Work vehicle

Abstract

To sufficiently reduce a burden applied to a user when steering a vehicle body.SOLUTION: A work vehicle comprises: a satellite positioning unit for detecting a position of a travel machine body using a navigation satellite; and a field work machine which can perform work to a farm field, and the work vehicle travels automatically. The work vehicle has a supplement side corresponding to a ridge for work for supplying an agricultural material to the vehicle, and has a teaching method for automatic travel in which components other than the supplement side are manually travelled in which the agricultural material is supplied to the farm field by the field work machine, or a teaching method for automatic travel in which components other than the supplement side are manually travelled in which the agricultural material is supplied to the farm field by the field work machine and the supplement side is manually travelled in a stop state in which the agricultural material is not supplied to the farm field by the field work machine. By a path obtained by manual travel of the teaching method, an automatic travel path is generated in the farm field.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] There is known a work vehicle such as a rice transplanter that has a seedling planting device attached to the vehicle body so that it can be raised and lowered, a steering motor that drives the steering handle, and a control device that controls the vehicle body's straight-line movement by having the steering motor drive the steering handle (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-24541 [Patent Document 2] Japanese Patent Application Laid-Open No. 2002-335720 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the present inventor believes that it is important to reduce the burden on users from various perspectives.

[0005] However, with regard to work vehicles such as the conventional rice transplanters described above, the reduction in the burden on users that accompanies automatic driving has not necessarily been fully realized.

[0006] The present invention has been made in consideration of the above-mentioned conventional problems, and has an object to provide a work vehicle that can reduce the burden on the user associated with autonomous driving. [Means for solving the problem]

[0007] The first aspect of the present invention is a satellite positioning unit capable of detecting the position of a traveling vehicle using a navigation satellite; Equipped with a field work machine capable of working on the field, An autonomously driven work vehicle, a supply side corresponding to a ridge for supplying the agricultural materials to a vehicle; a teaching method for automatic travel in which the field work machine manually travels on a side other than the supply side in a supply state in which the agricultural material is supplied to the field by the field work machine, or a teaching method for automatic travel in which the field work machine manually travels on a side other than the supply side in a supply state in which the agricultural material is supplied to the field by the field work machine and manually travels on the supply side in a stopped state in which the agricultural material is not supplied to the field by the field work machine, This work vehicle is characterized in that an automatic driving route is generated inside the field from a route manually driven by the teaching method.

[0008] The second aspect of the present invention is a method for generating an automatic driving route by the teaching method, The first work vehicle of the present invention is characterized by having a reciprocating route that travels between the supply side and the ridge corresponding to the opposite side of the supply side.

[0009] The third invention is a work vehicle according to the first or second invention, characterized in that after automatic driving along the generated automatic driving route is completed, the supply side is manually driven in the supply state. [Effects of the Invention]

[0010] The first aspect of the present invention makes it possible to reduce the burden on the user associated with automatic driving.

[0011] According to the second invention, in addition to the effect of the first invention, it is possible to replenish agricultural materials as needed while performing automatic traveling.

[0012] According to the third invention, in addition to the effects of the first or second invention, agricultural materials can be supplied to every corner of the field. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a left side view of a rice transplanter according to an embodiment of the present invention; [Figure 2] Block diagram of a rice transplanter according to an embodiment of the present invention [Figure 3] Plan view of a rice transplanter according to an embodiment of the present invention [Figure 4] An explanatory diagram (part 1) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 5] FIG. 2 is an explanatory diagram (part 2) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 6] An explanatory diagram (part 3) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 7] FIG. 4 is an explanatory diagram (part 4) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 8] An explanatory diagram (part 5) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 9] An explanatory diagram (part 6) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 10] An explanatory diagram (part 7) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 11] An explanatory diagram (part 8) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 12] An explanatory diagram (part 9) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 13] An explanatory diagram (part 10) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. [Figure 14] An explanatory diagram (part 11) of a simplified operation guide for a robot rice transplanter according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings, embodiments of the present invention and embodiments of inventions related to the present invention will be described in detail.

[0015] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated form.

[0016] (1) First, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be specifically described with reference to FIGS. 1 to 3.

[0017] Here, FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, FIG. 2 is a block diagram of a rice transplanter according to an embodiment of the present invention, and FIG. 3 is a plan view of a rice transplanter according to an embodiment of the present invention.

[0018] While explaining the operation of the rice transplanter of this embodiment, a work vehicle operation control method according to an invention related to the present invention, which is realized by the control device 500 and the like, will also be explained.

[0019] The rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of front wheels 221 and rear wheels 222 in accordance with the control of a control device 500 for manual or automatic steering operation on a steering device 230 of the vehicle body 100, levels the field using a ground leveling device 260 having a ground leveling rotor member 261 and a ground leveling float member 262, plants seedlings in the field using a seedling planting device 240 having a seedling planting tool 241 and a seedling loading platform 242, and also applies fertilizer to the field using a fertilizer applicator 250.

[0020] The traveling device 220, the seedling planting device 240, the fertilizer applicator 250, and the soil leveling device 260 are driven by the power of the engine 210 transmitted via the main transmission 300 and the sub-transmission 400, which are HSTs.

[0021] The rice transplanter of this embodiment is an example of a work vehicle of the present invention.

[0022] A control device 500 that performs turning control to turn the vehicle body 100 controls the steering angle based on the vehicle body angular velocity detected by a vehicle body angular velocity detection device 510 that detects the vehicle body angular velocity related to changes in orientation of the vehicle body 100 when turning the vehicle body 100.

[0023] (1A) The control of the steering angle based on the vehicle angular velocity will be specifically explained as follows.

[0024] When the vehicle body 100 turns around the turning center O with a turning radius r, a change in the turning angle θ relative to the turning center O represents a change in the orientation of the vehicle body 100. Preferably, in such a turning of the vehicle body 100, the deviation δ relative to the target line λ becomes zero by controlling the steering angle based on the vehicle body angular velocity.

[0025] For example, in order to improve the turning assist function, the occurrence of slippage is determined from the vehicle angular velocity during turning, and steering return control is performed.

[0026] The steering angular velocity at the start of a turn may be varied taking into account the vehicle speed. The vehicle heading that changes until the steering rotation operation is completed often varies depending on the vehicle speed, but by properly adjusting the steering angular velocity, the vehicle heading that changes until the steering rotation operation is completed can be stabilized.

[0027] Specifically, when an inward turn occurs in which the vehicle speed and vehicle body angular velocity decrease with slip and the turning radius r decreases, it is often desirable to compensate for the turning radius r by controlling the steering angle to delay the steering return timing. Instead of controlling the steering angle to delay the steering return timing, the target turning steering angle given by the steering specified position during the turn may be adjusted to become smaller. When the turning start vehicle speed is low, the steering angular velocity may be adjusted to become smaller, and when the turning start vehicle speed is high, the steering angular velocity may be adjusted to become larger.

[0028] The vehicle body angular velocity detection device 510 detects the vehicle body angular velocity based on the vehicle body position information acquired by the vehicle body position information acquisition device 520 that acquires the vehicle body position information of the vehicle body 100 .

[0029] The vehicle speed may be detected using the lever operation position of the HST lever of the main transmission 300, and the steering angular velocity may be changed taking the detected vehicle speed into consideration.

[0030] When turning the vehicle body 100, the control device 500 controls the steering angle based on a comparison between the detected vehicle body angular velocity and a predetermined ideal turning vehicle body angular velocity so that the steering angle matches a predetermined target turning steering angle.

[0031] The target turning steering angle is adjustable.

[0032] For example, the steering position during a turn that gives the target turning steering angle can be set arbitrarily using the dial on the LCD monitor of the control device 230. By rotating the dial, the operator can arbitrarily adjust the turning radius r, also known as the turning width.

[0033] The target turning steering angle is adjustable according to at least one of the wheelbase and tread of the vehicle body 100.

[0034] For example, the steering position during turning that gives the target turning steering angle is changed according to both the wheelbase and tread of the vehicle body 100, thereby realizing compatibility with derivative models.

[0035] The idea of ​​adjusting the target turning steering angle as a steering target value during a turn in accordance with the steering angle, vehicle direction, vehicle angular velocity, vehicle speed, and values ​​that can be set on the LCD monitor can be said to be the core of improvements to the turning assist function. Such adjustments can be made in advance before a turn or in real time during a turn.

[0036] The formula used to determine the target turning steering angle during a turn can be changed depending on the wheelbase and tread of the vehicle body 100, thereby enabling adaptation to different vehicle variants.

[0037] The target turning steering angle can be adjusted according to the number of seedling planting rows of the seedling planting device 240 that plants the seedlings.

[0038] The calculation formula used to determine the target turning steering angle is changed depending on the number of seedling planting rows of the vehicle body 100, thereby realizing derivative model compatibility suitable for models with 7 or 6 seedling planting rows.

[0039] (1B) The control of the steering angle based on the vehicle angular velocity will be explained in more detail below.

[0040] The ideal turning vehicle body angular velocity described above is theoretically predicted as the ideal turning vehicle body angular velocity when the steering angle and vehicle speed are given in an ideal model in which it is assumed that no slippage occurs.

[0041] The difference between the predicted vehicle body angular velocity and the actually measured vehicle body angular velocity is determined as a pseudo-slip of the vehicle body 100, and the larger this difference is, the more slip is assumed to be occurring.

[0042] The steering is controlled in response to the occurrence of slip by adjusting the target turning steering angle in accordance with the difference between the predicted vehicle body angular velocity and the actually measured vehicle body angular velocity. The target turning steering angle itself, which is a constant value, may be adjusted, or the steering angle may be controlled, for example, so that the steering return timing is delayed.

[0043] As for the adjustment of the target turning steering angle from the steering normal position during a turn, only adjustment in a direction that decreases the target turning steering angle so that the turning radius r, also called the steering turning radius, increases may be permitted. This is because when an inward turn occurs due to slippage and the vehicle body 100 moves to the inside of the turn, it is often desirable to control the steering angle so that the turning radius r increases.

[0044] The adjustment amount of the target turning steering angle may be increased according to the target turning steering angle set by using the turning assist adjustment screen on the LCD monitor, etc. In other words, the adjustment amount of the target turning steering angle may be increased so that the steering operation amount, such as the steering wheel return amount, becomes larger as the set target turning steering angle becomes larger.

[0045] When the value of the set target turning steering angle is the minimum value, the adjustment amount of the target turning steering angle may be 0. For example, when the target turning steering angle set using the turning assist adjustment screen on the LCD monitor is "-10 (narrow)", the steering angle is not controlled based on the vehicle angular velocity, and the target turning steering angle is maintained at a constant value.

[0046] When the steering state is returned to the straight ahead state to complete the turn, the timing at which the steering return starts may be adjusted in accordance with the vehicle body angular velocity.

[0047] The calculation formula used to determine the timing to start returning the steering wheel is changed depending on the wheelbase and tread of the vehicle body 100, thereby enabling adaptation to derivative models.

[0048] The calculation formula used to determine the timing to start steering return is changed depending on the number of seedling planting rows of the vehicle body 100, thereby realizing derivative model compatibility suitable for models with 7 or 6 seedling planting rows.

[0049] The timing to start returning the steering wheel may be adjusted according to a value set using the turning assist adjustment screen on the LCD monitor, etc. This is because, in models with 7 or 6 seedling planting rows, the target heading line at the end of the turn may not be parallel to the seedling planting line, and the vehicle body 100 may enter the inside of the turn.

[0050] (1C) The control of the steering angle based on the vehicle angular velocity will be explained in more detail below.

[0051] If the steering is manually operated during the turning assist, the turning assist is canceled.

[0052] The actual measured value of the steering angular velocity during a turn is monitored. While it is possible to simply use the deviation in degrees of the steering angle from a specified angle, which indicates the deviation from the specified steering position during a turn, by observing the actual measured value of the steering angular velocity, it is possible to recognize manual operation even when the steering motor is operating, in order to find that the steering angle is changing not only due to the operation of the steering motor but also due to manual operation.

[0053] It is determined that manual operation has been performed when the difference between the target turning steering angular velocity, which is the target value of the steering angular velocity, and the measured steering angular velocity, which is the actual measured value of the steering angular velocity, exceeds a predetermined level and continues for a predetermined period of time.

[0054] When the difference between the target turning steering angular velocity and the measured steering angular velocity is greater than the maximum value of the target turning steering angular velocity, for example, it may be determined that a manual operation has been performed. A determination method using the maximum motor operating speed may also be considered. However, even when steering is not possible due to a stuck wheel during a turn, the value of the motor operating speed does not reach the maximum motor operating speed, so the turning assist is often unintentionally canceled. To avoid such unintentional cancellation of the turning assist, a manual operation can be recognized, for example, by observing a steering operation that exceeds the maximum motor operating speed.

[0055] (2) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail, mainly with reference to FIG.

[0056] The control device 500 supports selectable manual and automatic control modes.

[0057] Such mode selection is performed, for example, by using a remote controller 530 that remotely controls the vehicle body 100. It is desirable that the remote controller 530 at least periodically transmits radio waves to the surrounding area so as to ensure reliable wireless communication between the remote controller 530 and the control device 500, etc.

[0058] However, in order to promote a power saving program for the remote controller 530 that aims to save energy, and taking safety into consideration, the transmission of such radio waves from the remote controller 530 to the surrounding area may be suppressed.

[0059] The transmission of radio waves from the remote controller 530 that remotely controls the vehicle body 100 to the surrounding area will be specifically described as follows.

[0060] Even if the manual control mode is selected, the remote controller 530 that remotely controls the vehicle body 100 transmits radio waves to the surrounding area only when certain conditions are met.

[0061] This is because although the possibility of emergency wireless communication being required is reduced by selecting the manual control mode, radio waves may still be transmitted from the remote controller 530 to the surrounding area if necessary.

[0062] Even if the automatic control mode is selected, the remote controller 530 that remotely controls the vehicle body 100 will not transmit radio waves to the surrounding area if certain conditions are met.

[0063] This is because although the possibility of emergency wireless communication being required increases when the automatic control mode is selected, radio waves do not need to be transmitted from the remote controller 530 to the surrounding area if not necessary.

[0064] When the "manual driving mode" that allows normal rice transplanter operation is selected, control is performed so that radio waves are not emitted when there is no operation on the remote controller 530. However, when an operation such as changing the settings of the rice transplanter is performed on the remote controller 530, control is performed to emit one cycle of radio waves, and control is performed to emit radio waves only for the block of changed data.

[0065] When the "manual driving mode," which allows normal rice transplanter operation, is selected, the rice transplanter is controlled not to emit radio waves when not in operation. However, when an operation such as changing the data to be sent to the remote controller 530 is performed on the rice transplanter, the control is performed to emit one cycle of radio waves, and only the changed data block is transmitted.

[0066] When the "remote operation mode," which allows normal rice transplanter operation, is selected, control is performed so that radio waves are not emitted when the remote controller 530 is not being operated. However, when an operation such as changing the settings of the rice transplanter is performed using the remote controller 530, control is performed to emit one cycle of radio waves, and control is performed to emit radio waves only for the block of changed data.

[0067] When the "remote operation mode," which allows normal rice transplanter operation, is selected, the rice transplanter is controlled not to emit radio waves when not in operation. However, when an operation such as changing the data to be sent to the remote controller 530 is performed on the rice transplanter, the control is performed to emit one cycle of radio waves, and only the changed data block is transmitted.

[0068] When "automatic driving mode," which allows normal rice transplanter operation, is selected, control is exercised so that radio waves are not emitted in the furrow gathering operation area when remote controller 530 is not being operated. However, when an operation such as changing the rice transplanter settings or moving the rice transplanter is performed with remote controller 530, control is exercised to emit one cycle of radio waves, and when an operation such as changing the rice transplanter settings or moving the rice transplanter is performed with remote controller 530, control is exercised to emit radio waves only for the block of changed data.

[0069] (3) Next, the configuration and operation of a rice transplanter according to an embodiment of the present invention will be specifically described with reference to FIGS.

[0070] 4 to 14 are explanatory diagrams (parts 1 to 11) of a simplified operation guide for a robotic rice transplanter according to an embodiment of the invention related to the present invention.

[0071] [A] Device name and function ●Remote control (see Figure 4) The status of the rice transplanter can be checked on the LCD screen. Operations such as changing the driving mode and starting / stopping automatic driving can be performed. Remote control and function settings can also be changed while getting off the rice transplanter.

[0072] ●Robot mode switch (see Figure 5) Toggles robot mode on and off.

[0073] When using the remote control, be sure to turn this switch ON. When it is OFF, all operations from the remote control will be rejected.

[0074] ● Three-color light (see Figure 6) Displays the automatic driving status.

[0075] ●GNSS antenna (see Figure 7) The GNSS reception sensitivity and operational accuracy are as shown in the figure.

[0076] [B-1] Flow of rice planting work using a robotic rice transplanter Rice planting with a robotic rice transplanter is performed in the following order: (circled number 1) teaching (manual planting), (circled number 2) automatic driving (automatic planting), and (circled number 3) headland work (manual planting). This simple guide introduces the operating procedures for basic field configurations.

[0077] [1] Preparation (see Figure 8) Get ready to start teaching.

[0078] (Circled number 1) Supply seedlings and fertilizer, and set the planting depth, seedling amount, hydraulic sensitivity, and rotor height to appropriate values. (See the "Remote Control and Monitor Panel Simple Operation Guide.") (Circled number 2) Turn on the robot mode switch.

[0079] (Number 3 in circle) Turn on the remote control.

[0080] (Circled number 4) Check that the GNSS reception level is "2" or higher.

[0081] (Circled number 5) Drive straight for 2m. Confirm the azimuth angle. *If you do this before entering the field, you can start teaching without disturbing the field.

[0082] [2] Teaching (see Figure 9) Manually plant around the perimeter of the field to prepare it for automatic driving.

[0083] (Number 1 in circle) Enter the field and press the driving mode button on the remote control to switch to teaching mode.

[0084] (Circled number 2) Lower the planting section or set planting to "in" to acquire the starting point. If you acquire the wrong starting point, press and hold the F button to erase the starting point and acquire it again.

[0085] (Circled number 3) Manually drive around the three outer edges of the planter to plant and let the machine recognize the area for automatic driving. *Drive around the three outer edges (two or more edges) of the planter, excluding the edge where seedlings and materials are supplied.

[0086] (Circled number 4) Once planting is complete on the three outer edges, press the driving mode button on the remote control to switch to automatic driving mode. This completes teaching and generates an automatic driving path.

[0087] [B-2] Flow of rice planting work using a robotic rice transplanter [3] Autonomous driving (see Figure 10) It automatically drives to plant and replenishes seedlings and fertilizer as needed.

[0088] [Return journey] (See Figure 11) (Circled number 1) After adding seedlings and fertilizer, make sure it is in automatic driving mode and press and hold the (circled letter F) + start button on the remote control to start automatic driving.

[0089] (Number 2 in a circle) After automatically traveling back and forth, the rice transplanter will pause 3m before the ridge. Press the forward button to continue traveling to the edge of the ridge.

[0090] (Circled number 3) After gathering the furrows, add seedlings and fertilizer as needed.

[0091] (Circled number 4) (Circled letter F) + Press and hold the start button to resume automatic driving.

[0092] Repeat (circled number 5), (circled number 1) to (circled number 4). *When "Row number adjustment" is displayed on the remote control, the planter will automatically stop rows and run idle to adjust the planting width.

[0093] [Inner Circumference] (Circled number 6) Adjust the seedling volume, planting depth, rotor height, and hydraulic sensitivity as needed. (See the "Remote Control / Monitor Panel Simple Operation Guide") (Circled number 7) (Circled letter F) + Press and hold the start button to start automatic operation of the inner circumference process.

[0094] (Circled number 8) When the inner periphery process is completed, automatic travel ends 3m before the ridge. The ridge is gathered and seedlings and fertilizer are supplied as needed.

[0095] [4] Headland work The seedlings are manually planted on the outer periphery to complete the rice planting work.

[0096] (Circled number 1) Press the driving mode button on the remote control to switch to manual driving mode. *You can also switch to manual mode by operating the main shift lever.

[0097] (Circled number 2) The headland is manually planted to complete the rice planting work.

[0098] [C] Teaching method taking into account field shape Since the reciprocating process is created based on the last edge traveled, it is necessary to pay attention to the teaching direction.

[0099] [1] Trapezoidal field (see Figure 12) When teaching a trapezoidal field like the one shown in the figure in a counterclockwise direction, a back-and-forth process will be created at an angle. When teaching in a clockwise direction, a back-and-forth process will be created that is perpendicular to the seedling supply side.

[0100] [2] Field where sub-path is created (see Figure 13) A sub-path will be created by teaching as shown in the figure. Since the sub-path will not be traveled in a round trip process, it is necessary to move to the sub-path start position in manual travel mode or remote control mode and then switch to automatic travel mode.

[0101] The following measures can prevent the creation of sub-routes and allow continuous work:

[0102] (1) Change the teaching direction so that the enclosed area does not appear during the outer periphery process.

[0103] (2) First, lower the planting section at the protruding part, and then perform teaching with the planting button turned off and the machine running without moving.

[0104] [3] Fields with an overhang on the seedling supply side (see Figure 14) If teaching is done normally in a field with an overhanging shape, there is a risk that the rice transplanter will collide with an obstacle. By first teaching the seedling supply side with the planting button turned off and using free running recognition, the overhanging shape can be recognized.

[0105] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0106] Furthermore, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0107] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0108] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0109] Furthermore, one form of use of the inventive program related to the present invention may be a form in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0110] The recording medium also includes a ROM (Read Only Memory).

[0111] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0112] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0113] The work vehicle of the present invention can reduce the burden on the user associated with turning the vehicle body, and is useful for use as a work vehicle such as a rice transplanter. [Explanation of symbols]

[0114] 100 body 210 engine 220 Running gear 221 Front wheel 222 rear wheel 230 Controls 240 Seedling planting device 241 Seedling planting tools 242 Seedling tray 250 Fertilizer equipment 260 Ground leveling equipment 261 Ground leveling rotor parts 262 Leveling float member 300 Main Transmission 400 sub-transmission 500 control device 510 Vehicle angular velocity detection device 520 Vehicle position information acquisition device 530 Remote Controller λ target line O Turning center r turning radius θ turning angle δ deviation

Claims

1. a satellite positioning unit capable of detecting the position of the traveling aircraft using a navigation satellite; Equipped with a field work machine capable of working on the field, An autonomously driven work vehicle, a supply side corresponding to a ridge for supplying the agricultural materials to a vehicle; a teaching method for automatic travel in which the field work machine manually travels on a side other than the supply side in a supply state in which the agricultural material is supplied to the field by the field work machine, or a teaching method for automatic travel in which the field work machine manually travels on a side other than the supply side in a supply state in which the agricultural material is supplied to the field by the field work machine and manually travels on the supply side in a stopped state in which the agricultural material is not supplied to the field by the field work machine, A work vehicle characterized in that an automatic driving route is generated inside a field from a manually driven route by the teaching method.

2. The automatic driving route generated by the teaching method is 2. The work vehicle according to claim 1, further comprising a reciprocating route that travels between the supply side and the ridge corresponding to the opposite side of the supply side.

3. 3. The work vehicle according to claim 1, wherein after automatic travel along the generated automatic travel route is completed, the work vehicle manually travels along the supply side in the supply state.

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