Seedling transplanter

Abstract

The inventors have noticed that conventional seedling transplanters are not always easy to use when using convenient functions. More specifically, the inventors have noticed that there is a demand for highly accurate seedling transplantation with minimal manual operation. [Solution] Before creating an automatic straight-line reciprocating travel path in a field 50 having an approximately polygonal shape, the rice transplanter 1 manually teaches the field shape by traveling along all the sides of the approximately polygonal shape without overlapping any of the sides. During the field shape teaching, the rice transplanter starts from a predetermined vertex Va of the approximately polygonal shape, then travels along the sides to another predetermined vertex Vb of the approximately polygonal shape excluding the predetermined vertex Va, then travels along a diagonal line D that passes through the interior of the approximately polygonal shape to a vertex Vc of the approximately polygonal shape, and then travels along the remaining sides.

Description

[Technical Field]

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

[0002] A known driving path generation device is a driving path generation device for a work vehicle that enters and exits a work site partitioned by boundaries through an entrance / exit passage, the driving path generation device having: a start point registration unit that registers the position of a first endpoint on the boundary side of the entrance / exit passage as a start point; an intermediate point registration unit that registers the position of a shape characteristic point that defines the shape of the work site as an intermediate point; an end point registration unit that registers the position of a second endpoint on the boundary side of the entrance / exit passage that is opposite the first endpoint as an end point; a basic shape calculation unit that calculates the basic shape of the work site by connecting the positions of the start point, the intermediate point, and the end point; an entrance / exit passage information generation unit that generates entrance / exit passage information using a rectangle as the shape of the entrance / exit passage, with the start point and the end point as opposite vertices and two sides along the external extension lines of the basic shape; and a driving path generation unit that sets the area of ​​the work site other than the entrance / exit passages as a work target area and generates a driving path for the work vehicle to automatically travel through the work target area (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-116608 [Patent Document 2] Japanese Patent Application Laid-Open No. 2019-154394 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the present inventor believes that the trend of incorporating convenient functions into seedling transplanters such as rice transplanters, taking into consideration the various needs of users, will continue to accelerate.

[0005] However, the present inventor has noticed that conventional seedling transplanters are not necessarily easy to use when using convenient functions.

[0006] More specifically, the inventors have recognized that there is a need for highly accurate seedling transplantation with minimal manual intervention.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems of the prior art, the present invention aims to provide a seedling transplanter that can improve ease of use. [Means for solving the problem]

[0008] The first invention is a seedling transplanter (1) in which, before creating an automatic straight-line reciprocating travel path in a substantially polygonal field (50), field shape teaching is manually performed by traveling along all sides of the substantially polygonal shape without overlapping the sides of the substantially polygonal shape, In the field shape teaching, after starting from a predetermined vertex (Va) of the approximately polygonal shape, the robot follows the sides to another predetermined vertex (Vb) of the approximately polygonal shape other than the predetermined vertex (Va), travels along a diagonal line (D) passing through the interior of the approximately polygonal shape, moves to a vertex (Vc) of the approximately polygonal shape, and then travels along the remaining sides; This seedling transplanter is characterized in that, in the field shape teaching, after starting from the specified vertex (Va), it follows the sides to the other specified vertex (Vb), passes through the diagonal (D) and returns to the specified vertex (Va, Vc), and then follows all the remaining sides to the other specified vertex (Vb). A second aspect of the present invention is the seedling transplanter according to the first aspect of the present invention, wherein said substantially polygonal shape is a substantially rectangular shape. In the third aspect of the present invention, in the field shape teaching, when the diagonal line (D) is passed, seedling planting is not performed, but field condition data is collected; The seedling transplanter of the second invention is characterized in that the field condition data is used for fertilization carried out in conjunction with the seedling planting. The fourth invention is the seedling transplanter of the third invention, characterized in that, in the field shape teaching, when the edge is traced to the other specified vertex (Vb) after starting from the specified vertex (Va), the collection of the field condition data is automatically started. The fifth invention is the seedling transplanter of the fourth invention, characterized in that, in the field shape teaching, after the collection of the field condition data has been carried out, when all the remaining edges are traced to the other specified vertex (Vb), the field condition data is used for the fertilization. In a sixth aspect of the present invention, one of the four sides of the substantially rectangular shape is set as a material supply side (E), The fifth seedling transplanter of the present invention is characterized in that, during the field shape teaching, when a non-material supply edge excluding the material supply edge (E) is traced, seedling planting is carried out, but when the material supply edge (E) is traced, seedling planting is not carried out. In a seventh aspect of the present invention, the automatic linear reciprocating travel path is a path that travels back and forth between the material supply side (E) and the non-material supply side opposite to the material supply side (E), A sixth seedling transplanter of the present invention is characterized in that the stopping point in front of the material supply side (E) on the automatic straight-line reciprocating travel path is set at a predetermined distance from the material supply side (E). The eighth aspect of the present invention is the seedling transplanter of the seventh aspect of the present invention, characterized in that when it is determined that the distance to an obstacle (51) located ahead exceeds a first threshold value at the stopping point based on the detection by an ultrasonic sensor (30) for detecting the distance to the obstacle (51) located ahead, forward movement is automatically started at a first vehicle speed. The ninth invention is the seedling transplanter of the eighth invention, characterized in that, if it is determined based on the detection by the ultrasonic sensor (30) that the distance to the obstacle (51) subsequently falls below a second threshold value that is smaller than the first threshold value, the forward movement is automatically continued at a second vehicle speed that is smaller than the first vehicle speed. The tenth aspect of the present invention is the seedling transplanter of the ninth aspect of the present invention, characterized in that, when it is determined based on the detection by the ultrasonic sensor (30) that the distance to the obstacle (51) subsequently falls below a third threshold value that is smaller than the second threshold value, the forward movement is automatically stopped. The eleventh invention of the present invention is the seedling transplanter of the tenth invention, characterized in that when it is determined based on the manual operation by a remote controller (40) for the operator to perform manual operation that material supply at the material supply side (E) is not required, the transition to a turning operation is automatically initiated, but when it is determined that material supply at the material supply side (E) is required, the forward operation is continued to be stopped. In a twelfth aspect of the present invention, the front bumper (20) is provided so as to protrude forward compared to the front wheels (10), This is an eleventh seedling transplanter of the present invention, characterized in that when the obstacle (51) is lower than the front bumper (20), and the front bumper (20) is above the lower obstacle (51), the forward movement is automatically stopped. First invention related to the present invention A seedling transplanter (1) in which, before creating an automatic linear reciprocating travel path in a substantially polygonal field (50), field shape teaching is manually performed by traveling along all sides of the substantially polygonal shape without overlapping the sides of the polygonal shape, This seedling transplanter is characterized in that, in the field shape teaching, after starting from a predetermined vertex (Va) of the approximately polygonal shape, it follows the sides to another predetermined vertex (Vb) of the approximately polygonal shape other than the predetermined vertex (Va), moves along a diagonal (D) that passes through the interior of the approximately polygonal shape to a vertex (Vc) of the approximately polygonal shape, and then travels along the remaining sides.

[0009] Second invention related to the present invention In the field shape teaching, after starting from the predetermined vertex (Va), the robot follows the side to the other predetermined vertex (Vb), passes through the diagonal (D) and returns to the predetermined vertex (Va, Vc), and then follows all the remaining sides to the other predetermined vertex (Vb). First invention related to the present invention It is a seedling transplanter.

[0010] Third invention related to the present invention The substantially polygonal shape is a substantially rectangular shape. Second invention related to the present invention It is a seedling transplanter.

[0011] The fourth invention related to the present invention In the field shape teaching, when the diagonal line (D) is passed through, seedling planting is not performed, but field condition data is collected. The field condition data is used for fertilization carried out in conjunction with the planting of seedlings. Third invention related to the present invention It is a seedling transplanter.

[0012] Fifth Invention Related to the Present Invention In the field shape teaching, when the edge is traced to the other predetermined vertex (Vb) after starting from the predetermined vertex (Va), the collection of the field condition data is automatically started. The fourth invention related to the present invention It is a seedling transplanter.

[0013] The sixth invention related to the present invention In the field shape teaching, after the collection of the field condition data is performed, when all the remaining edges are traced to the other predetermined vertex (Vb), the field condition data is used for the fertilization. Fifth Invention Related to the Present InventionIt is a seedling transplanter.

[0014] Seventh Invention Related to the Present Invention one of the four sides of the substantially rectangular shape is set as a material supply side (E); In the field shape teaching, when a non-material supply side other than the material supply side (E) is traced, the seedling planting is performed, but when the material supply side (E) is traced, the seedling planting is not performed. The sixth invention related to the present invention It is a seedling transplanter.

[0015] Eighth invention related to the present invention the automatic linear reciprocating travel path is a path that travels back and forth between the material supply side (E) and the non-material supply side opposite to the material supply side (E), The stopping point before the material supply side (E) on the automatic straight reciprocating travel route is set at a predetermined distance from the material supply side (E). Seventh Invention Related to the Present Invention It is a seedling transplanter.

[0016] Ninth invention related to the present invention The vehicle is characterized in that, when it is determined that the distance to an obstacle (51) present ahead is greater than a first threshold value at the stopping point based on the detection by an ultrasonic sensor (30) for detecting the distance to the obstacle (51) present ahead, forward movement is automatically started at a first vehicle speed. Eighth invention related to the present invention It is a seedling transplanter.

[0017] 10th invention related to the present invention and when it is determined based on the detection by the ultrasonic sensor (30) that the distance to the obstacle (51) subsequently falls below a second threshold value that is lower than the first threshold value, the forward movement is automatically continued at a second vehicle speed that is lower than the first vehicle speed. Ninth invention related to the present invention It is a seedling transplanter.

[0018] Eleventh invention related to the present inventionand when it is determined based on the detection by the ultrasonic sensor (30) that the distance to the obstacle (51) subsequently falls below a third threshold value that is smaller than the second threshold value, the forward movement is automatically stopped. 10th invention related to the present invention It is a seedling transplanter.

[0019] 12th invention related to the present invention is characterized in that, when it is determined that material supply at the material supply side (E) is not required based on the manual operation by the remote controller (40) for the operator to perform manual operation, the transition to a swing operation is automatically initiated, but when it is determined that material supply at the material supply side (E) is required, the forward operation is continued to be stopped. Eleventh invention related to the present invention It is a seedling transplanter.

[0020] The 13th invention related to the present invention The front bumper (20) is provided so as to protrude forward compared to the front wheels (10), When the obstacle (51) is lower than the front bumper (20), the forward movement is automatically stopped when the front bumper (20) is over the lower obstacle (51). 12th invention related to the present invention It is a seedling transplanter. [Effects of the Invention]

[0021] The present invention can improve usability, and in addition to the above-mentioned effects, the present invention can improve practicality. First invention related to the present invention This makes it possible to improve usability.

[0022] Second invention related to the present invention Therefore, First invention related to the present invention In addition to the above effects, it is possible to improve the practicality.

[0023] Third invention related to the present invention Therefore, Second invention related to the present invention In addition to the above effects, it is possible to further improve the practicality.

[0024] The fourth invention related to the present invention Therefore, Third invention related to the present inventionIn addition to the above effect, it is possible to reduce the burden on the worker.

[0025] Fifth Invention Related to the Present Invention Therefore, The fourth invention related to the present invention In addition to the above effect, the burden on the worker can be further reduced.

[0026] The sixth invention related to the present invention Therefore, Fifth Invention Related to the Present Invention In addition to the above effect, it is possible to improve convenience.

[0027] Seventh Invention Related to the Present Invention Therefore, The sixth invention related to the present invention In addition to the above effects, it is possible to further improve convenience.

[0028] Eighth invention related to the present invention Therefore, Seventh Invention Related to the Present Invention In addition to the above effect, reliability can be improved.

[0029] Ninth invention related to the present invention Therefore, Eighth invention related to the present invention In addition to the above effect, reliability can be further improved.

[0030] 10th invention related to the present invention Therefore, Ninth invention related to the present invention In addition to the above effect, it is possible to promote simplification of the configuration.

[0031] Eleventh invention related to the present invention Therefore, The tenth invention related to the present invention In addition to the above effect, it is possible to further simplify the configuration.

[0032] 12th invention related to the present invention Therefore, Eleventh invention related to the present invention In addition to the above advantages, it is possible to improve versatility.

[0033] The 13th invention related to the present invention Therefore, 12th invention related to the present invention In addition to the above advantages, it is possible to further improve versatility. [Brief explanation of the drawings]

[0034] [Figure 1](a) is a left side view of a rice transplanter according to an embodiment of the present invention; (b) is a plan view of the rice transplanter according to an embodiment of the present invention; [Figure 2] FIG. 1 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention; [Figure 3] FIG. 2 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention; [Figure 4] FIG. 3 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention. [Figure 5] FIG. 4 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention. [Figure 6] FIG. 5 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention. [Figure 7] FIG. 6 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention. [Figure 8] FIG. 7 is an explanatory diagram of field shape teaching for a rice transplanter according to an embodiment of the present invention. [Figure 9] (a) An explanatory diagram (part 1) of the operation control of the rice transplanter according to the embodiment of the present invention, (b) An explanatory diagram (part 2) of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 10] FIG. 3 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 11] 4 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 12] 5 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 13] 6 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 14] FIG. 7 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 15] 8 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 16] 9 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 17] 10 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 18] 11 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. [Figure 19] 12 is an explanatory diagram of the operation control of the rice transplanter according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0035] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0036] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0037] While explaining the operation of the rice transplanter 1 according to the embodiment of the present invention, a seedling transplanter operation control method according to an invention related to the present invention, which is realized by a controller and the like, will also be explained.

[0038] The rice transplanter 1 according to an embodiment of the present invention is a rice transplanter that manually teaches the field shape by traveling along all sides of the approximately polygonal shape without overlapping any of the sides, before creating an automatic straight-line reciprocating travel path in the approximately polygonal field 50, and is a specific example of a seedling transplanter according to the present invention.

[0039] (1) First, the configuration and operation of a rice transplanter 1 according to an embodiment of the present invention will be specifically described with reference mainly to FIGS. 1(a) and 1(b), and 2, 3, 4, 5, 6, 7, and 8.

[0040] Here, Figure 1(a) is a left side view of a rice transplanter 1 according to an embodiment of the present invention, Figure 1(b) is a plan view of a rice transplanter 1 according to an embodiment of the present invention, and Figures 2, 3, 4, 5, 6, 7 and 8 are explanatory diagrams (parts 1 to 7) of field shape teaching for a rice transplanter 1 according to an embodiment of the present invention.

[0041] In field shape teaching, after starting from a predetermined vertex Va of the approximately polygonal shape, the robot follows the sides to another predetermined vertex Vb of the approximately polygonal shape excluding the predetermined vertex Va, moves along the diagonal line D that passes through the interior of the approximately polygonal shape to a vertex Vc of the approximately polygonal shape, and then travels along the remaining sides.

[0042] Of course, such a polygon may be a quadrilateral such as a trapezoid, which gives the shape of a so-called deformed field, or may be an n-(≧5)-sided polygon. When traveling to trace the remaining sides, the same side or the same diagonal line D may be traced repeatedly, and it goes without saying that it is essential that all sides are eventually traced.

[0043] In field shape teaching, after starting from a specified vertex Va, the robot follows the edges to another specified vertex Vb, returns to the specified vertex Va=Vc via the diagonal line D, and then follows all remaining edges to the other specified vertex Vb.

[0044] Of course, the number of diagonals D may be 1 or k (≧2). It goes without saying that the above-mentioned sides, diagonals D, and material supply sides E (described later) may not be line segments in the strict sense but may be bent.

[0045] The substantially polygonal shape is a substantially rectangular shape.

[0046] As shown in Figures 3 to 6, teaching travel, which sets the field work area for field work in the field 50 using automatic travel by the traveling unit 101 while operating the satellite positioning unit 103, which detects the vehicle's position using a navigation satellite, and the work unit 102, which performs work such as seedling planting, is performed by tracing two sides of half the field, then tracing diagonal line D back to the teaching start position, and tracing the remaining two sides of the half field in the opposite direction, for a total of four sides, as a full-circle teaching travel. This type of teaching travel differs from teaching travel that simply traces the four sides of the approximately rectangular field 50 in a circular motion. In three-side teaching, which does not follow the material supply side E, the vehicle is stopped while safely ensuring a margin to avoid obstacles 51 such as ridges just before the material supply side E, so manual operation to stop the vehicle using the remote controller 40 is required. Therefore, automatic traveling in this type of three-side teaching is not necessarily smooth. Highly accurate traveling is achieved by full-perimeter teaching traveling, in which teaching of the material supply side E is performed in the same way as the ridge of the non-material supply side opposite the material supply side E.

[0047] The first teaching, which starts at a predetermined vertex Va and traces the edges to another predetermined vertex Vb, can be distinguished from the second teaching, which returns to the predetermined vertex Va=Vc via the diagonal line D and then traces all the remaining edges to the other predetermined vertex Vb. For example, the first teaching is performed by traveling clockwise, while the second teaching is performed by traveling counterclockwise, so a judgment condition is provided for making such a distinction. In this sense, the above-described full-circle teaching travel differs from teaching travel that simply travels around the four sides of the field 50. However, the entire perimeter of the field, including the material supply edge E, is reliably recognized.

[0048] In field shape teaching, when the diagonal line D is passed, seedling planting is not performed, but field condition data is collected. The field condition data is used for fertilization, which is performed in conjunction with seedling planting.

[0049] While traveling along diagonal line D, the field depth for fertilization and the average value of field fertility are measured. By inserting such teaching for fertilization in the middle of the teaching for traveling, two teachings are performed, and efficiency is improved by completing the work simultaneously.

[0050] Not only in the teaching travel of the diagonal line D for fertilization, but also in the teaching travel of the material supply side E where the supply of work materials is carried out automatically, work such as seedling planting by the work unit 102 is not performed.

[0051] In field shape teaching, when a side is traced from a predetermined vertex Va to another predetermined vertex Vb, collection of field condition data is automatically started.

[0052] In the teaching area where seedling planting work is not being performed, it is possible to distinguish whether teaching travel is being performed along diagonal line D or along material supply edge E, and the teaching travel route located on the innermost side is determined to be teaching travel along diagonal line D for fertilization. After the work is completed, a process to distinguish between these teaching travels can be performed.

[0053] In the field shape teaching, after the field condition data is collected, when all the remaining edges are traced to another predetermined vertex Vb, the field condition data is used for fertilization.

[0054] 7 and 8, the directions for teaching travel that set the field work range for performing field work in field 50 using automatic travel are limited to, for example, no more than four. Teaching travel in a fifth direction that is not one of the four directions for teaching travel is determined to be teaching travel for fertilization.

[0055] The teaching run for fertilization is set between a first teaching that starts from a predetermined vertex Va and then follows the edges to another predetermined vertex Vb, and a second teaching that returns to the predetermined vertex Va=Vc via the diagonal line D and then follows all the remaining edges to the other predetermined vertex Vb.

[0056] The start position of the second teaching is the same as the start position of the first teaching, and is also the end position of the teaching run for fertilization.

[0057] One of the four sides of the approximately rectangular shape is set as a material supply side E. In field shape teaching, when a non-material supply side other than the material supply side E is followed, seedling planting is performed, but when the material supply side E is followed, seedling planting is not performed.

[0058] The material supply edge E is determined by the fact that no work such as seedling planting by the work unit 102 is being performed on at least one of the first teaching edge and the second teaching edge.

[0059] Based on whether or not the work by the work unit 102 is being performed together with teaching, the process of distinguishing between teaching travel, which sets the field work range for performing field work in the field 50, and teaching travel for fertilization, in the teaching mode is performed automatically according to the position of the teaching travel path. This realizes a user-friendly specification that does not require manual switching between the two teaching travel modes.

[0060] (2) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 9(a) and 9(b), 10, 11 and 12, 13, 14 and 15, and 16, 17 and 18.

[0061] Here, Figures 9(a) and 9(b), 10, 11 and 12, 13, 14 and 15, and 16, 17 and 18 are explanatory diagrams (parts 1 to 11) of the operation control of the rice transplanter 1 according to the embodiment of the present invention.

[0062] The automatic straight-line reciprocating travel route is a route that travels back and forth between the material supply edge E and the non-material supply edge opposite the material supply edge E. The stopping point on the automatic straight-line reciprocating travel route just before the material supply edge E is set a predetermined distance away from the material supply edge E.

[0063] As shown in Figures 9(a) and 9(b), the automation of the ridge-neighboring process can be facilitated by detecting the distance to the ridges using an ultrasonic sensor 30 added to the robotic rice transplanter, rice transplanter 1. The cumbersome operation of the remote controller 40 during the ridge-neighboring process can easily cause a decrease in work efficiency. However, work efficiency is improved because the operator no longer needs to operate the remote controller 40, which was previously required every time a round trip on the automatic linear round trip travel path was completed.

[0064] The two ultrasonic sensors 30 are mounted on the upper side of the front bumper 20, at a position inside the GNSS antenna stay of the satellite positioning unit 103. This makes it possible to effectively utilize the dead space that existed between the front bumper 20 and the satellite positioning unit 103, and not only does it provide a significant sensor mounting height that allows for reliable detection of obstacles 51 such as ridges, but the ultrasonic sensors 30 are protected by the front bumper 20 and the satellite positioning unit 103, making it less likely that the sensors will be damaged (see Figures 9(a) and 9(b)).

[0065] Based on detection by an ultrasonic sensor 30 for detecting the distance to an obstacle 51 present ahead, if it is determined that the distance to the obstacle 51 exceeds a first threshold value at the stopping point, forward movement is automatically started at a first vehicle speed.

[0066] As shown in Figure 10, the two ultrasonic sensors 30 are positioned so that the sensor detection angle in the left-right direction of the vehicle body roughly matches the width of the rice transplanter 1. This can prevent the vehicle body from colliding with obstacles 51, such as utility poles, that may be present near the ridges.

[0067] If, based on detection by the ultrasonic sensor 30, it is determined that the distance to the obstacle 51 subsequently falls below a second threshold value that is lower than the first threshold value, forward movement is automatically continued at a second vehicle speed that is lower than the first vehicle speed.

[0068] As shown in Figure 11, when automatic ridge-pulling operation is being performed, control is performed to change the ridge-pulling vehicle speed from a first vehicle speed, such as second speed, to a second vehicle speed, such as first speed, when the detection distance of the ultrasonic sensor 30 reaches approximately 1000 mm. This makes it possible to prevent the vehicle from colliding with an obstacle 51, such as a ridge or a utility pole.

[0069] If it is determined based on detection by the ultrasonic sensor 30 that the distance to the obstacle 51 subsequently falls below a third threshold that is smaller than the second threshold, the forward movement is automatically stopped.

[0070] As shown in Figure 12, when the detection distance of the ultrasonic sensor 30 reaches approximately 50 millimeters, the vehicle speed is controlled to be changed to zero. This makes it possible to more reliably prevent the vehicle from colliding with an obstacle 51 such as a ridge or a utility pole.

[0071] After the vehicle has stopped by controlling the vehicle speed to zero, the transition to the next round trip is automatic. This eliminates the need to operate the remote controller 40, improving work efficiency.

[0072] Based on manual operation by the operator using the remote controller 40 for manual operation, if it is determined that material supply at the material supply side E is not required, the transition to a turning operation is automatically initiated, but if it is determined that material supply at the material supply side E is required, the forward operation is continued to be stopped.

[0073] As shown in Figure 13, a supply button 201 for supplying materials is provided on the remote controller 40, and by pressing the supply button 201 during the period from the start of the previous back-and-forth stroke to the end of the automatic ridge-pressing process, the automatic transition to the next back-and-forth stroke that occurs after the ridge-pressing process has stopped can be canceled. Since materials can be replenished in a timely manner as needed, usability is improved.

[0074] As shown in Figure 14, after material replenishment has been performed, the transition to the next round trip is automatically initiated by pressing the start button 202 on the remote controller 40. If material replenishment is not required, automatic operation continues as is, but if material replenishment is required, the vehicle can be stopped at the edge of a field and then appropriately resumed.

[0075] As shown in Figure 15, the position information of the point where the automatic ridge-holding process is completed is stored. It is preferable that the seedling planting work be performed automatically without manual operation, even in the so-called final process on the material supply side E where ridge-holding has been completed. By generating a travel route for the final process at the ridge edge based on the teaching start point, teaching end point, and automatic ridge-holding end point, it is possible to achieve nearly automatic seedling planting travel in the final process. Collisions of the vehicle with obstacles 51 such as utility poles can also be almost completely avoided.

[0076] That is, the automatic ridge-pushing control flow of the rice transplanter 1 can be configured, for example, as follows.

[0077] As shown in Figure 16, during automatic travel, after stopping control is performed when the distance to the ridge is approximately 3000 mm, the distance to the ridge is detected by the ultrasonic sensor 30, and if the detected distance is approximately 2000 mm or more, forward movement at second speed is automatically initiated. Riding ridges using the remote controller 40 is often difficult for beginners. This realizes a user-friendly specification that allows ridge ridding to be started without operating the remote controller 40.

[0078] 17, when the distance to the ridge detected by the ultrasonic sensor 30 is 1000 mm, forward movement in second gear is changed to forward movement in first gear, and automatic ridge approach continues. Since first gear is a vehicle speed slower than second gear, the vehicle can be stopped immediately when the distance to the ridge becomes shorter.

[0079] As shown in FIG. 18, automatic ridge pushing is stopped when the distance to the ridge detected by the ultrasonic sensor 30 is 50 millimeters.

[0080] If the supply button 201 is not pressed before the automatic ridge-pushing stops, the transition to the next reciprocating stroke will occur automatically. If the supply button 201 is not pressed before the automatic ridge-pushing stops, the transition to the next reciprocating stroke after ridge-pushing will occur without pressing the start button 202, improving usability (see Figure 18).

[0081] If the supply button 201 is pressed before the automatic furrowing stops, the vehicle will not automatically move to the next round trip and will remain temporarily stopped. Material supply can be performed at an appropriate timing according to the user's judgment (see Figure 18).

[0082] After the materials have been replenished, the next round trip is initiated by pressing the start button 202 (see FIG. 18).

[0083] (3) Next, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described more specifically with reference mainly to FIG.

[0084] FIG. 19 is a twelfth explanatory diagram of the operation control of the rice transplanter 1 according to the embodiment of the present invention.

[0085] When map data is acquired and an automatic driving route for the rice transplanter 1 is generated, an area acquisition function that offsets the work area of ​​the image data from obstacles 51 such as buildings outside the field 50 is implemented in the rice transplanter 1 as a work machine that performs automatic driving using a satellite positioning unit 103 that acquires position information from satellites. When automatic driving is performed, it is possible to suppress the occurrence of interference with obstacles 51 that occurs when turning backward.

[0086] When the obstacle 51 is recognized as a building or the like, the working area is automatically generated with a predetermined offset amount.

[0087] The front bumper 20 is provided so as to protrude forward compared to the front wheels 10. When an obstacle 51 is lower than the front bumper 20, forward movement is automatically stopped in a state where the front bumper 20 exceeds the lower obstacle 51.

[0088] A wall-like boundary 301 of a certain height may be provided along the work area offset from the obstacle 51. Since the amount by which the bumper portion of the front bumper 20 protrudes toward the front of the vehicle body is usually not the same as the amount by which the wheel portions of the front wheels 10 protrude toward the front of the vehicle body, it is controlled whether or not the front bumper 20 can be brought close to the ridge so that it partially exceeds the boundary 301.

[0089] It is often desirable to set the height of boundary 301 in stages. For example, the height at which interference with the bumper portion of front bumper 20 is likely to occur can be distinguished from the height at which interference with the seedling planting portion of work unit 102 is likely to occur, improving practicality.

[0090] A work area determination function is implemented to automatically set an automated driving route to reduce wall interference by taking into account the wall setting height of boundary 301. A safe route can be set by taking into account various heights, such as the height at which interference with the bumper section of front bumper 20 is likely to occur, and the height at which interference with the seedling planting section of work unit 102 is likely to occur.

[0091] The wall height setting can be manually adjusted. Even when it is difficult to determine the wall height using automatic image recognition or when the wall height varies depending on the position, the wall height setting can be adjusted appropriately.

[0092] In addition, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0093] 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 seedling transplanter operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0094] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0095] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0096] 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.

[0097] The recording medium also includes a ROM (Read Only Memory).

[0098] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0099] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0100] The seedling transplanter of the present invention can improve ease of use and is useful for use in seedling transplanters such as rice transplanters. [Explanation of symbols]

[0101] 1. Rice planter 10 Front wheels 20 Front bumper 30 Ultrasonic Sensor 40 Remote Controller 50 fields 51 Obstacles 101 Traveling unit 102 Unit of Work 103 Satellite Positioning Unit 201 Resupply button 202 Start button 301 Boundary D diagonal E. Material supply area Va, Vb, Vc vertices

Claims

1. A seedling transplanter (1) that manually teaches the field shape by traveling along all sides of the approximately polygonal shape without overlapping any of the sides of the approximately polygonal shape before creating an automatic straight-line reciprocating travel path in the approximately polygonal shape of the field, In the field shape teaching, after starting from a predetermined vertex (Va) of the approximately polygonal shape, the robot follows the sides to another predetermined vertex (Vb) of the approximately polygonal shape other than the predetermined vertex (Va), travels along a diagonal line (D) passing through the interior of the approximately polygonal shape, moves to a vertex (Vc) of the approximately polygonal shape, and then travels along the remaining sides; In the field shape teaching, the seedling transplanter starts from the predetermined vertex (Va), traces the sides to the other predetermined vertex (Vb), passes through the diagonal (D) and returns to the predetermined vertex (Va, Vc), and then traces all the remaining sides to the other predetermined vertex (Vb).

2. 2. The seedling transplanter according to claim 1, wherein the substantially polygonal shape is a substantially rectangular shape.

3. In the field shape teaching, when the diagonal line (D) is passed, seedling planting is not performed, but field condition data is collected; 3. The seedling transplanter according to claim 2, wherein the field condition data is used for fertilization performed in conjunction with the seedling planting.

4. The seedling transplanter according to claim 3, characterized in that, during the field shape teaching, the collection of the field condition data is automatically started when the edge is traced to the other specified vertex (Vb) after starting from the specified vertex (Va).

5. The seedling transplanter according to claim 4, characterized in that, in the field shape teaching, after the collection of the field condition data is performed, when all the remaining edges are traced to the other specified vertex (Vb), the field condition data is used for the fertilization.

6. One of the four sides of the substantially rectangular shape is set as a material supply side (E), The seedling transplanter according to claim 5, characterized in that, in the field shape teaching, the seedling planting is performed when tracing a non-material supply edge other than the material supply edge (E), but the seedling planting is not performed when tracing the material supply edge (E).

7. the automatic linear reciprocating travel path is a path that travels back and forth between the material supply side (E) and the non-material supply side opposite to the material supply side (E), The seedling transplanter according to claim 6, characterized in that the stopping point in front of the material supply side (E) on the automatic straight reciprocating travel route is set at a predetermined distance from the material supply side (E).

8. The seedling transplanter of claim 7, characterized in that, based on the detection by an ultrasonic sensor (30) for detecting the distance to an obstacle (51) located ahead, it is determined that the distance to the obstacle (51) exceeds a first threshold value at the stopping point, forward movement is automatically started at a first vehicle speed.

9. The seedling transplanter of claim 8, characterized in that if, based on the detection by the ultrasonic sensor (30), it is determined that the distance to the obstacle (51) subsequently falls below a second threshold value that is lower than the first threshold value, the forward movement is automatically continued at a second vehicle speed that is lower than the first vehicle speed.

10. The seedling transplanter of claim 9, characterized in that if, based on the detection by the ultrasonic sensor (30), it is determined that the distance to the obstacle (51) subsequently falls below a third threshold value that is smaller than the second threshold value, the forward movement is automatically stopped.

11. The seedling transplanter according to claim 10, characterized in that, when it is determined based on the manual operation by a remote controller (40) for an operator to perform manual operation that no material supply is required at the material supply side (E), the transition to a turning operation is automatically initiated, but when it is determined that material supply is required at the material supply side (E), the forward operation is continued to be stopped.

12. The front bumper (20) is provided so as to protrude forward compared to the front wheels (10), 12. The seedling transplanter according to claim 11, wherein the forward movement is automatically stopped when the front bumper (20) is above the lower obstacle (51) when the obstacle (51) is lower than the front bumper (20).

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