0042] Even when running idly in this way, the seedling planting unit 9 is lowered, and the lowering is in the same state as when actually planting the seedlings. This is because a simulation is being carried out for the case of later planting the seedlings by automatic running along the lower side 70d. That is, there are low parts such as water outlets on the ridge, and it is necessary to avoid collisions during the later seedling planting run by automatic running. Therefore, in advance, during the idling run, the seedling planting unit 9 is lowered in the same state as when actually planting the seedlings so that the operator can perform the teaching run during the idling run for simulation.

[0043] Furthermore, by the lowering and raising operations of the seedling planting unit 9, it becomes possible to accurately specify the section when later automatically performing the planting run along the lower side 70d. When the seedling planting unit 9 is lowered and running idly along the lower side 70d, the control unit 50 ignores it even if there is an instruction to plant the seedlings. This is because it is the running path for idling.

[0044] When the traveling vehicle body 7 travels around the four sides of the field H in this way, the GNSS device 3 grasps its position and the control unit 50 stores the positions and shapes of the four sides of the field H, thus ending the teaching run. For example, when the GNSS device 3 is attached to the center position of the traveling vehicle body 7 as shown in FIG. 2, the actual outermost peripheral positions are located 1 / 2 of the width of the traveling vehicle body 7 outside the obtained traveling trajectory. Alternatively, the traveling trajectory obtained by the GNSS device 3 may be set as the shape of the field H, and 1 / 2 may be added each time when approaching the supply ridge back and forth. Also, when obtaining the trajectory with the GNSS device 3, it may be obtained discretely, but in such a case as well, it is desirable to connect these data and store them as the traveling line.

[0045] In addition, the result data of the teaching run is stored in a tablet or server for each field and utilized in the next fiscal year.

[0046] During the teaching run, in this embodiment, planting operations are performed on the right side 70c, the upper side 70b, and the left side 70a, and no planting operation is performed on the lower side 70d. Therefore, the control unit 50 can identify the part (side, ridge) where the lower side 70d where no planting operation is performed is for supplying materials. Here, the planting operation is an example of the supply state of the supply device of the present invention. That is, by changing the supply state of the supply device 9 during the teaching run so that it is different from other parts in a part of the entire outer periphery, the part where the materials are replenished can be identified within the entire outer periphery of the field H. Examples of changing the supply state may include changing whether to supply or not, or changing the amount of supply.

[0047] In this embodiment, the lower side 70d is used as the material supply side ridge, but it is also possible to identify the left and right sides or the upper side depending on the presence or absence of the planting operation. Note that changing the supply state to identify the material supply side also determines the direction of the target path of the subsequent automatic reciprocation.

[0048] As another embodiment, the fertilizer application device 6 may be used as the supply device, and whether to apply fertilizer may be changed as the supply state is changed. Furthermore, other supply devices may be used. <Automatic Planting Run> Next, as described below, inside the inner area I from the running path of the running vehicle 7 (the right running path 80c, the upper running path 80b, the left running path 80a, the lower running path 80d in FIG. 4) on the entire outer periphery 70 of the field H, running without an operator on board is performed.

[0049] That is, the control unit 50 generates a target running path for the automatic straight-ahead reciprocating process based on the position information of the entire outer periphery obtained by the above teaching run. In the target running path of the reciprocating straight-ahead, the straight running on the lower side 70d side where the materials are replenished is set to a predetermined distance, for example, 3 m in front of the lower side 70d.

[0050] Furthermore, a detailed example will be described. The traveling vehicle body 7 that has idled and reached the entry / exit path 72 as described above reverses along the lower traveling path 80d while keeping the seedling planting part 9 raised, and moves to the lower left corner in FIG. 4.

[0051] Here, the operator gets off the traveling vehicle body 7, holds the remote control 55, and moves the traveling vehicle body 7 to the straight traveling path 80f which is further inside the straight traveling path 80e that is one inside the left traveling path 80a. Since the control unit 50 has already generated these paths 80, the operator can move to the straight traveling path 80f while automatically advancing and turning as long as the operator gives an instruction to the remote control 55, and can further automatically travel straight while planting seedlings on the straight traveling path 80f.

[0052] Furthermore, when reaching the upper traveling path 80b, it turns, so it raises the seedling planting part 9 and automatically turns, moves to the next adjacent straight traveling path 80g, and similarly automatically travels straight while planting seedlings, and automatically stops 3 m in front of the lower side 70d (exactly where one round of the subsequent headland traveling is left). Different from the conventional case, since the position and shape of the lower side 70d on the seedling supply side are accurately known by teaching, it can be planted to such an appropriate position and automatically stopped.

[0053] In addition, since the control unit 50 already knows the supply capacity from numerical values such as the loading amount and remaining amount of seedlings in advance, it can calculate which straight traveling path among these paths 80 should be used for seedling supply, and can determine whether seedling supply should be performed when traveling on the straight traveling path 80g.

[0054] For example, if it is known in advance that seedling replenishment is unnecessary on the straight driving route 80g, the control unit 50 automatically plants until it reaches the point where only one round of the subsequent headland driving on the lower side 70d remains. After once stopping, the control unit 50 automatically raises the seedling planting unit 9 by a predetermined distance, reverses, and stops. Then, while automatically moving forward, it turns and moves to the adjacent next straight driving route 80h, and further drives straight while automatically planting seedlings toward the upper side 70b. When turning, if there is enough space, the seedling planting unit 9 may be automatically raised and turned without stopping or reversing once.

[0055] After that, further, on the adjacent next straight driving route 80i, it drives straight while automatically planting seedlings toward the lower side 70d, and automatically plants until it reaches the point where only one round of the subsequent headland driving on the lower side 70d remains, and then automatically stops. As described above, the control unit 50 calculates in advance from numerical values such as the remaining amount of seedlings which straight driving route among the straight driving routes requires seedling replenishment. Therefore, when driving on the straight driving route 80h, it can be determined whether seedling replenishment is necessary. For example, if it is known that seedling replenishment is necessary on the straight driving route 80h, the control unit 50 once automatically stops, then drives straight without planting seedlings until reaching the lower side 70d where seedling replenishment is performed. Alternatively, at that time, it may drive straight to the lower side 70d without automatically stopping and without planting.

[0056] Therefore, the operator replenishes the traveling vehicle body 7 with new seedlings from the ridge on the lower side 70d. After completion of the replenishment, the operator instructs the control unit 50 to resume driving with the remote controller 55. Upon receiving the instruction, the control unit 50 reverses by a predetermined distance, then turns and moves to the adjacent next straight driving route 80j, and thereafter, similarly, performs straight reciprocating driving while automatically planting seedlings.

[0057] In the embodiment of FIG. 4, in the straight traveling path 80p immediately inside the right traveling path 80c on the right side 70c side, the traveling vehicle body 7 automatically travels straight while planting seedlings toward the upper side 70b. Then, it makes a 90-degree left turn in front of the upper traveling path 80b, travels straight along the inner upper inner peripheral path 80q adjacent to the upper traveling path 80b, makes a 90-degree turn, and moves to the straight traveling path 80e one inside the left traveling path 80a that has been skipped as described above. It automatically travels straight while planting seedlings toward the lower side 70d. When it reaches the lower traveling path 80d, it makes a 90-degree turn and automatically travels straight along the empty lower traveling path 80d while planting seedlings, reaches the entry / exit path 72, and exits the field H. At that time, since the planting section is specified by lowering and raising the seedling planting section 9 during the teaching travel, accurate automatic planting can be performed using the section data. After that, hand-plant the corner parts where the seedlings have not been planted.

[0058] As described above, in the above embodiment, depending on conditions such as the dimensions of the vehicle body, if it is possible to turn without reversing when turning, it may be done in that way.

[0059] In this way, except for hand-planting, the operator can automatically plant seedlings except for the operation of restarting the travel with the remote control 55. Even when not replenishing seedlings on the ridge side where seedlings are replenished one by one as in the prior art, there is no need to advance to a certain extent while planting seedlings by remote control operation and then turn. It is possible to realize almost fully automatic seedling planting in the field H. That is, the shape of the field H is such that, as shown in FIGS. 5(A), (B), and (C), the shape of the lower side farm road (ridge) side is curved inward or has a protrusion inward other than a straight line shape. So, in the conventional case where the position of the ridge on the replenishment side is unknown, for safety reasons, it automatically stops well in advance, and the operator checks there and uses the remote control to advance while planting while leaving one round of traveling on the headland even when replenishment is not required, and then turns. However, in the present invention, since the shape of the lower side is accurately known in advance by the teaching travel, it can be turned fully automatically.

[0060] FIG. 6 is a modified example of the present embodiment. For the position data of the entire circumference of the outermost periphery 70 of the field H obtained by teaching running as described above, considering errors in positioning accuracy, long-term crustal movements, etc., the position data of the entire circumference is set inside the predetermined distance on the safe side.

[0061] Note that the predetermined distance may be set shorter only for the side 70d on the material supply side. This is because for the three sides 70a, 70b, and 70c, seedlings have already been manually planted during teaching running, so high accuracy is not required. However, for the side 70d on the material supply side, since seedlings will be planted automatically later, it is better to set the position information at the edge slightly inside from the perspective of safety.

[0062] Alternatively, when traveling toward the side 70d on the material supply side during the automatic reciprocating straight running of planting, it may stop after shortening the predetermined distance each time.

[0063] FIG. 7 and below are another embodiment of the present invention.

[0064] In FIG. 7, the three sides 70a, 70b, and 70c are manually planted by teaching running. At this time, the start position SP on the left side 70a is set from a position two rounds above (above in the drawing) the pillow running on the lower side 70d of the ridge side later. The respective running routes are the left running route 90a, the upper running route 90b, and the right running route 90c.

[0065] In FIG. 8, on the right side 70c, it runs to the lower side 70d of the ridge side, and a target running route for straight reciprocating running is generated in this area (first area) S1 surrounded by the three sides in this teaching running.

[0066] In FIG. 9, the corners are manually planted and the edge of the ridge is manually taught to run empty (lower running route 90d1).

[0067] In FIG. 10, by traveling along the edge of the ridge, a buffer traveling path 90d2 is formed inside the lower traveling path 90d1, and the target traveling path of the second area S2 is generated by the lower traveling path 90d1 and the buffer traveling path 90d2. This is a two-step process.

[0068] In FIG. 11, automatic planting reciprocating travel is performed in the first area S1. That is, starting from the position leaving the straight-ahead travel path 90e of one stroke and leaving the final travel portion, automatic planting travel is started on the automatic straight-ahead travel paths (90f, 90g,...).

[0069] In FIG. 12, during such automatic planting travel, in order to select either automatic restart or furrow alignment every round trip, it automatically stops 2 travel strokes before. Since the position of the lower side edge 70d of the furrow is being taught during travel, it can accurately stop automatically 2 travel strokes before. In addition, in order to plant up to the lower edge of the first area S1, it may be automatically stopped when the traveling vehicle body 7 enters the second area S2.

[0070] In FIG. 13, when there is no seedling connection (90g), the operator uses the remote control to automatically restart, turn, and repeat the round trip. When turning, since there are two strokes of the buffer traveling path 90d2 and the lower traveling path 90d1, even if the shape of the replenishment ridge is like a cliff, there is no worry of interference. In addition, if it is known in advance that there is no seedling connection for a plurality of round trips, continuous work can be performed for the set number of times without operating the remote control one by one. The number of operations of the remote control can be reduced.

[0071] In FIG. 14, when there is a seedling connection (90i), it advances to the edge of the ridge with the forward button and performs the seedling connection. That is, it automatically stops 2 strokes before and advances with the button on the remote control.

[0072] In FIG. 15, after the seedling connection, it automatically restarts and turns backward and moves to the automatic straight-ahead travel path 90k of the next and subsequent strokes. At that time, in order to align the rows, it makes an empty run on the automatic straight-ahead travel path 90k of the next and subsequent strokes instead of the automatic straight-ahead travel path 90j of the next stroke.

[0073] In FIG. 16, strip alignment planting travel for entering the inner circumference process is performed (turn and move to the automatic straight travel path 90j).

[0074] In FIG. 17, after traveling on the automatic straight travel path 90j, the inner circumference process is automatically planted. That is, from the automatic straight travel path 90k, it travels to the travel path 90l adjacent to the inside of the upper travel path 90b, and then travels while planting seedlings on the above-mentioned automatic straight travel path 90e.

[0075] In FIG. 18, when approaching the lower side 70d, the operator boards for confirmation by calling to the ridge with the remote control. Further, while automatically planting on the lower travel path 90d1 in the second area S2, it then turns inward.

[0076] In FIG. 19, then, it automatically goes straight while planting seedlings on the buffer travel path 90d2.

[0077] FIG. 20 shows the surface of the remote control. It moves forward only while one button is pressed. By pressing two buttons simultaneously, it automatically moves forward to the end. The operation of moving forward only while pressing the forward button on this remote control can be divided into the operation of moving forward and the operation of automatically traveling to the end of the second area S2 by pressing the automatic start and forward buttons. Thus, it can be manually adjusted when the ridge on the supply side is high and the traveling body may interfere.

[0078] As described above, inside the inner area I, which is inside the travel path of the traveling vehicle 7 around the outermost periphery of the farm field H, in the first area S1 excluding the buffer travel path 90d2 adjacent in parallel to the lower travel path 90d1 along the side 70d for supplying materials, the operation is performed without the operator boarding the traveling vehicle 7.

[0079] Also, the target travel path of the automatic straight reciprocating travel performed in the first area S1 is generated by the control unit 50 based on the position information of the outermost periphery, and at that time, it can be set as a target travel path that travels straight from the side 70d for supplying materials to a predetermined distance.

[0080] FIG. 21 is an embodiment related to the present invention.

[0081] In an automatic rice transplanter using RTK positioning, a configuration is adopted that allows selection of three modes: automatic, straight-ahead assist, and manual. By being able to select each mode, it is possible to perform preferred operations according to the situation and the field.

[0082] Regarding the automatic driving of the robotic rice transplanter, by adopting a riding type, components such as a remote control, a three-color lamp, auto differential, auto brake, and forced four-wheel drive are abolished, but the driving is automatic and the usability is almost the same as that of a robot. By adopting a riding type for the automatic driving of the robotic rice transplanter, components such as a remote control, a three-color lamp, auto differential, auto brake, and forced four-wheel drive can be abolished, and the cost can be significantly reduced.

[0083] A configuration is adopted such that teaching can be started by lowering the lever, and at that time, the AB point lamp on the monitor blinks to inform that teaching is in progress. By providing this notification, the status of the machine body can be easily grasped and workability is improved.

[0084] Teaching is completed by lowering the lever again, the AB point lamp on the monitor lights up, and the green lamp blinks to inform that teaching is completed. By providing this notification, the status of the machine body can be easily grasped and workability is improved.

[0085] When the green lamp on the monitor is lit and the main transmission lever is set to reverse, the machine reverses at a specified speed and automatically stops when it reaches the specified position. This is the same operation as the turning assist.

[0086] During forward operation, the machine moves forward according to the path. It automatically stops on the side opposite to the ridge approach side, automatically turns back, and enters the next process. The driving timing can be controlled by operating the lever, improving safety.

[0087] On the ridge approach side, the machine automatically stops 3 m in front of the ridge. Once the main transmission lever is returned to neutral, it moves forward according to the operation of the main transmission lever and stops at the neutral position. By linking the vehicle speed during automatic driving to the lever position, safety is improved.

[0088] During automatic driving, it is configured to be able to cancel the automatic driving state by raising the lever, and at this time, the monitor green lamp blinks and shifts to a state where manual operation is possible. It can be easily shifted to manual operation, improving workability and safety.

[0089] After the inner peripheral process is completed and the vehicle automatically stops, it is configured to shift to the blinking of the monitor green lamp and automatically shift to manual operation. Since the remaining processes are manual, the workability is improved by automatically shifting to manual.

[0090] In the state where the green lamp blinks, after manual operation, shift to the automatic mode again by raising the lever, select the nearest route, and be configured to be in a state where automatic driving is possible. It can be easily shifted to the automatic mode, and replanting such as poor planting can be easily performed automatically.

[0091] When the machine orientation deviates from the specified angle or more with respect to the route to be entered, even if the main transmission lever is moved, it does not move, and a warning sound is issued to inform the operator to correct the machine orientation. There is no movement such as making a large turn and planting forcibly, improving safety.

[0092] When restarting automatic driving, it is configured to display on the monitor whether the selected route is a straight-ahead process or an inner peripheral process. The operator can confirm whether the route to enter is correct, and prevent the mistake of planting on the wrong route.

[0093] Take an example. Lower the auto lever to start the teaching mode, and the auto monitor AB points blink (teaching mode).

[0094] After the outer peripheral teaching, lower the lever to complete the teaching, the AB points light up, and the green lamp blinks.

[0095] Raise the auto lever once to turn on the auto monitor green lamp (shift to the automatic mode), and reverse to the specified position by operating the main transmission lever in reverse.

[0096] Turn by forward operation and enter the automatic driving route.

[0097] a. When it reaches the opposite side of the straight-ahead and ditch approach, it automatically stops and makes an automatic U-turn, and the vehicle speed during this period is linked to the main transmission lever (the specified vehicle speed during turning). b. When it reaches the ditch approach side, it stops 3 m ahead. Return the main transmission lever to neutral, approach the ditch by moving forward, and stop with the lever in neutral. c. Reverse the main transmission lever to reverse to the specified position → Turn to the next path by moving forward. Repeat a. to c. thereafter.

[0098] The ditch clutch operation is automatic in the same way as that of a robotic rice transplanter, and all movements in the inner circumference process are performed with the main transmission lever in the forward position (when stopped during reverse, it will reverse even if shifted to forward. The same as the forward operation with the remote control).

[0099] After the inner circumference process is completed, the green lamp goes out and it stops → Manual operation is performed thereafter.

[0100] Note that by raising the auto lever, it shifts to the manual mode and the green lamp blinks. By raising the lever again, it runs automatically with the green lamp on and moving forward.

[0101] Stopping in the above control is the same as the temporary stop of the current robot, and steering and driving operations are performed according to the path by moving forward (the same as the forward and reverse operations of the remote control).

Industrial Applicability

[0102] The present invention can realize a work vehicle that can easily identify a place for replenishing work materials, and thus is optimal for a rice transplanter or the like.

Explanation of Signs

[0103] 1 Rice transplanter 3 GNSS device 6 Fertilizer applicator 7, 100 Traveling vehicle body 8 Lifting link device 9 Seedling planting part 10 Front wheel 11 Rear wheel 12 Transmission case 13 Front wheel final case 15 Main frame 18 Rear wheel gear case 20 Engine 23 HST 31 Seat 32 Front cover 34 Steering wheel 35 Floor step 36 Rear step 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 46 Hydraulic cylinder 47 Front frame 50 Control unit 70 Outermost 70a Left side 70b Upper side 70c Right side 70d Lower side 71 Waterway 72 Inlet / Outlet path 80 Travel path 80a Left travel path 80b Upper travel path 80c Right travel path 80d Lower travel path 80e to 80q Automatic reciprocating stroke, inner circumference stroke 90a Left travel path 90b Upper travel path 90c Right travel path 90d, 90d1 Lower travel path 90d2 Buffer travel path 90e to 90l Automatic reciprocating stroke, inner circumference stroke I Inner area H, Ho Field S1 First area S2 Second area

Claims

1. A traveling vehicle body, A satellite positioning unit capable of detecting the position of the traveling vehicle body, A supply device for supplying materials to a field, A control unit that acquires position information of the entire outer periphery by using data of the satellite positioning unit while an operator causes the traveling vehicle body to perform teaching travel along the entire outer periphery of the field, An operation vehicle, characterized in that the operator changes the supply state of the supply device performed during the teaching travel so as to be different from other parts in a part of the entire outer periphery of the field, thereby specifying a part for replenishing the material within the entire outer periphery of the field.

2. The entire outer periphery of the field is composed of a plurality of sides, The work vehicle according to claim 1, wherein the supply of the supply device is not performed on the side where the material is replenished, and the supply of the supply device is performed on other sides where the material is not replenished.

3. The travel on the sides of the entire outer periphery of the field is manually performed by an operator boarding the travel vehicle body, Inside the inner area inside the travel route of the travel vehicle body on the entire outer periphery of the field, travel is performed without the operator boarding the travel vehicle body, The work vehicle according to claim 2, wherein the target travel route of the automatic straight-ahead reciprocating stroke performed in the inner area is generated by the control unit based on the position information of the entire outer periphery.

4. Based on the supply capacity of the supply device, the control unit specifies a straight-ahead stroke in which the material should be replenished during the automatic straight-ahead reciprocating stroke. In the specified straight-ahead stroke, it travels straight until the side where the material is replenished and stops. After that, if there is an instruction from the operator to resume, it reverses a predetermined distance, automatically stops temporarily, then automatically turns and proceeds to the next straight-ahead stroke. In the straight-ahead strokes other than the specified straight-ahead stroke, it automatically turns and proceeds to the next straight-ahead stroke without an instruction from the operator. The work vehicle according to claim 3, characterized by this.

5. In the straight-ahead strokes other than the specified straight-ahead stroke, it automatically stops temporarily at a position a predetermined distance from the side where the material is replenished, then automatically reverses a predetermined distance and stops temporarily, and then automatically turns and proceeds to the next straight-ahead stroke. The work vehicle according to claim 4.

6. Regarding the position information of the side where the material is replenished among the position information of the entire outer periphery of the field acquired by the control unit, the position information of the side where the material is replenished is changed to a position inside by a predetermined distance from it. The work vehicle according to claim 5.

7. The supply device is a seedling planting unit, The material is seedlings, When performing the teaching travel, the operator lowers the seedling planting unit and performs planting on the side where the replenishment of the seedlings is not carried out, and on the side where the replenishment of the seedlings is carried out, the operator travels with the seedling planting unit lowered and without performing planting. The lowering of the seedling planting unit when not performing planting shall be in the same state as the lowering when actually planting seedlings. The work vehicle according to claim 6.

8. The control unit designates and records, as a seedling planting section in the automatic travel along the side where the replenishment of the seedlings is carried out, which is to be performed later, the section from the lowering position to the subsequent rising position of the seedling planting unit on the side where the replenishment of the seedlings is carried out. The work vehicle according to claim 7.

9. The control unit ignores an instruction to plant the seedlings even if there is such an instruction during the lowering of the seedling planting unit on the side where the replenishment of the seedlings is carried out. The work vehicle according to claim 8.

10. Travel on the sides of the entire perimeter of the outermost part of the field is manually performed by an operator boarding the traveling vehicle body. Inside the inner area, which is inside the traveling route of the traveling vehicle body around the entire perimeter of the outermost part of the field, in a first area excluding one inner buffer traveling route adjacent in parallel to the traveling route along the side where the replenishment of the materials is carried out, traveling is performed without the operator boarding the traveling vehicle body. A second area is constituted by two traveling routes, namely the traveling route along the side where the replenishment of the materials is carried out and the buffer traveling route. The target traveling route of the automatic straight-ahead reciprocating process performed in the first area is generated by the control unit based on the position information of the entire perimeter of the outermost part. At this time, a target traveling route for straight-ahead traveling is generated so as to execute planting up to the boundary between the first area and the second area. The work vehicle according to claim 2.

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