Agricultural vehicle, agriculture vehicle control method and program

Abstract

To provide an agricultural vehicle, an agricultural vehicle control method, and a computer program that allow use of a setting value corresponding to a selected automatic travel.SOLUTION: An agricultural vehicle comprises a control part that selects either a first automatic travel in which a machine body travels along a first set travel line that is set parallel to a reference travel line by automatic steering, or a second automatic travel in which the machine body travels along a plurality of second set travel lines that are set parallel to the reference travel line and are spaced at equal intervals in a direction intersecting the reference travel line, executes the first automatic travel when the first automatic travel is selected and a size of an angle between the first set travel line and an azimuth line along an azimuth of the machine body is within a first angle, and executes the second automatic travel when the second automatic travel is selected and a size of an angle between the second set travel line and an azimuth line along the azimuth of the machine body is within a second angle greater than the first angle.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The present technology relates to an agricultural vehicle that travels in a field, and a control method and program for the agricultural vehicle. [Background technology]

[0002] A work vehicle has been proposed in which the angle between the orientation of the vehicle and a set travel line set in the field is compared with a set value, and if the angle exceeds the set value, the automatic travel control for moving linearly along the set travel line is stopped. If the angle exceeds the set value, the driver of the vehicle manually steers the vehicle so that the angle is within the set value. If the angle falls within the set value, the automatic travel control is resumed (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6645844 Summary of the Invention [Problem to be solved by the invention]

[0004] If the specification is such that one of a plurality of types of automatic driving can be selected, it is desirable to use the setting value corresponding to the selected automatic driving.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide an agricultural vehicle, an agricultural vehicle control method, and a computer program that can use setting values ​​corresponding to selected automatic driving. [Means for solving the problem]

[0006] An agricultural vehicle according to one embodiment of the present disclosure is equipped with a control unit that selects either a first automatic driving mode in which the vehicle drives by automatic steering along a first set driving line that is set parallel to a reference driving line, or a second automatic driving mode in which the vehicle drives along a plurality of second set driving lines that are set parallel to the reference driving line and are equally spaced in a direction that intersects the reference driving line, and that executes the first automatic driving mode when the first automatic driving mode is selected and the angle between the first set driving line and a direction line that is aligned with the vehicle's direction is within a first angle, and that executes the second automatic driving mode when the second automatic driving mode is selected and the angle between the second set driving line and a direction line that is aligned with the vehicle's direction is within a second angle that is larger than the first angle.

[0007] A control method for an agricultural vehicle according to one embodiment of the present disclosure selects either a first automatic driving mode in which the vehicle drives by automatic steering along a first set driving line set parallel to a reference driving line, or a second automatic driving mode in which the vehicle drives along a plurality of second set driving lines set parallel to the reference driving line and spaced equally apart in a direction intersecting the reference driving line, and executes the first automatic driving mode when the first automatic driving mode is selected and the angle between the first set driving line and a direction line along the vehicle's direction is within a first angle, and executes the second automatic driving mode when the second automatic driving mode is selected and the angle between the second set driving line and a direction line along the vehicle's direction is within a second angle larger than the first angle.

[0008] A program according to one embodiment of the present disclosure causes a computer to select either a first automatic driving mode in which the vehicle drives by automatic steering along a first set driving line set parallel to a reference driving line, or a second automatic driving mode in which the vehicle drives along a plurality of second set driving lines set parallel to the reference driving line and spaced equally apart in a direction intersecting the reference driving line, and executes the first automatic driving mode when the first automatic driving mode is selected and the angle between the first set driving line and a direction line aligned with the vehicle's direction is within a first angle, and executes the second automatic driving mode when the second automatic driving mode is selected and the angle between the second set driving line and a direction line aligned with the vehicle's direction is within a second angle greater than the first angle. [Effects of the Invention]

[0009] In an agricultural vehicle, an agricultural vehicle control method, and a computer program according to an embodiment of the present disclosure, the angle between a first set travel line and a bearing line along the bearing of the vehicle is compared with a first angle to determine whether to execute the first automatic travel, and the angle between a second set travel line and a bearing line along the bearing of the vehicle is compared with a second angle to determine whether to execute the second automatic travel. In other words, a setting value corresponding to the selected automatic travel can be used. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an overall side view of a riding rice transplanter. [Figure 2] FIG. 1 is an overall plan view of a riding rice transplanter. [Figure 3] FIG. 2 is a schematic plan view showing a steering system for the front wheels and a transmission system for the front and rear wheels. [Figure 4] FIG. 2 is a diagram showing the state of cooperation between the control device and each part. [Figure 5] FIG. 1 is a plan view showing an outline of the working form of a riding rice transplanter. [Figure 6] This is a plan view showing the state from the start position K1 to the end position K2 in the operating mode of the riding rice transplanter. [Figure 7] This is a plan view showing the state from the start position K1 to the position K3 in the operating mode of the riding rice transplanter. [Figure 8] This is a plan view showing the state from the start position K1 to the position K4 in the operating mode of the riding rice transplanter. [Figure 9] This is a plan view showing the state from the start position K1 to the position K5 in the operating mode of the riding rice transplanter. [Figure 10] This is a plan view showing the state from the start position K1 to the position K6 in the operating mode of the riding rice transplanter. [Figure 11] This is a plan view showing the state from the start position K1 to the position K7 in the operating mode of the riding rice transplanter. [Figure 12] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 13] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 14] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 15] FIG. 10 is a schematic plan view showing the state of the aircraft in a third alternative embodiment of the invention. [Figure 16] 4 is a schematic diagram showing an image displayed on the display panel when the first automatic driving control is being executed. FIG. [Figure 17] 10 is a plan view showing the state from the start position K1 to the position K3 in the working mode of the riding rice transplanter that executes the second automatic travel control. FIG. [Figure 18] 10 is a plan view showing the state from the start position K1 to the position K6 in the working mode of the riding rice transplanter that executes the second automatic travel control. FIG. [Figure 19] 10 is a schematic diagram showing an image displayed on the display panel when the second automatic driving control is being executed. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the drawings showing an agricultural vehicle according to an embodiment. Unless otherwise specified, the front-rear direction and the left-right direction in the embodiment are described as follows: The forward traveling direction of the machine body 70 when traveling for work is "forward," and the backward traveling direction is "rear." With the forward-facing posture in the front-rear direction as the reference, the direction corresponding to the right side is "right," and the direction corresponding to the left side is "left."

[0012] [1] As shown in Figures 1 and 2, a link mechanism 3 and a hydraulic cylinder 4 that drives the link mechanism 3 up and down are provided at the rear of a body 70 equipped with right and left front wheels 1 (corresponding to the running gear) and right and left rear wheels 2 (corresponding to the running gear), and an 8-row seedling planting device 5 (corresponding to the working device) is supported at the rear of the link mechanism 3, thereby forming a riding rice transplanter, which is an example of an agricultural vehicle.

[0013] As shown in Figures 1 and 2, the seedling planting device 5 is configured as an eight-row planting type, and includes four planting transmission cases 6 arranged at a predetermined interval in the left-right direction, a rotating case 7 supported for free rotation on the right and left rear parts of the planting transmission cases 6, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, and a seedling tray 10.

[0014] As shown in Figures 1 and 4, right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and are configured to be freely changeable between an operating position (see Figure 1) in which they are in contact with the rice field surface to form indicators for work steps L01 to L05 (see Figure 5), and a stored position (see Figure 4) above the rice field surface. The right and left markers 19 are configured with an arm portion 19a supported on the seedling planting device 5 so as to be able to swing up and down, and a rotor 19b supported at the tip of the arm portion 19a so as to be able to rotate freely. An electric motor 21 is provided to operate the right and left markers 19 between the operating position and the stored position, and the electric motor 21 is operated by a control device 23.

[0015] The control device 23 includes a control unit, a main memory unit, an auxiliary memory unit, and a communication unit. The control unit includes, for example, a processor or a logic circuit. The processor includes, for example, a CPU, an MPU, or a GPU. The logic circuit includes, for example, an FPGA or an ASIC. The main memory unit includes, for example, a RAM. The auxiliary memory unit includes a rewritable storage device, for example, an EEPROM, a flash ROM, or a hard disk. The communication unit is an interface connected to the measurement device 30, the inertial measurement unit 40, various sensors, etc.

[0016] The auxiliary storage unit stores a control program, a set value T1, a set value T2, a row-to-row distance d, and the like. The set value T1 corresponds to the first angle, and the set value T2 corresponds to the second angle. The driver can input or change the set value T1, the set value T2, and the row-to-row distance d by operating an operation unit (not shown) such as a switch or button provided on the machine body 70. The control unit reads the control program from the auxiliary storage unit to the main storage unit and executes it. The control unit stores data generated by the execution of the control program in the auxiliary storage unit. The control unit transmits and receives data via the communication unit as necessary. The control program may be stored in a storage medium 100, such as an optical disk, flash memory, or hard disk, and may be downloaded from the storage medium 100 to the auxiliary storage unit. It may also be downloaded from an external server to the auxiliary storage unit via a network. Processing by the control program may be performed by a server or terminal accessible to the control device 23 via a network, or by distributed processing between the server and a device other than the server (e.g., a terminal or an external server), or by a quantum computer. Processing by the control program includes processing by the automatic lift control unit 59, reference driving line setting unit 60, setting unit 61, automatic driving control unit 62, turning end detection unit 63, restraint unit 64, reverse stop notification unit 65, prevention notification unit 66, permission notification unit 67, operation notification unit 68, and traveling distance detection unit 69, which will be described later.

[0017] [2] The transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be explained. As shown in Figures 1 and 3, the power of an engine 31 provided at the front of a vehicle body 70 is transmitted via a transmission belt 32 to a hydrostatic continuously variable transmission 33 (corresponding to a transmission for driving) and a transmission case 34, and is then transmitted from an auxiliary transmission (not shown) inside the transmission case 34 to the right and left front wheels 1 via a front wheel differential mechanism (not shown) and a transmission shaft (not shown) inside a front axle case 35.

[0018] As shown in FIGS. 1 and 3, power from the auxiliary transmission is transmitted to the right and left rear wheels 2 via a transmission shaft 36, an input shaft 38 of a rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, the transmission shaft 39 to which the bevel gear 39a is fixed, and right and left side clutches 40.

[0019] 1, 2 and 4, a speed change lever 45 (corresponding to a speed change operation part) is provided on the left side of the control handle 20 (corresponding to a steering operation part), and the speed change lever 45 operates the hydrostatic continuously variable transmission 33. The speed change lever 45 allows the hydrostatic continuously variable transmission 33 to be continuously operated from a neutral position N to a forward side F and a reverse side R.

[0020] 3, a steering member 41 (corresponding to a side clutch operating part) is supported so as to be able to swing about a vertical axis P2 at the bottom of the transmission case 34, and is configured so that the steering member 41 can be operated to swing by the steering handle 20, and a tie rod 42 is connected between the steering member 41 and the right and left front wheels 1. By operating the steering handle 20, the right and left front wheels 1 can be steered from a straight ahead position A1 over a range of right and left steering limits A3.

[0021] As shown in Fig. 3, the right and left side clutches 40 are configured as a friction multi-plate type and are biased to a transmission state by a spring (not shown). Right and left operating shafts 43 that operate the right and left side clutches 40 to a disengaged state against the spring are supported downward on the rear axle case 37, and right and left operating rods 44 (corresponding to side clutch operating parts) are connected across the steering member 41 and the right and left operating shafts 43. The right and left operating rods 44 are provided with long holes 44a for flexibility at the connection portions with the right and left operating shafts 43.

[0022] 3, when the right and left front wheels 1 are steered within the range of a straight ahead position A1 and right and left set angles A2, the right and left side clutches 40 are operated in a transmission state by the accommodation of the long holes 44a of the right and left operating rods 44. As a result, the vehicle 70 moves forward (reverse) with power transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (transmission state of the right and left side clutches 40).

[0023] 3, when the right and left front wheels 1 are steered beyond the right set angle A2 toward the right steering limit A3, the right (left) operating rod 44 is pulled beyond the range of the long hole 44a of the right operating rod 44, and the right side clutch 40 is operated into a disengaged state by the right operating shaft 43. As a result, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (outside of the turn) (transmission state of the left side clutch 40), and the right rear wheel 2 (toward the center of the turn) (disengaged state of the right side clutch 40) is in a state in which it rotates freely, and the machine body 70 turns to the right.

[0024] 3, when the right and left front wheels 1 are steered beyond the left set angle A2 toward the left steering limit A3, the left operating rod 44 is pulled beyond the range of the long hole 44a of the left operating rod 44, and the left side clutch 40 is operated into a disengaged state by the left operating shaft 43. As a result, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (outside of the turn) (transmission state of the right side clutch 40), and the left rear wheel 2 (toward the center of the turn) (disengaged state of the left side clutch 40) is in a state in which it rotates freely, and the machine body 70 turns left.

[0025] As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side beyond the right (left) set angle A2 toward the straight-ahead position A1, the right (left) side clutch 40, which had been operated in the disconnected state, is operated into the transmission state, and the right and left side clutches 40 return to the state in which they were operated into the transmission state.

[0026] [3] The transmission system to the seedling planting device 5 will be explained. As shown in Figures 1 and 4, in the transmission case 34, the power branched off just before the sub-transmission device is transmitted to the seedling planting device 5 via the planting clutch 26 (equivalent to the working clutch) and the PTO shaft 25, and an electric motor 28 is provided to operate the planting clutch 26 in the transmission and disconnection states.

[0027] As shown in Figures 1 and 2, when the planting clutch 26 is operated to the transmission state, the seedling tray 10 is driven to move back and forth sideways, while the rotating case 7 is driven to rotate counterclockwise in Figure 1, and the planting arms 8 alternately pick up seedlings from the bottom of the seedling tray 10 and plant them in the rice field. When the planting clutch 26 is operated to the disengaged state, the reciprocating sideways movement of the seedling tray 10 and the rotation of the rotating case 7 stop.

[0028] [4] The automatic lifting control unit 59 of the seedling planting device 5 will be described. As shown in Figure 4, the rear of the central float 9 is supported around the horizontal axis P1 of the seedling planting device 5 so that it can swing up and down freely, and a potentiometer-type height sensor 22 is provided to detect the height of the central float 9 relative to the seedling planting device 5, and the detection value of the height sensor 22 is input to the control device 23. As the machine body 70 moves forward, the central float 9 makes contact with the paddy field surface and follows it, and the height from the paddy field surface (central float 9) to the seedling planting device 5 can be detected from the detection value of the height sensor 22.

[0029] As shown in Figure 4, the automatic lifting control section 59 is provided as software in the control device 23, and the control valve 24 that supplies and discharges hydraulic oil to the hydraulic cylinder 4 is operated by the automatic lifting control section 59. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 contracts and the seedling planting device 5 rises, and when hydraulic oil is discharged from the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 extends and the seedling planting device 5 descends.

[0030] As shown in Figure 4, the automatic lifting control unit 59 operates the control valve 24, causing the hydraulic cylinder 4 to extend and retract, and the seedling planting device 5 to automatically lift and lower so that the seedling planting device 5 is maintained at a set height from the rice field surface based on the height from the rice field surface (central float 9) to the seedling planting device 5 (so that the detection value of the height sensor 22 (the vertical distance between the height sensor 22 and the central float 9) is maintained at the set value).

[0031] [5] The lift lever 11 will now be described. 1, 2, and 4, a lift lever 11 is provided on the right side of the driver's seat 13, and the lift lever 11 is configured to be freely operable to automatic position, raised position, neutral position, lowered position, and planting position, and the operating position of the lift lever 11 is input to the control device 23. A potentiometer 29 is provided to detect the vertical angle of the link mechanism 3 relative to the machine body 70, and the detection value of the potentiometer 29 is input to the control device 23.

[0032] As shown in Figure 4, when the lifting lever 11 is operated to the raised position, neutral position, lowered position, or planting position (when the lifting lever 11 is not operated to the automatic position), the functions of the first and second raised positions U1, U2 and the first and second lowered positions D1, D2 of the operating lever 12 described in [6] below do not operate, and only the functions of the right and left marker positions R, L of the operating lever 12 operate.

[0033] As shown in Figure 4, when the lift lever 11 is operated to the raised position, the automatic lift control unit 59 is stopped, the planting clutch 26 is disengaged by the electric motor 28, the right and left markers 19 are operated to the stored position by the electric motor 21, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position and the hydraulic cylinder 4 is automatically stopped.

[0034] As shown in Figure 4, when the lifting lever 11 is operated to the lowered position, the automatic lifting control unit 59 is stopped, the planting clutch 26 is operated to the disconnected state by the electric motor 28, the right and left markers 19 are operated to the storage position by the electric motor 21, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

[0035] As shown in Figure 4, when the lifting lever 11 is operated to the lowered position and the central float 9 touches the rice field surface, the central float 9 rises slightly. When the height sensor 22 detects that the central float 9 has touched the rice field surface (the central float 9 has risen slightly), the automatic lifting control unit 59 becomes active, and the seedling planting device 5 touches the rice field surface and stops.

[0036] As shown in Figure 4, when the lift lever 11 is operated to the neutral position, the automatic lift control unit 59 is stopped, the planting clutch 26 is operated to the disengaged state by the electric motor 28, the right and left markers 19 are operated to the stored position by the electric motor 21, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is stopped. In this way, by operating the lift lever 11 to the raised position, neutral position, and lowered position, the seedling planting device 5 can be raised and lowered to any height and stopped.

[0037] As shown in Figure 4, when the lift lever 11 is operated to the planting position, the electric motor 21 operates the right and left markers 19 to the stored position, the automatic lift control unit 59 is activated, and the electric motor 28 operates the planting clutch 26 to the transmission state. As a result, the seedling tray 10 is driven to move back and forth horizontally to the left and right, which rotates the rotating case 7, and the planting arms 8 alternately pick up seedlings from the bottom of the seedling tray 10 and plant them in the rice paddy field.

[0038] [6] The operating lever 12 will now be described. 1, 2, and 4, an operating lever 12 is provided on the right side below the steering handle 20, and extends outward to the right side. The operating lever 12 is configured to be operable in a cross direction from a neutral position N to a first raised position U1, a second raised position U2 on the upper side, a first lowered position D1, a second lowered position D2 on the lower side, a rear right marker position R, and a front left marker position L. The operating lever 12 is biased to the neutral position N, and the operating position of the operating lever 12 is input to a control device 23.

[0039] As shown in FIG. 4, when the lift lever 11 is set to the automatic position, the operation lever 12 functions as follows. As shown in Figure 4, when the operating lever 12 is operated to the second raised position U2, the planting clutch 26 is disengaged by the electric motor 28, the automatic lift control unit 59 is stopped, the right and left markers 19 are operated by the electric motor 21 to the stored position, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is automatically stopped.

[0040] As shown in Figure 4, when the operating lever 12 is operated to the second lowered position D2, the planting clutch 26 is disengaged by the electric motor 28, the automatic lifting control unit 59 is stopped, and with the right and left markers 19 operated by the electric motor 21 to the stored position, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center float 9 touches the paddy field surface, the automatic lifting control unit 59 is activated, and the seedling planting device 5 touches the paddy field surface and comes to a stop (see the state when the lifting lever 11 is operated to the lowered position described in the previous paragraph [5]). After operating the operating lever 12 to the second lowered position D2 and then to the neutral position N, when the operating lever 12 is again operated to the second lowered position D2, the planting clutch 26 is operated to a transmission state by the electric motor 28 while the automatic lifting control unit 59 is in an operating state.

[0041] With the automatic lift control unit 59 stopped, the planting clutch 26 disengaged by the electric motor 28, and the right and left markers 19 in the stored position by the electric motor 21, when the operating lever 12 is operated to the first raised position U1 as shown in Figure 4, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised only while the operating lever 12 is operated to the first raised position U1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

[0042] With the automatic lift control unit 59 stopped, the planting clutch 26 disengaged by the electric motor 28, and the right and left markers 19 in the stored position by the electric motor 21, when the operating lever 12 is operated to the first lowered position D1 as shown in Figure 4, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered only while the operating lever 12 is operated to the first lowered position D1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the descent of the seedling planting device 5 is stopped.

[0043] As described above, the seedling planting device 5 can be raised and lowered only while the operating lever 12 is operated to the first raised and lowered positions U1 and D1, and the seedling planting device 5 can be raised and lowered to any height and stopped.

[0044] As shown in Figure 4, when the operating lever 12 is operated to the right marker position R, the right marker 19 is operated to the operating position by the electric motor 21. When the operating lever 12 is operated to the left marker position L, the left marker 19 is operated to the operating position by the electric motor 21.

[0045] As described above, the lifting lever 11 described in the previous paragraph [5] and the operating lever 12 described in this paragraph [6] are used to lift and lower the seedling planting device 5, operate the planting clutch 26, and operate the right and left markers 19.The lifting and lowering of the seedling planting device 5 (activating and stopping the automatic lifting control unit 59), operating the planting clutch 26, and operating the right and left markers 19 in [9] to

[13] described below are performed by the lifting lever 11 or the operating lever 12.

[0046] [7] The configuration for detecting the position and direction of the aircraft 70 will be described. As shown in Figures 1 and 2, right and left support frames 16 are provided on the right and left front portions of the machine body 70, and spare seedling trays 15 are supported on the support frames 16. A support frame 17 is connected across the top of the right and left support frames 16.

[0047] 1 and 2, the measurement device 30 is attached to the support frame 17 at a portion located at the lateral center CL of the airframe 70 in a plan view. The measurement device 30 is equipped with a receiving device (not shown) that acquires position information using a satellite positioning system, and an inertial measurement unit (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 70.

[0048] As shown in Figures 1 and 2, an inertial measurement unit 48 that measures inertial information is attached to the rear axle case 37 in a portion located at the center CL of the body 70 in a plan view, and the inertial measurement of the inertial measurement unit 48 and the measurement unit 30 is performed by an IMU (Inertial Measurement Unit).

[0049] A representative example of the aforementioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiving device of the measuring device 30 using multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in the target (aircraft 70) whose position is to be measured.

[0050] The inertial measurement unit 48 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle (turning angle of the airframe 70) of the airframe 70, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axis directions. The inertial information measured by the inertial measurement unit 48 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[0051] [8] The configuration related to automatic driving will be described. 1, 2, and 4, the operating position of the gear shift lever 45 is input to the control device 23. A center mascot 14 is provided at the front of the vehicle body 70 at the center CL of the vehicle body 70 in a plan view. A steering motor 51 that steers the steering member 41 is provided.

[0052] As shown in Figures 3 and 4, a ring member 49 having many small irregularities formed on its outer periphery is fitted onto the clutch cases of the right and left side clutches 40, and right and left rotation speed sensors 50 of the proximity sensor type are fixed to the top of the rear axle case 37 so as to face the ring member 49, and the detection values ​​of the right and left rotation speed sensors 50 are input to the control device 23. Pulses are generated from the right and left rotation speed sensors 50 in accordance with the unevenness of the ring member 49. The rotation speeds of the right and left rear wheels 2 can be detected by the pulses of the right and left rotation speed sensors 50.

[0053] As shown in Figure 4, the control device 23 is provided with a reference driving line setting unit 60, a setting unit 61, an automatic driving control unit 62, a turning end detection unit 63, a restraining unit 64, a reverse stop notification unit 65, an obstruction notification unit 66, an allowance notification unit 67, an operation notification unit 68, and a driving distance detection unit 69 as software.

[0054] 2 and 4, an operation button 18 (corresponding to an operation unit) for manually operating the automatic driving control unit 62 to an operating state or a stopped state is provided on the grip portion of the gear shift lever 45, and an operation signal of the operation button 18 is input to the control device 23. The automatic driving control unit 62 executes a first automatic driving control for realizing the first automatic driving and a second automatic driving control for realizing the second automatic driving.

[0055] The first automatic driving is when the vehicle 70 travels by automatic steering along a first set driving line that is set parallel to the reference driving line E. The first set driving line includes the reference driving line E. The second automatic driving is when the vehicle 70 travels by automatic steering along a plurality of second set driving lines that are set parallel to the reference driving line E and are spaced equally apart in a direction that intersects with the reference driving line E. The second set driving lines include the reference driving line E. The driver can select either the first automatic driving control or the second automatic driving control by operating the operation button 18. The following describes what happens when the driver selects the first automatic driving control.

[0056] As shown in Figures 2 and 4, a display panel 27 (display unit) is provided at the front of the steering handle 20, a start point setting switch 46 is provided on the right side of the display panel 27, and an end point setting switch 47 is provided on the left side of the display panel 27, and operation signals from the start point and end point setting switches 46, 47 are input to the control device 23.

[0057] [9] The operating mode of the riding rice transplanter will be explained. For example, in a paddy field that is square in plan view as shown in Figure 5, a riding rice transplanter may employ the following working style.

[0058] First, the machine body 70 is positioned at the position shown in Figure 5 (starting position K1), the seedling planting device 5 is lowered to the rice field surface, and the left marker 19 is operated to the operating position (the right marker 19 is operated to the stored position). In this state, the planting clutch 26 is operated to the disengaged state, and the machine travels along the ridge B (the automatic lift control unit 59 is in the operating state), and the left marker 19 forms an index for the next work stroke L01 on the rice field surface (standard work stroke LA1).

[0059] As mentioned above, in the standard work process LA1, the planting clutch 26 is not operated to the transmission state, but the seedling planting device 5 is lowered to the rice field surface and driven so that the float 9 of the seedling planting device 5 can erase the marks left by the front wheels 1 and rear wheels 2.

[0060] As shown in Figure 5, when the machine body 70 reaches the edge of the paddy field from the standard work step LA1, the seedling planting device 5 is raised from the paddy field surface (the automatic lifting control unit 59 is stopped), a rotation LL1 (to the left) is performed, the seedling planting device 5 is lowered to the paddy field surface (the automatic lifting control unit 59 is operating), the planting clutch 26 is operated to the transmission state, and work step L01 is entered.

[0061] In work step L01, the left marker 19 is operated to a storage position and the right marker 19 is operated to an operating position, and the machine body 70 is made to travel along the marker formed on the rice field surface in the standard work step LA1, thereby planting seedlings while forming an marker for the next work step L02 on the rice field surface with the right marker 19.

[0062] As shown in Figure 5, when the machine body 70 reaches the edge of the paddy field from work step L01, the planting clutch 26 is operated to the disconnected state, the seedling planting device 5 is raised from the paddy field surface (automatic lifting control unit 59 is stopped), a rotation LL2 (to the right) is performed, the seedling planting device 5 is lowered to the paddy field surface (automatic lifting control unit 59 is operating), the planting clutch 26 is operated to the transmission state, and work step L02 is entered.

[0063] In work step L02, the right marker 19 is operated to a storage position and the left marker 19 is operated to an operating position, and the machine body 70 is made to travel along the marker formed on the rice field surface in work step L01, thereby planting seedlings while forming an marker for the next work step L03 on the rice field surface with the left marker 19.

[0064] As shown in Figure 5, by performing multiple work strokes L01, L02, L03, L04, and L05 and swings LL1 (leftward), LL2 (rightward), LL3 (leftward), LL4 (rightward), and LL5 (leftward), an area where seedlings have not been planted is formed along ridge B. In this state, when the machine body 70 reaches the edge of the ridge from work stroke L05, the planting clutch 26 is disengaged, the seedling planting device 5 is raised from the rice field surface (automatic lift control unit 59 is stopped), and a swing LL6 (rightward) is performed to position the machine body 70 at position K10.

[0065] As shown in Figure 5, at position K10, the seedling planting device 5 is lowered to the rice field surface (automatic lift control unit 59 is in operation), the planting clutch 26 is operated to the transmission state, and with the right and left markers 19 operated to the storage position, it travels along the ridge B (circling work process). As a result, seedlings are planted in the areas where seedlings have not been planted in work processes L01 to L05.

[0066]

[10] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 1). As shown in Figures 6 and 12, when the driver operates the start point setting switch 46 while the vehicle 70 is positioned at the start point position K1 (step S1), the position of the vehicle 70 at the time the start point setting switch 46 is operated is set as the start point position K1 based on the detection value of the measuring device 30 (step S2).

[0067] Next, as shown in Figures 6 and 12, the operator lowers the seedling planting device 5 to the rice field surface (automatic lift control unit 59 is in operation), operates the left marker 19 to the operating position (right marker 19 to the stored position), and maintains the planting clutch 26 in the disengaged state. The operator operates the control handle 20 and the speed change lever 45 to travel the machine body 70 along the ridge B, and uses the left marker 19 to form an indicator for the next work stroke L01 on the rice field surface (standard work stroke LA1).

[0068] 6 and 12, when the machine 70 reaches the edge of the field from the standard work path LA1 and the driver operates the end point setting switch 47 (step S3), the position of the machine 70 at the time the end point setting switch 47 is operated is set as the end point position K2 (step S4) based on the detection value of the measuring device 30. Once the end point position K2 is set, the standard traveling line setting unit 60 sets a straight line (orientation) connecting the start point position K1 and the end point position K2 as the standard traveling line E (step S5).

[0069] Next, as shown in Figures 7 and 12, the operator raises the seedling planting device 5 (automatic lifting control unit 59 stopped, planting clutch 26 disengaged, right and left markers 19 stored position) and operates the operating handle 20 and shift lever 45 to perform rotation LL1. During the standard work process LA1, the left marker 19 forms an indicator for the next work process L01 on the rice field surface, so the driver seated in the driver's seat 13, while visually checking the center mascot 14 and the aforementioned indicator during the turn LL1, operates the control handle 20 with the aforementioned indicator on the rice field surface as a target, and positions the machine body 70 at position K3.

[0070] In this case, since the seedling planting device 5 is raised during rotation LL1, the end of rotation is not detected by the rotation end detection unit 63 (step S6), and therefore the restraint unit 64 prevents the automatic driving control unit 62 from being operated.

[0071] Therefore, even if the driver operates the operation button 18 in the above-mentioned state (step S7), the restraining unit 64 prevents the automatic driving control unit 62 from being operated to the operating state (step S8), and the prevention notification unit 66 is activated, and in the state where the automatic driving control unit 62 is prevented from being operated to the operating state, The fact that the battery is in this state is reported (by display on the display panel 27 and by voice) (step S9).

[0072]

[11] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 2). 7 and 12, when the swing LL1 is completed and the machine body 70 is positioned at position K3, the operator lowers the seedling planting device 5 to the rice field surface (the automatic lift control unit 59 is in operation) (step S10), operates the planting clutch 26 to the transmission state, and operates the right marker 19 to the operating position (the left marker 19 is in the stored position). As a result, the operator operates the control handle 20 and the speed change lever 45 to enter the next work process L01.

[0073] As described above, when the height sensor 22 detects that the central float 9 has touched the paddy field surface (the central float 9 has risen slightly) due to the descent of the seedling planting device 5 (see the previous section [5]) (step S10), the end of turning is detected by the turning end detection unit 63 (step S11). In this case, the restraint unit 64 maintains the state in which the automatic travel control unit 62 is prevented from being operated.

[0074] As shown in FIGS. 7 and 13, when the work process L01 begins, the travel distance detection unit 69 starts detecting the travel distance D of the machine body 70 based on the detection value of the rotation speed sensor 50 (step S12).

[0075] As shown in Figures 8 and 13, even if the driver operates the operation button 18 (step S13) before the traveling distance D of the vehicle 70 reaches the set distance D1, the restraining unit 64 prevents the automatic driving control unit 62 from being operated to an operating state (step S14), and the prevention notification unit 66 is activated to notify that the automatic driving control unit 62 has been prevented from being operated to an operating state (by display on the display panel 27 and by audio notification) (step S15).

[0076] As shown in Figures 8 and 13, when the travel distance detection unit 69 detects that the travel distance D of the aircraft 70 has reached the set distance D1 (position K4) (step S16), the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state (step S17), and the permission notification unit 67 is activated to notify that the automatic driving control unit 62 is allowed to be operated into an operating state (by display on the display panel 27 and by audio notification) (step S18).

[0077]

[12] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 3). As shown in Figures 8 and 13, when the driver operates the operation button 18 (step S19) while the restraint unit 64 allows the automatic driving control unit 62 to be operated (position K4), the automatic driving control unit 62 enters an operating state (step S20), and the operation notification unit 68 is activated to notify the driver that the automatic driving control unit 62 is in an operating state (by display on the display panel 27 and by audio notification) (step S21).

[0078] As shown in Figures 8 and 13, at the same time that the automatic driving control unit 62 enters an operating state, the setting unit 61 sets a first set driving line LB1 parallel to the reference driving line E from the position (position K4) of the vehicle 70 at the time the automatic driving control unit 62 enters an operating state based on the detection value of the measuring device 30 (step S22). In this case, if the position of the machine 70 (position K4) at the time the automatic driving control unit 62 enters an operating state is outside the indicator of the work process L01 formed on the rice field surface by the left marker 19 in the standard work process LA1, the aforementioned indicator will not coincide with the first set driving line LB1.

[0079] As a result, as shown in Figures 9 and 13, when the automatic driving control unit 62 is in an operating state, the steering motor 51 is operated by the automatic driving control unit 62 (the front wheel 1 is automatically steered) so that the vehicle 70 automatically drives along the first set driving line LB1 based on the detection values ​​of the measuring device 30 and the inertial measurement device 48. In this case, the driver can change the traveling speed of the machine body 70 by operating the speed change lever 45 to operate the hydrostatic continuously variable transmission 33 .

[0080]

[13] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 4). As shown in FIGS. 9 and 13, when the work process L01 is completed and the machine body 70 reaches the ridge B (position K5), the driver operates the operation button 18 to stop the automatic traveling control unit 62 (step S23).

[0081] Next, similar to the rotation LL1 described in the previous section

[10] , as shown in Figures 10 and 14, the driver raises the seedling planting device 5 (automatic lifting control unit 59 is stopped, planting clutch 26 is disengaged, and right and left markers 19 are in the stored position), and operates the operating handle 20 and the speed change lever 45 to perform rotation LL2. In this case, as with turn LL1, the driver seated in the driver's seat 13 visually checks the center mascot 14 and the indicator for the next work step L02 formed on the rice field surface by the right marker 19 during work step L01, and operates the control handle 20 to aim at the indicator on the rice field surface, positioning the machine body 70 at position K6 and entering work step L02.

[0082] As shown in Figure 11, at the turn LL2 and from position K6 to position K7, the same operations as steps S6 to S22 in Figures 12 and 13 are performed to set the first set driving line LB2, and when the automatic driving control unit 62 is in an operating state (work process L02), the steering motor 51 is operated by the automatic driving control unit 62 based on the detection values ​​of the measuring device 30 and the inertial measurement device 48 so that the vehicle 70 automatically drives along the first set driving line LB2 (the front wheel 1 is automatically steered). Thereafter, in the work steps L02 to L05 and the turns LL3 to LL5 shown in FIG. 5, the same operations as steps S6 to S22 in FIGS. 12 and 13 are performed.

[0083] When the driver operates the gearshift lever 45 to the reverse side R while the automatic driving control unit 62 is in operation during the above-described work steps L01 to L05, the automatic driving control unit 62 is operated to a stopped state by the restraint unit 64, and the current first set driving line LB1 (LB2) is erased. At the same time, the reverse stop notification unit 65 is activated, and a notification is issued (by display on the display panel 27 and by voice) that the automatic driving control unit 62 has been operated to a stopped state. In this case, when the automatic driving control unit 62 is operated to a stopped state based on the shift lever 45 being operated to the reverse side R, even if the driver operates the operation button 18, the restraint unit 64 prevents the automatic driving control unit 62 from being operated to an operating state.

[0084] As described above, when the automatic driving control unit 62 is operated to a stopped state based on the shift lever 45 being operated to the reverse side R, if the driver operates the shift lever 45 to the neutral position N or the forward side F, as in steps S12 to S19 of Figure 13, after the driver operates the shift lever 45 to the neutral position N or the forward side F and the vehicle 70 has traveled a set distance D1, the restraint unit 64 will allow the automatic driving control unit 62 to be operated to an operating state.

[0085] After this, when the driver operates the operation button 18 while the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, the automatic driving control unit 62 enters an operating state, and a new first set driving line LB1 (LB2) is set parallel to the reference driving line E from the position of the vehicle 70 at the time the automatic driving control unit 62 enters an operating state.

[0086] 15, when the driver operates the operation button 18 while the restraint unit 64 allows the automatic driving control unit 62 to be put into an operating state, the measurement device 30 and the inertial measurement unit 48 detect the orientation E1 of the aircraft 70 at the time the driver operates the operation button 18. Hereinafter, the line along the orientation E1 will be referred to as the orientation line E1.

[0087] At the same time as detecting the orientation E1 of the aircraft 70 as described above, the first set driving line LB1, LB2 (reference driving line E) is compared with the orientation line E1 of the aircraft 70, and if the angle θ1 between the first set driving line LB1, LB2 (reference driving line E) and the orientation line E1 of the aircraft 70 does not exceed the set value T1, the automatic driving control unit 62 is maintained in an operating state (operation of the automatic driving control unit 62 to an operating state is allowed).

[0088] At the same time as detecting the orientation E1 of the aircraft 70 as described above, the first set driving line LB1, LB2 (reference driving line E) is compared with the orientation line E1 of the aircraft 70, and if the angle θ1 between the first set driving line LB1, LB2 (reference driving line E) and the orientation line E1 of the aircraft 70 exceeds the set value T1, the automatic driving control unit 62 is operated to a stopped state (the automatic driving control unit 62 is prevented from being operated to an operating state).

[0089] In this case, the driver is notified that the angle θ exceeds the set value T1 (by display on the display panel 27 and by voice notification), so he operates the steering wheel 20 to align the heading line E1 of the aircraft 70 with the first set driving lines LB1, LB2 (reference driving line E) (so that the angle θ1 becomes smaller than the set value T1).

[0090] After this, when the angle θ1 becomes smaller than the set value T1, the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, and the permission notification unit 67 is activated to notify that the automatic driving control unit 62 is allowed to be operated into an operating state (by display on the display panel 27 and by audio notification). As a result, when the driver operates the operation button 18, the automatic driving control unit 62 is operated to an active state.

[0091] The control device 23 transmits a signal to the display panel 27 to display a range of angles from the azimuth line E1, the range having the same size as the set value T1, at least when the aircraft 70 is turning. Fig. 16 is a schematic diagram showing an image displayed on the display panel 27 when the first automatic driving control is being executed. In Fig. 16, the upper diagram shows an example of an image displayed on the display panel 27 when the angle θ1 is greater than the set value T1, and shows an image when the aircraft 70 moves along the first set driving line LB1.

[0092] 16, the display panel 27 displays an image showing the machine body 70 and the seedling planting device 5, an image showing the first set travel line LB1, an image showing the orientation line E1, and an image showing two set angle lines F1 whose angle with the orientation line E1 is the set value T1. The images of the orientation line E1 and the set angle line F1 are images that display a range of angles from the orientation line E1, the size of which is the same as the set value T1.

[0093] The upper diagram in FIG. 16 shows a state in which the angle θ1 is greater than the set value T1, and the first set driving line LB1 is located to the right of the vehicle 70 and to the right of the right set angle line F1. In this case, the control device 23 sends a signal to the display panel 27 to prompt the driver to perform an operation to bring the angle θ between the first set driving line LB1 and the heading line E1 within the set value T1. The display panel 27 displays an image 80 prompting the driver to steer right, such as an image of a triangle with one tip positioned to the right. The image 80 notifies the driver that steering to the right is required to activate the automatic driving control unit 62. The driver can operate the steering wheel 20 to steer the vehicle 70 to the right so that the first set driving line LB1 is located between the heading line E1 and the set angle line F1.

[0094] The lower diagram in FIG. 16 shows a state in which angle θ1≦set value T1, and the first set driving line LB1 is located between the right set angle line F1 and the azimuth line E1. When angle θ1≦set value T1, the control device 23 sends a signal to the display panel 27 indicating that angle θ1≦set value T1. An image 81 indicating that angle θ1≦set value T1 is displayed on the display panel 27. The image 81 notifies that operation to activate the automatic driving control unit 62 is permitted. The driver can activate the automatic driving control unit 62 by operating the operation button 18.

[0095] The following describes the case where the driver selects the second automatic driving control. As in the case of the first automatic driving control, the driver sets a start position K1 and an end position K2. In the control device 23, a straight line (direction) connecting the start position K1 and the end position K2 is set as a reference driving line E (see FIG. 6).

[0096] FIG. 17 is a plan view showing the state from start position K1 to position K3 in the working mode of the riding rice transplanter executing the second automatic travel control. As shown in FIG. 17, the driver performs a turn LL1. At this time, the automatic travel control unit 62 sets the second set travel line LC1 so that the row-to-row distance is d. That is, in the direction intersecting the reference travel line E, the second set travel line LC1 is set so that the distance between the reference travel line E and the second set travel line LC1 is d. The automatic travel control unit 62 operates the steering motor 51 so as to move on the second set travel line LC1.

[0097] FIG. 18 is a plan view showing the state from the start position K1 to position K6 in the working mode of the riding rice transplanter executing the second automatic travel control. As shown in FIG. 18, the driver performs a turn LL2. At this time, the automatic travel control unit 62 sets the second set travel line LC2 so that the row-to-row distance is d. That is, the second set travel line LC2 is set so that the distance between the second set travel line LC1 and the second set travel line LC2 is d in the direction intersecting the reference travel line E. The automatic travel control unit 62 operates the steering motor 51 so that the machine 70 moves on the second set travel line LC2. That is, in the second automatic travel control, the travel line on which the machine 70 travels is set so that the row-to-row distance is constant.

[0098] In the second automatic driving control, simultaneously with detecting the orientation E1 of the vehicle 70, the second set driving lines LC1, LC2 (reference driving line E) are compared with the orientation line E1 of the vehicle 70, and if the angle θ2 formed between the second set driving lines LC1, LC2 (reference driving line E) and the orientation line E1 of the vehicle 70 does not exceed the set value T2, the automatic driving control unit 62 is maintained in an operating state (operation of the automatic driving control unit 62 to an operating state is permitted). The magnitude of the set value T2 is greater than the set value T1.

[0099] At the same time as detecting the orientation E1 of the aircraft 70 as described above, the second set driving line LC1, LC2 (reference driving line E) is compared with the orientation line E1 of the aircraft 70, and if the angle θ2 between the second set driving line LC1, LC2 (reference driving line E) and the orientation line E1 of the aircraft 70 exceeds the set value T1, the automatic driving control unit 62 is operated to a stopped state (the automatic driving control unit 62 is prevented from being operated to an operating state).

[0100] The control device 23 transmits to the display panel 27 a signal displaying a range of angles from the azimuth line E1, the range having the same size as the set value T2, at least when the aircraft 70 is turning. Fig. 19 is a schematic diagram showing an image displayed on the display panel 27 when the second automatic driving control is being executed. In Fig. 19, the upper diagram shows an example of an image displayed on the display panel 27 when the angle θ2 is greater than the set value T2, and shows an image when the aircraft 70 moves along the second set driving line LC1.

[0101] 19, the display panel 27 displays an image showing the machine body 70 and the seedling planting device 5, an image showing the second set travel line LC1, an image showing the orientation line E1, and an image showing two set angle lines F2 whose angle with the orientation line E1 is the set value T2. The images of the orientation line E1 and the set angle line F2 are images that display a range of angles from the orientation line E1, the size of which is the same as the set value T2.

[0102] The upper diagram in FIG. 19 shows a state in which the angle θ2 is greater than the set value T2, and the second set driving line LC1 is located to the right of the vehicle 70 and to the right of the right set angle line F2. In this case, the control device 23 sends a signal to the display panel 27 to prompt the driver to perform an operation to bring the angle θ between the second set driving line LC1 and the azimuth line E1 within the set value T2. An image 80 prompting the driver to steer to the right is displayed on the display panel 27. The image 80 notifies the driver that steering to the right is required to activate the automatic driving control unit 62. The driver can operate the steering wheel 20 to steer the vehicle 70 to the right so that the second set driving line LC1 is located between the azimuth line E1 and the set angle line F2.

[0103] The lower diagram in FIG. 19 shows a state in which angle θ2≦set value T2 and the second set driving line LC1 is located between the right set angle line F2 and the azimuth line E1. When angle θ2≦set value T2, the control device 23 transmits a signal to the display panel 27 indicating that angle θ2≦set value T2. An image 82 indicating that angle θ2≦set value T2 is displayed on the display panel 27. The image 82 notifies that operation to activate the automatic driving control unit 62 is permitted. The driver can activate the automatic driving control unit 62 by operating the operation button 18.

[0104] Image 82 is displayed differently from image 81. Note that images 81 and 82 may be displayed in different colors, or one of them may be displayed in a flashing manner or in a thick line.

[0105] In the agricultural vehicle according to the embodiment, the angle θ1 between the first set travel line LB1 and the azimuth line E1 along the azimuth of the machine body 70 is compared with a set value T1 (first angle) to determine whether to execute the first automatic travel, and the angle θ2 between the second set travel line LC1 and the azimuth line E1 along the azimuth of the machine body is compared with a set value T2 (second angle) to determine whether to execute the second automatic travel. In other words, the set value corresponding to the selected automatic travel can be used.

[0106] Even if a driver with high proficiency in operating an agricultural vehicle selects the first automatic driving mode, it is not difficult for the driver's skill to maintain a constant row-to-row distance d. On the other hand, if a driver with low proficiency in operating an agricultural vehicle selects the first automatic driving mode, it is difficult for the driver's skill to maintain a constant row-to-row distance d. For this reason, drivers with low proficiency in operating an agricultural vehicle often select the second automatic driving mode.

[0107] In this embodiment, the set value T2 in the second automatic driving control is greater than the set value T1 in the first automatic driving control. This makes it less likely for the automatic driving control to be cancelled than in the case of the first automatic driving control. Even if the second automatic driving control is cancelled, the driver can easily return the second automatic driving control to the selected automatic driving control quickly. That is, by making the set value T2 greater than the set value T1, even a driver with low proficiency in operating an agricultural vehicle can easily maintain a constant row-to-row distance d by selecting the second automatic driving mode. This means that agricultural vehicles can perform agricultural work with high precision regardless of the driver's proficiency. The riding rice transplanter in this embodiment is an example of an agricultural vehicle, and the present invention may also be applied to other agricultural vehicles, such as tractors and combine harvesters.

[0108] It should be noted that a computer program can be deployed to be executed on a single computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communications network.

[0109] The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The features described in each embodiment can be mutually combined. Furthermore, independent claims and dependent claims described in the claims can be mutually combined in any and all combinations, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limiting. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used. [Explanation of symbols]

[0110] 5. Work equipment 18 Operation buttons 20 Control Handle 23 Control device 27 Display panel (display section) 70 aircraft

Claims

1. selecting either a first automatic traveling in which the vehicle travels by automatic steering along a first set traveling line that is set parallel to a reference traveling line, or a second automatic traveling in which the vehicle travels along a plurality of second set traveling lines that are set parallel to the reference traveling line and are spaced equally apart in a direction that intersects the reference traveling line; When the first automatic traveling is selected and the angle formed by the first set traveling line and a direction line along the direction of the aircraft is within a first angle, the first automatic traveling is executed; When the second automatic traveling is selected and the angle formed by the second set traveling line and a direction line along the direction of the aircraft is within a second angle greater than the first angle, the second automatic traveling is executed. Control unit that executes processing An agricultural vehicle equipped with:

2. A display unit is provided, The control unit When the aircraft turns during execution of the second automatic traveling and the magnitude of the angle formed by the second set traveling line and the orientation line falls within the second angle, a signal indicating that the angle has fallen within the second angle is transmitted to the display unit. Execute the process The agricultural vehicle according to claim 1 .

3. The control unit When the vehicle turns during the execution of the second automatic traveling, a signal is sent to the display unit to display a range of angles from the heading line, the range having a size equal to the second angle. Execute the process 3. The agricultural vehicle according to claim 2.

4. The control unit When the aircraft turns during execution of the first automatic traveling and the magnitude of the angle formed by the first set traveling line and the azimuth line falls within the first angle, a signal indicating that the angle has fallen within the first angle is transmitted to the display unit. Execute the process, The display on the display unit indicating that the angle is within the first angle is different from the display on the display unit indicating that the angle is within the second angle.

3. The agricultural vehicle according to claim 2.

5. The control unit When the second automatic traveling is selected and the angle between the second set traveling line and the orientation line is not within the second angle, the second automatic traveling is not performed; A signal is sent to the display unit to prompt an operation to make the angle between the second set driving line and the heading line within the second angle. Execute the process 5. An agricultural vehicle according to any one of claims 2 to 4.

6. selecting either a first automatic traveling in which the vehicle travels by automatic steering along a first set traveling line that is set parallel to a reference traveling line, or a second automatic traveling in which the vehicle travels along a plurality of second set traveling lines that are set parallel to the reference traveling line and are spaced equally apart in a direction that intersects the reference traveling line; When the first automatic traveling is selected and the angle formed by the first set traveling line and a direction line along the direction of the aircraft is within a first angle, the first automatic traveling is executed; When the second automatic traveling is selected and the angle formed by the second set traveling line and a direction line along the direction of the aircraft is within a second angle greater than the first angle, the second automatic traveling is executed. A method for controlling an agricultural vehicle.

7. selecting either a first automatic traveling in which the vehicle travels by automatic steering along a first set traveling line that is set parallel to a reference traveling line, or a second automatic traveling in which the vehicle travels along a plurality of second set traveling lines that are set parallel to the reference traveling line and are spaced equally apart in a direction that intersects the reference traveling line; When the first automatic traveling is selected and the angle formed by the first set traveling line and a direction line along the direction of the aircraft is within a first angle, the first automatic traveling is executed; When the second automatic traveling is selected and the angle formed by the second set traveling line and a direction line along the direction of the aircraft is within a second angle greater than the first angle, the second automatic traveling is executed. A program that causes a computer to perform a process.

Images