JP2019154394A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of grasping in advance the presence or absence of an unleveled area by a ground leveling device. SOLUTION: A traveling vehicle body, a planting device connected to the traveling vehicle body and capable of performing predetermined work on a field, a ground leveling rotor 40 for leveling the field, and a position information acquisition device 300 for acquiring the position information of the traveling vehicle body. A control unit 400 for automatically traveling the traveling vehicle body based on the position information acquired by the position information acquisition device 300 and the predetermined traveling route information is provided, and the predetermined traveling route information is provided in the field. The position of the target line from the second row onward, which is determined by the control unit 400 by using the leveling width in the lateral direction of the leveling rotor 40 with respect to the position information of the reference line acquired as the reference for straight running by the manual running of. It is a robot riding rice field planting machine characterized by containing information. [Selection diagram] Fig. 3

Description

  The present invention relates to a work vehicle.

  Conventionally, a work vehicle such as a seedling transplanter used for planting seedlings and the like on a farm field is equipped with a GPS, and a steering member is held in a straight traveling position to perform automatic straight traveling to automatically advance the traveling direction of the aircraft. An automatic steering device that can be corrected automatically is provided (see, for example, Patent Document 1).

JP 2016-24541 A

  However, in the conventional work vehicle, since the position information of the reference line and the planting width of the seedling of the planting device are used, the position information of the target line that becomes the automatic travel line after the next process is determined. It was impossible to grasp in advance whether or not there was an unleveled area by the leveling device between processes.

  In the present invention, in view of the problems of the conventional work vehicle described above, the position information of the target line after the next process is determined using the leveling width of the leveling device. The purpose is to be able to grasp.

The first aspect of the present invention is
Traveling vehicle body (2),
A working device (50) connected to the traveling vehicle body (2) and capable of performing a predetermined work on a farm field;
A leveling device (40) for leveling the field;
A position information acquisition device (300) for acquiring position information of the traveling vehicle body (2);
A control unit (400) for automatically traveling the traveling vehicle body based on the position information acquired by the position information acquisition device (300) and predetermined traveling route information;
In the predetermined travel route information, the control unit (400) performs a lateral direction of the leveling device (40) with respect to position information of a reference line acquired as a reference for straight traveling by manual traveling in the field. The work vehicle includes position information of a target line after the next process determined using a leveling width in the vehicle.

The second aspect of the present invention
The position information of the target line is determined so that edges of the leveling widths of the adjacent steps overlap each other or a predetermined gap is generated between the edges. It is a work vehicle of the present invention.

The third aspect of the present invention provides
The work vehicle according to the second aspect of the present invention, wherein the overlapping distance or the distance of the predetermined gap is variable.

The fourth invention relates to
A leveling device on / off switch (42) for turning on and off the leveling device (40),
The position information of the reference line is acquired by using an on signal and an off signal sent from the leveling device on / off switch (42) to the control unit (400) as a trigger. It is any one work vehicle of the present invention.

The fifth aspect of the present invention relates to
A fertilizer application device (3) for applying fertilization to the field;
A covering section (90) for covering the fertilizer applied to the field from the fertilizer application (3);
A detection device (80) for detecting information on the hydrogen ion index of the field,
When the control unit (400) determines that the hydrogen ion index of the field is equal to or greater than a predetermined threshold from the detection result of the information on the hydrogen ion index by the detection device (80), the covering unit (90) In the work vehicle according to any one of the first to fourth aspects of the present invention, the amount of the covering soil is changed in a direction to be smaller than a predetermined reference.

The sixth invention relates to
The working device (50) is a seedling planting device,
The position information of the target line is determined based on the leveling width of the leveling device (40) and the planting width between the left and right ends of the planting device. Work vehicle.

  According to the first aspect of the present invention, it is possible to grasp in advance whether or not there is an unleveled area by the leveling device in an adjacent process.

  In addition, by this, for example, when there is no ungraded area due to the leveling rotor between adjacent processes, the leveling of the field is improved, the planting accuracy is improved, and the water in the field is easily supplied uniformly. Therefore, it is difficult for the seedling to grow unevenly.

  According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, if the position information of the target line is determined so that the edges of the respective leveling widths of the adjacent steps overlap, the leveling of the field The planting accuracy is improved and the water in the field is easily supplied uniformly, so that the growth of seedlings can be made difficult to occur, and the edges of the respective leveling widths of adjacent processes are predetermined. If the position information of the target line is determined so that a gap is generated, the ventilation of the gap between adjacent processes is improved and the growth of seedlings can be improved as compared with the case where the edges of the leveling width overlap. .

  According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, for example, according to the characteristics of the field, the overlapping distance or the distance of the predetermined gap can be adjusted. I can do it.

  According to the fourth aspect of the present invention, in addition to the effects of any one of the first to third aspects of the present invention, a signal from the leveling device on / off switch (42) where there is no scene that the operator operates outside the field is used. Thus, by adopting a configuration for acquiring the position information of the reference line, it is possible to prevent the position information of the reference line from being erroneously acquired outside the field.

  According to the fifth aspect of the present invention, in addition to the effects of any one of the first to fourth aspects of the present invention, in a place where the reducing action is high (that is, the drainage performance is poor), the amount of covering soil is less than the predetermined standard. Therefore, it is possible to improve drainage, promote oxidation and improve soil quality.

  According to the sixth aspect of the present invention, in addition to the effects of the first aspect of the present invention, in determining the position information of the target line, not only the leveling width of the rotor but also the planting width between the left and right ends of the planting device is used. Therefore, the degree of overlap where the edges of the respective leveling widths of adjacent processes overlap, or the degree of the gap that creates a gap without overlapping, is determined by the planting interval between the endmost seedlings in the adjacent process. , It can be adjusted to fit the seedling planting interval in the same process, or can be adjusted to be wider than the seedling planting interval in the same process, for example, depending on the characteristics of the field, the degree of overlap, Or since the degree of a gap can be adjusted, improvement of breeding of a seedling can be aimed at more effectively.

The left view of the robot riding rice transplanter in embodiment concerning this invention Top view of robot riding rice transplanter in this embodiment The block diagram which shows the connection relation between the control part in the robot riding rice transplanter of this Embodiment, various apparatuses, various sensors, etc. Plane schematic diagram of the field for explaining the outline of the travel route and operation procedure of the robot riding rice transplanter in the field of the present embodiment A schematic plan view of a field for explaining an outline of a work procedure and the like for acquiring shape information of the field based on manual travel along each side of the field of the present embodiment

  Hereinafter, an 8-row robot riding rice transplanter according to an embodiment of the work vehicle of the present invention will be described with reference to the drawings.

  FIG.1 and FIG.2 is the left view and top view of the robot riding rice transplanter concerning this Embodiment.

  As shown in FIGS. 1 and 2, the robot riding rice transplanter 1 according to the present embodiment has a planting device 50 mounted on the rear side of the traveling vehicle body 2 so as to be movable up and down via a lifting link device 30. The hopper 3a of the fertilizer applicator 3 is provided on the rear upper side. The lift link device 30 is a parallel link including an upper link arm 31 and a lower link arm 32.

  Further, below the planting device 50, the fertilizer supplied from the fertilizer hose (not shown) of the fertilizer applicator 3 is poured into a groove formed in the field by a grooved portion (not shown), and then covered with soil. Part 90 (see FIG. 3). In addition, the soil covering plate driving device 91 provided in the soil covering portion 90 is configured to operate a soil covering plate (not shown) of the soil covering portion 90 in accordance with a command from the control portion 400, thereby reducing the amount of soil covering. The configuration can be changed.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 4 and 4 and a pair of left and right rear wheels 5 and 5 as drive wheels.

  Moreover, the robot riding rice transplanter 1 according to the present embodiment includes a pH measuring device 80 (see FIG. 3) that measures the hydrogen ion index (pH value) of the field. Specifically, the electrode sensor of the pH measuring device 80 is disposed opposite to the rim portion of the pair of left and right front wheels 4 of the robot riding rice transplanter 1.

  During the fertilization work of the robot riding rice transplanter 1 according to the present embodiment, the control unit 400 (see FIG. 3), from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80 (see FIG. 3), When it is determined that the pH value at a certain measurement position in the field is equal to or higher than a predetermined threshold, the measurement position is determined to be a place having a high reducing action (ie, poor drainage), and the soil covering plate driving device This is a configuration in which a command is issued to 91 to activate the soil covering plate and change the amount of soil covering to be less than a predetermined reference. Thereby, the drainage property of the measurement position determined to have a high reducing action can be enhanced, the oxidation can be promoted, and the soil quality can be improved.

  The front end portion of the vehicle body main frame 7 is fixed to the rear surface of the transmission case 6, and the left and right ends of the vehicle body main frame 7 support the lifting link device 30 so as to be rotatable. A pair of link support stays 10 are fixed.

  The engine 20 is mounted on the vehicle body main frame 7, and the rotational power of the engine 20 is transmitted to the transmission case 6 via a belt transmission device 12 and an HST (hydrostatic continuously variable transmission) 13. The rotational power transmitted to the transmission case 6 is shifted by a speed change mechanism (such as a sub-transmission device) in the transmission case 6 and then separated into traveling power and external power to be extracted. The traveling power drives the front wheels 4 and 4 and the left and right rear wheels 5 and 5.

  Moreover, the external take-out power taken out from the transmission case 6 is transmitted to the planting device 50 by the planting transmission shaft 21 via a planting clutch (not shown).

  As shown in FIGS. 1 and 2, the planting device 50 includes a first seedling planting unit 55a, a second seedling planting unit 55b, a third seedling planting unit 55c, and a fourth seedling planting unit 55d. In addition, each seedling planting section is provided with a planting tool 51 having claws for planting seedlings so as to be able to turn two on each of the left and right sides, so that a total of eight seedlings can be planted in the field. is there.

  Moreover, as shown in FIGS. 1 and 2, floats 53 are respectively provided in the lower portion of the planting device 50 at the center position and the left and right positions. These floats 53 slide while leveling on the mud surface of the field, and seedlings are planted in the field by the planting tool 51 on the leveling trace.

  Further, at the lower part of the planting device 50, the rotor 41 arranged in a substantially gate shape in plan view is rotated by the power extracted from the left rear wheel gear case 18L via the universal joint 40a, thereby A leveling rotor 40 for leveling the surface is provided.

  Further, the leveling rotor 40 is attached to the planting device 50 so as to be movable up and down by the operation of a lifting motor (not shown), and the rotation of the rotor 41 is provided in the left rear wheel gear case 18L. This is performed by turning on and off a predetermined clutch (not shown).

  A steering handle 24 is provided in front of the steering seat 22. A leveling rotor on / off switch 42 (see FIG. 3) for turning on and off the leveling rotor 40 is provided on the right or left side of the steering handle 24. When the leveling rotor on / off switch 42 is “on”, the leveling rotor 40 descends to the field scene and the rotor 41 starts to rotate in response to a command from a control unit 400 (see FIG. 3) described later. is there. When the leveling rotor on / off switch 42 is turned off, the leveling rotor 40 ascends from the field scene and the rotor 41 stops rotating according to a command from a control unit 400 (see FIG. 3) described later. It is a configuration.

  Further, on the right or left side of the steering handle 24, an HST operation lever (not shown) for setting the traveling speed of the traveling vehicle body 2 between forward traveling and reverse traveling, traveling speed, etc., raising and lowering of the planting device 50, and entering of planting work are provided. Various levers such as a planting operation lever 14 (see FIG. 2) for operating cutting are provided.

  In the robot riding rice transplanter 1 according to the present embodiment, when the traveling vehicle body 2 turns or travels backward, the elevating link device 30 rises in conjunction with these operations, so that the planting device 50 The planting operation is stopped as it rises.

  Below the steering handle 24, various operation buttons (not shown), an automatic operation mode on / off switch 61 (see FIG. 3) for turning on / off an automatic operation mode described later, various meters and a display unit A meter panel 60 (see FIG. 2) is provided.

  Further, as shown in FIG. 3, the robot riding rice transplanter 1 according to the present embodiment includes a transmission / reception device 70, an automatic steering device 200, a position information acquisition device 300, and other various sensors. These are electrically connected to a control unit 400 (see FIG. 3) described later.

  FIG. 3 is a block diagram showing a connection relationship between the control unit 400 and various devices and various sensors in the robot riding rice transplanter 1.

  The transmission / reception device 70 is located at the foot of the field, and an operator who is monitoring the automatic planting work by the robot riding rice transplanter 1 during unmanned operation is operated by a remote control device 71 carried by the worker. It is an apparatus for transmitting and receiving signals when the robot riding rice transplanter 1 is remotely operated using (FIG. 3).

  The automatic steering device 200 is configured to automatically operate the steering handle 24 to keep the traveling vehicle body 2 in a straight traveling direction or to turn.

  That is, the automatic steering device 200 automatically applies an arbitrary rotational force to the steering handle 24 to automatically rotate the steering handle 24, and a handle for detecting the rotation angle (handle turning angle) of the steering handle 24. Potentiometer 220.

  The position information acquisition device 300 is configured to acquire position information (that is, coordinate information) of the robot riding rice transplanter 1 on the earth based on GNSS (Global Navigation Satellite System). The receiving antenna 310 for receiving at predetermined intervals is provided, and the position information acquired by the position information acquiring apparatus 300 is sent to the control unit 400.

  Position information sent to the control unit 400, field shape information obtained based on the position information, which will be described later, and a target travel route on which the robot riding rice transplanter 1 should travel during automatic planting work in the field Position information (position coordinates) and the like can be recorded in the memory unit 410 (see FIG. 3). Further, the shape information of the farm field, the position information of the target travel route, and the like are calculated by the calculation unit 420 described later.

  As shown in FIGS. 1 and 2, the receiving antenna 310 is fixed to the center of the upper surface of the gate-shaped antenna fixing member 320 in front view, and the left and right lower ends 321L and 321R of the antenna fixing member 320 are The front end portion of the floor step 23 is fixed to the left and right side surfaces.

  The traveling vehicle body 2 of the present embodiment is an example of the traveling vehicle body of the present invention, and the planting device 50 of the present embodiment is an example of the working device of the present invention. The leveling rotor 40 of the present embodiment is an example of the leveling device of the present invention, and the leveling rotor on / off switch 42 of the present embodiment is an example of the leveling device on / off switch of the present invention. In addition, the position information acquisition device 300 of the present embodiment is an example of the position information acquisition device of the present invention, and the control unit 400 of the present embodiment is an example of the control unit of the present invention. Moreover, the fertilizer 3 of this Embodiment corresponds to an example of the fertilizer of this invention. The pH measuring device 80 of the present embodiment is an example of the detection device of the present invention, and the soil covering portion 90 of the present embodiment is an example of the soil covering portion of the present invention.

  In the above configuration, the operation of the automatic operation using the robot riding rice transplanter 1 according to the present embodiment will be described mainly with reference to FIGS.

  First, the outline | summary about the driving | running route and work procedure of the robot riding rice transplanter 1 is demonstrated using FIG.

  FIG. 4 is a schematic plan view of the farm field for explaining an outline of the travel route and work procedure of the robot riding rice transplanter 1 in the farm field.

  FIG. 5 is a schematic plan view of a field for explaining an outline of a work procedure and the like for acquiring shape information of the field based on manual travel (manual travel) along each side of the field.

  The farm field 500 according to the present embodiment is a substantially rectangular farm field surrounded on all sides by a first side 501, a second side 502, a third side 503, and a fourth side 504.

  In the present embodiment, since the seedling and fertilizer replenishment work for the robot riding rice transplanter 1 is performed on the fourth side 504 side of the farm field 500, the remote control device 71 is used while the robot riding rice transplanter 1 is in automatic operation. It is assumed that the worker who has carried is waiting on the fourth side 504 side and monitoring the operation.

  Further, in the present embodiment, a setting switch (not shown) is provided that can set in advance that the cocoon on the fourth side 504 side of the farm field 500 is for replenishing seedlings and fertilizers. The control unit 400 that has received the setting information from the setting switch is configured to record the information in the memory unit 410. The setting switch is provided around the steering handle 24 or around the meter panel 60 (see FIG. 2) in order to improve operability.

  In the present embodiment, first, an operator rides on the robot riding rice transplanter 1, the automatic operation mode on / off switch 61 is turned “on”, and the operator operates the steering handle 24, whereby the field 500 While manually driving the A step 511, the B step 512, and the C step 513 along the first side 501, the second side 502, and the third side 503, the leveling rotor 40 is operated without performing the planting operation. Heading up the headland.

The control unit 400 can specify the shape information of the farm field 500 by manually performing the A process 511 to the C process 513 while appropriately repeating the “on” operation and the “cut” operation of the leveling rotor on / off switch 42. The positional information on the necessary four corners of the field and the positional information on the reference line necessary for calculating the target line are acquired. The control unit 400, based on these acquired various position information, the position information of the automatic turning operable automatic traveling route information (second row L ₂ and subsequent target line, the first planting start line L _U1 And the position information of the second planting start line L _U2 and the like) are obtained by calculation, and the information is stored in the memory unit 410.

Next, (in Fig. 4, indicated by a broken line) D step 514 along the fourth side 504 of the field 500 with manual travel without performing the planting, the first start planting of the second row L ₂ The operator turns clockwise before the position L _2S (the intersection of the first planting start line L _U1 and the second row L ₂ ) and stops traveling at the first planting start position L _2S. Gets off the robot riding rice transplanter 1 and moves to the fence on the fourth side 504 side.

  In the robot riding rice transplanter 1 according to the present embodiment, when the operator manually travels the D process 514, the leveling rotor on / off switch 42 is set to the “cut” state. It is not limited to this.

  Thereafter, the operator operates the remote controller 71 carried by himself / herself from the position of the heel of the fourth side 504 to transmit a command for starting unattended automatic driving to the robot riding rice transplanter 1.

The control unit 400 that has received the automatic driving start command via the transmission / reception device 70 issues a command to the automatic steering device 200 or the like based on the automatic travel route information stored in the memory unit 410, and the second column L ₂ to the n-th row L _n including the turning operation and planting work are automatically performed without being attended, with the exception of fertilizer and seedling replenishment work performed on the heel side of the fourth side 504. Make it.

Next, after the automatic planting work of the n-th row L _n is completed, the control unit 400 continues to instruct the automatic steering device 200 and the like based on the automatic travel route information recorded in the memory unit 410. out, (including the first row _{L 1,} a generally parallel rows in the second side 502, and the (n + 1) th column _{L n + 1,} and generally parallel rows in the fourth side 504) headland of the field 500 The automatic driving is terminated after the planting is performed unattended or the worker gets on and performs the automatic planting work while traveling by automatic driving. The control unit 400 for automatically traveling on the first row L _1, by using the location information of the reference line of the first column, which will be described later, for the (n + 1) automatic traveling th row L _{n + 1} is the The position information of the target line corresponding to the (n + 1) th column L _{n + 1} is used. In the case of unattended, the automatic operation is terminated by an instruction from the remote control device 71 by the operator.

  The headland planting operation may be performed manually in all or part of the traveling / turning process.

Here, shown in FIG. 4, the first planting start line L _U1, the second row L _{2 ~} fourth side in 504 side, reference planting starting position and planting the stop position of the n-th column L _n a straight line for indicating the position, the second planting start line L _U2 is the second side 502 of the second row L _{2 ~} the n-th column L _n, planting stop position and the planting start position It is a straight line for indicating a reference position. Setting of these lines by the calculation unit 420 will be described later.

  Next, mainly with reference to FIG. 5, when the operator gets on and manually travels in the A process 511 to the C process 513, the control unit 400 acquires the shape information of the farm field 500 and the automatic travel route information by calculation. The operation will be further described mainly.

  In step A 511 (see FIG. 4), the worker places the left end of the rotor 41 of the leveling rotor 40 of the robot riding rice transplanter 1 at the positions of the corners of the first side 501 and the fourth side 504 of the field 500. The robot riding rice transplanter 1 is arranged as close as possible.

  As described above, the operator sets the automatic operation mode ON / OFF switch 61 to “ON”, then sets the leveling rotor ON / OFF switch 42 (see FIG. 3) to the “ON” state, and performs planting work. Without starting, manual driving in the A process 511 is started. The control unit 400 receives a signal indicating the “ON” state from the leveling rotor ON / OFF switch 42 (see FIG. 3), lowers the leveling rotor 40 to the field scene, and starts the rotation of the rotor 41.

  In the manual travel in the present embodiment, the worker travels the robot riding rice transplanter 1 along the unevenness of each side of the field 500, and the travel trajectory is not always linear. .

Further, when the automatic operation mode ON / OFF switch 61 is set to “ON” and the automatic operation mode is in the “ON” state, the leveling rotor ON / OFF switch 42 is set to “ON”. The control unit 400 that has received the signal determines that the signal is also a start point acquisition trigger signal other than the original meaning, and is acquired by the position information acquisition device 300 immediately after or immediately before the determination with respect to the calculation unit 420. The position information (coordinate value) of the left end portion of the rotor 41 of the leveling rotor 40 is obtained using the latest position information (coordinate value) of the receiving antenna 310 and a predetermined rear end position conversion constant described later, The calculation result is stored in the memory unit 410 as position information (coordinate values) of the first side start point P _1S (see FIG. 5).

Note that the latest position information of the position of the receiving antenna 310 acquired by the position information acquisition device 300 immediately before or after determining that the signal is the start point acquisition trigger signal (see step A antenna start point PA _{1S in} FIG. 5). Similarly, when the control unit 400 determines an end point acquisition trigger signal, which will be described later, the position of the receiving antenna 310 (see step A antenna end point PA _{1E in} FIG. 5). The latest position information is recorded in the memory unit 410.

  When the robot riding rice transplanter 1 is manually moved along the unevenness of the first side 501 of the field 500 to reach the end of the step A 511, the operator can move the front end 2a of the traveling vehicle body 2 of the robot riding rice transplanter 1 to the end. (See FIG. 1) stops the traveling of the robot riding rice transplanter 1 at a position just before the second side 502 of the field 500, and sets the leveling rotor on / off switch 42 to the “off” state. In response to the command from the control unit 400, the leveling rotor 40 stops rotating and rises to a predetermined height.

Further, when the automatic operation mode ON / OFF switch 61 is set to “ON” and the automatic operation mode is in the “ON” state, the leveling rotor ON / OFF switch 42 is set to “OFF”. The control unit 400 that has received the signal determines that the signal is also an end point acquisition trigger signal other than the original meaning, and is acquired by the position information acquisition device 300 immediately after or immediately before the determination with respect to the calculation unit 420. The position information (coordinate value) of the left front end virtual point described later of the robot riding rice transplanter 1 is obtained using the latest position information (coordinate value) of the receiving antenna 310 and a predetermined front end position conversion constant described later. The calculation result is stored in the memory unit 410 as position information (coordinate values) of the first side end point P _1E (see FIG. 5).

Here, the predetermined rear end position conversion constant is the position of the left end portion of the rotor 41 of the leveling rotor 40 (that is, the first side start point P described above) using position information (coordinate values) at the position of the receiving antenna 310. _1S (refer to FIG. 5)) is a conversion constant for calculating position information (coordinate values) by calculation, and the positional relationship between the two is determined in advance depending on the configuration and size of the robot riding rice transplanter 1, Assume that the data is stored in the unit 410 in advance.

In addition, the predetermined front end position conversion constant uses position information (coordinate values) at the position of the receiving antenna 310 and passes through the front end 2a (see FIG. 1) of the traveling vehicle body 2 of the robot riding rice transplanter 1 to travel vehicle body Of the first virtual straight line extending parallel to the left-right direction of 2 and the second virtual straight line passing through the position of the left end of the rotor 41 of the leveling rotor 40 and extending parallel to the front-rear direction of the traveling vehicle body 2 in plan view ( This is a conversion constant for calculating position information (coordinate values) at the position of the left front end virtual point) (that is, the position of the first side end point P _1E (see FIG. 5)). The positional relationship between the two is determined in advance depending on the configuration and size of the machine 1 and is stored in the memory unit 410 in advance.

As described above, the robot riding rice transplanter 1 is manually operated so as to be as close to the corner of the field 500 as possible, and the position information of the first side start point P _1S (see FIG. 5) and the first side end point P _1E. By obtaining the position information (see FIG. 5), the position information can be used as an approximate value of the position information of both ends of the first side 501 of the field 500.

In addition, the control unit 400 detects the position information (coordinate points) of the A process antenna start point PA _1S (see FIG. 5) in the manual travel in the A process 511 and the A process antenna end point PA _1E in the manual travel in the A process 511 (see FIG. 5). The reference line of the first column is calculated and recorded in the memory unit 410 using the position information (coordinate points) of 5).

  As described above, when the automatic operation mode is in the “ON” state, the “ON” and “OFF” operations of the leveling rotor ON / OFF switch 42, which are existing switches, are the original meanings of the operations. In addition to this, it has a structure that also serves as a trigger signal for acquiring the position information of the start point and the position information of the end point, and a dedicated switch or lever for acquiring the position information of the start point and the end point Therefore, the number of parts can be reduced.

  Next, the worker finishes the leveling work in the A step 511, performs a turning operation in a clockwise direction while raising the leveling rotor 40, and performs the same operation as the above-described A step in the B step 512.

That is, the operator performs the same operation as the operation in the above-described A step 511 in the B step 512, and is manually set to “ON” from the leveling rotor ON / OFF switch 42 (see FIG. 3). The control part 400 which received the signal which shows that determines that it is also a starting point acquisition trigger signal similarly to the above, and sets the positional information (coordinate value) of the left end part of the rotor 41 of the leveling rotor 40 to the second Calculated as position information (coordinate values) of the side start point P _2S (see FIG. 5), stored in the memory unit 410, and further a signal indicating that the leveling rotor on / off switch 42 has been set to the “off” state. Similarly to the above, the received control unit 400 determines that the signal is also an end point acquisition trigger signal, and the position information (coordinates) of the virtual left front end point (not shown) of the robot riding rice transplanter 1 described above. ) As the position information of the second side end point _{P 2E} (see FIG. 5) (coordinate values) is stored in the memory unit 410.

Further, in the manual travel of the B process 512, the control unit 400 at least the position of the reception antenna 310 acquired when the start point acquisition trigger signal is received (the B process antenna start point of FIG. 5). The latest position information of the PB _2S ) and the latest position information of the position of the receiving antenna 310 (see B process antenna end point PB _{2E in} FIG. 5) acquired when the end point acquisition trigger signal is received are stored in the memory unit. 410 is recorded.

In addition, the control unit 400 includes position information (coordinate points) of the B process antenna start point PB _2S (see FIG. 5) in the manual travel of the B process 512, and the B process antenna end point PB _2E (see FIG. 5) in the manual travel of the B process 512. The reference line of the headland on the second side used when the headland along the second side 502 is automatically traveled is calculated using the position information (coordinate points) in FIG. It is the structure which records.

In addition, after moving from the B step 512 to the C step 513, the control unit 400 obtains the start point acquisition trigger signal and also acquires the position information (coordinates) of the third side start point P _3S (see FIG. 5) in the same manner as described above. Value) is calculated and stored in the memory unit 410, an end point acquisition trigger signal is obtained, and is stored in the memory unit 410 as position information (coordinate values) of the third side end point P _3E (see FIG. 5).

In the calculation unit 420, the control unit 400 uses the calculation unit 420 to store the position information of the first side end point P _1E (see FIG. 5) and the position information of the first side start point P _1S (see FIG. 5) stored in the memory unit 410 as described above. Information, position information of the second side start point P _2S (see FIG. 5), position information of the second side end point P _2E (see FIG. 5), position information of the third side start point P _3S (see FIG. 5), and third The shape information of the farm field 500 is calculated using the position information of the side end point P _3E (see FIG. 5).

That is, the calculation unit 420 calculates the first side start point P _1S and the first side from the position information of the first side start point P _1S (see FIG. 5) and the position information of the first side end point P _1E (see FIG. 5). Position information of the first straight line 521 (see FIG. 5) passing through the end point P _1E is obtained, and similarly, position information of the second straight line 522 passing through the second side start point P _2S and the second side end point P _2E is obtained, Similarly, the position information of the third straight line 523 passing through the third side start point P _3S and the third side end point P _3E is obtained, and similarly, the first side start point P _1S and the third side end point P _3E are passed. Position information of the fourth straight line 524 is obtained.

  In this way, the control unit 400 approximately recognizes the quadrangular shape surrounded by the first straight line 521 to the fourth straight line 524 as the shape information of the farm field 500.

  The control unit 400 uses the position information of the parallel straight lines that are separated from the position information of the fourth straight line 524 by a predetermined distance (a distance obtained by adding a predetermined margin to the half of the leveling width WR). In this configuration, the reference line of the fourth side headland used when the headland along the side 502 is automatically traveled is calculated and recorded in the memory unit 410.

As described above, according to the present embodiment, in each side of the first side 501 to the third side 503 of the farm field 500, the robot riding rice transplanter 1 can be as close to the corner as possible to obtain the start point and the end point. The accuracy of automatic planting can be improved by appropriately setting the first planting start line L _U1 and the second planting start line L _U2 that serve as the reference for the turning start position and the turning end position of automatic turning. I can do it.

In addition, according to the said structure, 1st edge start point _P1S (refer FIG. 5), the 1st intersection of the 1st straight line 521 and the 2nd straight line 522, the 2nd intersection of the 2nd straight line 522 and the 3rd straight line 523, The position information of a total of four points with the third side end point is simultaneously acquired by the calculation unit 420. Therefore, the shape information of the field 500 of the present embodiment includes the first line segment that connects the first side start point P _1S (see FIG. 5) and the first intersection point, and the second line that connects the first intersection point and the second intersection point. It may be recognized as a quadrangle formed by the minute, the third line segment connecting the second intersection point and the third side end point, and the fourth line segment connecting the third side end point and the first side start point _P1S .

  In addition, about the position information of the start point and the end point in each of the first side 501 to the third side 503 acquired as the position information of the four corners of the field 500, the shape of the field and the corners of the robot riding rice transplanter 1 are referred to. Depending on the arrangement situation, the position information of the first side end point and the second side start point may or may not match, and the position information of the second side end point and the third side start point may match. There may be different.

  As described above, in the present embodiment, the first side 501 to the fourth side 504 of the field 500 may actually have uneven portions, but as described above, the first side 501 to the third side 503 are present. From the position information of the start point and the end point acquired in step 1, the shape surrounded by the straight line (or line segment) passing through them, that is, the first straight line 521 to the fourth straight line 524 (or the first line segment to the fourth line segment). The shape of the field 500 is approximately authorized.

  Next, an operation in the control unit 400 for obtaining the automatic travel route information from the second row onward based on the above-described field shape information will be described.

As described above, the control unit 400 updates at least the position of the reception antenna 310 (see A process antenna start point PA _{1S in} FIG. 5) acquired at the time of receiving the start point acquisition trigger signal in the manual travel of the A process 511. And the latest position information of the position of the receiving antenna 310 acquired when the end point acquisition trigger signal is received (see step A antenna end point PA _{1E in} FIG. 5) is stored in the memory unit 410. .

Therefore, the control unit 400 stores the position information of the A process antenna start point PA _1S (see FIG. 5) in the manual travel of the A process 511, that is, the start point acquisition trigger signal stored in the memory unit 410 as described above. The coordinate point of the position of the receiving antenna 310 when received and the position information of the A process antenna end point PA _1E (see FIG. 5) in the manual travel of the A process 511, that is, the receiving antenna when receiving the end point acquisition trigger signal A straight line passing through the coordinate point of position 310 is calculated as a reference line for the first row, and the automatic travel route of the second row L ₂ to the (n + 1) th row L _{n + 1} is parallel to the reference line. In addition, each of the adjacent rows of the second row L ₂ to the (n + 1) -th row L _{n + 1} is separated from each other by a predetermined distance using the leveling width by the leveling rotor 40. It is calculated as a plurality of straight lines (target lines). The position information of the reference line in the first column and the position information of the target line are recorded in the memory unit 410.

  As described above, in the robot riding rice transplanter 1 according to the present embodiment, an input signal or a cut signal from the leveling rotor on / off switch 42 that cannot be operated by an operator outside the field is used as a start point acquisition trigger signal. Alternatively, by using as an end point acquisition trigger signal, it is possible to prevent the position information of the reference line from being erroneously acquired outside the field by using the configuration for acquiring the position information of the reference line.

In the calculation of the automatic travel route from the second row L ₂ to the (n + 1) th row L _{n + 1} , the leveling in the lateral direction of the leveling rotor 40 of the robot riding rice transplanter 1 stored in advance in the memory unit 410 is performed. The width WR (see FIG. 2) and the size of the overlap margin between the edges of the leveling width preset by the overlap width variable volume 43 (see FIG. 3) (set value in the positive direction, set value of zero, minus And a distance between the first straight line 521 and the third straight line 523 obtained from the shape information of the field 500 stored in the memory unit 410 by the above calculation.

  The overlapping width variable volume 43 (see FIG. 3) is disposed in the vicinity of various operation buttons (not shown) below the steering handle 24, and the overlapping width of the leveling width WR of the leveling rotor 40 in the adjacent row is set. The volume switch for manual adjustment by the operator. When the overlap width variable volume 43 is turned clockwise from the reference position (zero position), the dimension of the overlap width of the leveling width WR gradually increases from zero to the plus direction, and when it is turned counterclockwise, the leveling width WR It is possible to set so that the dimension of the overlap margin gradually increases from zero to the minus direction, that is, a gap is generated between the edges of the leveling width WR and the gap is gradually increased.

  As a result, the overlap width variable volume 43 allows the size of the overlap margin of the leveling width WR to be adjusted freely in the plus and minus directions with zero as a reference, so that the overlap width variable volume can be adjusted according to the field conditions. Adjusting 43 in the positive direction can prevent the occurrence of an unsettled area, improve the leveling of the field, improve the planting accuracy, and facilitate the uniform supply of water in the field. If the overlap width variable volume 43 is adjusted in the minus direction, the gap between adjacent rows becomes wider and the ventilation is improved compared to the case where the edges of the leveling width WR overlap. Improve seedling growth.

In addition, as a result of calculating the automatic travel route from the second row L ₂ to the (n + 1) th row L _{n + 1} , the space of the planting width of the (n + 1) th row L _{n + 1} is narrowed, and the planting for 8 rows is performed. When it is determined by the control unit 400 that the width cannot be secured, the control unit 400 determines the interval between the columns based on the setting width based on the setting value set in advance by the overlapping width variable volume 43. Adjust using the narrowed change width within the range. In that case, the control unit 400 displays on the meter panel 60 that the interval between the columns has been adjusted by the change width.

Accordingly, the second row L ₂ to the (n + 1) th row L can be provided without providing a mechanism such as a partial clutch (not shown) for partially turning on and off the planting operation by the planting tool 51 of the planting device 50. Eight rows can be planted in all the _{n + 1} rows, so that the number of parts can be reduced and the manufacturing cost can be reduced.

Incidentally, the second column L _{2 ~} (n + 1) th results of calculation of the th row L _{n + 1} of the automatic traveling path, wider than the (n + 1) th column L _{n + 1} of the planting width of the space of the planting width Article 8 min In this case, when determined by the control unit 400, the control unit 400 makes the interval between the columns wider within a predetermined range than the setting width based on the setting value set in advance by the overlap width variable volume 43. Adjust using the change width. In that case, the control unit 400 displays on the meter panel 60 that the interval between the columns has been adjusted by the change width.

Next, in the control unit 400, the first planting start line L _U1 and the second planting are considered in consideration of the turning width in order to enable automatic turning within the range of the leveling width by the leveling rotor 40 in the headland. A configuration for appropriately setting the attached start line _LU2 and a turning operation using the configuration will be described.

That is, the control unit 400 uses the position information of the fourth straight line 524 obtained from the shape information of the field 500 stored in the memory unit 410 in the calculation unit 420 as a reference, and the robot riding rice transplanter 1 on the second side 502 side. The above-described first planting start line L _U1 is set at a position (see FIG. 4) that is separated by a distance obtained by adding a predetermined margin width Wα to the leveling width WR (see FIG. 2), and the first planting is performed. The position information of the start line L _U1 is stored in the memory unit 410.

In addition, the control unit 400 uses the position information of the second straight line 522 obtained from the shape information of the field 500 stored in the memory unit 410 in the calculation unit 420 as a reference, and places the robot riding rice transplanter 1 on the fourth side 504 side. The above-mentioned second planting start line L _U2 is set at a position (see FIG. 4) separated by a distance obtained by adding a predetermined margin width Wα to the leveling width WR (see FIG. 2), and the second planting The position information of the start line L _U2 is stored in the memory unit 410.

  Here, the predetermined margin width Wα is, for example, a seedling planted at the start or end of each row and a seedling planted at the end in the horizontal width direction of the headland (in FIG. 4, the right end with respect to the traveling direction). The distance is set to ensure an interval (for example, about 30 cm), and can be changed by a volume or the like.

  In the present embodiment, the turning width WT (see FIG. 4) of the robot riding rice transplanter 1 when the steering angle by the steering motor 210 is set to the maximum steering angle is configured to be smaller than the leveling width WR. ing. Furthermore, when the automatic driving mode is “ON”, the control unit 400 sets the steering angle by the steering motor 210 to the maximum steering angle when the automatic steering device 200 performs automatic turning. It is configured.

Thus, the robot riding planting machine 1, for example, the second row L ₂ of the target line above with the automatic straight traveling with automatic planting work and the ground leveling work, planting position of the planting device 51 is second When the control unit 400 determines that the planting start line _LU2 has been reached, the control unit 400 stops and raises the leveling operation by the leveling rotor 40, and stops and raises the planting operation by the planting device 50, and a handle turning angle by the steering motor 210 with respect to the automatic steering apparatus 200 by setting the maximum steering angle, causes the approximately 90 ° pivoting in order to move to the target line of the third column L _3. The control unit 400 further travels straight in parallel with the second planting start line L _U2 by a predetermined linear distance recorded in advance in the memory unit 410 according to the interval between the adjacent target lines. The control unit 400 is finally again a handle turning angle by the steering motor 210 with respect to the automatic steering apparatus 200 by setting the maximum steering angle, it is moved on the target line in the third column L _3, the second planting in urging start line L _U2, together with lowering the planting device 50 and ground leveling rotor 40, to initiate an automatic straight traveling with automatic planting work and ground leveling work.

Incidentally, the robot riding planting machine 1, for example, the third row target line above L ₃ by an automatic straight traveling with automatic planting work and the ground leveling work, planting position of the planting device 51 is first planted Even when the control unit 400 determines that the attached start line _LU1 has been reached, the same turning operation as described above is performed.

  As described above, in the present embodiment, automatic turning is performed within the range of the leveling width by the leveling rotor 40 in the headland, so that it is possible to prevent the occurrence of unprepared and unplanted areas around the turning start position. Improve planting accuracy.

  Here, it will be further described how to prevent the occurrence of unprepared and unplanted areas around the turning start position.

  A turning operation when the turning width WT is larger than the leveling width WR of the leveling rotor 40 in the headland in another robot riding rice transplanter different from the above configuration will be described with reference to FIG. .

That is, for example, after the target line on the second row L ₂ automatically running straight, in order to pivot so as not to interfere with the ridge of the second side 502, a predetermined second planting start line L _U2 described above It is necessary to stop the planting work from the position before the distance and start the automatic turning. Therefore, at the time when the last headland planting operation is completed, among the seedlings at both ends of the eight-row planted planted on the headland, the seedlings on the second planting start line L _U2 side and the second row Between the seedling planted at the end of L ₂ , as described above, the planting operation is stopped from the position before the predetermined distance and the automatic turning is started, so the region corresponding to the predetermined distance is It remains as an area where seedlings are not planted and land leveling is not performed. Therefore, in such an area, the operator manually plantes the seedling, but since it is in an unprepared state, it is necessary to perform the leveling work manually before the planting work, and the work efficiency is lowered.

  On the other hand, according to the configuration of the robot riding rice transplanter 1 of the present embodiment as described above, such a decrease in work efficiency can be prevented.

In the above manner, the control unit 400, the position information of the target line required for automatic straight traveling in the second row L _{2 ~} the n-th column L _n, second column L _{2 ~} the n-th column L Necessary for setting the reference position for planting start and planting stop at _n, in other words, for setting the reference position of the turning end position corresponding to the planting start position and the turning start position corresponding to the planting stop position The first planting start line L _U1 (also referred to as a first turning reference line) and the second planting start line L _U2 (also referred to as a second turning reference line) are set in the memory unit 410. Store.

In the above embodiment, in the calculation of the automatic travel route from the second row L ₂ to the (n + 1) th row L _{n + 1} , the leveling width WR (see FIG. 2) in the horizontal direction of the leveling rotor 40 overlaps. The size of the overlap margin (including the set value in the positive direction, the set value of zero, and the set value in the negative direction) between the edges of the leveling width set in advance by the variable width volume 43 (see FIG. 3), and the field However, the present invention is not limited thereto. For example, in addition to the above items, for example, the planting width WU between the planting tools 51 arranged at the left and right ends of the planting device 50 (ie, The planting width between the left and right ends of the planting device 50) (see FIG. 2) may also be used. In the case of this configuration, from the information of the leveling width WR and the planting width WU, the left and right ends of the leveling rotor 40 are planted positions of the planting tools 51 disposed at the left and right ends of the planting device 50 in plan view. Since the protrusion dimension Wd (= (WR-WU) / 2) indicating how far the protrusion protrudes with respect to the reference value can be specified as a fixed value, the edge of the leveling width can be determined by the overlapping width variable volume 43 (see FIG. 3). The planting interval Nk between the seedlings planted at the outermost position in the adjacent row when the overlap allowance dimension is set to zero can be specified as twice the protruding dimension Wd.

  Therefore, the size of the overlap margin between the edges of the leveling width set by the overlap width variable volume 43 (see FIG. 3) (including the set value in the positive direction, the set value of zero, and the set value in the negative direction). Assuming Wk, since the planting interval Nk between the seedlings planted at the outermost position in the adjacent row can be expressed as 2 × Wd−Wk, the operator can set the overlap margin size Wk by the overlap width variable volume 43. By adjusting, the planting interval Nk (= 2 × Wd−Wk = WR−WU−Wk) can be controlled.

  For example, when the protruding dimension Wd is a fixed value of 20 cm, if an attempt is made to set the planting interval Nk between the seedlings planted at the outermost position of adjacent rows to the usual 30 cm, the overlap margin of the overlap width variable volume 43 The dimension Wk (= 2 × Wd−Nk) may be set to 10 cm. Further, for example, when the protruding dimension Wd is a fixed value of 20 cm, if the planting interval Nk between the seedlings planted at the outermost position in the adjacent row is set to 50 cm wider than usual, the overlapping width variable volume What is necessary is just to set the dimension Wk of the overlap margin by 43 to -10 cm. That is, when the overlap margin dimension Wk is set to −10 cm, a gap is generated between the edges of the leveling width WR by the leveling rotor 40 in the adjacent row, and the clearance becomes 10 cm, and the spacing between the adjacent rows Nk can be set to 50 cm wider than 30 cm, and the ventilation is improved and the growth of seedlings can be improved.

  That is, in the case of the above-described configuration, the overlapping width variable volume 43 is formed in a clockwise direction (in the positive direction) with respect to the reference position that sets, for example, a cylindrical shape, and the overlapping margin dimension Wk = 0 between the edges of the leveling width. If the knob can be turned in either the counterclockwise direction (setting) or the counterclockwise direction (setting in the negative direction), the overlap width can be changed on the operation panel side where the overlap width variable volume 43 is disposed. An arc-shaped first line centered on the rotation axis of the volume 43 is shown, and the numerical value of the overlap dimension Wk between the edges of the leveling width is displayed as a scale on the first line. . Further, on the outer peripheral side of the first line, an arc-shaped second line centered on the rotation axis of the overlapping width variable volume 43 is described, and the seedlings planted at the outermost positions of adjacent rows The numerical value of the planting interval Nk may be displayed as a scale on the second line in association with the scale on the first line. Further, instead of the analog display using the scale on the first line and the scale on the second line, the set value of the overlap width variable volume 43 may be digitally displayed. Next, in the automatic operation control of the robot riding rice transplanter 1 according to the present embodiment, the configuration and operation for avoiding the situation where the fertilizer runs out during the next one reciprocation will be mainly described.

  In the present embodiment, as described above, it is set in advance by the setting switch in the memory unit 410 that the cocoon on the fourth side 504 side of the farm field 500 performs the replenishment work of seedlings and fertilizers. It shall be recorded.

That is, a fertilizer feed amount detection sensor 82 (see FIG. 3) for detecting the fertilizer fed from the fertilizer application device 3 to the field is provided, and the control unit 400 adds the fertilizer amount from the detection result and calculates the remaining fertilizer in the hopper. In the automatic straight traveling of the odd-numbered rows in the second row L ₂ to the n-th row L _n , the control unit 400 performs the first planting start line L _U1 (first turning reference). Line) (see FIG. 4), the fertilizer remaining amount calculated immediately before the next turning operation, the fertilizer feed amount, the distance of one reciprocation, and the vehicle speed are used to determine 1 after the next turning operation. During the reciprocating automatic traveling, in other words, after the next turning operation, during the traveling until the aircraft reaches the first planting start line L _U1 (first turning reference line) (see FIG. 4), Determine if the fertilizer is gone.

That is, when it is determined that the fertilizer is lost during the next one round trip, the control unit 400 stops the next turn, travels straight toward the fourth side 504, and proceeds to the first planting start line. After reaching L _U1 (first turning reference line), the vehicle speed is decelerated and stopped at the edge of the fourth side 504.

  As a result, it is possible to avoid running out of fertilizer in the middle of the next one-round planting process. Therefore, for the robot riding rice transplanter 1 stopped at the edge of the fourth side 504, the operator can 3 can be quickly supplied with fertilizer, and work efficiency can be improved. In addition, after a fertilizer supply operation | work, an operator can continue automatic driving | operation control with respect to the robot riding rice transplanter 1 by turning ON an automatic driving | operation continuation switch (illustration omitted).

In addition, after reaching the first planting start line L _U1 (first turning reference line), the vehicle is decelerated and stopped at the edge of the fourth side 504, so that an operator is on board. The safety of the case can be secured.

In the above description, the control unit 400 has been described with respect to the configuration and operation for avoiding the situation in which the fertilizer runs out during the next one reciprocation. However, the present invention is not limited to this. In order to avoid the situation where the seedling on 52 disappears and the stock is lost, similarly to the above, when the control unit 400 determines that the seedling on the seedling tank 52 disappears during the next one round-trip, the next turn Is stopped, and the vehicle travels straight toward the fourth side 504, reaches the first planting start line L _U1 (first turning reference line), and then decelerates the vehicle speed to close the fourth side 504. It is good also as a structure stopped by.

  Here, it is determined whether or not the seedling on the seedling tank 52 runs out in the middle of the next one round-trip. By recording in 410, the control unit 400 determines whether or not the next planting operation can be performed with the remaining amount of seedlings on the seedling tank 52.

  This prevents the seedling from being cut off during the next one-round planting process, so that the operator can give the seedling to the robot riding rice transplanter 1 stopped at the edge of the fourth side 504. The seedling replenishment to the tank 52 can be performed quickly, and the working efficiency can be improved. It should be noted that after the seedling replenishment work, the operator can continue the automatic operation control on the robot riding rice transplanter 1 by turning on an automatic operation continuation switch (not shown).

  In the above description, the control unit 400 explained the configuration and operation for avoiding the situation in which the fertilizer runs out during the next one round-trip, but in addition to this, at the timing of the fertilizer replenishment work, The replenishment operation may be performed in conjunction with the replenishment operation. That is, in the case of this configuration, when the controller 400 determines that the fertilizer will run out during the next one-round planting process, the robot riding rice transplanter 1 stops at the edge of the fourth side 504. In conjunction with this, an electrically assisted seedling frame that automatically enters a rail state according to a command from the control unit 400 is provided. Moreover, the electric auxiliary seedling frame can be returned to the original state by manual operation, and the control unit 400 can continue the automatic operation control for the robot riding rice transplanter 1 by returning the original state.

  As a result, the supplementary seedlings are usually replenished at the timing of fertilizer replenishment, and therefore the work efficiency can be improved by interlocking both replenishment operations.

Further, in the above configuration, when the control unit 400 determines that the seedling on the seedling tank 52 disappears during the next one reciprocation, the control unit 400 stops the next turning and proceeds straight to the edge of the fourth side 504 as it is. The case of running and stopping has been described. In the case of this configuration, after traveling straight toward the fourth side 504 and reaching the first planting start line L _U1 (first turning reference line), the aircraft is turned by 90 ° while decelerating, and the airframe is in the fourth side. It is good also as a structure which stops the state which became parallel to the wrinkles of 504 as a seedling supply position. In the case of this configuration, a rail-shaped auxiliary seedling frame is provided in the upper part of the seedling tank 52, and the seedling supply position is set at a position where the rail reaches the pod.

  In the above-described embodiment, the case where the shape information of the farm field 500 is acquired by manually traveling on the headland of the farm field 500 has been described. However, the present invention is not limited to this. For example, the shape information of the farm field 500 is acquired in advance. It is also possible to record and use map information or traveling information by a tractor or the like.

Further, in the above embodiment, in order to ensure the planting of the 8th row of the (n + 1) th column L _{n + 1} , the control unit 400 uses the overlap width variable volume 43 to set the interval between the columns in advance before the work. The configuration for automatically changing the setting range from the set range based on the set value to the change range has been described. However, the present invention is not limited to this. For example, the outermost position of the nth column _Ln and the (n + 1) th column _{Ln + 1} by changing only the planting spacing Nk seedlings adjacent planted in, the case where the (n + 1) and the control unit 400 it is possible to secure the planting of Article 8 th row L _{n + 1} is determined, the n Only the planting interval Nk between adjacent seedlings planted at the outermost positions of the row _Ln and the (n + 1) th row _{Ln + 1} may be changed from the set width to the changed width.

Further, in the above embodiment, when moving from an arbitrary target line to an adjacent target line by automatic turning, a predetermined linear distance recorded in advance in the memory unit 410 according to the interval between adjacent target lines. Only the first planting start line L _U1 or the configuration in which the vehicle travels straight in parallel with the second planting start line L _U2 has been described. However, the present invention is not limited thereto, and for example, a predetermined linear distance recorded in the memory unit 410 It is good also as a structure which an operator can finely adjust by volume operation. As a result, the accuracy of the planting start position can be improved.

  In the above embodiment, when the operator manually travels the D process 514, the leveling rotor on / off switch 42 is set to the “cut” state. However, the present invention is not limited to this. When the automatic operation mode is in the “ON” state and the operator starts manual driving in the D process 514, the operator operates the leveling rotor ON / OFF switch 42 to “ON”, and the manual driving is performed in the D process 514. When stopping, the leveling rotor on / off switch 42 may be “turned off”.

  In this configuration, as in the above configuration example, the control unit 400 determines that the “on” signal and the “off” signal of the leveling rotor on / off switch 42 are the start point acquisition trigger signal and the end point acquisition trigger signal, respectively. Then, based on the respective determinations, the latest position information of the position of the receiving antenna 310 at that time is used as position information (coordinate value) of the D process antenna start point and position information (coordinate value) of the D process antenna end point, respectively. The position information (coordinate values) of the left end of the rotor 41 of the leveling rotor 40 (referred to as the fourth side start point) recorded in the memory unit 410 and the left front end virtual point of the robot riding rice transplanter 1 ( A configuration may be adopted in which position information (coordinate values) of the fourth side end point is calculated and recorded in the memory unit 410. As a result, the fourth straight line 524 can be determined as a straight line passing through the fourth side start point and the fourth side end point, and its position information can be obtained. In the case of this configuration, the control unit 400 also includes position information (coordinate points) of the D process antenna start point in the D process 514 manual travel and position information (coordinate points) of the D process antenna end point in the D process 514 manual travel. The reference line of the headland on the fourth side used when automatically traveling the headland along the fourth side 504 may be calculated and recorded in the memory unit 410.

In the above embodiment, the automatic travel of the second row L ₂ or later, regardless of the actual travel locus in string immediately before the robot riding rice transplanter 1, automatic travel position information of the target line as a reference structure However, the present invention is not limited to this. For example, the position information of the actual traveling locus in the immediately preceding row of the robot riding rice transplanter 1 is recorded in the memory unit 410, and the target line corresponding to the immediately preceding row and the actual traveling locus thereof are recorded. When the control unit determines that the calculation result exceeds the predetermined range, the control unit determines whether the next column is based on the position of the shift and the calculation result (deviation amount). The position information of the target line corresponding to may be corrected, and the automatic driving of the next row may be executed.

  In the above embodiment, when seedling replenishment or fertilizer replenishment is necessary, the next turn is stopped, and a straight traveling toward the fourth side 504 is performed as it is. In addition to this, for example, when the control unit 400 determines that an error has occurred, a configuration may be adopted in which the fourth side 504 is returned to ensure the safety.

  In addition, when the control unit 400 determines that an error has occurred during automatic driving in the automatic driving mode, the control unit 400 sounds a warning sound to stop the vehicle and changes to manual operation while the warning sound is sounding. The manual operation may be prioritized.

  In addition, the robot riding rice transplanter 1 includes a sensor that detects that a person is in the vehicle. When the sensor detects that a person is in the vehicle, the control unit 400 is used to ensure safety. May be configured to slow down the turning speed compared to the case of unattended.

  Moreover, in the robot riding rice transplanter 1, a pressure sensor (not shown) is provided at the link fulcrum portion of the float 53 as a mud push detection device for the float 53, and it is determined from the detection result that the pressure value has increased due to mud push. In such a case, the sensitivity of the float 53 may be changed from the standard to the sensitive side. Thereby, sensitivity adjustment can be performed automatically.

  Also, in the robot riding rice transplanter 1, as a mud push detection device for the float 53, a spring steel and a limit switch (not shown) are provided behind the link fulcrum portion of the float 53, and when the float 53 is mud pushed, The limit switch is turned on when the link fulcrum moves backward from the standard position against the restoring force of steel, and when there is no mud pushing, the link fulcrum returns to the standard position by the restoring force of spring steel, and the limit The switch may be turned off. Thus, automatic sensitivity adjustment can be performed by a mechanical configuration without using an expensive pressure sensor.

  Moreover, in the robot riding rice transplanter 1, in order to make water management easy, it is good also as a structure which trenches on the outer side of a strip at the time of planting. In the case of this configuration, by providing a grooving mechanism in a part of the front plate guard part, grooving can be performed simultaneously with planting.

  Moreover, in the robot riding rice transplanter 1, in order to make water management easy, it is good also as a structure which trenches on the outer side of a strip at the time of planting. In the case of this configuration, by providing a grooving mechanism in a part of the float 53, grooving on the outside of the machine body can be performed simultaneously with planting.

  Moreover, in the robot riding rice transplanter 1, a groove digger is provided in the front plate guard portion, and when teaching the entire circumference of the A process 511 to the D process 514 by manual travel, a groove is dug between the ridge and the planting strip. Therefore, it is possible to reduce the damage caused by vignetting and straw and prevent weeds from entering the field. Thereby, the growth unevenness of a seedling can be avoided and a yield can be raised. In addition, later growth management (water supply and drainage, middle drying) becomes easier.

  In addition, the robot riding rice transplanter 1 is provided with a grooving machine in the front plate guard part and an image recognition device for distinguishing the ridges. It is good also as a structure which digs a ditch between a planting strip. Thereby, the growth unevenness of a seedling can be avoided and a yield can be raised. In addition, later growth management (water supply and drainage, middle drying) becomes easier.

  Moreover, in the robot riding rice transplanter 1 equipped with the height control device of the planting part, when the groove drilling machine is provided in the planting part and the planting part is further lowered, the depth of the groove becomes deeper and the planting part becomes more When raised, the depth of the groove becomes shallower. Therefore, the groove may be cut so that the altitude of the groove is lowered by gradually lowering the planting portion toward the drain side of the water mouth. In the case of this configuration, the position information of the water inlet (water supply side, drain side) is set in advance, and the position information of the robot riding rice transplanter 1 acquired by the position information acquisition device 300 is used to optimize the groove cutting. I can plan. This improves drainage and stabilizes seedling growth.

  Moreover, in the robot riding rice transplanter 1 provided with the rolling control mechanism, it is good also as a structure which provides a ditching machine and cuts so that the altitude of a ditch | fall falls toward the drainage side of a water mouth. In the case of this configuration, the position information of the water mouth (the water supply side and the drainage side) is set in advance, and the position information of the robot riding rice transplanter 1 acquired by the position information acquisition device 300 is used, and the horizontal direction of the vehicle body by rolling By controlling the inclination angle of the groove, it is possible to change the altitude of the groove and optimize the groove cutting. This improves drainage and stabilizes seedling growth.

  Moreover, although the said embodiment demonstrated the structure which adjusts the quantity of covering soil from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80 (refer FIG. 3), not only this but for example, In addition to the measurement of ionization tendency, the pH value is also measured at the same time, and the control unit estimates the drainage of the soil according to the pH value. Considering the point where the fertilizing effect is thin, the control unit may be configured to set the fertilizing amount to be smaller than the standard amount. Thereby, the efficiency of variable fertilization can be improved. In the case of this configuration, the pH measuring device electrode may be shared with the electric resistance measurement mechanism.

  Moreover, in the said embodiment, although the working vehicle of this invention demonstrated the case where the planting apparatus 50 was a robot riding rice transplanter connected with the traveling vehicle body 2 as an example of a working device, it is not restricted to this, for example, The work vehicle of the present invention may be a robot work vehicle to which a seeder is connected as another example of the work device. In the case of this configuration, the control unit may estimate drainage by measuring the pH value of the field, and the control unit may change the covering soil accordingly. Specifically, in a place where the controller determines that the drainage is poor, a configuration may be adopted in which the covering soil is controlled to be smaller than the standard amount. Thereby, improvement of seedling establishment property is achieved.

  Moreover, in the said embodiment, although the working vehicle of this invention demonstrated the case where the planting apparatus 50 was a robot riding rice transplanter connected with the traveling vehicle body 2 as an example of a working device, it is not restricted to this, for example, The work vehicle of the present invention may be a robot work vehicle to which a seeder is connected as another example of the work device. In the case of this configuration, the control unit may estimate drainage by measuring the pH value of the field, and the control unit may change the grooved accordingly. Specifically, in a place where the controller determines that the drainage is poor, a configuration may be adopted in which the groove is controlled to be deeper than the standard amount. Thereby, improvement of seedling establishment property is achieved.

  Moreover, although the said embodiment demonstrated the structure which adjusts the quantity of covering soil from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80 (refer FIG. 3), not only this but for example, A configuration in which drainage is estimated by measuring the pH value with a pH meter, and variable fertilization is performed according to the estimation result (for example, in a place with good drainage, the amount of fertilizer is increased compared to the standard amount). It is also good. As a result, variable fertilization can be realized at low cost even without expensive sensors.

  Moreover, although the said embodiment demonstrated the structure which adjusts the quantity of a covering soil from the measurement result of the pH value (hydrogen ion index) of the field by the pH measuring device 80) (refer FIG. 3), it is not restricted to this, for example, Measure the plowing depth (field depth) according to the link angle detected by the link sensor, and perform variable fertilization accordingly (for example, in a shallow place, the amount of fertilizer is increased compared to the standard amount) good. In the case of this configuration, in order to detect the height of the planting device 50, a link sensor that detects the link angle of the rotation fulcrum that supports the float 53 is provided, and the detection result of the link sensor is provided. Is also used to realize variable fertilization in addition to its original role. Thereby, variable fertilization can be realized at low cost without newly providing expensive sensors.

  Further, in the robot riding rice transplanter 1 according to the above-described embodiment, the control unit classifies whether the farm field applies to gray lowland soil, yellow soil, or gray soil from the topographic data, satellite image data, and soil distribution data. When it is determined that the soil is classified as yellow soil, the fertilizer is increased from the basic setting value, and when it is determined that the soil is classified as gly soil, shallow planting and grooving may be performed. Normally, yellow soil tends to flow nutrients, and in the case of Gley soil, there is a tendency that the transmittance of nutrients in the soil is bad, but according to the above configuration, by changing the planting work according to the state of the soil, Yield can be increased even without know-how.

  Further, in the robot riding rice transplanter 1 according to the above-described embodiment, the control unit determines that the field soil quality is gray lowland from the soil distribution classified by the topographic data and the satellite image data and the soil image of the actually captured field. If the soil is classified as yellow soil or yellow soil, and it is determined that the soil is classified as yellow soil, the fertilizer is increased from the basic setting value. It is good also as a structure which performs planting and groove construction. Normally, yellow soil tends to flow nutrients, and in the case of Gley soil, there is a tendency that the transmittance of nutrients in the soil is bad, but according to the above configuration, by changing the planting work according to the state of the soil, Yield can be increased even without know-how.

  Moreover, in the robot riding rice transplanter 1 of the above embodiment, from the soil image of the field actually taken, the control unit classifies whether the field soil is applicable to gray lowland soil, yellow soil, or gray soil, If it is determined that the soil is classified as yellow soil, the fertilizer may be increased from the basic setting value, and if it is determined that the soil is classified as gly soil, shallow planting and grooving may be performed. Normally, yellow soil tends to flow nutrients, and in the case of Gley soil, there is a tendency that the transmittance of nutrients in the soil is bad, but according to the above configuration, by changing the planting work according to the state of the soil, Yield can be increased even without know-how.

  Also, in autonomous rectilinear rice transplanters, as a learning opportunity, use steering during teaching, and if the actual output is the same as the assumed output and the actual output is different, pick the one with the high contribution rate in the sensed parameters at that time, the same It is good also as a structure which gives much weight as a control parameter in an agricultural field. Normally, when learning is left to artificial intelligence, the amount of data is required and takes time. However, according to the above configuration, the learning speed can be increased while using steering during teaching.

  Further, the above-described robot riding rice transplanter 1 may be configured such that noise caused by weeds and the like can be easily removed by taking an image with a camera while performing air blow as automatic detection of a kite. Normally, a stationary object is recognized as an obstacle, but according to the above configuration, noise can be reduced and automatic detection of wrinkles can be performed. Moreover, it is good also as a structure which replaces with an air blow and directs the exhaust direction of an engine to a soot. Thereby, the noise at the time of imaging | photography can be reduced, without providing a blower newly.

  Moreover, in said robot riding rice transplanter 1, it is good also as a structure which detects a wrinkle using an ultrasonic sensor. In the case of this configuration, the sensor is provided at the side marker position, and the cocoon is detected from the difference in distance from the planting field, and the detection value is corrected by changing the body posture. As a result, the terrain can be mapped.

  In autonomous straight-ahead control, it is equipped with a turning device that changes the output according to the slip ratio and tilling depth, and uses a satellite positioning system and tilling depth sensor (elevating link angle sensor) to output data along with the deviation from the route and the output to it. It is good also as a structure which collects, the strength of the correlation is calculated, and the data with strong correlation are linked | related with an output. Thereby, straight-ahead control can be performed without causing a difference in straight-ahead performance depending on the field condition.

  In autonomous straight-ahead control, a turning device that changes the output according to the running speed is provided. When the running speed is fast, the turning output is reduced, and when the running speed is slow, the turning output is increased. Weighting is based on the route by the satellite positioning system. It is good also as a structure determined by the speed data collected with the shift | offset | difference and the output with respect to it. As a result, the weighting values that are influenced by conditions other than the speed are not fixed uniformly, so that it can be applied to various situations, and the straight-ahead control can be performed without causing a difference in the straight-ahead performance depending on the field condition. .

  In autonomous straight-ahead control, it is equipped with a turning device that changes the output depending on various conditions, and the correlation is determined by the data (speed, field slip rate, tillage depth) collected along with the deviation from the route by the satellite positioning system and the output to it. Data may be weighted according to height, and the weighted value may be recorded in the memory unit as field information. Thereby, since the weighting value does not become a constant value, it can be applied to various situations, and straight running control can be performed without causing a difference in straight running performance depending on the field condition.

  Also, in the above-mentioned robot riding rice transplanter 1, the field data (speed, field slip rate, plowing depth) and planting data (number of planted stocks, amount of seedlings, planting depth) at the time of planting are recorded, and the satellite A configuration may be adopted in which the correlation between the image yield and the measurement result by the yield combine is investigated, the data having the highest correlation is determined, and the planting conditions are optimized. Thereby, planting can be performed under optimum conditions regardless of the state of the field, and overlearning can be avoided.

  Moreover, in the said embodiment, although the 8-row type | mold robot riding rice transplanter 1 was demonstrated as an example of the working vehicle of this invention, it is not restricted to this, For example, 4 row planting, 5 row planting, 6 row planting etc. A structure may be sufficient and it is not limited to the number of articles.

  ADVANTAGE OF THE INVENTION According to this invention, the presence or absence of the unground level area by a leveling apparatus can be grasped | ascertained in advance, for example, it is useful as a robot riding rice transplanter etc.

DESCRIPTION OF SYMBOLS 1 Robot riding rice transplanter 2 Traveling vehicle body 3 Fertilizer 4 Front wheel 5 Rear wheel 6 Transmission case 7 Main frame 30 Lifting link device 40 Leveling rotor 42 Leveling rotor on / off switch 43 Variable width variable volume 50 Planting device 51 Planting tool 200 Automatic steering device 300 Position information acquisition device 310 Reception antenna

Claims (6)

Traveling vehicle body (2),
A working device (50) connected to the traveling vehicle body (2) and capable of performing a predetermined work on a farm field;
A leveling device (40) for leveling the field;
A position information acquisition device (300) for acquiring position information of the traveling vehicle body (2);
A control unit (400) for automatically traveling the traveling vehicle body based on the position information acquired by the position information acquisition device (300) and predetermined traveling route information;
In the predetermined travel route information, the control unit (400) performs a lateral direction of the leveling device (40) with respect to position information of a reference line acquired as a reference for straight traveling by manual traveling in the field. A work vehicle including position information of a target line after the next process determined using a leveling width in the vehicle.   The position information of the target line is determined so that edges of the leveling widths of adjacent steps overlap each other or a predetermined gap is generated between the edges. Work vehicle.   The work vehicle according to claim 2, wherein the overlapping distance or the distance of the predetermined gap is variable. A leveling device on / off switch (42) for turning on and off the leveling device (40),
The position information of the reference line is acquired using an on signal and a cut signal sent from the leveling device on / off switch (42) to the control unit (400) as a trigger. A working vehicle according to any one of the above. A fertilizer application device (3) for applying fertilization to the field;
A covering section (90) for covering the fertilizer applied to the field from the fertilizer application (3);
A detection device (80) for detecting information on the hydrogen ion index of the field,
When the control unit (400) determines that the hydrogen ion index of the field is equal to or greater than a predetermined threshold from the detection result of the information on the hydrogen ion index by the detection device (80), the covering unit The work vehicle according to any one of claims 1 to 4, wherein the amount of the soil covering is changed in a direction to be smaller than a predetermined reference with respect to (90). The working device (50) is a seedling planting device,
The work according to claim 1, wherein the position information of the target line is determined based on the leveling width of the leveling device (40) and the planting width between the left and right ends of the planting device. vehicle.

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