Seedling transplanter

Abstract

To solve the problem that a conventional seedling transplanter such as a rice transplanter is not always easy to use when using a convenient function. More specifically, the usability of the robot rice transplanter involving manual operation along a ridge is not necessarily good.SOLUTION: In the rice transplanter 1, normal teaching for sequentially tracing non-seedling supply sides 13 excluding a single or a plurality of continuous seedling supply sides 12 of a substantially polygonal shape is performed by manual travel before creating an automatic linear reciprocating travel route for seedling planting accompanied by seedling supply in a field 10 of a substantially polygonal shape. The automatic linear reciprocating travel path is a path that reciprocates between the virtual seedling supply side 14 and the non-seedling supply side 13 of the seedling supply side 12, and a stop point before turning on the side of the virtual seedling supply side in the automatic linear reciprocating travel path is set at a predetermined distance D from the virtual seedling supply side 14, and the predetermined distance D is twice as large as a work machine width W for seedling planting.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] A known work vehicle is equipped with a traveling body, a work device coupled to the traveling body and capable of performing specified tasks on a field, a leveling device that levels the field, a position information acquisition device that acquires position information of the traveling body, and a control unit that automatically drives the traveling body based on the position information acquired by the position information acquisition device and specified driving route information, where the specified driving route information includes position information of a target line for the next process or later that the control unit determines using the lateral leveling width of the leveling device in relation to position information of a reference line acquired as a basis for straight-ahead driving by manual driving within the field (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2019-154394 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of incorporating convenient functions into seedling transplanters one after another will continue to accelerate, taking into consideration the various needs of users.

[0005] However, the present inventors have noticed that conventional seedling transplanters such as rice transplanters are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have noticed that the usability of robotic rice transplanters, which require manual operation at the edge of the paddy field, is not necessarily good.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems of the prior art, the present invention aims to provide a seedling transplanter that can improve ease of use.

[0008] The first invention is a seedling transplanter in which, before creating an automatic straight-line reciprocating travel path for seedling planting with seedling supply in a substantially polygonal field, normal teaching is performed by manual travel to sequentially follow non-seedling supply sides excluding one or more consecutive seedling supply sides of the substantially polygonal field, The automatic linear reciprocating travel route is a route that travels back and forth between a virtual seedling supply side of the seedling supply side and the non-seedling supply side, A stop point before turning on the virtual seedling supply side in the automatic straight reciprocating travel path is set at a predetermined distance from the virtual seedling supply side, The seedling transplanter is characterized in that the predetermined distance is twice the width of the work machine for planting seedlings.

[0009] The second invention is the seedling transplanter of the first invention, characterized in that when a stop is made before the turning of the virtual seedling supply edge side on the automatic straight-line reciprocating travel path, if seedling supply is not performed, the turning toward the next automatic straight-line reciprocating travel path is immediately made by automatic travel, and if seedling supply is performed, forward movement without seedling planting is made by remote-controlled travel so as to reach the seedling supply edge from the stopping point, and after seedling supply is performed, the turning toward the next automatic straight-line reciprocating travel path is made by automatic travel.

[0010] In the third aspect of the present invention, a field entrance is provided near one end point of the non-seedling supply side, The normal teaching is performed by manual travel starting from the other end point of the non-seedling supply side and arriving at a point just before the field entrance, This is a second seedling transplanter of the present invention, characterized in that after reaching the point just before the field entrance / exit, movement to reach the seedling supply edge is performed manually so as to avoid the field entrance / exit, and the virtual seedling supply edge is generated.

[0011] The fourth aspect of the present invention is that when the normal teaching is carried out, seedling planting is carried out, A third seedling transplanter of the present invention is characterized in that when the movement to reach the seedling supply side is carried out, seedling planting is not carried out.

[0012] The fifth aspect of the present invention is the seedling transplanter according to the fourth aspect of the present invention, characterized in that the automatic straight reciprocating travel path is created after the virtual seedling supply edge is generated.

[0013] The sixth aspect of the present invention is the seedling transplanter of the fifth aspect of the present invention, characterized in that the virtual seedling supply edge is a line segment connecting the point reached on the seedling supply edge by the movement with the starting point of the normal teaching.

[0014] The seventh invention is the seedling transplanter of the sixth invention, characterized in that the trigger for generating the virtual seedling supply edge is an instruction to start automatic travel from the arrival point to the seedling supply edge by the movement.

[0015] The eighth aspect of the present invention is the seedling transplanter of the seventh aspect of the present invention, characterized in that an operating mode is selectable that allows the start of automatic travel from the point just before the field entrance / exit without the movement to reach the seedling supply edge. [Effects of the Invention]

[0016] The first aspect of the present invention makes it possible to improve usability.

[0017] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve convenience.

[0018] According to the third aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to improve reliability.

[0019] According to the fourth aspect of the present invention, in addition to the effects of the third aspect of the present invention, it is possible to improve practicality.

[0020] According to the fifth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, it is possible to further improve practicality.

[0021] According to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to reduce the burden on the worker.

[0022] According to the seventh aspect of the present invention, in addition to the effect of the sixth aspect of the present invention, it is possible to further reduce the burden on the worker.

[0023] According to the eighth aspect of the present invention, in addition to the effects of the seventh aspect of the present invention, it is possible to further improve convenience. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is an explanatory diagram (part 1) of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 2] FIG. 2 is an explanatory diagram (part 2) of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 3] FIG. 3 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 4] FIG. 4 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 5] 5 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 6] 6 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention; [Figure 7] Flowchart of field operation of the rice transplanter according to the embodiment of the present invention (part 1) [Figure 8] Flowchart of field operation of the rice transplanter according to the embodiment of the present invention (part 2) [Figure 9] Flowchart of field operation of the rice transplanter according to the embodiment of the present invention (part 3) [Figure 10] Flowchart of field operation of the rice transplanter according to the embodiment of the present invention (part 4) [Figure 11]FIG. 7 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 12] FIG. 8 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 13] 9 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 14] 10 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 15] 11 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 16] An explanatory diagram (part 12) of the field operation movement route of the rice transplanter according to the embodiment of the present invention. [Figure 17] An explanatory diagram (part 13) of the field operation movement route of the rice transplanter according to the embodiment of the present invention. [Figure 18] 14 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 19] An explanatory diagram (part 15) of the field operation movement route of the rice transplanter according to the embodiment of the present invention. [Figure 20] 16 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 21] FIG. 17 is an explanatory diagram of a field operation movement route of a rice transplanter according to an embodiment of the present invention. [Figure 22] (a) An explanatory diagram (part 1) of a remote monitoring system for a rice transplanter according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a remote monitoring system for a rice transplanter according to an embodiment of the present invention. [Figure 23] (a) An explanatory diagram (part 3) of a remote monitoring system for a rice transplanter according to an embodiment of the present invention, (b) An explanatory diagram (part 4) of a remote monitoring system for a rice transplanter according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0026] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0027] While explaining the operation of the rice transplanter 1 according to the embodiment of the present invention, a seedling transplanter operation control method according to an invention related to the present invention, which is realized by a controller and the like, will also be explained.

[0028] The rice transplanter 1 according to the embodiment of the present invention is a specific example of the seedling transplanter according to the present invention.

[0029] (1) First, the configuration and operation of a rice transplanter 1 according to an embodiment of the present invention will be specifically described with reference to FIGS.

[0030] Here, Figures 1 to 6 are explanatory diagrams (parts 1 to 6) of the field operation movement route of the rice transplanter 1 of an embodiment of the present invention, and Figures 7 to 10 are flowcharts (parts 1 to 4) of the field operation of the rice transplanter 1 of an embodiment of the present invention.

[0031] In a substantially polygonal field 10, before creating an automatic straight reciprocating travel route for seedling planting with seedling supply, normal teaching is performed by manual travel to sequentially follow non-seedling supply sides 13 excluding one or more continuous seedling supply sides 12 of the substantially polygonal shape.

[0032] Of course, typically, the approximately polygonal shape is an approximately quadrilateral shape and the seedling supply edge 12 is one edge, but it is also possible to consider an embodiment in which the approximately polygonal shape is an approximately pentagonal shape and the seedling supply edge 12 is two consecutive seedling supply edges.

[0033] The automatic straight reciprocating travel route is a route that travels back and forth between the imaginary seedling supply side 14 of the seedling supply side 12 and the non-seedling supply side 13.

[0034] As shown in Figure 1, a known seedling planting mode is also possible, in which normal teaching, without seedling planting, is performed by traveling around the outermost periphery of the field 10, followed by seedling planting along an automatic linear reciprocating travel path using straight-line assist or the like, with seedling planting in the outermost periphery being performed in the finishing process. In other words, as will be clear from the following explanation, there are various seedling planting modes, and it goes without saying that many partial modifications are possible.

[0035] A field entrance / exit 11 is provided near one end point of a non-seedling supply edge 13. Normally, teaching is performed by manually driving starting from the other end point of the non-seedling supply edge 13 and arriving at a point just before the field entrance / exit 11. After arriving at the point just before the field entrance / exit 11, manual driving is performed to reach the seedling supply edge 12 so as to avoid the field entrance / exit 11, and a virtual seedling supply edge 14 is generated.

[0036] Although it is conceivable that normal teaching of the rice transplanter 1 is completed manually on the side of the seedling supply edge 12 at the edge of the paddy field, and a virtual seedling supply edge 14, often called a virtual edge, is immediately generated according to the specifications of the existing robotic rice transplanter control program (see Figure 2), the inventors have realized that it is also conceivable that the virtual seedling supply edge 14 is appropriately corrected manually, sometimes called virtual edge re-teaching. This is because normal teaching is completed just before the field entrance 11 in order to avoid the field entrance 11, which is often accompanied by undulations, and the generated virtual seedling supply edge 14 is likely to be inclined obliquely with respect to the seedling supply edge 12 (see Figure 3).

[0037] When normal teaching is performed, seedling planting is performed. When movement to reach the seedling supply side 12 is performed, seedling planting is not performed.

[0038] Of course, as mentioned above, there may be cases where seedling planting is not performed in normal teaching. By inserting a movement to reach such a seedling supply edge 12 where seedling planting is not performed, it is expected that an accurate virtual seedling supply edge 14 will be generated.

[0039] After the virtual seedling supply edge 14 is generated, an automatic straight reciprocating travel path is created.

[0040] The field shape of the field 10 is determined from a straight line including the virtual seedling supply edge 14 and a reference line obtained as the final straight-line travel path in normal teaching (see Figure 4). An automatic straight-line reciprocating travel path, sometimes called the teaching reference straight-line path, is generated as a planting path parallel to this straight-line travel path. The virtual seedling supply edge 14 described above is thus used to design the final field shape and the automatic straight-line reciprocating travel path. Accurate recognition of the field 10's contour is expected because short-distance movements to reach the seedling supply edge 12 are appropriately interpreted and processed. This is because movements along short-distance diagonal paths made to avoid the field entrance / exit 11 are not adopted as they are, which is unlikely to result in a reduction in planting distance in subsequent automatic travel and reduces the occurrence of seedlings left unplanted. While eliminating the undesirable effects of such short-distance movements, the seedling supply edge 12 where no travel has been performed is appropriately recognized as part of the field.

[0041] Regardless of whether the movement described above to reach the seedling supply edge 12 is performed to avoid the field entrance 11 while utilizing the existing robotic rice transplanter control program specifications, when the virtual seedling supply edge 14 is generated and automatic linear reciprocating travel begins, an initial target planting path is set that does not necessarily coincide with the closest planting path from the current position so as to ensure an empty space corresponding to one planting row on the headland side (see Figures 5 and 6). As will be described later, such empty space is space for seedling planting in the finishing process.

[0042] The virtual seedling supply side 14 is a line segment that connects the arrival point of the seedling supply side 12 by movement with the starting point of normal teaching.

[0043] The virtual seedling supply edge 14 is defined as a part of an extended line connecting the arrival point of the seedling supply edge 12 with the starting point of normal teaching. Even after the field shape and automatic straight-line reciprocating travel route of the field 10 have been generated according to the existing robotic rice transplanter control program specifications, the field shape and automatic straight-line reciprocating travel route can be appropriately designed, taking into account the existence of seedling supply edges 12 on which no travel has been performed.

[0044] The trigger for generating the virtual seedling supply side 14 is an instruction to start automatic travel from the point where the seedling supply side 12 is reached by movement.

[0045] As shown in steps S11 to S15, an embodiment is also conceivable in which a virtual seedling supply edge generation button is provided on the remote controller (see FIG. 7) to manually perform the above-described movement to reach the seedling supply edge 12. The user-friendly operability of the remote controller makes it easy to generate an appropriate virtual seedling supply edge 14.

[0046] The activation condition for the virtual seedling supply edge generation button may be that the path generation of normal teaching must be completed. If the path generation has not been completed by the normal teaching termination operation, pressing the virtual seedling supply edge generation button is prohibited, so accidents due to incorrect operation are unlikely to occur.

[0047] It is also conceivable that the activation period of the virtual seedling supply edge generation button is the period between the time when route generation by normal teaching is completed and the time when an instruction is issued to start automatic travel from the arrival point to the seedling supply edge 12. Even though seedling planting starts together with automatic travel, the planting travel route is unlikely to be changed by unintentional operations, so the occurrence of seedlings being left unplanted or seedlings being planted too heavily is reduced.

[0048] It is also possible to consider a mode in which it is possible to switch whether or not to generate the virtual seedling supply edge 14 after movement to reach the seedling supply edge 12. This prevents the virtual seedling supply edge 14 from being unintentionally generated in conjunction with movement for material supply or the like.

[0049] It is also possible to consider an embodiment in which a virtual seedling supply edge generation switch for switching whether or not to generate a virtual seedling supply edge 14 after movement to reach the seedling supply edge 12 is provided as a touch panel button on the setting screen of the meter panel.

[0050] When the virtual seedling supply edge generation switch is turned off, it is not permitted to generate a virtual seedling supply edge 14 after a movement to reach the seedling supply edge 12. Normally, when an explicit teaching termination operation is performed, it is rare for a virtual seedling supply edge 14 to be unintentionally generated in conjunction with a movement for material supply or the like.

[0051] As shown in steps S21 to S28, when the virtual seedling supply edge generation switch is on, it is permissible to generate the virtual seedling supply edge 14 after movement to reach the seedling supply edge 12. However, as described above, it is also possible to generate the virtual seedling supply edge 14 when the command to start automatic travel is first given after normal teaching is completed (see FIG. 8). This prevents the virtual seedling supply edge 14 from being generated multiple times. Because the virtual seedling supply edge 14 is not generated repeatedly, accidents due to incorrect operation are less likely to occur.

[0052] As shown in steps S31 to S38, when the virtual seedling supply edge generation switch is on, it is permissible to generate the virtual seedling supply edge 14 after movement to reach the seedling supply edge 12, but it is also possible to consider a mode in which, after normal teaching is completed, an explicit operation to generate the virtual seedling supply edge 14 using a remote controller or the like is performed before an instruction to start automatic traveling (see Figure 9). By requiring an operation different from the normal instruction to start automatic traveling by switching the traveling mode, accidents due to incorrect operation are less likely to occur.

[0053] If an explicit operation to generate a virtual seedling supply edge 14 is performed using a remote controller or the like, and then another instruction to generate a virtual seedling supply edge 14 is given, the virtual seedling supply edge 14 may not be generated and normal teaching may be required. Even though seedling planting begins with automatic driving, the planting travel path is unlikely to be changed by unintentional operations, preventing seedlings from being left unplanted or overplanted. Since the generation of the virtual seedling supply edge 14 is not repeated, accidents due to incorrect operation are unlikely to occur.

[0054] In either case, after an instruction to generate the virtual seedling supply edge 14 is given, a display regarding the generation of the virtual seedling supply edge 14 may be displayed on a remote controller or an in-vehicle monitor panel. The fact that an instruction to generate the virtual seedling supply edge 14 has been received may be output to the outside as a visual or audible alert message. By using a pop-up display or the like that is easy for anyone to understand, a user-friendly specification is realized.

[0055] An operation mode is provided that allows a command to start automatic travel from a point in front of the field entrance 11 without moving to reach the seedling supply side 12 to be selected.

[0056] As shown in steps S41 to S48, the aforementioned virtual seedling supply edge generation switch is not used to switch whether or not to generate a virtual seedling supply edge 14 after movement to reach the seedling supply edge 12, and instead the driving mode is switched by the remote controller from normal teaching to automatic driving without manual driving. The planting driving path is maintained until normal teaching is performed again. In such cases where automatic driving is performed without manual driving, the planting driving path is maintained while using the existing robotic rice transplanter control program specifications, so a new virtual seedling supply edge 14 is not generated in conjunction with movement to reach the seedling supply edge 12 (see Figure 10).

[0057] When the driving mode is switched by the remote controller from normal teaching to automatic driving via manual driving, one possible mode is to use the existing robotic rice transplanter control program specifications and generate a virtual seedling supply edge 14 accompanying the movement to reach the seedling supply edge 12 at the start of automatic driving. When automatic driving is started via manual driving, the virtual seedling supply edge 14 is generated accompanying the movement to reach the seedling supply edge 12, thereby realizing a user-friendly specification in which the virtual seedling supply edge 14 is generated in accordance with the operating procedure.

[0058] (2) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0059] 11 to 21 are explanatory diagrams (Nos. 7 to 17) of the route of movement in the field of the rice transplanter 1 according to the embodiment of the present invention.

[0060] The stopping point before turning on the imaginary seedling supply side of the automatic straight-line reciprocating travel path is set at a predetermined distance D from the imaginary seedling supply side 14. The predetermined distance D is twice the width W of the work machine for planting seedlings.

[0061] The stopping distance from the virtual seedling supply edge 14 to the seedling supply edge 12 at the ridge edge is approximately 4.8 (= 2.4 × 2) m for the eight-row seedling planting model, since the work machine width W is approximately 2.4 m. Therefore, the predetermined distance D from the virtual seedling supply edge 14 is approximately 4.8 (= 2.4 × 2) m (see Figures 11, 18, and 19). On the other hand, in another embodiment where seedling planting in the finishing process is performed in a single run, the stopping point is set to a distance of approximately 3 (= 2.4 + 0.6) m from the virtual seedling supply edge 14 to avoid collisions with the ridge due to errors in the estimated position of the virtual seedling supply edge 14. After visually aligning the ridge by operating the remote controller to advance seedling planting for approximately 0.6 m, the automatic travel resume operation is performed to turn toward the next automatic linear reciprocating travel path. The inventors realized that if such visual alignment, which is meaningless when materials are not being supplied at the virtual seedling supply edge 14, could be skipped, the burden on the user would be significantly reduced. The inventors realized that by adopting an embodiment in which seedling planting in the finishing process is performed in two passes, it is possible to easily set the stop point to a distance of approximately 4.8 m from the imaginary seedling supply edge 14 without concern for collision with the ridge due to errors in the estimated position of the imaginary seedling supply edge 14 (see Figures 12, 18, and 19). In this embodiment, in which automatic travel can be resumed at the stop point and work can be easily continued, there is basically no need for the cumbersome forward seedling planting operation using the remote controller, and when there is enough material and seedling supply is not required, there is no need to operate the forward operation using the remote controller at all.

[0062] When a stop is made before turning on the virtual seedling supply side in the automatic straight reciprocating travel route, if seedling supply is not performed, turning toward the next automatic straight reciprocating travel route is immediately made by automatic travel, and if seedling supply is performed, forward movement without seedling planting is made by remote-controlled travel so as to reach the seedling supply side 12 from the stop point, and after seedling supply is performed, turning toward the next automatic straight reciprocating travel route is made by automatic travel.

[0063] When seedlings are insufficient and seedlings need to be replenished, forward operation from a stop point using the remote controller is necessary. However, this forward operation is a ridge-neighboring operation, not a seedling-planting forward operation. Therefore, seedling planting is not required during forward movement, and the seedling-planting clutch is disengaged (see Figure 13). In the other embodiment described above, in which seedling planting in the finishing process is performed in a single run, the seedling-planting clutch is engaged to visually ridge-neighbor the seedlings during the forward seedling planting operation. Since the distance between the front of the vehicle and the seedling planting tool is approximately 2.4 m, which roughly matches the width W of the work machine, a so-called ridge-don backing operation accompanied by the forward seedling planting operation ensures sufficient space for one planting row during the finishing process. However, this forward seedling planting operation is often cumbersome (see Figure 14). In the embodiment in which seedling planting in the finishing process is performed in two runs, the seedling-planting clutch is disengaged when forward movement is performed to replenish seedlings, preventing over-planting of seedlings.

[0064] Even when there is enough material and seedling replenishment is not necessary, the seedling planting clutch can be engaged and the remote controller can be used to plant seedlings forward from a stop point by performing a predetermined operation, such as pressing a special function key together with the forward function key. If the field 10 is irregularly shaped and the seedling supply edge 12 is not strictly straight, this type of seedling planting forward operation beyond the specified distance D, which is twice the width W of the work machine for seedling planting, will almost completely eliminate any seedlings left unplanted or over-planted seedlings during the finishing process. The realization of two ridge-neighboring operation patterns by switching the seedling planting clutch on and off improves work versatility.

[0065] As shown in Figures 15 to 21, seedling planting with seedling replenishment in the field 10 is completed. For example, as shown in Figures 18 to 20, finishing seedling planting is performed in two passes.

[0066] (3) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 22(a) and 22(b) and 23(a) and 23(b).

[0067] Here, FIGS. 22(a) and 22(b) and 23(a) and 23(b) are explanatory diagrams (parts 1 to 4) of the remote monitoring system for the rice transplanter 1 according to the embodiment of the present invention.

[0068] 22(a) and 22(b), a monitor control function is implemented on the monitor screen of the information manager terminal device 101 for the remote monitoring system information manager, which increases the size of the forward image compared to the size of other images such as the rearward image when the rice transplanter 1 is operated forward. This makes monitoring easy when remote operation is performed.

[0069] The rice transplanter 1 is equipped with an obstacle detection control function that defines detection distances or detection targets corresponding to the following control patterns: a first control pattern corresponding to a state in which linear seedling planting is being performed; a second control pattern corresponding to a state in which obstacle detection is performed during forward ridge-neighboring for remote-controlled material supply; a third control pattern corresponding to a state in which obstacle detection is performed after forward ridge-neighboring by remote control; a fourth control pattern corresponding to a state in which obstacle detection is performed during reverse travel during automatic travel; a fifth control pattern corresponding to a state in which obstacle detection is performed during reverse ridge-neighboring for remote-controlled herbicide supply after automatic turning; and a sixth control pattern corresponding to a state in which obstacle detection is performed after reverse ridge-neighboring by remote control. The obstacle detection range can be flexibly changed depending on the type of work.

[0070] In the six control patterns described above, the detection distance in the first control pattern is set to be larger than the detection distance in the second control pattern. By setting the detection distance to be smaller when supplying materials, a worker supplying seedlings on the ridge is less likely to be mistakenly detected as an obstacle.

[0071] Of the six control patterns described above, the detection distance in the fourth control pattern is set to be larger than the detection distance in the fifth control pattern.

[0072] When the rice transplanter 1 is operated while being monitored on a monitor via the cloud, obstacle detection control is performed to output an alert using at least one of a warning sound and a warning display on the monitor, but temporary stopping is not performed. This is because the rice transplanter 1 is operated based on the operator's monitoring, and it is expected that approaching obstacles associated with ridge-building will be dealt with appropriately.

[0073] When the rice transplanter 1 is operated while being directly monitored visually using a remote controller, obstacle detection control is performed to output an alert using at least one of a warning sound and a monitor warning display, but it is also possible to consider a situation in which temporary stopping is not performed.

[0074] When the rice transplanter 1 is operated while being monitored on a monitor via the cloud, it is also possible that the obstacle detection control itself may be temporarily suspended.

[0075] When the rice transplanter 1 is operated while being directly monitored visually by a remote controller, it is also possible that the obstacle detection control itself is temporarily suspended.

[0076] As shown in Figures 23(a) and 23(b), the possible work distance and the remaining amount of each material can be displayed on the monitor screen of the information manager terminal device 101 for the remote monitoring system information manager, based not only on the material input information but also on the material consumption amount corresponding to the work distance predicted from the so-called machine settings.

[0077] When the remote monitoring system selects an option to instruct the assistant to replenish materials on the monitor screen of the assistant worker terminal device 102 for the assistant worker of the remote monitoring system, on which the application program is installed, a message urging the assistant worker to dispatch the assistant worker to replenish materials is displayed. By ensuring that such communication with the assistant worker is carried out without fail, materials are reliably replenished.

[0078] If the option to instruct material replenishment is selected, the work will not be resumed until the materials are replenished. Since the work will not be allowed to resume unless the materials are replenished, the occurrence of adverse effects due to a shortage of materials is suppressed.

[0079] When the material supply instruction option is selected, a possible mode is that the work will not be resumed until the assistant worker adds materials and registers the amount of added materials in the application program of the assistant worker terminal device 102.

[0080] When the material replenishment instruction option is selected, a possible mode is one in which the work can be resumed by the remote monitoring system information manager directly inputting the amount of added materials into the system, even if the assistant who added the materials does not register the amount of added materials in the application program of the assistant worker terminal device 102. If a communication error occurs in the assistant worker terminal device 102, error recovery can be performed, improving convenience.

[0081] In addition, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0082] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program 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 seedling transplanter 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.

[0083] 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.

[0084] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0085] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0086] The recording medium also includes a ROM (Read Only Memory).

[0087] 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.

[0088] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0089] The seedling transplanter of the present invention can improve ease of use and is useful for use in seedling transplanters such as rice transplanters. [Explanation of symbols]

[0090] 1. Rice planter 10 Field 11 Field entrance 12 Seedling Supply Area 13 Non-seedling supply area 14 Virtual seedling supply area 101 Information Manager Terminal Device 102 Work assistant terminal device W Work machine width D distance

Claims

1. A seedling transplanter in which, before creating an automatic straight-line reciprocating travel path for seedling planting with seedling supply in a substantially polygonal field, normal teaching is performed by manual travel to sequentially follow non-seedling supply sides excluding one or more consecutive seedling supply sides of the substantially polygonal field, The automatic linear reciprocating travel route is a route that travels back and forth between a virtual seedling supply side of the seedling supply side and the non-seedling supply side, A stop point before turning on the virtual seedling supply side in the automatic straight reciprocating travel path is set at a predetermined distance from the virtual seedling supply side, The seedling transplanter is characterized in that the predetermined distance is twice the width of the work machine for planting seedlings.

2. 2. The seedling transplanter according to claim 1, wherein when the automatic straight-line reciprocating travel path stops before the turning at the virtual seedling supply edge side, if seedling supply is not performed, the turning toward the next automatic straight-line reciprocating travel path is immediately performed by automatic travel, and if seedling supply is performed, the forward movement without seedling planting is performed by remote control travel so as to reach the seedling supply edge from the stopping point, and after seedling supply is performed, the turning toward the next automatic straight-line reciprocating travel path is performed by automatic travel.

3. A field entrance is provided near one end point of the non-seedling supply side, The normal teaching is performed by manual travel starting from the other end point of the non-seedling supply side and arriving at a point just before the field entrance, The seedling transplanter according to claim 2, characterized in that after reaching the point just before the field entrance, movement to reach the seedling supply edge is performed manually so as to avoid the field entrance, and the virtual seedling supply edge is generated.

4. When the normal teaching is carried out, seedling planting is carried out, 4. The seedling transplanter according to claim 3, wherein seedling planting is not performed when the movement to reach the seedling supply side is performed.

5. The seedling transplanter according to claim 4, wherein the automatic linear reciprocating travel path is created after the virtual seedling supplying edge is generated.

6. 6. The seedling transplanter according to claim 5, wherein the virtual seedling supply edge is a line segment connecting a point on the seedling supply edge reached by the movement with a starting point of the normal teaching.

7. The seedling transplanter according to claim 6, wherein the trigger for generating the virtual seedling supply edge is an instruction to start automatic travel from the arrival point to the seedling supply edge by the movement.

8. The seedling transplanter according to claim 7, characterized in that an operating mode is selectable that allows the start of automatic travel from the point just before the field entrance / exit without the movement to reach the seedling supply edge.

Images