Field work machine

Abstract

To provide a field working machine capable of traveling so as not to damage a field as much as possible, capable of easily specifying a place for supplying a working material, and capable of easily moving a traveling vehicle body to a ridge.SOLUTION: A work travel control unit configured to control an automatic work travel for performing an automatic back-and-forth travel while performing a ground work in a field work machine configured to supply an agricultural material to a field as the ground work by repeating the automatic back-and-forth travel along a target travel route including a work travel route and a turning route, A satellite positioning unit capable of detecting a position of a traveling vehicle body using a navigation satellite, and a work device capable of performing work on a field, wherein a field shape can be calculated based on a traveling trajectory of the traveling vehicle body acquired by detecting the position of the traveling vehicle body over time while the traveling vehicle body is traveling along a part or all of an outer periphery of the field.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Conventionally, work vehicles that perform work in fields by autonomous driving perform teaching driving in advance to identify a predetermined target driving route, and then automatically drive along the target driving route based on their own position calculated using GNSS (Global Navigation Satellite System) or the like (Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2018-116608 [Patent Document 2] Patent Publication No. 2019-154394 Summary of the Invention [Problem to be solved by the invention]

[0004] However, to achieve this type of automated driving, the robot must first recognize the shape of the field, then automatically drive over the same area again. Furthermore, the location (ridge) for replenishing work materials must be appropriate for each field.

[0005] The present invention takes into consideration the problems with conventional work vehicles and aims to provide a field work machine that travels in a way that minimizes damage to the field, can easily identify locations for replenishing work materials, and can easily perform ridge-pushing travel by bringing the traveling vehicle body close to the ridge. [Means for solving the problem]

[0006] The first aspect of the present invention is A field work machine that supplies agricultural materials to a field as ground work by repeating automatic reciprocating travel along a target travel path that includes a work travel path and a turning path, a work travel control unit that controls the automatic work travel that performs the automatic reciprocating travel while performing the ground work, A specific side consisting of an outer edge of the field can be set as a material supply side for agricultural materials to be consumed, a satellite positioning unit capable of detecting the position of the traveling aircraft using a navigation satellite; The farm has a work device capable of performing work on a field, This is a field work machine characterized in that it is possible to calculate the shape of a field based on the traveling trajectory of the traveling vehicle body obtained by detecting the position of the traveling vehicle body over time while the traveling vehicle body is traveling along part of the perimeter of the field or the entire perimeter of the field.

[0007] The second aspect of the present invention is The field shape is determined based on position information of at least a corner of the field; The field work machine according to claim 1, characterized in that the position information of the corner of the field is acquired when the work device starts working, when the work device stops working, or when the work device is raised or lowered.

[0008] The third aspect of the present invention is 3. The field work machine according to claim 1, wherein the field shape is calculated while the ground work is being carried out.

[0009] The fourth aspect of the present invention is The work travel control unit is capable of performing ridge-pushing travel in which the traveling vehicle body is brought close to a ridge in order to supply the agricultural materials from the start or end area of ​​the turning path, and is provided with automatic supply travel control for bringing the traveling vehicle body close to the material supply side, or remote-controlled travel control for manually bringing the traveling vehicle body close to the material supply side by operating a remote-controlled tool, The field work machine according to claim 3, characterized in that the remote-controlled device allows the user to select whether or not to execute the automatic replenishment driving control or the remote-controlled driving control, and the selection of whether or not to execute the control can be accepted when the traveling vehicle body is located other than in the vicinity of the ridge where the ridge-pushing driving is performed. [Effects of the Invention]

[0010] According to the present invention, the same part of the field is not repeatedly traveled over, and therefore damage to the field is efficiently prevented. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a work vehicle according to an embodiment of the present invention; [Figure 2] Plan view of the work vehicle [Figure 3] Control system configuration diagram of the same work vehicle [Figure 4] A plan view of the field where the work vehicle works [Figure 5] (A), (B), and (C) Plan views showing various field configurations [Figure 6] FIG. 1 is a plan view of a field showing a modified example of an embodiment of the present invention; [Figure 7] FIG. 10 is a plan view showing a driving situation of another embodiment of the present invention. [Figure 8] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 9] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 10] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 11] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 12] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 13] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 14] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 15] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 16]FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 17] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 18] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 19] FIG. 10 is a plan view showing a driving situation of the vehicle according to another embodiment of the present invention; [Figure 20] Plan view of the remote control used in the same work vehicle [Figure 21] Another example of a farm field [Figure 22] (A), (B), (C), (D) Plan views showing the conventional work travel situation in a farm field DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a riding rice transplanter 1, which is an example of a work vehicle, will be described as a preferred embodiment of the present invention with reference to the drawings.

[0013] 1 and 2, the rice transplanter 1 has a seedling planting unit 9 attached to the rear of a traveling body 7 via a lifting link device 8 so that it can be raised and lowered, and the main body of the fertilizer applicator 6 is provided on the upper rear part of the traveling body 7. The seedling planting unit 9 is an example of a supply device of the present invention that plants seedlings in a field H. The seedlings are also an example of a material of the present invention.

[0014] The left and right directions in the forward direction of the riding rice transplanter 1 are referred to as left and right, respectively, and the forward and backward directions are referred to as front and rear, respectively.

[0015] As shown in Figures 1 and 2, the running vehicle body 7 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10, 10 and a pair of left and right rear wheels 11, 11, which are drive wheels. A transmission case 12 is arranged at the front of the vehicle body, and front wheel final cases 13, 13 are provided on the left and right sides of the transmission case 12. The left and right front wheels 10, 10 are respectively attached to left and right front wheel axles that protrude outward from each front wheel support portion of the left and right front wheel final cases 13, 13, which can change the steering direction.

[0016] In addition, the front end of the main frame 15 is fixed to the back of the transmission case 12, and rear wheel gear cases 18, 18 are supported so as to be able to roll freely, with a rear wheel rolling axis set horizontally in the center of the rear end of the main frame 15 as a fulcrum, and rear wheels 11, 11 are attached to the rear wheel axles that protrude outward from the rear wheel gear cases 18, 18.

[0017] The engine 20 is mounted on the front of the vehicle body 7, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission and the HST 23. The rotational power transmitted to the transmission case 12 is changed in speed by the transmission inside the case 12, and then separated into traveling power and externally extracted power.

[0018] A portion of the traveling power is transmitted to the front wheel final cases 13, 13 to drive the front wheels 10, 10, and the remainder is transmitted to the rear wheel gear cases 18, 18 to drive the rear wheels 11, 11. The externally extracted power is transmitted to a planting clutch case provided at the rear of the traveling body 7, and then transmitted to the seedling planting section 9 by a planting transmission shaft and to the fertilizer application device 6 by a fertilizer application transmission mechanism.

[0019] A seat 31 is installed on the center of the traveling vehicle body 7. In front of the seat 31 is a front cover 32 incorporating various operating mechanisms, and above that is provided a handle 34 for steering the front wheels 10, 10.

[0020] The left and right sides and rear of the lower end of the front cover 32 form horizontal floor steps 35. Part of the floor step 35 is lattice-shaped, so that mud on the shoes of an operator walking on the step 35 falls into the field H. The rear part above the floor step 35 forms a rear step 36 that also serves as a rear wheel fender.

[0021] The lifting link device 8 has a parallel link configuration and includes one upper link 40 and a pair of left and right lower links 41, 41. The bases of these links 40, 41, 41 are rotatably attached to a link base frame 42, which is shaped like a portal when viewed from the rear and is erected at the rear end of the main frame 15. A vertical link 43 is connected to the tip of each link. A connecting shaft 44, which is rotatably supported on the seedling planting unit 9, is inserted and connected to the lower end of the vertical link 43, and the seedling planting unit 9 is connected to the connecting shaft 44 so that it can roll freely around the center. A lifting hydraulic cylinder 46 is provided between the link base frame 42 and the vertical link 43. By hydraulically extending and retracting the cylinder 46, the lifting link device 8 rotates up and down, raising and lowering the seedling planting unit 9 while maintaining a substantially constant posture.

[0022] The base of a front frame 47 is fixed to the front end of the traveling body 7, and a GNSS device 3 is mounted on the top of the front frame 47. This GNSS device 3 is an example of a satellite positioning unit of the present invention that can detect the position of the traveling body 7. In Figure 1, A indicates a ridge. Left and right spare seedling carriers 48, 48 are provided on both the left and right sides of the front of the traveling body 7.

[0023] 3 shows a control system centered around a control unit 50 of the present invention. Here, reference numeral 51 denotes an axle rotation sensor (left) that detects the rotation of the axle, and 52 denotes an axle rotation sensor (right) that detects the rotation of the axle, and the output signals thereof are input to a vehicle ECU 1 that is part of the control unit 50. A signal from a GNSS device 3 is also input. Furthermore, a steering angle sensor 54, a steering motor 69, and an alarm device 53 are connected to the ECU 1.

[0024] Vehicle ECU 2, which is part of control unit 50 and is connected to vehicle ECU 1 via CAN communication, receives signals from a work mechanism lifting / lowering and planting drive sensor 63 and a group of travel drive sensors 61. Vehicle ECU 2 is also connected to a work mechanism lifting / lowering drive device 65, a planting unit drive device 64, and a travel drive device 62.

[0025] A vehicle monitor 56 is connected to the CAN communication, and an engine ECU 58 is also connected to the CAN communication. The engine ECU 58 is connected to an engine drive device 59 and a group of sensors 60 for engine drive.

[0026] Furthermore, an external communication ECU 57 is connected to the CAN communication, and communication with a tablet terminal 66 is possible through this external communication ECU 57, and this tablet terminal 66 is able to communicate with a remote monitoring center 67 via a cloud 68.

[0027] 4 is a plan view of a field H on which the traveling vehicle body 7 of the present invention travels. Here, 70 indicates the outermost part of the field H. 71 indicates a waterway, and 72 indicates an entrance road and an exit road through which the traveling vehicle body 7 enters and exits.

[0028] In this embodiment, the shape of the field H is rectangular. That is, the entire periphery of the outermost portion 70 is made up of four sides (left side 70a, top side 70b, right side 70c, and bottom side 70d in FIG. 4).

[0029] The operation of causing the traveling vehicle body 7 to travel in the field H will be described below.

[0030] <Teaching run> First, the operator causes the traveling vehicle body 7 to enter field H from the entrance / exit road 72 at the lower right of Fig. 4. Then, the operator moves the traveling vehicle body 7 forward along the right side 70c of field H while manually planting seedlings, turns 90 degrees at the upper right corner of Fig. 4, then moves the traveling vehicle body 7 forward along the top side 70b of Fig. 4 while manually planting seedlings, turns 90 degrees at the upper left corner of Fig. 4, then moves the traveling vehicle body 7 forward along the left side 70a of Fig. 4 while manually planting seedlings, turns 90 degrees at the lower left corner of Fig. 4. When making the above turns, the seedling planting unit 9 is raised.

[0031] Thereafter, the operator manually drives the machine along the lower side 70d in FIG. 4 in a free-running manner without planting any plants.

[0032] During this free-running operation, the seedling planting section 9 is lowered at a predetermined position. In this state, the vehicle is allowed to run free along the lower side 70d, and the seedling planting section 9 is raised at a predetermined position, reaching the entrance / exit path 72.

[0033] In this way, even when the vehicle is running idle, the seedling planting unit 9 is lowered, but this lowering is in the same state as when the seedlings are actually planted. This is to simulate the case when the vehicle will later plant seedlings by automatic running along the lower edge 70d. In other words, the banks have low protruding parts such as the entrance to the irrigation basin, and collisions must be avoided when the vehicle is later running automatically to plant seedlings. For this reason, when running idle, the seedling planting unit 9 must be lowered in advance in the same state as when actually planting seedlings, and the operator must perform a teaching run of the idle run to simulate this.

[0034] Furthermore, this lowering and raising operation of the seedling planting unit 9 makes it possible to accurately specify the section to be traveled when automatically planting along the lower side 70d later. Note that when the seedling planting unit 9 is lowered and running idle along the lower side 70d, the control unit 50 ignores any instructions to plant seedlings, as this is the travel route that should be run idle.

[0035] As the traveling vehicle 7 travels around each side of the field H in this way, the GNSS device 3 grasps its position, and the control unit 50 stores the position and shape of each side of the field H, completing the teaching travel. For example, if the GNSS device 3 is attached to the center of the traveling vehicle 7 as shown in Figure 2, the actual outermost position of the entire circumference will be located half the width of the traveling vehicle 7 outside the obtained traveling trajectory. Alternatively, the traveling trajectory obtained by the GNSS device 3 may be used as the shape of the field H, and half may be added each time the traveling vehicle makes a round trip and approaches the supply ridge. Furthermore, when the trajectory is obtained by the GNSS device 3, it may be obtained discretely. In such cases, it is desirable to link the data and store it as a traveling line.

[0036] In addition, the data resulting from teaching runs is stored on a tablet or server for each field and can be used the following year.

[0037] During the teaching run, in this embodiment, planting work is performed on the right side 70c, top side 70b, and left side 70a, and no planting work is performed on the bottom side 70d. Therefore, the control unit 50 can identify the bottom side 70d, where no planting work is being performed, as the area (edge, ridge) to which materials should be supplied. Here, planting work is an example of the supply state of the supply device of the present invention. That is, by changing the supply state of the supply device 9 during teaching run so that a portion of the outermost perimeter is different from the other portions, it is possible to identify the area of ​​the outermost perimeter of the field H to which materials should be supplied. Changing the supply state can be, for example, whether or not to supply, or by changing the amount of supply. Alternatively, a circular run without planting work can be performed on all sides, and then the area (edge ​​or ridge) to which materials should be supplied can be identified later.

[0038] In this embodiment, the bottom edge 70d is the material supply side ridge, but it is also possible to specify the left, right, or top edge depending on whether or not planting work is being performed. Note that specifying the material supply side by changing the supply state also specifies the direction of the target route for subsequent automatic round trips.

[0039] In another embodiment, the fertilizer applicator 6 may be used as a supplying device, and the supply state may be changed to apply or not apply fertilizer.Furthermore, other supplying devices may be used.

[0040] <Automatic planting travel> As will be described below, the traveling vehicle body 7 travels without a worker on board in the inner area I of the traveling paths (right traveling path 80c, upper traveling path 80b, left traveling path 80a, and lower traveling path 80d in Figure 4) around the outermost circumference 70 of the field H.

[0041] That is, the control unit 50 generates a target travel route for the automatic straight-line reciprocating process based on the position information of the entire outermost circumference obtained by the teaching travel. In the target travel route for the straight-line reciprocating process, the straight-line travel on the side of the bottom side 70d where materials are supplied is limited to a predetermined distance, for example, 3 m, from the bottom side 70d.

[0042] An example will now be described in more detail. After idling and reaching the entrance / exit road 72 as described above, the traveling vehicle body 7 moves backward along the lower traveling path 80d with the seedling planting section 9 raised, and moves to the lower left corner in FIG.

[0043] Here, the worker gets off the traveling vehicle body 7, takes the remote control 55, and moves the traveling vehicle body 7 to the straight traveling path 80f, which is one path further inward from the straight traveling path 80e, which is one path inside the left traveling path 80a. Because these paths 80 have already been generated by the control unit 50, the worker only needs to give instructions to the remote control 55, and the traveling vehicle body 7 can automatically move forward, turn, and move to the straight traveling path 80f, and can then continue traveling straight along the straight traveling path 80f while automatically planting seedlings.

[0044] Furthermore, when it reaches the upper travel path 80b, it turns and raises the seedling planting unit 9, then moves to the next adjacent straight travel path 80g, automatically traveling straight while planting seedlings in the same way, and automatically stops 3m before the bottom edge 70d (exactly one lap remaining for the subsequent headland travel).Unlike conventional models, the position and shape of the bottom edge 70d on the seedling supply side is accurately known through teaching, so it is possible to plant at just the right position and automatically stop.

[0045] In addition, since the control unit 50 knows the supply capacity in advance from numerical values ​​such as the amount of seedlings loaded and the remaining amount, it can calculate which straight route among those routes 80 should be used to supply seedlings, and can determine whether seedlings should be supplied when traveling along that straight travel route 80g.

[0046] For example, if it is known in advance that seedling supply is not necessary on that straight travel path 80g, the control unit 50 will automatically plant seedlings up to the point where there is exactly one revolution remaining on the rear headland travel at the lower side 70d, and after stopping, will automatically raise the seedling planting unit 9, move backward a predetermined distance, stop, then automatically move forward while turning, move to the next adjacent straight travel path 80h, and continue traveling straight toward the upper side 70b while automatically planting seedlings. Note that when turning, if there is sufficient space, the seedling planting unit 9 may be automatically raised and the machine may continue turning without stopping or moving backward.

[0047] The robot then travels straight along the next adjacent straight travel path 80i toward the bottom edge 70d while automatically planting seedlings, automatically planting seedlings until there is exactly one full revolution remaining on the headland at the bottom edge 70d, at which point it automatically stops. As described above, the control unit 50 calculates in advance which of the straight travel paths should be used for seedling replenishment based on numerical values ​​such as the remaining seedling quantity, and is therefore able to determine whether seedling replenishment is necessary when traveling along that straight travel path 80h. For example, if it is determined that seedling replenishment is necessary on that straight travel path 80h, the control unit 50 will automatically stop, then travel straight to the edge of the bottom edge 70d where seedlings will be replenished, without planting any seedlings, and then stop there. Alternatively, the robot may continue straight to the edge of the bottom edge 70d without automatically stopping and without planting.

[0048] Therefore, the worker supplies new seedlings from the ridge on the lower side 70d to the traveling vehicle body 7. When the supply is complete, the worker uses the remote control 55 to instruct the traveling vehicle body 7 to resume traveling. In response to this instruction, the control unit 50 moves backward a predetermined distance, turns, and moves to the next adjacent straight traveling route 80j, and thereafter similarly travels back and forth in a straight line while automatically planting seedlings.

[0049] In the embodiment of Figure 4, the traveling vehicle body 7 automatically travels straight along the straight traveling path 80p just inside the right traveling path 80c on the right side 70c while planting seedlings toward the upper side 70b, but then makes a 90-degree left turn just before the upper traveling path 80b, travels straight along the inner upper traveling path 80q adjacent to the upper traveling path 80b, then makes another 90-degree turn, moves onto the straight traveling path 80e just inside the left traveling path 80a, which is one path skipped as described above, and automatically travels straight toward the lower side 70d while planting seedlings.When it reaches the lower traveling path 80d, it makes a 90-degree turn, and automatically travels straight along the lower traveling path 80d where it has run free while planting seedlings, until it reaches the entrance / exit path 72 and exits the field H. Note that at this time, the seedling planting unit 9 was lowered and raised during the teaching travel to identify the planting section, and this section data can be used to accurately perform automatic planting. After that, hand-plant any corners where seedlings have not yet been planted.

[0050] As mentioned above, in the above embodiment, depending on the conditions such as the size of the vehicle body, if it is possible to turn without moving backward, then this may be done.

[0051] In this way, except for manual planting, the operator can automatically plant seedlings except for the operation of restarting travel using the remote control 55. Even when seedlings are not replenished along the ridges where seedlings are replenished each time, as in the past, there is no need to move the tractor forward a certain distance while planting seedlings and then turn using the remote control, and seedling planting in field H can be achieved almost fully automatically. Specifically, the shape of field H, as shown in Figures 5(A), (B), and (C), is such that the shape of the farm road (ridge) side at the bottom is not straight but curves inward or has an inward bulge. In the past, when the position of the ridge on the supply side was unknown, the tractor was automatically stopped far in advance for safety reasons, and the operator then confirmed and, using the remote control, moved the tractor forward while planting so that one headland travel distance remained, even if replenishment was not required, and then turned. However, with the present invention, the shape of the bottom edge is accurately known in advance through teaching travel, so the tractor can turn fully automatically.

[0052] Figure 6 shows a modified example of this embodiment, in which the position data for the entire circumference of the outermost part 70 of the field H obtained by teaching travel as described above is set at a predetermined distance inside on the safe side, taking into account errors in positioning accuracy and long-term crustal movements.

[0053] It is also possible to set the predetermined distance shorter only for the edge 70d on the material supply side. This is because, while the seedlings have already been planted manually on the three edges 70a, 70b, and 70c during teaching travel, precision is not required, but the edge 70d on the material supply side will be planted later by automatic travel, so it is better to set the position information for that edge a little further inward from a safety standpoint.

[0054] Alternatively, when traveling toward the side 70d on the material supply side during automatic straight-line travel for planting, the robot may stop a predetermined distance shorter each time.

[0055] FIG. 7 and subsequent figures show another embodiment of the present invention.

[0056] In Figure 7, three sides 70a, 70b, and 70c are planted manually by teaching travel. The starting position SP on the left side 70a is set two laps above the headland travel position (upper in the drawing) on ​​the rear lower ridge side 70d. The respective travel paths are designated as left side travel path 90a, upper side travel path 90b, and right side travel path 90c.

[0057] In FIG. 8, on the right side 70c, the robot travels up to the lower edge 70d of the ridge side, but a target travel path for straight round trip travel is generated in this area (first area) S1 surrounded by the three sides of this teaching travel.

[0058] In FIG. 9, the corners are planted manually and the teaching travel is performed manually along the edge of the field while running free (lower travel path 90d1).

[0059] 10, due to the ridge travel, a buffer travel path 90d2 is formed inside the lower travel path 90d1, and the target travel path for the second area S2 is generated by this lower travel path 90d1 and the buffer travel path 90d2.

[0060] In Figure 11, automatic planting round trip travel is performed in the first area S1. That is, automatic planting travel begins on the automatic straight travel route (90f, 90g...) from a position where one stroke of straight travel route 90e is left and the final travel distance remains.

[0061] In Figure 12, during such automatic planting travel, the vehicle automatically stops two travel strokes before the start of each round trip to allow the user to choose between automatic restart or ridge alignment. Because the position of the lower ridge side edge 70d is taught during travel, the vehicle can automatically stop exactly two travel strokes before the start of each round trip. Note that the vehicle may also automatically stop when it enters the second area S2 to plant all the way to the bottom edge of the first area S1.

[0062] In Figure 13, if there is no seedling transplant (90g), the operator uses the remote control to automatically restart the machine, turn, and repeat the back-and-forth process. When turning, there are two processes, the buffer travel path 90d2 and the lower travel path 90d1, so there is no need to worry about interference even if the shape of the supply ridge is like a cliff. Furthermore, if it is known in advance that there will be multiple round trips when there are no seedling transplants, it is possible to have the machine perform the work continuously for the set number of times without operating the remote control each time. This reduces the number of times the remote control is operated.

[0063] In Figure 14, if there is seedling transplanting (90i), the forward button is pressed to move forward to the edge of the ridge and transplant the seedlings. That is, the machine automatically stops two strokes before the end, and the machine moves forward by pressing the button on the remote control.

[0064] In Figure 15, after seedling transplantation, the machine automatically restarts, turns backward, and moves to the automatic straight-line travel route 90k of the next process. At that time, in order to align the rows, the machine idles on the automatic straight-line travel route 90k of the process after that, rather than the automatic straight-line travel route 90j of the next process.

[0065] In FIG. 16, the planter performs row-aligned planting travel to enter the inner peripheral process (turns and travels to the automatic straight travel route 90j).

[0066] 17, after traveling along the automatic straight travel path 90j, the inner peripheral process is automatically planted. That is, the robot travels from the automatic straight travel path 90k to the travel path 90l adjacent to the inside of the upper travel path 90b, and then travels along the automatic straight travel path 90e while planting seedlings.

[0067] In Figure 18, when the planter approaches the bottom edge 70d, it is called into the ridge by remote control and the worker gets in to check. It then automatically plants on the lower travel path 90d1 in the second area S2, then changes direction to head inward.

[0068] In FIG. 19, the robot then automatically travels straight along the buffered travel path 90d2 while planting seedlings.

[0069] Figure 20 shows the surface of the remote control, which moves forward only while one button is pressed. Pressing two buttons simultaneously will automatically move forward to the edge. This remote control can be divided into two operations: one to move forward only while the forward button is pressed, and one to automatically travel to the edge of the second area S2 by pressing auto start and forward. This allows for manual adjustments if the ridge on the supply side is high and the traveling machine is likely to interfere.

[0070] As explained above, in the inner area I inside the travel path of the traveling vehicle body 7 around the entire outermost periphery of the field H, travel is carried out without a worker riding on the traveling vehicle body 7 in the first area S1, excluding the buffer travel path 90d2, which is adjacent to the lower travel path 90d1 parallel to the lower travel path 90d1 along the edge 70d where materials are replenished.

[0071] In addition, the target driving route for the automatic straight-line round trip performed in the first area S1 is generated by the control unit 50 based on the position information of the entire outermost circumference, and in this case, the target driving route can be set to driving straight for a predetermined distance from the edge 70d where materials are replenished.

[0072] FIG. 21 shows an embodiment related to the present invention.

[0073] This automatic rice transplanter uses RTK positioning and is configured to have three selectable modes: automatic, straight-line assist, and manual. By being able to select each mode, it is possible to perform the work of your choice according to the situation and field.

[0074] By making the robotic rice transplanter a ride-on type, remote controls, three-color lights, auto-differential, auto-brakes, forced four-wheel drive, etc. will be eliminated, but the driving will be automatic and the usability will be almost the same as that of a robot.By making the robotic rice transplanter a ride-on type, remote controls, three-color lights, auto-differential, auto-brakes, forced four-wheel drive, etc. will be eliminated, allowing for significant cost reductions.

[0075] Teaching can be started by lowering the lever, and the AB lamp on the monitor will flash to notify the operator that teaching is in progress. This notification makes it easier to grasp the machine's status, improving workability.

[0076] Teaching is completed by lowering the lever again, and the monitor AB point lamp lights up and the green lamp flashes to notify that teaching is complete. By notifying the operator, the machine's status can be easily grasped, improving workability.

[0077] When the green monitor lamp is on and the main shift lever is in reverse, the vehicle will move backward at the specified speed and automatically stop when it reaches the specified position. This is the same operation as turning assist.

[0078] When operated forward, the vehicle moves forward according to the route, automatically stops on the ridge side and the opposite side, and automatically turns back to enter the next process. The running timing can be controlled by operating a lever, improving safety.

[0079] On the ridge-reaching side, the vehicle automatically stops 3m before the ridge, and once the main shift lever is returned to neutral, it moves forward and stops in the neutral position according to the operation of the main shift lever. Safety is improved by linking the vehicle speed during automatic driving to the lever position.

[0080] The automatic operation mode can be cancelled by lifting the lever during automatic operation, and the green light on the monitor will flash, allowing for manual operation. This allows for an easy transition to manual operation, improving workability and safety.

[0081] After the inner circumference process is completed and the vehicle automatically stops, the monitor green lamp starts flashing and the system automatically switches to manual operation. The remaining processes are manual, so automatically switching to manual operation improves workability.

[0082] When the green light is flashing, after manual operation, lifting the lever again will switch to automatic mode, select the shortest route, and enter automatic operation mode. It is easy to switch to automatic mode, and replanting can be easily performed automatically in case of poor planting.

[0083] If the aircraft's heading deviates from the intended route by more than a specified angle, the main shift lever will not move, and a warning sound will be emitted to notify the pilot to correct the aircraft's heading. This will improve safety by eliminating the need for a large turn or planting maneuver to forcibly enter the route.

[0084] When automatic operation resumes, the monitor will display whether the selected route is a straight process or an inner periphery process. This allows the operator to check whether the desired route is correct, preventing the wrong route from being selected.

[0085] Here is an example: When the auto lever is lowered, the teaching mode starts and the AB points on the auto monitor flash (teaching mode).

[0086] After teaching the outer circumference, lower the lever to complete teaching, and the AB light will turn on and the green lamp will flash.

[0087] Raising the auto lever once will turn on the green auto monitor lamp (switch to automatic mode), and operating the main shift lever in reverse will cause the vehicle to move backward to the specified position.

[0088] By operating forward, the vehicle turns and enters the automatic driving route.

[0089] a. When the vehicle travels straight and reaches the opposite side of the ridge, it automatically stops and automatically reverses, with the vehicle speed during this time linked to the main shift lever (the specified vehicle speed when turning). b. When the vehicle reaches the ridge, it stops 3m in front. Return the main shift lever to neutral, operate forward to drive toward the ridge, and stop with the lever in neutral. c. Use reverse main shift lever to move backward to the specified position, then operate forward to turn toward the next route. Repeat a. to c.

[0090] The furrow clutch operation is automatic, just like with a robotic rice transplanter, and all movements during the inner process are performed with the main shift lever in the forward position (if the machine stops while reversing, it will continue to move in reverse even if it is put into forward mode. This is the same as operating the machine forward using a remote control).

[0091] After the inner periphery process is completed, the green light goes out and the vehicle stops, after which manual operation is required.

[0092] Furthermore, when the auto lever is raised, the mode changes to manual mode and the green lamp flashes. When the lever is raised again, the green lamp lights up and the vehicle moves forward automatically.

[0093] With the above control, stopping is the same as pausing with the current robot, and forward operation steers and drives the robot along the route (the same as forward and reverse operation with a remote control).

[0094] It is also possible to configure the system so that the ridge to be replenished can be set later. For example, it would be good to be able to select which ridge to replenish on a screen that allows settings to be made on a terminal or the like. In that case, it is necessary to at least avoid carrying out supply work on the ridge to which replenishment is intended during lap travel. In other words, if you want to decide which ridge to replenish later, you can travel without carrying out supply work during teaching travel.

[0095] In teaching driving, where the ridge to be replenished is not determined, a notification that the ridge to be replenished has not been determined before automatic driving begins may be provided. Also, a configuration may be adopted in which automatic driving can be started without determining the ridge to be replenished. In this case, automatic driving is performed without replenishment, but it is preferable to be able to select the ridge to be replenished during automatic driving. Selection of the ridge to be replenished during automatic driving is always possible, but when actually selecting the ridge to be replenished and selecting whether or not to perform ridge-pushing driving, it is not possible to do so near the ridge to be replenished. Of course, it may also be impossible to start automatic driving without determining the ridge to be replenished. Furthermore, although this application teaches a portion (three sides) of the perimeter of the field, teaching of the entire perimeter (four sides) of the field may also be performed.

[0096] When the control unit receives a signal indicating that the sub-transmission lever has been set to the "on-the-spot planting operation position," if the automatic driving mode is in the "on" state, it determines that the signal is also a starting point acquisition trigger signal in addition to its original meaning, and causes the calculation unit to determine the position information (coordinate value) of the planting tool located at the left end of the planting device using the latest position information (coordinate value) of the receiving antenna most recently acquired by the position information acquisition device and a predetermined rear end position conversion constant described below, and stores the calculation result in the memory unit as the position information (coordinate value) of the first edge starting point P1S.

[0097] When the robotic ride-on rice transplanter reaches the end of process A by manually driving it along the unevenness of the first side of the field, the operator stops the robotic ride-on rice transplanter when the front end of the robotic ride-on rice transplanter's running body reaches a position just before the second side of the field and operates the planting operation lever to the ``planting device raised'' position, which in turn stops the planting operation and causes the planting device to rise to a specified height and stop.

[0098] When the control unit receives a signal from the planting operation lever indicating that it has been set to "planting device raised," if the automatic operation mode is in the "on" state, it determines that the signal is also an end point acquisition trigger signal in addition to its original meaning, and causes the calculation unit to use the latest position information (coordinate value) of the receiving antenna most recently acquired by the position information acquisition device and a predetermined front end position described below to calculate the position information (coordinate value) of the left front end virtual point (not shown) of the robotic riding rice transplanter described below, and stores the calculation result in the memory unit as the position information (coordinate value) of the first edge end point.

[0099] In addition, the control unit acquires the change in the position of the receiving antenna of the robotic riding rice transplanter in Process A from the time when the start point acquisition trigger signal is received until the time when the end point acquisition trigger signal is received as position information (coordinate values) of the Process A travel trajectory at a predetermined timing and stores it in the memory unit.

[0100] Here, the predetermined rear end position conversion constant is a conversion constant used to calculate the position information (coordinate value) at the position of the planting tool located at the left end of the planting device (i.e., the position of the starting point of the first side mentioned above) using the position information (coordinate value) at the position of the receiving antenna, and the positional relationship between the two is a value that is determined in advance based on the configuration and size of the robotic riding rice transplanter 1, and is stored in advance in the memory unit.

[0101] In addition, the specified front end position conversion constant is a conversion constant used to calculate position information (coordinate values) at the position (i.e., the position of the end point of the first side) of the intersection (called the left front end virtual point) in a planar view of a first virtual line extending to both the left and right sides through the front end of the running body of the robotic ride-on rice transplanter (see Figure 1) and a second virtual line extending in the front-to-back direction through the position of the planting tool located at the left end of the planting device, using position information (coordinate values) at the position of the receiving antenna; the positional relationship between the two is a value that is predetermined based on the configuration and size of the robotic ride-on rice transplanter 1 and is pre-stored in the memory unit.

[0102] As described above, by maneuvering the robotic riding rice transplanter as close as possible to the corner of the field to obtain position information of the starting point of the first side and position information of the starting point of the first side, these position information can be used as approximations of the position information of both ends of the first side of field 5.

[0103] Furthermore, as described above, when the automatic operation mode is in the "on" state, the specified operations of the existing levers, the sub-speed lever and the planting operation lever, are configured to serve not only as the original operation but also as trigger signals for obtaining position information for the starting point and the ending point, thereby eliminating the need for dedicated devices and reducing the number of parts. [Industrial Applicability]

[0104] The present invention is ideal for rice transplanters and the like, as it can realize a work vehicle that can easily identify the location where work materials need to be replenished. [Explanation of symbols]

[0105] 1. Rice planter 3 GNSS equipment 6 Fertilizer application equipment 7, 100 running body 8 Lifting link device 9 Seedling planting department 10 Front wheels 11 Rear wheel 12 Transmission case 13 Front wheel final case 15. Mainframe 18 Rear wheel gear case 20 Engine 23 HST 31 seats 32 Front cover 34 Handle 35 Floor Steps 36 Rear step 40 Top Link 41 Downlink 42 Link base frame 43 Vertical Link 44 Connection shaft 46 Hydraulic Cylinder 47 Front Frame 50 control section 70 outermost 70a left side 70b Top 70c right side 70d bottom 71 Waterway 72 Approach / Exit Road 80 Driving Route 80a Left-hand route 80b Upper running route 80c Right-hand route 80d Lower running path 80e to 80q Automatic reciprocating stroke, inner circular stroke 90a Left-hand route 90b Upper running route 90c Right side driving route 90d, 90d1 Lower travel route 90d2 Buffered driving route 90e to 90l automatic reciprocating stroke, inner stroke I Inner area H, Ho field S1 Area 1 S2 Area 2

Claims

1. A field work machine that supplies agricultural materials to a field as ground work by repeating automatic reciprocating travel along a target travel path that includes a work travel path and a turning path, a work travel control unit that controls the automatic work travel that performs the automatic reciprocating travel while performing the ground work, A specific side consisting of an outer edge of the field can be set as a material supply side for agricultural materials to be consumed, a satellite positioning unit capable of detecting the position of the traveling aircraft using a navigation satellite; The farm has a work device capable of performing work on a field, A field work machine characterized in that the shape of a field can be calculated based on the traveling trajectory of the traveling vehicle body obtained by detecting the position of the traveling vehicle body over time while the traveling vehicle body is traveling along part of the periphery of the field or the entire periphery of the field.

2. The field shape is determined based on position information of at least a corner of the field; 2. The field work machine according to claim 1, wherein the position information of the corner of the field is acquired when the work implement starts working, when the work implement stops working, or when the work implement is raised or lowered.

3. 3. The field work machine according to claim 1, wherein the field shape is calculated while the ground work is being performed.

4. The work travel control unit is capable of performing ridge-pushing travel in which the traveling vehicle body is brought close to a ridge in order to supply the agricultural materials from the start or end area of ​​the turning path, and is provided with automatic supply travel control for bringing the traveling vehicle body close to the material supply side, or remote-controlled travel control for manually bringing the traveling vehicle body close to the material supply side by operating a remote-controlled tool, The field work machine according to claim 3, characterized in that the remote-controlled device allows the user to select whether or not to execute the automatic replenishment driving control or the remote-controlled driving control, and the selection of whether or not to execute the control can be accepted when the traveling vehicle body is located other than in the vicinity of the ridge where the ridge-pushing driving is to be performed.

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