Seedling transplanter

Abstract

To solve the problem that a conventional seedling transplanter such as a rice transplanter is not always easy to use when using a convenient function. More specifically, the usability of the robot rice transplanter involving manual operation along a ridge is not necessarily good.SOLUTION: In the rice transplanter 1, normal teaching for sequentially tracing non-seedling supply sides 13 excluding a single or a plurality of continuous seedling supply sides 12 of a substantially polygonal shape is performed by manual travel before creating an automatic linear reciprocating travel route for seedling planting accompanied by seedling supply in a field 10 of a substantially polygonal shape. The automatic linear reciprocating travel path is a path that reciprocates between the virtual seedling supply side 14 and the non-seedling supply side 13 of the seedling supply side 12, and a stop point before turning on the side of the virtual seedling supply side in the automatic linear reciprocating travel path is set at a predetermined distance D from the virtual seedling supply side 14, and the predetermined distance D is twice as large as a work machine width W for seedling planting.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] There is known a work vehicle including a traveling vehicle body, a work device connected to the traveling vehicle body and capable of performing predetermined work on a field, a land leveling device for leveling the field, a position information acquisition device for acquiring position information of the traveling vehicle body, and a control unit for automatically driving the traveling vehicle body based on the position information acquired by the position information acquisition device and predetermined traveling route information. The predetermined traveling route information includes position information of a target line in a subsequent process determined by the control unit using the land leveling width in the lateral direction of the land leveling device with respect to the position information of a reference line acquired as a reference for straight traveling by manual traveling in the field (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the inventor of the present invention considers various needs of users and believes that the trend of continuously implementing convenient functions in the seedling transplanter is accelerating more and more.

[0005] However, the inventor has noticed that the usability when using convenient functions for conventional seedling transplanters such as rice transplanters is not always good.

[0006] More specifically, the inventor has noticed that the usability of a robotic rice transplanter involving manual operations at the edge of a ridge is not always good.

[0007] The present invention aims to provide a seedling transplanter that can improve ease of use, taking into consideration the conventional problems described above.

[0008] The first aspect of the present invention relates to a seedling transplanter in a field with a substantially polygonal shape, in which, before creating an automatic straight-line reciprocating travel path for seedling planting with seedling replenishment, the machine performs normal teaching by sequentially traversing the non-seedling replenishment sides of the substantially polygonal shape, excluding one or more consecutive seedling replenishment sides, while the machine is manually operated. The aforementioned automatic linear round-trip travel path is a path that travels back and forth between the virtual seedling supply side of the seedling supply side and the non-seedling supply side. The stopping point before the turn on the virtual seedling supply side in the aforementioned automatic straight-line reciprocating travel path is set at a predetermined distance from the virtual seedling supply side. The aforementioned predetermined distance is twice the width of the work machine for planting seedlings. When the vehicle stops before the turn on the virtual seedling supply side in the automatic straight-line reciprocating travel path, if seedling supply is not performed, the turn toward the next automatic straight-line reciprocating travel path is immediately performed by automatic travel; if seedling supply is performed, the vehicle moves forward without planting seedlings from the stopping point to the seedling supply side by remote control; and after seedling supply is performed, the turn toward the next automatic straight-line reciprocating travel path is performed by automatic travel. The field entrance is located near one of the endpoints of the non-seedling supply side. The aforementioned normal teaching is performed by manually driving the vehicle, starting from the other end of the non-seedling supply side and reaching the point just before the field entrance. After reaching the point just before the field entrance, the movement to reach the seedling supply edge is performed manually, avoiding the field entrance, and the virtual seedling supply edge is generated. The seedling transplanter is characterized in that the virtual seedling supply edge is a line segment connecting the point reached to the seedling supply edge by the movement to the starting point of the normal teaching. The second aspect of the present invention is that when the above-mentioned normal teaching is performed, seedling planting is performed, The first seedling transplanter of the present invention is characterized in that when the movement to reach the seedling supply edge is performed, seedling planting is not performed. The third aspect of the present invention is a seedling transplanter according to the second aspect of the present invention, characterized in that the automatic straight-line reciprocating travel path is created after the virtual seedling supply edge is generated. The fourth aspect of the present invention is a seedling transplanter according to the third aspect of the present invention, characterized in that the trigger for generating the virtual seedling supply edge is an instruction to start automatic travel from the point of arrival at the seedling supply edge by the movement. The fifth aspect of the present invention is a seedling transplanter according to the fourth aspect of the present invention, characterized in that an operating mode is selectively provided that allows for instructing the machine to start automatic travel from the point in front of the field entrance without the movement required to reach the seedling supply edge. First invention related to the present invention In a field with a roughly polygonal shape, before creating an automatic straight-line reciprocating travel path for seedling planting with seedling replenishment, the seedling transplanter is manually operated to perform normal teaching, which involves sequentially traversing the non-seedling replenishment edges of the roughly polygonal shape, excluding one or more consecutive seedling replenishment edges. The aforementioned automatic linear round-trip travel path is a path that travels back and forth between the virtual seedling supply side of the seedling supply side and the non-seedling supply side. The stopping point before the turn on the virtual seedling supply side in the aforementioned automatic straight-line reciprocating travel path is set at a predetermined distance from the virtual seedling supply side. The seedling transplanter is characterized in that the predetermined distance is twice the width of the work machine for planting seedlings.

[0009] A second invention related to the present inventionWhen the stop before the turning on the side of the virtual seedling replenishment side in the automatic linear reciprocating travel path is performed and no seedling replenishment is carried out, the next turning toward the automatic linear reciprocating travel path is immediately performed automatically. When seedling replenishment is carried out, the forward movement without seedling planting is performed by remote control travel so as to reach the seedling replenishment side from the stop point. After the seedling replenishment is carried out, the next turning toward the automatic linear reciprocating travel path is performed automatically. First invention related to the present invention is a seedling transplanter.

[0010] A third invention related to the present invention The field entrance / exit is provided near one end point of the non-seedling replenishment side. The normal teaching is performed by manual travel starting from the other end point of the non-seedling replenishment side and reaching a point in front of the field entrance / exit. After reaching the point in front of the field entrance / exit, the movement to reach the seedling replenishment side is performed by manual travel so as to avoid the field entrance / exit, and the virtual seedling replenishment side is generated. A second invention related to the present invention is a seedling transplanter.

[0011] A fourth invention related to the present invention When the normal teaching is performed, seedling planting is carried out, but when the movement to reach the seedling replenishment side is performed, no seedling planting is carried out. A third invention related to the present invention is a seedling transplanter.

[0012] Fifth invention related to the present invention After the virtual seedling replenishment side is generated, the automatic linear reciprocating travel path is created. A fourth invention related to the present invention is a seedling transplanter.

[0013] A sixth invention related to the present invention The virtual seedling replenishment side is a line segment connecting the arrival point at the seedling replenishment side by the movement and the starting point of the normal teaching. Fifth invention related to the present invention is a seedling transplanter.

[0014] A seventh invention related to the present inventionThe trigger for generating the virtual seedling supply edge is an instruction to start automatic travel from the point of arrival at the seedling supply edge by the movement. A sixth invention related to the present invention This is a seedling transplanter.

[0015] Eighth invention related to the present invention The system is characterized in that it is provided with a selectable operating mode that allows the system to instruct the system to start automatic travel from the point in front of the field entrance without having to move to the seedling supply area. A seventh invention related to the present invention This is a seedling transplanter. [Effects of the Invention]

[0016] The present invention makes it possible to improve ease of use. Furthermore, in addition to the effects of the present invention described above, it is possible to improve convenience. In addition, in addition to the effects of the present invention described above, it is possible to improve reliability. Furthermore, in addition to the effects of the present invention described above, it is possible to reduce the burden on the worker. First invention related to the present invention This makes it possible to improve usability.

[0017] A second invention related to the present invention Therefore, First invention related to the present invention In addition to these effects, it is also possible to improve convenience.

[0018] A third invention related to the present invention Therefore, A second invention related to the present invention In addition to these effects, it is possible to improve reliability.

[0019] A fourth invention related to the present invention Therefore, A third invention related to the present invention In addition to its effects, it can also improve practicality.

[0020] Fifth invention related to the present invention Therefore, A fourth invention related to the present invention In addition to its effects, it is possible to further improve its practicality.

[0021] A sixth invention related to the present invention Therefore, Fifth invention related to the present invention In addition to these effects, it is also possible to reduce the burden on workers.

[0022] A seventh invention related to the present invention Therefore, A sixth invention related to the present invention In addition to these effects, it is possible to further reduce the burden on workers.

[0023] Eighth invention related to the present invention Therefore, A seventh invention related to the present invention In addition to these effects, it is possible to further improve convenience. [Brief explanation of the drawing]

[0024] [Figure 1] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 1) [Figure 2] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part Two) [Figure 3] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 3) [Figure 4] Diagram illustrating the field movement route of the rice transplanter according to an embodiment of the present invention (Part 4) [Figure 5] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 5) [Figure 6] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 6) [Figure 7] Flowchart of the field operation of a rice transplanter according to an embodiment of the present invention (Part 1) [Figure 8] Flowchart of the field operation of the rice transplanter according to the embodiment of the present invention (Part Two) [Figure 9] Flowchart of the field operation of the rice transplanter according to the embodiment of the present invention (Part 3) [Figure 10] Flowchart of the field operation of the rice transplanter according to the embodiment of the present invention (Part 4) [Figure 11] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 7) [Figure 12] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 8) [Figure 13] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 9) [Figure 14] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 10) [Figure 15] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 11) [Figure 16] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 12) [Figure 17] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 13) [Figure 18] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 14) [Figure 19] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 15) [Figure 20] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 16) [Figure 21] Diagram illustrating the field movement route of a rice transplanter according to an embodiment of the present invention (Part 17) [Figure 22] (a) Explanatory diagram of the remote monitoring system for a rice transplanter according to an embodiment of the present invention (Part 1), (b) Explanatory diagram of the remote monitoring system for a rice transplanter according to an embodiment of the present invention (Part 2) [Figure 23] (a) Explanatory diagram of the remote monitoring system for a rice transplanter according to an embodiment of the present invention (part 3), (b) Explanatory diagram of the remote monitoring system for a rice transplanter according to an embodiment of the present invention (part 4) [Modes for carrying out the invention]

[0025] Embodiments of the present invention will be described in detail with reference to the drawings.

[0026] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0027] While describing the operation of the rice transplanter 1 according to the embodiment of the present invention, a method for controlling the operation of a seedling transplanter, which is related to the present invention and is implemented by a controller or the like, will also be described.

[0028] The rice transplanter 1 of the embodiment in the present invention is a specific example of a seedling transplanter in the present invention.

[0029] (1) First, the configuration and operation of the rice transplanter 1 according to the embodiment of the present invention will be described in detail with reference to Figures 1 to 10.

[0030] Here, Figures 1 to 6 are explanatory diagrams (parts 1 to 6) of the field movement route of the rice transplanter 1 according to the embodiment of the present invention, and Figures 7 to 10 are flowcharts (parts 1 to 4) of the field operation of the rice transplanter 1 according to the embodiment of the present invention.

[0031] In a roughly polygonal field 10, before creating an automated straight-line reciprocating travel path for seedling planting with seedling replenishment, normal teaching is performed by manually traveling along the non-seedling replenishment edges 13, excluding one or more consecutive seedling replenishment edges 12 of the roughly polygonal shape.

[0032] Of course, typically the roughly polygonal shape is roughly quadrilateral and the seedling supply side 12 is a single side, but for example, it is also conceivable that the roughly polygonal shape is roughly pentagonal and the seedling supply side 12 is two consecutive seedling supply sides.

[0033] The automated straight-line round-trip travel path is a path that travels back and forth between the virtual seedling supply edge 14 and the non-seedling supply edge 13 of the seedling supply edge 12.

[0034] As shown in Figure 1, a known method of seedling planting is also conceivable in which, after normal teaching without seedling planting is performed by driving along the outermost part of field 10, seedling planting is performed along an automatic straight-line reciprocating driving path with straight-line assist, and seedling planting on the outermost part is performed in the finishing process. In other words, as will be clear from the following explanation, there are various methods of seedling planting, and it goes without saying that many partial modifications are conceivable.

[0035] A field entrance / exit 11 is located near one endpoint of the non-seedling supply side 13. Normally, teaching is performed by manually moving from the other endpoint of the non-seedling supply side 13 to a point before the field entrance / exit 11. After reaching the point before the field entrance / exit 11, movement to the seedling supply side 12 is performed manually, avoiding the field entrance / exit 11, and a virtual seedling supply side 14 is generated.

[0036] While it is conceivable that the normal teaching of the rice transplanter 1 is completed manually on the side of the seedling supply edge 12 at the edge of the ridge, and a virtual seedling supply edge 14, often called a virtual edge, is immediately generated according to the specifications of the existing robotic rice transplanter control program (see Figure 2), the inventors have noticed that it is also conceivable that the virtual seedling supply edge 14 is appropriately corrected by manual operation, sometimes called virtual edge re-teaching. This is because, in order to avoid the field entrance / exit 11, which is often uneven, the normal teaching is completed before the field entrance / exit 11, so that the generated virtual seedling supply edge 14 tends to be tilted diagonally with respect to the seedling supply edge 12 (see Figure 3).

[0037] Normally, seedling planting occurs when teaching is performed. When movement to reach seedling supply edge 12 occurs, seedling planting does not occur.

[0038] Of course, as mentioned above, there are also scenarios in which seedling planting is not performed during normal teaching. By inserting a movement to reach such a seedling supply edge 12 where seedling planting does not occur, accurate generation of the virtual seedling supply edge 14 can be expected.

[0039] After the virtual seedling supply edge 14 is generated, the automatic straight-line round-trip travel path is created.

[0040] The field shape of field 10 is determined by a straight line including the virtual seedling supply edge 14 and a reference straight line obtained as the final straight travel path in normal teaching (see Figure 4). The automatic straight back and forth travel path is generated as a planting path parallel to such a straight travel path, which is sometimes also called the teaching reference straight line path. The virtual seedling supply edge 14 described above is thus used for the design of the final field shape and the automatic straight back and forth travel path. Since short distances of movement to reach the seedling supply edge 12 are appropriately interpreted and processed, accurate recognition of the field shape of field 10 can be expected. This is because movements along short diagonal paths made to avoid the field entrance / exit 11 are not directly adopted, which makes it less likely to cause a reduction in the planting distance in subsequent automatic travel, and thus suppresses the occurrence of missed seedlings. While the undesirable effects of such short distances of movement are eliminated, the seedling supply edge 12, which has not been traveled on, is appropriately recognized as part of the field.

[0041] Using the existing robotic rice transplanter control program specifications, when the virtual seedling supply edge 14 is generated and automatic straight-line reciprocating travel begins, regardless of whether the above-described movement to reach the seedling supply edge 12 is performed in a manner that avoids the field entrance / exit 11, an initial target planting path is set that does not necessarily coincide with the closest planting path from the current position, so as to ensure an empty space corresponding to one planting row on the headland side (see Figures 5 and 6). As will be described later, such an empty space is the space for planting seedlings in the finishing process.

[0042] The virtual seedling supply edge 14 is a line segment connecting the point reached by movement to the seedling supply edge 12 to the starting point of normal teaching.

[0043] The virtual seedling supply edge 14 is defined as a part of the extended straight line connecting the arrival point to the seedling supply edge 12 with the starting point of normal teaching. Even after the field shape and automatic straight-line reciprocating travel path of field 10 have been generated according to the specifications of the existing robotic rice transplanter control program, the field shape and automatic straight-line reciprocating travel path can be appropriately designed, taking into account the existence of the seedling supply edge 12 which has not been traveled on.

[0044] The trigger for generating the virtual seedling supply edge 14 is an instruction to start automatic movement from the point where the seedling supply edge 12 is reached by movement.

[0045] As shown in steps S11 to S15, in order to perform the above-described movement to reach the seedling supply edge 12 by manual movement, it is also conceivable that a virtual seedling supply edge generation button is provided on the remote controller (see Figure 7). The user-friendly operation of the remote controller makes it possible to easily generate an appropriate virtual seedling supply edge 14.

[0046] As a condition for activating the virtual seedling supply edge generation button mentioned above, it is also conceivable that the completion of path generation during normal teaching is required. If such path generation is not completed by the normal teaching termination operation, pressing the virtual seedling supply edge generation button is prohibited, making accidents due to erroneous operation less likely.

[0047] It is also conceivable that the activation period for such a virtual seedling supply edge generation button is the period between the time when normal teaching path generation is completed and the time when the automatic travel from the point of arrival at the seedling supply edge 12 is instructed. Even though seedling planting starts together with automatic travel, the planting travel path is less likely to be changed by unintended operations, thus suppressing the occurrence of missed seedlings and overlapping seedlings.

[0048] It is also conceivable that there is a switchable option to determine whether or not to generate a virtual seedling supply edge 14 after movement to reach the seedling supply edge 12. This suppresses situations in which the virtual seedling supply edge 14 is unintentionally generated in conjunction with movement for purposes such as material replenishment.

[0049] In one possible configuration, a virtual seedling supply edge generation switch is provided as a touch panel button on the meter panel's settings screen to toggle whether or not to generate a virtual seedling supply edge 14 after movement to reach the seedling supply edge 12.

[0050] When the virtual seedling supply edge generation switch is off, it is not permitted to generate the virtual seedling supply edge 14 after moving to reach the seedling supply edge 12. Normally, when an explicit termination operation of teaching is performed, the situation in which the virtual seedling supply edge 14 is unintentionally generated in conjunction with a movement for material replenishment or the like rarely occurs.

[0051] As shown in steps S21 to S28, when the virtual seedling supply edge generation switch is ON, it is permissible to generate the virtual seedling supply edge 14 after movement to reach the seedling supply edge 12. However, as mentioned above, it is also possible that the virtual seedling supply edge 14 is generated at the time the instruction to start automatic driving is first given after normal teaching is completed (see Figure 8). The occurrence of situations in which the virtual seedling supply edge 14 is generated multiple times is suppressed. Since the generation of the virtual seedling supply edge 14 is not repeated, accidents due to erroneous operation, etc., are less likely to occur.

[0052] As shown in steps S31 to S38, when the virtual seedling supply edge generation switch is ON, it is permissible to generate the virtual seedling supply edge 14 after moving to reach the seedling supply edge 12. However, it is also conceivable that an explicit operation to generate the virtual seedling supply edge 14 by a remote controller or the like may be performed after normal teaching is completed and before the instruction to start automatic driving is given (see Figure 9). Because this requires an operation different from the normal instruction to start automatic driving by so-called driving mode switching, accidents due to erroneous operation are less likely to occur.

[0053] In cases where an explicit operation to generate a virtual seedling supply edge 14 is performed by a remote controller or the like, and then further instructions are given to generate the virtual seedling supply edge 14, the virtual seedling supply edge 14 may not be generated, and a normal teaching method may be required. Since the planting path is less likely to be changed by unintended operations even though seedling planting starts with automatic travel, the occurrence of missed seedlings and overlapping seedlings is suppressed. Since the generation of the virtual seedling supply edge 14 is not repeated, accidents due to erroneous operations are less likely to occur.

[0054] In any case, after an instruction is given to generate the virtual seedling supply edge 14, a display regarding the generation of the virtual seedling supply edge 14 is shown on the remote controller or on the vehicle's monitor panel. The acceptance of the instruction to generate the virtual seedling supply edge 14 is output externally as a visual or audible alert message. By using an easily understandable pop-up display or similar, a user-friendly specification is achieved.

[0055] An operating mode is available that allows the system to initiate automatic travel from a point just before the field entrance / exit 11 without having to travel to the seedling supply area 12.

[0056] As shown in steps S41 to S48, the aforementioned virtual seedling supply edge generation switch is not used to switch whether or not to generate a virtual seedling supply edge 14 after moving to reach the seedling supply edge 12. Instead, the remote controller switches the travel mode from normal teaching to automatic travel without going through manual travel. The planting travel path is maintained until normal teaching is performed again. In such cases where automatic travel is performed without going through manual travel, the planting travel path is maintained while utilizing the existing robot rice transplanter control program specifications, so a new virtual seedling supply edge 14 is not generated in conjunction with the movement to reach the seedling supply edge 12 (see Figure 10).

[0057] When the remote controller switches the driving mode from normal teaching to automatic driving via manual driving, it is conceivable that, while utilizing the existing robotic rice transplanter control program specifications, a virtual seedling supply edge 14 associated with the movement to reach the seedling supply edge 12 is generated at the timing of the start of automatic driving. When automatic driving is started via manual driving, the generation of a virtual seedling supply edge 14 associated with the movement to reach the seedling supply edge 12 realizes a user-friendly specification in which the virtual seedling supply edge 14 is generated according to the operation procedure.

[0058] (2) Next, the configuration and operation of the rice transplanter 1 of the embodiment of the present invention will be described in more detail, mainly with reference to Figures 11 to 21.

[0059] Here, Figures 11 to 21 are explanatory diagrams (numbers seven to seventeen) of the field movement route of the rice transplanter 1 according to an embodiment of the present invention.

[0060] The stopping point before turning on the virtual seedling supply side in the automatic straight-line reciprocating travel path is set at a predetermined distance D from the virtual seedling supply side 14. The predetermined distance D is twice the width W of the work machine for seedling planting.

[0061] In the case of an 8-row seedling planting specification, the stopping distance D from the virtual seedling supply edge 14 at the seedling supply edge 12 is approximately 4.8 (=2.4 × 2) [m], since the working machine width W is approximately 2.4 [m] (see Figures 11, 18, and 19). On the other hand, in another embodiment in which seedling planting in the finishing process is performed in a single run, the stopping point is set to a distance of approximately 3 (=2.4 + 0.6) [m] from the virtual seedling supply edge 14 to avoid collisions with the ridge due to errors in the estimated position of the virtual seedling supply edge 14, etc. After visual furrowing by a seedling planting forward operation of approximately 0.6 [m] by the remote controller, a turn is performed toward the next automatic straight-line round-trip travel path by an automatic travel restart operation. The inventors realized that if such visual furrowing, which is meaningless when no material is supplied at the virtual seedling supply edge 14, can be skipped, the burden on the user will be considerably reduced. Furthermore, the inventors realized that by adopting a configuration in which seedling planting in the finishing process is performed in two runs, the stopping point can be set without any problems to be approximately 4.8 [m] away from the virtual seedling supply side 14, without any concerns about collision with the ridge due to errors in the estimated position of the virtual seedling supply side 14 (see Figures 12, 18, and 19). In this configuration, where automatic travel is resumed at the stopping point and work can be easily continued, the troublesome seedling planting forward operation by the remote controller is basically unnecessary, and when there is enough material and seedling replenishment is not required, the forward operation by the remote controller itself is unnecessary.

[0062] When a stop occurs before a turn on the virtual seedling supply side of the automatic straight-line round-trip travel path, if seedling supply is not performed, the vehicle immediately turns towards the next automatic straight-line round-trip travel path automatically. If seedling supply is performed, the vehicle moves forward without planting seedlings via remote control so that it reaches the seedling supply side 12 from the stopping point. After seedling supply is performed, the vehicle automatically turns towards the next automatic straight-line round-trip travel path.

[0063] When there is a shortage of materials and seedling replenishment is necessary, forward operation from the stopping point using a remote controller is required. However, since such forward operation is a furrowing operation and not a seedling planting forward operation, seedling planting is unnecessary with respect to the forward movement, and the seedling planting clutch is turned off (see Figure 13). In the other embodiment described above, where seedling planting in the finishing process is performed in a single run, the seedling planting clutch was turned on for visual furrowing during the seedling planting forward operation. In other words, the distance between the front of the vehicle body and the seedling planting tool is approximately 2.4 [m], which is almost the same as the working machine width W. Therefore, by performing a so-called furrowing-stopping back operation accompanied by a seedling planting forward operation, just enough space was secured to correspond to one planting row in the finishing process. However, such a seedling planting forward operation is often cumbersome (see Figure 14). In the embodiment where seedling planting in the finishing process is performed in two runs, when forward movement is performed for seedling replenishment, the seedling planting clutch is turned off, and the occurrence of overlapping seedling planting is suppressed.

[0064] Even when there is sufficient material and seedling replenishment is unnecessary, for example, by performing a predetermined operation such as pressing down the special function key together with the forward function key, the seedling planting clutch can be turned on and the seedling planting forward operation can be performed from the stopping point using a remote controller. When the field 10 is a so-called irregularly shaped field and the seedling replenishment side 12 is not a strictly straight line, by performing this seedling planting forward operation beyond a predetermined distance D which is twice the width W of the work machine for seedling planting, almost no seedlings are left unplanted or seedlings are overplanted in the finishing process. The realization of two ridge-gathering operation patterns by switching the seedling planting clutch on and off improves work flexibility.

[0065] As shown in Figures 15 to 21, seedling planting with seedling replenishment in field 10 is completed. For example, as shown in Figures 18 to 20, seedling planting in the final stage is carried out in two runs.

[0066] (3) Next, the configuration and operation of the rice transplanter 1 of the embodiment of the present invention will be described in more detail, mainly with reference to Figures 22(a) and 22(b) and 23(a) and 23(b).

[0067] Herein, Figures 22(a) and 22(b) and 23(a) and 23(b) are explanatory diagrams (parts one to four) of the remote monitoring system for the rice transplanter 1 according to an embodiment of the present invention.

[0068] As shown in Figures 22(a) and 22(b), the monitor screen of the information administrator terminal device 101 for the remote monitoring system information administrator has a monitor control function implemented in which the size of the forward image becomes larger than the size of other images such as the rear image when the rice transplanter 1 is operated forward. This makes monitoring easier when remote operation is performed.

[0069] The rice transplanter 1 is equipped with an obstacle detection control function in which the detection distance or object to be detected is defined for each of the following control patterns: a first control pattern corresponding to the state in which straight-line seedling planting is performed; a second control pattern corresponding to the state in which obstacle detection is performed in conjunction with forward levee movement for material replenishment by remote control; a third control pattern corresponding to the state in which obstacle detection is performed after forward levee movement by remote control; a fourth control pattern corresponding to the state in which obstacle detection is performed when reversing during automatic driving; a fifth control pattern corresponding to the state in conjunction with reverse levee movement for herbicide replenishment by remote control after automatic turning; and a sixth control pattern corresponding to the state in which obstacle detection is performed after reverse levee movement by remote control. The obstacle detection range can be flexibly changed according to the work mode.

[0070] In the six control patterns described above, the detection distance in the first control pattern is set to be larger than the detection distance in the second control pattern. When materials are being replenished, the smaller detection distance makes it less likely that workers replenishing seedlings on the ridges will be mistakenly detected as obstacles.

[0071] In the six control patterns described above, the detection distance in the fourth control pattern is set to be larger than the detection distance in the fifth control pattern.

[0072] When the rice transplanter 1 is operated while being monitored via the cloud, obstacle detection control is performed to output an alert consisting of at least one of a warning sound and a monitor warning display, but temporary stopping is not performed. This is because, since the rice transplanter 1 is operated based on the operator's monitoring, it is expected that appropriate measures will be taken to deal with approaching obstacles associated with levee shaping.

[0073] In a scenario where the rice transplanter 1 is operated while being directly monitored visually via a remote controller, obstacle detection control is performed to output an alert consisting of at least one of a warning sound and a monitor warning display, but temporary stopping is not performed.

[0074] In a scenario where the rice transplanter 1 is operated while being monitored via a cloud-based monitor, it is conceivable that the obstacle detection control itself may be temporarily suspended.

[0075] In cases where the rice transplanter 1 is operated while being directly monitored visually via a remote controller, it is also conceivable that the obstacle detection control itself may be temporarily suspended.

[0076] As shown in Figures 23(a) and 23(b), the monitor screen of the information administrator terminal device 101 for the remote monitoring system information administrator can display the working distance and the remaining amount of each material, based not only on the material input information but also on the amount of material consumed corresponding to the working distance expected from the so-called machine settings.

[0077] When the remote monitoring system selects the option for a worker to instruct the worker to replenish materials on the monitor screen of the worker's terminal device 102, which has an application program installed, a notification message prompting the worker to dispatch for material replenishment is output. By ensuring that such notification to the worker is made without fail, materials are reliably replenished.

[0078] If the option to instruct the supply of materials is selected, work will not resume until the materials are supplied. Since work cannot be resumed until the materials are supplied, the occurrence of problems caused by material shortages is suppressed.

[0079] In cases where the option to instruct the supply of materials is selected, it is also conceivable that work will not resume until the work assistant adds materials and registers the amount of added materials in the application program of the work assistant terminal device 102.

[0080] In cases where the option to instruct the supply of materials is selected, it is conceivable that work can be resumed even if the worker who added the materials does not register the amount of materials added in the application program of the worker terminal device 102, by having the remote monitoring system information administrator directly input the amount of materials added into the system. This improves convenience because error recovery can be performed in the event of a communication error in the worker terminal device 102.

[0081] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0082] Furthermore, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the seedling transplanter operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0083] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0084] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0085] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0086] Furthermore, recording media include ROM (Read Only Memory), among others.

[0087] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0088] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0089] The seedling transplanter in this invention can be made easier to use and is useful for use in seedling transplanters such as rice transplanters. [Explanation of Symbols]

[0090] 1. Rice transplanter 10 fields 11 Field entrance / exit 12 Seedling supply area 13 Non-Seedling Supply Area 14 Virtual seedling supply edge 101 Information Administrator Terminal Device 102 Work Assistant Terminal Device W (Width of work machine) D distance

Claims

1. In a field with a roughly polygonal shape, before creating an automatic straight-line reciprocating travel path for seedling planting with seedling replenishment, a seedling transplanter is manually operated to perform normal teaching by sequentially traversing the non-seedling replenishment edges of the roughly polygonal shape, excluding one or more consecutive seedling replenishment edges. The aforementioned automatic linear round-trip travel path is a path that travels back and forth between the virtual seedling supply side of the seedling supply side and the non-seedling supply side. The stopping point before the turn on the virtual seedling supply side in the aforementioned automatic straight-line reciprocating travel path is set at a predetermined distance from the virtual seedling supply side. The aforementioned predetermined distance is twice the width of the work machine for planting seedlings. When the vehicle stops before the turn on the virtual seedling supply side in the automatic straight-line reciprocating travel path, if seedling supply is not performed, the turn toward the next automatic straight-line reciprocating travel path is immediately performed by automatic travel; if seedling supply is performed, the vehicle moves forward without planting seedlings from the stopping point to the seedling supply side by remote control; and after seedling supply is performed, the turn toward the next automatic straight-line reciprocating travel path is performed by automatic travel. The field entrance is located near one of the endpoints of the non-seedling supply side. The aforementioned normal teaching is performed by manually driving the vehicle, starting from the other end of the non-seedling supply side and reaching the point just before the field entrance. After reaching the point just before the field entrance, the movement to reach the seedling supply edge is performed manually, avoiding the field entrance, and the virtual seedling supply edge is generated. The seedling transplanter is characterized in that the virtual seedling supply edge is a line segment connecting the point reached to the seedling supply edge by the movement to the starting point of the normal teaching.

2. When the aforementioned normal teaching is performed, seedling planting is carried out, The seedling transplanter according to claim 1, characterized in that seedling planting is not performed when the movement to reach the seedling supply edge is performed.

3. The seedling transplanter according to claim 2, characterized in that the automatic straight-line reciprocating travel path is created after the virtual seedling supply edge is generated.

4. The seedling transplanter according to claim 3, characterized in that the trigger for generating the virtual seedling supply edge is an instruction to start automatic travel from the point of arrival at the seedling supply edge by the movement.

5. The seedling transplanter according to claim 4, characterized in that an operating mode is provided which allows for the instruction to start automatic travel from the point in front of the field entrance without the movement to reach the seedling supply edge.

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