Teaching methods for field work vehicles

Abstract

The inventors noticed that conventional teaching methods for field work vehicles were not always user-friendly when utilizing convenient functions. More specifically, the inventors noticed that there was a demand for highly accurate work with minimal manual operation. [Solution] A teaching method for a field work vehicle equipped with a vehicle body and a satellite positioning unit capable of detecting the position of the vehicle body, for teaching a driving path for automatic driving in a field (50), characterized in that when the execution of the driving teaching function for teaching the outer perimeter shape of the field (50) is interrupted, the driving teaching function is restarted from a position different from the position where it was interrupted.

Description

Technical Field

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

Background Art

[0002] A travel route generation device for a work vehicle that enters and exits a work area partitioned by boundaries through an entrance / exit passage, comprising: a start point registration unit that registers the position of the first end point on the boundary side of the entrance / exit passage as the start point; a passing point registration unit that registers the shape feature points defining the shape of the work area as passing points; an end point registration unit that registers the position of the second end point on the boundary side of the entrance / exit passage, which faces the first end point, as the end point; a basic shape calculation unit that calculates the basic shape of the work area by connecting the positions of the start point, the passing points, and the end point; an entrance / exit passage information generation unit that generates entrance / exit passage information with a quadrilateral having the start point and the end point as opposite vertices and two sides along the outer extension line of the basic shape as the shape of the entrance / exit passage; and a travel route generation unit that sets the area other than the entrance / exit passage of the work area as the work target area and generates a travel route for the work vehicle to automatically travel in the work target area. Such a travel route generation device is known (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the inventor believes that considering various needs of users, the trend of continuously implementing convenient functions on seedling transplanters such as rice transplanters is accelerating more and more.

[0005] However, the inventors of the present invention noticed that conventional seedling transplanters are not always easy to use when utilizing their convenient functions.

[0006] More specifically, the inventors realized that there was a need for highly accurate seedling transplanting with minimal manual operation.

[0007] The present invention aims to provide a teaching method for field work vehicles that can improve usability, taking into consideration the conventional problems described above. [Means for solving the problem]

[0008] The first aspect of the present invention is a vehicle body and A teaching method for teaching a field work vehicle equipped with a satellite positioning unit (103) capable of detecting the position of the vehicle body a travel path for automatic travel in a field (50), wherein The method for teaching a field work vehicle is characterized by including a step of restarting the driving teaching function, which teaches the outer perimeter shape of the field (50), from a position different from the position where the function was interrupted.

[0009] The second aspect of the present invention is a teaching method for a field work vehicle according to the first aspect of the present invention, characterized in that the position at which the interrupted driving teaching function is restarted is the position at which the driving teaching function was started.

[0010] The third aspect of the present invention is a state teaching function for understanding the soil conditions of the field (50), The first or second teaching method for a field work vehicle of the present invention is characterized by performing the state teaching function while the driving teaching function is interrupted.

[0011] The fourth aspect of the present invention is a teaching method for a field work vehicle according to the first or second aspect of the present invention, characterized in that when the driving teaching function is restarted, the vehicle drives in the opposite direction to the driving direction that was being used until the driving teaching function was interrupted. [Effects of the Invention]

[0012] The first aspect of this invention makes it possible to improve ease of use.

[0013] The second aspect of the present invention makes it possible to improve practicality in addition to the effects of the first aspect of the present invention.

[0014] The third aspect of the present invention makes it possible to further improve practicality in addition to the effects of the first or second aspect of the present invention.

[0015] The fourth aspect of the present invention makes it possible to further improve practicality in addition to the effects of the first or second aspect of the present invention. [Brief explanation of the drawing]

[0016] [Figure 1] (a) Left side view of the rice transplanter according to the embodiment of the present invention, (b) Top view of the rice transplanter according to the embodiment of the present invention [Figure 2] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part 1) [Figure 3] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part Two) [Figure 4] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part 3) [Figure 5] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part 4) [Figure 6] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part 5) [Figure 7] Diagram illustrating field shape teaching of a rice transplanter according to an embodiment of the present invention (Part 6) [Figure 8] Explanatory drawing (Part 7) of field shape teaching of the rice transplanter according to an embodiment of the present invention [Figure 9] (a) Explanatory drawing (Part 1) of operation control of the rice transplanter according to an embodiment of the present invention, (b) Explanatory drawing (Part 2) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 10] Explanatory drawing (Part 3) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 11] Explanatory drawing (Part 4) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 12] Explanatory drawing (Part 5) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 13] Explanatory drawing (Part 6) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 14] Explanatory drawing (Part 7) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 15] Explanatory drawing (Part 8) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 16] Explanatory drawing (Part 9) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 17] Explanatory drawing (Part 10) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 18] Explanatory drawing (Part 11) of operation control of the rice transplanter according to an embodiment of the present invention [Figure 19] Explanatory drawing (Part 12) of operation control of the rice transplanter according to an embodiment of the present invention

Embodiments for Carrying Out the Invention

[0017] Embodiments of the present invention will be described in detail while referring to the drawings.

[0018] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0019] While describing the operation of the rice transplanter 1 according to the embodiment of the present invention, a method for controlling the operation of a seedling transplanter, which is related to the present invention and is implemented by a controller or the like, will also be described.

[0020] The rice transplanter 1 of the embodiment of the present invention is a rice transplanter that manually teaches the field shape by traveling along all sides of a substantially polygonal field 50 without overlapping the sides, before creating an automatic straight-line reciprocating travel path in the substantially polygonal field 50, and is a specific example of a seedling transplanter of the present invention.

[0021] (1) First, the configuration and operation of the rice transplanter 1 of the embodiment of the present invention will be specifically described, mainly with reference to Figures 1(a) and 1(b), as well as 2, 3, 4, 5, 6, 7, and 8.

[0022] Here, Figure 1(a) is a left side view of the rice transplanter 1 according to an embodiment of the present invention, Figure 1(b) is a top view of the rice transplanter 1 according to an embodiment of the present invention, and Figures 2, 3, 4, 5, 6, 7 and 8 are explanatory diagrams (one to seven) of field shape teaching for the rice transplanter 1 according to an embodiment of the present invention.

[0023] In field shape teaching, the process starts from a predetermined vertex Va of a roughly polygonal shape, follows the edges to the other predetermined vertices Vb of the roughly polygonal shape excluding Va, moves to a vertex Vc of the roughly polygonal shape via a diagonal D passing through the interior of the roughly polygonal shape, and then follows the remaining edges.

[0024] Of course, such polygons can be quadrilaterals like trapezoids that give the shape of a so-called deformed field, or they can be n (≧5)-sided polygons. When the remaining sides are traced, the same sides or the same diagonals D may be traced repeatedly, and it goes without saying that it is important that all sides are eventually traced.

[0025] In field shape teaching, the process starts from a predetermined vertex Va, follows the edges to another predetermined vertex Vb, returns to a predetermined vertex Va=Vc via the diagonal D, and then follows all remaining edges to another predetermined vertex Vb.

[0026] Of course, the number of diagonals D may be one or k (≧2). It goes without saying that the edges, diagonals D, and the material supply edge E described later may not be line segments in the strict sense, but may be bent.

[0027] A roughly polygonal shape is roughly rectangular.

[0028] As shown in Figures 3 to 6, the teaching run, which sets the field work area for field work in the field 50 using automatic driving by the driving unit 101 while operating the satellite positioning unit 103 that detects the vehicle's position using navigation satellites and the work unit 102 that performs tasks such as seedling planting, is performed as a full-circumference teaching run that follows all four sides by first traversing two sides of the half-circumference of the field, then traversing the diagonal D to return to the teaching start position, and then traversing the remaining two sides of the half-circumference of the field in the opposite direction. This type of teaching run differs from a teaching run that simply follows the four sides of the roughly rectangular field 50 in a circular drive. In the three-side teaching that does not follow the material supply side E, the vehicle is stopped while a margin is safely secured to avoid obstacles such as ridges 51 before the material supply side E, so manual operation of stopping the vehicle by the remote controller 40 is required. Therefore, automated driving in this type of three-sided teaching is not necessarily smooth. High-precision driving is achieved by full-circumference teaching, where the teaching of the material supply side E is performed in the same way as the ridges of the non-material supply side opposite to material supply side E.

[0029] The first teaching, which starts from a predetermined vertex Va and follows the edges to another predetermined vertex Vb, is distinguishable from the second teaching, which returns to a predetermined vertex Va=Vc via the diagonal D and then follows all remaining edges to another predetermined vertex Vb. For example, the first teaching is performed in a clockwise direction, and the second teaching is performed in a counterclockwise direction, so a criterion for making such a distinction is given. In this sense as well, the full-circumference teaching run described above differs from a teaching run that simply follows the four sides of the field 50 in a circular motion. However, the entire perimeter of the field, including the material supply edge E, is reliably recognized.

[0030] In field shape teaching, when passing through diagonal line D, seedling planting does not occur, but field condition data is collected. This field condition data is used for fertilization, which is carried out in conjunction with seedling planting.

[0031] While the machine is traveling along diagonal line D, the average field depth for fertilization and the average field fertility are measured. By inserting this fertilization teaching into the middle of the full-circumference teaching for travel, two teaching processes are performed, improving efficiency through the synchronous completion of the work.

[0032] During the teaching run along diagonal line D for fertilization, and also during the teaching run along material supply line E where material replenishment is performed automatically, no work such as seedling planting is performed by the work unit 102.

[0033] In field shape teaching, when an edge is traced from a predetermined vertex Va to another predetermined vertex Vb, the collection of field condition data is automatically started.

[0034] In teaching areas where seedling planting is not performed, it is possible to distinguish whether teaching travel is being performed along diagonal line D or along material supply side E. The innermost teaching travel path is determined to be the teaching travel along diagonal line D for fertilization. After the work is completed, the system can perform the necessary processing to distinguish between these teaching travel paths.

[0035] In field shape teaching, after field condition data has been collected, when all remaining edges are traced to another predetermined vertex Vb, the field condition data is used for fertilization.

[0036] As shown in Figures 7 and 8, the directions for teaching runs to set the field work area for performing field work in field 50 using automated driving are limited to, for example, no more than four. A fifth teaching run, which is not one of the four directions for teaching runs, is determined to be a teaching run for fertilization.

[0037] The teaching run for fertilization is provided between two stages: the first teaching, which starts from a predetermined vertex Va and follows the edges to another predetermined vertex Vb; and the second teaching, which returns to a predetermined vertex Va=Vc via the diagonal D and then follows all remaining edges to another predetermined vertex Vb.

[0038] The starting position for the second teaching is the same as the starting position for the first teaching, and it is also the ending position for the teaching run for fertilization.

[0039] One of the four sides of the roughly rectangular shape is set as the material supply side E. In field shape teaching, seedling planting is performed when following the non-material supply sides excluding material supply side E, but seedling planting is not performed when following material supply side E.

[0040] The material supply side E is determined by ensuring that no work, such as seedling planting by work unit 102, is performed on at least one of the sides of the first teaching side and the second teaching side.

[0041] Based on whether or not work by the work unit 102 is being performed in conjunction with teaching, the discrimination process in the teaching mode between the teaching run for setting the field work range for field work in field 50 and the teaching run for fertilization is performed automatically according to the position of the teaching run path. This achieves a user-friendly specification that eliminates the need for manual switching between the two teaching runs.

[0042] (2) Next, the configuration and operation of the rice transplanter 1 of the embodiment of the present invention will be described in more detail, mainly with reference to Figures 9(a) and 9(b), 10, 11 and 12, 13, 14 and 15, and 16, 17 and 18.

[0043] Herein, Figures 9(a) and 9(b), 10, 11 and 12, 13, 14 and 15, and 16, 17 and 18 are explanatory diagrams (1 to 11) of the operation control of the rice transplanter 1 according to an embodiment of the present invention.

[0044] The automatic straight-line round-trip route is a route that travels back and forth between the material supply side E and the non-material supply side opposite to material supply side E. The stopping point before material supply side E on the automatic straight-line round-trip route is set at a predetermined distance from material supply side E.

[0045] As shown in Figures 9(a) and 9(b), the automation of the levee preparation process can be promoted by detecting the distance to the levees with an ultrasonic sensor 30 added to the rice transplanter 1, which is a robotic rice transplanter. The cumbersome operation of the remote controller 40 during the levee preparation process tends to reduce work efficiency. Since the operation of the remote controller 40 by the operator, which was required each time a round trip was completed on the automatic straight-line reciprocating travel path, is no longer necessary, work efficiency is improved.

[0046] The two ultrasonic sensors 30 are mounted on the upper side of the front bumper 20, inside the GNSS antenna stay of the satellite positioning unit 103. This effectively utilizes the dead space that existed between the front bumper 20 and the satellite positioning unit 103, providing a meaningful sensor mounting height that ensures reliable detection of obstacles such as ridges 51. Furthermore, the ultrasonic sensors 30 are protected by the front bumper 20 and the satellite positioning unit 103, making sensor damage less likely (see Figures 9(a) and 9(b)).

[0047] Based on detection by an ultrasonic sensor 30 for detecting the distance to an obstacle 51 in front, if it is determined that the distance to the obstacle 51 exceeds a first threshold at the stopping point, the forward movement is automatically started at a first vehicle speed.

[0048] As shown in Figure 10, the two ultrasonic sensors 30 are positioned so that the sensor detection angle in the left-right direction of the vehicle body is approximately equal to the width of the rice transplanter 1. This helps to suppress collisions with obstacles 51 such as utility poles that may be present near the ridges of the rice plant.

[0049] If, based on detection by the ultrasonic sensor 30, it is determined that the distance to the obstacle 51 subsequently falls below a second threshold which is smaller than the first threshold, the forward movement is automatically continued at a second vehicle speed which is smaller than the first vehicle speed.

[0050] As shown in Figure 11, when the automatic ridge-raising operation is being performed, control is performed to change the ridge-raising vehicle speed from a first speed, such as a so-called second speed, to a second speed, such as a so-called first speed, at a timing when the detection distance of the ultrasonic sensor 30 almost coincides with approximately 1000 millimeters. This can suppress the occurrence of collisions between the vehicle body and obstacles 51 such as ridges or utility poles.

[0051] If, based on detection by the ultrasonic sensor 30, it is determined that the distance to the obstacle 51 subsequently falls below a third threshold which is smaller than the second threshold, the forward movement is automatically stopped.

[0052] As shown in Figure 12, control is performed to change the vehicle speed to zero when the detection distance of the ultrasonic sensor 30 coincides with approximately 50 millimeters. This makes it possible to more reliably suppress collisions between the vehicle and obstacles 51 such as ridges or utility poles.

[0053] After the vehicle is stopped by a control that changes the ridge-plow speed to zero, the transition to the next round trip is performed automatically. Since operation of the remote controller 40 is unnecessary, work efficiency is improved.

[0054] Based on manual operation by the operator using the remote controller 40, if it is determined that no material replenishment is required at material replenishment side E, the transition to a turning motion is automatically initiated. However, if it is determined that material replenishment is required at material replenishment side E, the forward motion remains stopped.

[0055] As shown in Figure 13, the remote controller 40 is equipped with a supply button 201 for supplying materials. By pressing the supply button 201 during the period from the start of the previous round trip to the stop of the automatic furrowing process, the transition to the next round trip, which is automatically performed after the furrowing process stops, can be canceled. This allows for timely material supply as needed, improving usability.

[0056] As shown in Figure 14, after material replenishment is completed, pressing the start button 202 on the remote controller 40 automatically initiates the transition to the next round trip. If material replenishment is not required, automatic operation continues as is. However, if material replenishment is required, the vehicle can be stopped at the edge of the field and operation can be appropriately resumed thereafter.

[0057] As shown in Figure 15, the location information of the point where the automatic ridge-making process is completed is stored. In the so-called final process on the material supply side E where the ridge-making is performed, it is preferable that the seedling planting work is performed automatically without manual operation. By generating the travel path for the final process at the edge of the ridge based on the teaching start point, teaching end point, and automatic ridge-making end point, it is possible to achieve nearly automatic seedling planting travel in the final process. Collisions with obstacles 51 such as utility poles can also be almost completely avoided.

[0058] In other words, one possible configuration of the automatic ridge-forming control flow of the rice transplanter 1 is as follows:

[0059] As shown in Figure 16, when automatic driving is in progress, after a stop control is performed at a point where the distance to the ridge is approximately 3000 millimeters, the distance to the ridge is detected by the ultrasonic sensor 30, and if the detected distance is approximately 2000 millimeters or more, forward movement at second speed is automatically started. Ridge digging using the remote controller 40 is often difficult for beginners. A user-friendly specification is realized that allows ridge digging to be started without operation of the remote controller 40.

[0060] As shown in Figure 17, when the distance to the ridge detected by the ultrasonic sensor 30 reaches 1000 millimeters, the vehicle switches from moving in second speed to moving in first speed, and automatic ridge-climbing continues. Since first speed is a lower vehicle speed than second speed, the vehicle can be stopped immediately when the distance to the ridge becomes even shorter.

[0061] As shown in Figure 18, the automatic levee preparation is stopped when the distance to the levee detected by the ultrasonic sensor 30 is 50 millimeters.

[0062] If the replenishment button 201 is not pressed before the automatic ridging stops, the transition to the next round trip is performed automatically. If the replenishment button 201 is not pressed before the automatic ridging stops, the transition to the next round trip after ridging occurs without pressing the start button 202, thus improving usability (see Figure 18).

[0063] If the replenishment button 201 is pressed before the automatic furrowing stops, the transition to the next round trip will not occur automatically, and the vehicle will remain temporarily stopped. The user can replenish materials at the appropriate time according to their judgment (see Figure 18).

[0064] After supplies are replenished, the transition to the next round trip is initiated by pressing the start button 202 (see Figure 18).

[0065] (3) Next, the configuration and operation of the rice transplanter 1 of the embodiment of the present invention will be described in more detail, mainly with reference to Figure 19.

[0066] Here, Figure 19 is an explanatory diagram (part 12) of the operation control of the rice transplanter 1 according to an embodiment of the present invention.

[0067] When map data is acquired and an automatic travel path for the rice transplanter 1 is generated, an area acquisition function is implemented in the rice transplanter 1, which is a work machine that performs automatic travel using a satellite positioning unit 103 that acquires position information from satellites. This function offsets the work area of ​​the image data from obstacles 51 such as buildings outside the field 50. When automatic travel is performed, it is possible to suppress the occurrence of interference with obstacles 51 that occur when so-called back turns are performed.

[0068] If the obstacle 51 is recognized as a building or the like, the work area is automatically generated with a predetermined offset amount.

[0069] The front bumper 20 is positioned to protrude forward compared to the front wheels 10. When an obstacle 51 is lower than the front bumper 20, the forward movement is automatically stopped when the front bumper 20 is above the obstacle 51 below.

[0070] A wall-like boundary 301 of a certain height may be provided along a work area offset from the obstacle 51. Since the amount of the bumper portion of the front bumper 20 protruding from the front of the vehicle body is usually not the same as the amount of the wheel portion of the front wheel 10 protruding from the front of the vehicle body, it is controlled whether or not the front bumper 20 can perform furrowing that partially crosses the boundary 301.

[0071] It is often desirable that the height setting of the boundary 301 be divided into stages. For example, the height at which interference with the bumper portion of the front bumper 20 is likely to occur can be distinguished from the height at which interference with the seedling planting portion of the work unit 102 is likely to occur, thereby improving practicality.

[0072] A work area determination function is implemented to automatically set the automatic driving path in a way that minimizes wall interference, by taking into account the wall setting height of boundary 301. By considering various heights, such as the height at which interference with the bumper portion of the front bumper 20 is likely to occur, and the height at which interference with the seedling planting portion of the work unit 102 is likely to occur, a safe path can be set.

[0073] The wall height setting described above can be adjusted manually. Even when it is difficult to determine the wall height using automatic image recognition, or when the wall height changes depending on the location, the wall height setting can be adjusted appropriately.

[0074] Furthermore, 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 the computer.

[0075] Furthermore, 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 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 computer-readable recording medium in which the read program is used in cooperation with the computer.

[0076] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0077] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0078] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0079] Furthermore, recording media include ROM (Read Only Memory), among others.

[0080] 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.

[0081] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0082] The seedling transplanter in this invention can be made easier to use and is useful for use in seedling transplanters such as rice transplanters. [Explanation of Symbols]

[0083] 1. Rice transplanter 10 Front Wheel 20 Front Bumper 30 Ultrasonic Sensors 40 Remote Controllers 50 fields 51 Obstacles 101 Running Unit 102 Work Units 103 Satellite Positioning Unit 201 Resupply Button 202 Start button 301 Boundary D Diagonal E. Material Supply Area Va, Vb, Vc vertices

Claims

1. The vehicle body and A teaching method for teaching a field work vehicle equipped with a satellite positioning unit (103) capable of detecting the position of the vehicle body a travel path for automatic travel in a field (50), wherein A teaching method for a field work vehicle, characterized in that when the execution of the driving teaching function for teaching the outer perimeter shape of the field (50) is interrupted, the driving teaching function is restarted from a position different from the position where it was interrupted.

2. The teaching method for a field work vehicle according to claim 1, characterized in that the position at which the interrupted driving teaching function is restarted is the position at which the driving teaching function was started.

3. The system is equipped with a condition teaching function for understanding the soil conditions of the field (50), A teaching method for a field work vehicle according to claim 1 or 2, characterized in that the state teaching function is executed while the driving teaching function is interrupted.

4. A teaching method for a field work vehicle according to claim 1 or 2, characterized in that when the driving teaching function is restarted, the vehicle drives in the opposite direction to the driving direction that was being used until the driving teaching function was interrupted.

Images