Seedling transport system and seedling transport method

Abstract

To efficiently transport seedlings of a crop field.SOLUTION: A seedling transportation system allows an automatically driven transport vehicle to transport seedlings to be transplanted in a field by a transplanter The seedling transport system includes a control device for controlling the operation of the transport vehicle. The control device drives the transport vehicle to a storage location for the seedlings according to the work plan of the transplanter or a request from the transplanter, and drives the transport vehicle from the storage location to the field after the loading of the seedlings onto the transport vehicle is completed at the storage location.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a seedling transportation system and a seedling transportation method.

Background Art

[0002] As next-generation agriculture, research and development of smart agriculture utilizing ICT (Information and Communication Technology) and IoT (Internet of Things) is underway. Research and development towards automation and unmanned operation of agricultural machinery such as tractors, transplanters, and harvesters used in fields is also underway. For example, work vehicles that perform farming operations while automatically traveling within a field using a positioning system such as GNSS (Global Navigation Satellite System) capable of precise positioning have been put into practical use.

[0003] Patent Document 1 discloses a seedling supply device that supplies seedlings to a transplanter such as a rice transplanter or a vegetable transplanter. The seedling supply device includes a seedling transport vehicle that automatically moves to a seedling supply point on the work route of the transplanter in the field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the conventional method of supplying seedlings to a transplanter, it was necessary to prepare a sufficient amount of seedlings in the field in advance. For example, it was necessary to transport a sufficient amount of seedlings from the seedling raising facility using a transport vehicle in advance and place the seedlings on the ridges or farm roads within or around the field.

[0006] This disclosure provides a system and method for streamlining the transportation of seedlings used in transplanting operations. [Means for solving the problem]

[0007] The seedling transport system according to the embodiment of the present disclosure is a system that transports seedlings to be transplanted in a field by a transplanting machine to an automatically operating transport vehicle. The system includes a control device that controls the operation of the transport vehicle. The control device drives the transport vehicle to a seedling storage location according to the work plan of the transplanting machine or a request from the transplanting machine, and after the loading of the seedlings onto the transport vehicle is completed at the storage location, drives the transport vehicle from the storage location to the field.

[0008] The comprehensive or specific embodiments of this disclosure may be implemented by apparatus, systems, methods, integrated circuits, computer programs, or computer-readable non-temporary storage media, or any combination thereof. Computer-readable storage media may include volatile storage media or non-volatile storage media. Apparatus may consist of multiple devices. If apparatus consists of two or more devices, these two or more devices may be located in a single device or in two or more separate devices. [Effects of the Invention]

[0009] According to embodiments of this disclosure, the transportation of seedlings used in transplanting operations can be made more efficient. [Brief explanation of the drawing]

[0010] [Figure 1] This figure illustrates an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2] This is a block diagram showing examples of the configurations of a transport vehicle and a harvesting machine. [Figure 3] This is a block diagram showing an example configuration of a management device and a terminal device. [Figure 4]It is a schematic diagram for explaining the operation of the seedling transportation system. [Figure 5] It is a diagram schematically showing the state where the transport vehicle enters the inside of the vinyl house. [Figure 6] It is a flowchart showing an example of a method for controlling the transport vehicle by the control device. [Figure 7] It is a flowchart showing an example of the operation of creating a delivery plan. [Figure 8] It is a diagram showing an example of a delivery plan. [Figure 9] It is a diagram showing an example of the operation of collecting the seedling raising box by the transport vehicle. [Figure 10] It is a flowchart showing an example of the operation of creating a collection plan. [Figure 11] It is a diagram showing an example of a collection plan. [Figure 12] It is a flowchart showing an example of the operation of steering control during automatic driving executed by the control device. [Figure 13A] It is a diagram showing an example of a transport vehicle traveling along the target route. [Figure 13B] It is a diagram showing an example of a transport vehicle at a position shifted to the right from the target route. [Figure 13C] It is a diagram showing an example of a transport vehicle at a position shifted to the left from the target route. [Figure 13D] It is a diagram showing an example of a transport vehicle facing in a direction inclined with respect to the target route. [Figure 14] It is a diagram showing an example of a setting screen displayed on the display device of the terminal device. [Figure 15] It is a diagram showing an example of a work plan created by the management device. [Figure 16] It is a side view showing a configuration example of a rice transplanter, which is an example of a transplanting machine.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described. However, detailed descriptions that are not necessary may be omitted. For example, detailed descriptions of well-known matters and overlapping descriptions regarding substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend to limit the subject matter described in the claims thereby. In the following description, components having the same or similar functions are denoted by the same reference numerals.

[0012] The following embodiments are illustrative, and the technology of the present disclosure is not limited to the following embodiments. The content of the following embodiments is merely an example, and various modifications are possible as long as there is no technical contradiction. Also, as long as there is no technical contradiction, it is possible to combine one aspect with another aspect.

[0013] In this specification, "autonomous driving" means controlling the movement of a mobile object, such as agricultural machinery or a transport vehicle, by the action of a control device, without manual operation by a driver. "Autonomous driving" refers to a vehicle-type mobile object traveling under autonomous conditions. The control device can control at least one of the following: steering, adjusting the speed of movement, starting and stopping movement. Autonomous driving can include not only movement along a predetermined path toward a destination, but also movement following a target. An autonomously driving mobile object may move partially based on user instructions. Furthermore, an autonomously driving mobile object may operate in a manual driving mode, in addition to the autonomous driving mode, where it is moved by manual operation by a driver. "Automatic steering" refers to steering the mobile object by the action of a control device without manual operation. Part or all of the control device may be located outside the mobile object. Communication, such as control signals, commands, or data, may take place between the external control device and the mobile object. An autonomously driving mobile object may move autonomously while sensing the surrounding environment, without human intervention in controlling its movement. Autonomous mobile units can travel unmanned within or outside fields (e.g., on roads). During autonomous movement, they may perform obstacle detection and obstacle avoidance maneuvers.

[0014] [1. Structure] Figure 1 is a diagram illustrating an overview of an exemplary embodiment of the agricultural management system 1 of the present disclosure. The agricultural management system 1 shown in Figure 1 comprises a transplanting machine 100, a transport vehicle 200, a terminal device 400, and a management device 600.

[0015] The terminal device 400 is a computer used by the user of the transplanter 100. The management device 600 is a computer managed by the operator of the agricultural management system 1. The transplanter 100, the transport vehicle 200, the terminal device 400, and the management device 600 can communicate with each other via the network 80. Figure 1 illustrates one transplanter 100 and one transport vehicle 200, but the agricultural management system 1 may include multiple transplanters 100 and / or multiple transport vehicles 200.

[0016] The transplanter 100 in this embodiment is a work vehicle used to transplant crop seedlings in a field. The transplanter 100 may be, for example, a rice transplanter for transplanting rice seedlings in a paddy field, or a vegetable transplanter for transplanting vegetable seedlings in a field. The transplanter 100 is capable of moving while performing transplanting work. The transplanter 100 can be driven automatically or manually.

[0017] In this embodiment, the transport vehicle 200 is a vehicle that transports crop seedlings consumed by the transplanting machine 100 during transplanting operations. The transport vehicle 200 has a loading platform or container for carrying seedlings. The transport vehicle 200 may be a vehicle suitable for transporting seedlings, such as a truck (lorry), van, transport robot (rover), or tractor with a seedling platform attached.

[0018] The transport vehicle 200 is equipped with an automatic driving function. That is, the transport vehicle 200 can be driven by the operation of a control device without manual operation. The control device in this embodiment is installed inside the transport vehicle 200 and can control both the speed and steering of the transport vehicle 200. The transport vehicle 200 can automatically travel not only within the field but also outside the field (for example, on roads).

[0019] The transport vehicle 200 is equipped with devices used for positioning or self-localization, such as a GNSS receiver and a LiDAR sensor. The control device of the transport vehicle 200 automatically drives the transport vehicle 200 based on the transport vehicle 200's position and information about the target route. The transport vehicle 200 can automatically travel along the target route on roads outside the field (e.g., farm roads or public roads). The transport vehicle 200 automatically travels along the road while utilizing sensor data output from sensing devices such as cameras, obstacle sensors, and LiDAR sensors.

[0020] The management device 600 is a computer that manages agricultural work performed by the transplanter 100. The management device 600 may be a server computer that centrally manages field-related information on the cloud and supports agriculture by utilizing data on the cloud. For example, the management device 600 generates a work plan for the transplanter 100 based on information entered by the user using the terminal device 400. The management device 600 may also be configured to generate a target route that the transport vehicle 200 will follow to transport the seedlings. The management device 600 transmits the generated work plan and target route data to the transport vehicle 200. The transport vehicle 200 automatically transports the seedlings based on this data.

[0021] The terminal device 400 is a computer used by a user (e.g., a farm manager) located away from the transplanter 100 and transport vehicle 200. The terminal device 400 shown in Figure 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop PC (Personal Computer), or a mobile device such as a smartphone or tablet computer. The terminal device 400 displays a settings screen on its display for the user to input the information necessary to create a work plan (e.g., a schedule for transplanting work) for the transplanter 100. When the user inputs the necessary information on the settings screen and performs a transmission operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on that information. When the transplanter 100 is operating automatically, the terminal device 400 may be used to set the travel route of the transplanter 100 within the field or to remotely monitor the transplanter 100.

[0022] Figure 2 is a block diagram showing an example configuration of the transport vehicle 200 and the transplanting machine 100. The transport vehicle 200 can communicate with the transplanting machine 100 and the management device 600 via the network 80.

[0023] The transport vehicle 200 illustrated in Figure 2 includes a GNSS unit 220, a LiDAR sensor 225, a camera 226, an obstacle sensor 227, a drive unit 240, a sensor group 250, a control unit 260, and a communication device 290. These components are connected to each other via a bus so that they can communicate with one another.

[0024] The GNSS unit 220 includes a GNSS receiver 221, an RTK receiver 222, an IMU (Infrared Measurement Unit) 223, and a processing circuit 224. The sensor group 250 detects various states of the transport vehicle 200. The sensor group 250 includes a steering wheel sensor 251, a rotation sensor 252, and a steering angle sensor 253. The control device 260 includes a processor 261, RAM (Random Access Memory) 262, ROM (Read Only Memory) 263, a storage device 264, and electronic control units (ECUs) 265 and 266. Figure 2 shows the components that are relatively highly relevant to the operation of the transport vehicle 200's autonomous driving, and other components are not shown.

[0025] The GNSS receiver 221 of the GNSS unit 220 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. GNSS data is generated in a predetermined format, such as NMEA-0183 format. GNSS data may include, for example, the identification number, elevation angle, azimuth angle, and received signal strength of each satellite from which the satellite signal was received.

[0026] The GNSS unit 220 illustrated in Figure 2 uses RTK (Real Time Kinematic)-GNSS to position the transport vehicle 200. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites, as well as correction signals transmitted from a reference station. The reference station can be installed near roads around the field where the transport vehicle 200 will automatically travel (for example, within 10 km of the transport vehicle 200). Based on the satellite signals received from multiple GNSS satellites, the reference station generates a correction signal, for example, in RTCM format, and transmits it to the GNSS unit 220. The RTK receiver 222, including an antenna and modem, receives the correction signal transmitted from the reference station. The processing circuit 224 of the GNSS unit 220 corrects the positioning result from the GNSS receiver 221 based on the correction signal. Using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Position data, including latitude, longitude, and altitude information, is acquired through high-precision positioning using RTK-GNSS. The GNSS unit 120 can calculate the position of the transport vehicle 200 at a frequency of, for example, 1 to 10 times per second.

[0027] Furthermore, the positioning method is not limited to RTK-GNSS; any positioning method that can obtain position data with the required accuracy (such as interferometric positioning or relative positioning) can be used. For example, positioning using VRS (Virtual Reference Station) or DGPS (Differential Global Positioning System) may be performed. If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In that case, the GNSS unit 220 does not need to be equipped with an RTK receiver 222.

[0028] The position of the transport vehicle 200 may be estimated by means other than the RTK receiver 222. For example, the position of the transport vehicle 200 may be estimated by matching sensor data output from sensing devices such as the LiDAR sensor 225 and / or camera 226 with a high-precision environmental map stored in the storage device 264.

[0029] The IMU223 may be equipped with a 3-axis accelerometer and a 3-axis gyroscope. The IMU223 may also be equipped with an orientation sensor, such as a 3-axis geomagnetic sensor. The IMU223 can function as a motion sensor and output signals indicating various quantities such as acceleration, velocity, displacement, and attitude of the vehicle 200. The processing circuit 224 can estimate the position and orientation of the vehicle 200 with higher accuracy based on the signals output from the IMU223, in addition to the satellite signals and correction signals. The signals output from the IMU223 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU223 outputs signals at a higher frequency than the GNSS receiver 221. Using these high-frequency signals, the processing circuit 224 can measure the position and orientation of the vehicle 200 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU223, a 3-axis accelerometer and a 3-axis gyroscope may be provided separately. The IMU223 may be provided as a separate device from the GNSS unit 220.

[0030] Camera 226 is an imaging device that captures the environment around the transport vehicle 200. Camera 226 includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 226 may also include an optical system including one or more lenses and a signal processing circuit. While the transport vehicle 200 is in motion, camera 226 captures the environment around the transport vehicle 200 and generates image (e.g., video) data. Camera 226 can capture video at a frame rate of, for example, 3 (fps) or higher. The images generated by camera 226 can be used for self-localization or obstacle detection. Multiple cameras 226 may be installed at different locations on the transport vehicle 200, or a single camera may be installed. A visible light camera that generates visible light images and an infrared camera that generates infrared images may be installed separately. Both the visible light camera and the infrared camera may be installed as cameras that generate surveillance images. The infrared camera may also be used for obstacle detection at night.

[0031] The obstacle sensor 227 detects objects present around the transport vehicle 200. The obstacle sensor 227 may include, for example, a laser scanner or an ultrasonic sonar. Multiple obstacle sensors 227 may be provided at different locations on the transport vehicle 200. For example, multiple laser scanners and multiple ultrasonic sonars may be placed at different locations on the transport vehicle 200. By providing multiple obstacle sensors 227, blind spots in monitoring obstacles around the transport vehicle 200 can be reduced.

[0032] The steering wheel sensor 251 measures the rotation angle of the steering wheel of the transport vehicle 200. The steering angle sensor 253 measures the steering angle of the front wheels 202F, which are the steering wheels. The values ​​detected by the steering wheel sensor 251 and the steering angle sensor 253 are used for steering control by the control device 260.

[0033] The rotation sensor 252 measures the rotational speed of the axle connected to the wheel 202, i.e., the number of rotations per unit time. The rotation sensor 252 may be a sensor that utilizes, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 252 outputs a numerical value indicating, for example, the number of rotations per minute (in rpm) of the axle. The rotation sensor 252 is used, for example, to measure the speed of a transport vehicle 200.

[0034] The drive unit 240 includes various devices necessary for driving the transport vehicle 200, such as the prime mover 211 and the transmission 212. The prime mover 211 may be, for example, an internal combustion engine. The drive unit 240 may also include an electric motor for traction, either in place of the internal combustion engine or in conjunction with the internal combustion engine.

[0035] The processor 261 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 261 may be implemented by a microprocessor or microcontroller. Alternatively, the processor 261 may be implemented by an FPGA (Field Programmable Gate Array) equipped with a CPU, a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an ASSP (Application Specific Standard Product), or a combination of two or more circuits selected from these circuits. The processor 261 sequentially executes a computer program stored in the ROM 263, which describes a set of instructions for performing at least one process, to achieve the desired process. The processor 261 is a control circuit that controls the operation of the GNSS unit 220, sensor group 250, LiDAR sensor 225, camera 226, obstacle sensor 227, communication device 290, ECU 265, 266, etc., and performs the necessary calculations.

[0036] ROM263 can be, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. ROM263 stores a program that controls the operation of the processor 261. ROM263 does not have to be a single storage medium; it may be a collection of multiple storage media. Some of these storage media may be removable memory.

[0037] RAM262 provides a workspace for temporarily unpacking the control program stored in ROM263 during boot-up. RAM262 does not need to be a single storage medium; it may be a collection of multiple storage media.

[0038] The storage device 264 includes one or more storage media such as flash memory or magnetic disks. The storage device 264 stores various data generated by the GNSS unit 220, LiDAR sensor 225, camera 226, obstacle sensor 227, sensor group 250, and control device 260. The data stored in the storage device 264 may include map data of the environment in which the transport vehicle 200 travels (environmental map) and target route data for autonomous driving. The environmental map includes information on one or more fields in which the transplanting machine 100 performs transplanting work, one or more storage locations (e.g., seedling nurseries) where seedlings used in transplanting work are stored, and roads in the surrounding area. The environmental map and target route may be generated by the processor of the management device 600. The control device 260 may also have a function to generate or edit the environmental map and target route. The control device 260 may also have a function to edit the environmental map and target route acquired from the management device 600 according to the driving environment of the transport vehicle 200. The storage device 264 also stores the work plan data received by the communication device 290 from the management device 600.

[0039] The storage device 264 also stores computer programs that cause the processors 261, ECUs 265, and 266 to perform various operations described later. Such computer programs may be provided to the transport vehicle 200 via a storage medium (e.g., semiconductor memory or optical disc) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0040] The control device 260 includes ECUs 265 and 266. ECU 265 controls the movement of the transport vehicle 200 by controlling the prime mover, transmission, steering system, etc., included in the drive unit 240.

[0041] The ECU265 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 220, camera 226, obstacle sensor 227, LiDAR sensor 225, sensor group 250, and processor 261. For example, the ECU265 determines the position of the transport vehicle 200 based on data output from at least one of the GNSS unit 220, camera 226, and LiDAR sensor 225. The ECU265 may determine the position of the transport vehicle 200 based only on data output from the GNSS unit 220, or it may estimate or correct the position of the transport vehicle 200 based on data acquired by the camera 226 and / or LiDAR sensor 225. By utilizing data acquired by the camera 226 and / or LiDAR sensor 225, the accuracy of positioning can be further improved. For example, the ECU265 may estimate the position of the transport vehicle 200 by matching data output from the LiDAR sensor 225 and / or camera 226 with an environmental map. During autonomous driving, the ECU265 performs calculations necessary for the transport vehicle 200 to travel along the target path, based on the estimated position of the transport vehicle 200.

[0042] The ECU 266 may determine the destination of the transport vehicle 200 based on the work plan stored in the memory device 264 and determine the target path from the starting point to the destination point of the transport vehicle 200's movement. The ECU 266 may also detect obstacles located around the transport vehicle 200 based on data output from the LiDAR sensor 225, camera 226, and obstacle sensor 227, and perform processing to set a local path to avoid the obstacles.

[0043] Through the operation of these ECUs 265 and 266, the control unit 260 enables autonomous driving. During autonomous driving, the control unit 260 controls the drive unit 240 based on the measured or estimated position of the transport vehicle 200 and the target path. This allows the control unit 260 to drive the transport vehicle 200 along the target path.

[0044] Multiple ECUs included in the control unit 260 can communicate with each other according to a vehicle bus standard such as CAN. Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In Figure 2, ECUs 265 and 266 are shown as separate blocks, but each of their functions may be implemented by multiple ECUs. An on-board computer integrating at least some of the functions of ECUs 265 and 266 may be provided. The control unit 260 may also include ECUs other than ECUs 265 and 266, and any number of ECUs may be provided depending on their function. Each ECU includes a processing circuit containing one or more processors. Processor 261 may be integrated with any of the ECUs included in the control unit 260.

[0045] The communication device 290 is a device that includes circuits for communicating with the transplanting machine 100, the terminal device 400, and the management device 600. The communication device 290 includes circuits for wireless communication with the communication device 190 of the transplanting machine 100. This allows the transplanting machine 100 to perform desired operations and information to be obtained from the transplanting machine 100. The communication device 290 may further include antennas and communication circuits for transmitting and receiving signals via the network 80 with the respective communication devices of the terminal device 400 and the management device 600. The communication device 290 may also have the function of communicating with a portable terminal used by a monitor near the transport vehicle 200. Communication with such a portable terminal may be conducted in accordance with any wireless communication standard, such as Wi-Fi®, 3G, 4G or 5G cellular mobile communication, or Bluetooth®.

[0046] Figure 2 also shows a schematic configuration of the transplanting machine 100. The transplanting machine 100 can communicate with the terminal device 400 and the management device 600 via the network 80. The transplanting machine 100 and the transport vehicle 200 may communicate via the network 80 or directly without using the network 80.

[0047] The transplanting machine 100 is equipped with a communication device 190, a control device 160, and a drive device 140. The communication device 190 communicates with the transport vehicle 200, the management device 600, and the terminal device 400. The control device 160 controls the operation of the transplanting machine 100. The drive device 140 includes various devices necessary for driving the transport vehicle 200, such as a prime mover and a transmission. The communication device 190, the control device 160, and the drive device 140 may have the same configuration as the communication device 290, control device 160, and drive device 240 of the transport vehicle 200, respectively. The transplanting machine 100 does not necessarily have an automatic driving function.

[0048] Next, the configuration of the management device 600 and the terminal device 400 will be described with reference to Figure 3. Figure 3 is a block diagram illustrating the hardware configuration of the management device 600 and the terminal device 400.

[0049] The management device 600 comprises a storage device 650, a processor 660, a ROM 670, a RAM 680, and a communication device 690. These components are connected to each other via a bus for communication. The management device 600 can function as a cloud server that manages the schedule of agricultural work performed in the field by agricultural machinery such as a transplanter 100 and supports agriculture by utilizing the managed data. Users can input the information necessary to create a work plan using a terminal device 400 and upload that information to the management device 600 via the network 80. Based on this information, the management device 600 can create a schedule for agricultural work, i.e., a work plan.

[0050] The communication device 690 is a communication module for communicating with the transplanter 100, transport vehicle 200, and terminal device 400 via the network 80. The communication device 690 can perform wired communication compliant with communication standards such as IEEE 1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication compliant with Bluetooth (registered trademark) or Wi-Fi standards, or cellular mobile communication such as 3G, 4G, or 5G.

[0051] The processor 660 may be a semiconductor integrated circuit including, for example, a central processing unit (CPU). The ROM 670 may be, for example, writable memory (e.g., PROM), rewritable memory (e.g., flash memory), or read-only memory. The RAM 680 provides a workspace for temporarily unpacking the control program stored in the ROM 670 at boot time. The details of the configuration of the processor 660, ROM 670, and RAM 680 are the same as those for the processor 161, ROM 163, and RAM 162, so a detailed explanation is omitted here.

[0052] The storage device 650 primarily functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as cloud storage.

[0053] The terminal device 400 comprises an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are connected to each other via a bus so as to be able to communicate with one another. The input device 420 is a device for converting user instructions into data and inputting them into the computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic EL display. The descriptions of the processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 are as described in the hardware configuration example of the transport vehicle 200 and the management device 600, and are therefore omitted here.

[0054] [2. Operation] [2-1. Operation of the seedling transport system] Next, the operation of the seedling transport system in this embodiment will be described.

[0055] The seedling transport system in this embodiment is a system in which a transport vehicle 200, which operates automatically, transports seedlings to be transplanted in the field by a transplanting machine 100. The seedling transport system includes a control device 260 that controls the operation of the transport vehicle 200. The control device 260 executes control to drive the transport vehicle 200 to the seedling storage area according to the work plan of the transplanting machine 100 or a request from the transplanting machine 100. At the seedling storage area, the seedlings are loaded onto the transport vehicle 200. After the loading of the seedlings is complete, the control device 260 drives the transport vehicle 200 from the storage area towards the field. This makes it possible to move the transport vehicle 200 to the seedling storage area and, after loading the seedlings, move the transport vehicle 200 to the vicinity of the field without a person driving the transport vehicle 200. As a result, the labor required for transporting seedlings to replenish the transplanting machine 100 can be reduced.

[0056] In this embodiment, the control device 260 mounted on the transport vehicle 200 performs the above control, but the processor 660 of the management device 600 may also function as the control device that performs the above control. In that case, the processor 660 gives a drive command to the transport vehicle 200 according to a pre-created work plan or a request from the transplanter 100. This allows the transport vehicle 200 to move to the seedling storage area, and after loading, to move from the storage area to the field.

[0057] Figure 4 is a schematic diagram illustrating the operation of the seedling transport system in this embodiment. Figure 4 illustrates multiple fields 70 (fields A to H), multiple greenhouses 90 (greenhouses A to C), and a waiting area 98 for the transport vehicle 200. The greenhouses 90 are an example of a storage area for storing seedlings. Other seedling facilities or other indoor facilities (e.g., barns) may be used as seedling storage areas. The waiting area 98 is a place where the transport vehicle 200 waits when not performing transport work. The waiting area 98 can be any location, such as a barn, garage, or parking lot.

[0058] Figure 4 illustrates two transplanting machines 100 (100A, 100B) and three transport vehicles 200 (200A, 200B, 200C). Thus, the system in this embodiment may include multiple transport vehicles 200 and multiple transplanting machines 100. In Figure 4, an example of the movement path of transport vehicle 200A is shown with a solid arrow, and an example of the movement path of transport vehicle 200B is shown with a dashed arrow.

[0059] Each transplanter 100 travels while planting plant seedlings in the field, such as a riding rice transplanter or a vegetable transplanter. Each transplanter 100 may or may not have an automatic driving or automatic steering function.

[0060] In the example in Figure 4, transplanter 100A is transplanting seedlings in field A. Transplanter 100B is transplanting seedlings in field B. Transport vehicle 200A travels from waiting area 98 to greenhouse A, loads seedlings in greenhouse A, then visits seedling handover locations Pa, Pb, and Pc set up in fields A, B, and C respectively, loads and unloads seedlings at handover locations Pa, Pb, and Pc, and then returns to greenhouse A. Transport vehicle 200B loads seedlings in greenhouse B, then visits seedling handover locations Pe and Pf set up in fields E and F respectively, loads and unloads seedlings at handover locations Pe and Pf, and then returns to greenhouse B. Transport vehicle 200C is waiting at waiting area 98. The transport vehicle 200C moves to the designated greenhouse 90 at the necessary time, according to the work plan or a request from any of the transplanting machines 100, loads the seedlings, and then proceeds to one or more designated field drop-off locations.

[0061] The control device 260 for each transport vehicle 200 controls the transport vehicle 200 to pass through the entrance 91 of the greenhouse 90, which is the storage area, and enter the interior of the greenhouse 90. The control device 260 also controls the transport vehicle 200 to travel from inside the greenhouse 90, through the entrance 91, to the handover location in the field 70, after the loading of seedlings is completed in the greenhouse 90. This allows the transport vehicle 200 to move automatically inside the greenhouse 90, making the loading and subsequent transport operations more efficient.

[0062] Figure 5 schematically shows how the transport vehicle 200 enters the greenhouse 90. The multiple straight arrows in Figure 5 indicate an example of the path taken by the transport vehicle 200 inside the greenhouse 90. As shown in the figure, in this embodiment, the transport vehicle 200 enters the greenhouse 90 through the entrance / exit 91 and automatically moves to the vicinity of the seedlings 92 (e.g., seedling trays). Once the loading of the seedlings 92 onto the transport vehicle 200 is complete, the transport vehicle 200 exits the greenhouse 90 through the entrance / exit 91 and automatically travels toward the designated field 70.

[0063] The transport vehicle 200 is equipped with multiple sensing devices (e.g., a camera 226, a LiDAR sensor 225, and an obstacle sensor 227) that sense the environment around the transport vehicle 200 and output sensor data. Based on the sensor data output from at least one of these sensing devices, the control device 260 generates a local path for the transport vehicle 200 so that a collision does not occur at the entrance / exit 91. The control device 260 steers the transport vehicle 200 so that it travels along the local path. This allows the control device 260 to move the transport vehicle 200 into the greenhouse 90. The control device 260 may also be configured to recognize one or more seedlings 92 placed inside the greenhouse 90 based on sensor data output from a sensing device such as the camera 226 or the LiDAR sensor 225, move the transport vehicle 200 to the vicinity of the seedlings 92, and stop it.

[0064] When the transport vehicle 200 stops, seedlings are loaded onto the transport vehicle 200. The loading of seedlings may be carried out, for example, by workers inside the greenhouse 90. Loading may be carried out using a conveying device, for example, including a belt conveyor. The transport vehicle 200 may be equipped with an auxiliary device to assist in loading seedlings. By using such an auxiliary device, the loading of seedlings onto the transport vehicle 200 can be automated at least partially.

[0065] Once the loading of seedlings onto the transport vehicle 200 is complete, the worker gives a command to the transport vehicle 200 to start transporting, for example, using an input device such as a remote controller, smartphone, or a switch mounted on the transport vehicle 200. In response to the command from the input device, the control device 260 causes the transport vehicle 200 to start traveling from the greenhouse 90 to the seedling handover location. If the loading of seedlings 92 onto the transport vehicle 200 is automated, the control device 260 may automatically determine that the loading of a predetermined amount of seedlings 92 has been completed based on the output from a sensor that detects the amount of seedlings 92 loaded, and then start traveling.

[0066] In the example shown in Figure 4, the transport vehicle 200A leaves greenhouse 90 (greenhouse A), moves along farm roads around multiple fields 70, and automatically proceeds to a transfer point Pa set up around field A. At the transfer point Pa, the transport vehicle 200A stops and seedlings are loaded and unloaded. Loading and unloading of seedlings can be done, for example, by the operator of the transplanter 100A or other worker. The unloaded seedlings are then loaded onto the transplanter 100A. Loading and unloading of seedlings and loading onto the transplanter 100A may be done simultaneously, or the seedlings may be unloaded, placed at the transfer point Pa, and then loaded onto the transplanter 100A after a while. The transport vehicle 200A may be equipped with auxiliary devices to assist in loading and unloading seedlings or loading seedlings onto the transplanter 100A. By using such auxiliary devices, the transfer of seedlings from the transport vehicle 200A to the transplanter 100A can be automated at least partially.

[0067] Once the loading and unloading of seedlings is completed at the handover location Pa, the worker performing the loading and unloading or the operator of the transplanter 100A gives a command to the transport vehicle 200 to resume transport using an input device such as a remote controller, smartphone, or a switch mounted on the transport vehicle 200. In response to this command, the control device 260 causes the transport vehicle 200 to start traveling to the next handover location Pb in field B. If the loading and unloading of seedlings from the transport vehicle 200 or the transfer of seedlings to the transplanter 100 is automated, the control device 260 may automatically determine that all seedlings have been loaded or transferred based on the output from a sensor that detects the remaining amount of seedlings, and then start traveling.

[0068] Seedlings may be transported individually or in seedling trays. When seedlings are transported in seedling trays, the control device 260 may control the movement of the transport vehicle 200 so that all seedling trays to be used in field A are unloaded and placed at the handover point Pa, and then immediately proceed to the next handover point Pb. In this case, after the loading of seedlings onto the transplanter 100 is complete, empty seedling trays will be left at the handover point Pa. The same applies to subsequent handover points.

[0069] The transport vehicle 200A, having departed from the handover point Pa, proceeds to the handover point Pb and stops there. Similarly, at the handover point Pb, seedlings to be used in field B are loaded and unloaded, and the seedlings are loaded onto the transplanter 100B. Note that in the example in Figure 4, seedlings are loaded onto the transplanter 100B, but this is just one example. For example, if the transplanter 100A moves to field B to perform transplanting work after completing transplanting work in field A, the seedlings placed at the handover point Pb may be loaded onto the transplanter 100A.

[0070] Once the loading and unloading of seedlings is complete at the handover point Pb, the transport vehicle 200A moves to the next handover point Pc in field C and stops. Similarly, at the handover point Pc, seedlings to be used in field C may be loaded and unloaded, and seedlings may be loaded onto the transplanter 100B. For example, after the transplanting work in field B is completed, the transplanter 100B moves to field C to perform transplanting work, and when the remaining amount of seedlings becomes low, it heads to the handover point Pc to replenish the seedlings. If, instead of the transplanter 100B, the transplanter 100A moves to field C to perform transplanting work after completing transplanting work in fields A and B, the seedlings placed at the handover point Pc may be loaded onto the transplanter A.

[0071] In the example shown in Figure 4, once the loading and unloading of seedlings is completed at the handover location Pc, the transport vehicle 200A returns to greenhouse A via farm roads surrounding multiple fields 70. At greenhouse A, seedlings may be loaded again and transported to other fields 70. Alternatively, instead of returning to greenhouse A, the transport vehicle 200A may move to a pre-set waiting area 98. For example, if no further transport is needed for a while after the delivery of seedlings to fields A, B, and C is complete, the transport vehicle 200A may return to the waiting area 98 and wait.

[0072] The transport vehicle 200B shown in Figure 4 is controlled in the same way as the transport vehicle 200A. After loading seedlings inside greenhouse B, the transport vehicle 200B automatically proceeds to the respective handover points Pe and Pf in fields E and F, where the seedlings are loaded and unloaded. The seedlings unloaded at handover points Pe and Pf are then placed onto other transplanters 100, which are not shown in Figure 4.

[0073] In the example shown in Figure 4, the transfer point for each field 70 is located on the ridge or farm road outside the field 70. However, the example is not limited to this, and the transfer point may be located inside the field 70. In that case, the transport vehicle 200 is controlled to automatically travel to the transfer point inside the field 70.

[0074] To achieve the above control, the storage device 264 of each transport vehicle 200 stores an environmental map of the area including the field 70, the greenhouse 90 (storage area), the waiting area 98, and the surrounding farm roads. The control device 260 performs route planning and automatic driving control of the transport vehicle 200 based on the environmental map. Route planning is performed by the ECU 266, and automatic driving control is performed by the ECU 265. The storage device 264 also stores the work plan of each transplanter 100. In accordance with the work plan or a request from the transplanter 100, the control device 260 determines a first route from the current position of the transport vehicle 200 to the storage area and a second route from the storage area to a location for receiving one or more seedlings, based on the environmental map, and drives the transport vehicle 200 along the first and second routes. Taking the transport vehicle 200A shown in Figure 4 as an example, the first route is the route from the waiting area 98 to greenhouse A, and the second route is the route from greenhouse A along the farm road to the respective handover locations Pa, Pb, and Pc for fields A, B, and C.

[0075] Figure 6 is a flowchart showing an example of how the control device 260 controls the transport vehicle 200.

[0076] In step S110, the control device 260 generates a first route to the seedling storage location and a second route from the storage location to the handover location based on an environmental map, according to the work plan or a request from the transplanting machine 100. For example, the control device 260 may generate the first route as the route that allows the transport vehicle 200 to reach the storage location in the shortest amount of time. The control device 260 may also generate the second route as the route that allows the transport vehicle to reach the handover location in the shortest amount of time. If seedlings are to be transported to multiple handover locations, the control device 260 generates the second route as the route connecting the storage location and the multiple handover locations.

[0077] The control device 260 generates the first and second routes on a drivable area such as a farm road in the environmental map. The environmental map may also include location information of the entrance and exit of the storage area. Based on the location information of the entrance and exit, the control device 260 may determine the route from the current position of the transport vehicle 200 through the entrance and exit to the interior of the storage area as the first route. The control device 260 may also determine the route from the interior of the storage area through the entrance and exit to the handover area as the second route.

[0078] In step S120, the control device 260 causes the transport vehicle 200 to travel along the first route to the storage location (step S120). The timing of the start of travel in step S120 may be determined, for example, based on the schedule of transplanting work included in the work plan. The control device 260 causes the transport vehicle 200 to start traveling to the storage location at a time when it is possible to deliver the seedlings to the handover location before the seedlings loaded on the transplanting machine 100 are completely consumed. The timing of the start of travel may be set, for example, before the time when seedling replenishment of the transplanting machine 100 is required, minus the time required for the transport vehicle 200 to move to the storage location, load the seedlings, and move to the handover location. If the management device 600 manages the dispatch schedule of each transport vehicle 200, the management device 600 may notify each transport vehicle 200 of the timing of the start of travel. The control device 260 causes the transport vehicle 200 to pass through the entrance and exit of the storage location and enter the interior of the storage location. For example, the control device 260 may recognize seedlings placed inside the storage area based on sensor data output from sensing devices such as a camera 226 mounted on the transport vehicle 200, and move the transport vehicle 200 to the vicinity of the seedlings. The seedlings are then loaded inside the storage area.

[0079] In step S130, the control device 260 determines whether or not the loading of the seedlings has been completed. For example, after the loading work is completed, if the operator uses the input device to indicate that loading is complete, a command to start driving is sent from the input device to the control device 260. Upon receiving this command, the control device 260 can determine that the loading of the seedlings has been completed. Alternatively, if the transport vehicle 200 is equipped with a mechanism to automate the loading of seedlings, the completion of seedling loading may be determined based on a signal from a sensor that detects the completion of seedling loading. If it is determined that the loading of seedlings has been completed, the process proceeds to step S140.

[0080] In step S140, the control device 260 moves the transport vehicle 200 along the second path to the handover location in the field 70. While traveling, the control device 260 controls the steering of the transport vehicle 200 to minimize the discrepancy between the position and orientation of the transport vehicle 200, as measured by the GNSS unit 220, and the second path. As a result, the control device 260 moves the transport vehicle 200 along the second path and stops it at the handover location in the field 70. At the handover location, seedlings are loaded and unloaded from the transport vehicle 200.

[0081] In step S150, the control device 260 determines whether or not the loading and unloading of the seedlings has been completed. For example, after the loading and unloading work is completed, if the operator uses the input device to indicate that the loading and unloading is complete, a command to start driving is sent from the input device to the control device 260. Upon receiving this command, the control device 260 can determine that the loading and unloading of the seedlings has been completed. Alternatively, if the transport vehicle 200 is equipped with a mechanism for automating the loading and unloading of seedlings, the completion of the loading and unloading of seedlings may be determined based on a signal from a sensor that detects the completion of the loading and unloading of seedlings. If it is determined that the loading and unloading of seedlings has been completed, the process proceeds to step S160.

[0082] In step S160, the control device 260 determines whether the delivery of seedlings to all scheduled fields 70 has been completed. If the delivery to all scheduled fields 70 has been completed, the process proceeds to step S170. If there are still fields 70 that have not been delivered, the process returns to step S140, and the control device 260 moves the transport vehicle 200 to the handover location for the next field 70. The operation from steps S140 to S160 is repeated until the delivery to all scheduled fields 70 has been completed.

[0083] In step S170, the control device 260 moves the transport vehicle 200 to a waiting area or storage area. For example, if the control device 260 determines, based on the work plan, that the time until the next seedling transport can be started is shorter than a predetermined time, it may move the transport vehicle 200 to a storage area. Conversely, if it determines that the time until the next seedling transport can be started is longer than a predetermined time, it may move the transport vehicle 200 to a waiting area.

[0084] The operations in steps S110 to S170 can be performed repeatedly. In this embodiment, the control device 260 determines a route that visits multiple handover locations set in each of the multiple fields 70 based on the location information of the multiple fields 70 included in the environmental map. After the loading of seedlings is completed at the storage location, the control device 260 makes the transport vehicle 200 travel along the route and stops the transport vehicle 200 at each handover location. After the loading and unloading of the seedlings is completed at each handover location, the control device 260 makes the transport vehicle 200 resume traveling along the route. Through this operation, seedlings can be automatically transported to multiple fields 70 at the appropriate timing based on the work plan or a request from the transplanter 100. This reduces the labor required for transporting seedlings and improves the efficiency of the transplanting work.

[0085] In this embodiment, the control device 260 of the transport vehicle 200 performs route generation and transport control according to the work plan or a request from the transplanting machine 100. Alternatively, the management device 600 may function as the control device that performs route generation and transport control. The management device 600 can control the movement of the transport vehicle 200 by transmitting commands to the transport vehicle 200 via the communication device 690. The management device 600 can achieve the aforementioned transport operation by generating an automatic travel route for the transport vehicle 200 based on the work plan and sending a travel command to the transport vehicle 200 at the appropriate timing. Furthermore, the management device 600 can control multiple transport vehicles 200. The management device 600 can drive each of the multiple transport vehicles 200 to the seedling storage location associated with that transport vehicle 200 according to the work plans of the multiple transplanting machines 100 or a request from either of the multiple transplanting machines 100. The management device 600 can also drive the transport vehicle 200 from the storage location to the field associated with the transport vehicle 200 after the loading of seedlings onto the transport vehicle 200 is completed at the storage location. This allows seedlings to be transported to the required fields in a timely and efficient manner by multiple transport vehicles 200.

[0086] The management device 600 may create a delivery plan for each transport vehicle 200 based on the work plan of each transplanting machine 100, and control the operation of each transport vehicle 200 by transmitting the delivery plan to each transport vehicle 200. Such control also falls under control based on the work plan. An example of the operation of the management device 600 in creating a delivery plan will be described below.

[0087] Figure 7 is a flowchart illustrating an example of the operation performed by the management device 600 to create a delivery plan. First, the management device 600 refers to the pre-created work plan for each transplanting machine 100 (step S310). Next, the management device 600 sets a delivery plan for each transport vehicle 200 based on the work plan (step S320). Subsequently, the management device 600 transmits the delivery plan to each transport vehicle 200 (step S330).

[0088] Figure 8 shows an example of a delivery plan. In this example, the delivery plan is data in the form of a table that includes information on the destination field, delivery date and time, the number of seedlings or seedling trays to be delivered, the transport vehicle 200 to be used for transport, and the location where the seedlings are stored. The management device 600 creates such a delivery plan based on the transplanting work schedule at each field shown in the work plan and transmits it to each transport vehicle 200. The management device 600 may also decide which transport vehicle 200 to use for delivering the seedling trays based on the operational status of each transport vehicle 200.

[0089] The management device 600 transmits the delivery plan to the transport vehicle 200 a predetermined time before the first delivery time of each day set in the delivery plan. The control device 260 of the transport vehicle 200 controls the vehicle's movement so that it arrives at each field set as a delivery destination at the set date and time, according to the delivery plan. Alternatively, instead of transmitting the delivery plan to the transport vehicle 200, the management device 600 may transmit a command to the transport vehicle 200 to start driving for delivery at an appropriate time based on the delivery plan.

[0090] Next, we will explain an example of the operation of retrieving seedling trays when the transport vehicle 200 is transporting seedlings stored in seedling trays.

[0091] As mentioned above, the transport vehicle 200 may transport individual seedlings, or it may transport seedlings in seedling trays and transport the seedlings in the trays to a handover location in the field. When the transport vehicle 200 transports seedlings in the trays, it can be controlled to unload the seedling trays at each handover location before proceeding to the next destination. At each handover location, for example, a worker in the field removes the seedlings from the trays and places them on the transplanter 100. As a result, empty seedling trays are left at each handover location. These empty seedling trays can be collected by the transport vehicle 200. The transport vehicle 200 that transported the seedling trays and the transport vehicle 200 that collects the empty seedling trays may be the same or different vehicles.

[0092] Figure 9 shows an example of the operation of a transport vehicle 200 to collect seedling trays 94. In Figure 9, arrows indicate an example of the route taken by the transport vehicle 200 to collect empty seedling trays 94 left at the handover locations Pa to Pf. In this example, the control device 260 or management device 600 of the transport vehicle 200 generates a route from the waiting area 98 to the greenhouse 90 (house A) via the handover locations Pa to Pf. The control device 260 controls the transport vehicle 200 to travel along that route. The transport vehicle 200 stops at each handover location, collects the seedling trays 94, and transports the empty seedling trays 94 to the greenhouse 90. At each handover location, for example, a worker loads the empty seedling trays 94 onto the transport vehicle 200. In the example in Figure 9, the transport vehicle 200 departs from the waiting area 98, but the operation for collection may start from another location, for example, near any of the fields 70. Furthermore, the collected empty seedling trays 94 may be transported to other storage locations (for example, a barn) rather than just the greenhouse 90.

[0093] This recovery operation may be carried out, for example, based on a recovery plan created by the control device 600. An example of the operation by the control device 600 in creating a recovery plan is described below.

[0094] Figure 10 is a flowchart illustrating an example of the operation performed by the control device 600 to create a recovery plan. First, the control device 600 refers to the pre-created work plan for each transplanting machine 100 (step S410). Next, the control device 600 sets up a recovery plan based on the work plan (step S420). Subsequently, the control device 600 transmits the recovery plan to the transport vehicle 200 (step S430).

[0095] Figure 11 shows an example of a collection plan. In this example, the collection plan is data in the form of a table that includes information on the field to be collected, the date and time of collection, the number of seedling trays to be collected, the transport vehicle 200 to be used for collection, and the storage location to which the trays will be returned. The management device 600 creates such a collection plan based on the transplanting work schedule at each field shown in the work plan and transmits it to the transport vehicle 200. The management device 600 may also decide which transport vehicle 200 to use to collect the seedling trays based on the operating status of each transport vehicle 200.

[0096] The management device 600 transmits the collection plan to the transport vehicle 200 before the first collection time of each day set in the collection plan. The control device 260 of the transport vehicle 200 controls the vehicle's movement so that it arrives at each field designated as a collection destination at the set date and time, according to the collection plan. Alternatively, instead of transmitting the collection plan to the transport vehicle 200, the management device 600 may transmit a command to the transport vehicle 200 to start traveling for collection at an appropriate time based on the collection plan.

[0097] Thus, the control device 600 or the control device 260 of the transport vehicle 200 may, after the seedlings have been handed over to the transplanter 100, control the transport vehicle 200 to move to the handover location in order to have the transport vehicle 200 retrieve the seedling trays left at the handover location.

[0098] [2-2. Automatic Driving Operation] Next, an example of automatic driving control of the transport vehicle 200 by the control device 260 will be described.

[0099] Figure 12 is a flowchart illustrating an example of steering control operation during automatic driving performed by the control device 260. The control device 260 performs automatic steering while the transport vehicle 200 is traveling by executing the operations from steps S210 to S250 shown in Figure 12. The speed is maintained, for example, at a preset speed. While the transport vehicle 200 is traveling, the control device 260 acquires data indicating the position of the transport vehicle 200 generated by the GNSS unit 220 (step S210). Next, the control device 260 calculates the deviation between the position of the transport vehicle 200 and the target path (step S220). The deviation represents the distance between the position of the transport vehicle 200 at that time and the target path. The control device 260 determines whether the calculated position deviation exceeds a preset threshold (step S230). If the deviation exceeds the threshold, the control device 260 changes the steering angle by changing the control parameters of the steering device included in the drive unit 240 so that the deviation becomes smaller. If the deviation does not exceed the threshold in step S230, the operation in step S240 is omitted. In the following step S250, the control device 260 determines whether or not it has received a command to terminate the operation. A command to terminate the operation may be issued, for example, when a user remotely instructs the automatic driving to stop or when the transport vehicle 200 reaches its destination. If no command to terminate the operation has been issued, the process returns to step S210 and performs the same operation based on the newly measured position of the transport vehicle 200. The control device 260 repeats the operations from steps S210 to S250 until a command to terminate the operation is issued. The above operations are performed by the ECU 265 in the control device 260.

[0100] In the example shown in Figure 12, the control device 260 controls the drive unit 240 based only on the deviation between the position of the transport vehicle 200 identified by the GNSS unit 220 and the target path, but it may also take into account the azimuth deviation. For example, if the azimuth deviation, which is the angular difference between the orientation of the transport vehicle 200 identified by the GNSS unit 220 and the direction of the target path, exceeds a preset threshold, the control device 260 may change the control parameters of the steering device of the drive unit 240 (e.g., steering angle) according to that deviation.

[0101] Below, we will explain in more detail an example of steering control by the control device 260, referring to Figures 13A to 13D.

[0102] Figure 13A shows an example of a transport vehicle 200 traveling along a target path P. Figure 13B shows an example of a transport vehicle 200 positioned to the right of the target path P. Figure 13C shows an example of a transport vehicle 200 positioned to the left of the target path P. Figure 13D shows an example of a transport vehicle 200 facing inclined relative to the target path P. In these figures, the position and orientation of the transport vehicle 200 as measured by the GNSS unit 220 are represented as r(x,y,θ). (x,y) are coordinates representing the position of the reference point of the transport vehicle 200 in the XY coordinate system, which is a two-dimensional coordinate system fixed to the Earth. In the examples shown in Figures 13A to 13D, the reference point of the transport vehicle 200 is located at the position where the GNSS unit 220 is installed. The position of the reference point is arbitrary. θ is the angle representing the measured orientation of the transport vehicle 200. In the illustrated example, the target path P is parallel to the Y-axis, but generally, the target path P is not necessarily parallel to the Y-axis.

[0103] As shown in Figure 13A, if the position and orientation of the transport vehicle 200 are not deviating from the target path P, the control device 260 maintains the steering angle and speed of the transport vehicle 200 without changing them.

[0104] As shown in Figure 13B, if the position of the transport vehicle 200 is shifted to the right of the target path P, the control device 260 changes the steering angle so that the direction of travel of the transport vehicle 200 is tilted to the left and approaches path P. At this time, the speed may also be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitude of the position deviation Δx.

[0105] As shown in Figure 13C, if the position of the transport vehicle 200 is shifted to the left of the target path P, the control device 260 changes the steering angle so that the direction of travel of the transport vehicle 200 is tilted to the right and approaches path P. In this case as well, the speed may be changed in addition to the steering angle. The amount of change in the steering angle can be adjusted, for example, according to the magnitude of the position deviation Δx.

[0106] As shown in Figure 13D, if the position of the transport vehicle 200 is not significantly off the target path P, but its orientation differs from that of the target path P, the control device 260 changes the steering angle to reduce the azimuth deviation Δθ. In this case as well, the speed may be changed in addition to the steering angle. The magnitude of the steering angle can be adjusted, for example, according to the magnitudes of the position deviation Δx and the azimuth deviation Δθ. For example, the smaller the absolute value of the position deviation Δx, the larger the amount of change in the steering angle corresponding to the azimuth deviation Δθ may be. When the absolute value of the position deviation Δx is large, the steering angle will be changed significantly in order to return to path P, so the absolute value of the azimuth deviation Δθ will inevitably be large. Conversely, when the absolute value of the position deviation Δx is small, it is necessary to bring the azimuth deviation Δθ closer to zero. For this reason, it is appropriate to relatively increase the weight (i.e., control gain) of the azimuth deviation Δθ used to determine the steering angle.

[0107] Control technologies such as PID control or MPC control (model predictive control) can be applied to the steering and speed control of the transport vehicle 200. By applying these control technologies, the control of the transport vehicle 200 to approach the target path P can be made smoother.

[0108] In addition, an obstacle may be detected by the LiDAR sensor 225, camera 226, or obstacle sensor 227 while the vehicle is in motion. In that case, the control device 260 will either stop the transport vehicle 200 or control the drive unit 240 so that the transport vehicle 200 avoids the obstacle.

[0109] In this embodiment, the transport vehicle 200 can travel automatically even outside the field. Outside the field, the control device 260 can detect objects (e.g., other vehicles or pedestrians) located relatively far from the transport vehicle 200 based on data output from the camera 226 or LiDAR sensor 225. The control device 260 can achieve automatic travel on roads outside the field by generating a local path to avoid the detected object and performing speed control and steering control along the local path.

[0110] Thus, the transport vehicle 200 in this embodiment can travel automatically outside the field without a driver. The storage device 264 records an environmental map and target route for an area including multiple fields and surrounding roads. The environmental map and target route can be generated by the management device 600 or the ECU 266. When the transport vehicle 200 travels on a road, it travels along the target route while sensing its surroundings using sensing devices such as the camera 226 and the LiDAR sensor 225. While traveling, the control device 260 sequentially generates local routes and causes the transport vehicle 200 to travel along these local routes. This enables automatic travel while avoiding obstacles. For example, as shown in Figure 5, the transport vehicle 200 can enter the greenhouse 90 without colliding with the entrance 91.

[0111] [2-3. Example of a work plan] In this embodiment, the transport vehicle 200 automatically transports seedlings according to a work plan created by the management device 600. The work plan includes information about one or more agricultural operations performed by agricultural machinery such as a transplanter 100. For example, the work plan includes information about transplanting operations performed by the transplanter 100 and the fields in which each operation is performed. The work plan may also include information about multiple agricultural operations performed by multiple agricultural machinery over multiple working days and the fields in which each operation is performed. More specifically, the work plan may be a database containing work schedule information indicating which agricultural machinery performs which agricultural operation at which time, in which field, and in which field for each working day. An example of a work plan being such work schedule data will be described below. The work plan may be created by the processor 660 of the management device 600 based on information entered by the user using the terminal device 400. An example of how to create a work plan will be described below.

[0112] Figure 14 shows an example of a settings screen 760 displayed on the display device 430 of the terminal device 400. The processor 460 of the terminal device 400 responds to user operations using the input device 420 by launching application software for work plan creation and displaying a settings screen 760 as shown in Figure 14 on the display device 430. The user can input the information necessary for creating a work plan on this settings screen 760.

[0113] Figure 14 shows an example of a settings screen 760 when rice planting is performed as an agricultural task in a rice field. The settings screen 760 is not limited to what is shown and can be changed as appropriate. The settings screen 760 in the example in Figure 14 includes a date setting unit 761, a work time setting unit 762, a crop variety selection unit 763, a field selection unit 764, a work selection unit 765, a worker selection unit 766, a machine selection unit 768, and a seedling facility selection unit 769.

[0114] The date setting unit 761 displays the date entered by the input device 420. The entered date is set as the date on which the farm work will be performed.

[0115] The work time setting unit 762 displays the work time entered from the input device 420. The work time is specified by a start time and an end time. The entered work time is set as the scheduled time for the agricultural work to be performed.

[0116] The crop variety selection unit 763 displays a list of crop varieties to be planted. The user can select the desired variety from the list. In the example in Figure 14, the rice variety "Koshiibuki" is selected.

[0117] The field selection unit 764 displays the fields on the map. The user can select any field from the displayed fields. In the example in Figure 14, the area indicating "Field A" is selected. In this case, the selected "Field A" is set as the field where agricultural work will be carried out. Multiple fields may be selected.

[0118] The task selection unit 765 displays several farming tasks necessary to cultivate the selected crop. The user can select one farming task from among the several. In the example in Figure 14, "rice planting" is selected from among the several farming tasks. In this case, the selected "rice planting" is set as the farming task to be performed.

[0119] The worker selection unit 766 displays pre-registered workers. The user can select one or more workers from the displayed workers. In the example in Figure 14, "Worker A" is selected from among the multiple workers. In this case, the selected "Worker A" is set as the worker responsible for performing or managing the agricultural work. Note that if the agricultural machinery performs the agricultural work automatically, the selected worker may not actually perform the work but merely remotely monitor the agricultural work performed by the agricultural machinery.

[0120] The machine selection unit 768 is the part that sets the agricultural machinery to be used in the farming work. The machine selection unit 768 may display, for example, the type or model of agricultural machinery registered in advance by the management device 600, and the type or model of available implements. The user can select a specific machine from the displayed machines. In the example in Figure 14, "rice transplanter A" is selected. In this case, rice transplanter A is set as the machine to be used in the farming work.

[0121] The seedling facility selection unit 769 is responsible for selecting a seedling facility, which is the storage location for the rice seedlings to be planted. The seedling facility selection unit 769 displays, for example, the names of multiple seedling facilities that have been pre-registered by the management device 600. The user can select a specific seedling facility from among the displayed multiple seedling facilities. The selected seedling facility is then set as the storage location for the seedlings to be used in that agricultural operation.

[0122] When the necessary information is entered on the settings screen 760 and "Register" is selected, the communication device 490 of the terminal device 400 transmits the entered information to the management device 600. The processor 660 of the management device 600 stores the received information in the storage device 650. Based on the received information, the processor 660 creates a schedule of farm work to be performed by each agricultural machine and stores it in the storage device 650.

[0123] The information on agricultural work managed by the management device 600 is not limited to what is described above. For example, the type and amount of fertilizer or pesticide used in the field may be set on the setting screen 760. Information on agricultural work other than that shown in Figure 14 may also be set.

[0124] Figure 15 shows an example of a work plan created by the management device 600. In this example, the work plan includes information for each registered agricultural machine indicating the day and time the farm work will be performed, the field, the work content, and the storage location of the seedlings to be used. In addition to the information shown in Figure 15, the work plan may also include other information depending on the work content, such as the type of implement to be used, or the type and amount of fertilizer or pesticide to be applied. According to such a work plan, the processor 660 of the management device 600 can issue instructions to the transport vehicle 200 for farm work. The work plan can be downloaded by the control device 260 of the transport vehicle 200 and may also be stored in the storage device 264. The control device 260 may start operating in accordance with instructions from the management device 600, or it may start operating spontaneously according to the work plan stored in the storage device 264.

[0125] In this embodiment, the work plan is created by the management device 600, but the work plan may be created by other devices. For example, the processor 460 of the terminal device 400 or the control device 260 in the transport vehicle 200 may have a function to generate or update the work plan.

[0126] The control device 260 of the transport vehicle 200 can determine the route for the automated driving of the transport vehicle 200 and the timing for the transport vehicle 200 to head to the storage location, based on the work plan described above. For example, based on the work plan, the control device 260 can calculate the timing at which the seedlings loaded on the rice transplanter will run out in each field and determine the departure timing to the storage location so that the transport vehicle can reach the handover point in that field before that timing. As a result, seedlings are delivered to the field before the seedlings loaded on the rice transplanter are completely consumed, minimizing interruptions to the work performed by the rice transplanter.

[0127] The control device 260 may initiate operations for transporting seedlings in response to a request from the transplanter 100, regardless of the work plan. In this case, the transplanter 100 may be equipped with a sensor for detecting the remaining amount of seedlings. The control device 160 of the transplanter 100 may be configured to send a transport request to the transport vehicle 200 via the communication device 190 when the remaining amount of seedlings falls below a threshold. Alternatively, a user (e.g., the driver) may be able to request the transport vehicle 200 to transport seedlings by operating a switch or operating terminal mounted on the transplanter 100. The control device 260 of the transport vehicle 200 may be configured to move the transport vehicle 200 to a seedling storage location in response to a request from the transplanter 100, and after the loading of seedlings onto the transport vehicle 200 is complete, move the transport vehicle 200 to the field where the transplanter 100 will perform the transplanting work.

[0128] [3. Example configuration of a transplant machine] Next, we will describe an example configuration of the transplanting machine 100. Here, we will describe an example of a transplanting machine 100 equipped with an automatic driving function.

[0129] Figure 16 is a side view showing an example configuration of a rice transplanter 100T, which is an example of a transplanter 100. The rice transplanter 100T is a ride-on type with a four-wheel drive body 101. The body 101 is equipped with a linkage mechanism 111, a lifting cylinder 115, a seedling planting device 103, and a fertilizer application device 104.

[0130] The aircraft body 101 is equipped with wheels 112, an engine 113, and a hydraulic continuously variable transmission 114 as a mechanism for propulsion. The wheels 112 have steerable left and right front wheels 112A and left and right rear wheels 112B. The engine 113 and continuously variable transmission 114 are mounted at the front of the aircraft body 101. Power from the engine 113 is supplied to the front wheels 112A, rear wheels 112B, seedling planting device 103, and fertilizer application device 104 via the continuously variable transmission 114, etc. The seedling planting device 103 is equipped with a seedling tray 131 and a planting mechanism 132.

[0131] The machine body 101 is equipped with a driver's unit 121. The driver's unit 121 is equipped with a steering wheel, a main gear lever, a sub-gear lever, work operation levers, a driver's seat, etc. Furthermore, a spare seedling frame 117 for storing spare seedlings is provided in front of the driver's unit 121. A positioning device 108 is provided above the spare seedling frame 117.

[0132] The positioning device 108 outputs positioning data for calculating the position and orientation of the aircraft 101. The positioning device 108 includes a satellite positioning module that receives radio waves from GNSS satellites and an inertial measurement module that detects the three-axis tilt and acceleration of the aircraft 101.

[0133] In addition to the components shown in Figure 16, the rice transplanter 100T is equipped with a control device 160 (see Figure 2) for controlling automatic driving and a group of various sensors. The group of sensors may include sensors that detect the steering angle, the operating position of the main and sub-transmission levers, the vehicle speed, the engine speed, and the set values ​​for these. The group of sensors may also include sensors that detect the state of the linkage mechanism 111, the seedling planting device 103, and the fertilizer applicator 104 and the set values ​​for these. For example, the group of sensors may include sensors that measure the remaining amount of agricultural materials, such as the amount of seedlings and the amount of fertilizer. As mentioned above, the control device 160 may be configured to send a transport request to the transport vehicle 200 via the communication device 190 when the amount of seedlings falls below a threshold.

[0134] The control device 160 changes the vehicle speed and direction of travel of the rice transplanter 100T by controlling the steering angle of the front wheels 112A and the continuously variable transmission 114. The control device 160 also controls the amount of seedlings picked by the seedling planting device 103 and the amount of fertilizer applied by the fertilizer applicator 104. Based on satellite positioning data sent sequentially from the positioning device 108, the control device 160 calculates the map coordinates (vehicle position) of the rice transplanter 100T. Based on the calculated vehicle position and a preset target route, the control device 160 makes the rice transplanter 100T travel along the target route.

[0135] The rice transplanter 100T can operate by switching between manual and automatic driving modes. In automatic driving mode, the control device 160 determines the steering control amount to reduce the lateral and directional deviations calculated by comparing the vehicle's position with the target path. Based on the determined steering control amount, the steering angle of the front wheels 112A is adjusted. The control device 160 also controls the driving speed to travel at a speed below a preset reference speed. In manual driving mode, the control device 160 adjusts the steering angle of the front wheels 112A based on the amount of steering wheel operation. The control device 160 controls the continuously variable transmission 114 to travel at a driving speed corresponding to the operating position of the main and sub-transmission levers.

[0136] The devices for creating the vehicle's movement path and controlling the vehicle's movement according to the movement path in the above embodiments can also be retrofitted to vehicles that do not possess these functions. Such devices can be manufactured and sold independently of the vehicle. Computer programs used in such devices can also be manufactured and sold independently of the vehicle. Computer programs can be provided, for example, stored in a computer-readable non-temporary storage medium. Computer programs can also be provided by download via telecommunications lines (e.g., the Internet).

[0137] As described above, this disclosure includes seedling transport systems, seedling transport methods, and transport vehicles as described in the following items.

[0138] [Item 1] A seedling transport system in which a transplanting machine transports seedlings to be transplanted in the field to an automatically operating transport vehicle, The vehicle is equipped with a control device that controls the operation of the transport vehicle, The control device is According to the work plan of the transplanting machine or the requirements from the transplanting machine, The transport vehicle is driven to the seedling storage area. After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location towards the field. Seedling transport system.

[0139] [Item 2] The control device is The transport vehicle is made to pass through the entrance / exit of the storage area and enter the interior of the storage area. After the loading of the seedlings is completed inside the storage area, the transport vehicle is driven from inside the storage area, through the entrance / exit of the storage area, to the field. The seedling transport system described in item 1.

[0140] [Item 3] The system further includes a storage device that stores an environmental map of the area including the aforementioned field and the aforementioned storage location. The control device is According to the work plan of the transplanting machine or the requirements from the transplanting machine, A first route from the current position of the transport vehicle to the storage location and a second route from the storage location to the seedling handover location set up in the field are determined based on the environmental map. The transport vehicle is driven along the first and second routes. A seedling transport system as described in item 1 or 2.

[0141] [Item 4] The aforementioned environmental map includes location information of the entrance and exit of the storage area, Based on the position information of the entrance and exit, the control device shall The route from the current position of the transport vehicle through the entrance to the interior of the storage area is determined as the first route. The route from inside the storage area through the entrance to the handover location is determined as the second route. The seedling transport system described in item 3.

[0142] [Item 5] The control device is Based on the sensor data obtained from a sensing device that senses the environment around the transport vehicle and outputs sensor data, the transport vehicle is made to enter the storage area. The transport vehicle recognizes the seedlings placed inside the storage area and moves the transport vehicle to the vicinity of the seedlings. A seedling transport system as described in any of items 1 through 4.

[0143] [Item 6] The control device is The transport vehicle is stopped at the designated handover point in the field. After the loading and unloading of the seedlings is completed at the aforementioned handover location, the transport vehicle is driven to another field or a pre-designated waiting area. A seedling transport system as described in any of items 1 through 5.

[0144] [Item 7] The aforementioned environmental map includes location information of multiple fields, including the aforementioned field. The control device is Based on the location information of the aforementioned multiple fields, a route is determined to visit the multiple handover locations set for each of the aforementioned multiple fields. After the loading of the seedlings is completed at the storage location, the transport vehicle is driven along the route. The transport vehicle is stopped at each handover location. After the loading and unloading of the seedlings is completed at each handover location, the transport vehicle is instructed to resume driving along the aforementioned route. A seedling transport system as described in item 3 or 4.

[0145] [Item 8] The control device is Controlling multiple transport vehicles, including the aforementioned transport vehicle, In accordance with the work schedule of multiple transplanters, including the aforementioned transplanter, or a request from any of the aforementioned multiple transplanters, Each of the aforementioned transport vehicles is driven to the seedling storage location associated with that transport vehicle. After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location to the field associated with the transport vehicle. A seedling transport system as described in any of items 1 through 7.

[0146] [Item 9] The seedling transport system according to any one of items 1 to 8, wherein the control device, after the loading of the seedlings at the storage location is completed, responds to a command from an input device used by an operator at the storage location to cause the transport vehicle to start traveling from the storage location to the seedling delivery location.

[0147] [Item 10] The aforementioned storage location is a seedling nursery facility for raising the seedlings, as described in any of items 1 to 9 of the seedling transport system.

[0148] [Item 11] The vehicle further includes a communication device for communicating with the aforementioned transport vehicle, The control device controls the movement of the transport vehicle by transmitting commands to the transport vehicle via the communication device. A seedling transport system as described in any of items 1 through 10.

[0149] [Item 12] The transport vehicle transports the seedlings in a state where they are stored in seedling trays. The control device moves the transport vehicle or other transport vehicle to the transfer location in order to have the seedling trays left at the transfer location retrieved by the transport vehicle or other transport vehicle after the seedlings have been transferred to the transplanting machine. A seedling transport system as described in any of items 1 through 11.

[0150] [Item 13] A transport vehicle equipped with a seedling transport system as described in any of items 1 through 11 and 12.

[0151] [Item 14] A seedling transport method in which a transplanting machine transports seedlings to be transplanted in the field to an automatically operating transport vehicle, According to the work plan of the transplanting machine or the requirements from the transplanting machine, To drive the transport vehicle to the seedling storage location, After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location to the field. A method for transporting seedlings, including the method described above. [Industrial applicability]

[0152] The technology of this disclosure can be applied, for example, to a transport vehicle that carries seedlings of crops consumed in transplanting operations by a transplanting machine such as a rice transplanter or a vegetable transplanter. [Explanation of Symbols]

[0153] 70...Field, 90...Greenhouse, 91...Entrance / Exit, 92...Seedlings, 98...Waiting area, 100...Transplanting machine, 140...Drive unit, 160...Control unit, 190...Communication device, 200...Transport vehicle, 220...GNSS unit, 225...LiDAR sensor, 226...Camera, 227...Obstacle sensor, 240...Drive unit, 260...Control unit, 264...Storage device, 290...Communication device, 600...Management device

Claims

1. A seedling transport system in which seedlings to be transplanted in a field by multiple transplanting machines are transported by multiple transport vehicles that operate autonomously, The system includes a control device that controls the operation of the plurality of transport vehicles, The control device is According to the work schedule of the multiple transplanters or a request from any of the multiple transplanters, Each of the aforementioned transport vehicles is driven to the seedling storage location associated with that transport vehicle. After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location to the field associated with the transport vehicle. Seedling transport system.

2. The control device is The transport vehicle is made to pass through the entrance / exit of the storage area and enter the interior of the storage area. After the loading of the seedlings is completed inside the storage area, the transport vehicle is driven from inside the storage area, through the entrance / exit of the storage area, to the field. The seedling transport system according to claim 1.

3. The system further includes a storage device that stores an environmental map of the area including the aforementioned field and the aforementioned storage location. The control device is According to the work plan of the transplanting machine or the requirements from the transplanting machine, A first route from the current position of the transport vehicle to the storage location and a second route from the storage location to the seedling handover location set up in the field are determined based on the environmental map. The transport vehicle is driven along the first route and the second route. The seedling transport system according to claim 2.

4. The aforementioned environmental map includes location information of the entrance and exit of the storage area, Based on the position information of the entrance and exit, the control device shall The route from the current position of the transport vehicle through the entrance to the interior of the storage area is determined as the first route. The route from inside the storage area through the entrance to the handover location is determined as the second route. The seedling transport system according to claim 3.

5. The control device is Based on the sensor data obtained from a sensing device that senses the environment around the transport vehicle and outputs sensor data, the transport vehicle is made to enter the storage area. The transport vehicle recognizes the seedlings placed inside the storage area and moves the transport vehicle to the vicinity of the seedlings. A seedling transport system according to any one of claims 1 to 4.

6. The control device is The transport vehicle is stopped at the designated handover point in the field. After the loading and unloading of the seedlings is completed at the aforementioned handover location, the transport vehicle is driven to another field or a pre-designated waiting area. A seedling transport system according to any one of claims 1 to 4.

7. The aforementioned environmental map includes location information for multiple fields, The control device is Based on the location information of the aforementioned multiple fields, a route is determined to visit the multiple handover locations set for each of the aforementioned multiple fields. After the loading of the seedlings is completed at the storage location, the transport vehicle is driven along the route. The transport vehicle is stopped at each handover location. After the loading and unloading of the seedlings is completed at each handover location, the transport vehicle is instructed to resume driving along the aforementioned route. The seedling transport system according to claim 3 or 4.

8. The seedling transport system according to any one of claims 1 to 4, wherein the control device, after the loading of the seedlings at the storage location is completed, responds to a command from an input device used by an operator at the storage location and causes the transport vehicle to start traveling from the storage location to the seedling delivery location.

9. The seedling transport system according to any one of claims 1 to 4, wherein the storage location is a seedling nursery facility for raising the seedlings.

10. The vehicle further includes a communication device for communicating with the aforementioned transport vehicle, The control device controls the movement of the transport vehicle by transmitting commands to the transport vehicle via the communication device. A seedling transport system according to any one of claims 1 to 4.

11. The transport vehicle transports the seedlings in a state where they are stored in seedling trays. The control device moves the transport vehicle or other transport vehicle to the transfer location in order to have the seedling trays left at the transfer location retrieved by the transport vehicle or other transport vehicle after the seedlings have been transferred to the transplanter at the transfer location set in the field. A seedling transport system according to any one of claims 1 to 4.

12. A seedling transport system in which a transplanting machine transports seedlings to be transplanted in the field to an automatically operating transport vehicle, The vehicle is equipped with a control device that controls the operation of the transport vehicle, The control device is According to the work plan of the transplanting machine or the requirements from the transplanting machine, The transport vehicle is driven to the seedling storage area. After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location towards the field. The transport vehicle transports the seedlings in a state where they are stored in seedling trays. The control device moves the transport vehicle or other transport vehicle to the transfer location in order to have the seedlings, after the seedlings have been transferred to the transplanter at the transfer location set up in the field, retrieve the seedling trays left at the transfer location. Seedling transport system.

13. A transport vehicle equipped with the seedling transport system according to any one of claims 1 to 4.

14. A seedling transport method implemented by a computer, wherein seedlings to be transplanted in a field by multiple transplanting machines are transported by multiple transport vehicles that operate automatically, According to the work schedule of the multiple transplanters or a request from any of the multiple transplanters, Each of the aforementioned transport vehicles is driven to the seedling storage location associated with that transport vehicle, After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location to the field associated with the transport vehicle. A method for transporting seedlings, including the method itself.

15. A seedling transport method implemented by a computer, in which seedlings to be transplanted in the field by a transplanting machine are transported by an automatically operating transport vehicle, The transport vehicle transports the seedlings in a state where they are stored in seedling trays. According to the work plan of the transplanting machine or the requirements from the transplanting machine, To drive the transport vehicle to the seedling storage location, After the loading of the seedlings onto the transport vehicle is completed at the storage location, the transport vehicle is driven from the storage location to the field. After the seedlings have been handed over to the transplanter at the seedling handover location set up in the field, the transport vehicle or other transport vehicle is moved to the handover location in order to retrieve the seedling trays remaining at the handover location. A method for transporting seedlings, including the method described above.

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