Paddy field farming machine

Abstract

To solve the problem that execution timings of route generation teaching and variable fertilization teaching are not sufficiently considered.SOLUTION: In a paddy field working machine which includes a control part 500 and a variable fertilization device 250 and performs farm field work by automatically traveling in a farm field along a prescribed route with the control part 500, the prescribed route is generated by performing route generating teaching travel along at least a part of an outer periphery of the farm field by manual traveling, and the control part 500 can automatically perform variable fertilization teaching for the variable fertilization device 250. During the route generation teaching by the manual traveling, the control part 500 does not perform the variable fertilization teaching.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Conventionally, a rice transplanter capable of variable fertilization is known (Patent Document 1).

[0003] By the way, since the fertilizer reduction rate is determined based on the relative value for each rice field, rather than uniformly reducing the amount of fertilizer, when you first enter the rice field, there is a process called variable fertilization teaching, in which the average depth and fertility of the rice field are calculated, and the fertilizer reduction rate is determined from that value based on the variation in the depth and fertility of the rice field. In this case, it is preferable to carry out variable teaching in a place that is not on the periphery or in a corner of the rice field.

[0004] Recently, research and development of robotic rice transplanters has been conducted. Therefore, in order to first obtain information about the shape and position of the field, the robot often travels around the perimeter of the field manually to teach the path generation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-023154 Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, as described above, it is known that the position or location where variable fertilization teaching is performed is more appropriate in terms of estimating the average value of the field when it is slightly inside the outer periphery or edge of the field.

[0007] However, in the conventional techniques described above, the reality is that no consideration is given to the timing of execution of the path generation teaching and the variable fertilization teaching.

[0008] In consideration of the conventional problems, the present invention aims to provide a paddy field working machine that can appropriately time the execution of path generation teaching and variable fertilization teaching.

[0009] The purpose is to provide. [Means for solving the problem]

[0010] The first aspect of the present invention is A paddy field working machine including a control unit and a variable fertilizer application device, the control unit automatically traveling in a field along a predetermined route to perform field work, The predetermined route is generated by manually traveling along at least a portion of the perimeter of the field through route generation teaching, The control unit can automatically execute variable fertilization teaching for the variable fertilization device, During the route generation teaching by the manual traveling, the control unit does not perform the variable fertilization teaching, The variable fertilization teaching is performed using a route for variable fertilization other than the generated predetermined route after the route generation teaching is completed and before automatic traveling along the generated predetermined route is performed; The path for variable fertilization is determined using the result of the path generation teaching; The field is a quadrilateral field, and the path generation teaching is performed using three sides of the field; After the path generation teaching is completed, variable fertilization automatic teaching is performed while traveling diagonally from the corner (1d) of the completed location to the diagonal corner (1b) of the field as the outward route (I4), A return trip (I5) is performed from the diagonal corner (1b) to the diagonal corner (1d), The paddy field working machine is characterized in that the outward path (I4) and the return path (I5) are offset from each other and do not travel along the same route. The second aspect of the present invention is The predetermined route along which the automatic travel is performed is a plurality of straight-line routes parallel to the final side of the route generation teaching performed along three sides, The automatic traveling is started from a path (I4') adjacent to an inner path adjacent to the third side, which is the final side, among the plurality of linear paths, Among the linear paths, a point on the side of the corner (1d) of a path adjacent to the inside of the third side, which is the final side of the path generation teaching, is set as point (P1); A point on the corner (1d) side of a path (I4') adjacent to the ... A point on the corner (1b) side of the path adjacent to the first side of the path generation teaching in the linear path is set as point (P3); A point on the corner (1b) side of a path adjacent to the path adjacent to the first side on the further inside is defined as point (P2); Variable fertilization automatic teaching is performed on the outward journey from point (P1) to point (P2), After turning, the paddy field working machine of the first invention runs idle on the return journey connecting point (P3) to point (P4), returns to point (P4), turns, and moves to a path (I4') adjacent to the path adjacent to the inside of the third side. The first invention related to the present invention teeth, A paddy field working machine including a control unit and a variable fertilizer application device, the control unit automatically traveling in a field along a predetermined route to perform field work, The predetermined route is generated by manually traveling along at least a portion of the perimeter of the field through route generation teaching, The control unit can automatically execute variable fertilization teaching for the variable fertilization device, This is a paddy field working machine in which, while the path generation teaching is being performed by manual driving, the control unit does not perform the variable fertilization teaching.

[0011] The second invention related to the present invention teeth, The variable fertilization teaching is performed using a route for variable fertilization other than the generated predetermined route after the route generation teaching is completed and before automatic traveling along the generated predetermined route is performed; The path for variable fertilization is determined using the results of the path generation teaching in the paddy field working machine of the first invention related to the present invention.

[0012] The third invention related to the present invention teeth, The field is a quadrilateral field, and the path generation teaching is performed using three sides of the field; The control unit causes the machine to idle from the entrance / exit of the field along the remaining side not used for the path generation teaching, executes the path generation teaching using the three sides from the corner it reaches, and performs the variable fertilization teaching while running the machine on a diagonal line of the field from the point where it returns to the entrance / exit, and automatically runs the machine from the corner it reaches on the diagonal line using the generated predetermined path. The second invention related to the present invention It is a rice paddy farming machine.

[0013] The fourth invention related to the present invention teeth, The automatic variable fertilization teaching is performed during traveling along a predetermined part of the generated predetermined route, The system also has a function for operators to manually teach variable fertilization at any location in the field. The first invention related to the present invention It is a rice paddy farming machine.

[0014] Books Fifth invention related to the invention teeth, When the variable fertilization teaching is performed manually while the path generation teaching is being performed, the result data of the variable fertilization teaching is reset; The fourth invention related to the present invention It is a rice paddy farming machine.

[0015] The sixth invention related to the present invention teeth, the predetermined route includes a round trip route in a central part of the field and an inner circumferential route running around the round trip route, The predetermined part of the route on which the automatic variable fertilization teaching is performed is a part of the round trip route. Fifth Invention Related to the Present Invention It is a rice paddy farming machine.

[0016] The seventh invention related to the present invention teeth, The automatic variable fertilization teaching is performed in the second stroke of the reciprocating path, This is done only once from the start to the end of rice planting. The sixth invention related to the present invention It is a rice paddy farming machine. Effect of the Invention

[0017] The first aspect of the present invention has the excellent effect of preventing variable fertilization teaching from being performed at the edge of a field when the robot is traveling automatically. Furthermore, since variable fertilization teaching can use routes other than those set by route generation teaching, it is possible to select a route that increases the accuracy of measurements such as the average fertility of the field. Furthermore, since the outbound and return routes do not overlap in variable fertilization teaching, it is possible to prevent the field from being damaged. According to the second invention, in addition to the effects of the first invention, after variable fertilization teaching is completed, the robot can immediately move to a straight line reciprocating automatic travel from that location. The first invention related to the present invention This provides the excellent effect of preventing variable fertilization teaching from being performed at the edge of a field when the robot is traveling automatically.

[0018] Second Invention Related to the Present Invention This allows variable fertilization teaching to use routes other than those set by route generation teaching, making it possible to select routes that increase the accuracy of measurements such as the average fertility of the field.

[0019] The third invention related to the present invention This makes it possible to prevent field damage caused by variable fertilization teaching.

[0020] The fourth invention related to the present invention This allows variable teaching to be performed during automatic reciprocating travel, which increases convenience.

[0021] Fifth Invention Related to the Present Invention Therefore, if variable fertilization teaching is performed during route generation teaching, such data can be reset since there is a high possibility of being at the edge of the field.

[0022] The sixth invention related to the present invention As a result, the route along which variable fertilization teaching is performed is an automatic round trip route, and variable fertilization teaching can be prevented from being performed at the edge of the field.

[0023] The seventh invention related to the present invention This allows variable fertilization teaching to be performed on the second stroke of the round trip route, preventing variable fertilization teaching at the edge of the field and reducing the number of steps required for conventional fertilization. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a side view of a rice transplanter, which is an example of a paddy field working machine according to an embodiment of the present invention. [Diagram 2] Configuration diagram of the control unit of the rice transplanter [Diagram 3] A drawing explaining the route of the rice transplanter in the field (part 1) [Figure 4] A drawing explaining the route of the rice transplanter in the field (part 2) [Diagram 5] A drawing explaining the route of the rice transplanter in the field (part 3) [Figure 6] Another explanatory drawing of the running path (part 3) of the rice transplanter in the field [Figure 7] A drawing explaining the running route (part 4) of the rice transplanter in the field [Figure 8] A drawing explaining the conventional route of a rice transplanter in a field [Figure 9] A drawing explaining the route the rice transplanter takes in the field [Figure 10] A drawing explaining the travel route of the rice transplanter in a deformed field. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0026] Fig. 1 is a left side view of a paddy field working machine according to an embodiment of the present invention, and Fig. 2 is a block diagram of the paddy field working machine according to an embodiment of the present invention. In the following, forward / backward, left / right, and up / down are defined based on the traveling direction of the paddy field working machine.

[0027] The paddy field working machine of this embodiment is a so-called robot working machine, and its vehicle body 100 travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to manual or automatic steering operation on a steering device 240, levels the field using a ground leveling device 260 having a ground leveling float 261, plants seedlings in the field using a seedling planting device 230, and fertilizes the field using a variable fertilizer applicator 250.

[0028] The traveling device 220, the seedling planting device 230, the variable fertilizer application device 250 and the soil leveling device 260 are driven by the power of the engine 210 transmitted via the main transmission 300, which is an HST, and the like.

[0029] The controller 500 is a computer that controls the vehicle body 100, the engine 210, the traveling device 220, the seedling planting device 230, the steering device 240, the main transmission 300, and the like. The memory unit 500a is a means for storing data related to the travel route, and the like. The vehicle body 100 is also equipped with a GNSS device that can receive communication from the GNSS 600. Also, 400 is a fertility sensor that detects the fertility, depth, temperature, and the like of the field.

[0030] Below, we will explain the operation of performing path generation teaching to generate a predetermined path for the robot to automatically travel in a field, and then using the generated path to automatically travel, using the field as an example.

[0031] In Fig. 3, the path generation teaching starts from the entrance 1a of the field 1, and proceeds along the first path I1 while manually steering and planting seedlings using the seedling planting device 230. When the robot reaches the first corner 1b, it turns right, proceeds along the second path I2, and when the robot reaches the second corner 1c, it turns right again, proceeds along the third path I3, and reaches the third corner 1d. Through these manual travels along the three sides, the control unit 500 acquires the shape and position information of the field 1 and stores it in the memory unit 500a. Thus, the path generation teaching ends.

[0032] The routes generated in this way include an inner route one step inside the outer routes I1, I2, and I3 (dotted line in Figure 7; also called the robot headland work route), and multiple parallel straight reciprocating routes I4, I5, and I6 (Figure 3) in the center of the field 1, which are further inside the inner route, as well as turning routes connecting these routes.

[0033] As a general rule, after completing the path generation teaching, the vehicle 100 skips one inner path just inside I3 (Figure 3) and moves to the first step I4 (Figure 3) of the round trip path, where it travels automatically while planting, then turns and travels to the second step I5 of the round trip path, where it travels automatically while planting.

[0034] After repeating this process, the robot moves to the inner peripheral path just inside the first step I1 (Figure 3) of the outer peripheral path, then moves to the inner peripheral path just inside the second step I2 (Figure 3) of the outer peripheral path, and then moves to the inner peripheral path just inside the third step I3 (Figure 3) of the outer peripheral path, traveling to corner 1d and completing the automatic traveling.

[0035] Finally, by using manual steering, the robot travels along the remaining side 1e of the four sides of the quadrangular field 1 that was not traveled during the route generation teaching, and returns to the entrance / exit 1a.

[0036] Next, variable fertilization teaching performed using the fertility sensor 400 will be described.

[0037] The variable fertilization device 250 uses data such as the fertility, depth, and temperature of the field 1 obtained by the variable fertilization teaching to automatically perform variable fertilization thereafter, and performs variable fertilization teaching as a preparation for this while automatically traveling in the first step I4 (FIG. 3) of the linear reciprocating path in FIG. 1. In other words, the fertility of the location is sensed in this step I4 (FIG. 3).

[0038] The estimation of the overall fertility of field 1 is more accurate when variable fertilization teaching is performed closer to the inside of field 1 than near the ridges of field 1. The above-mentioned variable fertilization teaching uses process I4 (Fig. 3), which is located further inside field 1 than the inner peripheral route immediately inside the outer peripheral route, and is therefore appropriate for implementing variable fertilization teaching.

[0039] Until the variable fertilization teaching is completed, the conventional amount of fertilizer is applied during the seedling planting work. Therefore, it is not desirable for the process using the conventional amount of fertilizer to be too long. For example, as in I6 in Figure 3, if variable fertilization teaching is not performed until quite close to the center of field 1, the fertilization process using the conventional amount of fertilizer will be too long. However, as another example, process I5 (Figure 3), which is one step inside process I4 (Figure 3), may also be used. Alternatively, variable fertilization teaching may be performed using two processes, process I4 (Figure 3) and process I5 (Figure 3).

[0040] The process of the automatic straight reciprocating route on which such variable fertilization teaching is to be performed is programmed in advance in the control unit 500. This is possible because the route is generated by the route generation teaching as described above.

[0041] Furthermore, it is also possible to omit the portion of step I4 (FIG. 3) near the ridges of field 1 and sense the fertility and other properties of as much of the central part of field 1 as possible. This is possible because control unit 500 has route information. Also, it goes without saying that fertility sensing is not performed during automatic turning, because the turning location is close to the ridges of field 1.

[0042] Although variable fertilization teaching can be performed manually, if manual variable fertilization teaching is performed while path generation teaching is being performed, the result data of the manual variable fertilization teaching is reset. This is because the variable fertilization teaching will be performed near the ridges of the field.

[0043] Also, it is preferable to carry out variable fertilization teaching only once, rather than multiple times, because this makes it difficult to use the conventional amount of fertilizer.

[0044] a. An explanation will be given of the case where variable fertilization manual teaching is performed from the entrance / exit prior to route generation teaching starting from the entrance / exit.

[0045] As shown in Fig. 4, variable fertilization manual teaching is performed manually starting from the entrance / exit 1a. That is, first, the vehicle body 100 is manually run diagonally across the field 1 (dotted line I1 in Fig. 4), and variable fertilization manual teaching is performed on the return path to the entrance / exit 1a on the solid line I2 (Fig. 4). Since the vehicle returns to the entrance / exit 1a in this way, the route generation teaching is performed from there as described above.

[0046] b. After the route generation teaching starting from the entrance / exit is completed, variable fertilization manual or automatic teaching is performed from the entrance / exit before automatic driving of the generated predetermined round-trip automatic route.

[0047] (Part 1) As shown in FIG. 5, as described above, the path generation teaching from the entrance / exit 1a is performed along the paths I1, I2, and I3 to reach the corner 1d. This generates a predetermined automatic round trip path and stores it in the control unit 500. Then, after the path generation teaching is completed, variable fertilization automatic teaching is performed on the outgoing path I4 (FIG. 5) diagonally from the corner 1d on the opposite side of the entrance / exit 1a to the corner 1b on the diagonal line. In this case, since a predetermined path has already been formed, the corner 1b that is the destination target of the diagonal outgoing path I4 (FIG. 5) can be calculated by the control unit 500, so that automatic variable fertilization teaching can be performed accurately. Of course, it may also be run diagonally manually.

[0048] In Fig. 5, the variable fertilization automatic teaching is performed on the outbound route I4, and the return route I5 is idle. By not running the same route on the outbound route I4 and the return route I5, even with each other, it is possible to prevent the field from being damaged.

[0049] More specifically, as shown in FIG. 6, the point one stroke inside the corner 1d of the end point of the path generation teaching is P1, the point on the corner 1b side of the inner path just inside the first outer stroke of the path generation teaching in the round trip path is P2, the point on the inner path just next to that is P3, and the point just next to the point P1 is point P4. Then, variable fertilization automatic teaching is performed on the stroke connecting points P1 and P2, and after turning, the robot is allowed to idle on the stroke connecting points P3 and P4, before returning to point P4.

[0050] Then, by turning as shown by the arrow and moving to the automatic round trip route I4', one stroke of the inner route is opened and normal round trip automatic straight driving becomes possible. In this way, turning from point P2 to P3 and turning from point P4 to the round trip route becomes smooth.

[0051] (Part 2) As shown in Figure 7, first, the robot is made to run free to the corner 1d on the opposite side of the entrance 1a (route I1), and then normal route generation teaching is performed from there, such as I2, I3, and I4, to reach the entrance 1a. After the route generation teaching is completed, variable fertilization manual or automatic teaching is performed from the entrance 1a before the robot is made to run automatically round trip along the generated specified route. This makes it possible to omit the return route of variable fertilization teaching.

[0052] Specifically, as shown in Fig. 7, the vehicle body 100 is manually run from the entrance 1a to the opposite side (I1), and then the vehicle body 100 is manually planted around the perimeter for three strokes while performing path generation teaching (I2, I3, I4). The vehicle then returns to the entrance 1a, and variable fertilization teaching is performed from there. Since the path has been generated, teaching is possible automatically. It can also be done manually.

[0053] That is, the control unit 500 makes the vehicle body 100, which has returned to the entrance 1a, travel toward the diagonal corner 1c. In detail, the vehicle body 100 travels from point P1 next to the entrance 1a toward point P2 on the corner 1c side of the immediately inner reciprocating process I7 of the immediately inner reciprocating process I6 of the immediately inner inner peripheral process of the immediately inner first process I2 of the route generation teaching, while performing variable fertilization automatic teaching. Since the route generation teaching has already been completed, the target P2 of the destination of the route I5 can be calculated by the control unit, so that such variable fertilization automatic teaching is automatically possible.

[0054] Then, after reaching P2 on the diagonal line, it can turn from that position and move to automatic reciprocating path I6, opening up one path around the inner perimeter (the robot headland work path shown by the dashed dotted line) and enabling automatic reciprocating travel.

[0055] Therefore, with this method, only one outbound route is required for variable fertilization teaching, which reduces the amount of disturbance to the field.

[0056] In the above embodiment, variable fertilization teaching is performed automatically, but it may also be performed manually.

[0057] Below, we will explain a conventional manual, predetermined variable fertilization teaching method for a robot that is not an automatic driving type, and an example of adapting it to an automatic driving type robot.

[0058] Figure 8 shows the conventional, specified variable fertilization teaching operation. In other words, automatic measurement of variable fertilization teaching begins in the third stroke, including the idle run. Conventional fertilization (no reduced fertilization) is performed from the start of rice planting until the end of measurement. After automatic measurement is completed, variable fertilization is performed. If the "Start manual measurement" button is not touched, automatic measurement will continue as is. Variable teaching is performed only once between the start and end of rice planting.

[0059] Figure 9 shows an example of adapting a method of predetermined variable fertilization teaching, which is not a conventional robot self-driving type, to a robot self-driving type.

[0060] In other words, during the path generation teaching process, which teaches the shape and size of the field, the count is reset to 0 when the machine direction is changed. Variable fertilization teaching is not performed during this path generation teaching. Automatic measurement for variable teaching begins in the second process, which includes a dry run. From the start of rice planting to the end of measurement, conventional fertilization (no reduced fertilization) is used. After automatic measurement is complete, variable fertilization is performed. If the "Start manual measurement" button is not touched, automatic measurement will continue as is.

[0061] A more specific explanation will now be given.

[0062] In the teaching work of route generation, the robotic rice transplanter first plants three strokes around the perimeter. In this case, if the three sides of the field are almost the same distance apart, the above-mentioned conventional automatic teaching of the specified variable fertilization will start with three strokes, and variable fertilization teaching that avoids the edge of the targeted field cannot be performed.

[0063] Therefore, in the specified conventional variable fertilization second stroke detection process, the previous stroke distance and the current stroke distance are set (reset) to 0 when the steering wheel is turned, thereby avoiding early start of automatic teaching of variable fertilization.

[0064] A more detailed explanation will now be given.

[0065] In variable fertilization teaching, the field's cultivated soil depth and the average and standard deviation of SVF are calculated in the third step of the work. There are two types of variable fertilization teaching work: automatic teaching, which is performed by automatically detecting in the third step, and manual teaching, where the worker starts and ends teaching at a location of their choice. This automatic teaching is performed as follows. Note that automatic teaching is performed only once between the start and end of rice planting.

[0066] 1.2nd stroke detection The work stroke is determined by the left rear wheel rotation sensor. During automatic ascent / descent mode, if the steering is straight ahead and an input from the left rear wheel rotation sensor is detected, an increment is made. If the steering is straight ahead and an input from the left rear wheel rotation sensor is detected while the reverse switch is being detected, the pulse ldspls_dc_KT for stroke number detection is decremented.

[0067] 1-1. Before detection of second stroke When the steering is turned, if the robot is in teaching mode, ldspls_KT is reset to 0. When the steering is turned, if ldspls_dc_KT is 700 (approximately 7 m) or more, ldspls_dc_KT_sav = ldspls_dc_KT is saved as the distance of the previous stroke, and if |ldspls_dc_KT_sav-ldspls_dc_KT| < 300 (the difference is within approximately 3 m), the straight-line distance is deemed to be almost the same and it is determined that the second stroke has ended. After that, ldspls_dc_KT is reset to 0.

[0068] 1-2. After detection of second stroke When ldspls_dc_KT>300, it is determined that it is the third process and teaching begins. The "Start manual measurement" button on the tablet changes to "Acquiring data." (Start of teaching) The "Planting in progress" display on the work status screen on the tablet changes to "Measuring reference data." When ldspls_dc_KT> ldspls_dc_KT_sav-300, it is determined that it is before the ridge and teaching ends.

[0069] The tablet's "Data acquisition" button will change to "Start manual measurement." (End of teaching) The tablet's work status screen will change from "Measuring reference data" to "Planting rice."

[0070] 2. Verification process during actual work The second process detection and teaching confirmation during actual work are performed in the following procedure.

[0071] Lower the planting section and move straight for about 10 m. Turn the steering wheel and turn to align the adjacent row. Lower the planting section again and move straight for 10 m. Turn the steering wheel and turn to align the adjacent row. Lower the planting section again and move straight for about 3 m. The "Start manual measurement" button on the tablet changes to "Acquiring data". (Teaching begins) The "Planting in progress" display on the tablet's work status screen changes to "Measuring reference data". After that, move straight for about 4 m and teaching will end. The "Acquiring data" button on the tablet changes to "Start manual measurement". (Teaching ends) The "Measuring reference data" display on the tablet's work status screen changes to "Planting in progress".

[0072] Furthermore, I will explain from a different angle.

[0073] When the three sides of a field are approximately the same distance, such as a square field, the first time the steering is turned after the path generation teaching is complete, it is determined to be the second journey, and there is a problem that the journey determined to be the second journey may differ depending on the shape of the field.

[0074] Therefore, the second stroke detection is not performed during the first steering operation after the completion of the teaching of the route generation.

[0075] This enables the second step to be detected (automatic teaching) in the same process regardless of the shape of the field.

[0076] Next, after the path generation teaching, the robot rice transplanter skips one process and turns to plant. As a result, the process where the automatic teaching is carried out is further inside the field than the normal variable fertilization work, so there is a problem that the area where variable fertilization is carried out is smaller. Note that fertilization is carried out using conventional fertilization until the variable teaching is completed.

[0077] Therefore, when the steering wheel is turned, the previous travel distance is stored as in the conventional method, and the first steering operation after the completion of teaching for route generation is determined to be the second travel distance.

[0078] This allows for variable automatic teaching on the first run.

[0079] Next, in the case of a deformed rice field as shown in Figure 10, the robot skips one path, so the difference between the previous path distance and the path distance traveled in this automatic teaching becomes large. In the case of a field shape in which the path distance gradually becomes shorter, there is a high possibility that the robot will not reach the normal automatic teaching completion distance (previous path - 3 m) when it reaches the edge.

[0080] Therefore, an OR condition when the steering wheel is turned is added to the conditions for ending automatic measurement.

[0081] This allows the steering wheel to be turned even in irregularly shaped rice fields, completing automatic teaching as soon as the machine turns at the edge of the field.

[0082] Next, in the case of deformed rice fields, the robot skips one path, so the difference between the previous path distance and the path distance traveled in this automatic teaching becomes larger. In the case of field shapes where the path distance gradually becomes shorter, there is a high possibility that the robot will not reach the normal automatic teaching completion distance (previous path - 3m) when it reaches the edge.

[0083] Therefore, an OR condition will be added to the conditions for ending automatic measurement when the planting part is raised.

[0084] This allows the planting area to be raised even in irregularly shaped rice fields, completing automatic teaching when the machine turns at the edge of the field.

[0085] Next, in the case of deformed rice fields, the robot skips one path, so the difference between the previous path distance and the path distance traveled in this automatic teaching becomes larger. In the case of field shapes where the path distance gradually becomes shorter, there is a high possibility that the robot will not reach the normal automatic teaching completion distance (previous path - 3m) when it reaches the edge.

[0086] Therefore, the condition for ending automatic measurement is added as an OR condition when the rotor clutch is disengaged.

[0087] This enables the rotor clutch to be disengaged even in irregularly shaped rice fields, i.e. automatic teaching to be completed as soon as the machine turns at the edge of the field.

[0088] Next, when teaching variable fertilization, it is necessary to obtain the standard deviation and average value of the entire data for the field, so it is said that manual teaching should be done diagonally so as to obtain as much overall data as possible.

[0089] The conventional method involves manually teaching the tractor from the entrance to the opposite side, then (as with conventional work) driving the tractor free on the headland while leaving a marker out to avoid damaging the field, and then turning around to perform planting work.

[0090] However, current robot teaching (path generation) must be done while planting from the entrance / exit side, meaning conventional methods cannot be applied.

[0091] In addition, the method of performing manual variable fertilization teaching before starting route generation teaching requires manual travel back and forth from the entrance / exit to the opposite side, which places a burden on the worker.

[0092] Therefore, when the path generation teaching is completed, the outbound route (see I4 in Figure 5) for performing variable fertilization teaching is determined.

[0093] This allows the robot to automatically teach diagonal running by generating a route for teaching variable fertilization when teaching route generation. In this case, the robot is taught while planting on the three sides other than the ridge on the seedling supply side, so there is no risk of generating a route outside the field or teaching variable fertilization while driving an abnormal route.

[0094] Next, as mentioned above, when teaching variable fertilization, it is necessary to obtain the standard deviation and average value of the entire data for the field, so it is said that manual teaching should be done diagonally so as to obtain as much overall data as possible.

[0095] The conventional method involves manually teaching the tractor from the entrance to the opposite side, then (as with conventional work) driving the tractor free on the headland while leaving a marker out to avoid damaging the field, and then turning around to perform planting work.

[0096] However, path generation teaching (path generation) must be done while planting from the entrance / exit side, so conventional methods cannot be applied.

[0097] In addition, the method of performing manual variable fertilization teaching before starting route generation teaching requires manual travel back and forth from the entrance / exit to the opposite side, which places a burden on the worker.

[0098] Therefore, when the path generation teaching is completed, a return path (see I5 in FIG. 5) that returns from the completion of the variable fertilization teaching to the initial work position is generated.

[0099] This allows automatic teaching of diagonal running by generating a route for teaching variable fertilization when performing route generation teaching. In this case, route generation teaching is performed while planting the three sides other than the ridge on the seedling supply side, so there is no risk of generating a route outside the field or performing variable fertilization teaching on an abnormal route.

[0100] Next, as described above, when a variable fertilization teaching route is generated, if automatic steering is started in a state in which automatic steering can be started after the completion of route generation teaching and the variable fertilization teaching has not been completed, the vehicle will travel along the above-mentioned outbound route (see I4 in Figure 5) of the variable fertilization teaching. In this way, the variable fertilization teaching travel is automatically performed.

[0101] Also, in the above example, after completing the teaching of variable fertilization by completing travel along route I4, as described above, the robot travels along route (I5), which is the return route from the completion of the teaching of the generated variable fertilization back to the initial working position.

[0102] In this way, after the variable fertilization teaching run is completed, the machine can automatically return to the initial working position.

[0103] If variable fertilization teaching has already been completed, there is no need to run the teaching process again with automatic steering. Therefore, if the teaching of variable fertilization has been completed when automatic steering is started in a state in which automatic steering can be started after the completion of route generation teaching, automatic driving can be performed according to the travel route of a conventional robot rice transplanter.

[0104] Next, the driving positions will be explained in more detail, with some overlapping.

[0105] As described above, when performing variable fertilization teaching as shown in FIG. 6, the starting point of the variable fertilization teaching outward route is set to the end point P1 of the final route of the headland work route. This allows the variable fertilization teaching outward route to be determined. In Figure 6, the end point of the variable fertilization teaching outward route is set to end point P2 on the opposite side to the seedling supply side of the work route one before entering the headland work route. This makes it possible to accurately determine the outward route of the variable fertilization teaching.

[0106] In this way, the outbound route for the variable fertilization teaching is the route connecting points P1 and P2.

[0107] Next, for the return route, in FIG. 6, the starting point of the return route of the variable fertilization teaching is set to the end point P3 of the first headland work route. The return route of the variable fertilization teaching can be determined. In addition, the end point of the return route of the variable fertilization teaching is set to the start point P4 on the seedling supply side of the next work route from the work start route. This allows the return route of the variable fertilization teaching to be determined.

[0108] In this way, the return route of the variable fertilization teaching is the route connecting points P3 and P4. By making the outward route and the return route different in this way, the following drawbacks can be prevented.

[0109] In other words, if the outbound and return routes overlap, the machine will travel twice over the same spot, damaging the field. Also, when turning from the outbound route to the return route, if the machine is aligned toward the same start and end points, it will be difficult to turn. Furthermore, since the machine ultimately needs to be aligned with the previous work start position, if the previous work start position is used as a route point, it will be difficult to turn from the end point of the return route.

[0110] Next, with the method described above, although the number of routes that need to be manually driven is reduced, the operator ends up traveling diagonally back and forth through the center of the field, which is undesirable as it can damage the field.

[0111] Therefore, as shown in Figure 7, an outbound route (I5) is generated for carrying out variable fertilization teaching when the route generation teaching is completed. In this way, only one diagonal run is required, and there is less concern about damage to the soil.

[0112] Regarding the position of the travel route, the starting point of the variable fertilization teaching route is set to the starting point P1 of the first headland work route (see Figure 7). This allows the outbound route of the variable fertilization teaching to be determined.

[0113] In addition, the end point of the variable fertilization teaching route is set to the end point P2 on the opposite side to the seedling supply side of the next work route of the new work start route. This allows the outbound route of the variable fertilization teaching to be determined.

[0114] The variable fertilization teaching route is the route connecting these points P1 and P2. The return route is no longer necessary.

[0115] As shown in Figure 7, when a route is generated for such variable fertilization teaching, the route for starting work is not a work route that skips one route from the final route of conventional teaching, but a work route that skips one route from the initial route of teaching.

[0116] This allows the robot to automatically travel from the adjacent work path after performing variable fertilization teaching in a single diagonal run. After that, it can perform the same work as a conventional robot automatically traveling, and for the final manual planting process, it can generate a path to leave the field while planting in a straight line toward the entrance (see Figure 7).

[0117] In addition, if the variable fertilization teaching outward route and the automatic driving work start route overlap, the same place will be driven twice and the field will be damaged. Also, when turning from the variable fertilization teaching outward route to the work start position, if the machine is aligned toward the same start point and end point, the machine will not be able to turn easily.

[0118] Therefore, as shown in Figure 7, it is desirable that the variable fertilization teaching path and the work start path for the automatic robot driving are generated so that they do not intersect with each other.

[0119] Next, another example will be described.

[0120] Originally, the "start planting" of variable fertilization and the "start teaching" of the robotic rice transplanter are managed separately. Looking at the function of the robotic rice transplanter, the tablet app side management starts measuring work data from the point when it recognizes the robot's "start teaching" to draw the robot's travel path on the tablet. Separately, looking at the variable fertilization function, when the tablet or the machine side is operated to "start planting," it starts measuring work data for each field, assuming that variable fertilization work will now be performed in a new field.

[0121] However, in the case of a model that has both the functions of a robotic rice transplanter and variable fertilization, even if the robot's "teaching start" is performed, data for each field will not be recorded unless the "planting start" operation for variable fertilization is also performed. However, if there are two "start" operations, there is a risk that the worker will forget which operation to perform.

[0122] Therefore, in the configuration of a robotic rice transplanter with variable fertilization, if the "automatic mode" of the robotic rice transplanter enters the teaching state (teaching of field shape) when it is not between "start of rice planting" and "end of rice planting" for variable fertilization, that is, when variable fertilization work has not started (data collection by the tablet), it will be forcibly switched to the "start of rice planting" state.

[0123] By doing this, the start of robot teaching can be thought of as the start of work in a new field, and rice planting with variable fertilization can be started, reducing cumbersome work and preventing forgetting to operate the robot.

[0124] In other words, the start condition for "start rice planting" on the machine side is when any of the following conditions are met.

[0125] (Pattern 1) When all of the following conditions are satisfied:

[0126] 1. Variable mode judgement is main mode (1) 2. Press the green button (start planting) on ​​the monitor

[0127] (Pattern 2) When all of the following conditions are satisfied:

[0128] 1. Field data collection completion judgment waiting (0) 2. Automatic mode teaching (3) In the above case, it may seem best to start robot teaching when the "start planting" operation is performed to prevent forgetting to operate the device, but the "start planting" operation for variable fertilization is the timing for starting data measurement for each field, so while it doesn't matter when it is performed to a certain extent, robot "teaching" must start from a location of your choice.

[0129] Therefore, the robot is configured so that teaching will not start automatically even if the "start rice planting" operation is executed.

[0130] This prevents robot teaching from starting at an unintended time.

[0131] In addition, if the signal is restricted, the tablet cannot recognize the "start planting" signal. In the above case, the tablet is configured to accept the "start planting" signal from the unit even when in "unit mode" where it does not accept operations from the unit.

[0132] This means that even when the mode is set to main unit mode, which only accepts operations from the main unit, the tablet can start teaching the robot, making it possible to measure work data for each field.

[0133] Next, another example will be described.

[0134] In rice transplanters that have a function to obtain position information from a GNSS sensor and electrically adjust the amount of fertilizer applied, and a sensor that detects the number of times the seedling tank has moved sideways, the amount of fertilizer applied is adjusted by using the difference between the measured value calculated from the number of times the seedling tank has moved sideways, the set distance between plants, and the number of times the tank has been moved sideways, and the distance obtained by the GNSS sensor as the slip amount. This allows for the application of an appropriate amount of fertilizer, which is environmentally friendly.

[0135] In rice transplanters that have the function of acquiring position information from a GNSS sensor and electrically adjusting the amount of fertilizer applied, when the travel distance measured by the GNSS sensor reaches a reference distance, the amount of fertilizer applied is calculated from the number of roll rotations, and if there is a difference from the target amount of fertilizer applied, the amount of fertilizer applied is adjusted in proportion to the difference. This allows the target amount of fertilizer to be applied.

[0136] The dial for setting is below the steering wheel. This allows it to be placed in a location that is easy to operate. Alternatively, the monitor for setting is in front of the steering wheel. This allows it to be placed in a location that is easy to operate. [Industrial Applicability]

[0137] The present invention can realize a paddy field operating machine that can appropriately time the execution of path generation teaching and variable fertilization teaching, making it ideal for rice transplanters and the like. [Explanation of symbols]

[0138] 1. Field 100 Body 230 Seedling planting device 250 Variable Fertilizer Applicator 400 Fertility Sensors 500 Control unit (controller) 500a storage section 600 GNSS I1~I7 driving route

Claims

1. A paddy field working machine including a control unit and a variable fertilizer application device, the control unit automatically traveling in a field along a predetermined route to perform field work, The predetermined route is generated by manually traveling along at least a portion of the perimeter of the field through route generation teaching, The control unit can automatically execute variable fertilization teaching for the variable fertilization device, During the route generation teaching by the manual traveling, the control unit does not perform the variable fertilization teaching, The variable fertilization teaching is performed using a route for variable fertilization other than the generated predetermined route after the route generation teaching is completed and before automatic traveling along the generated predetermined route is performed; The path for variable fertilization is determined using the result of the path generation teaching; The field is a quadrilateral field, and the path generation teaching is performed using three sides of the field; After the path generation teaching is completed, variable fertilization automatic teaching is performed while traveling diagonally from the corner (1d) of the completed location to the diagonal corner (1b) of the field as the outward route (I4), A free run is performed on the return path (I5) from the diagonal corner (1b) to the diagonal corner (1d), The paddy field working machine is characterized in that the outward path (I4) and the return path (I5) are offset from each other so that they do not run along the same route.

2. The predetermined route along which the automatic driving is performed is a plurality of straight-line routes parallel to the final side of the route generation teaching performed along three sides, The automatic traveling is started from a path (I4') adjacent to an inner path adjacent to a third side, which is the final side, among the plurality of linear paths, A point on the side of the corner (1d) of the path adjacent to the inside of the third side, which is the final side of the path generation teaching, of the linear path is set as point (P1); A point on the corner (1d) side of a path adjacent to a path (I4') adjacent to the path adjacent to the inside of the third side is defined as point (P4); A point on the corner (1b) side of the straight path adjacent to the first side of the path generation teaching is set as point (P3); A point on the corner (1b) side of a path adjacent to the path adjacent to the first side on the further inside is defined as point (P2); Variable fertilization automatic teaching is performed on the outward journey from point (P1) to point (P2), The paddy field working machine according to claim 1, which, after turning, is run free on the return journey connecting point (P3) to point (P4), and after returning to point (P4), turns and moves to a path (I4') adjacent to the path adjacent to the inside of the third side.

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