Work vehicles

Abstract

The reduction of the burden on users has not necessarily been achieved sufficiently. [Solution] The work vehicle performs an acquisition step of acquiring driving route data while driving, a route generation step of generating an automatic driving route inside the field based on the acquired driving route data, and an internal work step of automatically performing work inside the field while supplying agricultural materials according to the automatic driving route. The acquisition step can be selected from either a first acquisition method, which includes an outer perimeter acquisition step of driving along the outer perimeter of the field with the supply of agricultural materials stopped, followed by an internal work step and then an outer perimeter finishing step of supplying agricultural materials along the outer perimeter, or a second acquisition method, which acquires driving route data while supplying agricultural materials and driving with the supply stopped in some areas. In the second acquisition method, agricultural materials are later supplied to the areas where supply was not performed.

Description

Technical Field

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

Background Art

[0002] There is known a work vehicle such as a rice transplanter having a seedling planting device attached to the vehicle body so as to be movable up and down, a steering motor for driving a steering handle, and a control device for controlling the straight running of the vehicle body by driving the steering handle with the steering motor (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 of the present invention considers that it is important to reduce the burden on the user from various viewpoints. [[ID=4l]]

[0005] However, with respect to the conventional work vehicle such as a rice transplanter described above, the reduction of the burden on the user accompanying the automatic running is not necessarily sufficiently realized.

[0006] An object of the present invention is to provide a work vehicle capable of reducing the burden on the user accompanying the automatic running in consideration of the above-described conventional problems.

Means for Solving the Problems

[0007] The first aspect of the present invention is a work vehicle comprising a work machine capable of supplying agricultural materials to a field, and a control device for generating a travel route in the field, wherein the control device performs an acquisition step of acquiring travel route data while traveling, a route generation step of generating an automatic travel route inside the field based on the acquired travel route data, and an inside work step of automatically performing work inside the field while supplying agricultural materials according to the automatic travel route, wherein the acquisition step is characterized in that it is possible to select either a first acquisition method, which includes an outer perimeter acquisition step of traveling along the outer perimeter of the field with the supply of agricultural materials stopped, followed by the execution of the route generation step and the inside work step, and further an outer perimeter finishing step of supplying agricultural materials along the outer perimeter of the field, or a second acquisition method, which includes acquiring travel route data while traveling while supplying agricultural materials, acquiring travel route data by traveling with the supply of agricultural materials stopped in a certain area, and subsequently supplying agricultural materials to the area traveled in the stopped state.

[0008] The second aspect of the present invention is a work vehicle of the first aspect of the present invention, characterized in that the finishing step in the second acquisition method targets areas where agricultural materials were not supplied when the travel route data was acquired, and ultimately supplies agricultural materials to those areas by manual driving by an operator.

[0009] The third aspect of the present invention is a work vehicle according to the first or second aspect of the present invention, characterized in that the first acquisition method and the second acquisition method are selected based on the operator's actions. [Effects of the Invention]

[0010] The first aspect of the present invention provides two different methods for acquiring travel route data, thereby enabling changes in the acquisition of field perimeter data and the supply of agricultural materials.

[0011] The second aspect of the present invention, in addition to the effects of the first aspect of the present invention, provides agricultural materials to areas where agricultural materials were not supplied when the travel route data was acquired, thereby eliminating the supply shortage in those areas.

[0012] The third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, allows the acquisition method to be selected based on the operator's actions, thereby changing the operation of the work vehicle according to the operator's selection. [Brief explanation of the drawing]

[0013] [Figure 1] Left side view of a rice transplanter according to an embodiment of the present invention. [Figure 2] Block diagram of a rice transplanter according to an embodiment of the present invention [Figure 3] Plan view of a rice transplanter according to an embodiment of the present invention [Figure 4] Diagram (Part 1) illustrating a simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 5] Diagram (Part Two) illustrating a simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 6] Diagram (Part 3) illustrating a simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 7] Diagram (Part 4) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the invention related to the present invention. [Figure 8] Diagram (Part 5) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 9] Diagram (6) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 10] Diagram (7) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 11] Diagram (No. 8) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 12] Diagram (9) illustrating the simplified operation guide for a robotic rice transplanter, an embodiment of the present invention. [Figure 13] Explanatory drawing (No. 10) of the simple operation guide for the robot rice transplanter of the rice transplanter in the embodiment related to the present invention [Figure 14] Explanatory drawing (No. 11) of the simple operation guide for the robot rice transplanter of the rice transplanter in the embodiment related to the present invention

Embodiments for Carrying Out the Invention

[0014] While referring to the drawings, the embodiments of the present invention and the embodiments of the inventions related to the present invention will be described in detail.

[0015] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

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

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

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

[0019] The rice transplanter in the present embodiment travels with a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in accordance with the control of a control device 500 for manual operation or automatic operation in a steering device 230 of a vehicle body 100, and while performing field preparation by a field preparation device 260 having a field preparation rotor member 261 and a field preparation float member 262, performs seedling planting in the field by a seedling planting device 240 having a seedling planter 241 and a seedling placing table 242, and performs fertilization in the field by a fertilization device 250.

[0020] The traveling device 220, as well as the seedling planting device 240, the fertilizer application device 250, and the land leveling device 260, are driven by the power of the engine 210, which is transmitted via the main transmission 300 and the auxiliary transmission 400, which are HSTs.

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

[0022] The control device 500, which performs turning control to rotate the vehicle body 100, controls the steering angle based on the vehicle body angular velocity detected by the vehicle body angular velocity detection device 510, which detects the vehicle body angular velocity related to the change in the orientation of the vehicle body 100, when turning the vehicle body 100.

[0023] (1A) The control of the steering angle based on the vehicle's angular velocity will be explained in detail as follows:

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

[0025] For example, in an effort to improve the turning assist function, slippage is detected from the vehicle's angular velocity during turning, and steering correction control is performed.

[0026] The steering angular velocity at the start of a turn may be varied, taking into account the vehicle speed. The vehicle's orientation changes by the time the steering operation is completed, and often differs depending on the vehicle speed. However, by properly adjusting the steering angular velocity, the vehicle's orientation can be stabilized by the time the steering operation is completed.

[0027] Specifically, when an inward turn occurs in which the vehicle speed and vehicle angular velocity decrease due to slip, and the turning radius r decreases, it is often desirable to compensate for the turning radius r by controlling the steering angle so that the steering return timing is delayed. Instead of controlling the steering angle so that the steering return timing is delayed, the target turning steering angle given by the specified steering position during the turn may be adjusted to be smaller. The steering angular velocity may be adjusted to be small when the turning start vehicle speed is small, and the steering angular velocity may be adjusted to be large when the turning start vehicle speed is large.

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

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

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

[0031] The target turning steering angle is adjustable.

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

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

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

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

[0036] The formula used to determine the target turning steering angle during a turn is modified according to the wheelbase and tread of the vehicle body 100, thereby enabling compatibility with derivative models.

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

[0038] The formula used to determine the target turning steering angle is modified according to the number of seedling planting rows in the vehicle body 100, thereby enabling derivative model support suitable for models with 7 or 6 seedling planting rows.

[0039] (1B) A more detailed explanation of steering angle control based on vehicle angular velocity is as follows:

[0040] The ideal cornering vehicle angular velocity described above can be theoretically predicted as the ideal cornering vehicle angular velocity given the steering angle and vehicle speed, in an ideal model where slippage is not assumed.

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

[0042] The steering is controlled in response to slippage by adjusting the target turning steering angle according to the difference between the predicted and measured vehicle angular velocity. The target turning steering angle itself, which is a constant value, may be adjusted, or the steering angle may be controlled, for example, to delay the timing of steering return.

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

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

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

[0046] When the steering is returned to the straight-ahead position to complete a turn, the timing of the steering return start may be adjusted according to the vehicle's angular velocity.

[0047] The formula used to determine the timing for initiating steering return is modified according to the wheelbase and tread of the vehicle body 100, thereby enabling compatibility with derivative models.

[0048] The formula used to determine the timing for starting to return the steering wheel is changed according to the number of seedling planting rows in the vehicle body 100, thereby enabling derivative model support suitable for models with 7 or 6 seedling planting rows.

[0049] The timing for starting to return the steering wheel may be adjusted according to a value set using the turning assist adjustment screen on the LCD monitor. This is because, in models with 7 or 6 seedling planting rows, the target heading line at the end of the turn may not be parallel to the seedling planting line, causing the vehicle body 100 to move inward during the turn.

[0050] (1C) A more detailed explanation of steering angle control based on vehicle angular velocity is as follows:

[0051] If the steering is operated manually while turning assist is active, the turning assist will be canceled.

[0052] The measured value of the steering angular velocity during turning is monitored. While it is conceivable to use a simple method of judgment that utilizes the deviation of the steering angle from the specified angle, which represents the deviation of the steering from the specified position during turning, observing the measured value of the steering angular velocity allows for the recognition of manual operation even when the steering motor is operating, in order to detect that the steering angle changes not only due to the operation of the steering motor but also due to manual operation.

[0053] Manual operation is determined to have occurred if the difference between the target steering angular velocity (target value) and the measured steering angular velocity (actual value) exceeds a predetermined level for a predetermined period of time.

[0054] Such a difference between the target turning steering angular velocity and the measured steering angular velocity may be judged as manual operation occurring if, for example, the difference is greater than the maximum value of the target turning steering angular velocity. A judgment method using the maximum motor operating speed is also conceivable, but even if steering is not possible due to the wheels getting stuck during a turn, the motor operating speed value will not reach the maximum motor operating speed, so turning assist is often unintentionally canceled. To avoid such unintentional cancellation of turning assist, manual operation can be recognized, for example, by observing steering operations that exceed the maximum motor operating speed.

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

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

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

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

[0059] The transmission of radio waves from the remote controller 530, which remotely operates the vehicle body 100, to the surrounding area is explained in detail as follows:

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

[0061] This is because, although the likelihood of needing emergency radio communication decreases with the selection of manual control mode, the remote controller 530 may transmit radio waves to the surrounding area if necessary.

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

[0063] This is because, although the likelihood of needing emergency radio communication increases with the selection of automatic control mode, the transmission of radio waves from the remote controller 530 to the surrounding area does not have to be performed unless necessary.

[0064] When the "manual operation mode," which allows for normal operation of the rice transplanter, is selected, the remote controller 530 is controlled not to emit radio waves when idle. However, when an operation such as changing the settings of the rice transplanter is performed using the remote controller 530, the control system is activated to emit radio waves for one cycle, and only the changed data block is transmitted.

[0065] When the "manual operation mode," which allows for normal operation of the rice transplanter, is selected, the system is controlled to not transmit radio waves when the rice transplanter is not being operated. However, if an operation is performed on the rice transplanter, such as changing the data transmitted to the remote controller 530, the system is controlled to transmit radio waves for one cycle, and only the changed data block is transmitted.

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

[0067] When the "remote control mode," which allows normal operation of the rice transplanter, is selected, the system is controlled to not transmit radio waves when the rice transplanter is not being operated. However, if an operation is performed on the rice transplanter, such as changing the data transmitted to the remote controller 530, the system is controlled to transmit radio waves for one cycle, and then transmits radio waves only for the block of data that has been changed.

[0068] When the "automatic driving mode," which allows normal operation of the rice transplanter, is selected, control is performed so that the remote controller 530 does not transmit radio waves when it is idle in the ridge-forming operation area. However, when an operation such as changing the settings of the rice transplanter or an operation to move the rice transplanter is performed using the remote controller 530, control is performed so that radio waves are transmitted for one cycle, and when an operation such as changing the settings of the rice transplanter or an operation to move the rice transplanter is performed using the remote controller 530, control is performed so that only the block of changed data is transmitted.

[0069] (3) Next, with reference to Figures 4 to 14, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in detail.

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

[0071] [A] Name and function of the device ● Remote control (see Figure 4) The LCD screen allows you to check the status of the rice transplanter. You can also change the driving mode and start / stop automatic driving. Remote operation and function settings can also be changed while dismounted from the rice transplanter.

[0072] ● Robot mode switch (see Figure 5) Switches robot mode ON / OFF.

[0073] Always turn this switch ON when operating with the remote control. When OFF, all remote control operations will be rejected.

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

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

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

[0077] [1] Preparation (see Figure 8) Prepare the system to begin teaching.

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

[0079] (Circled number 3) Turn on the remote control.

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

[0081] (Circled number 5) Drive straight for 2m. Determine the azimuth angle. *Doing this before entering the field allows you to start teaching without disturbing the field.

[0082] [2] Teaching (see Figure 9) Plant the outer perimeter of the field manually to prepare it for automated operation.

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

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

[0085] (Circled number 3) Manually plant along three sides of the outer perimeter to allow the machine to recognize the area for automatic operation. *The machine will travel along three sides (two or more sides) of the outer perimeter, excluding the side where seedlings and materials are replenished.

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

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

[0088] [Return journey itinerary] (See Figure 11) (Circled number 1) After replenishing seedlings and fertilizer, confirm that the system is in automatic driving mode, and press and hold the (circled alphabet F) + start button on the remote control to start automatic driving.

[0089] (Circled number 2) After automatically driving back and forth, the rice transplanter will pause 3 meters before the ridge. Press the forward button to drive it to the edge of the ridge.

[0090] (Circled number 3) After ridge formation, replenish seedlings and fertilizer as needed.

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

[0092] Repeat (circled number 5)(circled number 1) to (circled number 4). *When "Row Adjustment" is displayed on the remote control, the system automatically performs row stopping and empty runs to adjust the planting width.

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

[0094] (Circled number 8) Once the inner circumference process is complete, the automatic driving stops 3m before the edge of the ridge. The ridge is then trimmed, and seedlings and fertilizer are replenished as needed.

[0095] [4] Pillow work The rice planting work is completed by manually planting seedlings along the outer edges where they were supplied.

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

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

[0098] [C] Teaching method that takes field shape into consideration Since the round trip process is created based on the last edge traveled, attention must be paid to the teaching direction.

[0099] [1] Trapezoidal field (see Figure 12) When teaching a trapezoidal field like the one shown in the diagram in a counter-clockwise direction, the return-and-return process is created at an angle. If teaching in a clockwise direction, it is possible to create a return-and-return process that is perpendicular to the seedling supply side.

[0100] [2] Fields where subpaths are created (see Figure 13) A sub-path is created by performing the teaching as shown in the diagram. Since the sub-path is not traveled during the round trip process, it is necessary to move to the sub-path starting position in manual driving mode or remote control mode before switching to automatic driving mode.

[0101] The following countermeasures will prevent the creation of subroutes and enable continuous operation.

[0102] (1) Change the teaching direction so that no enclosed area appears during the outer perimeter process.

[0103] (2) First, lower the planting unit at the protruding section, and perform teaching with the planting button turned off and idle recognition enabled.

[0104] [3] Fields with an overhang on the seedling supply side (see Figure 14) In fields with protruding shapes, teaching the rice transplanter as usual may cause it to collide with obstacles. By first teaching the seedling supply side with the planting button off and using idle recognition, the machine can recognize the protruding shape.

[0105] 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 work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0106] 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 work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0107] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0108] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to the actions of all or part of the steps mentioned above.

[0109] 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.

[0110] Furthermore, recording media include ROM (Read Only Memory), among others.

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

[0112] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

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

[0114] 100 car bodies 210 engine 220 Traveling device 221 Front Wheel 222 Rear wheel 230 Control devices 240 Seedling planting device 241 Seedling planting tool 242 Seedling stand 250 Fertilizer equipment 260 Ground leveling equipment 261 Ground leveling rotor component 262 Ground leveling float member 300 Main transmission 400 Sub-transmission 500 Control Device 510 Vehicle angular velocity detection device 520 Vehicle position information acquisition device 530 Remote Controller λ target line O Swivel center r turning radius θ Rotation angle δ shift

Claims

1. A work vehicle comprising a work machine capable of supplying agricultural materials to a field, and a control device that generates a travel path in the field, The control device performs the following steps: an acquisition step of acquiring travel route data while traveling; a route generation step of generating an automatic travel route inside the field based on the acquired travel route data; and an internal work step of automatically performing work inside the field while supplying agricultural materials according to the automatic travel route. The acquisition process includes a first acquisition method which involves a perimeter acquisition process in which the vehicle travels along the perimeter of the field with the supply of agricultural materials stopped, followed by the execution of the route generation process and the inner work process, and further includes a perimeter finishing process in which agricultural materials are supplied along the perimeter of the field. A work vehicle characterized by being able to select either a second acquisition method, which includes a finishing process in which the vehicle drives while supplying agricultural materials and acquiring driving route data, and driving with the supply of agricultural materials stopped in a certain area and acquiring driving route data, and then subsequently supplying agricultural materials to the area driven in the stopped state.

2. The work vehicle according to claim 1, wherein the finishing step in the second acquisition method is characterized in that agricultural materials are ultimately supplied to an area where agricultural materials were not supplied when the travel route data was acquired, by manual driving by an operator.

3. The work vehicle according to claim 1 or 2, characterized in that the first acquisition method and the second acquisition method are selected based on the operator's actions.

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