Work vehicles

Abstract

To solve the problem that a work vehicle such as a farm tractor to achieve simplification of function setting required for tillage work and road traveling is known, however, the load of an operator for using an automatic operation control function is not necessarily small with respect to a conventional work vehicle.SOLUTION: A rice planting machine acquires automatic travel reference data by performing teaching traveling along at least a part of an outer periphery of a field F, and performs automatic planting traveling based on the automatic travel reference data. In the rice planting machine, the teaching traveling is performed along a polygonal teaching path configured of sides excluding one predetermined side, and the automatic travel reference data are disposed of after all of the automatic planting traveling in the field F is finished.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] BACKGROUND ART Work vehicles such as agricultural tractors are known that simplify the function settings required for tilling work and road travel (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-147347 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the above-mentioned conventional work vehicles, the burden on the worker to use the automatic operation control function is not necessarily small.

[0005] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems in the prior art, the present invention has an object to provide a work vehicle that can reduce the burden on the worker when using an automatic operation control function. [Means for solving the problem]

[0006] The first aspect of the present invention is a work vehicle that acquires automatic driving reference data by performing teaching driving along at least a part of the periphery of a field (F), and performs automatic planting driving based on the automatic driving reference data, the teaching travel is performed along a teaching path that is configured by sides other than one predetermined side of a polygon; A path inside the teaching path is set as an inner circumference traveling path, The automatic driving reference data is All of the automatic planting travel in the field (F) is completed.This work vehicle is characterized in that it is discarded when the automatic planting travel along the inner traveling route is completed. A first invention related to the present invention is a work vehicle that acquires automatic driving reference data by performing teaching driving along at least a part of the periphery of a field (F), and performs automatic planting driving based on the automatic driving reference data, the teaching travel is performed along a teaching path that is configured by sides other than one predetermined side of a polygon; The work vehicle is characterized in that the automatic driving reference data is discarded after all of the automatic planting driving in the field (F) is completed.

[0007] Second invention related to the present invention The area inside the polygon is set as a field area, The automatic travel reference data is discarded after a predetermined travel distance has elapsed since manual planting travel outside the field area has begun. First invention related to the present invention It is a work vehicle.

[0008] Third invention related to the present invention the last side of the polygon on which the teaching travel was last performed is set as the automatic straight-ahead travel reference path, a path parallel to the automatic straight-ahead driving reference path is set as an automatic straight-ahead driving path; automatic outgoing straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side opposite the predetermined side, automatic return straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side, first automatic turning traveling that is performed in the vicinity of the opposite side after the automatic outgoing straight-line traveling is stopped, manual remote-controlled straight-line traveling that is performed toward the predetermined side after the automatic return straight-line traveling is stopped, and second automatic turning traveling that is performed in the vicinity of the predetermined side after the manual remote-controlled straight-line traveling is stopped are repeatedly performed, the field area is used as an automatic range determination area when the automatic outbound straight-line traveling, the automatic return-way straight-line traveling, and the first automatic turning traveling are performed, The field area, the predetermined side of which is enlarged or reduced depending on the vehicle body arrival position during the manual remote-controlled straight-ahead driving, is used as the automatic range determination area when the second automatic turning driving is performed. Second invention related to the present invention It is a work vehicle.

[0009] The fourth invention related to the present invention a path inside the teaching path is set as an inner circumference traveling path, The automatic travel reference data is discarded at the timing when the automatic planting travel along the inner travel route is completed. First invention related to the present invention It is a work vehicle.

[0010] Fifth Invention Related to the Present Invention the last side of the polygon on which the teaching travel was last performed is set as the automatic straight-ahead travel reference path, a path parallel to the automatic straight-ahead driving reference path is set as an automatic straight-ahead driving path; The automatic driving reference data is discarded after a predetermined driving distance has elapsed since automatic straight-line planting driving along the automatic straight-line driving path has ended and manual straight-line planting driving along a straight-line driving path whose angle with the automatic straight-line driving reference path exceeds a predetermined angle has begun. First invention related to the present invention It is a work vehicle.

[0011] The sixth invention related to the present invention The automatic driving reference data is discarded after a predetermined driving distance has elapsed since the operator started manual planting driving. First invention related to the present invention It is a work vehicle.

[0012] Seventh Invention Related to the Present Invention is a work vehicle that acquires automatic driving reference data by performing teaching driving along at least a part of the periphery of a field (F) and performs automatic planting driving based on the automatic driving reference data, the teaching travel is performed along a teaching path that is configured by sides other than one predetermined side of a polygon; The area inside the polygon is set as a field area, The last side of the polygon on which the teaching traveling was last performed is set as the automatic straight traveling reference path, a path parallel to the automatic straight-ahead driving reference path is set as an automatic straight-ahead driving path; automatic outgoing straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side opposite the predetermined side, automatic return straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side, first automatic turning traveling that is performed in the vicinity of the opposite side after the automatic outgoing straight-line traveling is stopped, manual remote-controlled straight-line traveling that is performed toward the predetermined side after the automatic return straight-line traveling is stopped, and second automatic turning traveling that is performed in the vicinity of the predetermined side after the manual remote-controlled straight-line traveling is stopped are repeatedly performed, the field area is used as an automatic range determination area when the automatic outbound straight-line traveling, the automatic return-way straight-line traveling, and the first automatic turning traveling are performed, This work vehicle is characterized in that the automatic range determination area used when the second automatic turning is the field area in which the specified side is expanded or reduced according to a predetermined distance.

[0013] Eighth invention related to the present invention is a work vehicle that acquires automatic driving reference data by performing teaching driving along at least a part of the periphery of a field (F) and performs automatic planting driving based on the automatic driving reference data, the teaching travel is performed along a teaching path that is configured by sides other than one predetermined side of a polygon; The area inside the polygon is set as a field area, The last side of the polygon on which the teaching traveling was last performed is set as the automatic straight traveling reference path, a path parallel to the automatic straight-ahead driving reference path is set as an automatic straight-ahead driving path; automatic outgoing straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side opposite the predetermined side, automatic return straight-line traveling that is performed along the automatic straight-line traveling path toward the predetermined side, first automatic turning traveling that is performed in the vicinity of the opposite side after the automatic outgoing straight-line traveling is stopped, manual remote-controlled straight-line traveling that is performed toward the predetermined side after the automatic return straight-line traveling is stopped, and second automatic turning traveling that is performed in the vicinity of the predetermined side after the manual remote-controlled straight-line traveling is stopped are repeatedly performed, the field area is used as an automatic range determination area when the automatic outbound straight-line traveling, the automatic return-way straight-line traveling, and the first automatic turning traveling are performed, This work vehicle is characterized in that the automatic range determination area used when the second automatic turning is performed is the field area in which the specified side is expanded or reduced depending on the position reached by the vehicle body during the manual remote-controlled straight-ahead driving. [Effects of the Invention]

[0014] The present invention can reduce the burden on the operator for using the automatic operation control function, and in addition to the effects of the present invention described above, can suppress unintended execution of automatic operation control with a simple configuration. First invention related to the present invention This makes it possible to reduce the burden on the worker when using the automatic operation control function.

[0015] Second invention related to the present invention Therefore, First invention related to the present invention In addition to the above effect, it is possible to suppress the execution of unintended automatic operation control with a simple configuration.

[0016] Third invention related to the present invention Therefore, Second invention related to the present invention In addition to the above effect, it is possible to further reduce the burden on the operator when using the automatic operation control function.

[0017] The fourth invention related to the present invention Therefore, First invention related to the present invention In addition to the above effect, it is possible to suppress the execution of unintended automatic operation control with a simple configuration.

[0018] Fifth Invention Related to the Present Invention Therefore, First invention related to the present inventionIn addition to the above effect, it is possible to suppress the execution of unintended automatic operation control with a simple configuration.

[0019] The sixth invention related to the present invention Therefore, First invention related to the present invention In addition to the above effect, it is possible to suppress the execution of unintended automatic operation control with a simple configuration.

[0020] Seventh Invention Related to the Present Invention This makes it possible to reduce the burden on the worker when using the automatic operation control function.

[0021] Eighth invention related to the present invention This makes it possible to reduce the burden on the worker when using the automatic operation control function. [Brief explanation of the drawings]

[0022] [Figure 1] Left side view of a rice transplanter according to an embodiment of the present invention [Figure 2] (a) An explanatory diagram (part 1) of the seedling planting operation of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 2) of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 3] 1 is an explanatory diagram (part 3) of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 4] 1 is an explanatory diagram (part 4) of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 5] 5 is an explanatory diagram of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 6] 6 is an explanatory diagram of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 7] FIG. 7 is an explanatory diagram of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 8] 8 is an explanatory diagram of the seedling planting operation of the rice transplanter according to the embodiment of the present invention. [Figure 9](a) An explanatory diagram (part 1) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 2) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, (c) An explanatory diagram (part 3) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, [Figure 10] (a) An explanatory diagram (part 4) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 5) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, (c) An explanatory diagram (part 6) of the travel path of the robotic rice transplanter according to the embodiment of the present invention, (d) An explanatory diagram (part 7) of the travel path of the robotic rice transplanter according to the embodiment of the present invention. [Figure 11] FIG. 1 is an explanatory diagram of field diagnosis and feedback control in straight-line control according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0024] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0025] (1) First, with reference to FIG. 1, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be specifically described.

[0026] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention.

[0027] While explaining the operation of the rice transplanter of this embodiment, a work vehicle operation control method according to an invention related to the present invention, which is realized by the control mechanism 600 and the like, will also be explained.

[0028] The rice transplanter of this embodiment is a rice transplanter for traveling the vehicle body 100 on a traveling device 220 having a pair of front and rear wheels 221 and 222 in accordance with the control of a control mechanism 600 based on manual or automatic steering operation of a steering device 230, leveling the field F with a ground leveling device 260 having a rotor 261 and a float 262, planting seedlings in the field F with a seedling planting device 240 having a seedling planting tool 241, and applying fertilizer to the field F with a fertilizer application device 250.

[0029] The traveling device 220, the seedling planting device 240, the fertilizer application device 250, and the soil leveling device 260 are driven by the power of the engine 210 transmitted via a transmission mechanism having a main transmission and an auxiliary transmission, which are HSTs.

[0030] The rice transplanter of this embodiment is a work vehicle that acquires automatic driving reference data by performing teaching driving along at least a portion of the perimeter of the field F, and performs automatic planting driving based on the automatic driving reference data, and is a specific example of a work vehicle in the present invention.

[0031] (2) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 2(a) and 2(b), 3, 4 and 5, and 6, 7 and 8.

[0032] Here, Figures 2(a) and 2(b), 3, 4 and 5, and 6, 7 and 8 are explanatory diagrams (parts 1 to 8) of the seedling planting operation of the rice transplanter according to the embodiment of the present invention.

[0033] Figure 2(a) illustrates an automatic straight-line travel path for an outbound / inbound journey having an outbound journey and an inbound journey, and Figure 2(b) illustrates an inner circumferential travel path for an inner circumferential journey. Figure 3 illustrates a trapezoidal field F, Figure 4 illustrates a field F for which a sub-path is created, and Figure 5 illustrates a field F with an overhanging shape on the seedling supply side. Figures 6, 7, and 8 illustrate automatic range determination areas.

[0034] The teaching travel is performed along a teaching path that is made up of sides other than the predetermined side of the polygon.

[0035] In other words, manual teaching travel is performed after switching from manual operation mode to teaching mode, with the user boarding the rice transplanter through a process of recognizing the field shape while planting on the three outer edges. Movement along the ridges on three sides of the field F is performed while manually planting to ensure no seedlings are left unplanted. The seedling planting device 240, which is a work machine, is raised and lowered manually, and the seedling planting device 240 is lowered to travel without planting on the side the user wants to use for seedling replenishment and the side the user wants to plant last.

[0036] The area inside the polygon is set as the field area.

[0037] The last side of the polygon on which teaching driving was last performed is set as the automatic straight-ahead driving reference path. A path parallel to the automatic straight-ahead driving reference path is set as the automatic straight-ahead driving path.

[0038] The route inside the teaching route is set as the inner travel route.

[0039] In other words, once planting work on the three outer edges is completed, the system switches to automatic driving mode, and the work route for field F is automatically calculated, preparing for automatic driving on the outbound and return journeys (see Figure 2(a)) and the inner journey (see Figure 2(b)).

[0040] The vehicle repeatedly performs the following: automatic outbound straight-line traveling along the automatic straight-line traveling path toward the side opposite to a predetermined side; automatic return straight-line traveling along the automatic straight-line traveling path toward the predetermined side; first automatic turning traveling performed in the vicinity of the opposite side after the automatic outbound straight-line traveling is stopped; manual remote-controlled straight-line traveling performed toward the predetermined side after the automatic return straight-line traveling is stopped; and second automatic turning traveling performed in the vicinity of the predetermined side after the manual remote-controlled straight-line traveling is stopped. A farm field area is used as the automatic range determination area when the automatic outbound straight-line traveling, automatic return straight-line traveling, and first automatic turning traveling are performed.

[0041] In other words, the automatic driving of the outbound and return journeys is performed as follows: seedlings and fertilizer are replenished as needed, and after the user dismounts, automatic driving is initiated by pressing a button. The transition to the next outbound and return journey is performed by automatic turning, but a reversal of approximately one meter is required before turning. Rice planting on the outbound journey is performed automatically, and the automatic turning associated with reaching the edge of field F is performed along with the automatic raising and lowering of the seedling planting device 240. Planting on the return journey is performed automatically, with an automatic stop when the distance to the ridge on the replenishment road side is approximately three meters, and ridge-nearing is performed by pressing a button. Seedling replenishment is performed as needed with the seedling planting device 240 raised.

[0042] (2a) First, we will explain how to discard the path data of the robotic rice transplanter.

[0043] The automatic driving reference data is discarded after all automatic planting driving in field F is completed.

[0044] The following describes in detail how the robot rice transplanter's route data is discarded.

[0045] The automatic driving reference data is discarded after a predetermined driving distance has passed since manual planting driving outside the field area has begun.

[0046] Specifically, after route data is generated by teaching travel, if the vehicle 100 is outside the generated area, for example, when planting work is performed continuously over a predetermined distance of 5 meters with the planting clutch engaged, the route data can be discarded by detecting work outside the area. When the vehicle moves to another field F and normal planting work is performed, the route data can be discarded.

[0047] The automatic travel reference data may be discarded when the automatic planting travel along the inner travel route ends.

[0048] Specifically, a possible configuration is to recognize the inner process, discarding route data for areas where no driving will occur even if automatic driving resumes when inner process work is completed after route data is generated through teaching driving. Because route data is retained even after field work is completed, if an automatic driving start operation is performed while moving within the field or while the final planting process is being performed, automatic driving may begin, causing the robot to drive toward and plant in areas where planting has already occurred. Automatically discarding route data when field work is completed can prevent automatic driving caused by operational errors.

[0049] In addition, the automatic driving reference data may be discarded at a predetermined driving distance after automatic straight-line planting driving along the automatic straight-line driving path has ended and manual straight-line planting driving along a straight-line driving path whose angle with the automatic straight-line driving reference path exceeds a predetermined angle has begun.

[0050] Specifically, after route data is generated through teaching travel, if manual travel mode is selected and automatic travel is not being performed, and planting work is performed continuously over a predetermined distance, for example, 5 meters, with the planting clutch engaged in an orientation that differs by more than ±45 degrees from the route orientation of the outbound and return journeys generated using the side traveled at the end of teaching as a reference line (see Figure 3), a configuration can be considered that detects sideways running, etc., and discards the route data. In the above-mentioned configuration, there is a risk that the route data will be discarded before planting of the sub-path is performed (see Figure 4). The final planting process can be automatically detected and the route data can be discarded. This can prevent the discarding of inappropriate route data before planting of the sub-path.

[0051] In addition, the automatic driving reference data may be discarded after a predetermined distance has been traveled after the rider has started manual planting driving.

[0052] Specifically, after route data is generated by teaching travel, if a person is on board, i.e., the seat switch is detected to be on, and planting work is performed continuously over a predetermined distance of, for example, 5 meters with the planting clutch on, the route data is discarded. When manual planting work with a person on board is detected, the route data can be discarded.

[0053] In the above-described configuration, it is also possible to configure the system so that the automatic deletion of route data can be switched on and off by operating the monitor, etc., and the route data is stored in non-volatile memory within the controller. The automatic deletion of route data can be switched on and off depending on the shape of the field and the manner in which the user uses the system.

[0054] (2b) Next, we will explain how to switch the field deviation detection area of ​​the robotic rice transplanter.

[0055] The automatic range determination area used when the second automatic turning is performed is a farm field area in which a predetermined side is enlarged or reduced according to a predetermined distance.

[0056] Specifically, in the above-described configuration, the range of the field area determination can be switched between ridge-pushing by remote controller operation and automatic driving. When the robot is driving, it automatically stops at the ridge on the seedling supply side, for example, when it is 3 meters from the ridge. After that, manual ridge-pushing is performed by remote controller operation, and the robot stops at any position, supplies materials, and turns. This is because the shape of the field is often not a polygonal shape in the strict sense, and if a linear approximation of the ridge shape on the supply side where teaching driving was not performed is performed, there is a risk of collision with the ridge (see Figure 5). Even in Field F, which is a deformed field, the robot automatically stops in front of the ridge, and driving is performed by remote controller operation with human supervision. To ensure safety, when the remote controller is used to move the ridge at the protruding point, the vehicle's position is determined to be outside the field and the vehicle does not stop unintentionally, so for the ridge on the seedling supply side, the field area is determined after an extension process of, for example, 10 meters toward the ridge (see Figures 6, 7, and 8).For such extended areas, safety is emphasized by automatic stopping outside the field, and by distinguishing between the range of the field area determined when the remote controller is operated with human supervision and the range of the field area determined when the vehicle is driving autonomously, appropriate field departure determination can be made according to the situation.

[0057] In the above-mentioned configuration, it is also possible to configure the range of the field area determination when the remote controller is used to move the ridge closer, for example, by extending the range by 10 meters toward the ridge, and then fixing it. When operating the remote controller with human supervision, which ensures safety, performing such a field area determination can prevent unnecessary interruptions to work.

[0058] In the above-described configuration, it is also possible to determine the range of the field area during automatic driving according to the field area determined by linear approximation generated from the teaching route. By not expanding the range described above during automatic driving, safety can be ensured.

[0059] In addition, the automatic range determination area when the second automatic turning driving is performed may be a field area in which a specified side is expanded or reduced depending on the position reached by the vehicle during manual remote-controlled straight-ahead driving.

[0060] Specifically, in the above-described configuration, when the vehicle 100 approaches the seedling supply ridge by remotely controlling the ridge, the range of the seedling supply field area determined during autonomous driving can be expanded toward the ridge, based on the distance of the approach. In a configuration where the range is not expanded, if the field shape generated by teaching is moved toward the ridge by remotely controlling the ridge and the vehicle is then automatically driven again, the vehicle may be determined to be outside the field, preventing it from starting to drive. Expanding the field area of ​​the seedling supply ridge during autonomous driving can ensure safety in areas where the vehicle has entered using a remote controller under human supervision, allowing for more reliable start of driving. Of course, if the vehicle 100 irregularly deviates from the field during autonomous driving, appropriate safety features can be used to stop the vehicle.

[0061] In the above-described configuration, if the vehicle's entry during ridge-pushing operation using the remote controller is performed so as not to exceed the original field area for automatic driving, a configuration is also possible in which the range during automatic driving is determined according to the field area calculated by linear approximation based on the teaching route, without changing the range of the field area determined by the seedling supply side during automatic driving. If the vehicle 100 stops far enough away from the ridge during ridge-pushing operation using the remote controller, the field range may become smaller during area update, but by adopting the field area calculated by linear approximation based on the teaching route, the field range will not become unnecessarily smaller.

[0062] In the above-mentioned configuration, it is also possible to configure the system so that the field area expansion process accompanying the ridge-pushing operation is performed each time the ridge-pushing operation is performed, updating the area each time. In the case of irregularly shaped rice paddies, the degree of deviation from the field area calculated by the original linear approximation to the ridge changes, so by determining the area based on the most recent ridge-pushing distance, it is possible to safely detect field deviation.

[0063] In the above-described configuration, a maximum area update configuration is also conceivable, in which the field area associated with the ridge-pushing operation is expanded only when the vehicle's entry into the ridge-pushing operation exceeds the original field area for automatic driving. If the area is updated each time, if the deviation between the original field area based on the linear approximation and the ridge is large, the vehicle's position may be determined to be outside the field even though it is actually within the field, resulting in an unnecessary vehicle stop. Expanding the field area based on the maximum amount of ridge-pushing often reduces the occurrence of such driving stops due to false detection.

[0064] (3) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail.

[0065] (3a) First, the travel path of the robotic rice transplanter will be described, primarily with reference to Figures 9(a), 9(b) and 9(c), and 10(a), 10(b), 10(c) and 10(d).

[0066] Here, Figures 9(a), 9(b) and 9(c), as well as 10(a), 10(b), 10(c) and 10(d) are explanatory diagrams (parts 1 to 7) of the travel path of a robotic rice transplanter according to an embodiment of the present invention.

[0067] The robotic rice transplanter's travel route can be configured to move toward the exit while planting (see Figures 9(a), 9(b), and 9(c)). While the robotic rice planting route can also be configured to cross the planting rows near the exit (see Figures 10(a), 10(b), 10(c), and 10(d)), moving toward the exit while planting can achieve an aesthetically pleasing end to the planting process.

[0068] It is also possible to configure the robotic rice transplanter's travel route so that it travels toward the exit while planting, with all three steps - the step along the first side of the ridge, the step along the second and third sides, and the step along the fourth side - being performed manually. If these three steps were performed automatically, there is a risk of collisions with obstacles at the ridge, but by performing all three steps manually, it is possible to achieve an aesthetically pleasing planting finish while ensuring safety.

[0069] The robotic rice transplanter's travel route can be configured so that it travels toward the exit while planting, and for the three steps mentioned above, the step along the first side of the ridge is performed manually, the steps along the second and third sides are performed automatically, and the step along the fourth side is performed manually.The GNSS system is used in the area enclosed by the planting rows on both sides, so the operator does not need to be concerned about the left and right side rows while traveling, thereby reducing the effort required.

[0070] (3b) Next, mainly with reference to FIG. 11, the field diagnosis and feedback control in the straight-line control will be described.

[0071] FIG. 11 is an explanatory diagram of the field diagnosis and feedback control in the straight-line control according to the embodiment of the present invention.

[0072] In the straight-line driving assist process in the straight-line driving control, a configuration is conceivable in which the steering angle, the main shift lever position, the rear wheel rotation speed, the GNSS vehicle speed, and the GNSS yaw angular velocity are recorded.

[0073] In the above-described configuration, it is also conceivable that, for each determined distance during straight-line assisted driving, the recorded data for each of the above-described parameter states is retained until the next journey as recorded data with the first record number, recorded data with the second record number, ..., and recorded data with the nth record number.

[0074] In the above-described configuration, it is also possible to consider a configuration in which the ideal angular velocity of the vehicle body 100 is calculated from the steering angle and the GNSS vehicle speed, the difference between this and the GNSS yaw angular velocity is detected, and the difference is recorded as the tendency for the yaw angle to slip.

[0075] In the above-described configuration, when a straight-line operation is performed on a new path, the slip tendency of the current yaw angle can be determined from the recorded data of the corresponding record number in the previous path, which is assigned in the opposite direction to the record number in the new path, the recorded data of the record number plus or minus one of that record number, the current ideal angular velocity, and the current GNSS yaw angular velocity. For example, not only the recorded data of the first record number in the new path, but also information from the previous path, such as the recorded data of the nth record number and the recorded data of the (n-1)th record number in the previous path, are used to calculate the average value of the recorded data at adjacent positions. Similarly, not only the recorded data of the second record number in the new path, but also information from the previous path, such as the recorded data of the nth record number, the (n-1)th record number, and the (n-2)th record number in the previous path, are used to calculate the average value of the recorded data at adjacent positions. Since there is no recorded data from the previous path for the first section, only the recorded data from two locations in the first section is used.

[0076] In the above-described configuration, a configuration is also conceivable in which the maximum vehicle speed is reduced depending on the likelihood of slippage due to the yaw angle, since it is desirable to reduce the vehicle speed in areas where slippage is likely to occur.

[0077] In the above-described configuration, it is also possible to reduce the planting link angle depending on the tendency for the yaw angle to slip. This is because in areas prone to slipping, it is thought that there may be impurities present or the topsoil may be wet and soft, so it is desirable to change the link angle to allow for deeper planting.

[0078] In the above-described configuration, a configuration is also conceivable in which the slip ratio is calculated from the rear wheel rotation speed and the GNSS vehicle speed and recorded, since it is desirable to obtain the ideal vehicle speed from the rear wheel rotation and compare it with the GNSS vehicle speed.

[0079] In the above-described configuration, when a straight driving operation is performed on a new course, a configuration is also conceivable in which the current slip ratio is determined from the recorded data of the corresponding record number in the previous course that is assigned in the opposite direction to the record number in the new course, the recorded data of the record number plus or minus 1 of that record number, the current rear wheel rotation speed, and the current GNSS vehicle speed. This is because it is desirable to determine that slip is occurring frequently when the GNSS vehicle speed is small relative to the rear wheel rotation speed.

[0080] In the above-described configuration, a configuration in which the amount of fertilizer application is reduced according to the slip ratio is also conceivable. This is because, in the case of an electric fertilizer application type, it is desirable to change the amount of fertilizer application according to the slip ratio.

[0081] In the above-described configuration, it is also possible to configure the system so that the field resistance is calculated and recorded from the HST lever position and the current rear wheel rotation speed. This is because it is desirable to calculate the ideal vehicle speed from the HST lever position and compare it with the rear wheel rotation speed.

[0082] In the above-described configuration, when straight-line work is performed on a new stroke, a configuration is also conceivable in which the current field resistance is determined from the recorded data of the corresponding record number on the previous stroke, which is assigned in the opposite direction to the record number on the new stroke, and the recorded data of the record number plus or minus 1 of that record number, as well as the current HST lever position and the current rear wheel rotation speed.

[0083] In the above-described configuration, it is also possible to consider a configuration in which the field resistance is determined to be high when the rear wheel rotation speed is low relative to the HST lever position. This is because it is desirable to determine that resistance is high when the rear wheels 222 are not rotating according to the HST lever position.

[0084] (3c) Next, we will explain the row cutting process of the robotic rice transplanter.

[0085] In the seedling planting device 240, two rotary cases are provided on both sides of the rear end of the planting transmission case, and each rotary case is provided with a row clutch, also called a partial row clutch, which turns on and off the transmission of driving force to the rotary cases and the seedling planting tool 241. In other words, it is possible to select whether or not to plant seedlings for every two rows.

[0086] Then, a switching cam rotated by a motor that can rotate forward and backward is brought into contact with multiple switching arms in stages, and a partial row clutch that switches on and off the transmission of power to two rows of seedling planting devices 240 is switched on and off sequentially from either the left or right outer end.

[0087] In the case of an electric ridge clutch unit, for example, in the case of an eight-row rice transplanter, there are nine row-in / cut positions: all rows in, two rows to the right, four rows to the right, six rows to the right, eight rows to the right, two rows to the left, four rows to the left, six rows to the left, and eight rows to the left. In addition, standby positions for the right side are also possible: standby for all rows in to two rows in, standby for two rows in to four rows in, standby for four rows in to six rows in, standby for six rows in to eight rows in, standby for eight rows in to six rows in, standby for six rows in to four rows in, standby for four rows in to four rows in, standby for two rows in to six rows in, and standby for two rows in to all rows in, as well as similar standby positions for the left side. Therefore, a configuration that adds standby positions by considering these 16 standby patterns is conceivable. In robot travel, the row-cutting operation is performed after the vehicle body 100 is stopped, and travel resumes once the row-cutting operation is completed. This is because the motor needs time to move the furrow clutch cable, and if the cable is operated while driving, planting work that involves driving can easily occur even when the intended row cutting process is not being performed. However, stopping the vehicle every time a row cutting operation is performed can reduce work efficiency. By adding a standby position, the next row cutting operation can be performed quickly.

[0088] When an electric ridge clutch unit is automatically driven, if a row cutting operation is required on the current driving route, a configuration is also conceivable in which the ridge clutch motor is operated proactively to just before the target position. For example, if a row cutting operation is desired from full row cutting to two-row cutting to four-row cutting, the row cutting operation would be performed from a position before the two-row cutting position to the two-row cutting position, from the two-row cutting position to a position before the four-row cutting position, and from a position before the four-row cutting position to the four-row cutting position, thereby reducing the time from when the motor starts to when the row cutting position is switched. In a robotic rice transplanter, route data including the row cutting position is generated in advance, so the next row cutting operation is predetermined. By operating the ridge clutch motor proactively to just before the target position, row cutting can be performed while driving without stopping for the row cutting operation, improving work efficiency.

[0089] In the above-described configuration, it is also possible to develop a similar concept for the fertilizing ridge clutch. It is possible to adopt not only a configuration in which the ridge clutch unit is connected to the fertilizing ridge clutch, but also a configuration in which the fertilizing ridge clutch is independent. By adopting a similar configuration for both, that is, by adopting a similar configuration not only for the ridge clutch but also for the fertilizing ridge clutch, it is possible to realize a configuration in which the ridge clutch and fertilizing ridge clutch are connected, and for the independent unit type, it is possible to achieve consistency in the operation timing for fertilization as well.

[0090] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0091] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0092] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0093] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0094] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0095] The recording medium also includes a ROM (Read Only Memory).

[0096] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0097] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0098] The work vehicle of the present invention can reduce the burden on the worker when using the automatic operation control function, and is useful for use in work vehicles such as rice transplanters. [Explanation of symbols]

[0099] 100 body 210 engine 220 Running gear 221 Front wheel 222 rear wheel 230 Steering Gear 240 Seedling planting device 241 Seedling planting tools 250 Fertilizer equipment 260 Ground leveling equipment 261 rotor 262 Float 600 Control Mechanism F field

Claims

[Claim 1] A work vehicle that acquires automatic driving reference data by performing teaching driving along at least a part of the periphery of a field (F), and performs automatic planting driving based on the automatic driving reference data, the teaching travel is performed along a teaching path formed by sides other than one predetermined side of a polygon; A path inside the teaching path is set as an inner circumference traveling path, The work vehicle is characterized in that the automatic driving reference data is discarded when all of the automatic planting driving in the field (F) is completed and the automatic planting driving along the inner driving route is completed.

Images