Agricultural working vehicle

Abstract

To provide an agricultural work vehicle capable of easily shifting to automated travelling using a reference line even in a halfway of automated steering travelling along a set target route.SOLUTION: An agricultural work vehicle includes: a machine body position calculation unit 52 for calculating a machine body position on the basis of satellite positioning; a travelling route management unit 53 for managing a travelling route for performing automated travelling in a farm field; a first automated steering unit 61 for performing automated steering of the machine body on the basis of the machine body position and the travelling route; a second automated steering unit 62 for performing automated steering of the machine body so as to maintain a direction of a reference line defined by at least two points; a farm field map generation unit 92 for generating a farm field map by causing the machine body to travel along an outer periphery region of the farm field; and a switching operation unit 27 capable of freely switching between the first automated steering unit and the second automated steering unit. A notification unit is provided for performing prior notification when the machine body approaches a border part of the farm field map in the automated straight travelling by the second automated steering unit.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to an agricultural work vehicle that performs agricultural work while autonomously traveling at least on part of a farm. [Background technology]

[0002] The agricultural work vehicle according to Patent Document 1 includes a route calculation unit that calculates a travel route including a non-work travel route that involves turning the traveling machine body and a work travel route where travel work is performed using the field work device based on topographical data of the field, the entrance position of the field, the exit position of the field, and the work width, and an automatic travel control unit that performs automatic travel based on the calculated travel route and satellite positioning data. In this case, the field is divided into an outer periphery area and a central area located inside the outer periphery area, and work in the outer periphery area is performed by circular travel, and work in the central area is performed by repeating straight travel and U-turn travel (circling travel). When automatic travel is difficult or when the worker desires special travel, automatic travel is stopped and manual travel is performed.

[0003] In the agricultural work vehicle according to Patent Document 2, teaching travel is performed, which is manual travel for work in a straight line from a first position where the driver operates a switch to a second position where the driver operates the switch again. The direction of a reference line connecting the first position and the second position is calculated as a reference orientation, and by pressing the automatic steering switch after a U-turn, straight work travel with automatic steering is performed to maintain the reference orientation. In other words, after the reference orientation is calculated in the first teaching travel, this agricultural work vehicle performs field work by making a U-turn with manual steering and straight travel with automatic steering that maintains the reference orientation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2015-112071 A [Patent Document 2] JP 2017-112962 A Summary of the Invention [Problem to be solved by the invention]

[0005] Even in an agricultural work vehicle that travels with automatic steering along a target route set in advance in a field as disclosed in Patent Document 1, manual steering is necessary in areas where the field condition is poor. In such traveling with manual steering, semi-automatic traveling as disclosed in Patent Document 2, that is, changing direction by a U-turn and positioning for the next straight traveling are performed manually, and straight traveling, which is relatively easy to control, is conveniently performed with automatic steering using a reference line. However, automatic steering using a reference line requires teaching traveling from a first position to a second position accompanied by switch operation in order to obtain the reference line (reference orientation). Such teaching traveling during work is a cumbersome task.

[0006] In view of this situation, there is a demand for an agricultural work vehicle that can easily switch to automatic driving using a reference line even in the middle of automatic steering driving along a set target route. [Means for solving the problem]

[0007] The agricultural vehicle according to the present invention includes a vehicle position calculation unit that calculates a vehicle position based on satellite positioning, a driving route management unit that manages a driving route for automatic driving in a farm, a first automatic steering unit that automatically steers the vehicle based on the vehicle position and the driving route, a second automatic steering unit that automatically steers the vehicle so as to maintain the orientation of a reference line defined by at least two points, and a vehicle position control unit that automatically controls the vehicle position based on the vehicle position and the driving route. Boundary line with the bank By running the machine along the External shape a farm field map generating unit that generates the first automatic steering unit; Automatic steering by and the second automatic steering unit Automatic steering by of By artificial manipulation A freely switchable switching operation unit is provided, The field is divided into an outer periphery region close to the bank-edge region and a central region inside the outer periphery region, and automatic steering by the first automatic steering unit and automatic steering by the second automatic steering unit can be performed in the central region, The automatic steering by the second automatic steering unit steering In the field The border area of The device is equipped with a warning unit that issues an advance warning when the device approaches. In addition, the agricultural work vehicle according to the present invention is equipped with a vehicle position calculation unit that calculates the vehicle position based on satellite positioning, a driving route management unit that manages a driving route for automatic driving on a farm, a first automatic steering unit that automatically steers the vehicle based on the vehicle position and the driving route, and a second automatic steering unit that automatically steers the vehicle based on a set teaching route.

[0008] According to this configuration, when the steering control by the first automatic steering unit capable of automatic steering of all driving routes is interrupted, it is possible to transition to steering control by the second automatic steering unit capable of automatic steering based on the driving information obtained in the previous teaching driving. Therefore, in order to start the steering control by the conventional second automatic steering unit, when the steering control is transitioned from the first automatic steering unit to the second automatic steering unit, it is not necessary to perform teaching driving to obtain a reference line. This makes it easy to transition from the steering control by the first automatic steering unit to the steering control by the first automatic steering unit. Such a feature is convenient when transitioning from the steering control by the first automatic steering unit to the steering control by the second automatic steering unit suddenly in order to deal with work driving in locally deteriorated farm conditions, etc.

[0009] The agricultural work vehicle according to the present invention comprises a vehicle position calculation unit that calculates a vehicle position based on satellite positioning, a driving route management unit that manages a driving route for automatic driving on the farm, a first automatic steering unit that automatically steers the vehicle based on the vehicle position and the driving route, a second steering unit that automatically steers the vehicle so as to maintain the orientation of a reference line defined by at least two points, and a baseline management unit that stores the driving route managed by the driving route management unit as the reference line and stores a driving trajectory during driving by the first automatic steering unit, and reads out and sets the reference line from the baseline management unit when transitioning from automatic steering by the first automatic steering unit to automatic steering by the second automatic steering unit.

[0010] According to this configuration, when the steering control by the first autosteering unit capable of automatic steering including turning is interrupted and the steering control is switched to the steering control by the second autosteering unit that maintains the heading during straight-line driving, the driving route used during automatic straight-line driving by the first autosteering unit is used as the reference line required for the steering control by the second autosteering unit. Therefore, teaching driving for obtaining the reference line required for the steering control by the conventional second autosteering unit is not required. This makes it easy to switch from steering control by the first autosteering unit to steering control by the first autosteering unit. This configuration is also convenient when suddenly switching from steering control by the first autosteering unit to steering control by the second autosteering unit to deal with work driving in locally deteriorated farm conditions, etc.

[0011] The agricultural work vehicle according to the present invention comprises a vehicle position calculation unit that calculates the vehicle position based on satellite positioning, a driving route management unit that manages a driving route for automatic driving on a farm, a first automatic steering unit that automatically steers the vehicle based on the vehicle position and the driving route, a second automatic steering unit that automatically steers the vehicle so as to maintain the orientation of a reference line defined by at least two points, and a reference line management unit that stores a portion of the driving trajectory during driving by the first automatic steering unit as the reference line in a reference line memory unit, and reads out and sets the reference line from the reference line memory unit when transitioning from automatic steering by the first automatic steering unit to automatic steering by the second automatic steering unit.

[0012] In this configuration, when the steering control by the first autosteering unit, which is capable of automatic steering including turning, is interrupted and the steering control is switched to the steering control by the second autosteering unit, which maintains the heading during straight-line driving, the driving trajectory during automatic straight-line driving by the first autosteering unit is used as the reference line required for the steering control by the second autosteering unit. Therefore, teaching driving to obtain the reference line required for the steering control by the conventional second autosteering unit is not required. Even with this configuration, the transition from the steering control by the first autosteering unit, which is performed to deal with work driving in locally deteriorated farm conditions, to the steering control by the first autosteering unit is easily performed.

[0013] The term "straight running" used in the present invention does not only mean running in a straight line, but also includes running in a curved direction with a large radius of curvature.

[0014] In many farm work on farms using agricultural work vehicles, the farm surface to be worked on is divided into an outer periphery and a central region located inside the outer periphery, and work in the central region is performed by repeating straight-line driving and turning (mainly U-turn driving) for changing direction. At that time, turning is performed in the outer periphery. Work in the outer periphery is performed by circular driving along boundaries such as ridges and farm roads. In agricultural work vehicles that perform harvesting work, such as combine harvesters, work driving in the outer periphery is performed first, and then work driving in the central region. In rice transplanters, fertilizer applicators, and chemical sprayers, work driving in the central region is performed first, and then work driving in the outer periphery. In such work driving, even in work driving by the first automatic steering unit, relatively long straight routes are often set, so that the linear driving trajectory used as the reference line can be easily obtained. For this reason, in a preferred embodiment of the present invention in the first agricultural work vehicle, the farm is divided into an outer periphery area and a central area located inside the outer periphery area, work in the outer periphery area is performed by circular travel, and work in the central area is performed by repeating straight travel in the central area and turning travel in the outer periphery area, and the reference line management unit stores the travel path for the straight travel in the central area as the reference line in the reference line storage unit. Similarly, in a preferred embodiment of the present invention in the second agricultural work vehicle, the farm is divided into an outer periphery area and a central area located inside the outer periphery area, work in the outer periphery area is performed by circular travel, and work in the central area is performed by repeating straight travel in the central area and turning travel in the outer periphery area, and the reference line management unit stores the travel trajectory of the straight travel in the central area as the reference line in the reference line storage unit.

[0015] In a farm with convex and concave areas, the area is divided into an area where automatic steering in the same pattern is easy and an area where the distance to travel straight varies depending on the travel route, making it difficult to time the turning. In such a farm, control by the first automatic steering unit is used in the former area, but control by the second automatic steering unit is more convenient in the latter area. In such steering control by the second automatic steering unit, the vehicle orientation during straight travel is maintained, and the timing of turning and turning are often left to the driver. For this reason, in one preferred embodiment of the present invention, the first automatic steering unit is capable of automatic steering in both the straight travel in the central area and the turning in the outer peripheral area, and the second automatic steering unit maintains the vehicle orientation during the straight travel in the central area, and the transition timing from the straight travel to the turning travel and the transition timing from the turning travel to the straight travel in the outer peripheral area are manually determined.

[0016] The present invention has a function of storing at least a part of the travel trajectory when traveling by the first automatic steering unit. In particular, the travel trajectory when traveling straight ahead is used as a reference line (reference orientation) for automatic steering by the second automatic steering unit, so that travel trajectory needs to be stored. However, when the agricultural work vehicle moves to the next farm, the travel trajectory at the next farm is also different, so the stored travel trajectory becomes unnecessary. For this reason, in one preferred embodiment of the present invention, the reference line stored in the reference line storage unit is erased at the timing of leaving the farm. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a side view of a rice transplanter, which is an example of an agricultural vehicle. [Diagram 2] FIG. 2 is an explanatory diagram showing division of a field into areas in which a travel route is set. [Diagram 3] This is an explanatory diagram explaining the circular driving route set in the outer periphery area and the driving of the rice transplanter. [Figure 4] FIG. 11 is an explanatory diagram illustrating the round-trip travel route set in the central area and the travel of the rice transplanter. [Diagram 5]FIG. 2 is a functional block diagram showing a control system of the rice transplanter. [Figure 6] FIG. 4 is an explanatory diagram showing a data flow when transitioning from a first steering mode to a second steering mode. [Figure 7] FIG. 11 is an explanatory diagram showing another embodiment of the data flow when transitioning from the first steering mode to the second steering mode. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] A riding rice transplanter will be described below as an embodiment of the agricultural work vehicle according to the present invention. This rice transplanter distributes agricultural materials (seedlings (planting work) and fertilizer (fertilizing work)) to a field, which is an example of a farm, while traveling. In this specification, unless otherwise specified, "front" means forward in the fore-and-aft direction (traveling direction) of the machine body, and "rear" means rearward in the fore-and-aft direction (traveling direction) of the machine body. Furthermore, left-right or lateral direction means the transverse direction of the machine body (machine body width direction) perpendicular to the fore-and-aft direction of the machine body. "Up" and "down" refer to the positional relationship in the vertical direction (perpendicular direction) of the machine body, and indicate the relationship in height above the ground.

[0019] Fig. 1 is a side view of the rice transplanter. The rice transplanter is equipped with a riding type four-wheel drive traveling machine body (hereinafter referred to as machine body 1). The machine body 1 is equipped with a parallel four-link type link mechanism 11 connected to the rear of the machine body 1 so as to be able to rise and fall and swing, a hydraulic lifting cylinder 11a that drives the link mechanism 11 to swing, a seedling planting device 3 (an example of an agricultural material application device) connected to the rear end of the link mechanism 11 so as to be able to roll, and a fertilizer application device 4 installed from the rear end of the machine body 1 to the seedling planting device 3.

[0020] The vehicle 1 is equipped with wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as mechanisms for traveling. The wheels 12 include left and right front wheels 12A that can be steered, and left and right rear wheels 12B that cannot be steered. The engine 13 and the continuously variable transmission 14 are mounted on the front of the vehicle 1. Power from the engine 13 is supplied to the front wheels 12A, rear wheels 12B, etc. via the continuously variable transmission 14 etc.

[0021] As an example, the seedling planting device 3 is configured for eight rows of planting. The seedling planting device 3 is equipped with a seedling placement platform 31, a planting mechanism 32 for eight rows, etc. The seedling planting device 3 can be changed to two-row, four-row, six-row, etc. planting by controlling the clutch for each row (not shown). Alternatively, it can be changed to a specific row planting type by turning the clutch on and off one row at a time.

[0022] The seedling placement table 31 is a base on which eight rows of mat-shaped seedlings are placed. The seedling placement table 31 moves back and forth in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedlings, and the vertical feed mechanism 33 vertically feeds each mat-shaped seedling on the seedling placement table 31 toward the lower end of the seedling placement table 31 at a predetermined pitch each time the seedling placement table 31 reaches the left-right stroke end. The eight planting mechanisms 32 are of a rotary type and are arranged in the left-right direction at a constant interval corresponding to the spacing between the planting rows. Then, each planting mechanism 32 cuts one seedling from the lower end of each mat-shaped seedling placed on the seedling placement table 31 by power from the machine body 1, and plants it in the muddy soil after the ground is leveled.

[0023] The seedling planting device 3 is equipped with a seedling amount adjustment function that adjusts the amount of seedlings taken by the planting mechanism 32. The planting mechanism 32 takes out and plants one seedling through a seedling removal opening formed in a guide rail that slides and guides the lower end of the seedling placing table 31. The amount of seedlings taken can be adjusted by vertically changing the positions of the seedling placing table 31 and the guide rail that slides and guides the lower end of the seedling placing table 31.

[0024] As shown in Fig. 1, the fertilizer application device 4 includes a horizontally long hopper 41, a delivery mechanism 42, an electric blower 43, multiple fertilizer application hoses 44, and a furrow former 45 provided for each row. The hopper 41 stores granular or powdered fertilizer. The delivery mechanism 42 is operated by power transmitted from the engine 13, and delivers a predetermined amount of fertilizer for two rows from the hopper 41. The fertilizer application device 4 has a delivery amount adjustment function that changes the amount of fertilizer delivered by the delivery mechanism 42.

[0025] The blower 43 is powered by a battery (not shown) mounted on the machine body 1, and generates a conveying wind that conveys the fertilizer dispensed by each dispensing mechanism 42 toward the muddy surface of the field. By intermittently operating the blower 43, etc., the fertilizer application device 4 can be switched between an operating state in which a predetermined amount of fertilizer stored in the hopper 41 is supplied to the field at a time, and a non-operating state in which the supply is stopped.

[0026] Each fertilizer hose 44 guides the fertilizer carried by the carrying wind to each furrow former 45. Each furrow former 45 is attached to each ground leveling float 15. Each furrow former 45 rises and falls together with each ground leveling float 15, and during work travel in which each ground leveling float 15 touches the ground, forms a fertilizer furrow in the muddy part of the paddy field and guides the fertilizer into the fertilizer furrow.

[0027] The machine body 1 is provided with a driving section 20 at its rear side. The driving section 20 is provided with a steering wheel 21 for steering the front wheels, a main transmission (lever, pedal, etc.) 22 for adjusting the vehicle speed by changing the speed of the continuously variable transmission 14, an auxiliary transmission lever 23 for changing the speed of the auxiliary transmission, an operation operation lever 25 for enabling the raising and lowering operation of the seedling planting device 3 and switching of the operating state, a general-purpose terminal 9 having a touch panel for displaying various information to notify the operator and accepting input of various information, and a driver's seat 16 for the operator. Furthermore, a spare seedling frame 17 for storing spare seedlings is provided in front of the driving section 20.

[0028] The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. A steering motor M1 is also connected to the steering mechanism, and during automatic driving, the steering motor M1 operates based on a steering signal to adjust the steering angle of the front wheels 12A. In addition, a speed change motor M2 for automatically operating the main speed changer 22 is also provided, and during automatic driving, the speed change motor M2 operates based on a speed change signal to adjust the speed change position of the continuously variable transmission 14.

[0029] The travel path used in seedling planting work (one example of field work) by this rice transplanter will be described below. As shown in Fig. 2, the field is divided into an outer periphery area where a circular travel path is set, and a central area where a reciprocating travel path is set. The rice transplanter first performs seedling planting work in the central area along the reciprocating travel path, and then performs seedling planting work in the outer periphery area along the circular travel path.

[0030] FIG. 3 shows a circular travel path. The circular travel path is composed of a circular straight line path that extends parallel to the field boundary line (bank) and a direction change path that incorporates forward and backward movement to connect the circular straight line paths. In FIG. 3, the circular straight line path is given the symbol R1, and the direction change path is given the symbol R2. FIG. 4 shows a round trip travel path. The round trip travel path is composed of a number of straight paths that are approximately parallel to each other and a turning path (U-turn path) that connects the straight paths. In each straight path, seedling planting is started from the planting start position US, and seedling planting is ended at the planting end position UF. In FIG. 4, the straight path is given the symbol R3, and the turning path is given the symbol R5. In FIG. 3 and FIG. 4, the transition path for transitioning from the round trip travel path to the circular travel path is given the symbol R4. In this example, the transition path is similar to the turning path. Furthermore, in Figures 3 and 4, the working width of the rice transplanter is indicated by the symbol W, and the entrance / exit GA of the rice transplanter into the field is drawn with diagonal lines. Figure 4 shows a start guide path (given the symbol R6) from the entrance / exit GA to the travel start position S of the round-trip travel path. On the turning path, the direction change path, the start guide path, and the transition path, the rice transplanter travels without performing work until the work on the round-trip travel path is completed, so these paths are shown with dotted lines. On the circular straight path and the straight path, the rice transplanter travels while performing work, so these paths are shown with solid lines.

[0031] A control block diagram of the control system of this rice transplanter is shown in Figure 5. The control system of the rice transplanter consists of a control device 100 that controls various operations of the rice transplanter, and a general-purpose terminal 9 that can exchange data with the control device 100. Signals from a positioning unit 8, a mode switching manual operation tool group 27, a travel sensor group 28, and a work sensor group 29 are input to the control device 100. Control signals from the control device 100 are output to the travel equipment group 1A and the work equipment group 1B.

[0032] The positioning unit 8 outputs positioning data for calculating the position and orientation (aircraft orientation) of the aircraft 1. The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the Global Navigation Satellite System (GNSS), and an inertial measurement module 8B that detects the inclination and acceleration of the three axes of the aircraft 1.

[0033] The traveling equipment group 1A includes, for example, a steering motor M1 and a gear shift motor M2, and based on a control signal from the control device 100, the steering motor M1 is controlled to adjust the steering angle, and the gear shift motor M2 is controlled to adjust the vehicle speed.

[0034] The work equipment group 1B includes, for example, a lifting cylinder 11a that adjusts the lifting and lowering of the seedling planting device 3, a seedling harvesting amount adjustment device that adjusts the amount of seedlings harvested by the planting mechanism 32, a feed amount adjustment device that changes the amount of fertilizer fed by the feed mechanism 42, and an on / off control device for each row clutch.

[0035] This rice transplanter has a first automatic steering mode and a second automatic steering mode. In the first automatic steering mode, the machine body 1 is automatically steered based on the machine body position obtained by satellite positioning and the travel route set in the field. In the second automatic steering mode, the machine body 1 is automatically steered so that the orientation of the machine body 1 coincides with the orientation of a reference line defined by at least two points. Of course, the machine body 1 can be steered manually (manual steering mode). Although such switching of steering modes can be performed automatically by the control device 100, it is usually performed by the mode switching manual operation device group 27. (equivalent to "switching operation section")The mode switching manual operation group 27 includes a plurality of levers and switches. For example, in the first automatic steering mode, all straight running and turning running for changing direction are performed by automatic steering with the set straight running path and turning path as the target. In contrast, in the second automatic steering mode, the straight running is performed by automatic steering with the orientation of the reference line as the target of the aircraft orientation. Turning in the second automatic steering mode is manually steered, including its start timing and end timing. At that time, the transition timing from straight running to turning running (start timing of turning running) and the transition timing from turning running to straight running (end timing of turning running) are manually determined using the mode switching manual operation group 27. When the turning running is switched from turning running to straight running, automatic steering is resumed from that position with the orientation of the reference line as the target of the aircraft orientation.

[0036] The travel sensor group 28 includes various sensors that detect the steering angle, vehicle speed, engine RPM, and other conditions and their corresponding settings. The work sensor group 29 includes various sensors that detect the conditions of the link mechanism 11, the seedling planting device 3, and the fertilizer applicator 4.

[0037] The control device 100 is equipped with a driving control unit 6, a work control unit 51, a vehicle position calculation unit 52, a driving route management unit 53, a driving trajectory generation unit 54, a reference line management unit 55, and a reference line memory unit 56.

[0038] The driving control unit 6 includes an automatic driving control unit 6A, a manual driving control unit 6B, and a control management unit 6C. The automatic driving control unit 6A includes a first automatic steering unit 61 that performs automatic steering in the first automatic steering mode, and a second automatic steering unit 62 that performs automatic steering in the second automatic steering mode. In the first automatic steering mode, a steering control amount is calculated so as to reduce the lateral deviation and the azimuth deviation based on the lateral deviation and the azimuth deviation calculated by comparing the target driving route set by the driving route management unit 53 with the vehicle position calculated by the vehicle position calculation unit 52. In the second automatic steering mode, a steering control amount is calculated so as to maintain the azimuth of a reference line defined by at least two points. The second automatic steering unit 62 acquires the reference line by a transition command output from a predetermined operating tool of the mode switching manual operating tool group 27, and starts the second automatic steering mode. In other words, the driver operates the operating tool when the vehicle 1 has passed through a turning driving and is in a position suitable for the next round-trip straight driving (line alignment). After that, the aircraft 1 is automatically steered so as to maintain the orientation of the reference line. In the manual driving mode, the manual driving control unit 6B controls the steering motor M1 based on the amount of operation of the steering wheel 21.

[0039] The control management unit 6C selects one of the first automatic steering mode, the second automatic steering mode, and the manual driving mode based on signals from the mode switching manual operation device group 27 and the like.

[0040] In automatic driving, the work control unit 51 automatically controls the work equipment group 1B based on a program provided in advance, and in manual driving, it controls the work equipment group 1B based on the operation of the driver.

[0041] The aircraft position calculation section 52 calculates the map coordinates (aircraft position) of the aircraft 1 based on the satellite positioning data successively sent from the positioning unit 8.

[0042] In this embodiment, the general-purpose terminal 9 is provided with a field information storage unit 91, a travel route map generation unit 92, and a travel route generation unit 93. The field information storage unit 91 stores information about the field, such as the planting species, the entrance (exit) position of the field, and the position where seedlings can be supplied. (Corresponding to the "field map generation part") calculates the outer dimensions of the field based on a travel trajectory (teaching path) obtained by running (teaching travel) the machine 1 along the outermost periphery of the outer periphery area of ​​the field (see FIG. 2), i.e., the boundary line with the ridge. The travel path generating unit 93 divides the field into an outer periphery area and a central area based on the outer dimensions of the field, and generates a circular travel path for traveling in the outer periphery area and a round trip travel path for traveling in the central area.

[0043] The driving route management unit 53 receives and manages the driving route generated by the driving route generation unit 93 from the general-purpose terminal 9, and sequentially sets driving routes that will serve as targets for automatic driving in the field in the first steering mode.

[0044] The running trajectory generating unit 54 generates at least a partial running trajectory of the machine body 1 based on the machine body position calculated by the machine body position calculating unit 52. In particular, in this embodiment, the running trajectory generating unit 54 sequentially generates running trajectories for running along a straight path (indicated by R3 in FIG. 4) set in the central region, and stores them in the reference line memory unit 56 as a reference line to be used in the second steering mode.

[0045] When transitioning from the first automatic steering mode to the second automatic steering mode, the reference line management unit 55 reads out the reference line required for steering in the second automatic steering mode from the reference line storage unit 56 and provides it to the second automatic steering unit 62.

[0046] Next, the flow of data when switching from the first steering mode to the second steering mode will be explained using Fig. 6. It is assumed that the rice transplanter is performing seedling planting work by traveling back and forth in the central area of ​​the field, as shown in Fig. 4.

[0047] First, for automatic traveling in the first steering mode, the traveling route management unit 53 provides a traveling route that is a traveling target route to the first automatic steering unit 61 (#a1), and the vehicle position calculation unit 52 provides the vehicle position to the first automatic steering unit 61 (#a2). The first automatic steering unit 61 calculates a position deviation and an orientation deviation based on the provided traveling route and vehicle position (#a3), generates a first steering signal that reduces these deviations, and outputs it to the traveling equipment group 1A (#a4).

[0048] The vehicle position is also provided to the travel trajectory generating unit 54 (#b1). The travel trajectory generating unit 54 generates a travel trajectory based on the vehicle positions received in sequence (#b2). At that time, the travel trajectory obtained during travel along the straight path in the central area is stored in the reference line storage unit 56 as a reference line to be used in the second automatic steering mode (#b3).

[0049] The control management unit 6C, which manages the driving control, acquires a driving state signal from the driving sensor group 28, acquires a work state signal from the work sensor group 29, and acquires an operation signal from the mode switching manual operation device group 27 (#c1). Based on these data, the control management unit 6C provides a first automatic ON signal requesting the start of steering in the first automatic steering mode and a first automatic OFF signal requesting the stop of steering in the first automatic steering mode to the first automatic steering unit 61 (#c2), and provides a second automatic ON signal requesting the start of steering in the second automatic steering mode and a second automatic OFF signal requesting the stop of steering in the second automatic steering mode to the second automatic steering unit 62 (#c3). Furthermore, when transitioning from the first automatic steering mode to the second automatic steering mode, the control management unit 6C provides a transition command to the baseline management unit 55 (#c4).

[0050] The output of the transition command and the output of the second automatic ON signal by the control management unit 6C are performed at the same timing, whereby the second autosteering unit 62 executes automatic steering in the second autosteering mode. First, when the reference line management unit 55 receives the transition command, it reads out the reference line from the reference line storage unit 56 and provides it to the second autosteering unit 62 (#d1). The second autosteering unit 62 receives the aircraft position from the aircraft position calculation unit 52 (#d2). The reference line is set to the aircraft position at the timing when the transition command is received. The second autosteering unit 62 calculates the position deviation and the azimuth deviation based on the reference line and the aircraft position (#d3), generates a second steering signal that reduces these deviations, and outputs it to the traveling equipment group 1A (#d4).

[0051] During manual driving, manual operation signals output from the driving sensor group 28 and the like are provided to the manual driving control unit 6B (#e1). The manual driving control unit 6B generates a manual steering signal based on the manual operation signal and outputs it to the driving equipment group 1A (#e2).

[0052] The reference line stored in the reference line memory unit 56 is erased when the rice transplanter leaves the field.

[0053] Figure 7 illustrates an example of a data flow that is different from the data flow described using Figure 6. The difference from Figure 6 is that the reference line used in the second automatic steering mode is not from the travel trajectory generated by the travel trajectory generation unit 54, but is instead a travel path (straight-line travel path) managed by the travel path management unit 53. The travel path management unit 53 stores the travel path for straight-line travel set by the vehicle 1 for round-trip travel in the central area in the reference line memory unit 56 as a reference line (#z1).

[0054] Here, the second automatic steering mode by the second automatic steering unit 62 will be described in more detail. Two points in the field that are at least a predetermined distance apart are set as the start point and the end point, and the line defined by the start point and the end point is taken as the teaching line. This teaching line is used as the reference line mentioned above. When actually traveling in the second automatic steering mode, the lowering position into the field of the seedling planting device 3, which is the working device connected to the machine body 1, and the raising and lowering position out of the field are each set to the ridge area (an area with a short distance from the ridge), and when the machine body 1 approaches the ridge area while traveling in the second automatic steering mode, the second automatic steering unit 62 (Corresponding to the "notification unit that performs advance notification") The driver is notified to switch to manual mode a predetermined distance or a predetermined time before the edge of the field. In order to continue automatic straight-ahead driving in the second automatic steering mode during this notification, the driver must press the corresponding switch of the mode switching manual operation device group 27. (Equivalent to "operating device that continues automatic straight-line driving") In this case, if the driver wishes to switch from automatic straight-line driving in the second automatic steering mode to manual driving during this notification, the driver must press the corresponding switch in the mode switching manual operation group. (Equivalent to "operating device that can be switched to manual driving") just press the switch. The switch for continuing automatic straight-line driving and for changing over to manual operation may be the same. If no operation is performed during this notification, the machine 1 will be forced to stop after a specified distance or a specified time. The switch for the above changeover is provided around the handle post, on the top of the forward / reverse operation device such as the main transmission 22, on an operation panel around the handle post, etc. In this rice transplanter, the operation device for changing over from one state to another (for example, from automatic to manual or from manual to automatic in the second automatic steering mode) is preferably one of a swinging, rotating, or pressing type.

[0055] Furthermore, when automatic traveling by the first automatic steering unit 61 is completely terminated, the aircraft 1 comes to a complete stop and the control system enters a check state in which no operation is accepted. In this check state, manual traveling or traveling by the second automatic steering unit becomes possible by operating the check state release operating tool for releasing the check state.

[0056] [Another embodiment] (1) In the above embodiment, when a transition command is output, the reference line management unit 56 reads out a reference line from the reference line memory unit 56 and provides it to the second automatic steering unit 62. Alternatively, a configuration may be adopted in which a plurality of reference lines are stored in the reference line memory unit 56, and when a transition command is output, the reference line is displayed on the touch panel of the general-purpose terminal 9 together with acquired information (such as the driving route and driving trajectory position that are the basis of the reference line), and the pilot selects the reference line to use. (2) In the above embodiment, the driving route map generating unit 92 and the driving route generating unit 93 are implemented in the general-purpose terminal 9. However, they may be implemented in the control device 100. Furthermore, they may be implemented in an external management computer capable of exchanging data with the control device 100. (3) The automatic steering of the turning path by the first automatic steering unit 61 may be performed by control so as to follow the generated turning path, or may be performed by control so as to use a predetermined steering angle to result in a specified turning path. (4) In the above embodiment, a rice transplanter is used as the work vehicle, but it may be a farm work vehicle such as a combine harvester, a tractor, a direct seeding machine, or a spraying (dispersing) management machine. (5) In this application, the term steering is used in a broad sense, and automatic steering includes automatic steering. For example, the present invention is applicable not only to work vehicles that change direction using wheels, but also to work vehicles that change direction using crawlers. (6) The present invention can also be applied to travel in work where the working direction is limited to one direction, for example, in a field where ridges have been made by a combine harvester or the like.

[0057] In addition, the configurations disclosed in the above embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, provided no contradiction arises. Furthermore, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope that does not deviate from the purpose of the present invention. [Industrial Applicability]

[0058] The present invention is applicable to autonomously driven agricultural vehicles. [Explanation of symbols]

[0059] 1: Aircraft 6: Driving control unit 6A: Automatic driving control unit 6B: Manual driving control unit 6C: Control Management Department 8: Positioning unit 9: General-purpose terminal 27: Mode switching manual operation tools 52: Aircraft position calculation unit 53: Route management unit 54: Travel trajectory generation unit 55: Reference line management department 56:Reference line storage section 61: First automatic steering unit 62: Second automatic steering unit 91: Field information storage section 92: Travel route map generation unit (field map generation unit) 93: Route generation unit 100: Control device

Claims

1. an aircraft position calculation unit that calculates an aircraft position based on satellite positioning; a driving route management unit that manages a driving route for automatic driving on the farm; A first automatic steering unit that automatically steers the aircraft based on the aircraft position and the traveling route; A second automatic steering unit that automatically steers the aircraft so as to maintain an orientation of a reference line defined by at least two points; a field map generating unit that generates an outline of the field by running the machine along a boundary line between the field and a bank; A switching operation unit that can manually switch between automatic steering by the first automatic steering unit and automatic steering by the second automatic steering unit, The field is divided into an outer peripheral area close to the bank area and a central area inside the outer peripheral area, In the central region, automatic steering by the first automatic steering unit and automatic steering by the second automatic steering unit can be performed, An agricultural work machine comprising a notification unit that issues an advance notification when approaching a levee edge region of the field during automatic steering by the second automatic steering unit.

2. The agricultural machine according to claim 1 , further comprising an operating tool that enables switching to manual driving after the advance warning during automatic driving by the second automatic steering unit.

3. 3. The agricultural machine according to claim 2, further comprising an operating tool that continues automatic straight-line travel after the advance warning, and the automatic straight-line travel is continued while the operating tool is being operated.

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