Work vehicles

Abstract

To enable mechanical weed removal from multiple directions. [Solution] In a work vehicle equipped with a work machine for weeding a field (400), a first weeding path (432) parallel to a reference direction (413) set based on a teaching path (422) and a second weeding path (433) intersecting the reference direction (413) are generated, and by driving the vehicle body (4) based on the first weeding path (432) and the second weeding path (433), weeding by machine is possible from two directions.

Description

Technical Field

[0001] This invention relates to a work vehicle that operates in a field such as a rice transplanter or a tractor.

Background Art

[0002] In work vehicles such as rice transplanters and tractors, when transplanting seedlings to a field, the intervals between seedlings in the traveling direction (running direction, inter-plant spacing direction) of the work vehicle and the intervals between seedlings in the width direction (inter-row direction) of the work vehicle are made equal, and a planting method (so-called double-row straight planting) in which the seedlings are planted in a checkerboard pattern is known (Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technologies described in Patent Documents 1 and 2, by performing double-row straight planting, the seedlings are planted in a checkerboard pattern (at the intersection positions of the grid pattern) in the inter-plant spacing direction and the inter-row direction. In a conventional transplanting method that is not double-row straight planting (referred to as "conventional planting"), the seedlings are planted aligned along the traveling direction but not aligned in the width direction. Therefore, weeding along the traveling direction can be performed by a machine, but weeding along the width direction cannot be performed. That is, when viewed over the entire field, the weeding is in an incomplete state. On the other hand, in double-row straight planting, a weeding machine can easily move in both the inter-plant spacing direction and the inter-row direction, making it easier to weed the entire field with a machine.

[0005] However, the shape of fields is not limited to rectangles (rectangles or squares); there are also irregular shapes such as trapezoids and pentagons. When using autonomous robotic work vehicles to transplant seedlings, a travel path is generated for autonomous driving. However, to accommodate irregularly shaped fields when generating the travel path, it is common practice to manually drive along the outer edge of the field (so-called teaching driving) to acquire the outer shape of the field and then generate the travel path.

[0006] Figure 9 is an explanatory diagram illustrating an example of a conventional method for generating travel routes. When generating a travel path, a straight-line travel path is generated. However, if all straight paths are set to be parallel, a large number of short straight paths will be generated in irregularly shaped fields, leading to a problem of increased turning time. Therefore, in order to suppress the increase in the number of turning times, two types of straight paths are generated during teaching travel 01: a straight path 02 (straight portion of the inner circumference path) parallel to the first side 01a of the field, and a straight path 03 (straight portion of the round-trip path and the inner circumference path) parallel to the last side 01b. However, even when planting in both straight rows along the two types of straight paths 02 and 03, the seedlings do not become evenly spaced in a grid pattern across the entire field. Therefore, there is a problem in that weeding machinery cannot move in the direction of the space between plants or between rows, making it difficult to efficiently weed using machinery.

[0007] The technical challenge of this invention is to enable mechanical weed removal from multiple directions. [Means for solving the problem]

[0008] The above-mentioned problems of the present invention are solved by the following means. The invention described in claim 1 comprises a vehicle body (4) having a traveling device (40, 27), and a work machine supported by the vehicle body (4) for weeding a field (400), A second implement (10) supported by the vehicle body (4) for transplanting seedlings into a field (400), wherein the second implement (10) is capable of transplanting seedlings in a double-row planting method in which the spacing of seedlings to be transplanted in the width direction of the vehicle body (4) corresponds to the spacing of seedlings to be transplanted in the direction of travel of the vehicle body (4),Based on the teaching path (422) along the edge of the field (400) as manually driven by an operator, a reference direction (413) is set, which is the reference direction of the path (431) to be driven while weeding. A first weeding path (432) parallel to the reference direction (413) and a second weeding path (433) intersecting the reference direction (413) are generated, and a control means (300) drives the vehicle (4) based on the first weeding path (432) and the second weeding path (433). The control means (300) generates a plurality of parallel straight paths (421a) that run while performing seedling transplanting work based on the teaching path (422), and if the two straight row plantings are not performed, it generates an inner circumference path (428) in the gap between the straight path (421a) and the teaching path (422), and if the two straight row plantings are performed, it does not generate the inner circumference path (428), This is a work vehicle characterized by being equipped with [a specific feature].

[0009] Claim 2 The invention described is ,before When performing the two-row planting method, the control means (300) generates only a straight path (421a) parallel to one side (400a~400d) of the edge of the field (400) in the teaching path (422). )of The work vehicle is as described in claim 1, characterized by being equipped with the following features.

[0010] Claim 3 The invention described above is a work vehicle according to claim 1, characterized in that, in a rectangle (412) that encloses the outline of the field (400) derived by the teaching path (422) and has the minimum total length of its sides, the reference orientation (413) is set in a direction parallel to the sides of the rectangle (412), and the control means (300) generates a first weeding path (432) parallel to the reference orientation (413) and a second weeding path (433) intersecting the reference orientation (413).

[0011] Claim 4 The invention described above is a work vehicle according to claim 1, characterized in that it is equipped with a control means (300) that calculates the number of turns in the path (431) along which the work machine travels while performing weed removal, based on the width of the work machine.

[0012] Claim 5The invention described above is a work vehicle according to claim 1, characterized in that it includes a control means (300) that sets a supply edge (400d) connecting the starting point (401) and the ending point (404) of the teaching path (422), and excludes angles made with the supply edge (400d) within a predetermined range of directions from the reference direction (413).

[0013] Claim 6 The invention described is ,before The control means (300) can switch between a first transplanting operation, in which seedlings are transplanted in two straight rows, and a second transplanting operation, in which seedlings are transplanted at predetermined intervals in the direction of travel of the vehicle body (4), according to the operator's input. If the vehicle travels along the teaching path (422) with the second work machine (10) stopped, the control means (300) switches to the first transplanting operation. )of The work vehicle is as described in claim 1, characterized by being equipped with the following features.

[0014] Claim 7 The invention described is ,before The work vehicle according to claim 1 is characterized by comprising: a seedling tank (8) provided on the second work machine (10) for storing mat seedlings; a seedling sensor (SN1) provided on the seedling tank (8) of the second work machine (10) for detecting the presence or absence of seedlings; and a control means (300) that calculates the number of seedlings used in the field (400) based on the detection result of the seedling sensor (SN1) and the distance traveled by the vehicle body (4) from the start of the seedling transplanting work until the seedling sensor (SN1) detects the absence of seedlings, and initializes the number of seedlings used when the vehicle body (4) moves outside the field (400). [Effects of the Invention]

[0015] According to the invention described in claim 1, a first weeding path (432) parallel to a reference direction (413) set based on a teaching path (422) and a second weeding path (433) intersecting the reference direction (413) are generated, and by driving the vehicle body (4) based on the first weeding path (432) and the second weeding path (433), mechanical weeding is possible from two directions.

[0016] Furthermore, according to the invention described in claim 1, When performing double-row planting, by not generating the inner peripheral travel path (428), it is possible to prevent the inability to weed in the portion of the inner peripheral travel path (428) that does not become double rows, and a wider range can be weeded by the machine than when the inner peripheral travel path (428) is generated.

[0017] Claim 2 According to the described invention, in addition to the effects of the invention described in claim 1, when performing double-row planting, by generating only the straight path (421a) parallel to one side (400a to 400d) of the edge of the field (400) in the teaching path (422), the range planted by double-row planting becomes wider, and the range planted by double-row planting can be weeded by the machine from two directions.

[0018] Claim 3 According to the described invention, in addition to the effects of the invention described in claim 1, by generating the first weeding path (432) and the second weeding path (433) based on the reference orientation (413) parallel to the sides of the rectangle (412) that encloses the outer shape of the field (400) and has the minimum total side length, the straight path becomes longer and the number of turns tends to decrease.

[0019] Claim 4 According to the described invention, in addition to the effects of the invention described in claim 1, by calculating the number of turns, it becomes possible to determine whether the number of turns is large or small.

[0020] Claim 5 According to the described invention, in addition to the effects of the invention described in claim 1, for the orientation within a predetermined range of the angle formed with respect to the supply side (400d), by excluding it from the reference orientation (413), it is possible to smoothly perform the supply work.

[0021] Claim 6 According to the described invention, in addition to the effects of the invention described in claim 1, by switching to the first transplanting operation when traveling the teaching path (422) with the second working machine (10) stopped, the labor of the operator to switch the transplanting operation is suppressed, and the workability is improved.

[0022] Claim 7 According to the described invention, in addition to the effects of the invention described in claim 1, the number of seedlings used in the field (400) is calculated based on the distance traveled by the vehicle (4) from the start of the seedling transplanting work until the seedling sensor (SN1) detects that there are no seedlings. Furthermore, when the vehicle (4) moves outside the field (400), the number of seedlings used is reset, thereby automatically calculating the amount of seedlings used in the seedling transplanting work, which can be used to understand and manage the amount used by the worker. [Brief explanation of the drawing]

[0023] [Figure 1] Figure 1 is a side view of a seedling transplanter according to an embodiment. [Figure 2] Figure 2 is a front view of the seedling transplanter. [Figure 3] Figure 3 is a plan view of the seedling transplanter. [Figure 4] Figure 4 is a functional block diagram of the control unit according to the embodiment. [Figure 5] Figure 5 is an explanatory diagram of an example of a field according to the embodiment. [Figure 6] Figure 6 is an explanatory diagram of an example of a method for setting the reference orientation in the embodiment. Figure 6(A) is an explanatory diagram of a rectangle that encloses the outer shape of the field, and Figure 6(B) is an explanatory diagram of a rectangle that encloses the outer shape of the field and has the minimum total length of its sides. [Figure 7] Figure 7 is an explanatory diagram of an example of a planting route in the embodiment, where Figure 7(A) is an explanatory diagram of the planting route when planting in both straight rows, and Figure 7(B) is an explanatory diagram of the planting route when planting using conventional methods. [Figure 8] Figure 8 is an explanatory diagram of the weed control route in the embodiment, where Figure 8(A) is an explanatory diagram of the first weed control route and Figure 8(B) is an explanatory diagram of the second weed control route. [Figure 9] Figure 9 is an explanatory diagram illustrating an example of a conventional method for generating travel routes. [Modes for carrying out the invention]

[0024] Embodiments of this invention will be described below. Figure 1 is a side view of a seedling transplanter according to an embodiment. Figure 2 is a front view of the seedling transplanter. Figure 3 is a plan view of the seedling transplanter.

[0025] In the seedling transplanter, an example of a work vehicle according to an embodiment of the present invention, a seedling planting section 10 of a multi-row planter, an example of a second work machine, is attached to the rear of a vehicle body 4 in a high-floor passenger-travel configuration via a parallel link type lift link mechanism 11 that is raised and lowered and rotated by the hydraulic extension and retraction of a lift cylinder (not shown). The seedling planting section 10 has multiple floats 6, such as a center float and side floats, arranged on the lower side of the seedling transplanter 5 connected to the lift link mechanism 11, which slide and level the soil surface. The seedling transplanting machine 5 is primarily composed of a transmission case, on which numerous mat seedlings are laid out on top and guided along a downward sloping surface at the rear end, and then fed out to a seedling outlet 7 formed at the lower rear end. It is equipped with a seedling tank 8 and a planting device 9 that separates and holds the mat seedlings fed out to the seedling outlet 7 and inserts them into the level soil surface below, operating along an elliptical planting trajectory in side view, thereby enabling multi-row seedling planting.

[0026] Below the driver's seat 1 of the vehicle body 4, an engine (internal combustion engine) 30 is mounted under the engine cover 29. In front of the driver's seat 1, a steering board 31, a steering wheel 32, and other operating mechanisms (examples of driving controls) 33 for operating the seedling transplanter are arranged. The steering board 31 is equipped with an LCD monitor as an example of a display unit and various buttons and knobs (not shown) as examples of input units. Examples of buttons include a button to switch between automatic driving (robot driving) mode and manual driving mode (an exit button for automatic driving mode and assist mode), buttons to raise and lower the work implement (seedling planting unit 10), and buttons to start and stop the operation of the work implement (seedling planting unit 10). The various buttons of the operating mechanism 33 are preferably located within reach of the operator while seated in the driver's seat 1. For example, they can be installed within a radius of 500 mm from the driver's seat 1 or on the steering wheel 32. Furthermore, it is not limited to a configuration consisting entirely of buttons; it can be any form that can be operated by the operator, such as dials, knobs, levers, etc.

[0027] Furthermore, a high-mounted monitor 31a, which is an example of a display unit and an example of a notification means, is installed on the upper front of the steering board 31. On both the left and right sides of the driver's seat 1, the steering board 31, and the center floor 34 between them, a side floor 2 is formed that is long and wide in a continuous line, extending from the front end to the rear fender 24 above the rear end of the vehicle body 4. The driver and assistant workers can easily move back and forth on the surface of this side floor 2 to perform tasks such as replenishing seedlings in mats and replenishing fertilizer.

[0028] In the seedling transplanter shown in the diagram above, the number of seedling planting rows is set to eight rows, and the width is set to a wide standard. Therefore, a subfloor 35 of appropriate width is added along the outside of the side floor 2 to accommodate the width of the seedling planting section 10. It is also possible to have a configuration without the subfloor 35. On the front end of this subfloor 35, multiple auxiliary seedling shelves 26 are provided on a support frame 36 erected from the side of the vehicle body 4, where mat seedlings for replenishment to the seedling tank 8 at the rear can be loaded and stored. A step 37 for the driver to get on and off is provided on the outside of this subfloor 35. Additionally, a pair of line markers 41 are positioned on the sides of the subfloor 35. Of the two line markers 41, the one on the side where seedlings have not yet been planted is deployed to draw a reference line on the surface of the field.

[0029] The rear of the driver's seat 1 is configured as a wide, stepped rear floor 3 extending across the rear end of the side floor 2. The front edge of this rear floor 3 is connected to the rear edge of the side floor 2 by a downward-sloping inclined plate 38, making it easy to move your feet between floors. A short operating lever mechanism 39 is positioned at the lower end of this inclined plate 38 to facilitate operation from the driver's seat 1. Above the rear floor 3, a guard rail 52 is formed in a U-shape by a rear edge portion 50 along the rear edge and side edges 51 along the left and right edges, allowing the driver to safely maintain a working posture when performing refueling work on the rear floor 3.

[0030] A rear fender 24 is formed above the rear wheels 27 of the vehicle body 4, and the left and right ends of the rear floor 3 are located above this rear fender 24. The front wheels 40 and rear wheels 27, as an example of a running gear, are positioned within the width of the side floor 2 and rear floor 3, but depending on the width of the rear wheels 27 in particular, they may protrude outward from the width of the rear floor 3. For this reason, the rear fender 24 can be configured to protrude more widely outward than the outer edge of the rear floor 3, and it is also possible to use the lower surface of the rear floor 3 itself as the rear fender 24. The rear wheels 27 receive power from the engine 30, which is shifted and transmitted by an HST (not shown) as an example of a transmission, causing the vehicle body 4 to move. In the case of four-wheel drive, power is also transmitted to the front wheels 40 in addition to the rear wheels 27.

[0031] A seedling planting unit 10 is mounted on the rear side of the vehicle body 4 via a lift link mechanism 11, which is movable up and down. The unit consists of a float 6 that slides along the soil surface to support the seedling transplanting machine 5, a seedling tank 8 that receives mat seedlings and feeds them out to a seedling outlet 7 at the rear lower part, and a planting device 9 that separates and holds the mat seedlings fed out to the seedling outlet 7 and plants them on the leveled soil surface provided by the float 6. Multiple fertilizer applicators 12 are arranged along the front-to-back direction on the outer side of the rear floor 3. Each part of the seedling planting unit 10 is powered by a PTO shaft (not shown) which receives power from the engine 30.

[0032] During seedling planting using the seedling transplanter, with the seedling planting section 10 lowered, the planting device 9 operates on the soil surface leveled by each float 6, separating and holding the mat seedlings dispensed to the seedling outlet 7 of the seedling tank 8 in appropriate numbers, and planting them at a constant depth on the leveled soil surface. When fertilizing the planting area with each planting device 9, granular fertilizer that has been pre-stored in the fertilizer hopper (an example of a storage section) 19 of the fertilizer device 12 is dispensed by the dispensing device 15. The dispensed fertilizer is then applied to the planting area of ​​the soil surface leveled by each float 6 via the fertilizer hose 25 for each fertilizer row, using the airflow force from the blower 13 through the duct under the rear floor 3.

[0033] When raising the seedling planting unit 10, the upper end of the seedling tank 8 can be raised to approach the upper position of the rear floor 3, making it easier for workers to replenish the seedlings from the surface of the rear floor 3, enabling quick and accurate seedling replenishment. The seedling tank 8 is equipped with a seedling sensor SN1 that detects the presence or absence of seedlings in a mat. When the seedling sensor SN1 detects "no seedlings," it provides notification to the worker to replenish the seedlings (such as displaying an image, providing voice guidance, sounding a buzzer, or lighting up a lamp).

[0034] Furthermore, the left and right ends of the rear floor 3 are configured as rear fenders 24, or as the upper part of the rear fenders 24, and the multiple fertilizer application devices 12 are positioned above these rear fenders 24.

[0035] The left and right ends of the rear floor 3, which is formed at the rear end of the side floor 2 next to the driver's seat 1, are positioned above the rear fender 24 that covers the upper part of the rear wheels 27 of the high-floor vehicle body 4. As such, they do not easily interfere with footing when replenishing seedlings to the seedling tank 8, and the foot area at the lateral end of the rear floor 3 at the rear of the side floor 2 is made wide, making it easy to replenish seedlings to the rear seedling tank 8 and replenish fertilizer to the fertilizer hopper 19 on the side.

[0036] In this embodiment, the seedling transplanter is equipped with a seedling planting unit 10 as an example of a second working machine, but is not limited to this. For example, the seedling planting unit 10 can be removed and a weeding machine as an example of a working machine can be attached. Weeding machines that can be attached to work vehicles such as seedling transplanters are conventionally known (see, for example, Japanese Patent Publication No. 2020-43843 and Japanese Patent Publication No. 2020-72757), and various configurations can be adopted, so a detailed explanation is omitted. Therefore, when the seedling planting unit 10 is attached, the seedling transplanter can perform the work of transplanting seedlings in the field, and when the weeding machine is attached, the seedling transplanter can perform weeding work in the field.

[0037] (Explanation of the control unit of the seedling transplanter) Figure 4 is a functional block diagram of the control unit according to the embodiment. The seedling transplanter of this embodiment has a control unit (an example of a control means) 300 that controls each function. The control unit 300 has an input / output interface (I / O) that performs input and output of signals to and from the outside. The control unit 300 also has a ROM (read-only memory) in which programs and information for performing necessary processing are stored. The control unit 300 also has a RAM (random access memory) for temporarily storing necessary data. The control unit 300 also has a CPU (central processing unit) that performs processing according to the programs stored in the ROM, etc. Therefore, the control unit 300 of this embodiment is composed of a small information processing device, a so-called microcomputer. Thus, the control unit 300 can realize various functions by executing programs stored in the ROM, etc.

[0038] The control unit 300 receives signals from signal input elements such as a high-mount monitor 31a, which is an example of an input unit and an example of a display unit and is composed of a touch panel, a positioning device 111, a teaching mode switch button 109, an automatic driving mode switch button 112, a double-row planting switch button 113, a work machine operation start button (planting start button) 122, a work machine operation stop button (planting stop button) 123, a seedling sensor SN1, and various other sensors not shown.

[0039] The positioning device 111 includes a GNSS (Global Navigation Satellite System) receiver 111a and an IMU (Inertial Measurement Unit) 111b. The GNSS receiver 111a can receive positioning signals from artificial satellites and measure the current position of the seedling transplanter. The IMU 111b can measure the attitude of the seedling transplanter (left-right tilt and front-back tilt) by measuring acceleration and angular velocity. Therefore, by correcting the measurement results of the GNSS receiver 111a with the IMU 111b, the current position can be measured with greater accuracy compared to measuring the current position using only the GNSS method.

[0040] The teaching mode switch button 109 is used to switch to teaching mode, which allows the system to acquire and register (teach) specific locations such as the four corners of a field. The automatic driving mode switch button 112 is a button for switching to automatic driving mode, which automatically drives through the field while performing tasks along the generated automatic driving route. The dual-row planting switch button 113 is used to switch whether or not to perform dual-row planting, which corresponds the spacing of seedlings transplanted in the width direction (row direction) of the vehicle body 4 to the spacing of seedlings transplanted in the direction of travel of the vehicle body 4 (plant-to-plant direction), while the seedling planting unit 10 is attached to the seedling transplanter.

[0041] The implement start button 122 is a button used to activate the implement (seedling planting unit 10, weeding machine) by engaging the PTO clutch 204. The implement stop button 123 is used to disengage the PTO clutch 204 and stop the operation of the implement (seedling planting unit 10, weeding machine). As an example of a seedling detection component, the seedling sensor SN1 detects the presence or absence of seedlings in the seedling tank 8.

[0042] The control unit 300 transmits control signals to elements to be controlled, such as the power supply circuit, the fertilizer applicator 12, the engine 30, the forward / reverse clutch 201, the HST 202, the steering wheel 32, the lift cylinder 203, and the PTO clutch 204, to control the operation / stopping of the fertilizer applicator 12, the raising / lowering and operation / stopping of the seedling planting unit 10 (working machine), the rotation of the engine 30, the switching of forward / reverse, the shifting of the HST 202, and steering.

[0043] Furthermore, the control unit 300 can output control signals to an example of a display unit, such as an LCD monitor or a high-mount monitor 31a, to display work information and work status. For example, in manual driving mode, if the auto differential lock is set not to operate in order to prevent unpredictable behavior, the control unit can display a message to that effect. Alternatively, if the difference in torque between the left and right rear wheels (drive wheels) 27 exceeds a certain value, the control unit can determine that slippage is occurring and display on the monitor that it is necessary to activate the differential lock.

[0044] Figure 5 is an explanatory diagram of an example of a field according to the embodiment. The control unit 300 of this embodiment has the following functional means (program module). The field information storage means 301 stores information about the field 400 (field information). In Figure 5, in this embodiment, it stores the location of the field 400 (coordinates, latitude, longitude) and the location of the entrance and exit of the field 400. Furthermore, the field information in this embodiment can be displayed on the high-mount monitor 31a, allowing the operator to confirm it. Therefore, the operator can also operate and drive the seedling transplanter by checking the field information and current location displayed on the high-mount monitor 31a.

[0045] The positioning means 302 measures the current position of the seedling transplanter based on the measurement results of the positioning device 111.

[0046] The teaching mode control means 303 stores specific locations in the field (for example, the start and end positions of the teaching run, and the corners of the field) and their orientation when the vehicle 4 is driven along the outer edge of the field during a teaching run. In a teaching run, the operator manually drives the vehicle 4 along three sides 400a to 400c of a rectangular field, and the teaching start position (teaching start point) 401, the two locations 402 and 403 where steering (turning) was performed, and the teaching end position (teaching end point) 404, for a total of four locations (401 to 404), are considered corners of the field 400 and are registered (stored) as teaching results in the field information storage means 301. If the shape of the field 400 is pentagonal or greater, the number of locations where steering was performed will increase to three or more. Furthermore, the remaining side where planting will not take place will be registered as supply side 400d, where materials such as seedlings, fertilizers, pesticides, and fuel will be supplied.

[0047] In this embodiment, teaching runs begin when the teaching mode switch button 109 is pressed. If the teaching mode switch button 109 is pressed during teaching runs, the position is registered as a corner. Teaching runs end when the teaching mode switch button 109 is held down for a long time. It is also possible to provide separate buttons for position registration and teaching end. The direction is obtained using a compass (magnetic compass) not shown, but it can also be derived from the GNSS positioning results and the IMU 111b measurement results. Furthermore, it is possible to perform teaching runs while operating the implement (seedling planting unit 10 or weeding machine) (while performing work), but it is also possible to perform teaching runs with the implement stopped (so-called idle running).

[0048] The double-row planting determination means 304 determines whether or not to perform double-row planting when the seedling planting unit 10 is attached as a work machine and work is being performed. In this embodiment, the double-row planting determination means 304 determines to perform double-row planting if the input to perform double-row planting is made using the double-row planting switch button 113. Furthermore, in this embodiment, even when teaching is performed with the implement stopped, the system determines that double-row planting will be performed. That is, when teaching is performed while the implement is idle, the system determines that a headland (space for turning) has been secured for double-row planting or orthogonal weeding, and therefore determines that double-row planting will be performed. Consequently, when teaching is performed while the implement is idle, the subsequent seedling transplanting work is automatically switched to double-row planting (an example of the first transplanting operation), and the planting work is performed. Thus, the effort required for the operator to switch between double-row planting and conventional planting is reduced, improving work efficiency.

[0049] The route generation means 305 generates a driving route for automatic driving (autonomous driving) based on the positioning results of the positioning means 302. The route generation means 305 in this embodiment includes a reference direction setting means 305a, a planting route generation means 305b, and a weeding route generation means 305c.

[0050] Figure 6 is an explanatory diagram of an example of a method for setting the reference orientation in the embodiment. Figure 6(A) is an explanatory diagram of a rectangle that encloses the outer shape of the field, and Figure 6(B) is an explanatory diagram of a rectangle that encloses the outer shape of the field and has the minimum total length of its sides. The reference orientation setting means 305a first derives the outline (rectangle) of the field 400 from the positions 401 to 404 of the four corners obtained by teaching travel, and derives rectangles 411 and 412 that enclose the outline of the field 400 (see Figure 6). Then, it identifies the rectangle 412 with the smallest perimeter length (total length of the four sides (=(X0+Y0)×2)). Then, it sets the reference orientation 413 in a direction parallel to the sides of rectangle 412.

[0051] In this embodiment, the reference direction 413 is set to a direction parallel to the longer side of the rectangle 412, but it is also possible to set it to a direction parallel to the shorter side (= perpendicular to the longer side). Generally, in a rectangle 412 with the shortest perimeter length, the longer or shorter side is likely to coincide with one of the field sides 400a to 400d. That is, the reference direction is likely to be parallel to one of the field sides 400a to 400d. By using such rectangles 412, the straight paths (421a, 432, 433) in the planting path (421) and weeding path (431), described later, tend to become longer, and the number of turns tends to decrease. Therefore, it becomes easier to generate efficient paths (421, 431).

[0052] Alternatively, instead of using rectangles 411 and 412, the reference direction 413 could be set to a direction parallel (or perpendicular) to the first side 400a of the teaching run, or to a direction parallel (or perpendicular) to the last side 400c, or to a direction parallel (or perpendicular) to the supply side 400d.

[0053] Furthermore, since the travel path during seedling transplanting and weeding is set based on the reference direction, replenishment is easier when the travel path is set parallel or perpendicular to the replenishment side 400d, and may be more difficult when the travel path is set diagonally to the replenishment side 400d. Therefore, from the viewpoint of work efficiency during replenishment, it is preferable to exclude directions where the angle formed with the replenishment side 400d falls within a predetermined range (for example, 20° to 70°, 110° to 160°, etc.) from the reference direction 413.

[0054] Figure 7 is an explanatory diagram of an example of a planting route in the embodiment, where Figure 7(A) is an explanatory diagram of the planting route when planting in both straight rows, and Figure 7(B) is an explanatory diagram of the planting route when planting using conventional methods. The planting path generation means 305b generates a planting path 421, which is the travel path during seedling transplanting, based on the reference orientation 413. In this embodiment, the planting path generation means 305b generates straight paths (straight paths 421a, 426a) parallel to the reference orientation 413, spaced apart by the width of the seedling planting unit 10, which is the working machine. In this embodiment, when both straight-row planting settings are enabled, as shown in Figure 7(A), only straight paths 421a parallel to the reference direction (one side of the field from 400a to 400d) are generated. Then, a turning path 421b is generated that connects the ends of adjacent straight paths 421a so that the planting path 421 is drawn in a single stroke from the start position to the end position. The start and end positions can be automatically set based on the end of the straight path 421a closest to the entrance / exit of the field 400, the end of the straight path 421a closest to the teaching end position 404, etc., or they can be manually entered by the operator.

[0055] If the implement was operating during the teaching run, that is, if seedlings were being transplanted during the teaching run, a straight path 421a and a turning path 421b are generated for the area of ​​field 400 excluding the teaching path 422 that was passed through during the teaching run. On the other hand, if the implement was stopped during the teaching run, that is, if seedlings were not being transplanted during the teaching run, a straight path 421a and a turning path 421b are generated for the entire area of ​​field 400.

[0056] In the case of conventional planting (an example of the second transplanting operation) (when double-row planting is not set), the planting path 426 is generated in the same way as before, as shown in Figure 7(B). Specifically, multiple straight paths 426a parallel to the last side 400c of the teaching run and a turning path 426b connecting the straight paths 426a are generated, and an inner circumference path 428 is generated that runs through the gap between the teaching path 427 and the planting path 426 while performing the work. Therefore, in the embodiment, when planting in both straight rows, the inner perimeter path 428 is not generated. That is, in the embodiment, the process after teaching is separated into two steps in conventional planting: the work on the planting path 426 and the work on the inner perimeter path 428, but in planting in both straight rows, there is only the process on the planting path 421. Thus, in planting in both straight rows, the entire field 400 or the area excluding the teaching path 422 is planted in both straight rows. It is also possible to generate the planting path 421 by using the portion of the teaching path 422 as a headland area for turning.

[0057] Figure 8 is an explanatory diagram of the weed control route in the embodiment, where Figure 8(A) is an explanatory diagram of the first weed control route and Figure 8(B) is an explanatory diagram of the second weed control route. The weeding path generation means 305c generates a weeding path 431 on which the vehicle body 4 travels during weeding work, based on the reference direction. In this embodiment, the weeding path generation means 305c generates a first weeding path 432 parallel to the reference direction 413 and a second weeding path 433 intersecting the reference direction 413. The spacing between the first weeding paths 432 and the spacing between the second weeding paths 433 are set according to the width of the weeding machine. Ideally, the width of the weeding machine should be automatically acquired according to the model of the weeding machine, but it is also possible for the operator to manually input this information. The width of the weeding machine is also used for generating turning paths and calculating the number of turns.

[0058] In this embodiment, two types of weeding paths, the first weeding path 432 and the second weeding path 433, are generated when weeding is performed in a field 400 where both rows are planted. In this embodiment, the weeding path generation means 305c does not generate weeding paths in a field 400 where conventional planting has been performed, because the positions of the seedlings are not aligned in the row direction or there are parts planted at an angle. However, it is also possible to generate paths along the planting path 426. Generally, weeding is carried out after a predetermined period has passed since transplanting seedlings, once the crop roots have established themselves. Whether or not double-row planting was performed is registered (stored) in the field information storage means 301 at the time of seedling transplanting.

[0059] Furthermore, the weeding path generation means 305c of this embodiment generates a spiral path 432b that connects the first weeding paths 432 together in a single continuous line, and a spiral path 433b that connects the second weeding paths 433 together in a single continuous line. Note that the spiral paths 432b and 433b are not limited to these. For example, it is also possible to connect both the first weeding paths 432 and the second weeding paths 433 together in a single continuous line by alternately connecting the first weeding paths 432 and the second weeding paths 433 with spiral paths. Additionally, it is possible to generate a weeding path 431 that minimizes the number of turns. That is, it is possible to generate a weeding path 431 that is a single continuous line connecting the first weeding path 432 and the second weeding path 433, while minimizing the number of turns (= number of turning paths). For example, multiple patterns of turning paths can be generated for the first weeding path 432 and the second weeding path 433 so that they are a single continuous line, the number of turns for each pattern can be calculated (counted), and the pattern with the minimum number of turns can be selected as the weeding path 431.

[0060] The automatic planting operation control means 306 operates the seedling planting unit 10 to perform seedling planting work when the automatic driving mode switch button 112 is pressed while the seedling planting unit 10 is attached as a work machine. This means that the vehicle body 4 autonomously drives along the planting paths 421 and 426, and the seedling planting unit 10 is activated. Therefore, based on the positioning result of the positioning means 302, the steering control means controls the steering of the steering wheel 32 and the driving speed via the engine 30 and HST 202 so that the vehicle drives along the planting paths 421 and 426 at a predetermined speed. In addition, in the turning paths 421b and 426b, the lift cylinder 203 is controlled to raise and lower the seedling planting unit 10. When the setting for double-row planting is enabled, the travel speed of the vehicle body 4 and the rotation speed of the PTO shaft are controlled so that the spacing of seedlings in the width direction (row direction) of the seedling planting unit 10 corresponds to the spacing of seedlings in the travel direction (plant-to-plant direction).

[0061] The seedling usage count calculation means 307 calculates the number of mat seedlings used during planting work. The seedling usage count calculation means 307 includes a work travel distance measuring means 307a and a seedling detection means 307b. The work travel distance measuring means 307a measures the distance traveled while the work machine (seedling planting unit 10) is operating during automatic travel. In other words, the area of ​​the field 400 where seedlings have been planted (= (width of seedling planting unit 10) × travel distance) is measured.

[0062] The seedling detection means 307b detects the presence or absence of seedlings in the seedling tank 8 based on the detection result of the seedling sensor SN1. The timing of seedling detection can be set to be performed at any time, or to be performed when specific conditions are met. For example, it is possible to detect the absence of seedlings when the seedling sensor SN1 has detected presence for a predetermined period of time and then changed to absence, and the machine is in operation (the start button 122 of the machine is "on" and the HST lever is at one position or higher), and the amount of seedlings supplied is within a specified range.

[0063] The seedling usage calculation means 307 of this embodiment takes into account the amount of seedlings taken per plant by the planting device 9, the number of rows in the seedling planting unit 10 (8-row planting, 10-row planting), and the distances between rows and plants. From this, the amount of seedlings used can be calculated from the travel distance (planted area). Therefore, the number of mat seedlings used can also be calculated. By automatically calculating the number of mat seedlings used, it is possible to help workers understand and manage their material usage. When the seedling mats are loaded into the seedling tank 8, they are compressed by gravity, causing errors in detection by the seedling sensor SN1. However, it is possible to calculate the number of seedling mats used by using the average compression ratio or by rounding the decimal part of the calculated number of seedling mats to the nearest whole number. Using the compression ratio allows for a more accurate determination of the number of mats used. Furthermore, it is preferable to correct the travel distance by also considering the slip ratio of the wheels 40 and 27 to further improve accuracy. When considering the slip ratio, it is preferable to consider the average slip ratio for each section based on past work information.

[0064] Furthermore, since vibrations tend to increase and the compression ratio tends to increase at higher vehicle speeds, it is preferable to perform control according to the vehicle speed, such as correcting the compression ratio to a larger value or reducing the amount of seedlings picked when there are consecutive sections of high-speed vehicle travel during work. In addition, it is preferable to correct the compression ratio and the amount of seedlings picked to address factors such as the tendency for the compression ratio to increase when the water depth is deep or the field is rough, and the tendency for the compression ratio to increase for the second and subsequent mat seedlings compared to the first mat. Water depth can be measured with a rangefinder, and field roughness can be determined from the 3D coordinate information of the positioning means 302. Also, the relationship between the first and second and subsequent mat seedlings can be estimated from the elapsed time since the start of work travel.

[0065] It is preferable, but not limited to, that the number of seedling mats to be used be calculated automatically. It is also possible for the operator to manually input the number of seedlings to be replenished each time they are supplied.

[0066] The seedling usage count initialization means 308 initializes (resets) the number of seedlings used calculated by the seedling usage count calculation means 307. In this embodiment, the seedling usage count initialization means 308 resets the number of seedlings used when the vehicle body 4 moves outside the field 400, based on coordinate information. The conditions for resetting are not limited to this. For example, a reset can be performed when the key of the seedling transplanter is turned off, when planting work is completed, when the positioning device 111 detects an inclination of the vehicle body 4 above a predetermined level or when a change in altitude is detected, such as when the vehicle body 4 moves up or down the slope at the entrance or exit of the field 400 or to a farm road higher than the field 400, or when the gear shift lever of the operating mechanism 33 is set to the road driving setting. Furthermore, it is also possible to provide a reset button on the monitor or operating mechanism 33 and reset the number of seedlings when the operator inputs it. Furthermore, when calculating the number of seedling mats used, if work is interrupted within field 400, it is preferable that the calculation of the number of mats used is not reset even if the key is turned off, but rather resumed after work is resumed by turning the key on or similar. Additionally, if the worker moves outside the field during work and then re-enters the field based on coordinate information or slope information and resumes work, it is desirable to recalculate (re-add) the number of seedlings used from the state before the work was interrupted.

[0067] The automatic weeding operation control means 309 operates the weeding machine (working machine) while the vehicle body 4 autonomously travels along the weeding path 431 when the automatic travel mode switching button 112 is pressed with the weeding machine attached as the working machine. Therefore, based on the positioning result of the positioning means 302 of the vehicle body 4, the steering control means controls the steering of the steering wheel 32 and the travel speed via the engine 30 and HST 202 so that the vehicle travels along the weeding path 431 at a predetermined travel speed. In addition, in turning paths, the lift cylinder 203 is controlled to raise and lower the weeding machine. Furthermore, although the automatic weeding operation control means 309 in this embodiment controls the vehicle to travel along the second weeding path 433 after automatically traveling along the first weeding path 432, it is not limited to this. The system can be configured to start work from the second weeding route 433 in response to the operator's input, or to start work from the closer starting position based on the positional relationship between the teaching end position 404 and the starting positions of the first weeding route 432 and the second weeding route 433.

[0068] Therefore, in the seedling transplanter of this embodiment, seedlings planted in two straight rows can be weeded from two directions: the reference direction and a direction intersecting the reference direction. Thus, it is possible to weed around the seedlings by machine, which reduces the burden on the worker and improves work efficiency compared to conventional methods that only weed from one direction or methods that do not allow mechanical weeding.

[0069] (Example of change) The work vehicle of the present invention is not limited to seedling transplanters, but can also be applied to various work vehicles capable of fertilizing or spraying chemicals, such as tractors and chemical spraying vehicles. Furthermore, while the embodiment illustrates a configuration in which the field information storage means 301 is provided on the seedling transplanter, the invention is not limited to this configuration. For example, it is also possible to store field information in a server (an example of an information processing device, an example of a computer device) that can communicate with the seedling transplanter via a communication line, and to distribute the field information to the seedling transplanter. In addition, each of the means 301 to 309 is not limited to a configuration in which processing is centralized on the seedling transplanter, but can also be configured in a configuration in which processing is distributed among multiple information processing devices connected by a communication line.

[0070] Furthermore, while the example given is a work vehicle powered by engine 30, the invention is not limited to this. It can also be applied to work vehicles equipped with both an engine and a motor, where the motor assists the engine's power, so-called hybrid vehicles, and electric vehicles that use only the motor for propulsion and operation of work equipment. [Explanation of symbols]

[0071] 4... Vehicle body, 8... Seedling tank, 10...Second work machine, 40,27...running equipment, 300... Control means, 400...fields, 400a~400d...one side, 400d... Supply area, 401... Starting point of the teaching route, 404...End point of the teaching route, 412...Rectangle, 413...Reference direction, 421a... Straight path, 422... Teaching route, 428... Inner Circumference Route, 431... A route that involves driving while removing weeds. 432...First weeding route, 433...Second weed control route, SN1... Seedling sensor.

Claims

1. A vehicle body (4) having running gear (40, 27), A work machine supported by the vehicle body (4) for weeding a field (400), A second implement (10) supported by the vehicle body (4) for transplanting seedlings into a field (400), the second implement (10) capable of transplanting seedlings in a double-row planting method in which the spacing of seedlings transplanted in the width direction of the vehicle body (4) corresponds to the spacing of seedlings transplanted in the direction of travel of the vehicle body (4), Based on the teaching path (422) along the edge of the field (400) as the vehicle (4) travels by manual operation by the operator, a reference direction (413) is set, which is the reference direction of the path (431) on which the vehicle travels while performing weeding. A first weeding path (432) parallel to the reference direction (413) and a second weeding path (433) intersecting the reference direction (413) are generated, and the vehicle (4) is generated based on the first weeding path (432) and the second weeding path (433). A control means (300) for driving the machine, which generates a plurality of parallel straight straight paths (421a) that the machine drives on while performing seedling transplanting work based on the teaching path (422), and if the two straight row plantings are not performed, generates an inner circumference path (428) in the gap between the straight path (421a) and the teaching path (422), and if the two straight row plantings are performed, does not generate the inner circumference path (428), and the control means (300) for driving the machine, A work vehicle characterized by being equipped with the following features.

2. When performing the two straight-row planting, the control means (300) generates only a straight path (421a) parallel to one side (400a to 400d) of the edge of the field (400) in the teaching path (422), A work vehicle according to claim 1, characterized by being equipped with the following:

3. In a rectangle (412) that encloses the outline of the field (400) derived by the teaching path (422) and has the minimum total length of its sides, the reference orientation (413) is set in a direction parallel to the sides of the rectangle (412), and the control means (300) generates a first weeding path (432) parallel to the reference orientation (413) and a second weeding path (433) intersecting the reference orientation (413). A work vehicle according to claim 1, characterized by being equipped with the following:

4. Based on the width of the work machine, the control means (300) calculates the number of turns along the path (431) in which the machine travels while performing weed removal. A work vehicle according to claim 1, characterized by being equipped with the following:

5. The control means (300) sets a supply edge (400d) connecting the starting point (401) and ending point (404) of the teaching path (422), and excludes from the reference direction (413) any direction within a predetermined range of angles formed with respect to the supply edge (400d). A work vehicle according to claim 1, characterized by being equipped with the following:

6. A first transplanting operation in which seedlings are transplanted in both straight rows, and a second transplanting operation in which seedlings are transplanted at predetermined intervals in the direction of travel of the vehicle body (4), can be switched according to the operator's input, and the control means (300) switches to the first transplanting operation when the vehicle travels along the teaching path (422) with the second work machine (10) stopped. A work vehicle according to claim 1, characterized by being equipped with the following:

7. A seedling tank (8) provided in the second work machine (10) for storing mat seedlings, A seedling sensor (SN1) is provided in the seedling tank (8) of the second work machine (10) for detecting the presence or absence of seedlings, Based on the detection results of the seedling sensor (SN1), the control means (300) calculates the number of seedlings used in the field (400) based on the distance traveled by the vehicle body (4) from the start of the seedling transplanting work until the seedling sensor (SN1) detects that there are no seedlings, and resets the number of seedlings used when the vehicle body (4) moves outside the field (400). A work vehicle according to claim 1, characterized by being equipped with the following:

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