Title of Invention: Agricultural vehicle
Technical field
[0001]
　BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural vehicle that automatically travels in a field to perform field work.
Background technology
[0002]
[Background Art 1]
　The agricultural vehicle according to Patent Document 1 includes a boundary line data management unit that manages boundary line data indicating the map position of the boundary line of a field, and a vehicle position calculation unit that calculates the vehicle position using satellite navigation. a running direction calculation unit that calculates the running direction of the aircraft from the vehicle position; a separation distance calculation unit that calculates the vertical separation distance from the aircraft to the boundary line in the running direction as the separation distance; and a vehicle speed management unit that manages the vehicle speed. In such a work vehicle, the vehicle speed control section manages the vehicle speed according to the calculated separation distance. You can avoid contact with ridges that form the boundary line.
[0003]
　The agricultural work vehicle according to Patent Document 2 includes a traveling body that travels while repeating straight running in an inner area of ​​a field and a U-turn in a furrow area by manual steering or automatic steering, and a field working device that performs work on the field. and a ridge detection module for detecting that the traveling body has reached the ridge area based on the vehicle position calculated by satellite positioning. In this agricultural work vehicle, by constantly comparing the position of the vehicle with the position of the end point (entry point into the ridge area) of the straight traveling to work, After entering the area, vehicle deceleration, warning notification, vehicle stop, etc. are performed.
[0004]
[Background Art 2]
　Patent Document 3 (Paragraph No. 0092-Paragraph No. 0122) discloses that an automatic traveling operation in an outer peripheral area having a boundary line of a farm field as the outermost circumference is performed by circular traveling along the boundary line of the farm field in the outer peripheral area. A rice transplanter is disclosed in which an automatic traveling operation in an inner region located inside the outer peripheral region is performed by repeating straight traveling in the inner region and turning traveling in the outer peripheral region. The automatic work travel by this rice transplanter is performed with a pre-generated travel route as a target. The travel route is divided into a non-work travel route for non-work travel in which the planting device is raised and a work travel route for work travel in which the planting device is lowered. When transitioning from a non-work run to a work run, the planting device automatically reorients from the up position to the down position. The raising of the planting device and the lowering of the planting device are reported by the audio output device.
[0005]
[Background Art 3]
　In Patent Document 3 (Paragraph No. 0092-Paragraph No. 0114: FIGS. 5-8), a field bordered by a pre-measured furrow line (boundary line) is first planted. A rice transplanter is disclosed which is divided into an inner area where the rice is planted and an outer peripheral area where the planting work is subsequently performed, and the planting work is performed by automatic traveling. When the rice transplanter stops in front of the entrance/exit of the field, a travel route to the work start position where the planting work for the inner area is started is set. When the driver operates the operation unit, the rice transplanter automatically travels along the travel route through the doorway from the standby position for automatic travel, and stops at the work start position. Furthermore, when the driver operates the operation unit, the planting work in automatic driving is started.
prior art documents
patent literature
[0006]
Patent Document 1: JP-A-2019-106983
Patent Document 2: JP-A-2017-123829
Patent Document 3: JP-A-2018-000039
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0007]
[Problem 1]
　The problem with respect to [Background Art 1] is as follows.
　Agricultural vehicles are required to move toward boundary objects such as banks in order to replenish agricultural materials, discharge harvested products, replenish fuel, and the like while working on fields. The agricultural vehicles according to Patent Document 1 and Patent Document 2 automatically stop when approaching the boundary line set in the ridge area. Control must be released. At that time, if the operator forgets to release the boundary approach prevention control, the operator will be panicked by the sudden stop of the aircraft. In particular, since seedling replenishment with a rice transplanter and chemical replenishment with a chemical sprayer are frequently performed, canceling the boundary approach prevention control is a troublesome operation.
　In view of such circumstances, it is an object of the present invention to provide an agricultural vehicle that can smoothly approach a boundary object during field work.
[0008]
[Problem 2]
　The problem with respect to [Background Art 2] is as follows.
　In the rice transplanter according to Patent Document 3, the planting device descends at the timing when the non-work travel based on the non-work travel route shifts to the work travel based on the work travel route. Therefore, if the distance between the set work travel route and the boundary object such as the ridge that bounds the field is not accurate, the planting device that has descended will interfere with the boundary object such as the ridge, causing the planting device to move. is damaged.
[0009]
　SUMMARY OF THE INVENTION An object of the present invention is to provide an agricultural vehicle capable of avoiding interference between a working device and a boundary object or the like as much as possible in a field work capable of automatically traveling by lowering the working device during work travel.
[0010]
[Problem 3] The problem
　for [Background Art 3] is as follows.
　The rice transplanter according to Patent Document 3 is configured to automatically travel from the standby position to the work start position. Since the travel route for automatic travel from the position to the work start position is different, there is a problem that the setting of the travel route becomes complicated.
[0011]
　An object of the present invention is to provide an agricultural vehicle that facilitates setting of a travel route for automatically traveling to a work start position in field work using automatic travel.
Means to solve problems
[0012]
　A solution for [Problem 1] is as follows.
　An agricultural work vehicle capable of automatically traveling according to the present invention travels in a field bordered by a boundary object, and includes a body position calculation unit that calculates the position of the body, and a boundary line set to avoid contact with the boundary object. and the aircraft position based on the cross-border prevention control unit that prohibits traveling beyond the boundary line, the border crossing permission unit that permits the aircraft to cross the boundary line based on the cross-border permission command, and the traveling control state based on and a cross-border permission command unit that outputs the cross-border permission command to the cross-border permission unit.
[0013]
　According to this configuration, the vehicle can travel across the boundary line without being prohibited by the cross-border prevention control section by the cross-border permission command output from the cross-border permission command section based on the travel control state. As a result, the agricultural vehicle can approach boundary objects such as banks and farm roads without stopping. In the middle of field work, if a travel control state is detected that causes the aircraft to approach borders of the field such as ridges or farm roads in order to replenish agricultural materials, discharge harvested products, or refuel, the aircraft will Since the cross-border permission command is output to permit the vehicle to cross the boundary line, this approaching run can be carried out smoothly. Note that the term "straight running" used in the present invention does not mean only straight running, but also includes curved running with a large radius of curvature.
[0014]
　As a method for making it possible to travel beyond the boundaries that have been set, it is proposed to extend the boundaries or invalidate the boundaries themselves. Therefore, in one preferred embodiment of the present invention, the cross-border permission command is an extension command for extending the boundary line toward the boundary object or an invalidation command for invalidating the boundary line. The cross-border permitting unit extends the boundary line toward the boundary object based on the extension command and invalidates the boundary line based on the invalidation command. Control-wise, extending the boundary to infinity is synonymous with invalidating the boundary. Therefore, in the following description of this specification, border extension includes border invalidation. Based on the cross-border permission command, it may be possible to select in advance whether to extend the boundary line or invalidate the boundary line, or only one of them may be adopted. Alternatively, it may be configured to be selected according to the running control state.
[0015]
　As described above, there are several states that trigger the extension (invalidation) of the boundary line. In normal work travel in a field, whether automatic or manual travel, the aircraft changes direction (turning travel) before approaching the boundary line. On the other hand, when an agricultural vehicle approaches a border of a farm field such as a ridge or a farm road for the purpose of replenishing agricultural materials, the agricultural vehicle approaches the boundary and then travels straight. Such a cruise control state can be used as a trigger for boundary line extension. For this reason, in one preferred embodiment of the present invention, the travel control state includes a straight approach state in which the distance from the aircraft position to the boundary line reaches a predetermined distance during straight travel toward the boundary object. When the straight approach state is detected, the cross-border permission command is output.
[0016]
　Some agricultural vehicles capable of autonomous driving are equipped with a remote controller that enables operations such as starting and stopping automatic driving and micro-driving. Since the remote control is operated manually, driving using the remote control is premised on safety confirmation by the operator. Therefore, the traveling control state based on the remote control operation can be used as a trigger for extending the boundary line. For this reason, in one preferred embodiment of the present invention, the traveling control state includes a remote control approaching traveling state in which the vehicle approaches the boundary object by remote control operation, and the remote control approaching traveling state is detected. In this case, the cross-border permission command is output.
[0017]
　For the purpose of replenishing agricultural materials, etc., it is also possible for an operator to manually bring the agricultural vehicle closer to a bank or a farm road. In this case, the operator uses the manual traveling operation tool to make the agricultural vehicle approach a ridge or a farm road while repeating minute traveling, for example. For this reason, the travel control state in which the agricultural vehicle is brought closer to the bank or farm road by the manual travel operation tool can be used as a trigger for extending the boundary line. For this reason, in one preferred embodiment of the present invention, the travel control state includes a manual approach travel state in which a manual travel operation tool approaches the boundary object, and the manual approach travel state is detected. If so, the cross-border permission command is output.
[0018]
　In many agricultural works in fields by agricultural vehicles, the field to be worked is divided into an outer peripheral area and an inner area located inside the outer peripheral area, and the inner area is used for straight traveling and turning. It is performed while repeating turning travel (mainly U-turn travel). In this case, the turning travel takes place in the outer peripheral region. The work in the outer peripheral area is performed by running in a circular motion along boundary objects such as ridges and farm roads. An agricultural vehicle such as a combine harvester that performs harvesting work first travels in the outer peripheral area, and then travels in the inner area. A rice transplanter, a fertilizer applicator, a chemical sprayer, and the like first travel for work in the inner region, and then travel for work in the outer region. When replenishment of agricultural materials or discharge of harvested products is performed during work traveling in the inner area, the agricultural vehicle does not turn around in the outer area and continues traveling straight ahead. Close to farm roads. Therefore, such a travel control state in which straight travel in the inner area continues to the outer peripheral area can be used as a trigger for extending the boundary line. For this reason, in one of the preferred embodiments of the present invention, the agricultural field is divided into an outer peripheral area along the boundary line and an inner area located inside the outer peripheral area, and the outer peripheral area is divided while going around the outer peripheral area. and an internal work traveling mode in which work is performed on the internal area while repeating straight traveling and U-turn traveling. If the internal work travel mode is interrupted by continuing to the border crossing permitting unit, the boundary line is expanded.
[0019]
　After suspending work travel in internal work travel mode and approaching a bank or farm road to replenish agricultural materials or discharge harvested materials, return to the internal area again and use internal work travel mode. work run is resumed. When work travel is resumed in internal work travel mode, the extended boundary line should be restored. Advantageously, this boundary return is also automatically controlled. Therefore, in one of the preferred embodiments of the present invention, the extension of the boundary line by the cross-border permitting unit is canceled when the interrupted internal work travel mode is re-executed.
[0020]
　Since control is performed to avoid interference with boundary objects based on the boundary line and the aircraft position, it is preferable that the boundary line and the aircraft position are calculated accurately and quickly in the same manner. Thus, in one preferred embodiment of the invention, the position of the boundary line and the position of the aircraft are calculated using satellite positioning. At that time, the boundary line can be calculated from the traveling locus obtained by satellite positioning when the agricultural vehicle is caused to travel close to the boundary object. At that time, even if an unexpected slip or steering wobble occurs, a safety distance is added so that the agricultural vehicle does not come into contact with boundary objects such as ridges. is determined. Hence, in one preferred embodiment of the invention, the boundary line is offset inward of the field from the boundary object by a predetermined distance.
[0021]
　A solution for [Problem 2] is as follows.
　An agricultural work vehicle according to the present invention that automatically travels in a field comprises a work device provided on a machine body so as to be able to move up and down, a machine position calculation unit that calculates a position of the machine that is the position of the machine in the field, and a farm field map. a traveling route generating unit that generates a traveling route that is the target of automatic traveling; an automatic traveling control unit that automatically travels the machine body based on the traveling route; An operation control state detection unit that detects an automatic stop accompanied by a stop that is performed before transitioning to automatic work traveling with the work device lowered, and a detection of the automatic stop based on the detection of the automatic stop. an automatic work travel management unit that includes a pre-automatic start operation by a driver in the conditions for starting the automatic work travel for transitioning from the state to the automatic work travel.
[0022]
　According to this configuration, in the state of automatic temporary stop accompanied by vehicle stop performed before shifting to automatic work travel, the driver must perform the pre-automatic start operation to start automatic work travel. This pre-automatic start operation by the driver is an operation indicating that it has been confirmed that the working device will not interfere with a boundary object or the like even if it descends. By including the operation indicating this confirmation in the starting condition of the automatic work traveling, even if the other starting conditions are satisfied, the automatic traveling for work is not started without the operation indicating this confirmation, and as a result, the work device does not descend. During this automatic pause, the operator can check whether the working device will interfere with a boundary object or the like even if it is lowered. If it is confirmed that there is no interference, the driver performs an operation to permit the lowering of the work implement. As a result, the agricultural vehicle shifts from the automatic temporary stop state to the automatic work traveling. If the driver determines that the working device and the boundary object or the like will interfere with each other, the driver takes an interference avoidance action to avoid this interference.
[0023]
　When the driver confirms that the working device does not interfere with the boundary object even if the working device is lowered, the automatic temporary stop state can be shifted to the automatic work traveling, and the working device can be lowered. For this reason, it is convenient to adopt the lowering operation of the working device by the driver as the operation before automatic start. Accordingly, in one preferred embodiment of the present invention, the automatic pre-start operation is a lowering operation for lowering the working device.
[0024]
　Of course, even if the driver does not lower the work equipment, if the operator confirms that the work equipment will not interfere with the boundary object even if the work equipment is lowered, the work equipment will automatically move. It can also be configured to lower and initiate an automatic work drive. Therefore, in one preferred embodiment of the present invention, the pre-automatic start operation is an operation indicating that the lowered position of the work implement has been confirmed.
[0025]
　One of the interference avoidance actions when the driver determines that the work device and the boundary object interfere with each other is that the driver changes the travel route set for the next automatic work travel to the work device and the boundary object. It is to change so as to avoid interference with things. When the travel route is changed in this way, the lowering working device can be prevented from interfering with a boundary object or the like. In other words, one of the preferred pre-automatic start operations for starting automatic work travel when the driver determines that the work device and the boundary object or the like will interfere is an operation to change the travel route. Hence, in one preferred embodiment of the invention, the pre-automatic start operation includes changing the travel path to change the lowered position. At this time, if the work device and the boundary object do not interfere with each other, the driver does not need to change the travel route.
[0026]
　In the present invention, the driver must be aware of this operation because the operation before automatic start by the driver is required in order to shift from the automatic temporary stop state to the automatic work travel. For this reason, in one of the preferred embodiments of the present invention, the automatic work travel management unit notifies the driver of a request for an automatic pre-start operation.
[0027]
　In one of the preferred embodiments of the present invention, the farm field is divided into an outer peripheral area along a boundary line of the farm field and an inner area located inside the outer peripheral area, and automatic traveling work in the inner area is performed. is performed by repeating straight running in the inner area and turning in the outer peripheral area, and automatic traveling in the outer peripheral area is performed by traveling along the boundary line in the outer peripheral area, The pre-automatic start operation becomes the start condition at the time of transition to the automatic work travel in the outer peripheral area. In an agricultural vehicle working in a field, damage to a descending working device occurs most often when the vehicle starts to travel along a boundary line defined by a ridge or the like in an outer peripheral area. For this reason, it is reasonable to set the pre-automatic start operation as the starting condition for transitioning from the automatic pause state to the automatic work traveling at the time of transition to the automatic work traveling in the outer peripheral area.
[0028]
　An event in which the working device is damaged by the descent occurs even when there is a traveling obstacle that interferes with the working traveling in the field. In other words, if the accuracy of the travel route for avoiding the travel obstacle is insufficient, the descending work device interferes with the travel obstacle, damaging the work device. For this reason, in one of the preferred embodiments of the present invention, the pre-automatic start operation is the start condition when the obstacle avoidance travel route for avoiding a travel obstacle present in the field is used. It is time to transition to automatic work driving.
[0029]
　A solution for [Problem 3] is as follows.
　An agricultural work vehicle according to the present invention that automatically travels in a field comprises: a machine position calculation unit that calculates a position of the machine, which is the position of the machine in the field; a machine orientation calculation unit that calculates the orientation of the machine; an automatic travel control unit that automatically travels the machine based on a travel route, a work start point setting unit that sets a work start point at which field work in automatic travel is started, and the machine automatically travels to the work start point a start guidance management unit that permits automatic traveling using the work start point guidance route, which is the traveling route for traveling, on condition that the aircraft is in a specific position and in a specific direction.
[0030]
　According to this configuration, when the agricultural work vehicle stops at the standby position for automatic driving (automatic driving start position), only when the position and orientation of the vehicle there satisfy a specific condition set in advance. Automatic travel to the work start point using the work start point guide route is permitted. When automatic travel using the work start point guidance route (work start point guidance travel) is permitted, the agricultural vehicle starts automatic travel using the work start point guidance route as the target route and reaches the work start point. When the agricultural vehicle reaches the work start point, it sets a pre-generated travel route as a target route, and automatically travels to start field work. This specific position and specific orientation are set so that the agricultural vehicle waiting to start automatic driving can smoothly transition to the work start point guidance route, so the work start point guidance travel can be carried out smoothly. and the duration will be appropriate.
[0031]
　In one of the preferred embodiments of the present invention, the farm field is divided into an outer peripheral area along a boundary line of the farm field and an inner area located inside the outer peripheral area, and automatic traveling work in the inner area is performed. is performed by repeating straight running in the inner area and turning in the outer peripheral area, and automatic traveling in the outer peripheral area is performed by traveling along the boundary line in the outer peripheral area, The work start point guide route is set in the outer peripheral area. Agricultural vehicles such as rice transplanters and fertilizers enter a field through a doorway, travel in the inner region, travel in the outer peripheral region, and then move out of the field through the doorway. . With such a work run, the worked area is not disturbed by subsequent work runs. Since the work start point guidance route is set in the outer peripheral area and the orientation and position of the agricultural work vehicle are limited so that it can easily transition to the work start point guidance route, The agricultural vehicle on standby can automatically travel from its standby position to the work start position without waste.
[0032]
　In order to facilitate the transition to the work start point guide route, it is preferable that the traveling direction of the agricultural vehicle stopped at the standby position matches the direction of the work start point guide route. From this, in one preferred embodiment of the present invention, when the azimuth of the aircraft facing the work start point matches the azimuth of the work start point guide route toward the work start point, the Automatic travel to the work start point using the work start point guide route is permitted regardless of the distance between the machine body and the work start point. Here, matching of azimuths does not mean exact matching, and an error of about several tens of degrees is allowed. For example, if the azimuth of the work start point guidance route and the aircraft azimuth are opposite, the transition route to the work start point guidance route that must be added to the work start point guidance route becomes complicated. Work start point guidance travel using a point guidance route is prohibited. According to this configuration, even if the rice transplanter stands by at any position on the linear work start point guide route, the work start point guidance traveling is permitted as long as the rice transplanter faces the work start point. Therefore, flexibility is improved.
[0033]
　However, agricultural vehicles such as rice transplanters and fertilizers need to be replenished with materials before starting field work. often do. Since the material replenishment position and the work start position are usually located in the same side area of ​​the outer peripheral area, if there is enough space for turning back, a standardized constant pattern of turning back running (including backward turning) can be achieved. ), the traveling direction of the vehicle body can be smoothly changed to face the work start position. Therefore, in one preferred embodiment of the present invention, when the front or rear portion of the aircraft reaches the boundary line, as long as the distance between the aircraft and the work start point is a predetermined distance or more, Automatic travel to the work start point using the work start point guide route is permitted. A standardized turn-back travel route is given to the work start point guide route used in this case.
[0034]
　In order to start work start point guidance travel to the work start point, the driver needs to perform a manual operation to shift to automatic travel. Therefore, it is preferable to inform the driver that the agricultural vehicle has reached a position where automatic travel along the work start point guide route is possible. From this, in one of the preferred embodiments of the present invention, when the aircraft is at the specific position and in the specific direction, automatic travel to the work start point using the work start point guide route is performed. It is reported that the condition is met. In still another preferred embodiment of the present invention, the specific position is a point within a field to be worked, the specific orientation is an orientation along the starting point guidance route, and the agricultural vehicle is If it is on the start point guidance route, it is notified that the conditions for automatic travel to the work start point are satisfied.
Brief description of the drawing
[0035]
1 is a diagram showing a first embodiment (hereinafter the same up to FIG. 9), and is a side view of a rice transplanter that is an example of an agricultural vehicle.
2 is a flow chart showing the flow of seedling planting work by automatic driving; [0022]FIG.
3 is a schematic diagram showing the arrangement of obstacle detectors; FIG.
[Fig. 4] Fig. 4 is an explanatory diagram showing area division of a field for which travel routes are set.
[Fig. 5] Fig. 5 is an explanatory diagram for explaining a circular travel route set in the outer peripheral area and the travel of the rice transplanter.
[Fig. 6] Fig. 6 is an explanatory diagram for explaining the reciprocating travel route set in the inner area and the travel of the rice transplanter.
7 is a functional block diagram showing a control system of the rice transplanter; FIG.
8 is an explanatory diagram for explaining boundary line extension based on a travel control state; FIG.
9 is a plan view of the remote control; FIG.
10 is a diagram showing a second embodiment (hereinafter the same up to FIG. 19), and is a side view of a rice transplanter that is an example of an agricultural vehicle. FIG.
11 is a flow chart showing the flow of seedling planting work by automatic driving. FIG.
12 is a schematic diagram showing the arrangement of obstacle detectors; FIG.
[Fig. 13] Fig. 13 is an explanatory diagram showing area division of a field in which travel routes are set.
[Fig. 14] Fig. 14 is an explanatory diagram for explaining a circular running route set in the outer peripheral area and running of the rice transplanter.
[Fig. 15] Fig. 15 is an explanatory diagram for explaining the reciprocating travel route set in the inner area and the travel of the rice transplanter.
16 is an explanatory diagram for explaining idle running on a straight route in a round-trip running route; FIG.
17 is an explanatory diagram illustrating an example of descent safety confirmation control; FIG.
18 is an explanatory diagram illustrating another example of descent safety confirmation control; FIG.
[Fig. 19] Fig. 19 is a functional block diagram illustrating functional units of a control system of the rice transplanter.
20 is a diagram showing the third embodiment (hereinafter the same up to FIG. 29), and is a side view of a rice transplanter that is an example of an agricultural vehicle. FIG.
21 is a flow chart showing the flow of seedling planting work by automatic driving. FIG.
22 is a schematic diagram showing the arrangement of obstacle detectors; FIG.
23 is an explanatory diagram showing the area division of a field in which travel routes are set; FIG.
24 is an explanatory diagram for explaining a circular running route set in the outer peripheral area and running of the rice transplanter. FIG.
[Fig. 25] Fig. 25 is an explanatory diagram for explaining the reciprocating travel route set in the inner area and the travel of the rice transplanter.
26 is an explanatory diagram for explaining one of the conditions for permitting automatic travel using the work start point guide route; FIG.
27 is an explanatory diagram illustrating another condition for permitting automatic travel using the work start point guide route; FIG.
28 is an explanatory diagram for explaining idle running on a straight route in a round-trip running route; FIG.
29] Fig. 29 is a functional block diagram illustrating functional units of a control system of the rice transplanter. [Fig.
MODE FOR CARRYING OUT THE INVENTION
[0036]
[First Embodiment]
　As an embodiment of an agricultural vehicle according to the present invention, a ride-on rice transplanter will be described below. This rice transplanter can automatically travel in a field bounded by boundary objects. In this specification, unless otherwise specified, the term "front" means forward with respect to the longitudinal direction of the aircraft (running direction), and the term "rear" means rearward with respect to the longitudinal direction of the aircraft (running direction). Further, the left-right direction or the lateral direction means the body transverse direction (body width direction) orthogonal to the body longitudinal direction. "Upper" or "lower" refers to the positional relationship in the vertical direction (vertical direction) of the fuselage and indicates the relationship at ground level.
[0037]
　FIG. 1 is a side view of a rice transplanter. The rice transplanter is a riding type and has a four-wheel-drive traveling body (hereinafter referred to as a body 1). The machine body 1 includes a parallel quadruple link type link mechanism 11 connected to the rear part of the machine body 1 so as to be able to swing up and down, a hydraulic lifting cylinder 11 a that drives the link mechanism 11 to swing, A seedling planting device 3 (an example of an agricultural material administration device) connected in a rollable manner, a fertilizing device 4 extending from the rear end of the machine body 1 to the seedling planting device 3, and the like are provided.
[0038]
　The body 1 includes wheels 12, an engine 13, and a hydraulic continuously variable transmission 14 as mechanisms for running. The wheels 12 include steerable left and right front wheels 12A and non-steerable left and right rear wheels 12B. The engine 13 and the continuously variable transmission 14 are mounted on the front portion of the airframe 1 . Power from the engine 13 is supplied to the front wheels 12A, the rear wheels 12B and the like via the continuously variable transmission 14 and the like.
[0039]
　The seedling planting device 3 is configured in an eight-row planting format, for example. The seedling planting device 3 includes a seedling platform 31, a planting mechanism 32 for eight rows, and the like. The seedling planting device 3 can be changed to a two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).
[0040]
　The seedling mounting table 31 is a pedestal on which 8 rows of mat-like seedlings are mounted. The seedling mounting table 31 reciprocates in the horizontal direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 33 moves the seedling mounting table 31 upward each time the seedling mounting table 31 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 31.例文帳に追加 The eight planting mechanisms 32 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 32 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling placement table 31 by power from the machine body 1, and plants it in the muddy part after leveling.
[0041]
　The seedling planting device 3 is provided with a seedling amount adjustment function for adjusting the amount of seedlings taken by the planting mechanism 32 . The planting mechanism 32 passes through a seedling outlet formed in a guide rail that slides and guides the lower end of the seedling platform 31 to take out and plant one seedling. The seedling amount is adjusted by vertically changing the position of the seedling mounting base 31 and the guide rail that slides and guides the lower end of the seedling mounting base 31 .
[0042]
　As shown in FIG. 1, the fertilizing device 4 includes a horizontally long hopper 41, a delivery mechanism 42, an electric blower 43, a plurality of fertilizing hoses 44, and a grooving device 45 provided for each row. The hopper 41 stores granular or powdery fertilizer. The delivery mechanism 42 is operated by the power transmitted from the engine 13 and delivers two rows of fertilizer from the hopper 41 by a predetermined amount. This fertilizing device 4 has a delivery amount adjustment function for changing the amount of fertilizer delivered by the delivery mechanism 42 .
[0043]
　The blower 43 is operated by electric power from a battery (not shown) mounted on the machine body 1, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 42 toward the muddy surface of the field. The fertilizing device 4 can be switched between an operating state in which the fertilizer stored in the hopper 41 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 43 or the like.
[0044]
　Each fertilizing hose 44 guides the fertilizer conveyed by the conveying wind to each grooving device 45 . Each grooving device 45 is provided on each leveling float 15 . Each grooving device 45 ascends and descends together with each leveling float 15, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 15 touches the ground.
[0045]
　The machine body 1 is provided with an operation section 20 on the rear side. The driving unit 20 includes a steering wheel 21 for steering the front wheels, a main shift lever 22 for adjusting the vehicle speed by operating the continuously variable transmission 14, and a shift operation for the sub-transmission. and a work operation lever 25 for enabling the up/down operation of the seedling planting device 3 and the switching of the operating state. Furthermore, a general-purpose terminal 9 is provided in front of the driver's seat 16 . The general-purpose terminal 9 includes a notification device that displays various types of information to notify the operator, and a touch panel that accepts input of various types of information. A driving mode switching operation tool 24 for the driver is provided around the steering wheel 21 . Furthermore, a preliminary seedling frame 17 for storing preliminary seedlings is provided in front of the operating section 20 .
[0046]
　The steering wheel 21 is connected to the front wheels 12A via a steering mechanism (not shown), and the steering angle of the front wheels 12A is adjusted by rotating the steering wheel 21. FIG. A steering motor M1 is also connected to the steering mechanism, and the steering angle of the front wheels 12A is adjusted by operating the steering motor M1 based on a steering signal during automatic running. Further, a shift operation motor M2 is also provided for automatically operating the main shift lever 22. During automatic running, the shift operation motor M2 operates based on a shift signal, thereby shifting the continuously variable transmission 14. position is adjusted.
[0047]
　An extension frame 17a extending upward is provided on the upper part of the preliminary seedling frame 17. - 特許庁 Mounted on the extension frame 17a are a multi-layer lamp 18 in which a plurality of color lamps for informing the outside of the rice transplanter are arranged in a vertical direction, and a positioning unit 8. As shown in FIG. The positioning unit 8 outputs positioning data for calculating the position and orientation of the aircraft 1 (aircraft orientation). The positioning unit 8 includes a satellite positioning module 8A that receives radio waves from satellites of the global navigation satellite system (GNSS) and an inertial measurement module 8B that detects triaxial tilt and acceleration of the airframe 1 .
[0048]
　FIG. 2 shows an example of a processing procedure in the seedling planting work in which automatic traveling and manual traveling by the rice transplanter are combined. In the example of FIG. 2, this seedling planting work includes pre-work process #A, map creation process #B, boundary line calculation process #C, route generation process #D, work start point guidance process #E, inner reciprocating planting process. Attachment processing #G and perimeter planting processing #H are included. Furthermore, seedling supply process #F is performed in inside reciprocating planting process #E. Seedling supply processing #F may be performed in perimeter planting processing #G.
[0049]
　In the work preprocessing #A, a communication check between each unit of the control system of the rice transplanter, a communication check of the positioning unit 8, and the like are performed. Furthermore, since the rice transplanter is remotely controlled using a remote controller 90 (see FIG. 1) and obstacles are detected by an obstacle detector 80 (see FIG. 3), the functions of the remote controller 90 and the obstacle detector 80 are also checked. This is done as a pretreatment. As shown in FIG. 3, the obstacle detectors 80 in this embodiment are of the sonar type, and include four front sonars 80f whose detection ranges are in front of the airframe 1, and two side detectors whose detection ranges are the left and right sides of the airframe 1. It consists of a sonar 80s and two rear sonars 80r whose detection ranges are in front of the airframe 1. FIG.
[0050]
　The map creation process #B is a process of measuring the map of the field to be worked, that is, the outline of the field. The traveling locus is calculated based on the position signal from the positioning unit 8 obtained when the rice transplanter approaches a boundary object such as a ridge that bounds the field and manually travels along this boundary object (map creation teaching travel). be done. From this travel locus, a farm field outline as map information of a farm field, that is, a farm field map is obtained.
[0051]
　In the boundary line calculation process #C, as shown in FIG. 4, the position of the machine body 1, which is the limit for the rice transplanter to avoid contact with the boundary objects in the field, is determined from the traveling trajectory calculated in the map creation process #B. A demarcated boundary line is calculated. During normal running of the rice transplanter, the rice transplanter does not come into contact with boundary objects such as ridges unless the position of the machine body 1 crosses this boundary line (also called cross-border line). When the position of the body 1 reaches the boundary line, the body 1 is forced to stop. Since this rice transplanter can travel automatically, even if an unexpected slip or steering wobble occurs, a safety distance is added so that the rice transplanter does not come into contact with boundary objects such as ridges. is determined. That is, the boundary line is offset to the inside of the field by a predetermined distance from the boundary object of the field.
[0052]
　In the route generation process #D, a target travel route for automatic travel set in the field map created in the map creation process #B is created by a predetermined algorithm. The travel route generated for the seedling planting work in automatic travel will be described below.
[0053]
　A field defined by the field map is divided into an outer peripheral area and an inner area, as shown in FIG. The generated travel route consists of a circular travel route set in the outer peripheral area (see FIG. 5) and a round trip travel route set in the inner area (see FIG. 6). The rice transplanter first performs seedling planting work in the inner area along the reciprocating travel route (referred to as internal work travel mode), and then performs seedling planting work in the outer peripheral area along the circular travel route (circling mode). working mode).
[0054]
　The circular traveling route consists of a linear circular route extending parallel to the boundary object (bank) of the field, and a turn-changing route incorporating forward and backward movement to connect the linear circular routes. In FIG. 5, the circular straight route is given the reference R1, and the turning route is given the reference R2. The reciprocating travel route consists of a large number of straight routes substantially parallel to each other and turning routes (U-turn routes) connecting the straight routes. In each straight path, seedling planting starts from the planting start position (also turning end position) and ends at the planting end position (turning start position). In FIG. 6, the planting start position is given the symbol US, the planting end position is assigned the symbol UF, the straight path is assigned the symbol R3, and the turning path is assigned the symbol R5. In FIGS. 5 and 6, the transition route for transitioning from the round trip route to the round trip route is denoted by reference symbol R4. In the example here, the transition path is similar to the turning path. Further, in FIGS. 5 and 6, the working width of the rice transplanter is indicated by W, and the entrance/exit of the rice transplanter to the field is hatched and given the reference GA. FIG. 6 shows a starting guide route (designated by symbol R6 in FIG. 6) from the entrance to the travel start position (designated by symbol S in FIG. 6) of the round-trip travel route. Since the rice transplanter travels without performing work on the turning path, turning path, starting guidance path, and transition path, these paths are indicated by dotted lines. Since the rice transplanter travels on the circular straight route and the straight route while performing work, these routes are indicated by solid lines.
[0055]
　In the work start point guidance process #E, the rice transplanter stopped near the entrance after finishing the map creation teaching run is guided along the start guide route, which is the travel route to the travel start position, which is the start point of the seedling planting work. , the vehicle automatically travels to the travel start position.
[0056]
　In the inside reciprocating planting process #F, the traveling mode becomes the internal work traveling mode, and the vehicle automatically travels along the reciprocating traveling route shown in FIG. 6 to perform the seedling planting work in the inner area. If the internal area is large, seedling replenishment process #G is performed to load the seedling box into the spare seedling frame 17 during this reciprocating travel. In the seedling replenishment process #G, the rice transplanter temporarily stops without shifting from the straight path to the turning path. After that, the front end of the rice transplanter, ie, the preliminary seedling frame 17 is approached to the ridge by using the remote controller 90 or the manual operation tool, and the rice transplanter is moved straight ahead. In this approaching straight travel, the body 1 approaches the ridge just before contact. Therefore, in order to avoid an emergency stop of the machine body 1 due to the position of the machine body 1 breaking through the boundary line, the boundary line is extended in the seedling replenishment process #G. After the seedling supply is completed, the rice transplanter automatically travels to the next straight route that it has left, and then resumes planting seedlings along the target straight route. . When the next straight route is captured and the seedling planting work by automatic driving is restarted, the once extended boundary line is restored.
[0057]
　In addition, when fertilization work and chemical spraying work are performed simultaneously with the seedling planting work, fertilizer replenishment and chemical replenishment are also required during execution of the inside reciprocating planting process #F. In such replenishment work, as in the seedling replenishment work, ridge travel by manual operation and return travel by automatic travel are performed. However, when it is necessary to bring the rear end of the machine body 1 closer to the ridge when supplying fertilizer or chemicals, the machine body 1 stops before entering the next straight course from the turning route, and the approach running to the ridge is stopped. It is done in reverse, and after replenishment work, it returns to the target straight route in forward.
[0058]
　When the inner reciprocating planting process #F is completed, the traveling mode becomes the lap work travel mode, and the outer planting process #H, which is the seedling planting work along the lap traveling route shown in FIG. 5, is executed. In this embodiment, the circular traveling route consists of an inner circular traveling route for one round on the inner side which is first traveled, and an outer circular traveling route for one round on the outer side which is traveled thereafter. Basically, the end position of the outer circumferential travel route is the entrance/exit of the farm field, so after the seedling planting work along the outer circumferential travel route, the rice transplanter leaves the farm field through the entrance/exit. The seedling planting work along the inner circumference traveling route is carried out automatically. The seedling planting work along the outer circumference traveling route requires precise traveling, so even if it is automatic traveling, manned automatic traveling with a driver as a supervisor on board is preferable.
[0059]
　FIG. 7 shows a control block diagram of the control system of this rice transplanter. The control system of the rice transplanter comprises a control device 100 for controlling various operations of the rice transplanter, a general-purpose terminal 9 capable of exchanging data with the control device 100, and a remote controller 90. FIG. Signals from the positioning unit 8 , the operation mode switching operation tool 24 , the travel sensor group 28 , the work sensor group 29 and the obstacle detector 80 are input to the control device 100 . A control signal from the control device 100 is output to the traveling equipment group 1A and the work equipment group 1B.
[0060]
　The traveling device group 1A includes, for example, a steering motor M1 and a shift operation motor M2, and the steering angle is adjusted by controlling the steering motor M1 based on a control signal from the control device 100. The vehicle speed is adjusted by controlling the shift operation motor M2.
[0061]
　The work equipment group 1B includes, for example, an elevating cylinder 11a for adjusting the elevation of the seedling planting device 3, a seedling amount adjusting device for adjusting the amount of seedlings taken by the planting mechanism 32, and a fertilizer feeding amount by the feeding mechanism 42. It includes a device for adjusting the amount of feeding.
[0062]
　The traveling sensor group 28 includes various sensors for detecting conditions such as steering angle, vehicle speed, engine speed, and set values ​​for them. The work sensor group 29 includes various sensors for detecting the states of the link mechanism 11 , the seedling planting device 3 and the fertilizing device 4 .
[0063]
　The control device 100 includes a travel control unit 6, a work control unit 51, a body position calculation unit 52, a travel route management unit 53, an operation control state detection unit 55, a boundary line management unit 56, an input signal processing unit 50a, and a communication unit 50b. is provided.
[0064]
　The input signal processing unit 50 a processes signals from various sensors, switches, levers, etc. provided in the rice transplanter and transfers them to the functional units built in the control device 100 . The communication unit 50b has a wireless communication function, performs data communication with an external device such as a remote controller 90, and transfers received data to the input signal processing unit 50a.
[0065]
　The travel control unit 6 includes an automatic travel control unit 6A, a manual travel control unit 6B, and a control management unit 6C. The automatic travel control unit 6A performs speed control and steering control during automatic travel. The lateral deviation and heading deviation are reduced based on the lateral deviation and heading deviation calculated by comparing the target driving route set by the driving route managing unit 53 and the aircraft position calculated by the aircraft position calculating unit 52. Steering control is performed so as to
[0066]
　In this rice transplanter, in addition to the automatic traveling mode in which the machine automatically travels along the target traveling route, it is equipped with a straight line maintenance operation mode in which it automatically travels straight so as to maintain the orientation of the reference line defined by at least two points. ing. The straight travel route managed by the travel route management unit 53 can be diverted as the reference line used in the straight line maintenance operation mode.
[0067]
　In the manual driving mode, the manual driving control unit 6B controls the steering motor M1 based on the amount of operation of the steering wheel 21. FIG. The control management unit 6C selects one of the automatic driving mode, the straight line maintenance driving mode, and the manual driving mode based on the signal from the driving mode switching operation tool 24 .
[0068]
　The work control unit 51 automatically controls the work equipment group 1B based on a program given in advance during automatic travel, and controls the work equipment group 1B based on the driver's operation during manual travel. The body position calculator 52 calculates the map coordinates (body position) of the body 1 based on the satellite positioning data sequentially sent from the positioning unit 8 .
[0069]
　In this embodiment, the general-purpose terminal 9 includes a field information storage unit 91 , a field map creation unit 92 , a travel route generation unit 93 , a boundary line calculation unit 94 and a travel locus generation unit 95 . The field information storage unit 91 stores field information such as planted seeds, field entrance (exit) positions, seedling replenishment possible positions, and the like. The field map creating unit 92 performs the map creating process described with reference to FIG. The traveling route generation unit 93 divides the farm field into an outer peripheral region and an inner region based on the farm field map created by the farm field map creating unit 92, and divides the farm field into an outer peripheral region and an inner region. Generate a route. The boundary line calculation unit 94 performs the boundary line calculation process described using FIG. The map creation process by the field map creation unit 92 and the boundary line calculation process by the boundary line calculation unit 94 require the travel locus in the map creation teaching run. The running locus generator 95 generates a running locus of the machine body 1 based on the machine body position calculated by the machine body position calculator 52 .
[0070]
　The travel route management unit 53 receives and manages the travel routes generated by the travel route generation unit 93 from the general-purpose terminal 9, and sequentially sets travel routes that are targets for mechanical steering in the automatic travel mode.
[0071]
　The operation control state detection unit 55 detects a travel control state and a work control state based on control information handled by the control device 60 . The running control state detected by the driving control state detection unit 55 includes the following states.
(a) Straight approaching state: When the aircraft 1 travels straight toward a ridge (a type of boundary object) beyond the inner area for seedling supply, etc., the distance from the position of the aircraft 1 (machine position) to the boundary line is a predetermined distance. distance reached.
(b) Remote control approaching state: A state in which the body 1 crosses the internal area and approaches toward the shore by remote control operation using the remote control 90 .
(c) Manual approach travel state: A state in which the body 1 crosses the internal area and approaches toward the ridge by the manual travel operation tool.
(d) Turning state within the outer peripheral area: A state in which the machine body 1 makes a direction change (such as U-turn traveling) at a steering angle greater than or equal to a predetermined value within the outer peripheral area.
[0072]
　In order to manage the boundary line (boundary line data) calculated by the boundary line calculation section 94, the boundary line management section 56 includes a boundary line storage section 56a, a cross-border prevention control section 56b, a cross-border permission section 56c, and a cross-border permission command section 56d. It has The boundary line storage unit 56 a stores the boundary line received from the boundary line calculation unit 94 . The cross-border prevention control unit 56b determines whether or not the machine body 1 will cross the boundary line based on the machine body position, and gives a stop command to the traveling control part 6 to prohibit the machine body 1 from traveling across the boundary line. The cross-border permitting unit 56c temporarily expands the boundary line stored in the boundary line storage unit 56a to the bank side. Due to the extension of this boundary line, the aircraft 1 can come close to the bank. The boundary line is set so that the rice transplanter is at a safe distance from boundary objects such as ridges. Therefore, in order to avoid interference with the fuselage 1 with the ridge, it is a condition that this approach run be performed manually at low speed.
[0073]
　The cross-border permission command unit 56d gives a cross-border permission command to the cross-border permission unit 56c when the operation control state detection unit 55 detects a specific travel control state, and causes the boundary line to extend toward the bank side. In this embodiment, the cross-border permission command unit 56d issues a cross-border permission command to the cross-border permission unit 56c when the operation control state detection unit 55 detects the aforementioned remote controller approaching driving state. When seedlings need to be replenished while the seedling planting work in the internal area is being carried out by unmanned automatic traveling, the observer operates the remote control 90 to temporarily stop the automatic traveling in the internal work traveling mode. Then, as shown in FIG. 8, the airframe 1 is brought closer to the bank. In FIG. 8 as well, the straight path is denoted by R3, the turning path is denoted by R5, and the planting end position (turning start position) is denoted by UF. When the machine 1 enters the outer peripheral area from the planting end position by remote control operation and does not turn but goes straight, the boundary line is extended by the cross-border permission command, and the machine 1 can reach the bank without stopping. approach. When seedling replenishment is completed, the supervisor operates the remote control 90 to command the return of automatic running. Thereby, the machine body 1 moves backward by automatic driving|running|working, and returns to the completion|finish position of planting. At this stage, the interrupted inter-work travel mode of the inner region is resumed, the border extension is also canceled, and the border position is restored.
[0074]
　Next, the procedure of seedling replenishment processing during unmanned automatic travel will be described. The control of the rice transplanter in the seedling replenishment process is performed by remote control operation by an observer outside the field. This remote controller 90 has seven buttons and two indicators, as shown in FIG. The first button 90a is a power ON/OFF button. The second button 90b temporarily stops the machine body 1 by a single push operation, and terminates the automatic traveling by a simultaneous push operation with the function button 90g. A single push of the third button 90c accelerates the machine body 1, and a simultaneous push with the function button 90g causes the machine body 1 to move slowly forward. A single push of the fourth button 90d decelerates the machine body 1, and a simultaneous push with the function button 90g causes the machine body 1 to move slowly backward. The fifth button 90e and the function button 90g are simultaneously pressed to start automatic running. The sixth button 90f and the function button 90g are pressed simultaneously to start planting work. The first indicator 90x indicates the remaining battery level, and the display color changes from green to red as the remaining battery level decreases. The second indicator 90y indicates ON/OFF of communication.
[0075]
　The procedure of seedling replenishment processing using remote control operation when seedling replenishment becomes necessary during seedling planting work in reciprocating straight running is as follows.
(1) During reciprocating travel in the inner region, the vehicle is temporarily stopped at the planting end position at the end of the straight path before turning to the next straight path. The timing at which the front portion of the machine body 1 reaches a posture facing the ridge for seedling replenishment is the start timing of the seedling replenishment process.
(2) First, the operator presses the function button 90g and the third button 90c of the remote controller 90 at the same time, causing the machine body 1 to slowly move forward along the extension of the straight path instead of the turning path. head to
(3) At the same time, a cross-border permission command is given from the cross-border permission command unit 56d to the cross-border permission unit 56c, and the boundary line is extended.
(4) When the front end of the machine body 1 approaches the bank, the operator stops pressing the function button 90g and the third button 90c to stop the machine body 1.
(5) An appropriate number of seedling boxes are loaded into the spare seedling frame 17 (seedling replenishment completed).
(6) Next, the operator simultaneously presses the function button 90g and the fifth button 90e of the remote control 90, and automatic running is started after the seedling supply is completed.
(7) In the automatic running after completion of seedling replenishment, the machine body 1 moves backward along the extension line of the straight path and returns to the planting end position at the end of the straight path where the seedling replenishment process was started.
(8) When the machine body 1 returns to the planting end position, the automatic travel based on the reciprocating travel route is resumed, and the turning travel targeting the turning route is started.
(9) At the same time, the cross-border permission command by the cross-border permission command unit 56d is cancelled, and the expanded boundary line returns to its original position.
[0076]
　In seedling replenishment, the front part of the machine body 1 needs to approach the ridge, but in drug replenishment, etc., the rear part of the machine body 1 needs to approach the ridge. The procedure of seedling replenishment processing using remote control operation when seedling replenishment becomes necessary during seedling planting work in reciprocating straight running is as follows.
(1) During reciprocating travel in the inner region, the body 1 temporarily stops at the planting start position at the beginning of the straight path when entering the straight path from the turning travel. The timing at which the rear portion of the machine body 1 reaches a posture facing the ridge for seedling replenishment is the start timing of the seedling replenishment process.
(2) First, the operator simultaneously presses the function button 90g and the fourth button 90d of the remote control 90, causing the machine body 1 to slowly move backward and head for the ridge along the extension of the straight path.
(3) At the same time, a cross-border permission command is given from the cross-border permission command unit 56d to the cross-border permission unit 56c, and the boundary line is extended.
(4) When the rear end of the machine body 1 approaches the bank, the operator stops pressing the function button 90g and the fourth button 90d to stop the machine body 1.
(5) Replenish the drug (completion of drug replenishment).
(6) Next, the operator simultaneously presses the function button 90g and the fifth button 90e of the remote controller 90, and automatic running is started after the drug supply is completed.
(7) In the automatic travel after completion of drug replenishment, the machine body 1 advances along the extension of the straight route and returns to the planting start position at the start of the straight route where the drug replenishment process was started.
(8) When the machine body 1 returns to the planting start position, automatic travel based on the reciprocating travel route is resumed, the seedling planting device 3 is lowered, and the seedling planting work on the straight route is started.
(9) At the same time, the cross-border permission command by the cross-border permission command unit 56d is cancelled, and the expanded boundary line returns to its original position.
[0077]
　The traveling control of the machine body 1 during the seedling replenishment work and the drug replenishment work described above was performed using the remote control 90, but during automatic manned travel, manual operation by the observer sitting in the driver's seat 16 was performed. can be done by In that case, instead of the buttons of the remote controller 90, the buttons displayed on the touch panel of the general-purpose terminal 9 or the operation functions assigned to the operation tools such as the operation mode switching operation tool 24 are used.
[0078]
[Another embodiment of the first embodiment]
(1) In the above-described embodiment, when the cross-border permission command is output from the cross-border permission command unit 56d, the cross-border permission unit 56c extends the boundary line by a preset predetermined value. Expand. This predetermined value may be changed according to environmental conditions such as field conditions and weather. Furthermore, the extension of the boundary line may be limited to only the peripheral area of ​​the fuselage 1, or the entire boundary line may be extended. Also, as mentioned at the beginning, extending the concept of border extension to infinity leads to invalidation of the border. Therefore, the cross-border permission command in the above embodiment includes an extension command for extending the boundary line toward the boundary object or an invalidation command for invalidating the boundary line.
(2) In the above-described embodiment, the farm field map creation unit 92, the travel route generation unit 93, and the boundary line calculation unit 94 are built in the general-purpose terminal 9. It may be built in an external management computer that can exchange data with.
(3) The steering angle on the turning path by the automatic travel control unit 6A may be controlled so as to follow the generated turning path, or the steering angle may be determined in advance so as to form a predetermined turning path. You may perform by the control which uses.
(4) In the above embodiment, a rice transplanter is used as an agricultural vehicle, but it may be an agricultural vehicle such as a combine, a tractor, a direct seeder, or a spraying (dispersing) management machine.
[0079]
　It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.
[0080]
[Second Embodiment]
　As an embodiment of the agricultural vehicle according to the present invention, a ride-on rice transplanter will be described below. This rice transplanter can automatically travel in a field bounded by boundary objects. In this specification, unless otherwise specified, the term "front" means forward with respect to the longitudinal direction of the aircraft (running direction), and the term "rear" means rearward with respect to the longitudinal direction of the aircraft (running direction). Further, the left-right direction or the lateral direction means the body transverse direction (body width direction) orthogonal to the body longitudinal direction. "Upper" or "lower" refers to the positional relationship in the vertical direction (vertical direction) of the fuselage and indicates the relationship at ground level.
[0081]
　FIG. 10 is a side view of the rice transplanter. The rice transplanter is a riding type and has a four-wheel-drive traveling body (hereinafter referred to as a body 101). The fuselage 101 includes a link mechanism 111 of a parallel quadruple link type connected to the rear part of the fuselage 101 so as to be able to swing up and down, a hydraulic elevating cylinder 111 a for swinging the link mechanism 111 , and a rear end portion of the link mechanism 111 . A seedling planting device 103 (an example of an agricultural material administration device), which is an example of a work device connected in a rollable manner, and a fertilizing device 104 installed from the rear end of the machine body 101 to the seedling planting device 103. I have.
[0082]
　The body 101 includes wheels 112, an engine 113, and a hydraulic continuously variable transmission 114 as mechanisms for traveling. The wheels 112 include steerable left and right front wheels 112A and non-steerable left and right rear wheels 112B. The engine 113 and the continuously variable transmission 114 are mounted on the front portion of the airframe 101 . Power from the engine 113 is supplied to the front wheels 112A, the rear wheels 112B and the like via the continuously variable transmission 114 and the like.
[0083]
　The seedling planting device 103 is configured in a 108-row planting format, for example. The seedling planting device 103 includes a seedling platform 131, a planting mechanism 132 for eight rows, and the like. This seedling planting device 103 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).
[0084]
　The seedling mounting table 131 is a base on which eight rows of mat-like seedlings are mounted. The seedling mounting table 131 reciprocates in the left-right direction with a constant stroke corresponding to the lateral width of the mat-like seedling, and the vertical feeding mechanism 133 moves the seedling mounting table 131 upward each time the seedling mounting table 131 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed at a predetermined pitch toward the lower end of the seedling placement table 131.例文帳に追加 The eight planting mechanisms 132 are of a rotary type and are arranged in the horizontal direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 132 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling platform 131 by power from the machine body 101, and plants it in the muddy part after leveling.
[0085]
　The seedling planting device 103 has a seedling amount adjustment function for adjusting the amount of seedlings taken by the planting mechanism 132 . The planting mechanism 132 passes through a seedling extraction port formed in a guide rail that slides and guides the lower end of the seedling platform 131 to take out and plant one seedling. The seedling amount is adjusted by vertically changing the positions of the seedling mounting base 131 and the guide rail that slides and guides the lower end of the seedling mounting base 131 .
[0086]
　As shown in FIG. 10, the fertilizing device 104 includes a horizontally long hopper 141, a feeding mechanism 142, an electric blower 143, a plurality of fertilizing hoses 144, and a grooving device 145 provided for each row. The hopper 141 stores granular or powdery fertilizer. The feeding mechanism 142 is operated by power transmitted from the engine 113 and feeds two rows of fertilizer from the hopper 141 by a predetermined amount. This fertilizing device 104 has a delivery amount adjustment function for changing the amount of fertilizer delivered by the delivery mechanism 142 .
[0087]
　The blower 143 operates with electric power from a battery (not shown) mounted on the machine body 101, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 142 toward the muddy surface of the field. The fertilizing device 104 can be switched between an operating state in which the fertilizer stored in the hopper 141 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 143 or the like.
[0088]
　Each fertilizing hose 144 guides the fertilizer conveyed by the conveying wind to each grooving device 145 . Each grooving machine 145 is located on each grading float 115 . Each grooving device 145 ascends and descends together with each leveling float 115, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work traveling in which each leveling float 115 touches the ground.
[0089]
　The airframe 101 has an operating section 120 on the rear side. The operation unit 120 includes a steering wheel 121 for steering the front wheels, a main gear shift lever 122 for adjusting the vehicle speed by operating the continuously variable transmission 114, and a gear shift operation for the sub-transmission. A sub-transmission lever 123, a work operation device 125, which is a manual operation tool that enables the up/down operation of the seedling planting device 103 and switching of the operation state, and the like are provided. Furthermore, a general-purpose terminal 109 is provided in front of the driver's seat 116 . The general-purpose terminal 109 includes a notification device that displays various types of information to notify the operator, and a touch panel that receives input of various types of information. Furthermore, a preliminary seedling frame 117 for storing preliminary seedlings is provided in front of the operating section 120 .
[0090]
　The steering wheel 121 is connected to the front wheels 112A via a steering mechanism (not shown), and the steering angle of the front wheels 112A is adjusted by rotating the steering wheel 121. FIG. A steering motor M11 is also connected to the steering mechanism, and the steering angle of the front wheels 112A is adjusted by operating the steering motor M11 based on a steering signal during automatic running. Further, a shift operation motor M12 is provided for automatically operating the main shift lever 122. During automatic running, the shift operation motor M12 is operated based on a shift signal to shift the continuously variable transmission 114. position is adjusted.
[0091]
　An extension frame 117a extending upward is provided on the upper part of the preliminary seedling frame 117. As shown in FIG. A positioning unit 108 and a multi-layer lamp 118 in which a plurality of color lamps for informing the state of the rice transplanter are vertically arranged are attached to the extension frame 117a. The positioning unit 108 outputs positioning data for calculating the position and orientation of the aircraft 101 (aircraft orientation). The positioning unit 108 includes a satellite positioning module 108A that receives radio waves from global navigation satellite system (GNSS) satellites, and an inertial measurement module 108B that detects triaxial tilt and acceleration of the airframe 101 .
[0092]
　FIG. 11 shows an example of a processing procedure in the seedling planting work in which automatic traveling and manual traveling by the rice transplanter are combined. This processing procedure includes work preprocessing #A1, map creation processing #B1, boundary line calculation processing #C1, route generation processing #D1, work start point guidance processing #E1, inner reciprocating planting processing #F1, peripheral planting Processing #H1 is included. The term "straight running" in the present invention does not mean strictly straight running, but also includes running in a large curve, meandering running, and the like.
[0093]
　In the pre-work process #A1, a communication check between each unit of the control system of the rice transplanter, a communication check of the positioning unit 108, and the like are performed. Furthermore, in the rice transplanter, remote control using a remote controller 190 (see FIG. 10) and obstacle detection by an obstacle detector 180 (see FIG. 12) are performed, so function checks of the remote controller 190 and the obstacle detector 180 are also performed. This is done as a pretreatment. As shown in FIG. 12, the obstacle detectors 180 in this embodiment are of the sonar type, and include four front sonars 180f whose detection ranges are in front of the fuselage 101, and two side sonars 180f whose detection ranges are the left and right sides of the fuselage 101. It consists of a sonar 180s and two rear sonars 180r whose detection ranges are in front of the fuselage 101 .
[0094]
　The map creation process #B1 is a process of measuring the map of the field to be worked, that is, the outline of the field. As shown in FIG. 13, from the positioning unit 108 obtained when the rice transplanter manually travels (map creation teaching travel) along a border such as a ridge that bounds the field, that is, along the outermost periphery of the field. A travel locus (teaching travel locus) is calculated based on the position signal of . From this travel locus, a farm field outline as map information of a farm field, that is, a farm field map is generated.
[0095]
　In the boundary line calculation process #C1, as shown in FIG. 13, the position of the machine body 101, which is the limit for the rice transplanter to avoid contact with the boundary objects of the field, is determined from the traveling trajectory calculated in the map creation process #B1. A demarcated boundary line is calculated. During normal running of the rice transplanter, the rice transplanter does not come into contact with boundary objects such as ridges unless the position of the machine body 101 crosses this boundary line (also called cross-border line). When the position of the airframe 101 reaches the boundary line, the airframe 101 is forcibly stopped. A safety distance is added so that the rice transplanter does not come into contact with boundary objects such as ridges even if an unexpected slip or steering wobble occurs, and the final position of the boundary line is determined.
[0096]
　In the route generation process #D1, a target travel route for automatic travel is created by a predetermined algorithm in the field defined based on the field map created in the map creation process #B1. The travel route generated for the seedling planting work in automatic travel will be described below.
[0097]
　The field defined by the field map is eventually divided into an outer peripheral area and an inner area, as shown in FIG. 13 . The generated travel route consists of a circular travel route (see FIG. 14) set in the outer peripheral area and a round-trip travel route (see FIG. 15) set in the inner area. Furthermore, a work start point guidance route (see FIG. 15) is also set on one side of the outer peripheral area. The rice transplanter first performs seedling planting work in the inner area along the reciprocating travel route (referred to as internal work travel mode), and then performs seedling planting work in the outer peripheral area along the circular travel route (circling mode). working mode).
[0098]
　The circular traveling route shown in FIG. 14 consists of a straight circular route extending parallel to the boundary object (bank) of the field and a turning route incorporating forward and backward movement to connect the straight circular routes. In FIG. 14, the circular straight route is given the code R11, and the turning route is given the code R12. The reciprocating travel route shown in FIG. 15 consists of a large number of straight routes substantially parallel to each other and turning routes (U-turn routes) connecting the straight routes. In FIG. 15, the straight route is given R13, and the turning route is given R15. Planting of seedlings starts from the work start point, which is the position where the planting work along each straight path starts, and the work end point, which is the position where the planting work along the straight path ends (also the turn start position) ), the planting of seedlings is completed. In FIG. 15, the work start point, which is the start position of the planting work in the internal area, is given the reference WS1, and the planting end point, which is the end position of the planting work in the internal area, is given the reference WE1. . Further, FIG. 15 shows a work start point guide route (marked with reference numeral R16 in FIG. 15) from the standby position of the rice transplanter near the entrance to the work start point, which is the travel start position of the reciprocating travel route. It is
[0099]
　In the work start point induction process #E1, the rice transplanter that has completed the map creation teaching travel and is stopped at the standby position near the entrance is on the work route to the travel start position that is the start point of the seedling planting work. The vehicle automatically travels to the travel start position along the starting point guidance route. At that time, the condition that the machine body 101 of the rice transplanter in the standby position is in a specific direction at a predetermined specific position was satisfied in the automatic traveling using the work starting point guidance route (work starting point guidance traveling). allowed if
[0100]
　In the inside reciprocating planting process #F1, the traveling mode becomes the internal work traveling mode, automatically traveling along the reciprocating traveling route shown in FIG. 15, and automatically traveling in the internal area from the work start point to the planting end point. Work (seedling planting work) is performed while repeating straight travel (work travel) and turning travel (non-work travel). In addition, when the field is large, the seedling replenishment process #G1 is included in the inner reciprocating planting process.
[0101]
　When the inner reciprocating planting process #F1 ends at the planting end point, the travel mode becomes the lap work travel mode, and the automatic travel work (seedling planting work) in the outer peripheral area along the lap travel route shown in FIG. Perimeter planting process #H which is is performed. In this embodiment, the circular traveling route consists of an inner circular traveling route for one round on the inner side which is first traveled, and an outer circular traveling route for one round on the outer side which is traveled thereafter. Basically, the end position of the outer circumferential travel route is the entrance/exit of the farm field, so after the seedling planting work along the outer circumferential travel route, the rice transplanter leaves the farm field through the entrance/exit. The seedling planting work along the inner circumference traveling route is carried out automatically. The seedling planting work along the outer circumference traveling route requires precise traveling, so even if it is automatic traveling, manned automatic traveling with a driver as a supervisor on board is preferable.
[0102]
　In the travel route patterns shown in FIGS. 14 and 15, the planting end point of the round-trip travel route, the start point of the circular travel route, and the end point of the circular travel route are located near the entrance/exit of the field. It is good if the number of straight routes in the round trip route is an even number, but if the number of straight routes is an odd number, the planting end point of the round trip route will be on the opposite side of the entrance. In order to avoid this inconvenience, as shown in FIG. 16, a straight path other than the final straight path (labeled Ln in FIG. 16), for example, a straight path Ln-1 in FIG. is idle during non-work (non-seedling planting work), and after traveling the next straight route (the final straight route denoted by symbol Ln in FIG. 16), the idle straight route is used for seedling planting work. run while As a result, the planting end point of the final straight path is reversed to the entrance/exit side. In the example of FIG. 16, the position of the planting end point moves by the planting width. In order to avoid this, it is preferable to select another straight route as the idling straight route.
[0103]
　Since the outer circumference traveling route is created so as to match the traveling locus in the map preparation teaching traveling, the machine body 101 does not come into contact with ridges or the like if traveling while accurately following the outer circumference traveling route. However, while the machine body 101 travels with the seedling planting device 103 raised during the map creation teaching travel, it travels with the seedling planting device 103 raised during travel along the outer circumference traveling route. For this reason, depending on the position of the machine body 101, when the seedling planting device 103 is lowered at the start of travel on the outer circumferential travel route, the seedling planting device 103 may come into contact with the ridge. In order to avoid this, the driver confirms the descending safety of the seedling planting device 103 in the automatic temporary stop that is performed before shifting to the work traveling on the outer circumference traveling route. In the automatic temporary stop, the seedling planting device 103 is raised.
[0104]
　An example of descent safety confirmation control including this automatic temporary stop, confirmation of descent safety by the driver, and start of automatic work travel after confirmation will be described with reference to FIG. 17 . In FIG. 17 , before the machine body 101 enters the field corner, at point P11, the seedling planting device 103 is raised, and the direction change traveling, which is the non-work automatic traveling, is performed. The direction-changing travel is performed with travel targets being a straight travel route R121 from point P11 to point P12 and a reverse turning travel route R122 from point P12 to point P13. At this point P13, the next round straight traveling route of the outer circumference traveling route is captured, so that the automatic work traveling with the seedling planting device 103 lowered can be started, but at the point P13, the machine body 101 temporarily stops. . In this automatic pause state, a notification is made requesting the driver to determine whether the seedling planting device 103 can now be safely lowered. When the driver determines that there is no problem, the driver performs an operation of lowering the seedling planting device 103 (lowering operation of the working device as an operation before automatic start). This operation permits the start of automatic work travel.
[0105]
　This lowering safety confirmation control automatically lowers the seedling planting device 103 from the non-work traveling (automatic traveling or manual traveling) in which the seedling planting device 103 is raised in the area where the outer circumference traveling route is set. Executed when transitioning to work travel.
[0106]
　Next, with reference to FIG. 18, an example of descent safety confirmation control that is executed in areas other than the area where the outer circumference travel route is set will be described. FIG. 18 shows descent safety confirmation control on the obstacle avoidance travel route for avoiding travel obstacles present on the straight route of the reciprocating travel route in the inner area. When the automatic straight work traveling aiming at the straight route of the reciprocating traveling route is performed to the point Q11 in front of the traveling obstacle, the seedling planting device 103 is raised and the reverse turning traveling route R131, which is the non-working automatic traveling, is used. Then, the vehicle turns in reverse to point Q12, and then turns forward to point Q13 using forward turning route R132. At this point Q13, the next straight route is captured, so the automatic work travel in which the seedling planting device 103 is lowered can be started, but at the point Q13, the machine body 101 temporarily stops. In this automatic temporary stop state, a notification is issued requesting the driver to determine whether or not the lowered seedling planting device 103 interferes with the travel obstacle even if the automatic work travel is continued. When the driver determines that there is no problem, the driver performs an operation to lower the seedling planting device 103 (operation before automatic start). This operation permits the start of automatic work travel.
[0107]
　FIG. 19 shows a control block diagram of the control system of this rice transplanter. The control system of the rice transplanter consists of a control device 160 for controlling various operations of the rice transplanter, a general-purpose terminal 109 capable of exchanging data with the control device 160, and a remote control 190. FIG. Signals from the positioning unit 108 , the work operation device 125 , the travel sensor group 128 , the work sensor group 129 and the obstacle detector 180 are input to the control device 160 . A control signal from control device 160 is output to traveling equipment group 101A and work equipment group 101B.
[0108]
　The traveling device group 101A includes, for example, a steering motor M11 and a shift operation motor M12. Based on a control signal from the control device 160, the steering motor M11 is controlled to adjust the steering angle. The vehicle speed is adjusted by controlling the shift operation motor M12.
[0109]
　The work equipment group 101B includes, for example, an elevating cylinder 111a for adjusting the elevation of the seedling planting device 103, a seedling amount adjusting device for adjusting the amount of seedlings taken by the planting mechanism 132, and a fertilizer feeding amount by the feeding mechanism 142. It includes a device for adjusting the amount of feeding.
[0110]
　The traveling sensor group 128 includes various sensors for detecting states such as steering angle, vehicle speed, engine speed, and set values ​​for them. The work sensor group 129 includes various sensors for detecting states of the link mechanism 111 , the seedling planting device 103 and the fertilizing device 104 .
[0111]
　The control device 160 includes a travel control unit 106, a work control unit 151, a body position calculation unit 152, a travel route management unit 153, an operation control state detection unit 155, an automatic work travel management unit 156, an input signal processing unit 150a, and a communication unit. 150b is provided.
[0112]
　The general-purpose terminal 109 connected to the control device 160 via an in-vehicle LAN includes a field information storage unit 191, a field map creation unit 192, a running route generating unit 193, a boundary line calculating unit 194, and a running track generating unit 195. there is The field information storage unit 191 stores field information such as planted seeds, field entrance (exit) positions, and seedling replenishment possible positions. The field map creating unit 192 performs the map creating process described with reference to FIG. 11 .
[0113]
　The traveling route generation unit 193 divides the farm field into an outer peripheral region and an inner region based on the farm field map created by the farm field map creating unit 192, and divides the farm field into an outer peripheral region and an inner region. Generate a route. The outer circumference traveling route of the circular traveling route is created by diverting the traveling locus of the map creation teaching traveling. Furthermore, when a travel obstacle is detected in the field by the map creation teaching travel, the travel route generation unit 193 also creates a travel route that avoids this travel obstacle.
[0114]
　The boundary line calculation unit 194 performs the boundary line calculation process described using step #C1 in FIG. The map creation process by the field map creation unit 192 and the boundary line calculation process by the boundary line calculation unit 194 require the travel locus in the map creation teaching run. The travel locus generator 195 generates a travel locus of the aircraft 101 based on the aircraft position calculated by the aircraft position calculator 152 .
[0115]
　The input signal processing unit 150 a processes signals from various sensors, switches, levers, etc. provided in the rice transplanter, and transfers them to the functional units built in the control device 160 . The communication unit 150b has a wireless communication function, performs data communication with the outside, for example, data communication with the remote controller 190, and transfers received data to the input signal processing unit 150a.
[0116]
　The travel control unit 106 includes an automatic travel control unit 106A, a manual travel control unit 106B, and a control management unit 106C. The automatic travel control unit 106A performs speed control and steering control during automatic travel. Steering control is performed so that the lateral deviation and heading deviation calculated based on the target travel route set by the travel route management unit 153 and the aircraft position are reduced.
[0117]
　The work control unit 151 automatically controls the work equipment group 101B based on a program given in advance during automatic travel, and controls the work equipment group 101B based on the driver's operation during manual travel. In addition, in the descending safety confirmation control described above, the seedling planting device 103 is descended by the driver's operation using the work operation device 125 in the automatic traveling mode.
[0118]
　The aircraft position calculator 152 calculates the map coordinates (body position) of the aircraft 101 based on the satellite positioning data sequentially sent from the positioning unit 108 . The travel route management unit 153 receives and manages various travel routes generated by the travel route generation unit 193 from the general-purpose terminal 109, and sequentially sets travel routes that are targets for mechanical steering in the automatic travel mode.
[0119]
　The driving control state detection unit 155 detects the driving control state and the work control state based on the control information handled by the control device 160 . In particular, the operation control state detection unit 155 is detected before transitioning from non-working traveling with the seedling planting device 103 as a work device raised to automatic working traveling with the seedling planting device 103 lowered. Detect automatic stops with stops made at This automatic temporary stop is detected based on the travel route along which the body 101 is traveling, the body position, and detection signals from the travel sensor group 128 and the work sensor group 129 .
[0120]
　When the operation control state detection unit 155 detects an automatic stop, the automatic work travel management unit 156 determines whether the automatic work travel start condition for shifting from the automatic pause state to the automatic work travel is satisfied. to check. The conditions for starting the automatic work travel include inputting various signals required for automatic work travel to the control device 160, capture of the travel route for the automatic work travel, and , an operation (an example of the pre-automatic start operation) on the work operation device 125 for lowering the seedling planting device 103 as an operation before the automatic start by the driver.
[0121]
　Furthermore, when the automatic work traveling management unit 156 detects the automatic stop, it notifies the driver that he/she is requested to operate the work operation device 125 to lower the seedling planting device 103 after confirming safety. conduct. This notification is made through the display, speaker, or the like of the general-purpose terminal 109 .
[0122]
[Another form of the second embodiment]
(1) In the above-described embodiment, an operation on the work operation device 125 for lowering the seedling planting device 103 is used as the operation before automatic start. Alternatively, other operations on the seedling planting device 103, such as operation of each row clutch, may be used. Still another pre-start operation is an operation of changing the traveling route to change the lowering position of the seedling planting device 103 . When it is not necessary to change the descending position of the seedling planting device 103, an operation that makes it unnecessary to change the travel route is performed as an operation before automatic start. The operation before automatic start as a confirmation operation that there is no problem in the lowering position of the working device may be an input operation on the touch panel of the general-purpose terminal 109 .
(2) In the above embodiment, the farm field map creation unit 192, the travel route generation unit 193, the boundary line calculation unit 194, and the travel trajectory generation unit 195 were built in the general-purpose terminal 109, but at least some of them are controlled It may be built in the device 160 or it may be built in an external management computer capable of exchanging data with the control device 160 . Conversely, the automatic work traveling management unit 156 and the operation control state detection unit 155 may be constructed in the general-purpose terminal 109 .
(3) The steering angle on the turning path by the automatic travel control unit 106A may be controlled so as to follow the generated turning path, or the steering angle may be determined in advance so as to form a predetermined turning path. You may perform by the control which uses.
(4) In the above embodiment, a rice transplanter is used as an agricultural vehicle, but agricultural vehicles such as fertilizer applicators, tractors, direct seeders, and spraying (dispersing) management machines may be used.
[0123]
　It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.
[0124]
[Third Embodiment]
　As an embodiment of the agricultural vehicle according to the present invention, a ride-on rice transplanter will be described below. This rice transplanter can automatically travel in a field bounded by boundary objects. In this specification, unless otherwise specified, the term "front" means forward with respect to the longitudinal direction of the aircraft (running direction), and the term "rear" means rearward with respect to the longitudinal direction of the aircraft (running direction). Further, the left-right direction or the lateral direction means the body transverse direction (body width direction) orthogonal to the body longitudinal direction. "Upper" or "lower" refers to the positional relationship in the vertical direction (vertical direction) of the fuselage and indicates the relationship at ground level.
[0125]
　FIG. 20 is a side view of the rice transplanter. The rice transplanter is a riding type and has a four-wheel-drive traveling body (hereinafter referred to as a body 201). The body 201 includes a parallel quadruple link type link mechanism 211 connected to the rear part of the body 201 so as to be able to swing up and down, a hydraulic lift cylinder 211a that drives the link mechanism 211 to swing, and a rear end of the link mechanism 211. A seedling planting device 203 (an example of an agricultural material administration device) connected in a rollable manner, a fertilizing device 204 extending from the rear end of the machine body 201 to the seedling planting device 203, and the like are provided.
[0126]
　The body 201 includes wheels 212, an engine 213, and a hydraulic continuously variable transmission 214 as mechanisms for traveling. The wheels 212 include steerable left and right front wheels 212A and non-steerable left and right rear wheels 212B. The engine 213 and the continuously variable transmission 214 are mounted on the front portion of the airframe 201 . Power from the engine 213 is supplied to the front wheels 212A, the rear wheels 212B and the like via the continuously variable transmission 214 and the like.
[0127]
　The seedling planting device 203 is configured in an eight-row planting format, for example. The seedling planting device 203 includes a seedling platform 231, a planting mechanism 232 for eight rows, and the like. This seedling planting device 203 can be changed to a form of two-row planting, four-row planting, six-row planting, etc. by controlling each row clutch (not shown).
[0128]
　The seedling mounting base 231 is a base on which eight rows of mat-like seedlings are mounted. The seedling mounting base 231 reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-like seedling, and the vertical feeding mechanism 233 moves the seedling mounting base 231 upward each time the seedling mounting base 231 reaches the left and right stroke ends. Each mat-like seedling is longitudinally fed toward the lower end of the seedling placement table 231 at a predetermined pitch. The eight planting mechanisms 232 are of a rotary type and are arranged in the left-right direction at regular intervals corresponding to the intervals between the planting rows. Then, each planting mechanism 232 cuts off one seedling from the lower end of each mat-like seedling placed on the seedling placement table 231 by power from the machine body 201 and plants it in the muddy part after leveling.
[0129]
　The seedling planting device 203 has a seedling amount adjustment function for adjusting the amount of seedlings taken by the planting mechanism 232 . The planting mechanism 232 passes through a seedling outlet formed in a guide rail that slides and guides the lower end of the seedling platform 231 to take out and plant one seedling. The seedling amount is adjusted by vertically changing the positions of the seedling mounting base 231 and the guide rail that slides and guides the lower end of the seedling mounting base 231 .
[0130]
　As shown in FIG. 20, the fertilizing device 204 includes a horizontally long hopper 241, a delivery mechanism 242, an electric blower 243, a plurality of fertilizing hoses 244, and a grooving device 245 provided for each row. The hopper 241 stores granular or powdery fertilizer. The feeding mechanism 242 is operated by power transmitted from the engine 213 and feeds two rows of fertilizer from the hopper 241 by a predetermined amount. This fertilizing device 204 has a delivery amount adjustment function of changing the amount of fertilizer delivered by the delivery mechanism 242 .
[0131]
　The blower 243 is powered by a battery (not shown) mounted on the machine body 201, and generates a transport wind that transports the fertilizer delivered by each delivery mechanism 242 toward the muddy surface of the field. The fertilizing device 204 can be switched between an operating state in which the fertilizer stored in the hopper 241 is supplied to the field by a predetermined amount and a non-operating state in which the supply is stopped by intermittent operation of the blower 243 or the like.
[0132]
　Each fertilizing hose 244 guides the fertilizer conveyed by the conveying wind to each grooving device 245 . Each grooving machine 245 is located on each grading float 215 . Each grooving device 245 ascends and descends together with each leveling float 215, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work travel in which each leveling float 215 touches the ground.
[0133]
　The airframe 201 has an operating section 220 on its rear side. The operation unit 220 includes a steering wheel 221 for steering the front wheels, a main gear shift lever 222 for adjusting the vehicle speed by operating the continuously variable transmission 214, and a gear shift operation for the sub-transmission. and a work operation lever 225 for enabling the up/down operation of the seedling planting device 203 and the switching of the operating state. Furthermore, a general-purpose terminal 9 is provided in front of the driver's seat 216 . The general-purpose terminal 209 includes a notification device that displays various types of information to notify the operator, and a touch panel that receives input of various types of information. A driving mode switching operation tool 224 for the driver is provided around the steering wheel 221 . Furthermore, a preliminary seedling frame 217 for storing preliminary seedlings is provided in front of the operating section 220 .
[0134]
　The steering wheel 221 is connected to the front wheels 212A via a steering mechanism (not shown), and the steering angle of the front wheels 212A is adjusted by rotating the steering wheel 221. FIG. A steering motor M21 is also connected to the steering mechanism, and during automatic running, the steering angle of the front wheels 212A is adjusted by operating the steering motor M21 based on a steering signal. Further, a shift operation motor M22 is also provided for automatically operating the main shift lever 222. During automatic running, the shift operation motor M22 operates based on a shift signal to shift the continuously variable transmission 214. position is adjusted.
[0135]
　An extension frame 217a extending upward is provided on the upper part of the preliminary seedling frame 217. As shown in FIG. A positioning unit 208 and a multi-layer lamp 218 in which a plurality of color lamps for informing the state of the rice transplanter are vertically arranged are attached to the extension frame 217a. The positioning unit 208 outputs positioning data for calculating the position and orientation of the aircraft 201 (aircraft orientation). The positioning unit 208 includes a satellite positioning module 208A that receives radio waves from Global Navigation Satellite System (GNSS) satellites, and an inertial measurement module 208B that detects triaxial tilt and acceleration of the airframe 201 .
[0136]
　FIG. 21 shows an example of a processing procedure in the seedling planting work in which automatic traveling and manual traveling by the rice transplanter are combined. This processing procedure includes work preprocessing #A2, map creation processing #B2, boundary line calculation processing #C2, route generation processing #D2, work start point guidance processing #E2, inner reciprocating planting processing #F2, peripheral planting Processing #H2 is included. In addition, when the field is large, the seedling replenishment process #G2 is included in the inner reciprocating planting process.
[0137]
　In the pre-work process #A2, a communication check between each unit of the control system of the rice transplanter, a communication check of the positioning unit 8, and the like are performed. Furthermore, in the rice transplanter, remote control using a remote controller 290 (see FIG. 20) and obstacle detection by an obstacle detector 280 (see FIG. 22) are performed, so function checks of the remote controller 290 and the obstacle detector 280 are also performed. This is done as a pretreatment. As shown in FIG. 22, the obstacle detectors 280 in this embodiment are of the sonar type, and include four front sonars 280f whose detection ranges are in front of the fuselage 201, and two side sensors 280f whose detection ranges are the left and right sides of the fuselage 201. It consists of a sonar 280s and two rear sonars 280r whose detection ranges are in front of the fuselage 201 .
[0138]
　The map creation process #B2 is a process of measuring the map of the field to be worked, that is, the outline of the field. As shown in FIG. 23, from the positioning unit 208 obtained when the rice transplanter manually travels (map creation teaching travel) along a boundary object such as a ridge that borders the field field, that is, along the outermost periphery of the field field. A travel locus (teaching travel locus) is calculated based on the position signal of . From this travel locus, a farm field outline as map information of a farm field, that is, a farm field map is generated.
[0139]
　In the boundary line calculation process #C2, as shown in FIG. 23, the position of the machine body 201, which is the limit for the rice transplanter to avoid contact with the boundary objects in the field, is determined from the traveling locus calculated in the map creation process #B2. A demarcated boundary line is calculated. During normal running of the rice transplanter, unless the position of the machine body 201 crosses this boundary line (also called cross-border line), the rice transplanter does not come into contact with boundary objects such as ridges. When the position of the airframe 201 reaches the boundary line, the airframe 201 is forcibly stopped. A safety distance is added so that the rice transplanter does not come into contact with boundary objects such as ridges even if an unexpected slip or steering wobble occurs, and the final position of the boundary line is determined.
[0140]
　In the route generation process #D2, a target travel route for automatic travel is created by a predetermined algorithm in the field defined based on the field map created in the map creation process #B2. The travel route generated for the seedling planting work in automatic travel will be described below.
[0141]
　A field defined by the field map is divided into an outer peripheral area and an inner area, as shown in FIG. The generated travel route consists of a circular travel route (see FIG. 24) set in the outer peripheral area and a round trip travel route (see FIG. 25) set in the inner area. Furthermore, a work start point guide route (see FIG. 25) is also set on one side of the outer peripheral area. The rice transplanter first performs seedling planting work in the inner area along the reciprocating travel route (referred to as internal work travel mode), and then performs seedling planting work in the outer peripheral area along the circular travel route (circling mode). working mode).
[0142]
　The circular traveling route shown in FIG. 24 consists of a circular straight route extending parallel to the boundary object (bank) of the field, and a turning route incorporating forward and backward movements to connect the circular straight routes. In FIG. 24, the circular straight route is given the code R21, and the turning route is given the code R22. The reciprocating travel route shown in FIG. 25 consists of a large number of straight routes substantially parallel to each other and turning routes (U-turn routes) connecting the straight routes. In FIG. 25, the straight route is given R23, and the turning route is given R25. Planting of seedlings starts from the work start point, which is the position where the planting work along each straight path starts, and the work end point, which is the position where the planting work along the straight path ends (also the turn start position) ), the planting of seedlings is completed. In FIG. 25, the work start point, which is the start position of the planting work in the internal area, is given the code WS2, and the planting end point, which is the end position of the planting work in the internal area, is given the code WE2. ing. Furthermore, FIG. 25 shows a work start point guide route (marked with reference numeral R26 in FIG. 25) from the standby position of the rice transplanter near the entrance to the work start point, which is the travel start position of the reciprocating travel route. It is The term "straight running" in the present invention does not mean strictly straight running, but also includes running in a large curve, meandering running, and the like.
[0143]
　In the work start point induction process #E2, the rice transplanter that has completed the map creation teaching run and is stopped at the standby position near the entrance is on the work route to the run start position that is the start point of the seedling planting work. The vehicle automatically travels to the travel start position along the starting point guidance route. At that time, the condition that the machine body 201 of the rice transplanter in the standby position is in a specific direction at a predetermined specific position is satisfied for the automatic traveling using the work starting point guidance route (work starting point guidance traveling). allowed if
[0144]
　One of the permitting conditions for work starting point guidance travel is shown in FIG. In FIG. 26, the machine body 201 is parked with the front part of the machine body 201 directed toward the work start point on one side where the work start point guidance route is generated in the outer peripheral area. The stop position of the body 201 is the standby position for automatic travel. Here, the permission condition is that the error between the forward direction of the machine body 201 and the direction of the work start point guidance route is within a predetermined angle error θ. When this permission condition is satisfied, the machine body 201 is added to the guide travel route (indicated by the dotted line in FIGS. 26 and 27 and denoted by the symbol FL) that enters the work start point guide route. The machine body 201 automatically travels from the standby position to the work start point along the work start point guide route.
[0145]
　Another permitting condition for work starting point guidance travel is shown in FIG. In FIG. 27, in order to replenish seedlings before planting seedlings, the machine body 201 approaches the ridge so that the front part of the machine body 201 faces the ridge and stops. The stop position of the body 201 is the standby position for automatic travel. In other words, the airframe 201 does not satisfy the permission condition described with reference to FIG. 26 that the error between the forward direction of the airframe 201 and the direction of the work start point guidance route is within the predetermined angular error θ. The permission condition for the case where the aircraft 201 is in such a posture with the front part of the aircraft 201 butted against the ridge is that the aircraft 1 is in the area where automatic operation can be started (labeled ADA in FIGS. 26 and 27). It's what's in it. The condition that the machine body 201 is in the area where automatic operation can be started is the condition that the machine body 201 is located at a predetermined distance or more from the work start point in the outer peripheral area on the side where the work start point is set. can be replaced. Such a standby position occurs frequently in the case of a rice transplanter that replenishes seedlings before planting seedlings. It can be standardized as a so-called turning-back travel route that combines forward and forward. Considering that the rice transplanter that has completed the map creation teaching run will replenish seedlings near the entrance, the area where automatic operation can start is set to an area up to several meters from the entrance to the work start point in the outer peripheral area. be done.
[0146]
　Although not shown, the permission condition in FIG. 27 is that the machine body 201 is positioned so that the rear part of the machine body 201 is in contact with the ridge in order to replenish fertilizer and chemicals before fertilizing and chemical spraying. It can also be applied when the vehicle is approaching and stopped. In this case, the guidance travel route that guides the machine body 201 to the work start point guidance route is a forward 90-degree turning route.
[0147]
　In the inside reciprocating planting process #F2, the traveling mode becomes the internal work traveling mode, and the vehicle automatically travels along the reciprocating traveling route shown in FIG. Work (seedling planting work) is performed while repeating straight travel (work travel) and turning travel (non-work travel).
[0148]
　When the inner reciprocating planting process #F2 ends at the planting end point, the travel mode becomes the lap work travel mode, and the automatic travel work (seedling planting work) in the outer peripheral area along the lap travel route shown in FIG. Perimeter planting process #H2 which is is performed. In this embodiment, the circular traveling route consists of an inner circular traveling route for one round on the inner side which is first traveled, and an outer circular traveling route for one round on the outer side which is traveled thereafter. Basically, the end position of the outer circumferential travel route is the entrance/exit of the farm field, so after the seedling planting work along the outer circumferential travel route, the rice transplanter leaves the farm field through the entrance/exit. The seedling planting work along the inner circumference traveling route is carried out automatically. The seedling planting work along the outer circumference traveling route requires precise traveling, so even if it is automatic traveling, manned automatic traveling with a driver as a supervisor on board is preferable.
[0149]
　In the running route patterns shown in FIGS. 24 and 25, the planting end point of the round-trip running route, the starting point of the circular running route, and the ending point of the circular running route are located near the entrance/exit of the field. It is good if the number of straight routes in the round trip route is an even number, but if the number of straight routes is an odd number, the planting end point of the round trip route will be on the opposite side of the entrance. In order to avoid this inconvenience, as shown in FIG. 28, a straight route other than the final straight route (labeled Ln in FIG. 28), for example, a straight route labeled Ln-1 in FIG. is idle during non-work (non-seedling planting work), and after traveling the next straight route (the final straight route indicated by symbol Ln in FIG. 28), the idle straight route is used for seedling planting work. run while As a result, the planting end point of the final straight path is reversed to the entrance/exit side. In the example of FIG. 28, the position of the planting end point moves by the planting width. In order to avoid this, it is preferable to select another straight route as the idling straight route.
[0150]
　FIG. 29 shows a control block diagram of the control system of this rice transplanter. The control system of the rice transplanter consists of a control device 260 for controlling various operations of the rice transplanter, a general-purpose terminal 209 capable of exchanging data with the control device 260, and a remote controller 290. FIG. Signals from the positioning unit 208 , the operation mode switching operation tool 224 , the travel sensor group 228 , the work sensor group 229 and the obstacle detector 280 are input to the control device 260 . A control signal from control device 260 is output to traveling equipment group 201A and work equipment group 201B.
[0151]
　The traveling device group 201A includes, for example, a steering motor M21 and a shift operation motor M22, and the steering angle is adjusted by controlling the steering motor M21 based on a control signal from the control device 260. The vehicle speed is adjusted by controlling the shift operation motor M22.
[0152]
　The work equipment group 201B includes, for example, an elevating cylinder 211a for adjusting the elevation of the seedling planting device 203, a seedling amount adjusting device for adjusting the amount of seedlings taken by the planting mechanism 232, and a fertilizer feeding amount by the feeding mechanism 242. It includes a device for adjusting the amount of feeding.
[0153]
　The traveling sensor group 228 includes various sensors for detecting states such as steering angle, vehicle speed, engine speed, and set values ​​for them. The work sensor group 229 includes various sensors for detecting the states of the link mechanism 211 , the seedling planting device 203 and the fertilizing device 204 .
[0154]
　The control device 260 includes a travel control unit 206, a work control unit 251, an aircraft position calculation unit 252a, an aircraft orientation calculation unit 252b, a travel route management unit 253, an operation control state detection unit 255, a cross-border management unit 256, and a start guidance management unit. 257, an input signal processing unit 250a, and a communication unit 250b.
[0155]
　The general-purpose terminal 209 connected to the control device 260 via an in-vehicle LAN includes a field information storage unit 291, a field map creation unit 292, a travel route generation unit 293, a boundary line calculation unit 294, and a travel locus generation unit 295. there is The field information storage unit 291 stores field information such as planted seeds, field entrance (exit) positions, seedling replenishment possible positions, and the like. The field map creating unit 292 performs the map creating process described with reference to FIG. 21 .
[0156]
　The travel route generation unit 293 includes a work start point setting unit 293a and a start point guidance route generation unit 293b. The traveling route generation unit 293 divides the farm field into an outer peripheral region and an inner region based on the farm field map created by the farm field map creating unit 292, and divides the farm field into an outer peripheral region and an inner region. Generate a route. The work start point setting unit 293a functioning as a work start point setting unit sets the start point of the generated reciprocating travel route as a work start point (planting start point) at which field work by automatic travel is started. The end point of the generated round-trip travel route is the planting end point. In addition, the work start point and the planting end point may be set in the inner region first, and a round-trip travel route may be generated so as to connect the work start point and the planting end point. The start point guidance route generation unit 293b generates a work start point guidance route, which is a travel route for automatically driving the machine body 201 waiting after the teaching run to the work start point.
[0157]
　The boundary line calculation unit 294 performs the boundary line calculation process described using step #C2 in FIG. The map creation process by the field map creation unit 292 and the boundary line calculation process by the boundary line calculation unit 294 require the travel locus in the map creation teaching run. The running locus generator 295 generates a running locus of the aircraft 201 based on the aircraft position calculated by the aircraft position calculator 252a.
[0158]
　The input signal processing unit 250 a processes signals from various sensors, switches, levers, etc. provided in the rice transplanter, and transfers them to the functional units built in the control device 260 . The communication unit 250b has a wireless communication function, performs data communication with the outside, for example, data communication with the remote controller 290, and receives received data and transfers it to the input signal processing unit 250a.
[0159]
　The travel control unit 206 includes an automatic travel control unit 206A, a manual travel control unit 206B, and a control management unit 206C. The automatic travel control unit 206A performs speed control and steering control during automatic travel. Lateral deviation and azimuth deviation calculated by comparing the target travel route set by the travel route management unit 253 with the aircraft position and orientation calculated by the aircraft position calculation unit 252a and the aircraft orientation calculation unit 252b. Based on this, steering control is performed so that the lateral deviation and the azimuth deviation are reduced.
[0160]
　In this rice transplanter, in addition to the automatic traveling mode in which the machine automatically travels along the target traveling route, it is equipped with a straight line maintenance operation mode in which it automatically travels straight so as to maintain the orientation of the reference line defined by at least two points. ing. The straight travel route managed by the travel route management unit 253 can be diverted as the reference line used in the straight line maintenance operation mode.
[0161]
　In the manual driving mode, the manual driving control unit 206B controls the steering motor M21 based on the amount of operation of the steering wheel 221. FIG. The control management unit 206C selects one of the automatic driving mode, the straight line maintenance driving mode, and the manual driving mode based on the signal from the driving mode switching operation tool 224 .
[0162]
　The work control unit 251 automatically controls the work equipment group 201B based on a program given in advance during automatic travel, and controls the work equipment group 201B based on the driver's operation during manual travel. The body position calculator 252a calculates the map coordinates (body position) of the body 201 based on the satellite positioning data sequentially sent from the positioning unit 208 . The aircraft orientation calculation unit 252b calculates the orientation (advance direction) of the aircraft 201 from the temporal aircraft position calculated by the aircraft position calculation unit 252a.
[0163]
　The travel route management unit 253 receives various travel routes generated by the travel route generation unit 293 from the general-purpose terminal 209 and manages them, and sequentially sets travel routes that are targets for mechanical steering in the automatic travel mode.
[0164]
　The driving control state detection unit 255 detects the driving control state and the work control state based on the control information handled by the control device 260 .
[0165]
　The cross-border management unit 256 has a function of avoiding the aircraft 201 from coming into contact with boundary objects such as ridges when the aircraft 201 crosses the boundary line (boundary line data) calculated by the boundary line calculation unit 294. . For example, the cross-border management unit 256 determines whether or not the aircraft 201 will cross the boundary line based on the aircraft position, and gives the travel control unit 206 a stop command to prohibit the aircraft 201 from traveling over the boundary line.
[0166]
　The start guidance management unit 257 determines whether or not to automatically travel the waiting machine body 201 to the work start point using the work start point guidance route. In this embodiment, as described above, the conditions for starting automatic travel are as follows: (1) in the area that is one side of the outer peripheral area where the work start point guidance route is set, the machine body 201 faces the work start point; (2) the front or rear part of the machine body 201 defines a boundary line, such as a ridge or the like; (3) the aircraft 201 is in the area where automatic operation can be started, even if the aircraft attitude is facing the boundary object and the aircraft orientation and the orientation of the work start point guidance route are at approximately right angles; It is located in the field to be worked, the orientation of the machine body 201 is along the starting point guidance route, and the machine body 201 is on the starting point guidance route.
[0167]
　Note that the conditions for starting automatic driving are not limited to the above (1), (2), and (3). The condition for starting automatic travel may be that the standby position of the machine body 201, which is stopped in order to start automatic travel using the work start point guide route, is in a specific direction at a specific position that is arbitrarily set. can.
[0168]
　If such conditions for starting automatic travel are satisfied, it is notified that automatic travel from the current standby position to the work work start point is permitted through the general-purpose terminal 209 or a speaker or lamp (not shown). . Therefore, when the driver performs an operation for starting automatic travel, automatic travel using the work start point guidance route is started. If the driver performs an operation to start automatic driving even though the conditions for starting automatic driving have not been met, the driver is notified that automatic driving cannot start at the current standby position, and it is possible to start driving. The position and azimuth of the aircraft are displayed on the display of the general-purpose terminal 209 .
[0169]
[Another form of the third embodiment]
(1) In the above embodiment, the field map creation unit 292, the travel route generation unit 293, the boundary line calculation unit 294, and the travel route generation unit 295 are built in the general-purpose terminal 209. However, at least part of them may be constructed in the control device 260 or may be constructed in an external management computer capable of exchanging data with the control device 260 .
(2) The steering angle on the turning path by the automatic travel control unit 206A may be controlled so as to follow the generated turning path, or the steering angle may be determined in advance so as to form a predetermined turning path. You may perform by the control which uses.
(3) In the above embodiment, a rice transplanter is used as an agricultural vehicle, but it may be an agricultural vehicle such as a combine, a tractor, a direct seeding machine, or a spraying (dispersing) management machine.
[0170]
　It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.
Industrial applicability
[0171]
　INDUSTRIAL APPLICABILITY The present invention is applicable to agricultural vehicles capable of automatically traveling.
Code explanation
[0172]
[First Embodiment]
1: Airframe
3: Seedling planting device
4: Fertilizer
6: Travel control unit
6A: Automatic travel control unit
6B: Manual travel control unit
6C: Control management unit
8: Positioning unit
9: General-purpose terminal
24 : Operation mode switching operation tool
51 : Work control unit
52 : Machine body position calculation unit
53 : Travel route management unit
54 : Travel trajectory generation unit
55 : Operation control state detection unit
56 : Boundary line management unit
56a : Boundary line storage unit
56b : Cross-border prevention control unit
56c: Cross-border permission unit
56d: Cross-border permission command unit
80: Obstacle detector
90: Remote controller
92: Field map creation unit
93: Travel route generation unit
94: Boundary line calculation unit
100: Control device
[0173]
[Second Embodiment]
101: Machine body
103: Seedling planting device (agricultural material administration device, work device)
106: Travel control unit
106A: Automatic travel control unit
106B: Manual travel control unit
106C: Control management unit
108: Positioning unit
125 : Work operation device
151 : Work control unit
152 : Machine body position calculation unit
153 : Travel route management unit
155 : Operation control state detection unit
156 : Automatic work travel management unit
180 : Obstacle detector
190 : Remote controller
191 : Farm field information storage Unit
192: Field map creation unit
193: Travel route generation unit
194: Boundary line calculation unit
195: Travel locus generation unit
160: Control device
[0174]
[Third Embodiment]
201 : Machine body
201A : Running equipment group
201B : Working equipment group
203 : Seedling planting device
204 : Fertilizer
206A : Automatic traveling control unit
208 : Positioning unit
208A : Satellite positioning module
208B : Inertial measurement module
209 : General-purpose terminal
231 : Seedling platform
252a : Machine body position calculation unit
252b : Machine body direction calculation unit
253 : Travel route management unit
257 : Start guidance management unit
292 : Farm field map creation unit
293 : Travel route generation unit
293a : Work start point setting Section (work starting point setting section)
293b: starting point guide route generating section
295: traveling locus generating section
260: control device
θ: predetermined angle error
The scope of the claims
[Claim 1]
　An agricultural vehicle capable of automatically traveling that travels in a field bordered by a boundary object, comprising:
　a machine position calculation unit that calculates a machine position;
　a boundary line set to avoid contact with the boundary object; a cross-border prevention control unit that prohibits traveling across the boundary line based on the position of the 　aircraft
　;
and a cross-border permission command unit that outputs a cross-border permission command to the cross-border permission unit.
[Claim 2]
　The cross-border permission command is an extension command to extend the boundary line toward the boundary object or an invalidation command to invalidate the boundary line. 2. The agricultural vehicle according to claim 1, wherein the boundary line is extended to the boundary object side and the boundary line is invalidated based on the invalidation command.
[Claim 3]
　The travel control state includes a straight approach state in which the distance from the aircraft position to the boundary line reaches a predetermined distance during straight travel toward the boundary object, and when the straight approach state is detected, the border crossing permission is granted. 3. The agricultural vehicle according to claim 1 or 2, wherein a command is output.
[Claim 4]
　4. The traveling control state includes a remote control approaching traveling state in which the vehicle approaches the boundary object by remote control operation, and when the remote control approaching traveling state is detected, the border crossing permission command is output. Agricultural vehicle according to any one of the above.
[Claim 5]
　2. The travel control state includes a manual approach travel state in which the vehicle approaches the boundary object by means of a manual travel operation tool, and when the manual approach travel state is detected, the cross-border permission command is output. 5. The agricultural vehicle according to any one of 4 to 4.
[Claim 6]
　The farm field is divided into an outer peripheral area along the boundary line and an inner area located inside the
　outer peripheral area. and an internal work traveling mode is prepared in which the work is performed on the internal area while repeating traveling, and
　the straight traveling in the internal work traveling mode continues to the outer peripheral area and the internal working traveling mode is interrupted, 6. The agricultural vehicle according to any one of claims 1 to 5, wherein the boundary crossing permitting section expands the boundary line or invalidates the boundary line.
[Claim 7]
　7. The agricultural work vehicle according to claim 6, wherein the expansion of the boundary line or the invalidation of the boundary line by the cross-border permission unit is canceled when the interrupted internal work travel mode is re-executed.
[Claim 8]
　The agricultural vehicle according to any one of claims 1 to 7, wherein the boundary line position and the machine body position are calculated using satellite positioning.
[Claim 9]
　The agricultural vehicle according to any one of claims 1 to 8, wherein the boundary line is offset inward of the farm field by a predetermined distance from the boundary object.
[Claim 10]
　An agricultural work vehicle that automatically travels in a field
　, comprising: a working device provided on a machine body so as to be able to move up and down;
　a machine position calculation unit that calculates a position of the machine that is the position of the machine in the
　field ; a travel route generation unit that generates a travel route that is a target travel route; an automatic travel control unit that automatically 　travels
　the machine body based on the travel route;
An operation control state detection unit that detects an automatic stop accompanied by a stop that is performed before shifting to automatic work traveling with the device lowered, and the state of the automatic stop
　based on the detection of the automatic stop. and an automatic work traveling management unit that includes a pre-automatic start operation by a driver in the conditions for starting the automatic work travel for shifting from the automatic work travel to the automatic work travel.
[Claim 11]
　11. The farm vehicle of claim 10, wherein the pre-automatic start operation is a lowering operation that lowers the implement.
[Claim 12]
　12. The agricultural vehicle of claim 10 or 11, an operation indicating that the automatic pre-start operation has confirmed the lowered position of the work implement.
[Claim 13]
　13. The farm vehicle of claim 12, wherein said pre-start operation includes changing said travel path to change said lowered position.
[Claim 14]
　14. The agricultural vehicle according to any one of claims 10 to 13, wherein the automatic work traveling management section notifies the driver to request an operation before automatic start.
[Claim 15]
　The agricultural field is divided into an outer peripheral area along a boundary line of the agricultural field and an inner area located inside the outer peripheral area. The automatic traveling work in the outer peripheral region is performed by traveling along the boundary line in the outer peripheral region, and the
　operation before automatic start is the start condition. 15. The agricultural vehicle according to any one of claims 10 to 14, wherein is when transitioning to said automatic work travel in said peripheral area.
[Claim 16]
　15. The method according to any one of claims 10 to 14, wherein the pre-automatic start operation becomes the start condition when transitioning to the automatic work travel on an obstacle avoidance travel route for avoiding travel obstacles existing in the field. Agricultural vehicle according to any one of the preceding paragraphs.
[Claim 17]
　An agricultural work vehicle that automatically travels in a
　field, comprising: a machine position calculation unit that calculates a position of the machine, which is the position of the machine in the field;
　a machine direction calculation unit that calculates the direction of the machine
　; An automatic travel control unit that automatically travels the machine based on the travel route,
　a work start point setting unit that sets a work start point at which field work in automatic travel is started, and the
　machine automatically travels to the work start point. a start guidance management unit that permits automatic travel using the work start point guide route, which is the travel route for starting the work, on condition that the machine body is in a specific position and in a specific direction.
[Claim 18]
　The agricultural field is divided into an outer peripheral area along a boundary line of the agricultural field and an inner area located inside the outer peripheral area. The automatic traveling work in the outer peripheral region is performed by traveling along the boundary line in the outer peripheral region, and the work start point guide route is set in the outer peripheral region. 18. The agricultural vehicle of claim 17.
[Claim 19]
　When the orientation of the aircraft facing the work start point matches the orientation of the work start point guidance route toward the work start point, the work is started regardless of the distance between the aircraft and the work start point. 19. The agricultural vehicle according to claim 18, wherein automatic travel to said work start point using a point guidance route is permitted.
[Claim 20]
　When the front or rear part of the machine body reaches the boundary line, as long as the distance between the machine body and the work start point is equal to or greater than a predetermined distance, automatic movement to the work start point using the work start point guide route 20. The agricultural vehicle according to claim 18 or 19, which is allowed to travel.
[Claim 21]
　21. Any one of claims 17 to 20, wherein when the aircraft is at the specific position and in the specific direction, it is notified that a condition for automatic travel to the work start point using the work start point guide route is satisfied. or the agricultural vehicle according to item 1.
[Claim 22]
　The specific position is a point within a field to be worked, the specific orientation is an orientation along the work start point guide route, and the work start point if the aircraft is on the work start point guide route. 22. The agricultural vehicle according to any one of claims 17 to 21, wherein it is notified that the conditions for automatic driving up to are satisfied.